Lexium 16

AC Servo Drive system

User Guide

• Thanks for purchasing this Schneider Electric product.

• Before operating this product, please read the instructions carefully.
• Read the the [Safety Operating Instructions] before using the products.
• Please save this manual properly.
• This product is for industrial equipment. Don’t use this product at general household.

[Link]
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The information provided in this documentation contains general descriptions and/or technical character¬istics of the
performance of the products contained herein. This documentation is not intended as a substitute for and is not to be used for
determining suitability or reliability of these products for specific user applications. It is the duty of any such user or integrator
to perform the appropriate and complete risk analysis, evaluation and testing of the products with respect to the relevant
specific application or use thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or
liable for misuse of the information contained herein. If you have any suggestions for improvements or amendments or have
found errors in this publication, please notify us.

No part of this document may be reproduced in any form or by any means, electronic or mechanical, including photocopying,
without express written permission of Schneider Electric.

All pertinent state, regional, and local safety regulations must be observed when installing and using this product. For reasons
of safety and to help ensure compliance with documented system data, only the manufacturer should perform repairs to
components.

When devices are used for applications with technical safety requirements, the relevant instructions must be followed.

Failure to use Schneider Electric software or approved software with our hardware products may result in injury, harm, or
improper operating results.

Failure to observe this information can result in injury or equipment damage.

©2018 Schneider Electric. All Rights Reserved.

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Organization of the Manual

Before Use
I.- II.
Safety information and certification.

Overview
01.
Servo System Overview and Mating of Servo Drive and Servo Motor

Type Selection
02.
Type Selection of Servo Drive, Servo Motor and Accessories

Installation
03.
Equipment Installation Information

Wiring
04.
Wiring Methods and Precautions for Servo System

Front Panel
05.
Introduction and Operation Methods of Integrated HMI

Operation
06.
Description of Operation Modes and Functions

Tuning
07.
Description of Control Loop Parameters Adjustment

Diagnostics
08.
When in Trouble

Parameters
09.
Detailed List of Parameters

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Table of Contents

Organization of the Manual.............................................................................................................. 1

I. Safety Information......................................................................................................................... 7
II. Certification................................................................................................................................ 12
01. Overview
1.1 Overview of LXM16 Servo Drive/Servo Motor System........................................................................ 1-1
1.2 About Servo Drive................................................................................................................................ 1-1
1.2.1 Nameplate of Servo Drive................................................................................................................................. 1-1

1.2.2 Servo Drive Model Code Description................................................................................................................ 1-2

1.2.3 Designation of Parts of Servo Drive.................................................................................................................. 1-3

1.3 About Servo Motor............................................................................................................................... 1-4

1.3.1 Nameplate of Servo Motor................................................................................................................................. 1-4

1.3.2 Type Selection of Servo Motor.......................................................................................................................... 1-5

1.3.3 Servo Motor Model Code Description................................................................................................................ 1-6

1.3.4 Components and designations.......................................................................................................................... 1-7

1.4 Permissible product combinations....................................................................................................... 1-8

02. Type Selection

2.1 Type Selection of Servo Drive............................................................................................................. 2-1
2.1.1 Specifications of Servo Drive............................................................................................................................. 2-1

2.1.2 Servo Drive Block Diagram............................................................................................................................... 2-3

2.1.3 Ratings of Servo Drive....................................................................................................................................... 2-4

2.1.4 Servo Drive Size................................................................................................................................................ 2-4

2.2 Type Selection of Servo Motor............................................................................................................. 2-5

2.2.1Specifications of Servo Motor............................................................................................................................. 2-5

2.2.2 Ratings of Servo Motor...................................................................................................................................... 2-5

2.2.3 Permissible Load at Servo Motor Output Shaft................................................................................................. 2-6

2.2.4 Servo Motor Mechanical Size / Overload Characteristics / Speed-torque Curve.............................................. 2-7

2.3 System Accessories........................................................................................................................... 2-15

2.3.1 Standard Composition of Servo System with Peripheral Device..................................................................... 2-15

2.3.2 List of Accessories........................................................................................................................................... 2-16

2.3.3 Connector........................................................................................................................................................ 2-17

2.3.4 Motor Power / Holding Brake Control Cable.................................................................................................... 2-20

2.3.5 Motor Encoder Cable....................................................................................................................................... 2-24

2.3.6 I/O Control Cable and Adapter Module........................................................................................................... 2-25

2.3.7 External Braking Resistor................................................................................................................................ 2-26

2.3.8 Input Filter........................................................................................................................................................ 2-28

2.3.9 Motor Protection Circuit Breaker and Contactor.............................................................................................. 2-29

03. Installation
3.1 Before Installation................................................................................................................................ 3-1
3.1.1 Electromagnetic Compatibility (EMC)................................................................................................................ 3-1

3.1.2 Residual Current Device.................................................................................................................................... 3-2

3.1.3 Cables .............................................................................................................................................................. 3-2

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Table of Contents

3.2 Drive Installation.................................................................................................................................. 3-4

3.2.1 On opening the product package...................................................................................................................... 3-4

3.2.2 Installation Conditions....................................................................................................................................... 3-4

3.2.3 Mounting Hole Dimensions................................................................................................................................ 3-5

3.3 Motor Installation.................................................................................................................................. 3-6

3.3.1 On opening the product package...................................................................................................................... 3-6

3.3.2 Installation Conditions....................................................................................................................................... 3-6

04. Wiring
4.1 Wiring of Servo Drive.......................................................................................................................... 4 -1
4.1.1 Precautions........................................................................................................................................................ 4-1

4.1.2 Standard Composition of Servo System with Peripheral Devices..................................................................... 4-2

4.1.3 Connecting Main Circuit (CNP)......................................................................................................................... 4-2

4.1.4 Connecting I/O Control Interface (CN1) ........................................................................................................... 4-6

4.1.5 Connecting Encoder Interface (CN2)................................................................................................................ 4-9

4.1.6 Connecting Commissioning Interface (CN3)................................................................................................... 4-10

4.1.7 Connecting Ground Screws............................................................................................................................. 4-10

4.2 Wiring of Servo Motor........................................................................................................................ 4-11

4.2.1 Connector Pin Assignment.............................................................................................................................. 4-11

4.2.2 Connection of Motor and Encoder................................................................................................................... 4-12

4.2.3 Connecting Cables.......................................................................................................................................... 4-12

4.2.4 Connection of Holding Brake........................................................................................................................... 4-13

05. Front Panel

5.1 Front Panel.......................................................................................................................................... 5-1
5.1.1 Overview............................................................................................................................................................ 5-1

5.1.2 Front Panel Menu Structure.............................................................................................................................. 5-2

5.1.3 Operation of Front Panel................................................................................................................................... 5-2

5.1.4 7-segment LED Display..................................................................................................................................... 5-3

5.1.5 Lock the Front Panel......................................................................................................................................... 5-4

5.1.6 Warm Start by Front Panel................................................................................................................................ 5-4

5.2 Operation of Menu Group FSU............................................................................................................ 5-5

5.2.1 Operating Conditions of FSU............................................................................................................................. 5-5

5.2.2 Configurations in FSU....................................................................................................................................... 5-5

5.2.3 Code Description of Servo Motor Reference in FSU......................................................................................... 5-5

5.2.4 FSU Operation................................................................................................................................................... 5-5

5.3 Operation of Menu Group OP.............................................................................................................. 5-6

5.3.1 Manual Operation/ JOG..................................................................................................................................... 5-6

5.3.2 Easy Tuning....................................................................................................................................................... 5-7

5.3.3 Restore Factory Setting / Frt............................................................................................................................. 5-7

5.4 Operation of Menu Group MON........................................................................................................... 5-8

5.4.1 Basic Operation................................................................................................................................................. 5-8

5.4.2 Status Information Via the HMI.......................................................................................................................... 5-9

5.5 Operation of Menu Group Conf 5-10

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 5.5.1 Parameters of Numerical Type ....................................................................................................................... 5-10

5.5.2 Parameters of Selection Type......................................................................................................................... 5-11

5.5.3 Parameter P6-00............................................................................................................................................. 5-11

06. Operation
6.1 Access Channel.................................................................................................................................. 6-1
6.1.1 Overview of Access Channel............................................................................................................................. 6-1

6.1.2 Exclusive Access Channel ............................................................................................................................... 6-1

6.2 Operating States ................................................................................................................................ 6-2

6.2.1 State Diagram.................................................................................................................................................... 6-2

6.2.2 Operation States............................................................................................................................................... 6-2

6.2.3 State Transitions............................................................................................................................................... 6-3

6.2.4 Error Class and Response ............................................................................................................................... 6-3

6.2.5 Reset an Error Message by “Fault Reset”......................................................................................................... 6-4

6.2.6 Indication of the Operating State via HMI.......................................................................................................... 6-4

6.3 Digital Inputs and Outputs.................................................................................................................... 6-6

6.3.1 Connecting the Digital Inputs and Outputs ...................................................................................................... .6-6

6.3.2 Parameterization of the Digital Inputs and Outputs.......................................................................................... .6-7

6.3.3 Digital Input Functions....................................................................................................................................... 6-7

6.3.4 Digital Output Functions.................................................................................................................................... 6-8

6.3.5 Factory Settings................................................................................................................................................. 6-8

6.3.6 Parameterization of Software Debouncing....................................................................................................... .6-8

6.4 Basic Functions for Operation............................................................................................................ 6-10

6.4.1 Enable Power Stage........................................................................................................................................ 6-10

6.4.2 Selection of Motor Rotation Direction.............................................................................................................. 6-11

6.4.3 Limit Switches.................................................................................................................................................. 6-12

6.4.4 Motor Holding Brake........................................................................................................................................ 6-13

6.4.5 Dynamic Brake................................................................................................................................................ 6-15

6.4.6 Braking Resistor.............................................................................................................................................. 6-16

6.4.7 Functions for Monitoring.................................................................................................................................. 6-17

6.5 Operation Mode Jog.......................................................................................................................... 6-20

6.5.1 Precautions and checklist before starting the Jog........................................................................................... 6-20

6.5.2 Perform the Jog by integrated HMI.................................................................................................................. 6-20

6.5.3 Perform the Jog by Digital Input...................................................................................................................... 6-21

6.5.4 Parameterization of Velocity Curve of Jog...................................................................................................... 6-22

6.6 Operation Mode Electronic Gear....................................................................................................... 6-23

6.6.1 Wiring Example............................................................................................................................................... 6-23

6.6.2 Basic Parameters Settings.............................................................................................................................. 6-24

6.6.3 Gear Ratio Settings......................................................................................................................................... 6-25

6.6.4 Selection of the Pulse Reference Method....................................................................................................... 6-26

6.6.5 Position Change with Power Stage Disabled ................................................................................................. 6-27

6.6.6 Velocity Limitation in Electronic Gear Mode.................................................................................................... 6-27

6.6.7 Release of Direction Setting............................................................................................................................ 6-28

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Table of Contents

6.6.8 Offset Movement Setting................................................................................................................................. 6-28

6.6.9 Changing the Motion Profile for the Velocity................................................................................................... 6-29

6.6.10 Encoder Simulation Output Settings.............................................................................................................. 6-31

6.6.11 Pulse Clear Settings...................................................................................................................................... 6-32

6.6.12 Following Error Monitoring Settings............................................................................................................... 6-33

6.7 Operation Mode Homing ................................................................................................................... 6-34

6.7.1 Parameterization............................................................................................................................................. 6-34

6.7.2 Reference Movement to a Limit Switch........................................................................................................... 6-39

6.7.3 Reference Movement to the Reference Switch in Positive Direction.............................................................. 6-40

6.7.4 Reference Movement to the Reference Switch in Negative Direction............................................................. 6-42

6.7.5 Reference Movement to the Index Pulse........................................................................................................ 6-44

6.7.6 Software Limit Switches.................................................................................................................................. 6-44

6.8 Auxiliary Functions for Operation....................................................................................................... 6-46

6.8.1 Jerk Limitation................................................................................................................................................. 6-46

6.8.2 Parameterization for Jerk Limitation................................................................................................................ 6-46

6.8.3 Stop Movement with Halt................................................................................................................................. 6-47

6.8.4 Stop Movement with Quick Stop..................................................................................................................... 6-48

6.8.5 Velocity Limitation............................................................................................................................................ 6-49

6.8.6 Current Limitation............................................................................................................................................ 6-50

6.8.7 Zero Clamp...................................................................................................................................................... 6-50

6.8.8 Backlash Compensation ................................................................................................................................. 6-51

6.9 Monitoring Functions for Operation.................................................................................................... 6-53

6.9.1 Limit Switches.................................................................................................................................................. 6-53

6.9.2 Target Position Standstill Window................................................................................................................... 6-53

6.9.3 Position Deviation Window.............................................................................................................................. 6-54

6.9.4 Velocity Deviation Window.............................................................................................................................. 6-56

6.9.5 Velocity Threshold Value................................................................................................................................. 6-57

6.9.6 Current Threshold Value................................................................................................................................. 6-58

07. Commissioning
7.1 Tuning Methods and Basic Procedures............................................................................................... 7-1
7.1.1 About Tuning..................................................................................................................................................... 7-1

7.1.2 Tuning Methods................................................................................................................................................. 7-1

7.1.3 Basic Tuning Procedures.................................................................................................................................. 7-2

7.1.4 Safety Precautions for Tuning........................................................................................................................... 7-2

7.1.5 Control Loop Tuning Model Selection............................................................................................................... 7-3

7.2 Easy Tuning......................................................................................................................................... 7-4

7.2.1 Overview............................................................................................................................................................ 7-4

7.2.2 Operating Methods............................................................................................................................................ 7-4

7.3 Comfortable Tuning............................................................................................................................. 7-5

7.3.1 Overview............................................................................................................................................................ 7-5

7.3.2 Operating Methods............................................................................................................................................ 7-5

7.4 Auto Adaptive Tuning........................................................................................................................... 7-6

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 7.4.1 Overview............................................................................................................................................................ 7-6

7.4.2 Conditions for Use............................................................................................................................................. 7-7

7.4.3 Operating Methods............................................................................................................................................ 7-7

7.5 Auto Adaptive Notch Filter................................................................................................................. 7-10

7.5.1 Overview.......................................................................................................................................................... 7-10

7.5.2 Operating Methods.......................................................................................................................................... 7-10

7.6 Manual Tuning (Basic)....................................................................................................................... 7-12

7.6.1 Overview.......................................................................................................................................................... 7-12

7.6.2 Manual Tuning for Position Control Mode....................................................................................................... 7-12

7.6.3 Gain Switching................................................................................................................................................. 7-18

7.6.4 Mechanical Resonance Suppression.............................................................................................................. 7-26

7.7 Manual Tuning (Advanced)................................................................................................................ 7-29

7.7.1 Feedforward Tuning........................................................................................................................................ 7-29
7.7.2 Vibration Suppression..................................................................................................................................... 7-30

08. Diagnostics
8.1 Diagnostics via HMI............................................................................................................................. 8-1
8.1.1 Indicating the Operating State........................................................................................................................... 8-1

8.1.2 Indicating Error Messages................................................................................................................................. 8-1

8.2 Diagnostics via Signal Outputs............................................................................................................ 8-2

8.2.1 Indicating the Operating State........................................................................................................................... 8-2

8.2.2 Indicating Error Messages................................................................................................................................. 8-2

8.3 Error Messages.................................................................................................................................... 8-4

8.3.1 Description of Error Messages.......................................................................................................................... 8-4

8.3.2 Table of Error Messages................................................................................................................................... 8-5

09. Parameters
9.1 Parameter Overview............................................................................................................................ 9-1
9.2 P0 - Basic Settings.............................................................................................................................. 9-8
9.3 P1 - Gain Adjustment......................................................................................................................... 9-16
9.4 P2 – Damping Adjustment................................................................................................................. 9-26
9.5 P3 - I/O Settings................................................................................................................................. 9-31
9.6 P4 – External Settings........................................................................................................................ 9-37
9.7 P5 - Special Settings.......................................................................................................................... 9-45
9.8 P6 - Device Information..................................................................................................................... 9-50

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Chap I. Safety Information Please observe safety information fully

IMPORTANT
Declaration

Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install,
operate, service or maintain it. The following special messages may appear throughout this documentation or on the
equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure.

The addition of this symbol to a “DANGER” or “Warning” safety label indicates that an electrical hazard
exists, which will result in personal injury if the instructions are not followed.

This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety
instructions that follow this symbol to avoid possible injury or death.

DANGER
DANGER indicates a hazardous situation which, if not avoided, will result in death or serious injury.

WARNING
WARNING indicates a hazardous situation which, if not avoided, could result in death or serious injury.

NOTICE
NOTICE is used to address practices not related to physical injury.

Note: CAUTION indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.

Please note

Electrical equipment must be installed, operated, serviced and maintained only by qualified personnel. No
responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material.

A qualified person is one who has skills and knowledge related to the construction and operation of electrical
equipment and its installation, and has received safety training to recognize and avoid the hazards involved.

Qualification of Personnel

Only appropriately trained persons who are familiar with and understand the contents of this manual and all other
pertinent product documentation are authorized to work on and with this [Link] persons must have sufficient
technical training, knowledge and experience and be able to foresee and detect potential hazards that may be caused
by using the product, by modifying the settings and by the mechanical, electrical and electronic equipment of the
entire system in which the product is used.
The qualified person must be able to detect possible hazards that may arise from parameterization, modifying
parameter values and generally from mechanical, electrical, or electronic equipment.
The qualified person must be familiar with the standards, provisions, and regulations for the prevention of industrial
accidents, which they must observe when designing and implementing the system.

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Intended use

1 Overview
The products described or affected by this document are servo-drive systems for three-phase servo motors along with software,
accessories and options.
The products are intended for industrial use according to the instructions, directions, examples and safety information contained in
the present user guide and other supporting documentation.
The product may only be used in compliance with all applicable safety regulations and directives, the specified requirements and

2 Type Selection
the technical data. Prior to using the products, you must perform a risk assessment in view of the planned application. Based on the
results, the appropriate safety measures must be implemented. Since the products are used as components in an entire system, you
must ensure the safety of persons by means of the design of this entire system. Operate the products only with the specified cables
and accessories. Use only genuine accessories and spare parts. Any use other than the use explicitly permitted as described herein
is prohibited and may result in unanticipated hazards

Intended use

3 Installation
Do not use this product on machinery lacking effective point-of-operation guarding. Lack of effective point-of-operation guarding on a
machine can result in serious injury to the operator of that machine.

WARNING

4
DANGERUNGARDED EQUIPMENT

Connection
Wiring
• Do not use this software and related automation equipment on equipment which does not have point-of-operation protection.
• Do not reach into machinery during operation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

5
This automated equipment and relevant software are used to control a variety of industrial processes. The type or model of
automation equipment suitable for each application will vary depending on factors such as the control function required, degree

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of protection required, production methods, unusual conditions, government regulations, etc. In some applications, more than one
processor may be required, as when backup redundancy is needed.
Only you, the user, machine builder or system integrator can be aware of all the conditions and factors present during setup,
operation, and maintenance of the machine and, therefore, can determine the automation equipment and the related safeties and
interlocks which can be properly used. When selecting automation and control equipment and related software for a particular

6
application, you should refer to the applicable local and national standards and regulations. The National Safety Council's Accident
Prevention Manual (nationally recognized in the United States of America) also provides much useful information.

Operation
In some applications, such as packaging machinery, additional operator protection such as point-of-operation guarding must be
provided. This is necessary if the operator's hands and other parts of the body are free to enter the pinch points or other hazardous
areas and serious injury can occur. Software products alone cannot protect an operator from injury. For this reason the software
cannot be substituted for or take the place of point-of-operation protection.
Ensure that appropriate safeties and mechanical/electrical interlocks related to point-of-operation protection have been installed and

7 Commissioning
are operational before placing the equipment into service. All interlocks and safeties related to point-of-operation protection must be
coordinated with the related automation equipment and software programming.
Note: Coordination of safeties and mechanical/electrical interlocks for point-of-operation protection is outside the scope of the
Function Block Library, System User Guide, or other implementation referenced in this documentation.

Startup and Test

8 Diagnosis

Before using electrical control and automation equipment for regular operation after installation, the system should be given a start-
up test by qualified personnel to verify correct operation of the equipment It is important that arrangements for such a check be made
and that enough time is allowed to perform complete and satisfactory testing.

WARNING
9

EQUIPMENT OPERATION HAZARD

Parameters

• Verify that all installation and setup procedures have been completed.
• Before operational tests are performed, remove all blocks or other temporary holding means used for shipment from all component
devices.
• Remove tools, meters and debris from the equipment.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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8
Chap I. Safety Information

Startup and Test

Follow all start-up tests recommended in the equipment [Link] all equipment documentation for future
references.
Software testing must be done in both simulated and real environments.
Verify that the completed system is free from all short circuits and temporary grounds that are not installed according
to local regulations (according to the National Electrical Code in the U.S.A, for instance).If high potential voltage
testing is necessary, follow recommendations in equipment documentation to prevent accidental equipment damage.
Before energizing equipment:
• Remove tools, meters and debris from the equipment.
• Close the equipment enclosure door.
• Remove all temporary grounds from incoming power lines.
• Perform all startup tests recommended by the manufacturer.

Operation and Adjustment

The following precautions are from the NEMA Standards Publication ICS 7.1-1995 (English version prevails):
• Regardless of the care exercised in the design and manufacture of equipment or in the selection and ratings of
components, there are hazards that can be encountered if such equipment is improperly operated.
• It is sometimes possible to misadjust the equipment and thus produce unsatisfactory or unsafe operation. Always
use the manufacturer’s instructions as a guide for functional adjustments. Personnel who have access to these
adjustments should be familiar with the equipment manufacturer’s instructions and the machinery used with the
electrical equipment.
• Only those operational adjustments actually required by the operator should be accessible to the operator. Access
to other controls should be restricted to prevent unauthorized changes in operating characteristics.

Safety Precautions
General Precautions

The use and application of the information contained herein require expertise in the design and ,programming of
automated control systems.
Only you, the user, machine builder or integrator, can be aware of all the conditions and factors present during
installation and setup, operation, repair and maintenance of the machine or process.
You must also consider any applicable standards and/or regulations with respect to grounding of all equipment. Verify
compliance with any safety information, different electrical requirements, and normative standards that apply to your
machine or process in the use of this equipment.
Many components of the equipment, including the printed circuit board, operate with mains voltage, or present
transformed high currents, and/or high voltages.
The motor itself generates voltage when the motor shaft is rotated

DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
• Disconnect all power from all equipment including connected devices prior to removing any covers or doors, or installing or removing any
accessories, hardware, cables, or wires.
• Place a "Do Not Turn On" or equivalent hazard label on all power switches and lock them in the non- energized position.
• Wait 15 minutes to allow the residual energy of the DC bus capacitors to discharge.
• Measure the voltage on the DC bus with a properly rated voltage sensing device and verify that the voltage is less than 42.4 Vdc.
• Do not assume that the DC bus is voltage-free when the DC bus LED is off.
• Block the motor shaft to prevent rotation prior to performing any type of work on the drive system.
• Do not create a short-circuit across the DC bus terminals or the DC bus capacitors.
• Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper ground connection exists before
applying power to the unit.
• Use only the specified voltage when operating this equipment and any associated products.
Failure to follow these instructions will result in death or serious injury.

This equipment has been designed to operate outside of any hazardous location Only install this equipment in zones
known to be free of a hazardous atmosphere

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 DANGER

1
POTENTIAL FOR EXPOLSION

Overview
Install and use this equipment in non-hazardous locations only.
Failure to follow these instructions will result in death or serious injury.

If the power stage is disabled unintentionally, for example as a result of power outage, errors or functions, the motor is

2 Type Selection
no longer decelerated in a controlled way. Overload, errors or incorrect use may cause the holding brake to no longer
operate properly and may result in premature wear.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Verify that movements without braking effect cannot cause injuries or equipment damage.

3 Installation
• Verify the function of the holding brake at regular intervals.
• Do not use the holding brake as a service brake.
• Do not use the holding brake for safety-related purposes.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

General Precautions

4Connection
Wiring
WARNING
UNINTENDED MOVEMENT OR MACHINE OPERATION
• Carefully install the wiring in accordance with the EMC requirements.
• Do not operate the product with undetermined settings and data.

5
• Perform comprehensive commissioning tests that include verification of configuration settings and data that determine position and

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movement.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING

6
LOSS OF CONTROL
• The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical control functions,

Operation
provide a means to achieve a safe state during and after a path [Link] of critical control functions are emergency stop and
overtravel stop, power outage and restart.
• Separate or redundant control paths must be provided for critical control functions.
• System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission
delays or failures of the link.
• Observe all accident prevention regulations and local safety guidelines.①

7 Commissioning
• Each implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Note:
①
:For additional information, refer to NEMA ICS 1.1 (latest edition), (<Safety Guidelines for the Application, Installation, and Maintenance of
Solid State Control” and to NEMA ICS 7.1 (latest edition)，“Safety Standards for Construction and Guide for Selection, Installation and Operation
8

of Adjustable-Speed Drive Systems^ or their equivalent governing your particular location.

Diagnosis

Machines, controllers, and related equipment are usually integrated into [Link] persons and malware may gain access to the
machine as well as to other devices on the network/fieldbus of the machine and connected networks via insufficiently secure access to software
and [Link] Electric adheres to industry best practices in the development and implementation of control systems. This includes a
“Defense-in-Depth'' approach to secure an Industrial Control System. This approach places the controllers behind one or more firewalls to restrict
access to authorized personnel and protocols only.
9 Parameters

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Chap I. Safety Information

WARNING
UNAUTHENTICATED ACCESS AND SUBSEQUENT UNAUTHORIZED MACHINE OPERATION
• Evaluate whether your environment or your machines are connected to your critical infrastructure and, if so, take appropriate steps in
terms of prevention, based on Defense-in-Depth, before connecting the automation system to any network.
• Limit the number of devices connected to a network to the minimum necessary.
• Isolate your industrial network from other networks inside your company.
• Protect any network against unintended access by using firewalls, VPN, or other, proven security measures.
• Monitor activities within your systems.
• Prevent subject devices from direct access or direct link by unauthorized parties or unauthenticated actions.
• Prepare a recovery plan including backup of your system and process information.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

For more information on organizational measures and rules covering access to infrastructures, refer to ISO/IEC 27000
series, Common Criteria for Information Technology Security Evaluation, ISO/IEC 15408, IEC 62351, ISA/IEC 62443,
NIST Cybersecurity Framework, Information Security Forum - Standard of Good Practice for Information Security.

DC bus voltage measurement

The DC bus voltage can exceed 800 [Link] DC bus LED is not an indicator of the absence of DC bus voltage.

DANGER
ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Disconnect the voltage supply to all connections.
• Wait 15 minutes to allow the DC bus capacitors to discharge.
• Use a properly rated voltage-sensing device for measuring (greater than 800 Vdc).
• Measure the DC bus voltage between the DC bus terminals (PA/+ and PC/-) to verify that the voltage is less than 42 Vdc.
• Contact your local Schneider Electric representative if the DC bus capacitors do not discharge to less than 42 Vdc within a period of 15
minutes.
• Do not operate the product if the DC bus capacitors do not discharge properly.
• Do not attempt to repair the product if the DC bus capacitors do not discharge properly.
• Do not assume that the DC bus is voltage-free when the DC bus LED is off.
Failure to follow these instructions will result in death or serious injury.

Connecting external braking resistor

WARNING
HOT SURFACES
• Ensure that it is not possible to make any contact with a hot braking resistor.
• Do not allow flammable or heat-sensitive parts in the immediate vicinity of the braking resistor.
• Verify that the heat dissipation is sufficient by performing a test run under maximum load conditions.
Failure to follow these instructions will result in death or serious injury.

11 TM
Chap II. Certification

1 Overview
Equipment Model Directives Standards
EN 61800-5-1:2007
Low Voltage Directive 2014/35/EU
EN 60034-1:2010/AC:2010

2 Type Selection
Servo drive LXM16…
EN 61800-3:2004/A1:2012
EMC Directive 2014/30/EU
EN 60034-1:2010/AC:2010
EN 61800-5-1:2007
Low Voltage Directive 2014/35/EU
EN 60034-1:2010/AC:2010
Servo motor BCH16…
EN 61800-3:2004/A1:2012
EMC Directive 2014/30/EU
EN 60034-1:2010/AC:2010
EN 61800-5-1:2007

3 Installation
Low Voltage Directive 2014/35/EU
EN 60034-1:2010/AC:2010
Accessories VW3…
EN 61800-3:2004/A1:2012
EMC Directive 2014/30/EU
EN 60034-1:2010/AC:2010

4
5
6
9Connection
Wiring
Front Panel
Operation
7 Commissioning
8 Diagnosis
Parameters

TM
12
1 Overview 2 Type Selection 3 Installation 4 Wiring
Connection 5 Front Panel 6 Operation 7 Commissioning 8 Diagnosis 9 Parameters

14 TM
Chap01. Overview

1.1 Overview of LXM16 Servo Drive/Servo Motor System.......................................... 1-1

1.2 About Servo Drive.................................................................................................. 1-1
1.2.1 Nameplate of Servo Drive........................................................................................................ 1-1

1.2.2 Servo Drive Model Code Description....................................................................................... 1-2

1.2.3 Designation of Parts of Servo Drive......................................................................................... 1-3

1.3 About Servo Motor................................................................................................. 1-4

1.3.1 Nameplate of Servo Motor....................................................................................................... 1-4

1.3.2 Type Selection of Servo Motor................................................................................................ 1-5

1.3.3 Servo Motor Model Code Description...................................................................................... 1-6

1.3.4 Components and designations................................................................................................ 1-7

1.4 Permissible product combinations......................................................................... 1-8

1.1 Overview of LXM16 Servo Drive/Servo Motor System

1 Overview
The servo system composed of LXM16D series servo drive and BCH16 series AC servo motor is a member of the Lexium 16
family designed to suit pulse control and offer high performance, simple interface and easy operation.
This series include a variety of 0.1 kW~1.5 kW servo drives and AC servo motors. Incorporating real-time adaptive tuning and
adaptive notch filter, this series of servo drives are designed with the selection and automatic switchover of stiffness levels to
address various requirements on the stability of low-stiffness machine and the high speed and accuracy of high-stiffness machine,

2
in addition with the AC servo motor equipped with 2500-line Incremental encoder, the servo system achieves the simplicity of

Type Selection
interface and the simple operation of machinery and positioning, thereby suiting a wide range of machines.
This manual is prepared for you to make correct and effective use of LXM16D series servo drive system with above-noted merits.

3 Installation
4
5Connection
Wiring
1.2 About Servo Drive

Front Panel
1.2.1 Nameplate of Servo Drive

Range Name Lexium16

6
Commercial Reference LXM16DU01M2X

Operation
Continuous power 0.1 kW
V1.0 IE00

Input a.c. 1-phase Output Output Current & Power

Input Phase 50/60 Hz continuous max. Maximum Output Current

7 Commissioning
Input Voltage & Current 1~200Vac-1.3Arms 0.9Arms-0.1kW 2.7Arms

Multiple rated equipment, see instruction manual

internal Motor Overload Protection
8 Diagnosis

Tool & Cable Cu 1 mm2 70° C IP20 Protection Degree

Certification
9

20
Parameters

Serial Number 4004500HL174412345

Made in China
施耐德电气（中国）有限公司
[Link]/contact
北京市朝阳区望京东路六号A座

TM
1-1
Chap01. Overview

1.2.2 Servo Drive Model Code Description

Items 1 2 3 4 5
Type Code
LXM 16 D U04 M2X
(Example)

Items Description
1 Product Designation
LXM = Lexium
2 Product Type
16 = AC servo drive for one axis
3 Interfaces
D = I/O interface, PTI, PTO
4 Continuous power
U01 = 0.1 kW
U02 = 0.2 kW
U04 = 0.4 kW
U07 = 0.75 kW
U10 = 1.0 kW
U15 = 1.5 kW
5 Power stage supply [Vac]
M2X = Single phase, 200/240Vac, no built-in EMC
filter

1-2 TM
1.2.3 Designation of Parts of Servo Drive

1
[Link] Size 1 Servo Drive - 0.1/0.2/0.4kW

Overview
Front panel of servo drive:
1. Connection port CN3: MircoUSB connector

2
2. Connection port CN2: Encoder connector

Type Selection
3. Connection port CN1: Connection to host controller
4. CHARGE: Drive charge indicator LED
5. C
 onnection port CNP: Motor, external braking resistor and
6 1 power input connector

3 Installation
6. HMI
2
7. Q
 R code, which is scanned to obtain detailed technical
parameters and the guide for installation and wiring
3
8. Ground Terminal

7 4
Note: Size 1 servo drive is designed without ventilation fan

4Connection
5

Wiring
8

5
[Link] Size 2 Servo Drive - 0.75/1.0/1.5 kW

Front Panel
Front panel of servo drive:
1. Connection port CN3: MircoUSB connector

6
2. Connection port CN2: Encoder connector

Operation
3. Connection port CN1: Connection to host controller
4. CHARGE: Drive charge indicator LED
5. C
 onnection port CNP: Motor, external braking resistor
6
1 and power input connector

7 Commissioning
6. HMI
2
7. Q
 R code, which is scanned to obtain detailed technical
parameters and the guide for installation and wiring
3 8. Ground Terminal

7 4
8 Diagnosis

5
8
9 Parameters

TM
1-3
Chap01. Overview

1.3 About Servo Motor

1.3.1 Nameplate of Servo Motor

Motor type BCH16HD02330A5C

Nominal voltage Un 3  220 Vrms Pn 0.2 kW Nominal power
Nominal current In 1.6 Arms Imax 4.8 Arms Max. current
Nominal torque Mn 0.64 Nm Mmax 1.91 Nm Max. torque
Nominal speed of rotation Nn 3000 rpm Nmax 5000 rpm Max. speed of rotation
Applied standard IEC 60034-1 Mass 1.1 Kg Mass
3 Th-CL F-IP65 Number of motor phases, temperature
class, degree of protection
RS 00 Hardware version
Bar code |||||||||||||||||||||||
Serial number XXXXXXXX Made In China Country of manufacture

Nominal voltage of the

holding brake Ubr XXX V
Power Pbr XXX W
Torque Mbr XXX Nm

■■ Location diagram of motor nameplate

Nameplate of Motor Nameplate of

band-type brake nameplate band-type brake Motor
nameplate

□ 40/60/80 mm □ 100 / 130 mm

1-4 TM
1.3.2 Type Selection of Servo Motor

1
[Link] 40/60/80mm Flange Servo Motor

Overview
Servo motor interface:
1. Encoder interface, plastic connector

2
2. Power interface, plastic connector

Type Selection
3. Motor casing, RAL9005 opaque, black
1
4. Motor shaft with key and oil seal
6 5. 4-hole axial mounting screw hole (Note 1)
2
6. Servo motor holding brake interface (Note 2)
3

3 Installation
Note 1: Two holes in the case of 40mm flange motor
Note 2: Only 40/60/80mm motors are designed with this interface;
the servo motor holding brake interface of 100/130mm motors is
integrated with MIL power interface

4Connection
5

Wiring
5
[Link] 100/130mm Flange Servo Motors

Front Panel
Servo motor interface:
1. Encoder interface, MIL connector

6
2. Power interface, MIL connector

Operation
2
3. Motor casing, RAL9005 opaque, black
1 4. Motor shaft with key and oil seal
5. 4-hole axial mounting screw hole
3

7 Commissioning
4
8

5
9 Diagnosis
Parameters

TM
1-5
Chap01. Overview

1.3.3 Servo Motor Model Code Description

Items 1 2 3 4 5 6 7 8 9 10
Type Code
BCH16 H D 04 3 3 0 A 5 C
(Example)

Items Description
1 Product Designation
BCH16 = Brushless servo motor, in combination with LXM16 servo drives
2 Moment of inertia
L = Low inertia
M = Medium inertia
H = High inertia
3 Flange size (housing)
B = 40 mm flange
D = 60 mm flange
F = 80 mm flange
H = 100 mm flange
M = 130 mm flange
4 Nominal power
01 = 0.1 kW
02 = 0.2 kW
04 = 0.4 kW
07 = 0.75 kW
08 = 0.85 kW
10 = 1.0 kW
15 = 1.5 kW
5 Type of winding and power supply grade
1 = Optimized in terms of torque (1000 rpm/1500 rpm); power supply 200/240 Vac
2 = Optimized in terms of torque and speed of rotation (2000 rpm); power supply 200/240 Vac
3 = Optimized in terms of speed of rotation (3000 rpm); power supply 200/240 Vac
6 Shaft and degree of protection
3 = Parallel keyed; degree of protection: shaft and housing IP65
7 Encoder system
0 = 2500 ppr incremental encoder
8 Holding brake
A = Without holding brake
F = With holding brake
9 Connection version
5 = Free leads with plastic connectors (for BCH16*B, BCH16*D, and BCH16*F)
6 = Military connectors (for BCH16*H and BCH16*M)
10 Mechanical interface - Mounting
C = Motor compatible with Asian style mounting style

1-6 TM
1.3.4 Designation of Parts of Servo Motor

1
[Link] 40/60/80mm Flange Servo Motor

Overview
Encoder connector
Encoder connector Holding brake connector

2
Motor power connector
Motor power connector

Type Selection
Flange Flange

Mounting Mounting Housing

3 Installation
Housing
hole (4) hole (4)

[Link] 100/130mm Flange Servo Motors

Encoder connector Encoder connector

4
Motor power

Connection
Motor power
connector

Wiring
connector

Flange Flange

5
Mounting

Front Panel
Housing Mounting Housing
hole (4)
hole (4)

6
8
9 Operation
7 Commissioning
Diagnosis
Parameters

TM
1-7
Chap01. Overview

1.4 Confirming the Mating of Servo Drive and Servo Motor

Nominal Nominal Nominal Moment

Servo drive Servo motor power speed torque of inertia
kW rpm Nm
LXM16DU01M2X BCH16LB01330*5C 0.1 3000 0.32 Low
LXM16DU02M2X BCH16HD02330*5C 0.2 3000 0.64 High
LXM16DU04M2X BCH16HD04330*5C 0.4 3000 1.27 High
LXM16DU07M2X BCH16HD07330*5C 0.75 3000 2.39 High
BCH16LH10330*6C 1.0 3000 3.18 Low
LXM16DU10M2X
BCH16HM10230*6C 1.0 2000 4.77 High
BCH16HM08130*6C 0.85 1500 5.39 High
LXM16DU15M2X
BCH16HM15230*6C 1.5 2000 7.16 High

1-8 TM
1 Overview 2 Type Selection 3 Installation 4 Wiring
Connection 5 Front Panel 6 Operation 7 Commissioning 8 Diagnosis 9 Parameters

1-9 TM
Chap02. Type Selection

2.1 Servo Drive Type Selection................................................................................... 2-1

2.1.1 Specifications........................................................................................................................... 2-1

2.1.2 Block Diagram......................................................................................................................... 2-3

2.1.3 Ratings..................................................................................................................................... 2-4

2.1.4 Dimensions.............................................................................................................................. 2-4

2.2 Type Selection of Servo Motor.............................................................................. 2-5

2.2.1 Specifications of Servo Motor.................................................................................................. 2-5

2.2.2 Ratings of Servo Motor............................................................................................................ 2-5

2.2.3 Permissible Load at Servo Motor Output Shaft....................................................................... 2-6

2.2.4 Servo Motor Mechanical Size / Overload Characteristics / Speed-torque Curve.................... 2-7

2.3 System Accessories............................................................................................ 2-15

2.3.1 Standard Composition of Servo System with Peripheral Device........................................... 2-15

2.3.2 List of Accessories................................................................................................................. 2-16

2.3.3 Connector.............................................................................................................................. 2-17

2.3.4 Motor Power / Holding Brake Control Cable.......................................................................... 2-20

2.3.5 Motor Encoder Cable............................................................................................................. 2-24

2.3.6 I/O Control Cable and Adapter Module.................................................................................. 2-25

2.3.7 External Braking Resistor...................................................................................................... 2-26

2.3.8 Input Filter.............................................................................................................................. 2-28

2.3.9 Motor Protection Circuit Breaker and Contactor.................................................................... 2-29

2.1 Type Selection of Servo Drive

1
2.1.1 Specifications of Servo Drive

Overview
Items Specifications

2
0 ℃ ... 40 ℃ : Without derating
Temperature
40 ℃ ... 50 ℃ : With derating

Type Selection
Relative humidity 5% ... 95%, no condensation
Use <= 1000M mean sea level without derating
Altitude
1000 … 2000M mean sea level with derating
Impact 3M4, 3mm [2..9Hz], zone I
Vibration 3M4, 1G [9..200Hz], zone I
Environmental

3 Installation
Temperature -25 ℃ ~70 ℃
Conditions
Storage Relative humidity 5%...95%, no condensing
Vibration 2M2, 3.5mm [2..9Hz]/1G [9..200Hz]/1.5G [200..500Hz]
Protection class IP20
Class 2:
No corrosive or inflammable gas
Environmental class
No oil, water, or chemical splash

4
Free from dust, dirt, salts, or iron powders

Connection
voltage 1~220Vac, 200Vac -15%~240Vac + 10%

Wiring
Frequency 50Hz - 5%~ 60Hz + 5%
TT grounding
Allowed
system
Input power supply Grounding TN grounding
Allowed
Type system

5
IT grounding
Not allowed

Front Panel
system
Leakage current <35 mA
0.1 kW~0.4 kW: Natural cooling
Heat dissipation method
0.75 kW~1.5 kW: Fan cooling
Overload capacity 300%

6
Feedback interface 2500ppr incremental encoder, 8-wire
6 Digital inputs

Operation
Input
The input function can be set through parameters
Digital
3 Digital outputs
Output
The output function can be set through parameters
2 Inputs:
Control interface
Input Open collector (24V)

7 Commissioning
Line driver or differential high-speed pulse (3.3V)
Pulse
Encoder simulation feedback output
Output Resolution can be set through parameter
Motor index pulse open collector output
Mini-B USB
USB
Commissioning Commissioning and monitoring by PC software
interface 5-digit 7-segment display
HMI
8

4 buttons
Regenerative braking No built-in regenerative braking resistor
Diagnosis

Braking method
Dynamic brake Built-in dynamic brake function, can be activated through parameter
P+D
Input pulse train
CW + CCW
type
AqB (with quadruple)
Max. pulse Open collector 24V: 200Kpps
9

Position control Pulse train frequency Differential high-speed pulse (3.3V): 2Mpps
Parameters

Internal counting 131072 pulses/revolution

Electronic gear ratio is directly selected through parameter
Electronic gear Electronic gear ratio is computed through numerator/denominator
Electronic gear ratio is switchable

TM
2-1
Chap02. Type Selection

Items Specifications
The servo drive moves the motor with pre-defined trajectory and optimize the control loop
Simple tuning
parameters
User can set trajectory parameters such as movement, direction and velocity, the servo
Comfortable
drive then drives the motor following given criteria and yield optimized control loop
tuning
Auto tuning parameters
Control loop Auto adaptive The servo drive automatically identifies the load inertia ratio in real time and sets the control
setting tuning loop parameters with respect to the stiffness
Adaptive notch The servo drive automatically detects the load resonance frequency and sets 1 or 2 sets of
filters built-in notch filters
Cascade control loop
Manual tuning Anti-vibration filters
Manual notch filters
1. Servo enable 2. Alarm clear 3. Parameter set switchover 4. Halt 5. Electronic gear ratio
Control input
switchover [Link] 7. Hardware limit 8. HOME 9. Torque limit 10. Speed limit
1. Servo alarm 2. Servo enable signal 3. Position deviation reached 4. Motor standstill 5.
Control output
Error monitor 6. Warning monitor 7. Homed 8. Motor moving

2-2 TM
2.1.2 Servo Drive Block Diagram

1
2 Overview
Type Selection
External braking resistor

Servo drive

PB

P+

3 Installation
Servo
Inverter circuit U motor
Rectifier bridge

L +

4
V
Motor

Connection
W

Wiring
N

5
power supply
Switching

Front Panel
Protection Gate Encoder
circuit drive

6 Operation
Control circuit

Position pulse

7 Commissioning
CN2
CN 1

Digital input

Digital output

Analog encoder
output
8 Diagnosis

Mini-B
CN3
USB
9 Parameters

TM
2-3
Chap02. Type Selection

2.1.3 Ratings of Servo Drive

Model LXM16D*M2X U01 U02 U04 U07 U10 U15

Nominal input voltage [Vac] Single phase 200...240 Vac, - 10%... + 15%, 50Hz - 5%...60Hz + 5%
Continuous input current [Arms] 1.34 2.59 4.52 7.81 10.13 14.43
Nominal output power [kW] 0.1 0.2 0.4 0.75 1 1.5
Nominal output current [Arms] 0.9 1.55 2.6 5.1 7.3 8.3

2.1.4 Servo Drive Size

Single phase 200Vac 0.1kW...0.4kW (U01/ U02/ U04)

52 155.2 6

5.5
150

φ5.3

4.5
Single phase 200Vac 0.75kW...1.5kW (U07/ U10/ U15)

65 185.2 17
φ5.3
150

139
5.5

2-4 TM
2.2 Type Selection of Servo Motor

1
2.2.1 Specifications of Servo Motor

Overview
Items Specifications
0℃ ~ 40℃ : No condensing and free from icing
Temperature
40℃ ~50℃ : With derating

2
Relative
5% ... 80%, no condensing

Type Selection
humidity
Use <=1000M mean sea level without derating
Environmental Altitude
1000 … 2000M with derating
Conditions Shock 150m/s2
Vibration 0.15mm (10Hz..60Hz), 20m/s2 (10Hz..60Hz)
Temperature -20℃ ~60℃

3 Installation
Storage Relative
<=75%, no condensing
humidity
Installation orientation IM B5, IM V1, IM V3
Protection
Shaft end IP65 (standard oil seal)
class
Housing IP65
Installation Free leads

4
IP65
Grade connector

Connection
Military

Wiring
IP40
connectors
Connection method Flanged connection
Excitation method Permanent magnet synchronous
Insulation grade F

5 Front Panel
2.2.2 Ratings of Servo Motor

Model: BCH16 LB01330*5C HD02330*5C HD04330*5C HF07330*5C

6
Voltage class [Vac] 200···240Vac

Operation
Nominal output [kW] 0.1 0.2 0.4 0.75
Nominal torque [Nm] 0.32 0.64 1.27 2.39
Max. torque [Nm] 0.95 1.91 3.81 7.16
Nominal current [Arms] 1.0 1.6 2.6 4.3

7 Commissioning
Max. current [Arms] 3.0 4.8 8.1 14
Nominal speed of rotation [rpm] 3000 3000 3000 3000
Max. speed of rotation [rpm] 5000 5000 5000 5000
Torque constant [Nm/Arms] 0.32 0.46 0.47 0.56
EMF constant [V/krpm] 23.7 28.0 32.78 37.3
Without holding
8

Moment 0.041 0.42 0.67 1.51

of inertia brake
Diagnosis

[kgcm2] With holding brake 0.047 0.48 0.73 1.64

Protection class Natural cooling, IP65
Flange size [mm] 40 60 60 80
Nominal voltage [V] 24VDC +/-10%
9

Nominal current [A] 0.26 0.308 0.308 0.422

Parameters

Holding torque [Nm] 0.32 1.5 1.5 3.0

Holding brake
specifications Moment of inertia
0.005 0.049 0.049 0.129
[kgcm2]
Release time [ms] 118 25 25 25
Applying time [ms] 15 50 50 50

TM
2-5
Chap02. Type Selection

Model: BCH16 LH10330*6C HM10230*6C HM08130*6C HM15230*6C

Voltage class [Vac] 200···240Vac
Nominal output [kW] 0.1 0.1 0.85 1.5
Nominal torque [Nm] 3.18 4.77 5.39 7.16
Max. torque [Nm] 9.55 14.31 13.8 21.48
Nominal current [Arms] 5.2 6.6 7.0 7.9
Max. current [Arms] 21.8 15.6 18.1 23.7
Nominal speed of rotation [rpm] 3000 2000 1500 2000
Max. speed of rotation [rpm] 5000 3000 3000 3000
Torque constant [Nm/Arms] 0.48 1.0 0.78 1.0
EMF constant [V/krpm] 31.2 60.8 51.7 60.0
Without
2.65 10.88 14.08 14.8
Moment of inertia holding brake
2
[kgcm ] With holding
2.75 11.58 14.78 15.5
brake
Protection class Natural cooling, IP65
Flange size [mm] 100 130 130 130
Nominal
24VDC +/-10%
voltage [V]
Nominal
0.612 0.816 0.816 0.816
current [A]
Holding
6.5 15.0 15.0 15.0
Holding brake torque [Nm]
specifications Moment of
0.078 0.324 0.324 0.324
inertia [kgcm2]
Release time
25 76 76 76
[ms]
Applying time
50 27 27 2
[ms]

2.2.3 Permissible Load at Servo Motor Output Shaft

Admissible shaft strain

Fradial
(shaft center)

F radial

= =

Model: BCH16 LB01 HD02 HD04 HF07 LH10 HM10 HM08 HM15
Max. permissible radial
73.5 197.96 220.5 221.48 343.98 578.2 498.82 709.52
load [N]*1
Max. permissible thrust
12.74 61.74 61.74 61.74 122.3 211.68 176.4 176.4
load [N]*1

*1: Load [N]+/-10%

2-6 TM
2.2.4 Servo Motor Mechanical Size / Overload Characteristics / Speed-torque Curve

1 Overview
■■ BCH16LB01330A5C

12.5

2 Type Selection
300±30

□40 300±30

3 Installation
φ4

（33）
（34）
0
3 -0.025
-0.02

-0.013
0

□42
0
φ30
1.2 -0.1

φ8
0

（19.8）

2-φ4.5

4
2.5
M3*6L 58

Connection
25±1 （98.2）

Wiring
■■ BCH16LB01330F5C

5 Front Panel
12.5

300±30
300±30

□40 300±30

6 Operation
（33）
（34）
φ46 □42
φ8 -0.013
φ30 -0.02
0

0
1.2-0.1
0

7 Commissioning
（19.8）
0
3 -0.025
2-φ4.5 2.5
58
M3*6L 25±1 （131.3）
8

1
1000
Diagnosis

0.8
Torque (Nm)

100
Time (S)

0.6

0.4
10
9

0.2
Parameters

1 0
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Load factor (%) Speed (rpm)

TM
2-7
Chap02. Type Selection

■■ BCH16HD02330A5C

300±30

300±30

4-φ5.5
R P.C.D.φ70
5

20
5 -0.03

M4*15L
0

-0.025
-0.011
0
0
□60

φ50
φ14
25

0 3
2 -0.2
8
30 ±1 （106.5）

■■ BCH16HD02330F5C

300±30mm

4-φ5.5
300±30

P.C.D.φ70
300±30
R5

（43）
25
5 -0.03

20
0

-0.025

-0.011
0

0
φ50

φ14

0
2 -0.2

□60 8
M4*15L 3
30 ±1 （145）

1000 2

1.5
Torque (Nm)

100
Time (S)

10
0.5

1 0
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Load factor (%) Speed (rpm)

2-8 TM
■■ BCH16HD04330A5C

1 Overview
300±30

2
300±30

Type Selection
4-φ5.5
R P.C.D.φ70
5

(43)
20
5 -0.03

M4*15L
0

-0.025

-0.011
□60

3 Installation
0

0
φ50
φ14 25

0 3
2 -0.2
8 （128.5）
30±1

4
■■ BCH16HD04330F5C

Connection
Wiring
300±30

300±30
4-φ5.5

5
P.C.D.φ70
300±30

Front Panel
R5

（43）
20
-0.025
0
□60

6
φ50
5 -0.03

Operation
25
0

-0.011

0 3 8
2 -0.2
0

M4*15L 30±1 （167）

φ14

7 Commissioning
8

1000 4
Diagnosis

3
Torque (Nm)

100
Time (S)

10
9

1
Parameters

1 0
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Load factor (%) Speed (rpm)

TM
2-9
Chap02. Type Selection

■■ BCH16HF07330A5C

300±30

4-φ6.5 300±30
P.C.D.φ90

R8

（53）
28

-0.013
-0.03
0
□80

0
φ70

φ19
6 -0.03
0

36

3
0
2.5 -0.2 7
M5*12L 40±1 (137)

■■ BCH16HF07330F5C

300±30

300±30

300±30

4-φ6.5
R8

P.C.D.φ90

（53）
28
φ70 -0.03
0
□80

φ19 -0.013
6 -0.03

36
0

0 3 7
M5*12L 2.5 -0.2 40±1 （175.3）

1000 8

6
Torque (Nm)

100
Time (S)

10
2

1 0
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Load factor (%) Speed (rpm)

2-10 TM
■■ BCH16HM08130A6C

1
76.7 56.9

Overview
M6*15L

（117.8）

2 Type Selection
（79.5）
6 -0.03
0

-0.022
0
φ110
35

-0.013

3 Installation
0
50

φ22
6
0 11.5 104.4
2.5 -0.2 PCDφ145
58±1 （154.3）
□130 4-φ9

4
■■ BCH16HM08130F6C

Connection
76.7 99.5

Wiring
M6*15L

5
（118.4）

Front Panel
（79.5）
6 -0.03
0

-0.022
0
φ110

35

6
-0.013

50
0

Operation
φ22

0
2.5 -0.2
6
PCDφ145 11.5
147
□130 4-φ9 58±1 （196.9）

7 Commissioning
8

1000 15
Diagnosis

12
Torque (Nm)

100
9
Time (S)

6
10
9

3
Parameters

1 0
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 3000
Load factor (%) Speed (rpm)

TM
2-11
Chap02. Type Selection

■■ BCH16LH10330A6C

□100 （69.5） （46.95）

（102.8）
4-φ9

15

（64.5）
φ1

φ95 -0.035
0
6 -0.03

φ19 -0.013
0

42

0
3
9 96
0
M6*15L 2.5 -0.2 55±1 （139）

■■ BCH16LH10330F6C
(69.5) (87.45)
□100

(103.4)
4-φ9

15
φ1

(64.5)
φ95 -0.035
0
6 -0.03

42
0

-0.013
0
φ19

3
0 9 136.5
M6*15L 2.5 -0.2
55±1 (179.5)

1000 10

8
Torque (Nm)

100
6
Time (S)

4
10

1 0
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Load factor (%) Speed (rpm)

2-12 TM
■■ BCH16HM10230A6C

1 Overview
（66.7） （56.9）

4-φ9
P.C.D.φ145

（117.8）

2
M6*15L

Type Selection
（79.5）
6 -0.03
0

-0.022
0
φ110
35

-0.013

3 Installation
0
50

φ22
0 6 11.5
2.5 -0.2 （94.4）
□130 58±1 （144.3）

4
■■ BCH16HM10230F6C （66.7） 99.5

Connection
Wiring
4-φ9
M6*15L

（118.4）
P.C.Dφ145

5 Front Panel
（79.5）
6 -0.03
0

-0.022
0
φ110

6
35
φ22 -0.013
0

Operation
50

0
2.5 -0.2 6 11.5
（137）
□130 58±1 （186.9）

7 Commissioning
8

1000 15
Diagnosis

12
Torque (Nm)

100
9
Time (S)

6
10
9

3
Parameters

1 0
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 3000
Load factor (%) Speed (rpm)

TM
2-13
Chap02. Type Selection

■■ BCH16HM15230A6C

（81.7） （56.9）

M6*15L

（117.8）
（79.5）
50
6 -0.03 35
0

φ110 -0.022
0

-0.013
0
φ22
0 6 11.5
2.5 -0.2 109.4
PCDφ145
□130 4-φ9 58±1 （159.3）

■■ BCH16HM15230F6C （81.7） （99.5）

（118.4）
（79.5）
50
6 -0.03

35
0

-0.022
0
φ110

φ22 -0.013
0

0 6 11.5
2.5 -0.2 PCDφ145 152
□130 4-φ9 58±1 （201.9）

1000 25

20
Torque (Nm)

100
15
Time (S)

10
10

1 0
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 3000
Load factor (%) Speed (rpm)

2-14 TM
2.3 System Accessories

1
2.3.1 Standard Composition of Servo System with Peripheral Devices

2 Overview
Type Selection
3 Installation
I/O Control interface
Motor protection
cable and adapter
circuit breaker
module

4Connection
Wiring
Input filter
M S CN3

CN2
Band-type brake control cable

5 Front Panel
Contactor
CN1

(L, N)

CHARGE

Motor dynamic cable

6
U External
V

Operation
W braking resistor
PB CNP
P+
L
N

7 Commissioning
Motor encoder cable
Ground terminal

8
9 Diagnosis
Parameters

TM
2-15
Chap02. Type Selection

2.3.2 List of Accessories

Type Model Description

VW3M4A11 Connector kit for servo drive CN1 control interface
VW3M4A21 Connector for servo drive CNP main circuit
VW3M4A31 Connector kit for servo drive CN2 encoder
VW3M5A11 Plastic connector kit for motor power cable, motor end
VW3M5A12 Plastic connector kit for motor holding brake control cable, motor end
Connector VW3M5A21 Military connector kit for motor power cable, motor end
Military connector kit for motor power and holding brake control cable,
VW3M5A22
motor end
VW3M8A11 Plastic connector kit for motor encoder cable, motor end
VW3M8A21 Military connector kit for motor encoder cable, motor end
VW3M2A31 EMC mounting plate for motor power cable shield layer grounding
VW3M5A11R** Motor power cable, plastic connector, 4G0.75mm2, optional length
Motor power cable, plastic connector, 4G0.75mm2, optional length,
VW3M5A11R**S
with shield
VW3M5A21R** Motor power cable, military connector, 4G2.0mm2, optional length
Motor power Motor power cable, military connector, 4G2.0mm2, optional length,
VW3M5A21R**S
cable/ with shield
holding brake Motor power and holding brake control cable, military connector,
control cable VW3M5A22R**
6G2.0mm2, optional length
Motor power and holding brake control cable, military connector,
VW3M5A22R**S
6G2.0mm2, optional length, with shield
Motor holding brake control cable, plastic connector, 2*0.5mm2,
VW3M5A12R**
optional length
Motor encoder cable, plastic connector, 2*0.5+3*2*0.2mm2, optional
VW3M8A11R**
Motor encoder length
cable Motor encoder cable, military connector, 2*0.5+3*2*0.2mm2, optional
VW3M8A21R**
length
Control cable and adapter module kit for servo drive CN1 control
I/O control cable
interface; 1.0m preassembled cable, adapter module with screw-type
and adapter VW3M4A1*
terminal suitable for DIN rail mounting; optional dedicated pulse train
module
voltage level
external braking External braking resistor with connecting cable with optional length;
VW3A760*R**
resistor the power and resistance of resistor are optional
Input filter VW3A44** External input filter for servo drive; optional current
Motor protection
GV2P** Motor protection circuit breaker; optional setting current
circuit breaker
Contactor LC1*** Main power contactor; optional control voltage and load

2-16 TM
2.3.3 Connector

1 Overview
Description Connector kit for servo drive control interface
Model VW3M4A11 Suitable for LXM16DU01..15M2X

2 Type Selection
3 Installation
Parts
Description Model Quantity Manufacturer Remarks
Connector kit 3-2232346-1 1 TE For CN1 (SCSI-26)

4Connection
Wiring
Description Connector for connection of servo drive power input, external braking resistor, and the servo motor power output
Model VW3M4A21 Suitable for LXM16DU01..15M2X

5 Front Panel
P+ PB

6 Operation
Parts
Description Model Quantity Manufacturer Remarks
Connector kit 0150-20-S1384507 1 Dinkle For CNP

7 Commissioning
Description Connector kit for servo drive encoder interface
Model VW3M4A31 Suitable for LXM16DU01..15M2X
8
9 Diagnosis
Parameters

Parts
Description Model Quantity Manufacturer Remarks
Connector kit 54599-1019 1 Molex For CN2 (IEEE-1394, 10-pin)

TM
2-17
Chap02. Type Selection

Description Plastic connector kit for servo motor power interface

Model VW3M5A11 Suitable for BCH16*B/D/F********

2 1

4 3

Parts
Description Model Quantity Manufacturer Remarks
Connector
172159-1 1 TE
chassis
Pin 170362-1 4 TE

Description Plastic connector kit for servo motor power interface

Model VW3M5A12 Suitable for BCH16*B/D/F*****F**

2 1

Parts
Description Model Quantity Manufacturer Remarks
Connector
172157-1 1 TE
chassis
Pin 170362-1 2 TE

Description Military connector kit for servo motor power interface

Model VW3M5A21 Suitable for BCH16*H/M*****A**

A D

B C

Parts
Description Model Quantity Manufacturer Remarks
Connector
MS3108E20-4S 1 Amphenol
kit

2-18 TM
Description Military connector kit for servo motor power and holding brake control interface
Model VW3M5A22 Suitable for BCH16*H/M*****F**

1 Overview
A F
B G E

C D

2 Type Selection
Parts

3 Installation
Description Model Quantity Manufacturer Remarks
Connector
MS3108E20-15S 1 Amphenol
kit

Description Plastic connector kit for servo motor encoder interface

4
Model VW3M8A11 Suitable for BCH16*B/D/F********

Connection
Wiring
3 2 1

5
6 5 4
9 8 7

6 Front Panel
Parts
Description Model Quantity Manufacturer Remarks

Operation
Connector
172161-1 1 TE
chassis
Pin 170361-1 9 TE

7 Commissioning
Description Military connector kit for servo motor encoder interface
Model VW3M8A21 Suitable for BCH16*H/M********

20-18
A H G
B I F
8

C E
Diagnosis

D
9 Parameters

Parts
Description Model Quantity Manufacturer Remarks
Connector
MS3108E20-18S 1 Amphenol
kit

TM
2-19
Chap02. Type Selection

2.3.4 Motor Power / Holding Brake Control Cable

Description Servo motor power cable; without shield layer; plastic connector
Model VW3M5A11R** Suitable for BCH16*B/D/F********

1 U Red
2 V White 35 35
3 W Black
Yellow/ U
4 F/G
green VW3M5A11R10
YYWWXXXXX
V
W

PE

40±5 20 20 100
L

Length L (m) Model

Parts 1.5 VW3M5A11RA5
Description Model Quantity Manufacturer 3 VW3M5A11R03
Connector
172159-1 1 TE 5 VW3M5A11R05
chassis
Pin 170362-1 4 TE 10 VW3M5A11R10
Cable UL2586-SB18AWG-4C ** SK TEC 15 VW3M5A11R15
I-type lug AI 0.75-10 3 Phoenix Con- 20 VW3M5A11R20
Y-type lug C-FCI 1.5/M4 1 tact 25 VW3M5A11R25

Description Servo motor power cable; with shield layer; plastic connector
Model VW3M5A11R**S Suitable for BCH16*B/D/F********
1 U Red
2 V White 35 35
3 W Black 20 20
Yellow/
4 F/G
green U
VW3M5A11R10S
YYWWXXXXX
V
W

PE

40±5 20 50 150
L

Length L (m) Model

Parts 1.5 VW3M5A11RA5S
Description Model Quantity Manufacturer 3 VW3M5A11R03S
Connector
172159-1 1 TE 5 VW3M5A11R05S
chassis
Pin 170362-1 4 TE 10 VW3M5A11R10S
Cable UL2586-SB18AWG-4C-Shield ** SK TEC 15 VW3M5A11R15S
I-Type lug AI 0.75-10 3 Phoenix Con- 20 VW3M5A11R20S
Y-type lug C-FCI 1.5/M4 1 tact 25 VW3M5A11R25S

2-20 TM
Description Servo motor power cable; without shield layer; without holding brake control; military connector
Model VW3M5A21R** Suitable for BCH16*H/M*****A**

1
1 U Red 35

Overview
2 V White 20
3 W Black U
Yellow/
4 F/G VW3M5A21R10 V
green
YYWWXXXXX

2
W

Type Selection
PE

100

3 Installation
Length L (m) Model
Parts 1.5 VW3M5A21RA5
Name Model Quantity Manufacturer 3 VW3M5A21R03
Military
MS3108E20-4S 1 Amphenol 5 VW3M5A21R05
connector
Cable UL2586-SB14AWG-4C ** SK TEC 10 VW3M5A21R10
I-type lug AI 2.5-12 3 Phoenix 15 VW3M5A21R15

4
Y-type lug C-FCI 2.5/M4 1 Contact 20 VW3M5A21R20

Connection
25 VW3M5A21R25

Wiring
Description Servo motor power cable; with shield layer; without holding brake control; military connector
Model VW3M5A21R**S Suitable for BCH16*H/M*****A**

5
1 U Red 35

Front Panel
2 V White 20
3 W Black
Yellow/
U
4 F/G V
green
VW3M5A21R10S
YYWWXXXXX

6
PE

Operation
20 50 150

7 Commissioning
Length L (m) Model
Parts 1.5 VW3M5A21RA5S
Name Model Quantity Manufacturer 3 VW3M5A21R03S
MILITARY
MS3108E20-4S 1 Amphenol 5 VW3M5A21R05S
connector
Cable UL2586-SB14AWG-4C-Shield ** SK TEC 10 VW3M5A21R10S
I-type lug AI 2.5-12 3 Phoenix 15 VW3M5A21R15S
8

Y-type lug C-FCI 2.5/M4 1 Contact 20 VW3M5A21R20S

25 VW3M5A21R25S
9 Diagnosis
Parameters

TM
2-21
Chap02. Type Selection

Servo motor power and holding brake control cable; without shield layer; with holding brake control; military
Description
connector
Model VW3M5A22R** Suitable for BCH16*H/M*****F**
1 U Red 35
500
2 V White BK+
3 W Black 20 BK-

Yellow/
4 F/G
green U

5 BK+ Blue VW3M5A22R10

YYWWXXXXX V

6 BK- Yellow W

PE

100

L
Length L (m) Model
Parts 1.5 VW3M5A22RA5
Name Model Quantity Manufacturer 3 VW3M5A22R03
Military
MS3108E20-15S 1 Amphenol 5 VW3M5A22R05
connector
Cable UL2586-SB14AWG-6C ** SK TEC 10 VW3M5A22R10
I-type lug AI 2.5-12 5 Phoenix 15 VW3M5A22R15
Y-type lug C-FCI 2.5/M4 1 Contact 20 VW3M5A22R20
25 VW3M5A22R25

Servo motor power and holding brake control cable; with shield layer, with holding brake control; military
Description
connector
Model VW3M5A22R**S Suitable for BCH16*H/M*****F**
1 U Red 35
550
2 V White
3 W Black 20 BK+
BK-
Yellow/
4 F/G
green U
5 BK+ Blue VW3M5A22R10S
YYWWXXXXX V
6 BK- Yellow W

PE

20 50 150

L
Length L (m) Model
Parts 1.5 VW3M5A22RA5S
Name Model Quantity Manufacturer 3 VW3M5A22R03S
Military
MS3108E20-15S 1 Amphenol 5 VW3M5A22R05S
connector
Cable UL2586-SB14AWG-6C-Shield ** SK TEC 10 VW3M5A22R10S
I-type lug AI 2.5-12 5 Phoenix 15 VW3M5A22R15S
Y-type lug C-FCI 2.5/M4 1 Contact 20 VW3M5A22R20S
25 VW3M5A22R25S

2-22 TM
Description Servo motor holding brake control cable; without shield layer; plastic connector
Model VW3M5A12R** Suitable for BCH16*B/D/F*****F**

1
1 BK+ White

Overview
2 BK- Black
40±5 100

VW3M5A12R10
BK+

2
YYWWXXXXX
BK-

Type Selection
20 20
35 35
L

3 Installation
Length L (m) Model
Parts 1.5 VW3M5A12RA5
Name Model Quantity Manufacturer 3 VW3M5A12R03
Connector
172157-1 1 TE 5 VW3M5A12R05
chassis
Pin 170362-1 2 TE 10 VW3M5A12R10
Cable UL2464-SB20AWG-2C ** SK TEC 15 VW3M5A12R15

4
Phoenix
I-type lug AI 0.75-10 2 20 VW3M5A12R20

Connection
Contact

Wiring
25 VW3M5A12R25

5
6 Front Panel
Operation
7 Commissioning
8
9 Diagnosis
Parameters

TM
2-23
Chap02. Type Selection

2.3.5 Motor Encoder Cable

Description Servo motor; with shield layer; plastic connector

Model VW3M8A11R** Suitable for BCH16*B/D/F********
1 5V Black
2 0V Red
3 A White
50
4 /A Green
5 B Yellow
6 /B Blue VW3M8A11R10
YYWWXXXXX

7 Z Grey
8 /Z Orange L
9 Shield

Length L (m) Model

Parts 1.5 VW3M8A11RA5
Name Model Quantity Manufacturer 3 VW3M8A11R03
Connector
172161-1 1 TE 5 VW3M8A11R05
chassis
Pin 170361-1 9 TE 10 VW3M8A11R10
Cable UL2464-SB20AWG-2C + 24AWG-3P ** SK TEC 15 VW3M8A11R15
Connector
54599-1019 1 Molex 20 VW3M8A11R20
kit
25 VW3M8A11R25

Description Servo motor encoder cable; with shield layer; military connector
Model VW3M8A21R** Suitable for BCH16*H/M********

VW3M8A21R10
YYWWXXXXX

50

Length L (m) Model

Parts 1.5 VW3M8A21RA5
Name Model Quantity Manufacturer 3 VW3M8A21R03
Military
MS3108E20-18S 1 Amphenol 5 VW3M8A21R05
connector
Cable UL2464-SB20AWG-2C + 24AWG-3P ** SK TEC 10 VW3M8A21R10
Connector
54599-1019 1 Molex 15 VW3M8A21R15
kit
20 VW3M8A21R20
25 VW3M8A21R25

2-24 TM
2.3.6 I/O Control Cable and Adapter Module

1 Overview
Description I/O control cable and adapter module
Model VW3M4A1* Suitable for LXM16DU01..15M2X

L=1m

2
4 Type Selection
3 Installation
Connection
Wiring
Parts

5
Description Model Quantity Manufacturer Remarks

Front Panel
Control Dedicated to 24V open collector pulse
VW3M4A12 1
cable and Schneider train input
adapter Electric Dedicated to 3.3V high-speed pulse train
VW3M4A15 1
module input

6
8
9 Operation
7 Commissioning
Diagnosis
Parameters

TM
2-25
Chap02. Type Selection

2.3.7 External Braking Resistor

Description External braking resistor for servo drive

Model VW3A760*R** Suitable for LXM16DU01..15M2X

Parts
Description Model Quantity Manufacturer Remarks
VW3A7605R07 1 72 Ohm, 100 W, 0.75 m cable
VW3A7605R20 1 72 Ohm, 100 W, 2.0 m cable
VW3A7605R30 1 72 Ohm, 100 W, 3.0 m cable
VW3A7606R07 1 72 Ohm, 200 W, 0.75 m cable
VW3A7606R20 1 72 Ohm, 200 W, 2.0 m cable
External VW3A7606R30 1 Schneider 72 Ohm, 200 W, 3.0 m cable
braking VW3A7607R07 1 72 Ohm, 400 W, 0.75 m cable
Electric
Resistor
VW3A7607R20 1 72 Ohm, 400 W, 2.0 m cable
VW3A7607R30 1 72 Ohm, 400 W, 3.0 m cable
VW3A7608R07 1 100 Ohm, 100 W, 0.75 m cable
VW3A7608R20 1 100 Ohm, 100 W, 2.0 m cable
VW3A7608R30 1 100 Ohm, 100 W, 3.0 m cable

2-26 TM
Description External braking resistor for servo drive
Model VW3A760*R** Suitable for LXM16DU07/10/15M2X

1
2 Overview
Type Selection
3 Installation
Parts
Description Model Quantity Manufacturer Remarks
VW3A7602R07 1 27 Ohm, 100 W, 0.75 m cable
VW3A7602R20 1 27 Ohm, 100 W, 2.0 m cable
VW3A7603R07 1 27 Ohm, 200 W, 0.75 m cable
External VW3A7603R20 1 Schneider 27 Ohm, 200 W, 2.0 m cable

4
braking VW3A7603R30 1 27 Ohm, 200 W, 3.0 m cable
Electric
Resistor

Connection
VW3A7604R07 1 27 Ohm, 400 W, 0.75 m cable

Wiring
VW3A7604R20 1 27 Ohm, 400 W, 2.0 m cable
VW3A7604R30 1 27 Ohm, 400 W, 3.0 m cable

5
6 Front Panel
Operation
7 Commissioning
8
9 Diagnosis
Parameters

TM
2-27
Chap02. Type Selection

2.3.8 Input Filter

Description Noise filter for external power supply at servo drive input power side
Model VW3A442*

Parts
Description Model Specifications Manufacturer Suitable for
Single- VW3A4420 9 A, 115/230 Vac LXM16DU01/02/04M2X
Schneider
phase power
VW3A4421 16 A, 115/230 Vac Electric LXM16DU07/10/15M2X
supply Filter

2-28 TM
2.3.9 Motor Protection Circuit Breaker and Contactor

1 Overview
Description Motor protection circuit breaker at servo drive input power side
Model GV2P**

2 Type Selection
3 Installation
Parts
Description Model Specifications Manufacturer Suitable for
Motor GV2P14 6..10 A LXM16DU01/02/04/07/10M2X
protection Schneider

4
circuit GV2P16 9..14 A Electric LXM16DU15M2X

Connection
breaker

Wiring
Description Main power contactor; optional control voltage and load
Model LC1D****

5
6 Front Panel
Operation
7 Commissioning
Parts
Description Model Specifications Manufacturer Suitable for
Motor LC1D09** 9A LXM16DU01/02/04/07M2X
protection LC1D12** 12 A Schneider LXM16DU10M2X
circuit Electric
LC1D18** 18 A LXM16DU15M2X
breaker
8

(**) Control voltage:

●● B7 - AC24 V
Diagnosis

●● M7 - AC220 V
●● BD - DC24 V
9 Parameters

TM
2-29
Chap03. Installation

3.1 Before Installation.................................................................................................. 3-1

3.1.1 Electromagnetic Compatibility (EMC)...................................................................................... 3-1

3.1.2 Residual Current Device.......................................................................................................... 3-2

3.1.3 Cables...................................................................................................................................... 3-2

3.2 Drive Installation.................................................................................................... 3-4

3.2.1 On opening the product package............................................................................................. 3-4

3.2.2 Installation Conditions.............................................................................................................. 3-4

3.2.3 Mounting Hole Dimensions...................................................................................................... 3-5

3.3 Motor Installation................................................................................................... 3-6

3.3.1 On opening the product package............................................................................................. 3-6

3.3.2 Installation Conditions.............................................................................................................. 3-6

3.1 Before Installation

1
3.1.1 Electromagnetic Compatibility (EMC)

Overview
Signal interference can cause unexpected responses of the drive and of other equipment in the vicinity of the drive.

WARNING

2 Type Selection
SIGNAL AND EQUIPMENT INTERFERENCE
• Only operate the drive with the specified external mains filter.
• Install the wiring in accordance with the EMC requirements described in the present document.
• Verify compliance with the EMC requirements described in the present document.
• Verify compliance with all EMC regulations and requirements applicable in the country in which the product is to be operated and with all
EMC regulations and requirements applicable at the installation site.
Failure to follow these Instructions can result in death, serious injury, or equipment damage.

3 Installation
This product meets the EMC requirements according to the standard IEC 61800-3 if the measures described in this
manual, and in particular the installation of the mains filters, are implemented during installation.

WARNING

4
ELECTROMAGNETIC DISTURBANCES OF SIGNALS AND DEVICES

Connection
Use proper EMC shielding techniques to help prevent unintended device operation in accordance with the standard IEC 61800-3.

Wiring
Failure to follow these Instructions can result in death, serious injury, or equipment damage.

These types of devices are not intended to be used on a low-voltage public network which supplies domestic
premises. Radio frequency interference is expected if used in such a network.

5
WARNING

Front Panel
RADIO INTERFERENCE
Do not use these products in domestic electrical networks.
Failure to follow these Instructions can result in death, serious injury, or equipment damage.

6
As a system provider, you may have to include this information in the documentation to your customer.

Operation
Be sure to take into account the EMC requirements of control cabinet when installing the equipment therein:

EMC Measures Objective

Use mounting plates with good electrical conductivity, connect large Good conductivity due to large

7 Commissioning
surface areas of metal parts, remove paint from contact areas. surface contact.
Ground the control cabinet, the control cabinet door, and the
mounting plate with ground straps or ground wires. The conductor Reduces emissions.
cross section must be at least 10 mm2 (AWG 6).
Install switching devices such as power contactors, relays,
or solenoid valves with interference suppression units or arc Reduces mutual interference
8

suppressors (for example, diodes, varistors, RC circuits).

Diagnosis

Do not install power components and control components adjacent to

Reduces mutual interference
one another.

Depending on the application, the following measures can improve the EMC-dependent values:
9

EMC measures Objective

Parameters

Reduces mains harmonics,

Use mains reactors.
prolongs product service life.
Mount in a closed control cabinet with shielded attenuation of Improves the EMC limit
radiated interference values.

TM
3-1
Chap03. Installation

3.1.2 Residual Current Device

Direct current can be introduced in the protective ground conductor of this drive. If a residual current device (RCD /
GFCI) or a residual current monitor (RCM) is used for protection against direct or indirect contact, the following
specific types must be used:

WARNING
DIRECT CURRENT CAN BE INTRODUCED INTO THE PROTECTIVE GROUND CONDUCTOR
• Use a Type A Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) for single-phase drives connected to a phase
and to the neutral conductor.
• Use a Type B Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) that has approval for use with frequency
inverters and is sensitive to all types of current for three-phase drives and for single-phase drives not connected to a phase and the
neutral conductor.
Failure to follow these Instructions can result in death, serious injury, or equipment damage.

• T
 he drive has an increased leakage current at the moment power is applied. Use residual current devices with a
response relay.
• High-frequency currents must be filtered.

3.1.3 Cables

Cables must not be twisted, stretched, crushed or bent. Use only the cables that comply with the cable specification.
Consider the following in determining suitability of the cables:

• Suitable for drag chain applications

• Temperature range
• Chemical resistance
• Outdoor installation
• Underground installation

Potential differences can result in excessive currents on the cable shields. Use equipotential bonding conductors to
reduce currents on the cable shields

WARNING
UNINTENDED EQUIPMENT OPERATION
• Ground cable shields for all fast I/O, analog I/O, and communication signals at a single point.” (1)
• Route communications and I/O cables separately from power cables.
Failure to follow these Instructions can result in death, serious injury, or equipment damage.

(1): Multipoint grounding is permissible if connections are made to an equipotential ground plane dimensioned to help
avoid cable shield damage in the event of power system short-circuit currents.

The equipotential bonding conductor must be rated for the maximum current. The following conductor cross sections
can be used:

• 16 mm2 (AWG 4) for equipotential bonding conductors up to a length of 200 m (656 ft)
• 20 mm2 (AWG 4) for equipotential bonding conductors with a length of more than 200 m (656 ft)

The following sections describe the conductor cross sections for two methods of installation:

• Method of installation B2:

Cables in conduits or cable trunking system
• Method of installation E:
Cables on open cable trays

3-2 TM
 Current carrying capacity with Current carrying capacity with
Cross section in mm2 (AWG) (1)
method of installation B2 in A (2) method of installation E in A (2)

1
0.75 (18) 8.5 10.4

Overview
1 (16) 10.1 12.4
1.5 (14) 13.1 16.1
2.5 (12) 17.4 22
4 (10) 23 30

2
6 (8) 30 37

Type Selection
10 (6) 40 52
16 (4) 54 70
25 (2) 70 88
(1) See chapter “2.3 System Accessories” for available cables.
(2) Values as per IEC 60204-1 for continuous operation, copper conductors, and ambient air temperature

3 Installation
40℃ (104 ℉ ); see IEC 60240-1 for additional information.

Please note the derating factor for grouping of cables and the correction factors for other ambient conditions
(IEC 60204-1).
The conductors must have a sufficiently large cross section so that the upstream fuse can trip.
In the case of longer cables, it may be necessary to use a greater conductor cross section to reduce the energy loss.

4
5
6
9Connection
Wiring
Front Panel
Operation
7 Commissioning
8 Diagnosis
Parameters

TM
3-3
Chap03. Installation

3.2 Drive Installation

3.2.1 On opening the product package

Please check upon opening the product package:

• Make sure that the model is what you have ordered.
• Check if the product is damaged or not during transportation.
• Check if the Safety and Environment Statement is included or not.
• Check it the Quick Start Manual is included or not.
• Check if the protective film over the servo drive top ventilation holes is damaged or not.
• Check if the connector for servo drive power supply, external braking resistor and motor output is included or not.
(Neither the I/O control connector nor encoder connector are included)
Contact your dealer for any failure

3.2.2 Installation Conditions

[Link] Control Cabinet

With a protection degree of IP20, the servo drive must be installed in a control cabinet (enclosure) designed with
adequate protection degree. The control cabinet (enclosure) must have a sufficient size so that all devices and
components can be permanently installed and wired in compliance with the EMC requirements.
The ventilation of the control cabinet must be sufficient to comply with the specified ambient conditions for the devices
and components operated in the control cabinet.
Install and operate this equipment in a control cabinet rated for its intended environment and secured by a keyed or
tooled locking mechanism.

[Link] Installation Orientation

The servo drive must be mounted vertically (+/-10o); please use two mounting holes (the location of the mounting
holes varies with respect to the servo drive model) to securely mount the servo drive to the mounting surface.
Painted surfaces may create electrical resistance or isolation. Before mounting the device to a painted mounting plate,
remove all paint across a large area of the mounting points.

[Link] Mounting Distance and Ventilation

When selecting the position of the device in the control cabinet (enclosure), note the following. This requirement is
also applicable when installing more than one servo drive in a line:
• Mount the device so that the front panel (HMI displaying surface) is facing toward the operator.
• Mount the device in a vertical position ( ± 100). This is required for cooling the device.
• Adhere to the minimum installation distances for required cooling. Avoid heat accumulations.
• Do not mount the device close to heat sources.
• Do not mount the device on or near flammable materials.
• The heated airflow from other devices and components must not heat up the air used for cooling the device.
• The connection cables of the devices are routed to the top and to the bottom. The minimum distances must be
adhered to for air circulation and cable installation.

Distance Unit Values

a Free space a Above the device mm >=50 mm
c
d d d d Free space b Under the device mm >=50 mm
Free space c In front of the
mm >=70 mm
device(1)
Free space d Between devices mm >=50 mm
(1) The free space is strictly for observing proper
ventilation and may not be sufficient for your wiring
requirements.

3-4 TM
3.2.3 Mounting Hole Dimensions

1 Overview
Use mounting holes to securely mount the servo drive to the mounting surface. To mount the servo drive, please use
a phillips screwdriver that is longer than the depth of servo drive.

■ Mounting hole dimensions of Size1 0.1kW / 0.2kW / 0.4kW servo drives:

2 Type Selection
6

5.5

3 Installation
4Connection
Wiring
6

φ5.3
4.5

5 Front Panel
■ Mounting hole dimensions of Size2 0.75kW / 1.0kW / 1.5kW servo drives:

6
17
φ5.3

Operation
7 Commissioning
139

8
9 Diagnosis
5.5

Parameters

TM
3-5
Chap03. Installation

3.3 Motor Installation

3.3.1 On opening the product package

Please check upon opening the product package:

• Make sure that the model is what you have ordered.

• Check if the product is damaged or not during transportation.
• Check if the Safety and Environment Statement is included or not.
• Check if the servo motor is provided with a protective cap on its output shaft.

Contact your dealer for any failure

3.3.2 Installation Conditions

[Link] Installation Orientation

The following mounting positions are defined and permissible as per IEC 60034-7:

IM B5 IM V1 IM V3

[Link] Connecting Servo Motor to Machine

Consider the extremely large mass of servo motor, essential care must be taken to avoid any injury or equipment
damage during mounting.
The servo motor output shaft is coated with anticorrosive oil. Thoroughly remove the oil prior to installation.
Align the shaft of the servo motor with the shaft of the machine, and then couple the shafts. Install the servo motor so
that alignment accuracy falls within the following range. Vibration will damage the bearings or encoders if the shafts
are not properly aligned.

Core alignment accuracy

Measurement is 4 taken
at circumference, and the difference
between max. and min. values is
less than 0.03 mm (rotating with
coupling.)

When the servo motor is mounted to the mounting surface, it must be accurately aligned axially and radially and make
even contact with the mounting surface. No uneven mechanical load may be applied while the mounting screws are
tightened. All mounting screws must be tightened with the specified tightening torque.
Refer to chapter 2 Type Selection of Servo Motor for flange dimensions and mounting screws model.
Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder mounted on the
opposite end of the shaft may be damaged.

3-6 TM
[Link] Other Precautions

1 Overview
■ Oil and water countermeasures:
1. Keep the oil surface at servo motor mounting point under the oil seal lip
2. To avoid excessive wear of oil seal, use the oil seal in favorably lubricated condition
3. When using a servo motor with its shaft in upward direction (IM V3), be sure that the oil will not stay in the oil seal lip.

2
■ Cable stress:

Type Selection
When handling or mounting the servo motor, hold the servo motor rather than its cables or connectors, otherwise the connectors, power
cable, holding brake control cable and encoder cable will be damaged.
Make sure there are no bends or tension on the servo motor power cable, holding brake control cable or encoder cable to avoid stress.
Securely fix the servo motor power cable, holding brake control cable and encoder cable so that they are not subject to any bends or
tension or stress, also to avoid them from been damaged because of wear or fatigue.

3 Installation
■ Connectors:
Note the following precautions:
1. Visually check the connector and pins inside to make sure they are free from damage, breakage or deformation.
2. Make sure there is no foreign matters such as dust and metal chips in the connector.
3. Make sure of the pin arrangement.
4. Do not apply shock to connectors. Otherwise, they may be damaged.
5. Fix the connectors to 100mm/130mm flange servo motors with screw. Make sure the connectors are securely fixed with screws.

4Connection
Wiring
■ Radial and thrust loads:
Design the mechanical system so radial and thrust loads applied to the servo motor shaft end during operation fall within the allowable
ranges of each motor. Refer to Chapter 2 Type Selection of Servo Motor for the allowable ranges.

5
6 Front Panel
Operation
7 Commissioning
8
9 Diagnosis
Parameters

TM
3-7
Chap04. Wiring

4.1 Wiring of Servo Drive............................................................................................ 4 -1

4.1.1 Precautions.............................................................................................................................. 4-1
4.1.2 Standard Composition of Servo System with Peripheral Devices........................................... 4-2

4.1.3 Connecting Main Circuit (CNP) ............................................................................................... 4-2

4.1.4 Connecting I/O Control Interface (CN1) .................................................................................. 4-6

4.1.5 Connecting Encoder Interface (CN2) ...................................................................................... 4-9

4.1.6 Connecting Commissioning Interface (CN3)......................................................................... 4-10

4.1.7 Connecting Ground Screws................................................................................................... 4-10

4.2 Wiring of Servo Motor.......................................................................................... 4-11

4.2.1 Connector Pin Assignment.................................................................................................... 4-11
4.2.2 Connection of Motor and Encoder......................................................................................... 4-12

4.2.3 Connecting Cables................................................................................................................ 4-12

4.2.4 Connection of Holding Brake................................................................................................. 4-13

4.1 Wiring of Servo Drive

1
4.1.1 Precautions

Overview
Please pay attention to the following precautions prior to the wiring of servo drive:

2
DANGER

Type Selection
INSUFFICIENT GROUNDING
• Use a protective ground conductor with at least 10 mm2（AWG 6）or two protective ground conductors with the cross section of the
conductors supplying the power terminals.
• Verify compliance with all local and national electrical code requirements as well as all other applicable regulations with respect to
grounding of the entire drive system.
• Ground the drive system before applying voltage.
• Do not use conduits as protective ground conductors; use a protective ground conductor inside the conduit.

3 Installation
• Do not use cable shields as protective ground conductors.
• Keep foreign objects from getting into the product.
• Verify the correct seating of seals and cable entries in order to avoid contamination such as deposits and humidity.
Failure tofollowthese instructions will result in death or serious injury .

Direct current can be introduced in the protective ground conductor of this drive. If a residual current device (RCD /

4
GFCI) or a residual current monitor (RCM) is used for protection against direct or indirect contact, the following

Connection
Wiring
specific types must be used:

WARNING

5
DIRECT CURRENT CAN BE INTRODUCED INTO THE PROTECTIVE GROUND CONDUCTOR
• Use a Type A Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) for single-phase drives connected to a phase

Front Panel
and to the neutral conductor.
• Use a Type B Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) that has approval for use with frequency
inverters and is sensitive to all types of current for three-phase drives and for single-phase drives not connected to a phase and the
neutral conductor.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

6 Operation
The entire installation procedure must be performed without voltage present.

7 Commissioning
8
9 Diagnosis
Parameters

TM
4-1
Chap04. Wiring

4.1.2 Standard Composition of Servo System with Peripheral Devices

Overview of Interfaces

I/O Control interface

Motor protection
cable and adapter
circuit breaker
module

Input filter
M S CN3

CN2
Band-type brake control cable

Contactor
CN1

(L, N)

CHARGE
Motor dynamic cable
U External
V
W
braking resistor
PB CNP
P+
L
N

Motor encoder cable Name Description

Ground terminal
CNP Main circuit interface of servo drive
CN1 I/O control interface of servo drive
CN2 Encoder interface of servo drive
CN3 Commissioning interface of servo drive

4.1.3 Connecting Main Circuit (CNP)

Main circuit interface (CNP) is a combined interface that includes:

• Servo drive power input (L, N)
• External braking resistor (P+, PB)
• Servo motor power output (U, V, W)

[Link] Connecting Power Input to Servo Drive

Wiring diagram:
U
V
W
PB
P+
L
~220V
N

• All servo drives must be connected via a single-phase.

• Only TT and TN grounding system are approved rather than IT grounding system.
The contact current of this product is greater than [Link] product has a touch current greater than 3.5 mA. If the
protective ground connection is interrupted, a hazardous touch current may flow if the housing is touched.

4-2 TM
 DANGER

1
INSUFFICIENT GROUNDING

Overview
• Use a protective ground conductor with at least 10 mm2 (AWG 6) or two protective ground conductors with the cross section of the
conductors supplying the power terminals.
• Verify compliance with all local and national electrical code requirements as well as all other applicable regulations with respect to
grounding of the entire drive system.
• Ground the drive system before applying voltage.
• Do not use conduits as protective ground conductors; use a protective ground conductor inside the conduit.

2
• Do not use cable shields as protective ground conductors.

Type Selection
• Keep foreign objects from getting into the product.
• Verify the correct seating of seals and cable entries in order to avoid contamination such as deposits and humidity.
Failure to followthese instructions will result in death or serious injury.

WARNING

3 Installation
INCORRECT MAINS VOLTAGE
Verify that the product is approved for the mains voltage before applying power and configuring the product.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The equipment, drives and motors, are intended for industrial use and may only be operated with a permanently

4
installed connection.

Connection
Prior to connecting the equipment, verify the approved mains types， refer to “2.1 Type Selection of Servo Drive” for

Wiring
further information.

Cable Specifications

5
Shield: -

Front Panel
Twisted pair: -
PELV: -
The conductors must have a sufficiently large cross section so that
Cable composition:
the fuse at the mains connection can trip if required.
Max. cable length: 3m

6
Special characteristics: -

Operation
Properties of the terminals
The terminals are approved for stranded conductors and solid conductors. Use type-I lugs if stranded conductors are
used.

7 Commissioning
LXM16D Unit U01, U02, U04, U07, U10, U15
Connection cross section mm2 0.5 ... 2.0
Stripping (lug) length mm 10 ... 15
8
9 Diagnosis
Parameters

TM
4-3
Chap04. Wiring

[Link] Connecting External Braking Resistor

WARNING
HOT SURFACES
• Ensure that it Is not possible to make any contact with a hot braking resistor.
• Do not allow flammable or heat-sensitive parts In the immediate vicinity of the braking resistor.
• Verify that the heat dissipation is sufficient by performing a test run under maximum load conditions.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

When sizing an external braking resistor, note the following:

Min. resistance of external Max. power of external

Drive References
braking resistor ( Ω ) braking resistor (W)
LXM16DU01 / 02 / 04 36 200
LXM16DU07 / 10 / 15 20 600

Wiring diagram:

U
V
W
PB
P+
L
N

An insufficiently rated braking resistor can cause overvoltage on the DC bus. Overvoltage on the DC bus causes the
power stage to be disabled.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Verify that the braking resistor has a sufficient rating by performing a test run under maximum load conditions.
• Verify that the parameter settings for the braking resistor are correct.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

This device does not equip any internal braking resistor. An external braking resistor is required for applications in which
the motor must be decelerated quickly and the internal braking resistor cannot absorb the excess braking energy.
Refer to chapter 2.3.7 External Braking Resistor when sizing an external braking resistor.

Shield: Required, both ends grounded

Twisted pair: -
PELV: -
Min. conductor cross section: Same cross section as logic supply.
Cable composition: The conductors must have a sufficiently large cross section so that the fuse
at the mains connection can trip if required.
Max. cable length: 3m (9.84ft)
Special
Temperature resistance
characteristics:

The braking resistors listed in chapter “2.3.6 External Braking Resistor” have a 3-wire, temperature-resistant
cable with length of 0.75m to 3m.

4-4 TM
 Properties of the Terminals
The terminals are approved for stranded conductors and solid conductors. Use type-I lugs if stranded conductors

1
are used.

Overview
LXM16D Unit U01, U02, U04, U07, U10, U15
Connection Cross Section mm2 0.5 ... 2.0
Stripping (lug) length mm 10 ... 15

2
Connecting the External Braking Resistor

Type Selection
• Remove power from all supply [Link] the safety instructions concerning electrical installation.
• Verify that no voltages are present.
• Ground the ground connection (PE) of the braking resistor.
• Connect the external braking resistor to the device.
• Connect a large surface area of the cable shield to the central grounding point of your system.

3 Installation
DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
• Disconnect all power from all equipment including connected devices prior to removing any covers or doors, or installing or removing any
accessories, hardware, cables, or wires.

4
• Place a "Do Not Turn On" or equivalent hazard label on all power switches and lock them in the non- energized position.

Connection
• Wait 15 minutes to allow the residual energy of the DC bus capacitors to discharge.

Wiring
• Do not assume that the DC bus is voltage-free when the DC bus LED is off.
• Block the motor shaft to prevent rotation prior to performing any type of work on the drive system.
• Do not create a short-circuit across the DC bus terminals or the DC bus capacitors.
• Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper ground connection exists before
applying power to the unit.

5
• Use only the specified voltage when operating this equipment and any associated products.
Failure to follow these instructions will result in death or serious injury.

Front Panel
[Link] Connecting Servo Motor Power

Wiring diagram:

6
U

Operation
V M
W
PB
3~
P+
L

7 Commissioning
N

High voltages may be present at the motor connection. The motor itself generates voltage when the motor shaft is
rotated. AC voltage can couple voltage to unused conductors in the motor cable. 8

DANGER
Diagnosis

ELECTRIC SHOCK
• Verify that no voltage is present prior to performing any type of work on the drive system.
• Block the motor shaft to prevent rotation prior to performing any type of work on the drive system.
• Insulate both ends of unused conductors of the motor cable.
• Supplement the motor cable grounding conductor with an additional protective ground conductor to the motor housing.
• Verify compliance with all local and national electrical code requirements as well as all other applicable regulations with respect to
9

grounding of all equipment.

Parameters

Failure to follow these instructions will result in death or serious injury.

Incorrect wiring of the motor connection may cause live wires to be exposed outside of the motor connector.

TM
4-5
Chap04. Wiring

DANGER
ELECTRIC SHOCK CAUSED BY INCORRECT WIRING
• Verify that the protective ground connection (PE) of the device is connected to ground.
• Do not remove the cable end (ferrule) from the protective ground terminal (PE) of the motor connector until you are prepared.
• Verify that no bare metal of the wires is exposed outside of the motor connector housing when wiring the motor connector.
• Regularly, as part of a maintenance plan, assure that the motor wires are secured in the terminals of the motor connector due to vibration
or other influences.
Failure to follow these instructions will result in death or serious injury.

Drive systems may perform unintended movements if unapproved combinations of drive and motor are [Link] if
motors are similar, different adjustment of the encoder system may be a source of [Link] if the connectors for
motor connection and encoder connection match mechanically, this does not imply that the motor is approved for use.

WARNING
UNINTENDED MOVEMENT
Only use approved combinations of drive and motor.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Compatibility between Servo Drive and Servo Motor is defined in the table in chapter “1.4 Confirming the Mating of
Servo Drive and Servo Motor”

Cable Specifications

Shield: Required, both ends grounded

Twisted pair: -
PELV: The holding brake control wire must be PELV-compliant.
3 wires for motor phases
Cable
The conductors must have a sufficiently large cross section so that the fuse at
composition:
the mains connection can trip if required.
Max. cable Depends on the required limit values for conducted interference.
length: Max. length: 25m
Special
Contains wires for the temperature sensor
characteristics:

Properties of the Terminals

The terminals are approved for stranded conductors and solid conductors. Use type-I lugs if stranded conductors are
used.
LXM16D Unit U01, U02, U04, U07, U10, U15
Connection cross section mm2 0.5 ... 2.0
Stripping (lug) length mm 10 ... 15

4.1.4 Connecting I/O Control Interface (CN1)

CN1 interface is a SCSI-26 connector for I/O control connection between controller and servo drive.
The connector consists of:
• Pulse train input interface
• Digital input/output interface
• Encoder simulation output interface

4-6 TM
CN1 connector pin assignment:

1
Pin Signal Function Pin Signal Function

Overview
8 DI_COM 11 PA+24V
Pulse train input 12 10 8 6 4 2
9 DI0 13 PA+ PA- DI1 DI_COM DO_COM CZ+ PTOZ+
interface A 13 11 9 7 5 3 1
10 DI1 12 PA- PA+ PA+24V DI0 DO0 CZ- PTOZ- 0VM
6* digital input
20 DI2 24 PB+24V 25 23 21 19 17 15
(Dual-polarity) Pulse train input

2
PB- DI5 DI3 DO2 PTOB- PTOA-
21 DI3 26 PB+
interface B 26 24 22 20 18 16 14

Type Selection
22 DI4 25 PB- PB+ PB+24V DI4 DI2 DO1 PTOB+ PTOA+

23 DI5 14 PTOA+
6 DO_COM 15 PTOA-
Encoder
7 DO0 3* digital output 16 PTOB+
simulation
18 DO1 (open collector) 17 PTOB-
output
19 DO2 2 PTOZ+

3 Installation
4 OCZ+ Motor index 3 PTOZ-
signal output
5 OCZ- 1 0VM Signal Ground
(open collector)

4
5Connection
Wiring
Front Panel
9
9 7 5 3 1

6 Operation
1

7 Commissioning
8
9 Diagnosis
Parameters

TM
4-7
Chap04. Wiring

Typical wiring diagram of CN1:

CN1 LXM16DU01..15M2X

8 14
DI_COM OA
Servo enable input
(servo enabled when signal is ON) 15 A Phase output
9
Enable OA-
Alarm clear input
(alarm cleared when signal is ON) 16
10
ALM-RST OB+
Positive limit input
(there is limit when signal is OFF)
20 17 B Phase output
/LIMP OB-
Negative limit input
(there is limit when signal is OFF) 21 2
/LIMN OZ+
Electronic gear ratio switching input
( switched when signal is ON) 22 3 Z Phase output
G-SEL OZ-
Halt enable input
( Halt is available when signal is OFF) 23 1
/HALT GND

11 4
PLS_24 CZ+
Z Phase output
PT 13 5 (Open collector electrode)
Pulse PLS CZ-
input
12
/PLS Output when servo has no error
7 (output is ON when there is no error )
24 NO-FLT
Output upon arrival at position
SIGN_24 (output is ON when the position
18
PT 26 InPos
error is below limit )
Direction SIGN Motor at a standstill
(output is ON when motor
input 19 speed is below limit )
25 STILL
/SIGN
6
DO_COM

Notes: It is a must to use a cable with shield, among which the wires for pulse train must be twist-paired. Connect
the shield to the chassis of CN1 connector, then properly ground the connector chassis.

Wiring of Pulse Train Input

Open collector (24VDC)

11
PLS_24

13
24VDC PT Pulse input PLS

12
/PLS

24
SIGN_24

26
PT Direction input SIGN

25
/SIGN

4-8 TM
 Open collector pulse train input with other voltage level (external resistors required)

1
11 Specifications
VDC

Overview
PLS_24 of resistor
R 13 12VDC 500 ohm / 1W
PLS 5VDC 120 ohm / 1W
VDC PT Pulse input 12
/PLS

2 Type Selection
24
SIGN_24

R 26
SIGN
PT Direction input
25
/SIGN

3 Installation
Differential Output

4
11
PLS_24

Connection
5VDC

Wiring
13
PT PLS
Pulse
12
input /PLS

5
24
SIGN_24
5VDC

Front Panel
26
PT SIGN
Direction
25
input
/SIGN

6 Operation
Input and output wiring:
• The common terminals of the 6 input points are suitable for both positive and negative polarity
• The 3 output points are independent open collector outputs that share the same emitter

7 Commissioning
4.1.5 Connecting Encoder Interface (CN2)

CN2 connector is an IEEE-1394-10 connector for connection with servo motor encoder.
1 13
Pin Description
8

1 A+ (U+)
2 A- (U-)
Diagnosis

3 B+ (V+)
4 B- (V-)
14 26
5 Z+ (W+)
6 Z- (W-)
7 n.c. 12 2
9

2
8 n.c. 13 1
Parameters

9 +5V 1
10 0V
25 15
26 14

TM
4-9
Chap04. Wiring

4.1.6 Connecting Commissioning Interface (CN3)

CN3 is a Mini-B USB connector. CN3 interface is dedicated to the connection with PC commissioning software and
cannot be used as field bus interface.

CAUTION
INOPERABLE EQUIPMENT
Cannot be used as field bus interface.
Failure to follow these instructions can result in equipment damage.

A PC with the commissioning software SoMove and LXM16D DTM Library can be connected for commissioning

4.1.7 Connecting Ground Screws

M S CN3

This product has a touch current greater than 3.5 mA. If the protective ground connection is interrupted, a hazardous
touch current may flow if the housing is touched.
CN2

DANGER
INSUFFICIENT GROUNDING
• Use a protective ground conductor with at least 10 mm2 (AWG 6) or two protective ground conductors with the cross section of the
conductors supplying the power terminals.
• Verify compliance with all local and national electrical code requirements as well as all other applicable regulations with respect to
CN1
grounding of the entire drive system.
• Ground the drive system before applying voltage.
• Do not use conduits as protective ground conductors; use a protective ground conductor inside the conduit.
• Do not use cable shields as protective ground conductors.
• Keep foreign objects from getting into the product.
• Verify the correct seating of seals and cable entries in order toavoid contamination such as deposits and humidity.
Failure tofollowthese instructions will result in death or serious injury.
CHARGE

The central grounding screw of the product is located at the bottom of the front side
U
V
W
PB CNP
P+
L
N

• Use ring-type cable lugs or Y-type cable lugs.

• Connect the ground connection of the device to the equipotential ground plane of your system.

Tightening torque of
Nm 1.5
grounding screw
Screw type - M4 × 8

4-10 TM
4.2 Wiring of Servo Motor

1
4.2.1 Connector Pin Assignment

Overview
Plastic connector: 40/60/80mm flange
Motor encoder connector

2
1 +5
2 0V

Type Selection
1 2 3 3 A/U
Motor band-type brake connector 4 5 6 4 A/U
5 B/U
1 BK+
7 8 9
6 B/U
1 2 BK- 7 Z/W
8 Z/W
2 9 FG

3 Installation
Motor dynamics connector

1 U
1 2 2 V 21
3 W
3 4
4 GND

4
5Connection
Wiring
Front Panel
Military connector: 100/130mm flange

6
Motor dynamics connector Motor dynamics and band-type brake connectors

Operation
F A B U
D A A U G V
B V
E G B E W
A BK-
C W D C
C B F BK+

7 Commissioning
D FG C GND

Motor encoder connector

H A
G B +5
F I B I 0V
A A/U
E C
8
C A/U
D H B/U
Diagnosis

D B/U
G Z/W
E Z/W
F FG
9 Parameters

TM
4-11
Chap04. Wiring

4.2.2 Connection of Motor and Encoder

The motor is designed for operation via a drive. Connecting the motor directly to line voltage will damage the motor
and can cause fires.

DANGER
FIRE HAZARD DUE TO INCORRECT CONNECTION
Only connect the motor to a matching, approved drive.
Failure to follow these instructions will result in death or serious injury.

Compatibility between Drive and Motor is defined in chapter “1.4 Confirming the Mating of Servo Drive and Servo
Motor”

High voltages may be present at the motor connection. The motor itself generates voltage when the motor shaft is
rotated. AC voltage can couple voltage to unused conductors in the motor cable.

DANGER
ELECTRIC SHOCK
• Verify that no voltage is present prior to performing any type of work.
• Block the motor shaft to prevent rotation prior to performing any type of work on the drive system on the drive system.
• Insulate both ends of unused conductors of the motor cable.
• Supplement the motor cable grounding conductor with an additional protective ground conductor to the motor housing.
• Verify compliance with all local and national electrical code requirements as well as all other applicable regulations with respect to
grounding of all equipment.
Failure tofollowthese instructions will result in death or serious injury.

Drive systems may perform unintended movements if unapproved combinations of drive and motor are used. Even if
motors are similar, different adjustment of the encoder system may be a source of hazards. Even if the connectors for
motor connection and encoder connection match mechanically, this does not imply that the motor is approved for use.

WARNING
UNINTENDED MOVEMENT
Only use approved combinations of drive and motor.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Compatibility between Drive and Motor is defined in chapter “1.4 Confirming the Mating of Servo Drive and Servo
Motor”

4.2.3 Connecting Cables

Incorrect installation of the cable may destroy the insulation. Broken conductors in the cable or improperly connected
connectors may be melted by arcs.

DANGER
ELECTRIC SHOCK, ARC FLASH AND FIRE CAUSED BY INCORRECT INSTALLATION OF THE CABLE
• Disconnect all power before plugging in or unplugging the connectors.
• Verify correct pin assignment of the connectors according to the specifications in this chapter before connecting the cables.
• Verify that the connectors are properly inserted and locked before applying power.
• Avoid forces or movements of the cable at the cable entries.
Failure tofollowthese instructions will result in death or serious injury.

• Connect the motor cable and the encoder cable to the drive according to the wiring diagram of the drive.

4-12 TM
4.2.4 Connection of Holding Brake

1 Overview
The holding brake in the motor has the task of holding the motor position when the power stage is disabled.
The holding brake is not a safety function and not a service brake.
As a result of damage to the insulation of the motor cable, mains voltage may get to the wires for the holding brake.

DANGER

2 Type Selection
ELECTRICAL SHOCK CAUSED BY DAMAGE TO THE MOTOR CABLE
• Use a PELV power supply for the holding brake.
• Insulate both ends of unused conductors of the motor cable.
Failure to follow these instructions will result in death or serious injury.

3 Installation
When the product is operated for the first time, there is a risk of unanticipated movements caused by, for example,
incorrect wiring or unsuitable parameter settings. Releasing the holding brake can cause an unintended movement,
for example, lowering of the load in the case of vertical axes.

WARNING

4
UNINTENDED MOVEMENT
• Verify that there are no persons or obstacles in the zone of operation when performing a test of the holding brake.

Connection
Wiring
• Take appropriate measures to avoid damage caused by falling or lowering loads or other unintended movements.
• Run initial tests without coupled loads.
• Verify that a functioning emergency stop push-button is within reach of all persons involved in running tests.
• Anticipate movements in unintended directions or oscillations of the motor.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

5
6 Front Panel
Operation
7 Commissioning
8
9 Diagnosis
Parameters

TM
4-13
Chap05. Front Panel

5.1 Front Panel............................................................................................................ 5-1

5.1.1 Overview.................................................................................................................................. 5-1

5.1.2 Front Panel Menu Structure..................................................................................................... 5-2

5.1.3 Operation of Front Panel......................................................................................................... 5-2

5.1.4 7-segment LED Display........................................................................................................... 5-3

5.1.5 Lock the Front Panel................................................................................................................ 5-4

5.1.6 Warm Start by Front Panel...................................................................................................... 5-4

5.2 Operation of Menu Group FSU.............................................................................. 5-5

5.2.1 Operating Conditions of FSU................................................................................................... 5-5

5.2.2 Configurations in FSU.............................................................................................................. 5-5

5.2.3 Code Description of Servo Motor Reference in FSU............................................................... 5-5

5.2.4 FSU Operation......................................................................................................................... 5-5

5.3 Operation of Menu Group OP................................................................................ 5-6

5.3.1 Manual Operation/ JOG........................................................................................................... 5-6

5.3.2 Easy Tuning............................................................................................................................. 5-7

5.3.3 Restore Factory Setting / Frt.................................................................................................... 5-7

5.4 Operation of Menu Group MON............................................................................. 5-8

5.4.1 Basic Operation....................................................................................................................... 5-8

5.4.2 Status Information Via the HMI................................................................................................ 5-9

5.5 Operation of Menu Group Conf........................................................................... 5-10

5.5.1 Parameters of Numerical Type ............................................................................................. 5-10

5.5.2 Parameters of Selection Type............................................................................................... 5-11

5.5.3 Parameter P6-00................................................................................................................... 5-11

5.1 Front Panel

1
5.1.1 Overview

Overview
■■ HMI Overview

The integrated HMI allows you to edit parameters and operate the device via the integrated Human-Machine Interface

2
(HMI). Diagnostics information (such as parameter values or error codes) can also be displayed.

Type Selection
3 Installation
1

4Connection
2 3 4 5

Wiring
The front panel includes:

Item Description

5
5-digit 7-segment LED display with

Front Panel
1
5 decimal points
2 M key
3 UP key
4 DOWN key

6
5 S key

Operation
■■ Character Set on HMI

The following table shows the assignment of the characters to the symbols displayed by the 5-digit 7-segment display.

7 Commissioning
8
9 Diagnosis
Parameters

TM
5-1
Chap05. Front Panel

5.1.2 Front Panel Menu Structure

F5u p6-00 5upU

p6-00 Not P4-01 PrEP
5AUE P4-02 PRcP
P D iF
boot tun tu5t nrEF
op
nRct
frt r5tf
rdy Non qrEf
qAct
Conf iA c t
d iN o
p0 p1 p2 p3 p4 p5 p6
doNo
p0-00 p1-00 p2-00 p3-00 p4-00 p5-00 p6-00 udcA
p0-01 p1-01 p2-01 p3-01 p4-01 p5-01 p6-01 udcr
p0-02 p1-02 p2-02 p3-02 p4-02 p5-02 p6-02 povN
Ldfp
LdfN
LDFB
oULP
tP5
tDEU
Lvrn
LfLt
vrn5
oph
povo
5 iG 5

5.1.3 Operation of Front Panel

Item Description
If an error is detected, the M key lets you switch between the error code / Menu
M key Press the M key allows you to exit current parameter and menus. Any unsaved
parameter edit will be invalid.
In Menu level, the UP key lets you navigate status information and parameters
UP key within a parameter group.
In Editing level, the UP key lets you increase value.
In Menu level, the DOWN key lets you navigate status information and parameters
DOWN within a parameter group.
key
In Editing level, the DOWN key lets you increase value.
In Menu level, the S key lets you enter and display current parameter.
In Parameter level, the S key lets you start the editing of current parameter
S key In Editing level, the S key lets you move the cursor by one position to the left.
In Editing level, press and hold S key for more than 1.5s to save the value and
stop the editing of current parameter

5-2 TM
 rdy

1
M S

op Non Conf

Overview
M S

p0 p1
M S

p 1 -0 0 p 1 -0 1

2 Type Selection
M S

00080
S

00080
S M

3 Installation
00080
00070
S >1.5S

00070

4Connection
5.1.4 7-segment LED Display

Wiring
■■ Indication of the operating states

It is possible to indicate the device operating states via message displayed on the LED display:

5 Front Panel
HMI display State Description
init 1. Start Electronics are initialized
nrdy 2. Not ready to start The power stage is not ready to switch on
dis 3. Cannot start Impossible to enable the power stage
rdy 4. Ready to start The power stage is ready to switch on.

6
son 5. Start Power stage is switched on

Operation
run 6. Equipment enabled Power stage is enabled / Selected
operating mode is active
stop 7. Quick stop started "Quick Stop" is being executed
flt 8. Fault response started Error response is active
Error response terminated / Power stage
flt 9. Fault

7 Commissioning
is disabled

■■ Feedback Information

If you perform any operation by press the S key or save the value by press and hold the S key for more than
1.5s, a message is displayed to provide the feedback.
8

Dispaly Description
Diagnosis

Flash three times New parameter value was saved successfully

buSy Access occupied by another channel (e.g. Commissioning software is active)
Rd-oL The parameter value is a read-only value and cannot be saved (Read-Only).
outr The new parameter value is outside the permissible value range and cannot be
saved (Out of range)
9

Prot Parts of the MHI were locked by parameter and cannot be saved.
The new parameter value can only be saved when the power stage is disabled
Parameters

Sv-on and cannot be saved (Servo On).

AdPon Auto adaptive tuning active, cannot start easy tuning.
noPoW Main power supply to the servo drive is off, new parameter value cannot be saved.
dEnid The new parameter value saving was denied.

TM
5-3
Chap05. Front Panel

■■ Numeric Values on the Display

The display indicates the positive and negative nature of value by the rightmost decimal point. Decimal point
indicates a negative sign when it presents, for example:

-1285 :
1285
Negative sign

The display has 5 digits. Where the value has more than 5 digits, you may use UP and DOWN key to switch
over between high and low bytes of the value. When the parameter is in Editing level, you can press the S
key to move the cursor by one position to the left each time.
The display indicates the high and low bytes of the values by the two leftmost decimal points; the leftmost
decimal point indicates the low byte, wherevers the second leftmost decimal point indicates the high byte.

For example:
2147483647 :
83647
Low byte

21474
High byte

-2147483648 :
83648
Negative sign Low byte

21474
Negative sign High byte

5.1.5 Lock the Front Panel

To prevent unintended parameter value editing, the user may lock the front panel by parameter.

Parameters:

Min. 0 Unit
P4-00 HMILocked Lock HMI Default 0
-
Max. 1
Description:
Lock the front panel integrated HMI
0 / Not Locked: HMI not locked
1 / Locked: HMI locked
The following functions can no longer be started when the HMI is locked:
- Parameter change
- Jog
- Autotuning
- Fault reset

Change settings become active immediately.

5.1.6 Warm Start by Front Panel

When the drive power stage is disabled, press and hold both M and S keys for more than 2s until message
“Warm” is displayed, release M and S keys then the servo drive will restart.

5-4 TM
5.2 Operation of Menu Group FSU

1 Overview
A FSU or "First Setup" is required when the servo drive is powered on for the first time or after the factory settings
have been restored. First Setup is used to perform basic configuration of the servo drive.

5.2.1 Operating Conditions of FSU

2
The First Setup is required when the servo drive is powered on for the first time or after the factory settings have

Type Selection
been restored.

5.2.2 Configurations in FSU

The servo motor reference connected to the drive needs to be configured in FSU.

3 Installation
When the servo drive is powered on for the first time or after the factory settings have been restored, error code
712D will be displayed since there is no servo motor reference saved in servo drive EEPROM.

5.2.3 Code Description of Servo Motor Reference in FSU

When performing the configuration of servo motor reference in FSU, all available servo motor references supported
by current servo drive will be listed out. The servo motor references is expressed by abbreviation, where the

4
meaning of each character is shown as following:

Connection
Wiring
h043f
Motor inertia: L - Low-inertia motor

5
H - High-inertia motor

Front Panel
Nominal power: 01 - 0.1 kW 08 - 0.85 kW
02 - 0.2 kW 10 - 1.0 kW
04 - 0.4 kW 15 - 1.5 kW
07 - 0.75 kW

6
Nominal speed: 1 - 1500 rpm

Operation
2 - 2000 rpm
3 - 3000 rpm

Motor band-type brake: A - No band-type brake

F - With band-type brake

7 Commissioning
Note:
Set the servo motor reference with care; improper setting of servo motor reference that is inconsistent with the
physical motor will result in system performance degradation or equipment damage.

5.2.4 FSU Operation

8 Diagnosis

M *3

F5u boot
M S S

p6-00 88888
9 Parameters

M S

nonE h043A h043f rdy

S >1.5S

h043f
TM
5-5
Chap05. Front Panel

5.3 Operation of Menu Group OP

Press the S key in the rdy state to enter the OP menu group. You may perform manual operation (JOG),
easy tuning and factory setting restore in OP menu group.

5.3.1 Manual Operation / JOG

rdy
M S

op
M S

M
VoG tun frt
M S

VG5t p4-01 p4-02

S

zVG -VG VG- VGz

Menu group JoG consists of 3 parameters:

Parameter
Description
Name
Enable the servo drive power stage. Use UP and DOWN keys to
JGSt select direction, speed of the manual operation / JOG, then press
and hold S key to JOG the servo motor.
P4-01 JOGv_slow, set velocity for slow JOG movement.
P4-02 JOGv_fast, set velocity for fast JOG movement.

Parameter
Function Description
Name
Set manual operation / JOG movement in Positive direction and
JG-
Slow velocity.
Set manual operation / JOG movement in Positive direction and
JG=
Fast velocity.
Set manual operation / JOG movement in Negative direction and
-JG
Slow velocity.
Set manual operation / JOG movement in Negative direction and
=JG
Fast velocity.

Whenever the manual operation / JOG is cancelled by press the M key, the servo motor will stop and servo
drive power stage will be disables. The operation will return to the entrance of menu group JoG, value JoG
will be displayed.

5-6 TM
5.3.2 Easy Tuning

1 Overview
rdy
M S

op

2
M S

Type Selection
VoG tun frt
S

tu5t
S

3 Installation
S

t 45
S

donE

4
When easy tuning is finished successfully, message “done” will be displayed. Press the S key to save the

Connection
new values to the EEPROM and return to entrance of menu group tun, value tun will be displayed.

Wiring
Whenever the easy tuning is cancelled by press the M key, the servo motor will stop and the servo drive
power stage will be disabled. The operation will return to the entrance of menu group tun, value tun will be
dispayed.

5
5.3.3 Restore Factory Setting / Frt

Front Panel
rdy
M S

6
op

Operation
M S

VoG tun frt

M S

r5tf

7 Commissioning
M S

no yE5
S >1.5S

f5u
8
9 Diagnosis
Parameters

TM
5-7
Chap05. Front Panel

5.4 Operation of Menu Group MON

After the servo drive power stage has been enabled, status information is displayed via the HMI. In addition
to the default status information, you may select the type of status information to be displayed in Menu Group
MON. Moreover, you may also select the default type of status information to be displayed after the servo
drive power stage is enabled.

5.4.1 Basic Operation

ody
M S

op Non
M S

5upU prEp iRc t LDFN vrn5

pAcp d iN o LDFB oph
p d if doNo oULP povo
nrEf udcA tP5 5 iG 5
nAct udcr tDEU
qrEf povN Lvrn
qAct LDFP LfLt
Use the UP and DOWN keys to select the type of status information to be displayed in Menu Group Mon,
then press the S key to display its value.

rdy
M S

op Non
M S

5upU
M S

prEp iA c t LdfN vrn5

pAcp d iN o LDFB oph
p d if DoNo oULP povo
nrEF udcA tP5 5 iG 5
nAct udcr tdEU
qrEF PovN Lvrn
QAct LDFP LfLt

You may use parameter SuPV to select the default type of status information to be displayed after the servo drive
power stage is enabled. The types of status information that can be displayed by default are the same with the
types of status information that can be displayed in Menu Group Mon.

5-8 TM
5.4.2 Status Information Via the HMI

1 Overview
Parameter
Description
Name
Default status information to be displayed after the servo drive
SuPV
power stage is enabled

2
PreP Instruction position in the unit external pulse train increments

Type Selection
PAcP Actual position in the unit external pulse train increments
PdiF Position deviation in the unit usr_p
nrEF Reference speed of rotation
nAct Actual speed of rotation
qrEF Reference motor current (q component, generating torque)

3 Installation
qAct Actual motor current (q component, generating torque)
iAct Total motor current
diMo Status of digital inputs
doMo Status of digital outputs
udcA Voltage at DC bus

4
Udcr Degree of utilization of DC bus voltage

Connection
PoWM Mean output power

Wiring
LdFP Load of power stage
LdFM Load of servo motor
LdFb Load of braking resistor
oVLP Overload of power stage (%)

5
tPS Temperature of power stage

Front Panel
tdEV Temperature of device
LWrn Detected error not causing a stop (error class 0)
LFLt Detected error causing a stop (error classes 1 to 4)
WrnS Detected error of error class 0, bit-coded (error class 0)

6
oPh Operating hours counter

Operation
PoWo Number of power on cycles
SiGS Saved status of monitoring signals

7 Commissioning
8
9 Diagnosis
Parameters

TM
5-9
Chap05. Front Panel

5.5 Operation of Menu Group Conf

rdy
M S

op Non Conf
M S

p0 p1 p2 p3 p4 p5 p6
M S

p0-00 p1-00 p2-00 p3-00 p4-00 p5-00 p6-00

p0-01 p1-01 p2-01 p3-01 p4-01 p5-01 p6-01
p0-02 p1-02 p2-02 p3-02 p4-02 p5-02 p6-02
M S

00080
S

00080
S M

00080
00070
S >1.5S

00070

In Menu Group Conf, navigate parameter group P0 to P6 by press the UP and DOWN keys then press the S
key to enter the selected one. Press UP and DOWN keys to navigate the parameters in the group then press
the S key to enter and display the selected parameter value.

5.5.1 Parameters of Numerical Type

If the parameter is one of the numerical type parameters, its value can be edited in each digit, respectively.
Press the S key to enter the Editing level, the digit at the current cursor position flashes. The S key lets you
move the cursor by one position to the left. You can use the UP and DOWN keys to change the value at the
current cursor position.
The S key lets you scroll through all the digits of the value. Refer to chapter 5.1.4 7-segment LED Display for
further information.
By holding the UP and DOWN keys you can speed up the value changing. If the numerical value at current
digit is about to exceed 9 or decrease below 0, automatic forward carry to or borrow from the next digit will be
performed.
Press and hold the S key for over 1.5s to save the value. The value displayed will flash once to indicate the
value is saved successfully. The operation will exit the Editing level and the current parameter value will be
displayed. If the storage failed, a message will be displayed. The operation will exit the Editing level and the
last saved parameter value will be restored and displayed. Refer to Chapter 5.1.4 7-segment LED Display for
feedback information.
Whenever the Editing level is cancelled by press the M key, the last saved parameter value will be restored
and displayed.

5-10 TM
5.5.2 Parameters of Selection Type

1 Overview
If the parameter is one of the selection type parameters, its value consists of limited selections in the form of
a list.
Press the S key to enter the Editing level, then all digits of the displayed value start to flashing. Select the
value in the selection list by pressing the UP and DOWN keys.

2
Press and hold the S key for over 1.5s to save the value. The value displayed will flash once to indicate the

Type Selection
value is saved successfully. The operation will exit the Editing level and the current parameter value will be
displayed. If the storage failed, a message will be displayed. The operation will exit the Editing level and the
last saved parameter value will be restored and displayed. Refer to Chapter 5.1.4 7-segment LED Display for
feedback information.
Whenever the Editing level is cancelled by press the M key, the last saved parameter value will be restored
and displayed.

3 Installation
5.5.3 Parameter P6-00

p6-00

4
M S

Connection
Wiring
h043f h043A
S >1.5S

h043A

5
S

Front Panel
Not
S

5AUE
S

6
Boot

Operation
S

88888 rdy

7 Commissioning
Note:

Set the servo motor reference with care; improper setting of servo motor reference that is inconsistent with
the physical motor will result in system performance degradation or equipment damage.

You can use parameter P6-00 to modify the servo motor reference.
8

When P6-00 value is displayed, press the S key to enter the Editing level. All digits of the displayed value
start to flashing. Select the available servo motor reference abbreviation in the selection list by pressing the
Diagnosis

UP and DOWN keys.

Press and hold the S key for over 1.5s to save the value. The value displayed will flash once to indicate the
value is saved successfully. The operation will exit the Editing level and the current parameter value will be
displayed. If the storage failed, a message will be displayed. The operation will exit the Editing level and the
last saved parameter value will be restored and displayed. Refer to Chapter 5.1.4 7-segment LED Display for
9

feedback information.
Parameters

After the servo motor reference is saved successfully, message Mot will be displayed to indicate that the
servo motor reference has been changed. Press the S key, message SaVE will be displayed to indicate
the user to save the new value. Then press the S key to save the value, message boot will be displayed to
indicate the user to restart the servo drive. Press the S key again to confirm and restart the servo drive.

TM
5-11
Chap06. Operation

6.1 Access Channel.................................................................................................... 6-1

6.1.1 Overview of Access Channel................................................................................................... 6-1

6.1.2 Exclusive Access Channel ...................................................................................................... 6-1

6.2 Operating States .................................................................................................. 6-2

6.2.1 State Diagram.......................................................................................................................... 6-2

6.2.2 Operation States..................................................................................................................... 6-2

6.2.3 State Transitions..................................................................................................................... 6-3

6.2.4 Error Class and Response....................................................................................................... 6-3

6.2.5 Reset an Error Message by “Fault Reset”............................................................................... 6-4

6.2.6 Indication of the Operating State via HMI................................................................................ 6-4

6.3 Digital Inputs and Outputs..................................................................................... 6-6

6.3.1 Connecting the Digital Inputs and Outputs ............................................................................ .6-6

6.3.2 Parameterization of the Digital Inputs and Outputs................................................................ .6-7

6.3.3 List of Input Functions.............................................................................................................. 6-7

6.3.4 Digital Output Functions.......................................................................................................... 6-8

6.3.5 Factory Settings....................................................................................................................... 6-8

6.3.6 Parameterization of Software Debouncing............................................................................. .6-8

6.4 Basic Functions for Operation............................................................................. 6-10

6.4.1 Enable Power Stage.............................................................................................................. 6-10

6.4.2 Selection of Motor Rotation Direction.................................................................................... 6-11

6.4.3 Limit Switches........................................................................................................................ 6-12

6.4.4 Motor Holding Brake.............................................................................................................. 6-13

6.4.5 Dynamic Brake...................................................................................................................... 6-15

6.4.6 Braking Resistor.................................................................................................................... 6-16

6.4.7 Functions for Monitoring........................................................................................................ 6-17

6.5 Operation Mode Jog............................................................................................ 6-20

6.5.1 Precautions and checklist before starting the Jog................................................................. 6-20

6.5.2 Perform the Jog by integrated HMI........................................................................................ 6-20

6.5.3 Perform the Jog by Digital Input............................................................................................ 6-21

6.5.4 Parameterization of Velocity Curve of Jog............................................................................. 6-22

6.6 Operation Mode Electronic Gear......................................................................... 6-23

6.6.1 Wiring Example...................................................................................................................... 6-23

6.6.2 Basic Parameters Settings.................................................................................................... 6-24

 6.6.3 Gear Ratio Settings............................................................................................................... 6-25

6.6.4 Selection of the Pulse Reference Method............................................................................. 6-26

6.6.5 Position Change with Power Stage Disabled ....................................................................... 6-27

6.6.6 Velocity Limitation in Electronic Gear Mode.......................................................................... 6-27

6.6.7 Release of Direction Setting.................................................................................................. 6-28

6.6.8 Offset Movement Setting....................................................................................................... 6-28

6.6.9 Changing the Motion Profile for the Velocity.......................................................................... 6-29

6.6.10 Encoder Simulation Output Settings.................................................................................... 6-31

6.6.11 Pulse Clear Settings............................................................................................................ 6-32

6.6.12 Following Error Monitoring Settings..................................................................................... 6-33

6.7 Operation Mode Homing ..................................................................................... 6-34

6.7.1 Parameterization.................................................................................................................... 6-34

6.7.2 Reference Movement to a Limit Switch................................................................................. 6-39

6.7.3 Reference Movement to the Reference Switch in Positive Direction..................................... 6-40

6.7.4 Reference Movement to the Reference Switch in Negative Direction................................... 6-42

6.7.5 Reference Movement to the Index Pulse............................................................................... 6-44

6.7.6 Software Limit Switches......................................................................................................... 6-44

6.8 Auxiliary Functions for Operation......................................................................... 6-46

6.8.1 Jerk Limitation........................................................................................................................ 6-46

6.8.2 Parameterization for Jerk Limitation...................................................................................... 6-46

6.8.3 Stop Movement with Halt....................................................................................................... 6-47

6.8.4 Stop Movement with Quick Stop............................................................................................ 6-48

6.8.5 Velocity Limitation.................................................................................................................. 6-49

6.8.6 Current Limitation.................................................................................................................. 6-50

6.8.7 Zero Clamp............................................................................................................................ 6-50

6.8.8 Backlash Compensation ....................................................................................................... 6-51

6.9 Monitoring Functions for Operation..................................................................... 6-53

6.9.1 Limit Switches........................................................................................................................ 6-53

6.9.2 Target Position Standstill Window......................................................................................... 6-53

6.9.3 Position Deviation Window.................................................................................................... 6-54

6.9.4 Velocity Deviation Window.................................................................................................... 6-56

6.9.5 Velocity Threshold Value....................................................................................................... 6-57

6.9.6 Current Threshold Value........................................................................................................ 6-58

Chap06 Operation

6.1 Access Channel

6.1.1 Overview of Access Channel

LXM16D series servo drive incorporates the concept of access channel. LXM16D series servo drive can be
accessed via different types of access channels.

Access channels are:

● Integrated HMI
● Digital inputs
● Commissioning software

Please note simultaneous access via multiple access channels or the use of exclusive access may cause unintended
equipment operation.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Verify that simultaneous access via multiple access channels cannot cause unintended triggering or blocking of commands.
• Verify that the use of exclusive access cannot cause unintended triggering or blocking of commands.
• Verify that the required access channels are available
Failure to follow these instructions can result in death, serious injury, or equipment damage.

6.1.2 Exclusive Access Channel

LXM16D servo drive can be accessed via exclusive access channel, only one access channel can have exclusive
access to the product.

An exclusive access can be provided via different access channels:

● Via integrated HMI

The operating mode Jog or Autotuning can be started via the HMI
● Via commissioning software:
The commissioning software receives exclusive access viathe switch "Exclusive access" in position "On".

When this product is powered on, no exclusive access channel exists, in which case the instruction obtained through
pulse input signal will take effect. When the product is powered on, there is no exclusive access via an access
channel.

The digital input functions Halt / Fault Reset / Enable / Positive Limit Switch (LIMP) / Negative Limit Switch (LIMN) /
Reference Switch (REF) are always effective during exclusive access.

6-1 TM
6.2 Operating States

1
When the product is powered on and when an operating mode is started, the product goes through a number of

Overview
operating states.

6.2.1 State Diagram

2 Type Selection
The state diagram (state machine) shows the relationships between the operating states and the state transitions.
The operating states are internally monitored and influenced by monitoring functions.

Power-up
Motor not powered-on

3 Installation
1
init Start
T0
2
nrdy Not Ready
To Switch On

T1

4
Switch On 3
dis Disabled T15

Connection
Wiring
T9 T2 T7
T12

Ready To 4
rdy Switch On
T10

9
T8 T3 T6 Fault

5
5 fLt 88888
son Start

Front Panel
T14
8
T4 T5
fLt Fault Reaction
Active
6 7
run T16
Quick Stop Active
T13
HALT Operation

6
enabled
stop
hALt

Operation
T11 Error class 1 Error class 2 / 3/(4)

Motor powered-on

Equipment state State transition Error report

7 Commissioning
6.2.2 Operation States

Operation state Description

1. Start Electronics are initialized
8

2. Not ready to Switch On The power stage is not ready to switch on

Diagnosis

3. Switch On Disabled Impossible to enable the power stage

4. Ready to Switch On The power stage is ready to switch on.
5. Switched On Power stage is switched on
6. Operation Enabled Power stage is enabled / Selected operating mode is active
7. Quick Stop Active "Quick Stop" is being executed
9

8. Fault Reaction Active Error response is active

Parameters

9. Fault Error response terminated / Power stage is disabled

TM
6-2
Chap06 Operation

6.2.3 State Transitions

State transitions are triggered by integrated HMI, an input signal or a response to a monitoring function.

State transition Operating state Condition / event (1) Response

T0 1 -> 2 ● Device electronics successfully initialized
T1 2 -> 3 ● Parameter successfully initialized
● No undervoltage
T2 3 -> 4 ● Encoder successfully checked
● Motor at standstill
T3 4 -> 5 ● Request for enabling the power stage
● Power stage is enabled.
T4 5 -> 6 ● Automatic transition ● User parameters are checked.
● Holding brake is released (if available).
T5 6 -> 5 N/A
T6 5 -> 4 N/A
● Undervoltage
T7 4 -> 3 ● Actual velocity: >1000 rpm (for example by
external driving force)
T8 6 -> 4 N/A
● Movement is canceled with "Halt" or power
T9 6 -> 3 ● Request for disabling the power stage stage is immediately disabled.
● Holding brake is applied (if available)
T10 5 -> 3 ● Request for disabling the power stage ● Power stage is disabled immediately
● Error of error class 1
T11 6 -> 7 ● Movement is canceled with "Quick Stop".
● Commissioning software: Disable
● Power stage is disabled immediately even if
T12 7 -> 3 ● Request for disabling the power stage
"Quick Stop" is still active.
T13 x -> 8 ● Error of error classes 2, 3 or 4 ● Error response is carried out
● Error response terminated (error class 2)
T14 8 -> 9
● Error of error classes 3 or 4
● Error is reset (cause of error must have been
T15 9 -> 3 ● Function: "Fault Reset"
corrected).
● In the event of a "Quick Stop" triggered by
a detected error of class 1, a "Fault Reset"
T16 7 -> 6 ● Function: "Fault Reset"
causes a direct transition to the operating state
6 Operation Enabled.
(1) In order to trigger a state transition it is sufficient if one condition is met

6.2.4 Error Class and Response

The errors are classified according to the following error classes:

Error class State transition Error response Resetting an error message

0 - No interruption of the movement Function "Fault Reset"
1 T11 Stop movement with "Quick Stop" Function "Fault Reset"
Stop movement with "Quick Stop" and disable the power stage
2 T13 / T14 Function "Fault Reset"
when the motor has come to a standstill
Disable the power stage immediately without stopping the
3 T13 / T14 Function "Fault Reset"
movement first
Disable the power stage immediately without stopping the
4 T13 / T14 Power cycle
movement first

The state transition T13 (error class 2, 3 or 4) initiates an error response as soon as an internal occurrence signals an
error to which the device must react.
Error report level Response
● Movement is stopped with "Quick Stop"
2 ● Holding brake is applied (if available)
● Stop movement with "Quick Stop" and disable the power stage when the motor has come to a standstill
3, 4 ● Disable the power stage immediately without stopping the movement first

For example: an error can be triggered by a temperature sensor, The product cancels the current movement and
triggers an error response Subsequently, the operating state changes to 9 Fault.

6-3 TM
6.2.5 Reset an Error Message by “Fault Reset”

1 Overview
A "Fault Reset" resets an error message. The cause of error must have been corrected prior to fault reset.
In the event of a "Quick Stop" triggered by a detected error of class 1, a "Fault Reset" causes a direct transition to
operating state6 Operation Enabled.

2
After the cause of error has been corrected, the fault message can be reset:

Type Selection
● Via digital input signal "Fault Reset”
● Via additional “Fault Reset” for the digital input signal “Enable” (enable by a parameter)
● Via integrated HMI
● Via commissioning software
Min. 1 Unit
P3-00~05 IOfunct_DIx Functions of digital input DIx Default -

3 Installation
-
Max. 142
Description:
Functions of digital input DIx
Function Code
Function Description
NO NC
Fault Reset Fault Reset 2 102

4Connection
Setting can only be changed if power stage is disabled.

Wiring
Changed settings become active the next time the product is powered on.

Min. 0 Unit
Additional 'Fault Reset' for
P3-19 IO_FaultResOnEnaInp Default 0

5
the signal input function 'Enable' -
Max. 1

Front Panel
Description:
Additional 'Fault Reset' for the signal input function 'Enable'
0 / Off: No additional “Fault Reset”
1 / OnFallingEdge: Additional 'Fault Reset' with falling edge
2 / OnRisingEdge: Additional 'Fault Reset' with rising edge

6
Changed settings become active the next time the power stage is enabled.

Operation
6.2.6 Indication of the Operating State via HMI

7 Commissioning
The operating state is displayed by the HMI.
The table below provides an overview:

HMI Operating state Description

init 1. Start Electronics are initialized
8

nrdy 2. Not Ready To Switch On The power stage is not ready to switch on
Diagnosis

dis 3. Switch On Disabled Impossible to enable the power stage

rdy 4. Ready To Switch On The power stage is ready to switch on
son 5. Switched On Power stage is switched on
Power stage is enabled / Selected
run 6. Operation Enabled
operating mode is active
9

stop 7. Quick Stop Active "Quick Stop" is being executed

Parameters

flt 8. Fault Reaction Active Error response is active

Error response terminated / Power stage
flt 9. Fault
is disabled

TM
6-4
Chap06 Operation

Information on the operating state is available via the signal [Link] table below provides an overview.

Digital output Digital output

Operation state
function: No Fault function: Active
1. Start 0 0
2. Not Ready To
0 0
Switch On
3. Switch On
0 0
Disabled
4. Ready To
1 0
Switch On
5. Switched On 1 0
6. Operation
1 1
Enabled
7. Quick Stop
0 0
Active
8. Fault Reaction
0 0
Active
9. Fault 0 0

Min. 1 Unit
P3-06~08 IOfunct_DQx Functions of digital output DQx Default -
-
Max. 125
Description:
Functions of digital output DQx
Function Code
Function Description
NO NC
No Fault No fault 2 102
Active Servo drive output stage enabled 3 103
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

6-5 TM
6.3 Digital Inputs and Outputs

1 Overview
Various digital input and output functions can be assigned to the digital inputs and output of LXM16D servo drive.

WARNING

2
UNINTENDED EQUIPMENT OPERATION
● Only start the system if there are no persons or obstructions in the zone of operation.

Type Selection
● Verify that the wiring is appropriate for the settings.
● Carefully run tests for all operating states and potential error situations when commissioning, upgrading or otherwise modifying the
operation of the drive.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

6.3.1 Connecting the Digital Inputs and Outputs

3 Installation
When connecting digital inputs:
● Connect to contacts of switches and relays, or open collector output transistors.
● All digital inputs equip a bi-directional photocouplers, please select proper power supply polarity connected to the
digital input common terminal pin with respect to the actual loads.
● In order to secure sufficient primary current for photocouplers and to protect the primary side of the photocouplers,

4
please make sure the upper and lower limits of voltage connected to digital inputs as between 12V-15% and 24V+15%.

Connection
Wiring
This is a typical example of wiring for digital input:

8 8

5
12~24V 12~24V

Front Panel
9 etc. 9 etc.

Contact

6
When connecting digital outputs:

Operation
● The output circuit is composed of open collector transistor outputs and connect to relays or photocouplers.
● When connecting an inductive load to the digital output, please use appropriate external protection circuit or
device (e.g. fly-wheel diode) to prevent possible damage to the device.
● When connecting a photocoupler load, please use proper current limiting resistance with respect to the power
supply connected. The recommended primary current value of photocoupler is 10mA, decide the resistor value

7 Commissioning
using the formula of the below figure.
● All digital outputs are designed with independent collectors and common emitters, choose power supply polarity
with care when connecting loads. The digital output common terminal pin shall be connected to the negative pole
of power supply, connection in the opposite polarity will damage the device.
● Please pay attention to the maximum current carrying capacity of transistor at each digital output, and make sure
the load current at each digital output does not exceed 100mA (at 50° C).
8 Diagnosis

This is a typical example of wiring for digital output:

Please pay attention to the installation orientation V DC

of protection. The protection must be installed
in the orientation as per drawing
9 Parameters

7 etc. 7 etc.
12～24V
V DC [V]-2.5[V]
6 Please pay attention to the 6 R[kΩ]=
power polarity. Reversed
10[mA]
polarity connection may
cause damage to equipment.

TM
6-6
Chap06 Operation

6.3.2 Parameterization of the Digital Inputs and Outputs

The digital input functions for the inputs DI0 ... DI5 are configured via the parameters P3-00 ... P3-06. The digital
output functions for the outputs DQ0 ... DQ2 are configured via the parameters P3-06 ... P3-08. A digital input function
can only be assigned to one of the digital inputs.

The parameterization of digital input/output functions is shown in the figure below:

I/O feature

0: NO logic

1: NC logic

6.3.3 List of Input Functions

Overview of available digital input functions:

Digital input CN1 Value

Parameter Function Description
functions pin NO NC
IOfunct_DI0 9 P3-00 Freely Available No function assigned, available as required 1 -
IOfunct_DI1 10 P3-01 Fault Reset Reset after error 2 102
IOfunct_DI2 20 P3-02 Enable Enables the power stage 3 103
IOfunct_DI3 21 P3-03 Halt Halt 4 104
IOfunct_DI4 22 P3-04 Current Limitation Limits the current to parameter value 6 106
IOfunct_DI5 23 P3-05 Zero Clamp Zero clamping 7 107
DI_COM 8 - Velocity Limitation Limits the velocity to parameter value 8 108
Jog Positive Jog: Moves in positive direction 9 109
Jog Negative Jog: Moves in negative direction 10 110
Jog: Switches between slow and fast
Jog Fast/Slow 11 111
movement
Electronic Gear: Switches between two
Gear Ratio Switch 12 112
gear ratios
Gear Offset 1 Electronic Gear: Adds first gear offset 19 119
Gear Offset 2 Electronic Gear: Adds second gear offset 20 120
Reference Switch (REF) Reference switch 21 121
Positive Limit Switch (LIMP) Positive limit switch 22 122
Negative Limit Switch (LIMN) Negative limit switch 23 123
Switch Controller Parameter
Switches control loop parameter set 24 124
Set
Velocity Controller Integral Off Switches off velocity controller integral term 28 128
ORGP Start homing movement 42 142

6-7 TM
6.3.4 Digital Output Functions

1 Overview
Overview of available digital output functions:

Digital output CN1 Value

Parameter Function Description
signal pin NO NC

2
IOfunct_DQ0 7 P3-06 Freely Available No function assigned, available as required 1 -

Type Selection
IOfunct_DQ1 18 P3-07 No Fault No fault found on device 2 102
IOfunct_DQ2 19 P3-08 Active Device power stage is enabled 3 103
DO_COM 6 - In Position Deviation Window Position deviation is within window 5 105
In Velocity Deviation Window Velocity deviation is within window 6 106
Velocity Below Threshold Motor velocity below threshold 7 107
Torque Below Threshold Motor torque below threshold 8 108

3 Installation
Halt Acknowledge Halt acknowledgement 9 109
Motor Standstill Motor at a standstill 13 113
One of the specified errors of error classes
Selected Error 14 114
1 … 4 is active
Valid Reference (ref_ok) Zero point is valid (ref_ok) 15 115
One of the specified errors of error class 0
Selected Warning 16 116
is active

4
Motor Moves Positive Motor moves in positive direction 22 122

Connection
Motor Moves Negative Motor moves in negative direction 23 123

Wiring
Release Brake Motor holding brake control 24 124
Torque Over Threshold Motor current over threshold 25 125

6.3.5 Factory Settings

5 Front Panel
The LXM16D servo drive is delivered with default digital input/output functions settings, users can also parameterize
digital input/output functions as per their own requirements.

Overview of digital inputs function factory settings:

6
Name of Default function
Parameter Function name Function description
input point value

Operation
IOfunct_DI0 P3-00 3 Enable (NO) Enables the power stage (NO)
IOfunct_DI1 P3-01 2 Fault Reset (NO) Reset after fault (NO)
IOfunct_DI2 P3-02 122 Positive Limit Switch (LIMP) (NC) Positive limit switch (NC)
IOfunct_DI3 P3-03 123 Negative Limit Switch (LIMN) (NC) Negative limit switch (NC)
Electronic Gear: Switches between

7 Commissioning
IOfunct_DI4 P3-04 12 Gear Ratio Switch (NO)
two gear ratios (NO)
IOfunct_DI5 P3-05 104 Halt (NC) Halt (NC)

Overview of digital outputs function factory settings:

Name of Default function

Parameter Function name Function description
8

digital output value

Diagnosis

IOfunct_DQ0 P3-06 2 No Fault (NO) No fault found on device (NO)

In Position Deviation
IOfunct_DQ1 P3-07 5 Position deviation is within window (NO)
Window (NO)
IOfunct_DQ2 P3-08 13 Motor Standstill (NO) Motor at a standstill (NC)
9

6.3.6 Parameterization of Software Debouncing

Parameters

Signal input debouncing comprises hardware debouncing and software debouncing. The hardware debounce time is
permanently set, the software debounce time can be set via parameters.
When a set signal function is changed and when the product is powered off and on again, software debouncing is
reset to the factory setting.

TM
6-8
Chap06 Operation

Minimum value 0 Unit

P3-09~14 DI_x_Debounce Debounce time of DIx Default value 6
-
Maximum value 6
Description
Debounce time of DIx
0 / No: No software debouncing
1 / 0.25 ms: 0.25 ms
2 / 0.50 ms: 0.50 ms
3 / 0.75 ms: 0.75 ms
4 / 1.00 ms: 1.00 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

6-9 TM
6.4 Basic Functions for Operation

1
Unsuitable parameter values or unsuitable data may trigger unintended movements, trigger signals, damage parts

Overview
and disable monitoring functions. Some parameter values or data do not become active until after a restart.

WARNING

2
UNINTENDED EQUIPMENT OPERATION
● Only start the system if there are no persons or obstructions in the zone of operation.

Type Selection
● Do not operate the drive system with undetermined parameter values or data.
● Never modify a parameter value unless you fully understand the parameter and all effects of the modification.
● Restart the drive and verify the saved operational data and/or parameter values after modifications.
● Carefully run tests for all operating states and potential error situations when commissioning, upgrading or otherwise modifying the
operation of the drive.
● Verify the functions after replacing the product and also after making modifications to the parameter values and/or other operational data.

3 Installation
Failure to follow these instructions can result in death, serious injury, or equipment damage.

6.4.1 Enable Power Stage

Set the method for enable/disable servo drive power stage.

4
After the request for servo enabling is given with all criteria met, the power stage of equipment is switched on while

Connection
the equipment operating state changes to enabled. After the request for servo disabling is given, the power stage of

Wiring
equipment is switched off while the equipment operating state changes to disabled.

The equipment also automatically switches off the power stage and changes the operating state to disabled when a
fault with error class 2,3 and 4 is detected.

5
By factory default, the digital input IOfunc_DI0 with pin 9 on CN1 is set to Enable function (NO).
The Enable function can also be assigned to other digital inputs via parameters P3-00 ... P3-05.

Front Panel
Minimum value 1 Unit
P3-00~05 IOfunct_DIx Function Input DIx Default value -
-
Maximum value 142
Description:

6
Function Input DIx

Operation
Code
Function Description
Normally open Normally closed
Enable Enables the power stage 3 103
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

7 Commissioning
User can define the logic of how the equipment enable the power stage with Enable signal via parameter P3-15: to
enable the power stage with the rising edge or high level of signal.
The equipment can also be set to automatically enable the power stage via parameter P3-15.
By default, the equipment enables the power stage with the rising edge of Enable signal.
8

Minimum value 0 Unit

P3-15 IO_AutoEnable Enabling the power stage at PowerOn Default value 0
Diagnosis

-
Maximum value 2
Description:
Enabling the power stage at PowerOn
0 / RisingEdge: A rising edge with the signal input function “Enable” enables the power stage
1 / HighLevel: An active signal input with the signal input function “Enable” enables the power stage
9

2 / AutoOn: The power stage is automatically enabled

Parameters

Changed settings become active the next time the power stage is enabled.

Note: If the equipment is set to automatically enable the power stage, the equipment will immediately enable the
power stage and change the operating mode to enabled when main power supply is switched on. Unintended
equipment operation may occur with position command being given. Carefully perform all essential checks and
necessary safety measures before main power supply is switched on.

TM
6-10
Chap06 Operation

WARNING
UNINTENDED EQUIPMENT OPERATION
● Only start the system if there are no persons or obstructions in the zone of operation.
● Do not operate the drive system with undetermined parameter values or data.
● Never modify a parameter value unless you fully understand the parameter and all effects of the modification.
● Restart the drive and verify the saved operational data and/or parameter values after modifications.
● Carefully run tests for all operating states and potential error situations when commissioning, upgrading or otherwise modifying the
operation of the drive.
● Verify the functions after replacing the product and also after making modifications to the parameter values and/or other operational data.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

6.4.2 Selection of Motor Rotation Direction

By modify the value of parameter P0-00, it is possible to change the motor rotation direction without changing the
wiring or the polarity (direction logical) of the pulse train command input. Meanwhile, although the motor rotation
direction has been changed, the polarity of output signals generated by servo drive, for example encoder simulation
output, will remain unchanged.

By factory default, the servo motor turns CCW in response to positive direction pulse train command input when
viewed from load side shaft end.

Minimum value 0 Unit

P0-00 InvertDirOfMove Inversion of direction of movement Default value 0
-
Maximum value 1
Description:
Inversion of direction of movement
0 / Inversion Off: Inversion of direction of movement is off
1 / Inversion On: Inversion of direction of movement is on

The limit switch mounted in the positive direction must be connected to the digital input which is parameterized as Positive
Limit Switch (LIMP).
The limit switch mounted in the negative direction must be connected to the digital input which is parameterized as Negative
Limit Switch (LIMN).

Command Motor rotation Positive Limit Negative Limit

Function
Forward
direction direction Switch (LIMP) Switch (LIMN)
(CCW) Positive CCW direction Effective -
0
Negative CW direction - Effective
Positive CW direction Effective -
1
Reverse Negative CCW direction - Effective
(CW)
Factory default

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

6-11 TM
6.4.3 Limit Switches

1 Overview
Movements can be monitored using limit switches. A positive limit switch and a negative limit switch can be used for
monitoring. When movement expired the safety stroke, the movement of servo motor will be stopped by input signal of
triggered limit switch.

If the positive or negative limit switch are tripped, the movement stops. An error message is generated and the

2
operating state switches to 7 Quick Stop Active “7 Quick Stop Active. The error message can be reset by means of

Type Selection
a “Fault Reset”. The operating state switches back to 6 Operation Enabled. The movement can continue, however,
only in the opposite direction.

For example, if the positive limit switch was triggered, an error message EA302 is generated and the operating state
switches to 7 Quick Stop Active. The error message EA302 can be reset by means of a “Fault Reset”. The operating
state switches back to 6 Operation Enabled. The movement can continue, however, only in the negative direction. If

3 Installation
the subsequent motion is still in positive direction, the error message EA302 will be generated again and the operating
state switches to7 Quick Stop Active.

Note: The limit switch only provides protection against certain hazardous circumstances (e.g. incorrect instructions-
induced collisions). To avoid accidents resulting from poor contact or line break, the limit switch function is
recommended to be employed in “NC” logical.

4
WARNING

Connection
Wiring
Loss of Control
● Ensure that limit switches are installed as determined by your risk assessment.
● Verify correct connection of the limit switches.
● Verify that the limit switches are sufficiently distant from the mechanical stop to allow an adequate stopping distance.
● Verify correct parameterization and function of the limit switches.

5
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Front Panel
By factory default, the digital input IOfunc_DI2 with pin 20 on CN1 is set to positive limit switch (NC logic), while the
digital input IOfunc_DI3 with pin 21 on CN1 is set to negative limit switch (NC logic).
The LIMP/LIMN function can also be assigned to other digital inputs via parameters P3-00 ... P3-05.

Minimum value 1 Unit

6
P3-02 IOfunct_DI2 Function Input DI2 Default value 122

Operation
-
Maximum value 142
Description
Function Input DI2
Code
Function Description

7 Commissioning
Normally open Normally closed
Positive Limit Switch (LIMP) Positive limit switch 22 122
Negative Limit Switch (LIMN) 23 123
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.
8

Minimum value 1 Unit

Diagnosis

P3-03 IOfunct_DI3 Function Input DI3 Default value 123

-
Maximum value 142
Description
Function Input DI3
Code
Function Description
9

Normally open Normally closed

Parameters

Positive Limit Switch (LIMP) Positive limit switch 22 122

Negative Limit Switch (LIMN) Negative limit switch 23 123
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

TM
6-12
Chap06 Operation

6.4.4 Motor Holding Brake

Motor holding brake is a built-in component of servo motor designed with motor holding brake. The motor holding
brake is used to hold the motor’s position and keep the moving part of the mechanical from been moved by external
force or gravity when the servo drive power stage switched off.

Please use motor with holding brake in following applications:

Vertical shaft Shaft under external force

Servo motor
Moving part of machinery
Holding brake (for fixation) External force Servo motor

When the power is OFF, movement is

Holding brake
avoided by dead weight
(for fixation)
Moving part of machinery Prevent the sliding table moving
due to external force

When using a motor with holding brake, please note:

● Motor holding brake is not a safety-related measure.
● The motor holding brake is designed only to hold the motor position of when the power stage is disabled, it can
not be used as a service brake.

WARNING
UNINTENDED AXIS MOVEMENT
● Do not use the internal holding brake as a safety-related measure.
● Only use certified external brakes as safety-related measures.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The motor holding brake is operated in NO logical, when motor holding brake is applied with required current, it is
excited and released. When the current applied to the motor holding brake is off, it is applied.

Release and apply the motor holding brake requires a certain amount time of delay:

Brake Release time delay Apply time delay

Motor type
voltage (ms) (ms)
BCH16*B* 118 15
BCH16*D* 25 50
BCH16*F* 24VDC 25 50
BCH16*H* 76 27
BCH16*M* 76 27

The Release Brake function can be assigned to a digital output via the parameters P3-06 ... P3-08. With Release
Brake function been assigned to a digital output, the equipment can automatically control the release and apply of
the motor holding brake, which is to say, the brake is released automatically when the power stage is enabled and is
applied automatically when the power stage is disabled.

Note: Restore the factory settings can modify the assignment of the signal output functions in such a way that the
motor holding brake is released unintentionally.

WARNING
UNINTENDED AXIS MOVEMENT
● Verify that the digital output to which you have assigned the digital output function Release Brake has been properly wired and configured.
● Before restore the factory setting, verify that the digital output function Release Brake for the holding brake has been assigned to any
digital output to prevent unintended movement of the load caused by a release of the holding brake. or reassign the digital output function
Release Brake after the factory setting restore according to the requirements of your application prior to enable the power stage.
● In all cases, take all necessary measures to prevent unintended movements of the load caused by a release of the holding brake.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

6-13 TM
 Minimum value 1 Unit
P3-06~08 IOfunct_DQx Function Input DQx Default value -
-

1
Maximum value 125

Overview
Description
Function Input DQx
Code
Function Description
Normally open Normally closed
Release Brake Release brake 24 124

2 Type Selection
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

If LXM16D servo drive is driving to a servo motor with holding brake, a certain amount of delay time is automatically
added when the power stage is enabled. Transition to the operating state 6 Operation Enabled is only possible the

3 Installation
holding brake is released after this time delay has elapsed. During this period the current is also applied to the motor.
An additional holding brake release time delay can be set via the parameter P4-14, Transition to the operating state 6
Operation Enabled is only possible after the entire time delay has elapsed.
In like manner, if LXM16D servo drive is driving to a servo motor with holding brake, a certain amount of delay time is
automatically added when the power stage is disabled. Current remains to be applied to the motor during this entire
time delay. An additional holding brake apply time delay can be set via the parameter P4-15, the current remains to be

4
applied to the motor during the entire time delay.

Connection
Wiring
Time chart of release and apply the motor holding brake:

5
Enable 0

Front Panel
Motor 1
power-on 0

Band-type 1
brake 0
Operating
state 1

6
6 Operation 0
enabled

Operation
t
Automatic delay based P4-14 Automatic delay based P4-15
on motor model No. Additional delay on motor model No. Additional delay

Minimum value 0 Unit

7 Commissioning
Additional time delay for releasing the
P4-14 BRK_AddT_release Default value 0
holding brake ms
Maximum value 400
Description
Additional time delay for releasing the holding brake

Setting can only be changed if power stage is disabled.

8

Changed settings become active the next time the power stage is enabled.
Diagnosis

Minimum value 0 Unit

Additional time delay for applying the
P4-15 BRK_AddT_apply Default value 0
holding brake ms
Maximum value 1000
Description
9

Additional time delay for applying the holding brake

Parameters

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

TM
6-14
Chap06 Operation

The standard wiring of motor holding brake:

Emergency stop
V DC
Servo drive Surge absorber

Motor Band-
7 etc. type
RY brake

DC
6

Power supply for brake

V DC
Note:
● The motor holding brake has no polarity.
● Please consider a circuit which uses a relay to control motor holding brake. Do not connect the motor holding
brake directly to servo drive digital output or it will result in equipment damage.
● Please design an EMERGENCY STOP SWITCH in the control circuit, by triggering the EMERGENCY STOP
SWITCH the motor holding brake should be applied.
● To suppress the surge generated during release / apply of the motor holding brake, please design a surge
protection device in the motor holding brake control circuit as following: Please note: by using of a fly-wheel
diode, the time consumed for release the motor holding brake may be longer than with a surge protection device.
● Be sure to separate the 24VDC power supply for motor holding brake from the power supply for I/O signal (CN1)
of the equipment; or it may result in malfunction of I/O signal.

6.4.5 Dynamic Brake

The LXM16D servo drive is designed with a built-in dynamic brake function that can stop the motor immediately.

Dynamic brake is applicable for the following cases:

● When the main power supply is turned off
● When an error with error class 2,3 and 4 is detected.

The user can choose whether the servo drive will perform the dynamic braking function to stop the movement or not
via parameter P4-16.
By factory default setting, the drive does not preform dynamic braking function to stop the movement when an error is
detected, instead the motor will coast freely to stop.

Note: The servo motor becomes a generator when it is driven by external force and short-circuit current will pass
through the equipment and servo motor when dynamic brake function is activated. If the servo motor is
continuously driven by external forces, the equipment may cause smoking or fire.

WARNING
FIRE DUE TO EXTERNAL DRIVING FORCES ACTING ON MOTOR
● Verify that no external forces can act on the motor in the case of main power supply to the servo drive is switched off.
● Verify that no external forces can act on the motor in the case of errors of error classes 3 or 4.
Failure to follow these instructions will result in death or serious injury.

Minimum value 0 Unit

P4-16 DYN_BRK_enable Enable dynamic brake function Default value 0
-
Maximum value 1
Description

0 / Dynamic Braking Function Off: Enable dynamic braking function

1 / Dynamic Braking Function On: Disable dynamic braking function

Changed settings become active immediately.

6-15 TM
6.4.6 Braking Resistor

1 Overview
LXM16D servo drives are designed without built-in braking resistor. If the regenerated power becomes greater than
the power that can be absorbed by the servo drive, it is necessary to use an external braking resistor.
When sizing an external braking resistor, note the following:

2
Minimum resistance of Maximum power of external

Type Selection
Drive Specifications
external braking resistor ( Ω ) braking resistor (W)
LXM16DU01 / 02 / 04 36 200
LXM16DU07 / 10 / 15 20 600

Connecting an external braking resistor:

3 Installation
Connect the external braking resistor between P+ and PB of servo drive connector CNP.

4Connection
Wiring
M S CN3

5
CN2

6 Front Panel
CN1

Operation
7 Commissioning
CHARGE

U
V
8

W
PB CNP
Diagnosis

P+
L
N
9 Parameters

TM
6-16
Chap06 Operation

After the connection of external braking resistor, please set the capacity, resistance and protection parameters of
external braking resistor through parameters, and activate the external braking resistor.

Minimum value 1 Unit

Nominal power of external braking resis-
P0-25 RESext_P Default value 10
tor W
Maximum value 32767
Description
Nominal power of external braking resistor

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

Minimum value - Unit

Resistance value of external braking
P0-26 RESext_R Default value 100.00
resistor Ω
Maximum value 327.67
Description
Resistance value of external braking resistor
The minimum value depends on the power stage.
In increments of 0.01 Ω

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

Minimum value 1 Unit

Maximum permissible switch-on time of
P0-27 RESext_ton Default value 100
external braking resistor ms
Maximum value 32767
Description
Maximum permissible switch-on time of external braking resistor

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

Minimum value 0 Unit

Maximum permissible switch-on time of
P0-28 RESint_ext Default value 0
external braking resistor -
Maximum value 1
Description
Maximum permissible switch-on time of external braking resistor

0 / No External Braking Resistor: Disable external braking resistor

1 / External Braking Resistor: Enable external braking resistor

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

6.4.7 Functions for Monitoring

LXM16D servo drive offers the following monitoring functions:

● Temperature monitoring
● Load and overload monitoring
● Commutation monitoring
● Ground fault monitoring

6-17 TM
[Link] Temperature Monitoring

1 Overview
The LXM16D servo drive monitors the power stage temperature and the CPU temperature, the values can be
displayed by means of HMI:
● The current temperature of CPU is displayed via parameter Mon->tdeV
● The current power stage temperature of drive is displayed via parameter Mon->tPS

2
The monitoring temperature thresholds of power stage can also be set; if the current power stage temperature expires

Type Selection
the threshold, the monitoring function will generate error with error class 0 or class 2,3 and 4.

Minimum value - Unit

P6-28 _PS_T_max Maximum temperature of power stage Default value -
℃
Maximum value -

3 Installation
Description
Maximum temperature of power stage

Read only

4
Minimum value - Unit
Maximum temperature of power stage

Connection
P6-29 _PS_T_warm Default value -

Wiring
(error class 0) ℃
Maximum value -
Description
Maximum temperature of power stage (error class 0)

Read only

5 Front Panel
[Link] Load and Overload Monitoring

The load is the thermal load on the power stage, the motor and the braking resistor. The servo drive calculates the

6
load and overload using I2T algorithm and monitoring the load and overload of various components internally. The

Operation
load and overload values can be read by means of parameters.

Overload starts at a load value of 100 %.; the overload is calculated as following:

7 Commissioning
①
0% 100 % 200 %

②
0% 100 %
1 Load
8

2 Overload
Diagnosis

Load and overload on the individual components are monitored internally; the values can be read by means of HMI.

● The current load of drive power stage is displayed via parameter Mon->LdFP
● The current load of motor is displayed via parameter Mon->LdFM
9

● The current load of external brake resistor is displayed via parameter Mon->LdFb
Parameters

● The current overload of drive power stage is displayed via parameter Mon->oVLP

In the case of 100 % overload of the power stage or the motor, the current is limited internally.

TM
6-18
Chap06 Operation

[Link] Commutation Monitoring

Commutation monitoring verifies the plausibility of acceleration and effective motor torque. If the motor accelerates
though the drive control decelerates the motor with the maximum current, an error is detected.
Commutation monitoring can be deactivated via parameter P5-17. Deactivating commutation monitoring can cause
unintended movements.

WARNING
UNINTENDED MOVEMENT
● Only deactivate commutation monitoring during commissioning and only for test purposes.
● Verify that the commutation monitoring is active prior to putting the equipment into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Minimum value 0 Unit

P5-17 MON_commutat Commutation monitoring Default value 1
-
Maximum value 1
Description
Commutation monitoring

0 / Off Commutation monitoring off

1 / On(OpState6): Commutation monitoring on in operating state 6

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

[Link] Ground Fault Monitoring

When the power stage is enabled, the device monitors the motor phases for ground faults. A ground fault occurs when
one or more motor phases are short-circuited to the ground (earth) of the application.
A ground fault of one or more motor phases is detected. A ground fault of the DC bus or the braking resistor is not
detected.
Ground fault monitoring can be deactivated via parameter P5-18. If the ground fault monitoring is deactivated, the
drive may be rendered inoperable by a ground fault.

WARNING
INOPERABLE EQUIPMENT DUE TO GROUND FAULTS
● Only deactivate ground fault monitoring during commissioning and only for test purposes.
● Verify that the ground fault monitoring is active prior to putting the equipment into service.
Failure to follow these instructions can result in equipment damage.

Minimum value 0 Unit

P5-18 MON_GroundFault Ground fault monitoring Default value 1
-
Maximum value 1
Description
Ground fault monitoring

0 / Off: Ground fault monitoring off

1 / On: Ground fault monitoring on

Changed settings become active the next time the product is powered on.

6-19 TM
6.5 Operation Mode Jog

1 Overview
In operation mode Jog, a movement is performed to jog the servo motor. The purpose of Jog is to verify the wiring
between servo drive and servo motor, also to check whether the servo motor could run properly.

6.5.1 Precautions and checklist before starting the Jog

2 Type Selection
To make sure the Jog can be performed properly and safely, check and confirm the following items prior to the operation:
● Servo drive:
● Check whether the wiring and settings of servo drive are correct.
Check whether the main power supply voltage to the servo drive is normal.
● Servo motor:
Check whether the wiring between servo motor and servo drive is correct.

3 Installation
Check whether all accessories are securely fastened.
In the case a servo motor with holding brake is connected, proper voltage (DC24V) must be applied to the motor holding
brake to release it prior to the operation.

WARNING

4
UNINTENDED MOVEMENT

Connection
● Only start the system if there are no persons or obstructions in the zone of operation.

Wiring
● Verify that a functioning emergency stop push-button is within reach of all persons involved in the operation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

6.5.2 Perform the Jog by integrated HMI

5
The movement can be performed via the HMI:

Front Panel
rdy
M S

op
M S

6
VoG

Operation
M
M S

VG5t p4-01 p4-02

S

zVG -VG VG- VGz

7 Commissioning
Menu group JoG consists of 3 parameters:
Parameter
Description
name
Enable the servo drive power stage. Use UP and DOWN keys to select
JGSt direction, speed of the manual operation / JOG, then press and hold S key to
JOG the servo motor.
8

P4-01 JOGv_slow, set velocity for slow JOG movement.

Diagnosis

P4-02 JOGv_slow, set velocity for fast JOG movement.

Click S key at JGSt parameter to enable the servo drive power stage, select the direction and velocity of manual
operation/JOG movement, press and hold S key to jog the motor.
Parameter
Description
9

Name
Parameters

JG- Set manual operation / JOG movement in Positive direction and Slow velocity.
JG= Set manual operation / JOG movement in Positive direction and Fast velocity.
-JG Set manual operation / JOG movement in Negative direction and Slow velocity.
=JG Set manual operation / JOG movement in Negative direction and Fast velocity.
Whenever the easy tuning is cancelled by press the M key, the servo motor will stop and the servo drive power stage
will be disabled. The operation will return to the entrance of menu group tun, value tun will be displayed.

TM
6-20
Chap06 Operation

6.5.3 Perform the Jog by Digital Input

It is possible to select the velocity and direction of Jog movement via digital inputs, then assign Jog function to digital
input and start the operation:

● It is possible to assign digital input function Jog Positive / Jog Negative / Jog Fast/Slow to digital inputs via
parameters P3-00 ... P3-05 respectively for starting the positive Jog movement /starting the negative Jog
movement / switching between fast and low Jog velocity.
● Set velocity for slow JOG movement via parameter P4-01
● Set velocity for fast JOG movement via parameter P4-02

Minimum value 1 Unit

P3-00~05 IOfunct_DIx Function Input DIx Default value -
-
Maximum value 142
Description
Function Input DIx
Code
Function Description
Normally open Normally closed
Jog Positive Jog: Moves in positive direction 9 109
Jog Negative Jog: Moves in negative direction 10 110
Jog Fast/Slow Jog: Switches between slow and fast 11 111
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

Minimum value 1 Unit

P4-01 JOGv_slow Velocity for slow movement Default value 100
usr_v
Maximum value 2147483647
Description
Velocity for slow movement
The adjustable value is internally limited to the parameter setting in P4-12

Changed settings become active immediately.

Minimum value 1 Unit

P4-02 JOGv_fast Velocity for fast movement Default value 200
usr_v
Maximum value 2147483647
Description
Velocity for fast movement
The adjustable value is internally limited to the parameter setting in P4-12.

Changed settings become active immediately.

6-21 TM
6.5.4 Parameterization of Velocity Curve of Jog

1 Overview
It is possible to change the parameterization of the Motion Profile for the Velocity.

The target position and target velocity of servo drive is given by external pulse train command, while the motion curve
control function will recalculate motion profile based on motion pulse train command been given.

2 Type Selection
Minimum value 1 Unit
Acceleration of the motion profile for
P4-10 RAMP_v_acc Default value 600
velocity usr_a
Maximum value 2147483647
Description
Acceleration of the motion profile for velocity
Writing the value 0 has no effect on the parameter.

3 Installation
Changed settings become active the next time the motor moves.

Minimum value 1 Unit

Deceleration of the motion profile for
P4-11 RAMP_v_dec Default value 600
velocity usr_a
Maximum value 2147483647

4
Description

Connection
Deceleration of the motion profile for velocity

Wiring
The minimum value depends on the operating mode:
● Operating mode with minimum value 1: Electronic Gear velocity synchronization
● Operating modes with minimum value 120: Jog, Homing
Writing the value 0 has no effect on the parameter.

5
Changed settings become active the next time the motor moves.

Front Panel
Minimum value 1 Unit
P4-12 RAMP_v_max Default value 13200
usr_v
Maximum value 2147483647

6
Description

Operation
Maximum velocity of the motion profile for velocity
If a greater reference velocity is set, it is automatically limited to the value set in this parameter.

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the motor moves.

7 Commissioning
Minimum value 0 Unit
P4-13 RAMP_v_enable Activation of the motion profile for velocity Default value 1
-
Maximum value 1
Description
Activation of the motion profile for velocity
8

0 / Profile Off: Motion profile for velocity off

Diagnosis

1 / Profile On: Motion profile for velocity on

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.
9 Parameters

TM
6-22
Chap06 Operation

6.6 Operation Mode Electronic Gear

In the operating mode Electronic Gear, movements are carried out according to externally supplied reference value signals.
The position reference value is calculated on the basis of these external reference values plus an adjustable gear ratio. The
reference value signals can be A/B signals, P/D signals or CW/CCW signals.
The control block diagram in electronic gear mode is shown below:
Acceleration feedforward

Internal speed curve

PTI Pulse speed
P1-21 CTRL_KFAcc
Friction compensation
P4-10（RAMP_v_acc）
Speed feedforward
P4-11（RAMP_v_dec）
P4-12（RAMP_v_max）
P4-13（RAMP_v_enabl） P0-15 GEARjerklim
P1-03 CTRL1_KFPp Speed P0-16 RAMP_v_jerk Drive
Position Max. speed Overshoot command Current output
command limitation inhibition smoothing Speed control Max. current limit Notch filter Current command smoothing control stage
Electronic gear smoothing Position controller
PTI Pulse position
-
-
P4-17 CTRL_v_max P1-04 CTRL1_TAUnref P1-01 CTRL1_KPn P0-24 CTRL_I_max P2-01 CTRL_ANf1damp P1-05 CTRL1_TAUiref
P0-10 GEARratio P0-15 GEARjerklim P1-0 CTRL1_KPp
P2-13 CTRL1_Osupdamp P1-02 CTRL1_TNn P2-02 CTRL_ANf1freq
P0-11 GEARdenom P0-16 RAMP_v_jerk
P2-14 CTRL1_Osupdelay P2-03 CTRL_ANf1bandw
P0-12 GEARnum
...
P0-13 GEARdenom2 M
P2-12 CTRL1 Nf2bandw
P0-14 GEARnum2 3~

Current feedback
Position feedback Speed feedback
E

6.6.1 Wiring Example

In electronic gear mode, the pulse train command input interface supports common pulse train formats given by controller:
● If the controller generates 24VDC open collector pulse train, it can be directly connected to the servo drive pulse train
input interface Open collector electrode ( 24VDC )
11
PLS_24

13
24VDC PT Pulse input PLS

12
/PLS

24
SIGN_24

26
PT Direction input SIGN

25
/SIGN

Note: Please use shielded twisted pair cable and ground both ends of the cable shield layer.

● If the controller generates line driver pulse train on other voltage classes, external resistors are required. The
recommended resistor specifications are shown in the figure:
Other power supply-grade open collector output
(connection of resistors in series needed) VDC R specifications
11 12VDC 500 ohm / 1W
PLS_24

R 13
5VDC 120 ohm / 1W
PLS
VDC PT Pulse input 12
/PLS

24
SIGN_24

R 26
SIGN
PT Direction input
25
/SIGN

Note: Please use shielded twisted pair cable and ground both ends of the cable shield layer.
● If the controller generates differential high-speed pulse train, it can also be directly connected to the servo drive pulse
train input interface. 11 Differential Output
PLS_24
5VDC
13
PT PLS
Pulse
12
input /PLS

24
SIGN_24
5VDC
26
PT SIGN
Direction
input 25
/SIGN

Note: Please use shielded twisted pair cable and ground both ends of the cable shield layer.

6-23 TM
 Electrical specifications of various pulse train commands:

1
Type of pulse train command Open collector 24V Line driver 5V High-speed pulse 5V

Overview
Pulse + direction 200kHz 500kHz 2MHz
CW + CCW 200kHz 500kHz 2MHz
A/B 200kHz 500kHz 500KHz (quadruple frequency)

2 Type Selection
6.6.2 Basic Parameters Settings

The illustration below provides an overview of the parameters that can be adjusted in electronic gear mode.

Given pulse

3 Installation
PTI Pulse type
P0-06（PTI_signal_type）
A/B = 0 P/D = 1 CW/CCW = 2

Switching electronic gear ratio

P3-04（IOfunct_DI4）

4
（P3-00...P3-05 = 12）
Without input With input

Connection
Wiring
Electronic gear ratio Electronic gear ratio of group 2
P0-10（GEATratio） P0-14（GEARnum2）
P0-13（GEARdenom2）
=0 Select from the list

5 Front Panel
Electronic gear ratio
P0-12（GEARnum）
P0-11（GEARdenom）

Run mode in the electronic gear mode

6
P0-08（IO_GERAmethod）
Position Sync Position Sync

Operation
Velocity Sync = 3
Immediate = 1 Compensated = 2

Ignore the pulse received Enable the internal

when the motor is not enabled? speed curve of drive
P0-18（GEAposChgMode） P4-13（Ramp_v_enable）

7 Commissioning
Off = 0 On = 1 Profile Off = 0 Profile On = 1

Internal speed curve limits

Position offset in electronic gear mode
P4-10（RAMP_v_acc）
Select the position offset P4-23（OFSp_RelPos1） P4-11（RAMP_v_dec）
P3-00 ... P3-05（IOfunct_DIx） P4-24（OFSp_RelPos2） P4-12（RAMP_v_max）
= 19 / 20 P4-25（OFSv_target）
8

P4-26（OFS_Ramp）
Diagnosis

Speed limitation in the pulse position mode

P0-17（GEARpos_v_max）

Motor rotation direction limitation

9

P0-09（GEARdir_enabl）
Parameters

Positive = 1 Negative = 2 Both = 3

Motor rotation direction setup

P0-00（InvertDirOfMove）
Inversion Off = 0 Inversion On = 1

TM
6-24
Chap06 Operation

6.6.3 Gear Ratio Settings

The position of movement is calculated by internal position increments.

The gear ratio is the ratio of the number of motor increments and the number of externally supplied reference
increments. External pulse train commands are converted into internal position increments with respect to the
electronic gear ratio.

The internal position scaling of LXM16D is set to 131072 increments per motor revolution.

By digital input been assigned as Gear Ratio Switch function, the user may switch between two different electronic
gear ratio.

By factory default setting, the digital input IOfunc_DI4 with pin 22 on CN1 is set to Gear Ratio Switch function (NO)
The Gear Ratio Switch function can also be assigned to other digital inputs via parameters P3-00 ... P3-05.

Minimum value 1 Unit

P3-04 IOfunct_DI4 Function Input DI4 Default value -
-
Maximum value 142
Description
Function Input DI4
Code
Function Description
Normally open Normally closed
Gear Ratio Switch Switched between two gear ratios 12 112
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

Two methods are available for set up electronic gear ratio: Choosing an electronic gear ratio from the list directly
via parameter P0-10. In case there is no appropriate electronic gear ratio found in the list, user may customize the
electronic gear ratio by first set parameter P0-10 to 0, then calculate electronic gear ratio via parameters P0-12/P0-11
and P0-14/P0-13.

The electronic gear customization method using electronic gear numerator/denominator is shown below:
PTI × (numerator/denominator) = Motor position (unit: revolution) × 131072

For example: Where 10,000 external pulses stand for 1 motor revolution is required, following calculation is
considered:
10000 × (Numerator/denominator) = 1 (revolution) × 131072
Hence, electronic gear ratio = electronic gear numerator/denominator = 131072 / 10000

By default, parameter P0-10 is set to 10,000.

Minimum value 0 Unit

P0-10 GEARratio Selection of predefined gear ratios Default value 8
-
Maximum value 11
Description
Selection of gear ratio
0 / Gear Factor: Usage of gear ratio adjusted with Gear numerator / Gear denomirator
1 / 200：200
2 / 400：400
3 / 500：500
4 / 1000：1000
5 / 2000：2000
6 / 4000：4000
7 / 5000：5000
8 / 10000: 10000
9 / 4096：4096
10 / 8192：8192
11 / 16384：16384

Changed settings become active immediately.

6-25 TM
 Minimum value 1 Unit
P0-11 GEARdenom 1st Denominator of gear ratio Default value 10000
-

1
Maximum value 2147483647

Overview
Description
Denominator of gear ration number 1
Gear ratio = P0-12 (GEARnum) / P0-11 (GEARdenom)
Input PTI counts * P0-12 (GEARnum) / P0-11 (GEARdenom) = Motor revolution (in unit of rev) * 131072
The new gear ratio is applied when the numerator value is supplied.

2 Type Selection
Changed settings become active immediately.

Minimum value -2147483648 Unit

P0-12 GEARnum 1st Numerator of gear ratio Default value 131072
-
Maximum value 2147483647
Description

3 Installation
Numerator of gear ration number 1
Gear ratio = P0-12 (GEARnum) / P0-11 (GEARdenom)
Input PTI counts * P0-12 (GEARnum) / P0-11 (GEARdenom) = Motor revolution (in unit of rev) * 131072
The new gear ratio is applied when the numerator value is supplied.

Changed settings become active immediately.

4Connection
Wiring
Minimum value 1 Unit
P0-13 GEARdenom2 2nd Denominator of gear ratio Default value 10000
-
Maximum value 2147483647
Description
Denominator of gear ration number 2

5
Gear ratio = P0-14 (GEARnum2) / P0-13 (GEARdenom2)

Front Panel
Input PTI counts * P0-14 (GEARnum2) / P0-13 (GEARdenom2) = Motor revolution (in unit of rev) * 131072
The new gear ratio is applied when the numerator value is supplied.

Changed settings become active immediately.

6
Minimum value -2147483648 Unit

Operation
P0-14 GEARnum2 2nd Numerator of gear ratio Default value 131072
-
Maximum value 2147483647
Description
Numerator of gear ration number 2
Gear ratio = P0-14 (GEARnum2) / P0-13 (GEARdenom2)

7 Commissioning
Input PTI counts * P0-14 (GEARnum2) / P0-13 (GEARdenom2) = Motor revolution (in unit of rev) * 131072
The new gear ratio is applied when the numerator value is supplied.

Changed settings become active immediately.

6.6.4 Selection of the Pulse Reference Method

8 Diagnosis

LXM16D servo drive supports 3 methods the movement is to be performed, pulse reference method is selected via
parameter P0-08:
● Position synchronization without compensation movement
In the case of position synchronization without compensation movement, the movement is made synchronously
(position synchronicity) with the supplied reference value [Link] value signals supplied during an
interruption caused by Halt or by a detected error of error class 1 are not taken into account.
9

● Position synchronization with compensation movement

Parameters

In the case of position synchronization with compensation movement, the movement is made synchronously (position
synchronicity) with the supplied reference value [Link] value signals supplied during an interruption
caused by Halt or by a detected error of error class 1 are taken into account and compensated for.
● Velocity synchronization
In the case of velocity synchronization, the movement is made synchronously (velocity synchronicity) with the
supplied reference value signals.

TM
6-26
Chap06 Operation

Minimum value 1 Unit

Processing mode for operating mode
P0-08 IO_GEARmethod Default value 1
Electronic Gear -
Maximum value 3
Description
Processing mode for operating mode Electronic Gear
1 / Position Synchronization Immediate: Position synchronization without compensation movement
2 / Position Synchronization Compensated: Position synchronization with compensation movement
3 / Velocity Synchronization: Velocity synchronization

Changed settings become active the next time the motor moves.

6.6.5 Position Change with Power Stage Disabled

If the method "2 - Synchronization With Compensation Movement" is selected via parameter P0-08, the parameter P0-18
determines the way changes to the motor position and to the reference value signals are handled with disabled power stage.
Position changes can be ignored or taken into account during a transition to operating state 6 Operation Enabled.
By factory default, parameter P0-18 is set to “0 - Off”.

Minimum value 1 Unit

Processing mode for operating mode
P0-08 IO_GEARmethod Default value 1
Electronic Gear -
Maximum value 3
Description
Processing mode for operating mode Electronic Gear
1 / Position Synchronization Immediate: Position synchronization without compensation movement
2 / Position Synchronization Compensated: Position synchronization with compensation movement
3 / Velocity Synchronization: Velocity synchronization

Changed settings become active the next time the motor moves.

Minimum value 0 Unit

Treatment of position changes with inac-
P0-18 GEARposChgMode Default value 0
tive power stage -
Maximum value 1
Treatment of position changes with inactive power stage
0 / Off: Position changes in states with disabled power stage are ignored.
1 / On: Position changes in states with disabled power stage are taken into account.
This setting has an effect only if parameter P0-08 is set as '2 - Synchronization with compensation movement'.

Changed settings become active the next time the product is powered on.

6.6.6 Velocity Limitation in Electronic Gear Mode

The velocity in electronic gear mode can be limited via parameter P0-17.

Minimum value 0 Unit

Velocity limitation for the method Position
P0-17 GEARpos_v_max Default value 0
Synchronization usr_v
Maximum value 2147483647
Description
Velocity limitation for the method Position Synchronization
Value 0: No velocity limitation
Value >0: Velocity limitation in usr_v

Changed settings become active immediately.

6-27 TM
6.6.7 Release of Direction Setting

1 Overview
Release of direction allows you to release movements to positive or negative direction or both directions. Release of
direction is selected via parameter P0-09.
By factory default, parameter P0-09 is set to “3 - Both” to release movements to both positive and negative directions.

2
Minimum value 1 Unit
Enabled movement direction of gear pro-

Type Selection
P0-09 GEARdir_enabl Default value 3
cessing -
Maximum value 3
Description
Enabled direction of movement for operating mode Electronic Gear
1 / POSITIVE: Positive direction
2 / NEGATIVE: Negative direction

3 Installation
3 / BOTH: Both directions
This allows you to activate a return movement lock function.

Changed settings become active immediately.

4
6.6.8 Offset Movement Setting

Connection
Wiring
The offset movement allows you to perform a movement with a parameterizable number of increments.

Offset movements are only available for the methods "Position Synchronization Without Compensation Movement" or
"Position Synchronization With Compensation Movement" is selected via parameter P0-08.

5 Front Panel
The parameters P4-23 and P4-24 are used to set the offset distances, and start the movement via the digital inputs
been assigned as function "Gear Offset 1" or "Gear Offset 2".
The speed and acceleration of offset movement are set via parameters P4-25 and P4-26.

6
Minimum value 1 Unit
Processing mode for operating mode
P0-08 IO_GEARmethod Default value 1

Operation
Electronic Gear -
Maximum value 3
Description
Processing mode for operating mode Electronic Gear
1 / Position Synchronization Immediate: Position synchronization without compensation movement
2 / Position Synchronization Compensated: Position synchronization with compensation movement

7 Commissioning
3 / Velocity Synchronization: Velocity synchronization

Changed settings become active the next time the motor moves.

Minimum value 1 Unit

8

P3-00~05 IOfunct_DIx Function Input DIx Default value -

-
Maximum value 142
Diagnosis

Description
Function Input DIx
Code
Function Description
Normally open Normally closed
Gear Offset 1 Electronic Gear: Adds first gear offset 19 119
9

Gear Offset 2 Electronic Gear: Adds second gear offset 20 120

Parameters

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

TM
6-28
Chap06 Operation

Minimum value -2147483648 Unit

Relative offset position 1 for offset move-
P4-23 OFSp_RelPos1 Default value 0
ment Inc
Maximum value 2147483647
Description
Relative offset position 1 for offset movement

Changed settings become active immediately.

Minimum value -2147483648 Unit

Relative offset position 2 for offset move-
P4-24 OFSp_RelPos2 Default value 0
ment Inc
Maximum value 2147483647
Description
Relative offset position 2 for offset movement

Changed settings become active immediately.

Minimum value -2147483648 Unit

P4-25 OFSv_target Target velocity for offset movement Default value 0
Inc
Maximum value 2147483647
Description
Target velocity for offset movement

Changed settings become active immediately.

Minimum value 1 Unit

P4-26 OFS_Ramp Acceleration for offset movement Default value 600
usr_a
Maximum value 2147483647
Description
Acceleration and deceleration for offset movement

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

6.6.9 Changing the Motion Profile for the Velocity

If the method "3 - Velocity Synchronization" is selected via parameter P0-08, the motion profile for the velocity can be
changed.

The target position and target velocity of servo drive is given by external pulse train command, while the motion curve
control function will recalculate motion profile based on motion pulse train command been given.

Minimum value 1 Unit

Processing mode for operating mode
P0-08 IO_GEARmethod Default value 1
Electronic Gear -
Maximum value 3
Description
Processing mode for operating mode Electronic Gear
1 / Position Synchronization Immediate: Position synchronization without compensation movement
2 / Position Synchronization Compensated: Position synchronization with compensation movement
3 / Velocity Synchronization: Velocity synchronization

Changed settings become active the next time the motor moves.

6-29 TM
 Minimum value 1 Unit
Maximum velocity of the motion profile for
P4-10 RAMP_v_acc Default value 600
velocity usr_a

1
Maximum value 2147483647

Overview
Description
Acceleration of the motion profile for velocity
Writing the value 0 has no effect on the parameter.

Changed settings become active the next time the motor moves.

2 Type Selection
Minimum value 1 Unit
Deceleration of the motion profile for ve-
P4-11 RAMP_v_dec Default value 600
locity usr_a
Maximum value 2147483647
Description
Deceleration of the motion profile for velocity

3 Installation
The minimum value depends on the operating mode:
● Operating mode with minimum value 1: Electronic Gear velocity synchronization
● Operating modes with minimum value 120: Jog, Homing
Writing the value 0 has no effect on the parameter.

Changed settings become active the next time the motor moves.

4Connection
Wiring
Minimum value 1 Unit
Maximum velocity of the motion profile for
P4-12 RAMP_v_max Default value 13200
velocity usr_v
Maximum value 2147483647
Description
Maximum velocity of the motion profile for velocity

5
If a greater reference velocity is set in one of these operating modes, it is automatically limited to P4-12.

Front Panel
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the motor moves.

Minimum value 0 Unit

6
Activation of the motion profile for
P4-13 RAMP_v_enable Default value 1
velocity -

Operation
Maximum value 1
Description
Activation of the motion profile for velocity
0 / Profile Off: Motion profile for velocity off
1 / Profile On: Motion profile for velocity on

7 Commissioning
Setting can only be changed if power stage is disabled.
Changed settings become active immediately.

8
9 Diagnosis
Parameters

TM
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Chap06 Operation

6.6.10 Encoder Simulation Output Settings

LXM16D servo drive provides encoder simulation output function.

The encoder simulation output signal correspond to differential quadrupled A/B RS-422 signal at 3.3 voltage, and
there will be one index pulse signal output per motor [Link] chart of encoder simulation output with A, B and
Index pulse signal, counting forward and backward:

+ -
1
A
0
1
B
0

..-2 -1 0 ... 3 4 5 6 5 4 ... 0 -1..

1
I
0

The resolution of encoder simulation is set via parameter P0-19, and parameter P0-20 is used to set the direction of
encoder simulation output signal.

By factory default, the resolution of encoder simulation at quadruple resolution defined in parameter P0-19 is set to
10000 while P0-20 is set to "no reverse".

Minimum value 8 Unit

P0-19 ESIM_scale Resolution of encoder simulation Default value 10000
EncInc
Maximum value 65535
Description
Resolution of encoder simulation
Resolution defines the number of increments per revolution (AB signal with quadruple evaluation).
The index pulse is created once per revolution at an interval where

signal A and signal B are high.

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

Minimum value 0 Unit

Inversion of direction of encoder
P0-20 ESIM_dir Default value 0
simulation -
Maximum value 1
Description
Inversion of direction of encoder simulation output with respect to motor direction of rotation
0 / Inversion Off: Direction of encoder simulation output is the same as motor direction of rotation.
1 / Inversion On: Direction of encoder simulation output is the inverted against motor direction of rotation.

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

Electric characteristics of encoder simulation output:

Logic level As per RS-422 (1)

Output frequency per signal KHz <= 500
Motor increments per second Inc/s <= 1.6 × 106
(1) Due to the input current of the optocoupler in the input circuit, a parallel
connection of a driver output to several devices is not permitted.

6-31 TM
6.6.11 Pulse Clear Settings

1
Pulse clear is used to reset the position deviation to zero in position deviation counter of the servo drive.

Overview
In LXM16D servo drive, pulse clear function in electronic gear mode is realized via the digital input assigned as
function "Halt" .

By factory default, the digital input IOfunc_DI5 with pin 23 on CN1 is set to function Halt feature (NC). The Halt

2
function can also be assigned to other digital inputs via parameters P3-00 ... P3-05.

Type Selection
Minimum value 1 Unit
P3-05 IOfunct_DI5 Function Input DI5 Default value 104
-
Maximum value 142
Description

3 Installation
Function Input DI5

Code
Function Description
Normally open Normally closed
Halt Halt 4 104

4
Setting can only be changed if power stage is disabled.

Connection
Changed settings become active the next time the product is powered on.

Wiring
Once the "Halt" function is activated, the servo drive will reset all position deviation in position deviation counter of the
servo drive and the movement will be interrupted and decelerate via deceleration ramp or torque ramp.

5
By factory default, parameter P4-18 is set to "1 - Deceleration Ramp" and the movement will decelerate via
deceleration ramp.

Front Panel
Minimum value 1 Unit
P4-18 LIM_HaltReaction Halt option code Default value 1
-
Maximum value 3
Description

6
Type of deceleration for Halt

Operation
1 / Deceleration Ramp: Deceleration ramp
3 / Torque Ramp: Torque ramp

Selection of 1 / Deceleration Ramp: Setting of deceleration ramp with parameter P4-11 (RAMP_v_dec)
Selection of 3 / Torque Ramp: Setting of torque ramp with parameter P4-19 (LIM_I_maxHalt)

7 Commissioning
If a deceleration ramp is already active, the parameter cannot be written.
Changed settings become active immediately.

Minimum value 1 Unit

Deceleration of the motion profile for
P4-11 RAMP_v_dec Default value 600
8

velocity usr_a
Maximum value 2147483647
Diagnosis

Description
Deceleration of the motion profile for velocity
The minimum value depends on the operating mode:
● Operating mode with minimum value 1: Electronic Gear velocity synchronization
● Operating modes with minimum value 120: Jog, Homing
Writing the value 0 has no effect on the parameter.
9 Parameters

Changed settings become active the next time the motor moves.

TM
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Chap06 Operation

Minimum value 0.01 Unit

P4-19 LIM_I_maxHalt Current for Halt Default value -
Arms
Maximum value 463.00
Description
Current for Halt
This value is only limited by the minimum/maximum value range (no limitation of this value by motor/power stage).
In the case of a Halt, the current limit is one of the following values (whichever is lowest): Value of this parameter, P6-24
(_PS_I_Max), P6-07(_M_I_Max)

Further current limitations caused by I2t monitoring are also taken into account during a Halt.
Default: P6-24 (_PS_I_max) at 8 kHz PWM frequency
In increments of 0.01 Arms.

Changed settings become active immediately.

6.6.12 Following Error Monitoring Settings

The position following error is the difference between the reference position and the actual position caused by the
load.

The maximum permissible position following error can be parameterized via parameter [Link] addition, you can set
the error class via parameter P0-23.

Moreover, you can also set a position following error warning threshold via parameter P0-21, whenever this threshold
is expired the servo will generate an error with error class 0.

Minimum value 0 Unit

Maximum load-dependent position
P0-21 MON_p_dif_warn Default value 75
deviation (error class 0) threshold %
Maximum value 100
Description
Maximum load-dependent position deviation (error class 0) threshold
100.0 % correspond to the maximum position deviation (following error) as specified by means of parameter P0-22.

Changed settings become active immediately.

Minimum value 1 Unit

Maximum load-dependent position
P0-22 MON_p_dif Default value 131072
deviation threshold usr_p
Maximum value 2147483647
Description
Maximum load-dependent position deviation threshold
The load-dependent position deviation is the difference between the reference position and the actual position caused by the
load.

Changed settings become active immediately.

Minimum value 1 Unit

Error response to excessivly high
P0-23 ErrorResp_p_dif Default value 3
load-dependent position deviation -
Maximum value 3
Description
Description
Error response to excessivly high load-dependent position deviation
1 / Error Class 1: Error class 1
2 / Error Class 2: Error class 2
3 / Error Class 3: Error class 3

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

6-33 TM
6.7 Operation Mode Homing

1 Overview
In the operating mode Homing, LXM16D servo drive generates a reference between a mechanical position and the
actual position of the motor.

A successful reference movement or position setting homes the motor and the zero point becomes valid, it could be

2
indicated by means of a digital output. The zero point is the point of reference for absolute movements.

Type Selection
6.7.1 Parameterization

The reference movement is triggered via a digital input signal. Some reference methods requires an external switch

3 Installation
signal as the reference signal, it could be the positive limit switch, negative limit switch or reference switch with respect
to the reference method chose.

Home return: Home return mode

P4-09（HMprefmethod）

4
=1,2,7...14 =17,18,23...30 =33，34 =35

Connection
Wiring
Home return: Home offset distance
P4-07（HMdis）

5
Target position value set at home
Home return: Zero position value

Front Panel
( DTM operating panel)
P4-08（HMp_home）

Home return: Search switching speed (fast)

P4-03（HMv）

6 Operation
Home return: Rate of departure from switch (slow)
P4-04（HMv_out）

7 Commissioning
Internal speed curve limits

P4-10（RAMP_v_acc）
P4-11（RAMP_v_dec）
P4-12（RAMP_v_max）
8
9 Diagnosis
Parameters

TM
6-34
Chap06 Operation

[Link] Basic Parameters Settings

Minimum value 1 Unit

Various reference methods and homing velocity and offsets can be parameterized.
P4-09 HMprefmethod Homing: Preferred homing method Default value 18
-
Maximum value 35
Description
Homing: Preferred homing method
1 / LIMN with index pulse: A movement to the negative limit switch in fast velocity is performed, when the negative limit switch
is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the negative
limit switch in slow velocity. From the switching point of the negative limit switch, a movement is made to the next index pulse
of the motor in slow velocity, the position of the index pulse is the reference point.
2 / LIMP with index pulse: A movement to the positive limit switch in fast velocity is performed, when the positive limit switch
is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the positive
limit switch in slow velocity. From the switching point of the positive limit switch, a movement is made to the next index pulse of
the motor in slow velocity, the position of the index pulse is the reference point.
7 / REF+ with index pulse, inv., outside: A positive movement to the reference switch in fast velocity is performed, when the
reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
8 / REF+ with index pulse, inv., inside: A positive movement to the reference switch in fast velocity is performed, when the
reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
9 / REF+ with index pulse, not inv., inside: A positive movement to the reference switch in fast velocity is performed, when
the reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
10 / REF+ with index pulse, not inv., outside: A positive movement to the reference switch in fast velocity is performed, when
the reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
11 / REF- with index pulse, inv., outside: A negative movement to the reference switch in fast velocity is performed, when the
reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
12 / REF- with index pulse, inv., inside: A negative movement to the reference switch in fast velocity is performed, when the
reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
13 / REF- with index pulse, not inv., inside: A negative movement to the reference switch in fast velocity is performed, when
the reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
14 / REF- with index pulse, not inv., outside: A negative movement to the reference switch in fast velocity is performed, when
the reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
17 / LIMN: A movement to the negative limit switch in fast velocity is performed, when the negative limit switch is reached, the
motor is stopped and a movement is made in the opposite direction back to the switching point of the negative limit switch in
slow velocity. From the switching point of the negative limit switch, a movement is made to a parameterizable distance defined
in parameter P4-07 from the switching point in slow velocity, the position of the parameterizable distance from the switching
point is the reference point.
18 / LIMP: A movement to the positive limit switch in fast velocity is performed, when the positive limit switch is reached, the
motor is stopped and a movement is made in the opposite direction back to the switching point of the positive limit switch in
slow velocity. From the switching point of the positive limit switch, a movement is made to a parameterizable distance defined
in parameter P4-07 from the switching point in slow velocity, the position of the parameterizable distance from the switching
point is the reference point.
23 / REF+, inv., outside: A positive movement to the reference switch in fast velocity is performed, when the reference switch
is reached, a movement is made in the same direction to the other switching point of the reference switch in slow velocity.
From the other switching point of the reference switch, a movement is made in the opposite direction to a parameterizable

6-35 TM
 Minimum value 1 Unit
P4-09 HMprefmethod Homing: Preferred homing method Default value 18
-

1
Maximum value 35

Overview
Description
27 / REF-, inv., outside: A negative movement to the reference switch in fast velocity is performed, when the reference switch
is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the reference
switch in slow velocity. From the switching point of the reference switch, a movement is made to a parameterizable distance
defined in parameter P4-07 in slow velocity, the position of the parameterizable distance from the switching point is the

2
reference point.

Type Selection
28 / REF-, inv., inside: A negative movement to the reference switch in fast velocity is performed, when the reference switch is
reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the reference
switch in slow velocity. From the switching point of the reference switch, a movement is made to a parameterizable distance
defined in parameter P4-07 in slow velocity, the position of the parameterizable distance from the switching point is the
reference point.
29 / REF-, not inv., inside: A negative movement to the reference switch in fast velocity is performed, when the reference

3 Installation
switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the
reference switch in slow velocity. From the switching point of the reference switch, a movement is made to a parameterizable
distance defined in parameter P4-07 in slow velocity, the position of the parameterizable distance from the switching point is
the reference point.
30 / REF-, not inv., outside: A negative movement to the reference switch in fast velocity is performed, when the reference
switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the
reference switch in slow velocity. From the switching point of the reference switch, a movement is made to a parameterizable

4
distance defined in parameter P4-07 in slow velocity, the position of the parameterizable distance from the switching point is

Connection
Wiring
the reference point.
33 / Index pulse neg. direction: A negative movement to the motor index in slow velocity is performed, the position of the index
pulse is the reference point.
34 / Index pulse pos. direction: A positive movement to the motor index in slow velocity is performed, the position of the index
pulse is the reference point.

5
35 / Position setting: Position setting

Front Panel
Changed settings become active immediately.

Minimum value 1 Unit

Homing: Target velocity for searching the
P4-03 HMv Default value 60
usr_v

6
switch (fast)
Maximum value 2147483647

Operation
Description
Target velocity for searching the switch (fast)
The adjustable value is internally limited to the parameter setting in P4-12

Changed settings become active immediately.

7 Commissioning
Minimum value 1 Unit
Homing: Target velocity for moving away
P4-04 HMv_out Default value 6
from switch (slow) usr_v
Maximum value 2147483647
Description
Target velocity for moving away from switch (slow)
8

The adjustable value is internally limited to the parameter setting in P4-12

Diagnosis

Changed settings become active immediately.

Minimum value 1 Unit

P4-07 HMdis Homing: Distance from switching point Default value 200
9

usr_p
Maximum value 2147483647
Parameters

Description
The distance from the switching point is defined as the reference point.
The parameter is only effective during a reference movement without index pulse.

Changed settings become active the next time the motor moves.

TM
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Chap06 Operation

Minimum value 0 Unit

P4-08 HMp_home Homing: Position at reference point Default value 200
usr_p
Maximum value 2147483647
Description
Homing: Position at reference point
After a successful reference movement, this position is automatically set at the reference point.

Changed settings become active the next time the motor moves.

[Link] Monitoring Parameters Settings

The parameters P4-05 and P4-06 allow you to activate monitoring of the limit switches and the reference switch,
the reference movement will be terminated when an error is detected by the monitoring function.

Minimum value 0 Unit

Homing: Maximum search distance after
P4-05 HMsrchdis Default value 0
overtravel of switch usr_p
Maximum value 2147483647
Description
Homing: Maximum search distance after overtravel of switch
0: Search distance monitoring disabled
>0: Search distance
The switch must be activated again within this search distance, otherwise the reference movement is canceled.

Changed settings become active the next time the motor moves.

Minimum value 0 Unit

Homing: Distance for search
P4-06 HMoutdis Default value 0
for switching point usr_p
Maximum value 2147483647
Description
Maximum distance for search for switching point
0: Monitoring of distance inactive
>0: Maximum distance
After detection of the switch, the drive starts to search for the defined switching point. If the defined switching point is not found
within the distance defined here, the reference movement is canceled and an error is detected.

Changed settings become active the next time the motor moves.

[Link] Parameter Settings for Trigger of Reference Movement

Reference movement is triggered via a digital input signal.

The user could assign reference movement trigger function to a digital input to trigger the reference movement. In
addition, the user could also assign reference point valid function to a digital output to indicate a successful reference
movement.
● Function LIMP / LIMN / REF can be assigned to the digital inputs via parameter P3-00 … P3-05 and act as the
external reference switch signal in some reference movement methods.
● Function ORGP can be assigned to digital inputs via parameter P3-00 … P3-05 and used to trigger the reference
movement.
● Function ref_ok can be assigned to the digital outputs via parameter P3-06 … P3-08 to indicate a successful
reference movement.

6-37 TM
 Minimum value 1 Unit
P3-00~05 IOfunct_DIx Function Input DIx Default value -
-

1
Maximum value 142

Overview
Description
Function Input DIx

Code
Function Description
Normally open Normally closed

2
Reference Switch (REF) 21 121
Positive Limit Switch (LIMP) 22 122

Type Selection
Negative Limit Switch (LIMN) 23 123
ORGP Start homing 42 142
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

3 Installation
Minimum value 0 Unit
Homing: Distance for search
P4-06 HMoutdis Default value 0
for switching point usr_p
Maximum value 2147483647
Description
Maximum distance for search for switching point
0: Monitoring of distance inactive

4
>0: Maximum distance

Connection
After detection of the switch, the drive starts to search for the defined switching point. If the defined switching point is not found

Wiring
within the distance defined here, the reference movement is canceled and an error is detected.

Changed settings become active the next time the motor moves.

5
6 Front Panel
Operation
7 Commissioning
8
9 Diagnosis
Parameters

TM
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Chap06 Operation

6.7.2 Reference Movement to a Limit Switch

Via the setting in parameter P4-09, following reference movements to a limit switch will be performed:
1 / LIMN with index pulse: A movement to the negative limit switch in fast velocity is performed, when the negative
limit switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the negative limit switch in slow velocity. From the switching point of the negative limit switch, a movement is
made to the next index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
17 / LIMN: A movement to the negative limit switch in fast velocity is performed, when the negative limit switch is
reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the
negative limit switch in slow velocity. From the switching point of the negative limit switch, a movement is made to
a parameterizable distance defined in parameter P4-07 from the switching point in slow velocity, the position of the
parameterizable distance from the switching point is the reference point.
2 / LIMP with index pulse: A movement to the positive limit switch in fast velocity is performed, when the positive limit
switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point
of the positive limit switch in slow velocity. From the switching point of the positive limit switch, a movement is made to
the next index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
18 / LIMP: A movement to the positive limit switch in fast velocity is performed, when the positive limit switch is
reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the
positive limit switch in slow velocity. From the switching point of the positive limit switch, a movement is made to a
parameterizable distance defined in parameter P4-07 from the switching point in slow velocity, the position of the
parameterizable distance from the switching point is the reference point.

The figure below shows the reference movements to a limits switch

Reverse limit switch Forward limit switch

Reverse limit switch Forward limit switch

M

①
M P4-09 = 1 Motor Index
② ③
①
Motor Index
①
P4-09 = 1
② ③ P4-09 = 17 P4-07
② ③
①
①
P4-09 = 17 P4-07
② ③ P4-09 = 2 Motor Index
③ ②
①
①
P4-09 = 2 Motor Index
P4-09 = 18 ③ ② P4-07
③ ②
①
Speed = P4-03
P4-07
P4-09 = 18
③
Speed = P4-04 ②
1 Search for limit switch signal with speed P4-03
2 Search for switch signal switching pointwith speed P4-04
Speed = P4-03
3 Search for motorwith speed P4-04 Index Signal or movement
Speed = P4-04
P4-07 The set offset distance
1 Search for limit switch signal with speed P4-03
2 Search for switch signal switching pointwith speed P4-04
3 Search for motorwith speed P4-04 Index Signal or movement
P4-07 The set offset distance

6-39 TM
6.7.3 Reference Movement to a Reference Switch in Positive Direction

1
Via the setting in parameter P4-09, following reference movements to a reference switch in positive direction will be

Overview
performed:
7 / REF+ with index pulse, inv., outside: A positive movement to the reference switch in fast velocity is performed,
when the reference switch is reached, the motor is stopped and a movement is made in the opposite direction back
to the switching point of the reference switch in slow velocity. From the switching point of the reference switch, a

2
movement is made to the next index pulse of the motor in slow velocity, the position of the index pulse is the reference
point.

Type Selection
23 / REF+, inv., outside: A positive movement to the reference switch in fast velocity is performed, when the reference
switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point
of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to a
parameterizable distance defined in parameter P4-07 in slow velocity, the position of the parameterizable distance
from the switching point is the reference point.

3 Installation
8 / REF+ with index pulse, inv., inside: A positive movement to the reference switch in fast velocity is performed, when
the reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the
switching point of the reference switch in slow velocity. From the switching point of the reference switch, a movement
is made in the opposite direction again to the next index pulse of the motor in slow velocity, the position of the index
pulse is the reference point.
24 / REF+, inv., inside: A positive movement to the reference switch in fast velocity is performed, when the reference
switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point

4
of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made in the

Connection
opposite direction again to a parameterizable distance defined in parameter P4-07 in slow velocity, the position of the

Wiring
parameterizable distance from the switching point is the reference point.
9 / REF+ with index pulse, not inv., inside: A positive movement to the reference switch in fast velocity is performed,
when the reference switch is reached, a movement is made in the same direction to the other switching point of the
reference switch in slow velocity. From the other switching point of the reference switch, a movement is made in the

5
opposite direction to the next index pulse of the motor in slow velocity, the position of the index pulse is the reference
point.

Front Panel
25 / REF+, not inv., inside: A positive movement to the reference switch in fast velocity is performed, when the
reference switch is reached, a movement is made in the same direction to the other switching point of the reference
switch in slow velocity. From the other switching point of the reference switch, a movement is made in the opposite
direction to a parameterizable distance defined in parameter P4-07 in slow velocity, the position of the parameterizable
distance from the switching point is the reference point.

6
10 / REF+ with index pulse, not inv., outside: A positive movement to the reference switch in fast velocity is performed,
when the reference switch is reached, a movement is made in the same direction to the other switching point of the

Operation
reference switch in slow velocity. From the other switching point of the reference switch, a movement is made in
the same direction again to the next index pulse of the motor in slow velocity, the position of the index pulse is the
reference point.
26 / REF+, not inv., outside: A positive movement to the reference switch in fast velocity is performed, when the
reference switch is reached, a movement is made in the same direction to the other switching point of the reference

7 Commissioning
switch in slow velocity. From the other switching point of the reference switch, a movement is made in the same
direction again to a parameterizable distance defined in parameter P4-07 in slow velocity, the position of the
parameterizable distance from the switching point is the reference point.

The figure below shows the reference movements to a reference switch in positive direction:
8
9 Diagnosis
Parameters

TM
6-40
Chap06 Operation

Origin switch

M
Origin switch

①
Motor Index

M ③ ②

①
① P4-09 = 23 P4-07
Motor Index ③ ②
③ ②
①
① P4-09 = 8 ② Motor Index

P4-09 = 23 P4-07 ③
③ ②
①
① ② P4-07
P4-09 = 24
P4-09 = 8 ② Motor Index
③
③
①
① P4-09 = 9 Motor Index ②
P4-09 = 24 ② P4-07
③
③
①
① P4-07 ②
P4-09 = 25
P4-09 = 9 Motor Index ②
③
③
① Motor Index
① P4-09 = 10 ② ③
P4-09 = 25 P4-07 ②
③
① P4-07
① Motor Index
P4-09 = 26 ② ③
P4-09 = 10 ② ③

① Speed
P4-07= P4-03
P4-09 = 26 ② ③Speed = P4-04
1 Search for limit switch signal with speed P4-03
2 Search for switch signal switching pointwith speed P4-04
3 Search for motor with speed P4-04 Index Signal or movement
P4-07 The set offset distance
Speed = P4-03
Speed = P4-04
1 Search for limit switch signal with speed P4-03
2 Search for switch signal switching pointwith speed P4-04
3 Search for motor with speed P4-04 Index Signal or movement
P4-07 The set offset distance

6-41 TM
6.7.4 Reference Movement to a Reference Switch in Negative Direction

1
Via the setting in parameter P4-09, following reference movements to a reference switch in negative direction will be

Overview
performed:
11 / REF- with index pulse, inv., outside: A negative movement to the reference switch in fast velocity is performed,
when the reference switch is reached, the motor is stopped and a movement is made in the opposite direction back
to the switching point of the reference switch in slow velocity. From the switching point of the reference switch, a

2
movement is made to the next index pulse of the motor in slow velocity, the position of the index pulse is the reference

Type Selection
point.
27 / REF-, inv., outside: A negative movement to the reference switch in fast velocity is performed, when the reference
switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point
of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to a
parameterizable distance defined in parameter P4-07 in slow velocity, the position of the parameterizable distance
from the switching point is the reference point.

3 Installation
12 / REF- with index pulse, inv., inside: A negative movement to the reference switch in fast velocity is performed,
when the reference switch is reached, the motor is stopped and a movement is made in the opposite direction back
to the switching point of the reference switch in slow velocity. From the switching point of the reference switch, a
movement is made in the opposite direction again to the next index pulse of the motor in slow velocity, the position of
the index pulse is the reference point.
28 / REF-, inv., inside: A negative movement to the reference switch in fast velocity is performed, when the reference
switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point

4
of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made in the

Connection
opposite direction again to a parameterizable distance defined in parameter P4-07 in slow velocity, the position of the

Wiring
parameterizable distance from the switching point is the reference point.
13 / REF- with index pulse, not inv., inside: A negative movement to the reference switch in fast velocity is performed,
when the reference switch is reached, a movement is made in the same direction to the other switching point of the
reference switch in slow velocity. From the other switching point of the reference switch, a movement is made in the

5
opposite direction to the next index pulse of the motor in slow velocity, the position of the index pulse is the reference
point.

Front Panel
29 / REF-, not inv., inside: A negative movement to the reference switch in fast velocity is performed, when the
reference switch is reached, a movement is made in the same direction to the other switching point of the reference
switch in slow velocity. From the other switching point of the reference switch, a movement is made in the same
direction again to a parameterizable distance defined in parameter P4-07 in slow velocity, the position of the
parameterizable distance from the switching point is the reference point.

6
14 / REF- with index pulse, not inv., outside: A negative movement to the reference switch in fast velocity is
performed, when the reference switch is reached, a movement is made in the same direction to the other switching

Operation
point of the reference switch in slow velocity. From the other switching point of the reference switch, a movement is
made in the same direction again to the next index pulse of the motor in slow velocity, the position of the index pulse
is the reference point.
30 / REF-, not inv., outside: A negative movement to the reference switch in fast velocity is performed, when the

7 Commissioning
reference switch is reached, a movement is made in the same direction to the other switching point of the reference
switch in slow velocity. From the other switching point of the reference switch, a movement is made in the same
direction again to a parameterizable distance defined in parameter P4-07 in slow velocity, the position of the
parameterizable distance from the switching point is the reference point.

The figure below shows the reference movements to a reference switch in negative direction:
8
9 Diagnosis
Parameters

TM
6-42
Chap06 Operation

Origin switch

Origin switch
①
P4-09 = 11
Motor Index
② ③
M
①
P4-09 = 27 P4-07
① ② ③
P4-09 = 11
Motor Index
② ③ ①
P4-09 = 12 Motor
Index ②
①
③
P4-09 = 27 P4-07
② ③ ①
P4-09 = 28 P4-07
②
①
P4-09 = 12 Motor ③
Index ②
③ ①
P4-09 = 13 ② Motor Index
①
P4-09 = 28 P4-07 ③
②
③ ①
P4-09 = 29 ② P4-07
①
P4-09 = 13 ② ③
Motor Index
③ Motor
①
Index
③ ②
P4-09 = 14
①
P4-09 = 29 ② P4-07

③ P4-07 ①
P4-09 = 30
Motor ③ ②
Index
①
③ ②
P4-09 = 14

Speed = P4-03
P4-07 ①
P4-09 = 30
③ ②
Speed = P4-04

1 Search for limit switch signal with speed P4-03

2 Search for switch signal switching pointwith speed P4-04
3 Search for motorwith speed P4-04 Index Signal or movement
P4-07 The set offset distance
Speed = P4-03

Speed = P4-04

1 Search for limit switch signal with speed P4-03

2 Search for switch signal switching pointwith speed P4-04
3 Search for motorwith speed P4-04 Index Signal or movement
P4-07 The set offset distance

6-43 TM
6.7.5 Reference Movement to Motor Index

1 Overview
Via the setting in parameter P4-09, following reference movements to a motor index will be performed:
33 / Index pulse neg. direction: A negative movement to the motor index in slow velocity is performed, the position of
the index pulse is the reference point.
34 / Index pulse pos. direction: A positive movement to the motor index in slow velocity is performed, the position of

2
the index pulse is the reference point.

Type Selection
The figure below shows the reference movements to motor index:

① ①

3 Installation
4Connection
Wiring
P4-09 = 33 P4-09 = 34

1 Search for motor with speed P4-04 Index Signal

5 Front Panel
6.7.6 Software Limit Switches

Movements can be monitored using software limit switches. A positive position limit and a negative position limit can
be set for monitoring.

6
If the positive or negative position limit switch are reached, the movement stops. An error message is generated and

Operation
the operating state switches to7 Quick Stop Active.

The error message can be reset by means of a “Fault Reset”. The operating state switches back to6 Operation
Enabled. The movement can continue, however, only in the opposite direction of the position limit. For example, if
the positive position limit was reached, further movement is only possible in negative direction. In the case of further

7 Commissioning
movement in positive direction, a new error message is generated and the operating state switches back to7 Quick
Stop Active.

Software limit switch monitoring only works with a valid zero poi. The following parameters shall be set where software
limit switch is used:
● The software limit switches are activated via the parameter of P5-04.
● The behavior for reaching a position limit is set via the parameter P5-05. Standstill at the position limit in operating
8

modes without target position requires the parameter P4-20 to be set to "6 - Deceleration ramp (Quick Stop)". If
Diagnosis

the parameter P4-20 is set to "7 - Torque ramp (Quick Stop)", the movement may come to a standstill in front of
or behind the position limit due to different loads.
● The software limit switches are set via the parameters P5-06 and P5-07
9 Parameters

TM
6-44
Chap06 Operation

Minimum value 0 Unit

P5-04 MON_SW_Limits Activation of software limit switches Default value 0
-
Maximum value 3
Description
Activation of software limit switches
0 / None: Deactivated
1 / SWLIMP: Activation of software limit switches positive direction
2 / SWLIMN: Activation of software limit switches negative direction
3 / SWLIMP + SWLIMN: Activation of software limit switches both directions

Software limit switches can only be activated if the zero point is valid.

Changed settings become active immediately.

Minimum value 0 Unit

P5-05 MON_SWLimMode Behavior when position limit is reached Default value 0
-
Maximum value 1
Description
Behavior when position limit is reached
0 / Standstill Behind Position Limit: Quick Stop is triggered at position limit and standstill is reached behind position limit
1 / Standstill At Position Limit: Quick Stop is triggered in front of position limit and standstill is reached at position limit

Changed settings become active immediately.

Minimum value -2147483648 Unit

Positive position limit
P5-06 MON_swLimP Default value 2147483648
for software limit switch usr_p
Maximum value 2147483647
Description
Positive position limit for software limit switch

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

Minimum value -2147483648 Unit

Negative position limit
P5-07 MON_swLimN Default value -2147483648
for software limit switch usr_p
Maximum value -2147483648
Description
Negative position limit for software limit switch

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

6-45 TM
6.8 Auxiliary Functions for Operation

1
6.8.1 Jerk Limitation

Overview
Jerk limitation smooths sudden acceleration changes (jerk) to allow for smooth transitions with almost no jerking.

2 Type Selection
3 Installation
t

6.8.2 Parameterization for Jerk Limitation

4Connection
Jerk limitation is available in the following operating modes.

Wiring
● Jog
● Electronic gear
● Homing

5
In the operating modes of Jog and Homing, the jerk limitation is activated and set via parameter P0-16.

Front Panel
Minimum value 0 Unit
Jerk limitation of the motion profile for
P0-16 RAMP_v_jerk Default value 0
velocity ms
Maximum value 128
Description:
Jerk limitation of the motion profile for velocity

6
0 / Off: Off

Operation
1 / 1: 1 ms
4 / 4: 4 ms
8 / 8: 8 ms
16 / 16: 16 ms
32 / 32: 32 ms

7 Commissioning
64 / 64: 64 ms
128 / 128: 128 ms

Adjustments can only be made if the operating mode is inactive.

Changed settings become active the next time the motor moves. 8

In the operating mode of electronic gear, the jerk limitation is activated via parameter P0-15 and set via parameter P0-16.
Diagnosis

Minimum value 0 Unit

P0-15 GEARjerklim Activation of jerk limitation Default value 0
-
Maximum value 1
Description:
9

Activation of jerk limitation

0 / Off: Jerk limitation deactivated.
Parameters

1 / PosSyncOn: Jerk limitation active

The time for jerk limitation must be set via parameter P0-16.

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

TM
6-46
Chap06 Operation

Minimum value 0 Unit

Jerk limitation of the motion
P0-16 RAMP_v_jerk Default value 0
profile for velocity ms
Maximum value 128
Description:
Jerk limitation of the motion profile for velocity
0 / Off: Off
1 / 1: 1 ms
4 / 4: 4 ms
8 / 8: 8 ms
16 / 16: 16 ms
32 / 32: 32 ms
64 / 64: 64 ms
128 / 128: 128 ms

Adjustments can only be made if the operating mode is inactive.

Changed settings become active the next time the motor moves.

6.8.3 Stop Movement with Halt

With a Halt, the ongoing movement is interrupted. It can be resumed.

In LXM16D servo drive a Halt can be triggered via a digital input signal or via a command sent from commissioning
software.

By factory default, the digital input IOfunc_DI5 with pin number 23 on CN1 is assigned as Halt function (NC). The Halt
function can also be assigned to other digital inputs via parameters P3-00 ... P3-05.

Minimum value 1 Unit

P3-05 IOfunct_DI5 Function Input DI5 Default value 104
-
Maximum value 142
Description:
Function Input DI5
Code
Function Description
Normally open Normally closed
Halt 4 104
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

The parameter P4-18 lets you set the type of deceleration when a Halt is triggered, whether the movement stops via
deceleration curve or torque ramp.

By factory default, the parameter P4-18 is set to "1 - Deceleration Ramp", the movement will decelerate via
deceleration ramp.

Minimum value 1 Unit

P4-18 LIM_HaltReaction Halt option code Default value 1
-
Maximum value 3
Description:
Halt option code
1 / Deceleration Ramp: Deceleration ramp
3 / Torque Ramp: Torque ramp

Selection of 1 / Deceleration Ramp: Setting of deceleration ramp with parameter P4-11 (RAMP_v_dec)
Selection of 3 / Torque Ramp: Setting of torque ramp with parameter P4-19 (LIM_I_maxHalt)

If a deceleration ramp is already active, the parameter cannot be written.

Changed settings become active immediately.

6-47 TM
 Minimum value 1 Unit
Deceleration of the motion profile for ve-
P4-11 RAMP_v_dec Default value 600
locity usr_a

1
Maximum value 2147483647

Overview
Description:
Deceleration of the motion profile for velocity
The minimum value depends on the operating mode:
● Operating mode with minimum value 1: Electronic Gear velocity synchronization
● Operating modes with minimum value 120: Jog, Homing

2
Writing the value 0 has no effect on the parameter.

Type Selection
Changed settings become active the next time the motor moves.

Minimum value 0.01 Unit

P4-19 LIM_I_maxHalt Current for Halt Default value -
Arms

3 Installation
Maximum value 463.00
Description:
Current for Halt
This value is only limited by the minimum/maximum value range (no limitation of this value by motor/power stage)
In the case of a Halt, the current limit is one of the following values (whichever is lowest): Value of this parameter,
P6-24 (_PS_I_Max), P6-07(_M_I_Max)

4
Further current limitations caused by I2t monitoring are also taken into account during a Halt.

Connection
Wiring
Default: P6-24 (_PS_I_max) at 8 kHz PWM frequency
In increments of 0.01 Arms

Changed settings become active immediately.

5
Once the "Halt" function is activated, the servo drive will reset all position deviation in position deviation counter of the
servo drive and the movement will be interrupted and decelerate via deceleration ramp or torque ramp. Pulse clear

Front Panel
function in electronic gear mode is realized via the digital input assigned as function "Halt" .

6.8.4 Stop Movement with Quick Stop

With a Quick Stop, the ongoing movement is stopped. It cannot be resumed.

6 Operation
A Quick Stop can be triggered by a detected error of error classes 1 or 2. or via a command sent from commissioning
software.

The parameter P4-20 lets you set the type of deceleration when a Quick Stop is triggered, whether the movement
stops via deceleration curve or torque ramp. In addition, this parameter can also be used to set whether the operating

7 Commissioning
state will transit to7. Quick Stop or 9. Fault after the Quick Stop.

By factory default, parameter P4-20 is set to “6 - Deceleration Ramp (Quick Stop)”, the movement will decelerate via
deceleration ramp and the operating mode will transit to7. Quick Stop upon stop.

Minimum value -1 Unit

8

P4-20 LIM_QStopReact Quick Stop option code Default value 6

-
Maximum value 7
Diagnosis

Description:
Quick Stop option code
-2 / Torque Ramp (Fault): Use torque ramp and transit to operating state 9 Fault
-1 / Deceleration Ramp (Fault): Use deceleration ramp and transit to operating state 9 Fault
6 / Deceleration Ramp (Quick Stop): Use deceleration ramp and remain in operating state 7 Quick Stop
9

7 / Torque Ramp (Quick Stop): Use torque ramp and remain in operating state 7 Quick Stop
Parameters

Selection of -1 / Deceleration Ramp (Fault) and 6 / Deceleration Ramp (Quick Stop): Setting of deceleration ramp with P4-21
(RAMPquickstop)
Selection of -2 / Torque Ramp (Fault) and 7 / Torque Ramp (Quick Stop): Setting of torque ramp with P4-22 (LIM_I_maxQSTP)

If a deceleration ramp is already active, the parameter cannot be written.

Changed settings become active immediately.

TM
6-48
Chap06 Operation

Minimum value 1 Unit

P4-21 RAMPquickstop Deceleration ramp for Quick Stop Default value 6000
usr_a
Maximum value 2147483647
Description:
Deceleration ramp for Quick Stop
Deceleration ramp for a software stop or an error with error class 1 or 2.

Changed settings become active the next time the motor moves.

Minimum value 0.01 Unit

P4-22 LIM_I_maxQSTP Current for Quick Stop Default value 0.01
Arms
Maximum value 463.00
Description:
Current for Quick Stop
This value is only limited by the minimum/maximum value range (no limitation of this value by motor/power stage)
In the case of a Quick Stop, the current limit (_Imax_act) is one of the following values (whichever is lowest):
● P4-22
● P6-07
● P6-24

Further current limitations caused by I2T monitoring are also taken into account during a Quick Stop
Default: P6-24 at 8 kHz PWM frequency and 230/480 V mains voltage
In increments of 0.01 Arms

Changed settings become active immediately.

6.8.5 Velocity Limitation

The velocity can be limited to a parameterizable velocity threshold via a digital input signal.

The user can assign Velocity Limitation function to a digital input via parameters P3-00...P3-05, and set velocity
threshold via parameter P3-16.

Minimum value 1 Unit

P3-00~05 IOfunct_DIx Function Input DIx Default value -
-
Maximum value 142
Description:
Function Input DIx
Code
Function Description
Normally open Normally closed
Velocity Limitation 8 108
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

Minimum value 0 Unit

P3-16 IO_v_limit Velocity limitation via input Default value 10
usr_v
Maximum value 2147483647
Description:
Velocity limitation via input
A velocity limitation can be activated via a digital input.

Changed settings become active the next time the product is powered on.

6-49 TM
6.8.6 Current Limitation

1
The current can be limited to a parameterizable current threshold via a digital input signal.

Overview
The user can assign Current Limitation function to a digital input via parameters P3-00...P3-05, and set current thresh-
old via parameter P3-17.
Minimum value 1 Unit

2
P3-00~05 IOfunct_DIx Function Input DIx Default value -
-

Type Selection
Maximum value 142
Description:
Function Input DIx
Code
Function Description
Normally open Normally closed
Current Limitation Enable current limitation 6 106

3 Installation
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

Minimum value 0.00 Unit

4
P3-17 IO_I_limit Current limitation via input Default value 0.20
Arms
Maximum value 300.00

Connection
Wiring
Description:
Current limitation via input
A current limit can be activated via a digital input.
In increments of 0.01 Arms

5
Changed settings become active immediately.

Front Panel
6.8.7 Zero Clamp

The motor can be stopped via a digital input signal when the velocity of the motor is below a parameterizable velocity
threshold.

6
The digital input function “Zero Clamp” is available for the velocity synchronization method in the electronic gear mode

Operation
operating mode (P0-08 = 3 / Velocity Synchronization).

The user can assign Zero Clamp function to a digital input via parameters P3-00...P3-05, and set the velocity threshold
via P5-08.

7 Commissioning
Minimum value 1 Unit
P3-00~05 IOfunct_DIx Function Input DIx Default value -
-
Maximum value 142
Description:
Function Input DIx
Code
Function Description
Normally open Normally closed
8

Zero Clamp Zero Clamp 7 107

Diagnosis

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

Minimum value 0 Unit

9

P5-08 MON_v_zeroclamp Velocity limit for Zero Clamp Default value 10

Parameters

usr_v
Maximum value 2147483647
Description:
Velocity limit for Zero Clamp
A Zero Clamp operation is only possible if the reference velocity is below the Zero Clamp velocity limit.

Changed settings become active immediately.

TM
6-50
Chap06 Operation

6.8.8 Backlash Compensation

By setting backlash compensation, you can compensate for mechanical backlash.

Example of mechanical backlash

① ②

1 Narrow reverse backlash

2 Wide reverse backlash

When backlash compensation is activated, the drive automatically compensates for the mechanical backlash during
each movement.
Backlash compensation is possible in the following operating modes:
● Jog
● Electronic gear
● Homing

Before you can activate backlash compensation, there must be a movement in positive or negative direction. This
movement must last as long as it takes to move the mechanical system connected to the motor. Then activate
backlash compensation in desired direction with respect to the application.

To use backlash compensation, you must set following parameters:

● Set the processing mode of backlash compensation via parameter P5-22
● Set the amount of backlash to be compensated for via parameter P5-23
● Set the processing time during which the mechanical backlash is to be compensated for via parameter P5-24.

Minimum value 0 Unit

Processing mode of backlash
P5-22 BLSH_Mode Default value 0
compensation -
Maximum value 3
Description:
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
3 / OnAfterBothMovenent: Backlash compensation is on, last movement was in positive or negative direction

Changed settings become active immediately.

Minimum value 0 Unit

P5-23 BLSH_Position Position value for backlash compensation Default value 0
usr_p
Maximum value 2147483647
Description:
Position value for backlash compensation

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

6-51 TM
 Minimum value 0 Unit
P5-24 BLSH_Time Processing time for backlash compensation Default value 10
ms

1
Maximum value 16383

Overview
Description:
Processing time for backlash compensation
0: Immediate backlash compensation
>0: Processing time for backlash compensation

2
Setting can only be changed if power stage is disabled.

Type Selection
Changed settings become active the next time the power stage is enabled.

3 Installation
4
5
6
8
9Connection
Wiring
Front Panel
Operation
7 Commissioning
Diagnosis
Parameters

TM
6-52
Chap06 Operation

6.9 Monitoring Functions for Operation

6.9.1 Position Limitation

Movements can be monitored using limit switches. A positive limit switch and a negative limit switch can be used for
monitoring.

If the positive or negative limit switch are tripped, the movement stops. An error message is generated and the
operating state switches to 7 Quick Stop Active.

The error message can be reset by means of a “Fault Reset”. The operating state switches back to 6 Operation
Enabled. The movement can continue, however, only in the opposite direction. For example, if the positive limit switch
was triggered, further movement is only possible in negative direction. In the case of further movement in positive
direction, a new error message is generated and the operating state switches back to 7 Quick Stop Active.

In LXM16D servo drive, position limit is realized via the digital inputs been assigned as LIMP / LIMN function .

By factory default, the digital input IOfunc_DI2 with pin 20 on CN1 is assigned as LIMP function (NC), the digital input
IOfunc_DI3 with pin 21 is assigned as LIMN function (NC). The LIMP / LIMN functions can also be assigned to other
digital inputs via parameters P3-00 ... P3-05.

Minimum value 1 Unit

P3-00~05 IOfunct_DIx Function Input DIx Default value -
-
Maximum value 142
Description:
Function Input DIx
Code
Function Description
Normally open Normally closed
Positive Limit Switch (LIMP) 22 122
Negative Limit Switch (LIMN) 23 123
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

6.9.2 Target Position Standstill Window

The target position standstill window monitoring function allows you to monitor whether the motor has reached the
target position.

If the difference between the target position and the actual position remains in a parameterizable standstill window
during a certain time, the target position is considered to have been reached.

Additionally, a parameter can be used to set the period of time after which a detected error is signaled if the standstill
window was not reached.

Following parameters shall be set up where target position standstill window monitoring function is used:
● The target position standstill window is specified via parameter P5-09
● The actual position must not exceed the position standstill window during the time specified via parameter P5-10
until target position consider to be reached.
● Timeout time for position standstill window monitoring is specified via parameter P5-11

Position error

P5-10

0 t

2 * P5-09
Output stopped upon arrival at destination

6-53 TM
 Minimum value 0 Unit
Target position reached: Standstill window
P5-09 MON_p_win_usr Default value 128
permissible control deviation usr_p

1
Maximum value 2147483647

Overview
Description:
Target position reached: Standstill window permissible control deviation
The control deviation for the standstill window time must be within this range for a standstill of the drive to be detected.

Processing of the standstill window must be activated via the parameter P5-10 (MON_p_winTime).

2 Type Selection
Changed settings become active immediately.

Minimum value 0 Unit

Target position reached: Standstill window
P5-10 MON_p_winTime Default value 0
time ms
Maximum value 32767

3 Installation
Description:
Target position reached: Standstill window time
0: Monitoring of standstill window deactivated
>0: The control deviation for the standstill window time must be within this range for a standstill of the drive to be detected.

Changed settings become active immediately.

4Connection
Wiring
Minimum value 0 Unit
Target position reached: Timeout time for
P5-11 MON_p_winTout Default value 0
standstill window monitoring ms
Maximum value 160000
Description:
Target position reached: Timeout time for standstill window monitoring

5
0: Timeout monitoring deactivated
>0: If target position is not reached within timeout time, an error message is generated.

Front Panel
Time monitoring starts when the target position (reference position of position controller) is reached. If target position is not
reached within timeout time, an error message is generated.

Changed settings become active immediately.

6 Operation
6.9.3 Position Deviation Window

The position deviation window monitoring function allows you to monitor whether the motor is within a parameterizable
position deviation.

7 Commissioning
The position deviation is the difference between reference position and actual position. The system monitors whether
the motor is within the defined position deviation during a certain time.

The position deviation window monitoring function is available in the following operating modes.
● Jog
● Electronic gear (position synchronization)
8

● Homing
Diagnosis

In LXM16D servo drive, the position deviation status is available via a signal output

By factory default, the digital input IOfunc_DQ1 with pin 18 on CN1 is assigned as In Position Deviation Window
function (NO). The In Position Deviation Window function can also be assigned to other digital inputs via parameters
P3-06...P3-08.
9 Parameters

Following parameters shall be set up where position deviation window monitoring function is used:
● The monitoring of time window is specified via parameter P5-12
● The monitoring of position deviation threshold is specified via parameter P5-13

TM
6-54
Chap06 Operation

Position error
v
P5-12 P5-12

0 t

2 * P5-13

1
=0
0
P5-12

1
>0
0

Minimum value 1 Unit

P3-06~08 IOfunct_DQx Function Output DQx Default value -
-
Maximum value 125
Description:
Function Output DQx
Code
Function Description
Normally open Normally closed
In Position Deviation Window In Position Deviation Window 5 105
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

Minimum value 0 Unit

P5-12 MON_ChkTime Monitoring of time window Default value 0
ms
Maximum value 9999
Description:
Monitoring of time window
Adjustment of a time for monitoring of position deviation, velocity deviation, velocity value and current value.

Changed settings become active immediately.

Minimum value 0 Unit

P5-13 Monitoring of position deviation Default value 128
usr_p
Maximum value 2147483647
Description:
Monitoring of position deviation
The system checks whether the drive is within the defined deviation during the period set with P5-12 (MON_ChkTime).

Changed settings become active immediately.

6-55 TM
6.9.4 Velocity Deviation Window

1 Overview
The velocity deviation window allows you to monitor whether the motor is within a parameterizable velocity deviation.

The velocity deviation is the difference between the reference velocity and the actual velocity. The system monitors
whether the motor is within the defined velocity deviation during a certain time.

2
The velocity deviation window monitoring function is available in the following operating modes.

Type Selection
● Jog
● Electronic gear (speed synchronization)
● Homing

In LXM16D servo drive, the velocity deviation status is available via a signal output

3 Installation
The In Velocity Deviation Window function can be assigned to a digital input via parameters P3-06...P3-08.

Following parameters shall be set up where velocity deviation window monitoring function is used:
● The monitoring of time window is specified via parameter P5-12
● The monitoring of velocity deviation threshold is specified via parameter P5-14

4
P5-12
2 * P5-14

Connection
Wiring
v

5 Front Panel
0 t

1
=0
0

6
P5-12

Operation
>0
0

Minimum value 1 Unit

7 Commissioning
P3-06~08 IOfunct_DQx Function Output DQx Default value -
-
Maximum value 125
Description:
Function Output DQx
Code
Function Description
Normally open Normally closed
In Velocity Deviation Window In Velocity Deviation Window 6 106
8 Diagnosis

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

Minimum value 0 Unit

9

P5-12 MON_ChkTime Monitoring of time window Default value 0

ms
Maximum value 9999
Parameters

Description:
Monitoring of time window
Adjustment of a time for monitoring of position deviation, velocity deviation, velocity value and current value.

Changed settings become active immediately.

TM
6-56
Chap06 Operation

Speed deviation Minimum Maximum

Default value Unit
P5-14 MON_v_DiffWin monitoring: Monitoring value value
of velocity deviation 1 2147483647 10 usr_v
Description
Speed deviation monitoring: Monitoring of velocity deviation
The system monitors whether the drive is within the defined deviation during the period set with P5-12 (MON_ChkTime).

Changed settings become active immediately.

6.9.5 Velocity Threshold Value

The velocity threshold value monitoring function allows you to monitor whether the actual velocity is below a
parameterizable velocity value.

The system monitors whether the actual motor velocity is below the defined velocity threshold during a certain time.

In LXM16D servo drive, the velocity threshold status is available via a signal output

The Velocity Below Threshold function can be assigned to a digital input via parameters P3-06...P3-08.

Following parameters shall be set up where velocity threshold value monitoring function is used:
● The monitoring of time window is specified via parameter P5-12
● The monitoring of velocity threshold is specified via parameter P5-15

v
P5-12 2 * P5-15

1
=0
0
P5-12

1
>0
0

Minimum value 1 Unit

P3-06~08 IOfunct_DQx Function Output DQx Default value -
-
Maximum value 125
Description:
Function Output DQx
Code
Function Description
Normally open Normally closed
Velocity Below Threshold Velocity Below Threshold 7 107
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

Minimum value 0 Unit

P5-12 MON_ChkTime Monitoring of time window Default value 0
ms
Maximum value 9999
Description:
Monitoring of time window
Adjustment of a time for monitoring of position deviation, velocity deviation, velocity value and current value.

Changed settings become active immediately.

6-57 TM
 Minimum value 1 Unit
Low speed monitoring: Monitoring of ve-
P5-15 MON_v_Threshold Default value 10

1
locity threshold usr_v
Maximum value 2147483647

Overview
Description:
Low speed monitoring: Monitoring of velocity threshold
The system monitors whether the drive is within the defined deviation during the period set with P5-12 (MON_ChkTime).

Changed settings become active immediately.

2 Type Selection
6.9.6 Current Threshold Value
The current threshold value monitoring function allows you to monitor whether the actual current is below or over a
parameterizable current value.

The system monitors whether the actual current is below or over the defined current threshold during a certain time.

3 Installation
In LXM16D servo drive, the current threshold status is available via a signal output

The Torque Below Threshold function can be assigned to a digital output via Parameters P3-06...P3-08 to indicate
the actual current is below the defined threshold, or the Torque Over Threshold function can be assigned to a digital
output via Parameter P3-06...P3-08 to indicate the actual current is over the defined threshold.

4
Following parameters shall be set up where current threshold value monitoring function is used

Connection
Wiring
● The monitoring of time window is specified via parameter P5-12
● The monitoring of current threshold is specified via parameter P5-16
I
P5-12 2 * P5-16
I

5
P5-12 2 * P5-16

Front Panel
0

0
t

6
1

Operation
=0
01
P5-12P5-12

=0
10
>0
01
>0 The motor current is below the set threshold

7 Commissioning
0
The motor current is below the set threshold

P5-12 2 * P5-16
I
P5-12 2 * P5-16
8

I
Diagnosis

0
9

0
Parameters

1
=0
01
P5-12P5-12

=0
10
>0
01
>0
The motor current is above the set threshold
0
The motor current is above the set threshold
TM
6-58
Chap06 Operation

Minimum value 1 Unit

P3-06~08 IOfunct_DQx Function Output DQx Default value -
-
Maximum value 125
Description:
Function Output DQx
Code
Function Description
Normally open Normally closed
Torque Below Threshold 8 108
Torque Over Threshold Torque Over Threshold 25 125
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

Minimum value 0 Unit

P5-12 MON_ChkTime Monitoring of time window Default value 0
ms
Maximum value 9999
Description:
Monitoring of time window
Adjustment of a time for monitoring of position deviation, velocity deviation, velocity value and current value.

Changed settings become active immediately.

Minimum value 1 Unit

P5-16 MON_I_Threshold Monitoring of current threshold Default value 10
Arms
Maximum value 2147483647
Description:
Monitoring of current threshold
The system monitors whether the drive is below the defined value during the period set with P5-12 (MON_ChkTime).

Changed settings become active immediately.

6-59 TM
1 Overview 2 Type Selection 3 Installation 4 Wiring
Connection 5 Front Panel 6 Operation 7 Commissioning 8 Diagnosis 9 Parameters

6-60 TM
Chap07. Commissioning

7.1 Tuning Methods and Basic Procedures................................................................. 7-1

7.1.1 About Tuning........................................................................................................................... 7-1
7.1.2 Tuning Methods....................................................................................................................... 7-1

7.1.3 Basic Tuning Procedures......................................................................................................... 7-2

7.1.4 Safety Precautions for Tuning................................................................................................. 7-2

7.1.5 Control Loop Tuning Model Selection...................................................................................... 7-3

7.2 Easy Tuning........................................................................................................... 7-4

7.2.1 Overview.................................................................................................................................. 7-4
7.2.2 Operating Methods ................................................................................................................. 7-4

7.3 Comfortable Tuning............................................................................................... 7-5

7.3.1 Overview.................................................................................................................................. 7-5
7.3.2 Operating Methods ................................................................................................................. 7-5

7.4 Auto Adaptive Tuning............................................................................................ 7-6

7.4.1 Overview.................................................................................................................................. 7-6
7.4.2 Conditions for Use................................................................................................................... 7-7

7.4.3 Operating Methods ................................................................................................................. 7-7

7.5 Auto Adaptive Notch Filter................................................................................... 7-10

7.5.1 Overview................................................................................................................................ 7-10
7.5.2 Operating Methods ............................................................................................................... 7-10

7.6 Manual Tuning (Basic)......................................................................................... 7-12

7.6.1 Overview................................................................................................................................ 7-12
7.6.2 Manual Tuning for Position Control Mode............................................................................. 7-12

7.6.3 Gain Switching....................................................................................................................... 7-18

7.6.4 Mechanical Resonance Suppression.................................................................................... 7-26

7.7 Manual Tuning (Advanced).................................................................................. 7-29

7.7.1 Feedforward Tuning............................................................................................................... 7-29
7.7.2 Vibration Suppression............................................................................................................ 7-30
7.1 Tuning Methods and Basic Procedures

1
7.1.1 About Tuning

Overview
The purpose of tuning (commissioning) is to optimize the servo system response. The servo system response is dependent
on the control loop gain set in servo drive. Higher the servo response will result in the servo drive to run the servo motor in
least time delay and as faithful as possible against the commands given by controller.

2
The control loop gains are set using a combination of parameters (position controller P gain, velocity controller P gain,

Type Selection
velocity feedforward, various filters, inertia ratio, etc.), by optimize the parameters the control loop can optimum the
performance of the servo drive. These control loop parameters influence each other, so you must consider the balance
between them.

Generally, the response of a machine with high rigidity can be improved by increasing the servo gain. If the servo gain of
a machine with low rigidity is increased, however, the machine will vibrate and the response may not be improved. In such
case, it is possible to suppress the vibration with a variety of vibration suppression functions

3 Installation
7.1.2 Tuning Methods
The servo gains are set to stable settings by factory default. Use the various tuning functions to increase the response
even further for the conditions of your machine.
Tuning Tool

4
Description
method Drive HMI Commissioning software

Connection
Easy tuning moves the motor without user intervention

Wiring
Easy tuning and optimizes the settings of the control loop parameters √ √
while running the motor.
Comfort tuning moves the motor with user intervention,
Comfortable parameters for trajectory can be set by the user.
× √
tuning Comfort tuning optimizes the settings of the control loop

5
parameters while running the motor.

Front Panel
The motor is driven by command given by either controller
Auto
or Jog operation, the servo drive estimates the system real
adaptive √ √
time inertia load ratio and tune the control loop parameter
tuning
with respect to the stiffness been given.
Auto The servo drive automatically measures and optimizes
adaptive the notch filter (up to 2 sets) to suppress mechanical √ √

6
notch filter resonance.

Operation
Manual
Tune the control loop gain and various filters manually △ √
tuning
√ -Available / × -Not supported / △ -Function limited

The control loop types are different with respect to different tuning methods:

7 Commissioning
Type of
Cascade control loop Auto adaptive control loop
control loop
Mode
P0-01 = 0 - Invalid P0-01 = 1 - Standard P0-01 = 2 - Passive P0-01 = 3 - Adaptive
selection
Simple tuning Online estimation of Manual setup of system Online estimation of
(Drive HMI / SoMove) system inertia ratio P0-03 inertia ratio P0-03 system inertia ratio P0-03
8

Control loop Try to optimize the

parameters Manual setup of stiffness Manual setup of stiffness most suitable stiffness
Diagnosis

Comfortable tuning (SoMove)

tuning P0-02 P0-02 (increase stiffness by 4 at
method the most) P0-02
Manual tuning
(Drive HMI / SoMove)
Ctrl1 control loop parameter set
The load type parameter P0-04 determines the default initial stiffness
is used by default
9

By digital input function you may

Equivalent map to Ctrl1 / Ctrl3 control loop parameter using commissioning
Parameters

Parameter
switch between Ctrl1 and Ctrl2
software SoMove
control loop parameter sets
Velocity feedforward parameter P1-03 is valid
Control loop Ctrl3 control loop parameter set
Parameter P1-38 is used for lower stiffness
parameters is used for lower gain
switch Switch condition: P1-31~P1-37 Switch condition: P1-31~P1-37
Details Chapter 7.2/7.3 Chapter 7.4

TM
7-1
Chap07 Commissioning

7.1.3 Basic Tuning Procedures

The basic tuning procedure is shown in the following flowchart. Make suitable adjustments considering the conditions
and operating requirements of the machine.

Adjustment
started

N Manual Gain
Auto tuning?
Adjustment

N Start simple Normal N

Adaptive adjustment?
auto tuning operation?

Y Y
Contact the
Select the manufacturer
appropriate type Performed N Choose comfortable
of mechanical load successfully? auto tuning*

Y
Standard or Active Use the test
Use the test Set up comfortable
active mode? run function to
run function to auto tuning parameter
run the motor
run the motor as required
Standard
Automatically go
back to standard Normal N
Start simple
mode if the rigidity operation? auto tuning
level is stable
Use the test Y
run function to Performed N
run the motor successfully?

Y
Normal Manually increase
N N Use the test
operation? or decrease
run function to
the rigidity level
run the motor
Y

Switch to Normal N
passive mode operation?

Y
Parameter
saved to EEPROM

Adjustment (＊) must

＊ be performed with SoMove software:

completed

7.1.4 Safety Precautions for Tuning

WARNING
• Do not touch the rotating section of the servomotor while power is being supplied to the motor.
• Before starting the servomotor, make sure that the servo drive can come to an emergency stop at any time.
• Make sure that a Jog operation has been performed without any trouble.
• To make sure the safety, install a safety brake on the machine.

When tuning the servo control loop, following safety precautions must be followed.
• Set limit switch functions, make sure the movement can be stopped by and the operating state switched to Quick
Stop Active when either of positive limit switch or negative limit switch has been triggered Refer to chapter 6.9.1
Position Limitation for detailed information
• Enable load-dependent position deviation monitoring function. Refer to chapter 6.6.12 Following Error Monitoring
Settings for detailed information
• Make sure there are no obstructions in the zone of tuning.

7-2 TM
7.1.5 Control Loop Tuning Model Selection

1 Overview
LXM16D servo controller provides two control loop parameter models: the cascade PID control loop and auto adaptive
control loop. Either of the two control loop models takes effect at a time and parameter P0-01 determines which one is
effective.

Minimum value 0 Unit

2
P0-01 RTATU_TuningMode Tuning Mode selection Default value 0

Type Selection
-
Maximum value 3
Description
Tuning Mode selection
0 / Invalid: Auto adaptive tuning mode invalid, use cascade PID control loop parameters
1 / Standard: Standard auto adaptive tuning mode: system estimate the inertia ratio automatically while the stiffness index is

3 Installation
set manually.
2 / Passive: Passive auto adaptive tuning mode: both inertia ratio and stiffness index are set manually.
3 / Adaptive: Adaptive auto adaptive tuning mode: system estimate both the inertia ratio and stiffness index (increate 4 times
at the maximum) automatically.
Changed settings become active the next time the product is powered on.

4
By factory default, parameter P1-01 is set to 0 and the cascade PID control loop takes effect in servo drive. When

Connection
Wiring
parameter P1-01 is set to 1, 2, and 3, the auto adaptive control loop takes effect in servo drive.

For most applications, autotuning or auto adaptive tuning yields good, highly dynamic results. However, there might
be some cases you might need to retune

the tuning to obtain the optimum response or stability corresponding to each load, by using the commissioning

5
software SoMove installed on the PC you can equivalent map the auto adaptive control loop parameters to cascade

Front Panel
PID control loop parameters. Then you may enable the cascade PID control loop by modify parameter P0-01 to 0 and
tune the control loop parameters on the basis of the control loop parameters mapped.

6
8
9 Operation
7 Commissioning
Diagnosis
Parameters

TM
7-3
Chap07 Commissioning

7.2 Easy Tuning

7.2.1 Overview

Easy tuning moves the motor without user intervention and optimizes the settings of the control loop parameters while
running the motor. Easy tuning determines the friction torque as a constantly acting load torque and considers it in the
calculation of the moment of inertia of the entire system. External factors such as a load at the motor are considered.
Easy tuning optimizes the settings of the control loop parameters. Easy tuning also supports vertical axes.

Easy tuning will optimize parameters P1-00 ... P1-06 (CTRL1) as well as P1-14 ... P1-8 (CTRL3) in parameter group
“P1 – Gain”. Meanwhile estimation results of system characters can be monitored in parameter P1-45 ... P1-49.

Note, during easy tuning the motor is activated and small movements are made. Noise development and mechanical
oscillations of the system are normal.

WARNING
UNINTENDED MOVEMENT
• Only start the system if there are no persons or obstructions in the zone of operation.
• Include in your calculations when determining the available movement range, the additional distance for the deceleration ramp in the
case of an emergency stop.
• Verify that the parameter settings for a Quick Stop are correct.
• Verify correct operation of the limit switches
• Verify that a functioning emergency stop push-button is within reach of all persons involved in all phases of machine operation and
maintenance involving this equipment.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

7.2.2 Operating Methods

No parameter needed to be set prior to start an easy tuning. Easy tuning can be started in two ways:
• Use the integrated HMI on the equipment:
HMI -> oP -> tun -> tuSt
Please refer to chapter “5.3.2 Simple Auto Tuning” for further information.
• Use commissioning software SoMove:
SoMove -> Tuning -> Auto -> Start
The tuning process is indicated by a progress bar; upon successful completion of the tuning, please use the
SoMove software to save the control loop parameter into drive EEPROM.

7-4 TM
7.3 Comfortable Tuning

1
7.3.1 Overview

Overview
Comfort tuning moves the motor with user intervention, parameters for trajectory such as velocity, acceleration,
distance, mechanical system can be set by the user with respect to the application, in order to further optimize
the control loop parameters. Comfort tuning determines the friction torque as a constantly acting load torque and

2
considers it in the calculation of the moment of inertia of the entire system. External factors such as a load at the

Type Selection
motor are considered. Comfort tuning optimizes the settings of the control loop parameters. Comfort tuning also
supports vertical axes.

Comfort tuning will optimize parameters P1-00 ... P1-06 (CTRL1) as well as P1-14 ... P1-8 (CTRL3) in parameter
group “P1 – Gain”. Meanwhile estimation results of system characters can be monitored in parameter P1-45 ... P1-49.

Note, during easy tuning the motor is activated and small movements are made. Noise development and mechanical

3 Installation
oscillations of the system are normal.

WARNING
UNINTENDED MOVEMENT
• Only start the system if there are no persons or obstructions in the zone of operation.

4
• Include in your calculations when determining the available movement range, the additional distance for the deceleration ramp in the

Connection
case of an emergency stop.

Wiring
• Verify that the parameter settings for a Quick Stop are correct.
• Verify correct operation of the limit switches
• Verify that a functioning emergency stop push-button is within reach of all persons involved in all phases of machine operation and main-
tenance involving this equipment.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

5 Front Panel
7.3.2 Operating Methods

Comfortable tuning can only be started using commissioning software SoMove:

SoMove -> Tuning -> Comfort -> Set parameters for comfortable tuning trajectory -> Start
The tuning process is indicated by a progress bar; upon successful completion of the tuning, please use the SoMove

6
software to save the control loop parameter into drive EEPROM.

9 Operation
7 Commissioning
8 Diagnosis
Parameters

TM
7-5
Chap07 Commissioning

7.4 Auto Adaptive Tuning

7.4.1 Overview

The auto adaptive tuning estimates the load inertia over rotor inertia in real time with respect to the load characteristics
of the system in real time and tune the control loop parameters based on the stiffness automatically.

Auto adaptive tuning will not move the servo motor. After the auto adaptive tuning function is enabled, it monitors
the movement characteristics such as velocity and acceleration in real time. The movement can be driven either by
commands from controller or by Jog operation. Please refer to chapter “6.5 Operation Mode Jog” for information about
Jog operation.

By selecting different auto adaptive tuning mode via parameter P0-01, the auto adaptive tuning can either actively
estimate the load inertia ratio or passively accept the load inertia ratio entered by user. Alternatively, it’s possible to
actively try to optimize the most suitable stiffness (increase stiffness by 4 at the most) or passively accept the stiffness
selected by user.

Note, the auto adaptive tuning may bring about a incorrect estimation result if the load inertia changes too quickly.
Noise development and mechanical oscillations of the system are normal.

WARNING
UNINTENDED MOVEMENT
• Only start the system if there are no persons or obstructions in the zone of operation.
• Include in your calculations when determining the available movement range, the additional distance for the deceleration ramp in the
case of an emergency stop.
• Verify that the parameter settings for a Quick Stop are correct.
• Verify correct operation of the limit switches
• Verify that a functioning emergency stop push-button is within reach of all persons involved in all phases of machine operation and main-
tenance involving this equipment.

Different stiffnesses stands for different servo system response levels. Higher the stiffness value, higher the velocity
response and servo rigidity will be achieved. However, when increasing the value, more system vibration could be
expected. Gradually increase the stiffness value from lower to higher when selecting.

Low Mechanical rigidity High

Low Servo gain High
1·2 14 31 · 32
Low Responsiveness High

Response
1.4

High rigidity level (P0-P2)

1.2 Low rigidity level (P0-P2)

0.8
Amplitude

0.6

0.4

0.2

0
0 10 20 30 40 50 60 70 80
Time (ms)

7-6 TM
7.4.2 Conditions for Use

1 Overview
To assure the accuracy of auto adaptive tuning estimation, please note that auto adaptive tuning may not be executed
properly under the conditions described below
• The load is too large compared to the rotor inertia. (more than 30 times).
• The machine rigidity is extremely low.
• Large backlash exists

2
• The motor is running continuously at low speed of 100 rpm or lower.

Type Selection
• Acceleration / deceleration is slower than 2000 rpm/s
Under these conditions, change the load condition or operation pattern, or start manual gain tuning

7.4.3 Operating Methods

3 Installation
Three auto adaptive tuning modes are available via parameter P0-01, which decides whether the auto adaptive tuning
will actively estimate the inertia ratio or passively accept the load inertia ratio entered by user, and alternatively, the
auto adaptive tuning will actively optimize the most suitable stiffness or passively accept the stiffness selected by user.

[Link] Standard Auto Adaptive Tuning Mode

4Connection
Standard auto adaptive tuning mode is activated by setting parameter P0-01 to 1 / Standard. In this mode, the servo

Wiring
drive automatically estimates the system load inertia ratio, while the stiffness is set manually.

• Standard adaptive adjustment can be activated in two ways:

1. Use the integrated HMI on the equipment:
2. Select appropriate type of mechanical load via parameter P0-04 with respect to the application conditions.

5
3. Set parameter P0-01 to 1.

Front Panel
4. Drive the servo motor either by command from controller or by Jog operation using HMI.
5. After several cycles of movement including effective acceleration, plateau and deceleration phases , tune the
stiffness via parameter P0-02 with respect to the system performance, then drive the servo motor again.
6. If the system performance meets requirements, set parameter P0-01 to 2 and the real time estimation of system
load inertia ratio is deactivated to prevent accidental incorrect estimation result because of quick inertia changes.

6
7. After that the parameter P0-03 system load inertia ratio can be further tuned manually depending on system
performance so that the servo system offers better response and stability.

Operation
• Use commissioning software SoMove:
1. SoMove -> Tuning -> Adaptive
2. Select type of mechanical load in “Load Type Selection” with respect to the application conditions.
3. Select Standard mode in “Tuning Mode Selection”.

7 Commissioning
4. Drive the servo motor either by command from controller or by Jog operation using auto adaptive tuning control
panel in SoMove.
5. After several cycles of movement including effective acceleration, plateau and deceleration phases , tune the
stiffness in “Real Time Inertia Ratio” with respect to the system performance, then drive the servo motor again.
6. If the system performance meets requirements, select Passive mode in “Tuning Mode Selection” and the real time
estimation of system load inertia ratio is deactivated to prevent accidental incorrect estimation result because of
quick inertia changes.
8

7. After that the system load inertia ratio in “Real Time Inertia Ratio” can be further tuned manually depending on
Diagnosis

system performance so that the servo system offers better response and stability.
9 Parameters

TM
7-7
Chap07 Commissioning

7-8 TM
[Link] Passive Auto Adaptive Tuning Mode

1 Overview
Passive auto adaptive tuning mode is activated by setting parameter P0-01 to 2 / Passive. In this mode, both the system load
inertia ratio and the stiffness is set manually.

Passive auto adaptive tuning mode can be enabled in two ways:

2
• Use the integrated HMI on the equipment:
1. Select appropriate type of mechanical load via parameter P0-04 with respect to the application conditions.

Type Selection
2. Set parameter P0-01 to 2.
3. Tune the stiffness via parameter P0-02 as well as system inertia ratio via parameter P0-03.
4. Drive the servo motor either by command from controller or by Jog operation using HMI.
5. Parameter P0-02 and P0-03 can be further tuned manually depending on system performance so that the servo system
offers better response and stability.

3 Installation
• Use commissioning software SoMove:
1. SoMove -> Tuning -> Adaptive
2. Select type of mechanical load in “Load Type Selection” with respect to the application conditions.
3. Select Passive mode in “Tuning Mode Selection”.
4. Tune the system inertia ratio in “Real Time Inertia Ratio” and the stiffness in “Real Time Inertia Ratio”.
5. Drive the servo motor either by command from controller or by Jog operation using auto adaptive tuning control panel in
SoMove.
6. After that the system load inertia ratio in “Real Time Inertia Ratio” can be further tuned manually depending on system

4
performance so that the servo system offers better response and stability.

Connection
Wiring
Refer to the diagram in Chapter [Link] for further information

[Link] Adaptive Auto Adaptive Tuning Mode

5
Adaptive auto adaptive tuning mode is activated by setting parameter P0-01 to 3 / Adaptive. In this mode, the servo drive

Front Panel
automatically estimates the system load inertia ratio and try to optimize the most suitable stiffness (increase stiffness by 4 at
the most).

Adaptive auto adaptive tuning mode can be enabled in two ways:

• Use the integrated HMI on the equipment:

6
1. Select appropriate type of mechanical load via parameter P0-04 with respect to the application conditions.
2. Set parameter P0-01 to 3.

Operation
3. Enter parameter P0-02 to observe the system stiffness.
4. Drive the servo motor either by command from controller or by Jog operation using HMI.
5. After several cycles of movement including effective acceleration, plateau and deceleration phases, check the variation
of parameter P0-02. The adaptive auto adaptive tuning will try to gradually increase the stiffness to optimize the most
suitable one with respect to the system performance. When the most suitable stiffness is achieved, parameter P0-01 will

7 Commissioning
be set to 1 / Standard. Adaptive auto adaptive tuning will increase the stiffness by 4 at the most.
6. If the system performance meets requirements, set parameter P0-01 to 2 and the real time estimation of system load
inertia ratio is deactivated to prevent accidental incorrect estimation result because of quick inertia changes.
7. After that the parameter P0-03 system load inertia ratio can be further tuned manually depending on system performance
so that the servo system offers better response and stability.

• Use commissioning software SoMove:

1. SoMove -> Tuning -> Adaptive
8

2. Select type of mechanical load in “Load Type Selection” with respect to the application conditions.
Diagnosis

3. Select Adaptive mode in “Tuning Mode Selection”.

4. Drive the servo motor either by command from controller or by Jog operation using auto adaptive tuning control panel in
SoMove.
5. After several cycles of movement including effective acceleration, plateau and deceleration phases, check the variation
of stiffness in “Real Time Inertia Ratio” as well as the system inertia ratio in “Real Time Inertia Ratio”. The adaptive auto
adaptive tuning will try to gradually increase the stiffness to optimize the most suitable one. When the most suitable
9

stiffness is achieved, “Tuning Mode Selection” will be set to Standard. Adaptive auto adaptive tuning will increase the
stiffness by 4 at the most.
Parameters

6. If the system performance meets requirements, select Passive mode in “Tuning Mode Selection” and the real time
estimation of system load inertia ratio is deactivated to prevent accidental incorrect estimation result because of quick
inertia changes.
7. After that the system load inertia ratio in “Real Time Inertia Ratio” can be further tuned manually depending on system
performance so that the servo system offers better response and stability.

Refer to the diagram in Chapter [Link] for further information

TM
7-9
Chap07 Commissioning

7.5 Auto Adaptive Notch Filter

7.5.1 Overview

In case of low machine rigidity, high order vibration may be introduced during system movement and cause the
mechanical resonance. As a result, oscillation and noise will occur. Notch filter can be used to damp the resonance at
vicinity of resonance frequency so as to improve the system bandwidth.

The auto adaptive notch filter estimates the resonance frequency out of vibration components presented in velocity
characteristics in real time, then damp the resonance component by setting up the notch filter coefficient automatically,
hence reduces the resonance vibration.

Minimum value 0 Unit

Selection of auto adaptive notch filter
P2-00 RTATU_ANotchMode Default value 0
setting mode -
Maximum value 3
Description:
Selection of auto adaptive notch filter setting mode
0 / Invalid: Auto adaptive notch filters automatic setting invalid, auto adaptive notch filters parameters remain the unchanged.
1 / Enable 1: Enable the automatic setting of first group of auto adaptive notch filter.
2 / Enable 2: Enable the automatic setting of first and second group of auto adaptive notch filters
3 / Reset: Reset all auto adaptive notch filters to default.

Changed settings become active immediately.

7.5.2 Operating Methods

LXM16D servo drive supports two sets of auto adaptive notch filters. By selecting the adaptive notch filter mode via
parameter P2-00 other than 0 to enable one or two sets of adaptive notch filters at a time. If the resonance point
affects the motor speed, parameters of auto adaptive notch filters are automatically set according to the number of
adaptive filters enabled.

The auto adaptive notch filter can be enabled in two ways:

• Use the integrated HMI on the equipment:

1. Select mode of auto adaptive notch filter via parameter P2-00 RTATU_ANotchMode
2. Drive the servo motor either by command from controller or by Jog operation using HMI.
3. If the resonance point affects the motor speed, parameters of auto adaptive notch filters are automatically set.
4. Set parameter P2-00 to 0 to deactivate the auto estimation of resonance while parameters of adaptive filter been
set remain unchanged.

• Use commissioning software SoMove:

1. SoMove -> Tuning -> Adaptive
2. Select to Enable 1 or 2 adaptive notch filters in “Adaptive Notch Filter Mode Selection”.
3. Drive the servo motor either by command from controller or by Jog operation using auto adaptive tuning control
panel in SoMove.
4. If the resonance point affects the motor speed, parameters of auto adaptive notch filters are automatically set.
5. Select to Invalid in “Adaptive Notch Filter Mode Selection” to deactivate the auto estimation of resonance while
parameters of adaptive filter been set remain unchanged.

7-10 TM
1 Overview 2 Type Selection 3 Installation 4 Wiring
Connection 5 Front Panel 6 Operation 7 Commissioning 8 Diagnosis 9 Parameters

7-11 TM
Chap07 Commissioning

7.6 Manual Tuning (Basic)

7.6.1 Overview

LXM16D offers good auto tuning functions which, for most applications, yields good, highly dynamic results. However, there might
be some cases where auto tuning cannot deliver proper result depending on the limitation on load conditions. Or you might need to
retune the system to obtain the optimum response or stability corresponding to each load. Here the manual tuning should be used.

Commissioning software SoMove is recommended for manual tuning. By monitoring waveforms using the scope function of the
commissioning software SoMove, accurate manual tuning can be positively, quickly and easily done when compared with that
performed on the HMI on the equipment.

M S CN3

Mini-USB

CN2

CN1

CHARGE

U
V
W
PB CNP
P+
L
N

7.6.2 Manual Tuning for Position Control Mode

The control loop structure of LXM16D for position control mode is as below:

Acceleration feedforward

Internal speed curve

PTI Pulse speed
P1-21 CTRL_KFAcc
Friction compensation
P4-10（RAMP_v_acc）
Speed feedforward
P4-11（RAMP_v_dec）
P4-12（RAMP_v_max）
P4-13（RAMP_v_enabl） P0-15 GEARjerklim
P1-03 CTRL1_KFPp Speed P0-16 RAMP_v_jerk
Position command Current command Drive
Max. speed Overshoot Current
command smoothing Speed control Max. current limit Notch filter smoothing output stage
limitation inhibition control
Electronic gear smoothing Position controller
PTI Pulse position
-
-
P4-17 CTRL_v_max P1-04 CTRL1_TAUnref P1-01 CTRL1_KPn P0-24 CTRL_I_max P2-01 CTRL_ANf1damp P1-05 CTRL1_TAUiref
P0-10 GEARratio P0-15 GEARjerklim P1-0 CTRL1_KPp
P2-13 CTRL1_Osupdamp P1-02 CTRL1_TNn P2-02 CTRL_ANf1freq
P0-11 GEARdenom P0-16 RAMP_v_jerk
P2-14 CTRL1_Osupdelay P2-03 CTRL_ANf1bandw
P0-12 GEARnum
...
P0-13 GEARdenom2 M
P2-12 CTRL1 Nf2bandw
P0-14 GEARnum2 3~

Current feedback
Position feedback Speed feedback
E

If auto adaptive tuning control has been done prior to manual tuning, it is possible to equivalently map the parameters of auto
adaptive tuning into cascade PID control loop parameters then switch the control mode into cascade PID control loop.
• SoMove -> Tuning -> Adaptive -> Press button “Map” on the software panel and acknowledge the message box.
• Set parameter P0-01 to 0 / Invalid and enable the cascade PID control loop mode.
For the manual tuning of control loop parameters in position control mode, the controllers should be tuned in following sequence: first
the velocity controller then the position controller.

7-12 TM
[Link] Optimizing the Velocity Controller

1 Overview
Parameter P1-01 Velocity controller P Gain and parameter P1-02 Velocity controller integral action time are mostly
used for optimization of velocity controller:

Minimum value 0.0001 Unit

P1-01 CTRL1_KPn Parameter set 1: Velocity controller P gain Default value -

2
A/(1/min)
Maximum value 2.5400

Type Selection
Description:
Parameter set 1: Velocity controller P gain
The default value is calculated on the basis of the motor parameters.
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.0001 0.0001 A/(1/min)

3 Installation
Changed settings become active immediately.

Minimum value 0.00 Unit

Parameter set 1: Velocity controller integral
P1-02 CTRL1_TNn Default value -
action time ms
Maximum value 327.67

4
Description:

Connection
Parameter set 1: Velocity controller integral action time

Wiring
The default value is calculated on the basis of the motor parameters.
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.01 ms

5
Changed settings become active immediately.

Front Panel
Minimum value 0.0001 Unit
P1-08 CTRL2_KPn Parameter set 2: Velocity controller P gain Default value -
A/(1/min)
Maximum value 2.5400

6
Description:
Parameter set 2: Velocity controller P gain

Operation
The default value is calculated on the basis of the motor parameters.
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.0001 0.0001 A/(1/min)

7 Commissioning
Changed settings become active immediately.

Minimum value 0.00 Unit

Parameter set 2: Velocity controller integral
P1-09 CTRL2_TNn Default value -
action time ms
Maximum value 327.67
Description:
8

Parameter set 2: Velocity controller integral action time

Diagnosis

The default value is calculated on the basis of the motor parameters.

In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.01 ms

Changed settings become active immediately.

9 Parameters

TM
7-13
Chap07 Commissioning

Minimum value 0.0001 Unit

P1-15 CTRL3_KPn Parameter set 3: Velocity controller P gain Default value -
A/(1/min)
Maximum value 2.5400
Description:
Parameter set 3: Velocity controller P gain
The default value is calculated on the basis of the motor parameters.
In the case of motor at low speed condition is met, the values of control loop parameter set 1 or set 2 are changed linearly to
control loop parameter set 3 over the time defined in the parameter P1-32 (CTRL_DYNGNSWTM).
In increments of 0.0001 0.0001 A/(1/min)

Changed settings become active immediately.

Minimum value 0.00 Unit

Parameter set 3: Velocity controller integral
P1-16 CTRL3_TNn Default value -
action time ms
Maximum value 327.67
Description:
Parameter set 3: Velocity controller integral action time
The default value is calculated on the basis of the motor parameters.
In the case of motor at low speed condition is met, the values of control loop parameter set 1 or set 2 are changed linearly to
control loop parameter set 3 over the time defined in the parameter P1-32 (CTRL_DYNGNSWTM).
In increments of 0.01 ms

Changed settings become active immediately.

1. To assess and optimize the transient response behavior of your system, first identify if your mechanical system is
a rigidity mechanical system with fast response or is a less rigidity mechanical system with slow response.

Rigid connection system Flexible connection system

Low elasticity High elasticity

Narrow Gear with

gear backlash wide backlash
For example Direct drive For example Belt drive
rigid connection Weak drive shaft
Flexible connection

1.1 Determining Values for Rigid Mechanical Systems:

When moment of inertia of load and the motor are known and constant, determine the values the velocity
controller P gain P1-01 and the integral action time P1-02 based on the following table: Where,
JL: Moment of inertia of the load
JM: Moment of inertia of the motor

JL = JM JL = 5*JM JL = 10*JM
JL P1-01 P2-02 P1-01 P1-02 P1-01 P1-02
2
1 kgcm 0.0125 8 0.008 12 0.007 16
2
2 kgcm 0.0250 8 0.015 12 0.014 16
5 kgcm2 0.0625 8 0.038 12 0.034 16
10 kgcm2 0.125 8 0.075 12 0.069 16
20 kgcm2 0.250 8 0.150 12 0.138 16

7-14 TM
1.2 Determine values for less rigidity mechanical systems:
For optimization purpose, determine a Velocity controller P gain at which the controller adjust the velocity as quickly as possible

1
without overshoot. Consider the following procedures:
• Set the parameter P1-02 Velocity controller integral action time to infinite (327.67 ms).

Overview
Note, if a load torque acts on the motor when the motor is at a standstill causes unwanted change of motor position (e.g.
vertical axes), the integral action time must not exceed, reduce the integral action time if the position deviation is unacceptable.
However, reducing the integral action time can adversely affect optimization results.

WARNING

2 Type Selection
UNINTENDED MOVEMENT
• Only start the system if there are no persons or obstructions in the zone of operation.
• Verify that the values for the velocity and the time do not exceed the available movement range.
• Verify that a functioning emergency stop push-button is within reach of all persons involved in the operation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

3 Installation
• Trigger a step command，for example, a parameterized velocity reference value using the Profile Velocity function of
commissioning software SoMove. Meanwhile, start the scope feature of SoMove to trace the reference value for the current and
actual velocity for the motor.
• After the first test, verify the maximum amplitude for the reference value for the current Set the amplitude of the step velocity
reference value just high enough so the reference value for the current remains below the maximum value. On the other hand,
the value selected should not be too low, otherwise friction effects of the mechanical system will determine the performance of
the control loop.
• Trigger another step function if you had to modify the velocity reference and verify the amplitude of reference value for the

4
current.
• Increase or decrease the P1-01 Velocity controller P gain in small increments until actual velocity for the motor is obtained

Connection
Wiring
as fast as possible. The following diagram shows the step response where the velocity controller P gain is too much and the
improvement by reducing velocity controller P gain. Differences between velocity reference and actual velocity for motor result
from P1-02 Velocity controller integral action time.

Command speed Command speed

100% 100%

5 Front Panel
Actual speed 63% Actual speed

This can be improved

by reducing the speed
loop gain
0% 0%

6
t Speed loop t

Operation
integration time

• In the case of drive systems in which oscillations occur before the aperiodic limit is reached, the velocity controller P gain must
be reduced until oscillations can no longer be detected. This occurs frequently in the case of linear axes with a toothed belt drive.
• Graphically determine the point at which the actual velocity reaches 63% of the final value. The integral action time P1-02 then
results as a value on the time axis.

7 Commissioning
2. Verify and optimize the velocity controller step response by tune the parameter P1-01 with respect to different load system. Step
responses with good control performance is shown in the figure below:

Command speed Command speed

100% 100%
8

Actual speed Actual speed

Diagnosis

Rigid connection system Flexible connection system

0% 0%
9

t t
Parameters

Good control performance is characterized by:

• Fast transient response
• Overshooting up to a maximum of 40%, 20%.
If the control performance does not correspond to the curve shown, change P1-01 velocity controller P gain in increments of about
10% and then trigger another step function:
• If the control is too slow: Use a higher P1-01 velocity controller P gain value.
• If the control tends to oscillate: Use a lower P1-01 velocity controller P gain value.

TM
7-15
Chap07 Commissioning

Command speed Command speed

100% 100%

Actual speed
Actual speed

Excessively slow Excessive vibration;

response; try to try to reduce the
increase P1-01 proportional gain
proportional gain of speed loop
0% of speed loop 0%

t t

[Link] Optimizing the Position Controller

An optimized velocity controller is a prerequisite for optimization of the position controller. When tuning the position
controller, you must optimize the P1-00 position controller P gain:
• P1-00 too high: Overshooting, instability
• P1-00 too low: High position deviation

Minimum value 2.0 Unit

Parameter set 1: Velocity controller P
P1-00 CTRL1_KPp Default value -
gain 1/s
Maximum value 900.0
Description:
Parameter set 1: Velocity controller P gain
The default value is calculated on the basis of the motor parameters.
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.1 1/s

Changed settings become active immediately.

Minimum value 2.0 Unit

Parameter set 2: Velocity controller P
P1-07 CTRL2_KPp Default value -
gain 1/s
Maximum value 900.0
Description:
Parameter set 2: Velocity controller P gain
The default value is calculated on the basis of the motor parameters.
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.1 1/s

Changed settings become active immediately.

Minimum value 2.0 Unit

Parameter set 3: Velocity controller P
P1-14 CTRL3_KPp Default value -
gain 1/s
Maximum value 900.0
Description:
Parameter set 3: Velocity controller P gain
The default value is calculated on the basis of the motor parameters.
In the case of motor at low speed condition is met, the values of control loop parameter set 1 or set 2 are changed linearly to
control loop parameter set 3 over the time defined in the parameter P1-32 (CTRL_DYNGNSWTM).
In increments of 0.1 1/s

Changed settings become active immediately.

7-16 TM
To assess and optimize the transient response behavior of the position controller, you need to trigger a step
command. For example, a parameterized step position reference value using the Profile Position function of

1
commissioning software SoMove. Meanwhile, start the scope feature of SoMove to trace the reference value for the

Overview
reference and actual position of the position controller, the current and actual velocity for the motor.

Note, the step function moves the motor at constant velocity until the movement finishes.

2
WARNING

Type Selection
UNINTENDED MOVEMENT
• Only start the system if there are no persons or obstructions in the zone of operation.
• Verify that the values for the velocity and the time do not exceed the available movement range.
• Verify that a functioning emergency stop push-button is within reach of all persons involved in the operation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

3 Installation
After the first test, verify the values achieved for actual velocity and reference current for current control and velocity
control. The values must not reach the current and velocity limitation range.
Step responses of a position controller with good control performance with respect to different mechanical system are
shown as below:

4Connection
Wiring
100% 100%

Command position Command position

5 Front Panel
Actual position Actual position

Rigid connection system Flexible connection system

0% 0%

6
t t

Operation
The P1-00 position controller P gain setting is optimal if the reference value is reached rapidly and with little or no
overshooting.

If the control performance does not correspond to the curve shown, change the P1-00 position controller P gain in

7 Commissioning
increments of approximately 10% and trigger another step function.
• If the control tends to oscillate: Use a lower P1-00 value.
• If the actual value is too slow reaching the reference value: Use a higher P1-00 value.

100% 100%
8 Diagnosis

Excessively slow
response; try to
Oscillation; try to increase P1-01
9

Actual position reduce proportional Actual position

proportional gain
gain of position loop of position loop
Parameters

0% 0%
t t

TM
7-17
Chap07 Commissioning

7.6.3 Gain Switching

LXM16D serve drive can switch between 2 control loop parameter sets manually or automatically to deliver better
performance with respect to various response requirements.

[Link] Cascade PID Control Loop Gain Switching

When parameter P0-01 is set to 0 / Invalid, the servo drive uses cascade PID control loop. LXM16D servo drive has three
cascade PID control loop parameter sets:

CTRL1 / control loop parameter set 1 CTRL2 / control loop parameter set 2 CTRL3 / control loop parameter set 3
P1-00 Position controller P gain P1-07 Position controller P gain P1-14 Position controller P gain
P1-01 Velocity controller P gain P1-08 Velocity controller P gain P1-15 Velocity controller P gain
P1-02 Velocity controller integral action time P1-09 Velocity controller integral action time P1-16 Velocity controller integral action time
Filter time constant of the reference
P1-03 Velocity feed-forward control P1-10 Velocity feed-forward control P1-17
velocity value filter
Filter time constant of the reference Filter time constant of the reference Filter time constant of the reference
P1-04 P1-11 P1-18
velocity value filter velocity value filter current value filter
Filter time constant of the reference Filter time constant of the reference
P1-05 P1-12
current value filter current value filter
P1-06 Friction compensation gain P1-13 Friction compensation gain
P2-07 Notch filter 1 damping P2-15 Notch filter 1 damping
P2-08 Notch filter 1 frequency P2-16 Notch filter 1 frequency
P2-09 Notch filter 1 bandwidth P2-17 Notch filter 1 bandwidth
P2-10 Notch filter 2 damping P2-18 Notch filter 2 damping
P2-11 Notch filter 2 frequency P2-19 Notch filter 2 frequency
P2-12 Notch filter 2 bandwidth P2-20 Notch filter 2 bandwidth
P2-13 Overshoot suppression filter damping P2-21 Overshoot suppression filter damping
Overshoot suppression filter time Overshoot suppression filter time
P2-14 P2-22
delay delay

Control loop parameter sets 1 and 2 are effective during movement, while control loop parameter set 3 is used for low speed and
standstill of the servo motor.. The control loop parameters from easy tuning or comfort tuning are stored in control loop parameter
sets 1 and 3.

It is possible to set criteria for switching between the control loop parameter sets 1 and 2. However, no matter control loop
parameter set 1 or 2 is actived, control loop parameter set 3 will be actived when motor at low-speed or standstill.
During motion During motion

Control loop parameter set 1 P1-25 CTRL_parChgTime Control loop parameter set 2
P1-01 CTRL1_KPn P2-07 CTRL1_Nf1damp P1-26 CTRL_PwrUpParSet P1-08 CTRL2_KPn P2-15 CTRL2_Nf1damp
P1-02 CTRL1_TNn P2-08 CTRL1_Nf1freq P1-27 CLSET_ParSwiCond P1-09 CTRL2_TNn P2-16 CTRL2_Nf1freq
P1-00 CTRL1_KPp P2-09 CTRL1_Nf1bandw P1-28 CLSET_winTime P1-07 CTRL2_KPp P2-17 CTRL2_Nf1bandw
P1-05 CTRL1_TAUiref P2-10 CTRL1_Nf2damp P1-29 CLSET_p_DiffWin_Usr P1-12 CTRL2_TAUiref P2-18 CTRL2_Nf2damp
P1-04 CTRL1_TAUnref P2-11 CTRL1_Nf2freq P1-30 CLSET_v_Threshol P1-11 CTRL2_TAUnref P2-19 CTRL2_Nf2freq
P1-03 CTRL1_KFPp P2-12 CTRL1_Nf2bandw P1-10 CTRL2_KFPp P2-20 CTRL2_Nf2bandw
P2-13 CTRL1_Osupdamp P2-21 CTRL2_Osupdamp
P2-14 CTRL1_Osupdelay P2-22 CTRL2_Osupdelay
P1-06 CTRL1_Kfric P1-13 CTRL2_Kfric

P1-31 CTRL_DYNGNSWSET
P1-32 CTRL_DYNGNSWTM
P1-33 CTRL_DYNSWPOSDLYTM
P1-34 CTRL_DYNSWPOSOHTHD
P1-35 CTRL_DYNSWTAUPOSDIF
P1-36 CTRL_DYNSWSPDLWTM
P1-37 CTRL_DYNSWSPDLWTHD

At low speed or rest

Control loop parameter set 3

P1-15 CTRL3_KPn
P1-16 CTRL3_TNn
P1-14 CTRL3_KPp
P1-18 CTRL3_TAUiref
P1-17 CTRL3_TAUnref

7-18 TM
[Link] Automatic Switching between Control Loop Parameter Sets 1 and 2

1
The default control loop parameter set actived after power-on is selected via parameter P1-26:

Overview
Minimum value 0 Unit
Selection of controller parameter set at
P1-26 CTRL_PwrUpParSet Default value 1
power up -
Maximum value 2

2
Description:
Selection of controller parameter set at power up

Type Selection
0 / Switching Condition: The switching condition is used for control loop parameter set switching:
1 / Parameter Set 1: Control loop parameter set 1 is used
2 / Parameter Set 2: Control loop parameter set 2 is used

Changed settings become active immediately.

3 Installation
The following criteria can be set for switching between the control loop parameter sets 1 and 2:
• Digital input signal
• Position deviation window
• Target velocity below parameterizable value
• Actual velocity below parameterizable value

4
The condition for parameter set switching be selected via parameter P1-27

Connection
Wiring
Minimum value 0 Unit
P1-27 CLSET_ParSwiCond Condition for parameter set switching Default value 1
-
Maximum value 4
Description:
Condition for parameter set switching

5
0 / None or Digital Input: None or digital input function selected

Front Panel
1 / Inside Position Deviation: Inside position deviation (value definition in parameter P1-29)
2 / Below Reference Velocity: Below reference velocity (value definition in parameter P1-30)
3 / Below Actual Velocity: Below actual velocity (value definition in parameter P1-30)
4 / Reversed: Reserved

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

6
P1-01（CTRL1_KPn）/ P1-08（CTRL2_KPn）

Operation
P1-02（CTRL1_TNn）/ P1-09（CTRL2_TNn）
P1-00（CTRL1_KPp）/ P1-07（CTRL2_KPp）
P1-05（CTRL1_TAUiref）/ P1-12（CTRL2_TAUiref）
P1-04（CTRL1_TAUnref）/ P1-11（CTRL2_TAUnref）
P1-03（CTRL1_KFPp）/ P1-10（CTRL2_KFPp）

7 Commissioning
In the case of parameter set switching, the values of the following parameters are changed gradually:
P2-07 (Ctrl1_Nf1damp) / P2-15 (Ctrl2_Nf1damp)
P2-08 (Ctrl1_Nf1freq) / P2-16 (Ctrl2_Nf1freq)
P2-09 (Ctrl1_Nf1bandw) / P2-17 (Ctrl2_Nf1bandw)
P2-10 (Ctrl1_Nf2damp) / P2-18 (Ctrl2_Nf2damp)
P2-11 (Ctrl1_Nf2freq) / P2-19 (Ctrl2_Nf2freq)
P2-12 (Ctrl1_Nf2bandw) / P2-20 (Ctrl2_Nf2bandw)
8

P2-13 (Ctrl1_Osupdamp) / P2-21 (Ctrl2_Osupdamp)

Diagnosis

P2-14 (Ctrl1_Osupdelay) / P2-22 (Ctrl2_Osupdelay)

P1-06 (Ctrl1_Kfric) / P1-13 (Ctrl2_Kfric)

Changed settings become active immediately.

9 Parameters

TM
7-19
Chap07 Commissioning

When automatic switching criteria is set as position deviation or velocity threshold, parameters P1-28/P1-29/P1-30
can be used to set position deviation and velocity threshold, as well as the monitoring window time:

Minimum value 0 Unit

Monitoring window time for parameter set
P1-28 CLSET_winTime Default value 0
switching ms
Maximum value 1000
Description:
0: Window monitoring deactivated.

Changed settings become active immediately.

Minimum value 0 Unit

Position deviation for control loop parameter
P1-29 CLSET_p_DiffWin_usr Default value 164
set switching usr_p
Maximum value 2147483647
Description:
Position deviation for control loop parameter set switching
When P1-27 is set to 1 / Inside Position Deviation, when position deviation is within value defined in the parameter, values of
control loop parameter set 2 will replace the values of control loop parameter set 1.
Changed settings become active immediately.

Minimum value 0 Unit

Velocity threshold for parameter set
P1-30 CLSET_v_Threshol Default value 50
switching usr_v
Maximum value 2147483647
Description:
Velocity threshold for parameter set switching
When P1-27 is set to 2 / Below Reference Velocity, when velocity is below the reference value defined in the parameter,
values of control loop parameter set 2 will replace the values of control loop parameter set 1.

Changed settings become active immediately.

This linear switching between control loop parameter sets takes place during the period defined in parameter P1-25:

Minimum value 0 Unit

P1-25 CTRL_ParChgTime Period of time for parameter switching Default value 0
ms
Maximum value 2000
Description:
Period of time for parameter switching
In the case of control loop parameter set switching, the values of the following parameters are changed gradually:
P1-01（CTRL1_KPn）/ P1-08（CTRL2_KPn）
P1-02（CTRL1_TNn）/ P1-09（CTRL2_TNn）
P1-00（CTRL1_KPp）/ P1-07（CTRL2_KPp）
P1-05（CTRL1_TAUiref）/ P1-12（CTRL2_TAUiref）
P1-04（CTRL1_TAUnref）/ P1-11（CTRL2_TAUnref）
P1-03（CTRL1_KFPp）/ P1-10（CTRL2_KFPp）
Such a switching can be caused by:
●● change of the active control loop parameter set
●● change of the global gain
●● change of any of the parameters listed above

Changed settings become active immediately.

7-20 TM
 P1-01 CTRL1_Kpn
① P1-08 CTRL2_Kpn

1
P1-02 CTRL1_TNn P1-09 CTRL2_TNn
P1-00 CTRL1_KPp

Overview
P1-07 CTRL2_KPp
P1-05 CTRL1_TAUiref P1-12 CTRL2_TAUiref
P1-04 CTRL1_TAUnref P1-11 CTRL2_TAUnref
P1-03 CTRL1_KFPp P1-10 CTRL2_KFPp

2
P2-07 CTRL1_Nf1damp
②
P2-15 CTRL2_Nf1damp

Type Selection
P2-08 CTRL1_Nf1freq P2-16 CTRL2_Nf1freq
P2-09 CTRL1_Nf1bandw P2-17 CTRL2_Nf1bandw
P2-10 CTRL1_Nf2damp P2-18 CTRL2_Nf2damp
P2-11 CTRL1_Nf2freq P2-19 CTRL2_Nf2freq
P2-12 CTRL1_Nf2bandw P2-20 CTRL2_Nf2bandw

3 Installation
P2-13 CTRL1_Osupdamp P2-21 CTRL2_Osupdamp
P2-14 CTRL1_Osupdelay P2-22 CTRL2_Osupdelay
P1-06 CTRL1_Kfric P1-13 CTRL2_Kfric

P1-25

4
[Link] Automatic Switching to Control Loop Parameter Set 3

Connection
Wiring
When servo motor is at low-speed or stanstill, control loop parameter set 3 will be activated.

The criteria for switching between control loop parameter sets consists of position and velocity:
• Position criteria for control loop parameter set switch

5
P1-33

Front Panel
P1-34 Position determination
Position error delay time
threshold
Position error
(P1-35)
Filtering

6
Position

Operation
command
P1-32
Use control Rigid switching time
loop parameter
set 1 or 2

Use control

7 Commissioning
loop parameter
set 3
t

Upon completion of the movement, if the position deviation filtered by filter defined by parameter P1-35 is less than
the position deviation threshold in parameter P1-34 for longer than the period defined in parameter P1-33, the control
loop parameter set 3 will be enabled linearly within the period defined by parameter P1-32.
8

Upon receipt of the motion command again, the control loop parameter set will directly switch to control loop
parameter set 1 or 2.
Diagnosis

• Velocity criteria for control loop parameter set switch

P1-36
P1-37 Delay time determined
Low speed at low speed
threshold
9

Actual speed
Parameters

P1-32
Use control
Rigid switching time
loop parameter
set 1 or 2

Use control
loop parameter
set 3
t

TM
7-21
Chap07 Commissioning

Upon completion of the movement, if the actual velocity for motor is lower than the velocity threshold in parameter
P1-37 for longer than the period defined in parameter P1-36, the control loop parameter set 3 will be enabled linearly
within the period defined by parameter P1-32.

Upon receive new motion command again, when the actual speed goes higher than velocity threshold in P1-37, the
control loop parameter set 1 or 2 will be enabled.

Minimum value 0.0 Unit

P1-32 CTRL_DYNGNSWTM Dynamic gain switching time Default value 0.0
ms
Maximum value 200.0
Description:
Gain switching with slope.
When dynamic gain switching condtion is detected, values of active control loop parameter set will switch to values of control
loop parameter set 3 or P1-38 linearly within the time defined in this parameter.
In increments of 0.1ms

Changed settings become active immediately.

Minimum value 0.0 Unit

Dynamic gain switching: motion command
P1-33 CTRL_DYNSWPOSDLYTM Default value 2.0
Ok delay time ms
Maximum value 200.0
Description:
Dynamic gain switching: motion command Ok delay time after motion finished
After motion finished, the position deviation after filter defined by parameter P1-35 must be within the position threshold in P1-
34 for the window time defined in this parameter until the auto dynamic gain switching condition to be detected.
In increments of 0.1ms

Changed settings become active immediately.

Minimum value 0.2 Unit

Dynamic gain switching: Position command
P1-34 CTRL_DYNSWPOSOKTHD Default value 5.0
Ok threshold °
Maximum value 10.0
Description:
Dynamic gain switching: motion command Ok position threshold after motion finished
After motion finished, the position deviation after filter defined by parameter P1-35 must be within the position threshold in this
parameter for the window time defined in parameter P1-33 until the auto dynamic gain switching condition to be detected.
In increments of 0.1°

Changed settings become active immediately.

Minimum value 0.00 Unit

Dynamic gain switching: Filter time
P1-35 CTRL_DYNSWTAUPOSDIF Default value 10.00
constant for Position difference ms
Maximum value 200.00
Description:
Dynamic gain switching: Filter time constant for Position difference
In increments of 0.1ms

Changed settings become active immediately.

Minimum value 0.0 Unit

Dynamic gain switching: speed low lasting
P1-36 CTRL_DYNSWSPDLWTM Default value 2.0
time ms
Maximum value 200.0
Description:
Dynamic gain switching: speed low lasting time after motion finished
After motion finished, the actual speed must be lower than then the speed threshold in P1-37 for the window time defined in
this parameter until the auto dynamic gain switching condition to be detected.
In increments of 0.1ms

Changed settings become active immediately.

7-22 TM
 Minimum value 0 Unit
Dynamic gain switching: speed low
P1-37 CTRL_DYNSWSPDLWTHD Default value 20
threshold 1/min

1
Maximum value 50

Overview
Description:
Dynamic gain switching: low speed threshold after motion finished.
After motion finished, the motor velocity must be lower than the this reference velocity for the window time defined in parameter
P1-36 until the auto dynamic gain switching condition to be detected.
In increments of 1 1/min

2
Changed settings become active immediately.

Type Selection
[Link] Auto Adaptive Control Stiffness Gain Switching

When parameter P0-01 is set to 1 / Standard, 2 / Passive or 3 / Adaptive, the auto adaptive control loop takes effctive.

3 Installation
LXM16D servo drive provides 2 auto adaptive control stiffnesses:
• P0-02 Auto adaptive stiffness index
• P1-38 Dynamic gain switching: stiffness for lower gain
The auto adaptive control loop parameters are calculated based on either of the 2 stiffness and the system inertia ratio
in P0-04.
P0-02 is effective during movement, while P1-38 is used for low speed and standstill of the servo motor. When criteria

4
for low speed or standstill are met, the servo drive will automatically switch from P0-02 to P1-38 .

Connection
Wiring
During motion

Adaptive control rigidity level

P0-02 RTATU_StiffIndex

5
P0-03 RTATU_InertiaRealTime

Front Panel
P1-31 CTRL_DYNGNSWSET
P1-32 CTRL_DYNGNSWTM
P1-33 CTRL_DYNSWPOSDLYTM
P1-34 CTRL_DYNSWPOSOHTHD

6
P1-35 CTRL_DYNSWTAUPOSDIF

Operation
P1-36 CTRL_DYNSWSPDLWTM
P1-37 CTRL_DYNSWSPDLWTHD

At low speed or rest

7 Commissioning
Low speed rigidity level

P1-38 CTRL_DYNGNSTIFF
P0-03 RTATU_InertiaRealTime

The criteria for auto adaptive control stiffness consists of position and velocity:
8

• Position criteria for stiffness switch

Diagnosis

P1-33
P1-34 Position determination
Position error delay time
threshold

Position error
(P1-34)
Filtering
9

Position
Parameters

command
P1-32
P0-02 Rigid switching time
Adaptive
rigidity level

P1-38
Low speed
rigidity
t

TM
7-23
Chap07 Commissioning

Upon completion of the movement, if the position deviation filtered by filter defined by parameter P1-35 is less than
the position deviation threshold in parameter P1-34 for longer than the period defined in parameter P1-33, the auto
adaptive control stiffness will switch to P1-38 linearly within the period defined by parameter P1-32.

• Velocity criteria for stiffness switch

P1-36
P1-37 Delay time determined
Low speed at low speed
threshold
Actual speed

P1-32
P0-02 Rigid switching time
Adaptive
rigidity level

P1-38
Low speed
rigidity
t

Upon completion of the movement, if the actual velocity for motor is lower than the velocity threshold in parameter
P1-37 for longer than the period defined in parameter P1-36, the auto adaptive control stiffness will switch to P1-38
linearly within the period defined by parameter P1-32.

Upon receive new motion command again, when the actual speed goes higher than velocity threshold in P1-37, the
auto adaptive control stiffness will switch to P0-02 auto adaptive stiffness index.

Minimum value 1 Unit

P0-02 RTATU_StiffIndex Auto adaptive stiffness index Default value 14
-
Maximum value 32
Description:
Auto adaptive stiffness index
When auto adaptive control loop is active, the control loop parameters will be calculated automatically based on auto adaptive
stiffness index in combination with system inertia ratio.
Higher this value, higher the system response will be, but more vibration and noise could be expected. Lower this value, slow-
er the system response will be, however the vibration and noise will be less.
Please set this value in ascending order.

Changed settings become active immediately.

Minimum value 0.0 Unit

P1-32 CTRL_DYNGNSWTM Dynamic gain switching time Default value 0.0
ms
Maximum value 200.0
Description:
Select the dynamic gain switching time for switching mode with slope.
After the auto dynamic gain switching condition is detected, the control loop parameter values are changed to control loop
parameter set 3 or stiffness index value in P1-38 linearly over the time defined in this parameter.
In increments of 0.1ms

Changed settings become active immediately.

Minimum value 0.0 Unit

Dynamic gain switching: motion command
P1-33 CTRL_DYNSWPOSDLYTM Default value 2.0
Ok delay time ms
Maximum value 200.0
Description:
Dynamic gain switching: motion command Ok delay time after motion finished
After motion finished, the position deviation after filter defined by parameter P1-35 must be within the position threshold in P1-
34 for the window time defined in this parameter until the auto dynamic gain switching condition to be detected.
In increments of 0.1ms

Changed settings become active immediately.

7-24 TM
 Minimum value 0.2 Unit
Dynamic gain switching: Position
P1-34 CTRL_DYNSWPOSOKTHD Default value 5.0
command Ok threshold °

1
Maximum value 10.0

Overview
Description:
Dynamic gain switching: motion command Ok position threshold after motion finished
After motion finished, the position deviation after filter defined by parameter P1-35 must be within the position threshold in this
parameter for the window time defined in parameter P1-33 until the auto dynamic gain switching condition to be detected.
In increments of 0.1°

2
Changed settings become active immediately.

Type Selection
Minimum value 0.00 Unit
Dynamic gain switching: Filter time
P1-35 CTRL_DYNSWTAUPOSDIF Default value 10.00
constant for Position difference ms
Maximum value 200.00

3 Installation
Description:
Dynamic gain switching: Filter time constant for Position difference
In increments of 0.1ms

Changed settings become active immediately.

4
Minimum value 0.0 Unit

Connection
Dynamic gain switching: speed low lasting

Wiring
P1-36 CTRL_DYNSWSPDLWTM Default value 2.0
time ms
Maximum value 200.0
Description:
Dynamic gain switching: speed low lasting time after motion finished
After motion finished, the actual speed must be lower than then the threshold in P1-37 for the window time defined in this

5
parameter until the auto dynamic gain switching condition to be detected.
In increments of 0.1ms

Front Panel
Changed settings become active immediately.

Minimum value 0 Unit

6
Dynamic gain switching: speed low
P1-37 CTRL_DYNSWSPDLWTHD Default value 20
threshold 1/min

Operation
Maximum value 50
Description:
Dynamic gain switching: speed low threshold after motion finished
After motion finished, the actual speed must be lower than then the speed threshold in this parameter for the window time
defined in parameter P1-36 until the auto dynamic gain switching condition to be detected.

7 Commissioning
In increments of 1 1/min

Changed settings become active immediately.

Minimum value 1 Unit

Dynamic gain switching: speed low
P1-38 CTRL_DYNGNSTIFF Default value 10
8

stiffness -
Maximum value 32
Diagnosis

Description:
Dynamic gain switching: speed low stiffness

Changed settings become active immediately.

9 Parameters

TM
7-25
Chap07 Commissioning

7.6.4 Mechanical Resonance Suppression

In case of mechanical resonance, you cannot set up a higher gain because of vibration and noise occur due to
oscillation. By suppressing the resonance peak at the notch filter, higher gain can be obtained or the level of vibration
and noise can be lowered.

[Link] Manual Notch Filter

LXM16D servo drive supports 4 sets of manual notch filters, each control loop parameter set contains 2 sets
respectively. Depending on the control loop parameter set enabled, 2 manual notch filters are enabled at a time.

CTRL1 / control loop parameter set 1 CTRL2 / control loop parameter set 2
P2-07 CTRL1_Nf1damp P2-15 CTRL2_Nf1damp
P2-08 CTRL1_Nf1freq P2-16 CTRL2_Nf1freq
P2-09 CTRL1_Nf1bandw P2-17 CTRL2_Nf1bandw
P2-10 CTRL1_Nf2damp P2-18 CTRL2_Nf2damp
P2-11 CTRL1_Nf2freq P2-19 CTRL2_Nf2freq
P2-12 CTRL1_Nf2bandw P2-20 CTRL2_Nf2bandw

Mechanical properties at resonance

Resonance

Antiresonance
Characteristics Frequency
of notch filter
Width

Damping

Frequency

The frequency, bandwidth, and damping of each manual notch filter can be adjusted manually.

Minimum value 55.0 Unit

P2-07 CTRL1_Nf1damp Parameter set 1: Notch filter 1 damping Default value 90.0
%
Maximum value 99.0
Description:
Parameter set 1: Notch filter 1 damping
In increments of 0.1%

Changed settings become active immediately.

Minimum value 50.0 Unit

P2-08 CTRL1_Nf1freq Parameter set 1: Notch filter 1 frequency Default value 1500.0
Hz
Maximum value 1500.0
Description:
Parameter set 1: Notch filter 1 frequency
The filter is deactivated at a value of 1500.0
In increments of 0.1Hz.

Changed settings become active immediately.

7-26 TM
 Minimum value 1.0 Unit
P2-09 CTRL1_Nf1bandw Parameter set 1: Notch filter 1 bandwidth Default value 70.0
%

1
Maximum value 90.0

Overview
Description:
Parameter set 1: Notch filter 1 bandwidth
In increments of 0.1%

Changed settings become active immediately.

2 Type Selection
Minimum value 55.0 Unit
P2-10 CTRL1_Nf2damp Parameter set 1: Notch filter 2 damping Default value 90.0
%
Maximum value 99.0
Description:
Parameter set 1: Notch filter 2 damping

3 Installation
In increments of 0.1%

Changed settings become active immediately.

Minimum value 55.0 Unit

4
P2-11 CTRL1_Nf2freq Parameter set 1: Notch filter 2 frequency Default value 1500.0
Hz
Maximum value 1500.0

Connection
Wiring
Description:
Parameter set 1: Notch filter 2 frequency
The filter is deactivated at a value of 1500.0
In increments of 0.1Hz.

Changed settings become active immediately.

5 Front Panel
Minimum value 1.0 Unit
P2-12 CTRL1_Nf2bandw Parameter set 1: Notch filter 2 bandwidth Default value 70.0
%
Maximum value 90.0
Description:

6
Parameter set 1: Notch filter 2 bandwidth

Operation
In increments of 0.1%

Changed settings become active immediately.

7 Commissioning
Minimum value 55.0 Unit
P2-15 CTRL2_Nf1damp Parameter set 2: Notch filter 1 damping Default value 90.0
%
Maximum value 99.0
Description:
Parameter set 2: Notch filter 1 damping
In increments of 0.1%
8

Changed settings become active immediately.

Diagnosis

Minimum value 50.0 Unit

P2-16 CTRL2_Nf1freq Parameter set 2: Notch filter 1 frequency Default value 1500.0
Hz
Maximum value 1500.0
Description:
9

Parameter set 2: Notch filter 1 frequency

Parameters

The filter is deactivated at a value of 1500.0

In increments of 0.1Hz.

Changed settings become active immediately.

TM
7-27
Chap07 Commissioning

Minimum value 1.0 Unit

P2-17 CTRL2_Nf1bandw Parameter set 2: Notch filter 1 bandwidth Default value 70.0
%
Maximum value 90.0
Description:
Parameter set 2: Notch filter 1 bandwidth
In increments of 0.1%

Changed settings become active immediately.

Minimum value 55.0 Unit

P2-18 CTRL2_Nf2damp Parameter set 2: Notch filter 2 damping Default value 90.0
%
Maximum value 99.0
Description:
Parameter set 2: Notch filter 2 damping
In increments of 0.1%

Changed settings become active immediately.

Minimum value 50.0 Unit

P2-19 CTRL2_Nf2freq Parameter set 2: Notch filter 2 frequency Default value 1500.0
Hz
Maximum value 1500.0
Description:
Parameter set 2: Notch filter 2 frequency
The filter is deactivated at a value of 1500.0
In increments of 0.1Hz.

Changed settings become active immediately.

Minimum value 1.0 Unit

P2-20 CTRL2_Nf2bandw Parameter set 2: Notch filter 2 bandwidth Default value 70.0
%
Maximum value 90.0
Description:
Parameter set 2: Notch filter 2 bandwidth
In increments of 0.1%

Changed settings become active immediately.

When setting the manual notch filters, it is necessary to estimate the mechanical resonance frequency. It is
recommended to use the scope function of commissioning software SoMove for the estimation:
• Start the scope function of commissioning software SoMove, add the actual velocity for motor in the channel list.
• Set sampling interval of scope. According to the law of sampling, the sampling period of scope determines the
maximum range frequency domain. The sampling period shall be set to a smaller value for higher frequency
domain estimation and a larger value for lower frequency domain estimation.
• Drive the servo motor either by command from controller or by Jog operation, transmit the trace of actual velocity
for motor into frequency domain by FFT and try to identify the resonance frequency.
• Gradually increase P1-01 Velocity controller P gain of speed or P0-02 auto adaptive tuning stiffness, trace the
actual velocity for motor and transmit it into frequency by FFT again, then try to identify the resonance frequency.
• After the resonance frequency is identified, set the notch filters parameters with the frequency identified as well as
the bandwidth and damping. Drive the servo motor again to see if the mechanical resonance has been suppressed
successfully.

7-28 TM
7.7 Manual Tuning (Advanced)

1
7.7.1 Feedforward Tuning

Overview
In cascade control loop, the position controller compares the difference between reference position and the actual
position of the motor, then calculates the reference value for velocity controller based on the deviation. With velocity
feedforward control, additional velocity command calculated based on velocity controller reference value will be added

2
on the velocity controller reference value. Thus, position deviation can be further reduced also better system response

Type Selection
can be achieved.

Moreover, additional current feedforward command calculated based on current controller reference value can be
added to the current controller reference value, in order to optimize the response time of the velocity controller.

LXM16D servo drive provides both velocity feedforward and current feedforward functions. There are 2 individual
velocity feedforward parameters in Ctrl1 and Ctrl2 respectively, and 1 current feedforward parameter for all control

3 Installation
parameter sets.

Minimum value 0.0 Unit

Parameter set 1: Velocity feed-forward con-
P1-03 CTRL1_KFPp Default value 55.0
trol %
Maximum value 200.0

4
Description:
Parameter set 1: Velocity feed-forward control

Connection
Wiring
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.1%

Changed settings become active immediately.

5 Front Panel
Minimum value 0.0 Unit
Parameter set 2: Velocity feed-forward con-
P1-10 CTRL2_KFPp Default value 55.0
trol %
Maximum value 200.0
Description:
Parameter set 2: Velocity feed-forward control

6
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in

Operation
the parameter P1-25.
In increments of

Changed settings become active immediately.

7 Commissioning
Minimum value 0.0 Unit
P1-21 CTRL_KFAcc Acceleration feed-forward control Default value 55.0
%
Maximum value 3000.0
Description:
Acceleration feed-forward control
In increments of 0.1%
8

Changed settings become active immediately.

Diagnosis

By using of velocity feedforward control the position deviation at a constant velocity can be further reduced as shown
in the equation below in proportion to the value of velocity feedforward gain.
Position deviation = Velocity command / Position controller proportion gain * (100% - Velocity feedforward gain)
9 Parameters

With the gain set at 100% the calculated position deviation is 0, but significant overshoot occurs during acceleration
and deceleration. Meanwhile, the operating noise may increase while the velocity feedforward gain is increasing.
In such a case, please use PTI command smooth filter via parameter P0-15 and P0-16 or reduce the velocity
feedforward gain.

TM
7-29
Chap07 Commissioning

7.7.2 Vibration Suppression

This function reduces vibration at the top of the long rod-shaped load by removing the vibration frequency components
specified by the position command.

Set the end vibration frequency End vibration

Observed with
external sensor
End vibration
Position command
Torque command Motor current
Damping Movement
Position/ Current
filter Motor
speed control
control Machine

Position/speed feedback
Encoder
Drive

LXM16D servo drive supports 2 sets of anti-vibration filters:

Minimum value 0.0 Unit

P2-23 CTRL_AnVibf1 Frequency for anti-vibration filter 1 Default value 0.0
Hz
Maximum value 200.0
Description:
Frequency for anti-vibration filter 1
In increments of 0.1Hz

Changed settings become active immediately.

Minimum value 0.0 Unit

P2-24 CTRL_AnVibf2 Frequency for anti-vibration filter 2 Default value 0.0
Hz
Maximum value 200.0
Description:
Frequency for anti-vibration filter 2
In increments of 0.1Hz.

Changed settings become active immediately.

Minimum value 0.0 Unit

P2-25 CTRL_AnVibdamp1 Damping factor for anti-vibration filter 1 Default value 50.0
%
Maximum value 300.0
Description:
Damping factor for anti-vibration filter 1
In increments of 0.1%

Changed settings become active immediately.

Minimum value 0.0 Unit

P2-26 CTRL_AnVibdamp2 Damping factor for anti-vibration filter 2 Default value 50.0
%
Maximum value 300.0
Description:
Damping factor for anti-vibration filter 2
In increments of 0.1%

Changed settings become active immediately.

7-30 TM
The vibration suppression function does not work properly, or no effect is obtained under the following conditions:
• Vibration is triggered by other factors than command (such as external disturbance).

1
• The vibration frequency is out of the range of 1~200Hz

Overview
Where vibration suppression filter is used, first measure the vibration frequency at the top of the load with
displacement sensor, read out the vibration frequency in unit of Hz, set the frequency as well as the damping factor
in the parameters based on the measured result. If no measuring device is available, measure the frequency based
on the residual vibration of the position deviation waveform using the scope function of the commissioning software

2
SoMove, then continue the settings accordingly.

Type Selection
Position error
Command
speed Calculate vibration
frequency

3 Installation
4
5
6
8
9Connection
Wiring
Front Panel
Operation
7 Commissioning
Diagnosis
Parameters

TM
7-31
Chap08. Diagnostics

8.1 Diagnostics via HMI............................................................................................... 8-1

8.1.1 Indicating the Operating State................................................................................................. 8-1

8.1.2 Indicating Error Messages....................................................................................................... 8-1

8.2 Diagnostics via Signal Outputs.............................................................................. 8-2

8.2.1 Indicating the Operating State................................................................................................. 8-2

8.2.2 Indicating Error Messages....................................................................................................... 8-2

8.3 Error Messages..................................................................................................... 8-4

8.3.1 Description of Error Messages................................................................................................ 8-4

8.3.2 Table of Error Messages......................................................................................................... 8-5

8.1Diagnostics via HMI

1
8.1.1 Indicating the Operating State

Overview
The integrated HMI provides the user with operating states.
With the factory setting, the 7-segment display shows the operating states. Please refer to “6.2.2 Definition of
Operation State” for information about the operating states that can be displayed.

2
The table below provides an overview.

Type Selection
HMI
Operating state Description
message
init 1. Start Electronics are initialized
2. Not ready to The power stage is not ready to

3 Installation
nrdy
switch on switch on
3. Switch On Impossible to enable the power
dis
Disabled stage
4. Ready To The power stage is ready to
rdy
Switch On switch on
son 5. Switched On Power stage is switched on

4
6. Operation Power stage is enabled / Selected

Connection
run

Wiring
Enabled operating mode is active
stop 7. Quick Stop Active "Quick Stop" is being executed
8. Fault Reaction
flt Error response is active
Active

5
Error response terminated / Power
flt 9. Fault
stage is disabled

Front Panel
8.1.2 Reading and Acknowledging Errors

6
In the case of a detected error of error class 1, the error code and stop are alternately shown on the 7-segment
display. In the case of a detected error of error class 2 ... 4, the error code and flt are alternately shown on the

Operation
7-segment display. Please refer to chapter “8.3.2 Table of Error Messages” for detailed meaning of error codes.

In the case of a error, it can be reset through the following operations:

●● Remedy the cause
●● Click the S key on HMI

7 Commissioning
●● The HMI shows “Fres”
●● Click the S key on HMI

FLt A320
8

S
Diagnosis

FrEs
S

rdy
9 Parameters

TM
8-1
Chap08. Diagnostics

8.2 Diagnosis via Signal Outputs

8.2.1 Indicating the Operating State

Information on the operating state is available via the signal outputs.

The table below provides an overview.

Signal output function

Operating state "No fault" "Active"
1 Start 0 0
2 Not Ready To Switch On 0 0
3 Switch On Disabled 0 0
4 Ready To Switch On 1 0
5 Switched On 1 0
6 Operation Enabled 1 1
7 Quick Stop Active 0 0
8 Fault Reaction Active 0 0
9 Fault 0 0

Minimum value 1 Unit

P3-06~08 IOfunct_DQx Function Input DQx Default value -
-
Maximum value 125
Description:
Function Output DQx
Code
Function Description
Normally open Normally closed
No Fault 2 102
Active 3 103
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

8.2.2 Indicating Error Messages

Selected error messages can be output via the signal outputs.

In order to output an error message via a signal output, you must first parameterizes the signal output functions“Selected
Warning” or “Selected Error” via parameters P3-06 ... P3-08.
The parameters P5-00 and P5-01 are used to specify error codes with the error classes 1 ... 4. If an error with error
classes 1 ... 4 specified in these parameters is detected the corresponding signal output with function “Selected Error”
is to be set.
The parameters P5-02 and P5-03 are used to specify error codes with the error classes 0. If an error with error
classes 0 specified in these parameters is detected the corresponding signal output with function “Selected Warning”
is to be set.

Please refer to chapter “8.3.2 Table of Error Messages” for detailed meaning of error codes.
Minimum value 1 Unit
P3-06~08 IOfunct_DQx Function Input DQx Default value -
-
Maximum value 125
Description:
Function Output DQx
Code
Function Description
Normally open Normally closed
One of the specified errors of error
Selected Error 14 114
classes 1 … 4 is active
One of the specified errors of error
Selected Warning 16 116
class 0 is active
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

8-2 TM
 Minimum value 0 Unit
First error code for the signal
P5-00 MON_IO_SelErr1 Default value 0
output function Selected Error -

1
Maximum value 65535

Overview
Description:
First error code for the signal output function Selected Error
This parameter specifies the error code of an error of error classes 1... 4 which is to activate the signal output function.

Changed settings become active immediately.

2 Type Selection
Minimum value 0 Unit
Second error code for the signal
P5-01 MON_IO_SelErr2 Default value 0
output function Selected Error -
Maximum value 65535
Description:
Second error code for the signal output function Selected Error

3 Installation
This parameter specifies the error code of an error of error classes 1... 4 which is to activate the signal output function.

Changed settings become active immediately.

Minimum value 0 Unit

First error code for the signal

4
P5-02 MON_IO_SelWar1 Default value 0
output function Selected Warning -
Maximum value 65535

Connection
Wiring
Description:
First error code for the signal output function Selected Warning
This parameter specifies the error code of an error of error class 0 which is to activate the signal output function.

Changed settings become active immediately.

5 Front Panel
Minimum value 0 Unit
Second error code for the signal
P5-03 MON_IO_SelWar2 Default value 0
output function Selected Warning -
Maximum value 65535
Description:
Second error code for the signal output function Selected Warning

6
This parameter specifies the error code of an error of error class 0 which is to activate the signal output function.

Operation
Changed settings become active immediately.

7 Commissioning
8
9 Diagnosis
Parameters

TM
8-3
Chap08. Diagnosis

8.3 Error Messages

8.3.1 Description of Error Messages

If monitoring functions of the drive detect an error, the drive generates an error message. Each fault message is
identified by an error code.

The following information is available for each error message:

●● Error code
●● Error class
●● Possible causes
●● Possible remedies

The table below summarizes the error codes classified by range.

Error code Range

E 1 ××× General
E 2 ××× Overcurrent
E 3 ××× Voltage
E 4 ××× Temperature
E 5 ××× Hardware
E 6 ××× Software
E 7 ××× Interface and wiring
E A ××× Motor movement
E B ××× Communication

The error messages are classified according to the following error classes:

Error State Resetting the error

Error response
class transition (1) message
0 - No interruption of the movement Function “Fault Reset”
1 T11 Stop movement with “Quick Stop” Function “Fault Reset”
Stop movement with “Quick Stop” and disable the power
2 T13, T14 stage when the motor has come to a standstill
Function “Fault Reset”
Disable the power stage immediately without stopping the
3 T13, T14 movement first
Function “Fault Reset”
Disable the power stage immediately without stopping the
4 T13, T14 movement first
Power cycle
(1) Please refer to chapter “6.2.4 Error Class and Response” for further information.

8-4 TM
8.3.2 Table of Error Messages

1 Overview
Error code Error class Description Cause Correctives
The value entered was outside of
Parameter out of permissible value The entered value must be within the
E 1100 0 the permissible value range for this
range permissible value range.
parameter.

2
Error detected by parameter
E 1101 0 Parameter does not exist management: Parameter (subindex) Select a different parameter (index).

Type Selection
does not exist.
Error detected by parameter
Select a different parameter (sub-
E 1102 0 Parameter does not exist management: Parameter (subindex)
index).
does not exist.
Parameter write not permissible (READ Write only to parameters that are not
E 1103 0 Write access to read only parameter.
only) read-only.

3 Installation
Write access denied (no access Parameter only accessible at expert The write access level expert is
E 1104 0
authorization) level. required.
E 1105 0 Block upload/Download not initialized
Command not permissible while the
Command not permissible while power power stage is enabled (operating Disable the power stage and repeat
E 1106 0
stage is active state Operation Enabled or Quick Stop the command.
Active).

4
Access occupied by another channel

Connection
(for example: Commissioning software

Wiring
E 1107 0 Access via other interfaces blocked Verify the channel that blocks access.
is active and fieldbus access was tried
at the same time).
File cannot be uploaded: Incorrect file
E 1108 0
ID
Data stored after a power outage is

5
E 1109 1
invalid

Front Panel
System error detected: No Bootloader
E 110A 0
available
Error detected during parameter check
Value in additional error information
Configuration download error detected (for example, reference velocity value
shows the Modbus register address of
E 110B 3 (additional info=Modbus register for operating mode Profile Position
the parameter where the initialization
address) is greater than maximum permissible
error was detected.

6
velocity of drive).
Basic configuration of drive required “The "First Setup" (FSU) was not run at

Operation
E 110D 1 Perform a First Setup.
after factory setting all or not completed.
Restart the drive to activate the
Only displayed by the commissioning
parameter functionality.
Parameter changed that requires software. A parameter modification
E 110E 0 See the chapter Parameters for the
a restart of the drive requires the drive to be powered off
parameter that requires a restart of the
and on.

7 Commissioning
drive.
The specific type of device does not Verify that you have the correct device
Function not available in this type of
E 110F 0 support this function or this parameter type, in particular type of motor, type of
device
value. encoder, holding brake.
The specific type of device does not Verify that you have the correct device
E 1110 0 Incorrect file ID for upload or download
support this kind of file. type or the correct configuration file.
A previous file transfer has been
E 1111 0 File transfer not correctly initialized
8

aborted.
Diagnosis

An external tool has tried to lock the

configuration of the drive for upload or
download. This may not work because
E 1112 0 Locking of configuration denied another tool had already locked the
configuration of the drive or the drive
is in an operating state that does not
allow locking.
9

An external tool has tried to transfer

System not locked for configuration
Parameters

E 1113 0 the configuration without locking the

transfer
drive.
During a configuration download,
a communication error or an error
Power the drive off/on and retry to
in the external tool was detected.
E 1114 4 Configuration download aborted download the configuration or restore
The configuration was only partially
the factory settings.
transferred to the drive and might be
inconsistent now.

TM
8-5
Chap08. Diagnostics

Error code Error class Description Cause Correctives

An external tool has downloaded a
E 1115 0 Incorrect configuration file format configuration which has an incorrect
format.
E 1116 0 Request is processed asynchronously
Request to a module is blocked
E 1117 0 Asynchronous request blocked because the module is currently
processing another request.
Configuration data incompatible with The configuration data contains data Verify device type including type of
E 1118 0
device from a different device. power stage.
E 1119 0 Incorrect data length, too many bytes
Incorrect data length, insufficient
E 111A 0
number of bytes
Verify that the configuration file is valid
and matches the type and version of
Configuration download error detected During a configuration download, one
the drive. The value in the additional
E 111B 4 (additional info=Modbus register or more configuration values were not
error info shows the Modbus register
address) accepted by the drive.
address of the parameter where the
initialization error was detected.
The address of the parameter that
Not possible to initialize recalculation
E 111C 1 A parameter could not be initialized. caused the detected error can be read
for scaling
via the parameter _PAR_ScalingError.
Power the drive off and on again. This
Original state of a parameter cannot The drive contained an invalid may help you to identify the affected
be restored after an error was detected configuration before the recalculation parameter(s). Change the parameters
E 111D 3
during recalculation of parameters with was started. An error was detected as required. Verify that the parameter
user-defined units. during the recalculation. configuration is valid before starting the
recalculation procedure.
Verify that you really want the selected
scaling factor. Try a different scaling
E 111F 1 Recalculation not possible. Invalid scaling factor factor. Before triggering scaling, reset
the parameters with user- defined
units.
Incorrect sequence of steps for scaling The recalculation has been started The recalculation must be started after
E 1121 0
(fieldbus) prior to the initialization. the initialization.
Recalculation for scaling is already Wait for the running recalculation for
E 1122 0 Recalculation for scaling not possible
running. scaling to finish.
Wait for the running recalculation for
E 1123 0 Parameter cannot be changed Recalculation for scaling is running.
scaling to finish.
The time between the initialization of
the recalculation and the start of the Recalculation must be started within 30
E 1124 1 Timeout during recalculation for scaling
recalculation has been exceeded (30 seconds after initialization.
seconds).
The scaling factors for position,
E 1125 1 Scaling not possible velocity or acceleration/deceleration Retry with different scaling factors.
are beyond internal calculation limits.
Close other access channel
Configuration is blocked by another
E 1126 0 (for example, other instance of
access channel
commissioning software).
E 1127 0 Invalid key received
Special login is required for
E 1128 0
Manufacturing Test Firmware
E 1129 0 Test step not yet started
PTI pulse conflicts with home return in Home return is not allowable when PTI Don’t perform home return when PTI
E 1130 0
gear mode has pulse has pulse
PTI pulse conflicts with Jog test run in Jog test run is not allowable when PTI Don’t perform Jog test run when PTI
E 1131 0
gear mode has pulse has pulse
The selected capture input does not
E 112D 0 Configuration of edges is not supported support rising and falling edge at the Set the edge to either “rising” or “falling”.
same time.

8-6 TM
Error code Error class Description Cause Correctives

1
The frequency of the external reference
Verify the frequency of the external
Frequency of the external reference signals (A/B signals, P/D signals or

Overview
E 1310 2 reference values. Verify the gear ratio
value signal too high CW/CCW signals) is higher than the
in the operating mode Electronic Gear.
permissible value.
The selected signal input function The selected signal input function or
Select another function or change the
E 1311 0 or signal output function cannot be signal output function cannot be used
operating mode.

2
configured in the selected operating mode.

Type Selection
Reference movements require limit Assign the signal input functions
Limit switch or reference switch signal
E 1312 0 switches. These limit switches are not Positive Limit Switch, Negative Limit
not defined for signal input function
assigned to inputs. Switch, and Reference Switch.
Configured debounce time not possible The signal input function does not
E 1313 0 Set the debounce time to a valid value.
for this signal input function support the selected debounce time.
At least two inputs have the same The same signal input function has
E 1314 4 Reconfigure the inputs.

3 Installation
signal input function. been assigned to at least two inputs.
Adapt the frequency of the reference
The frequency of the pulse signal (A/B, value signal to match the input
Pulse/Direction, CW/CCW) exceeds specification of the drive. Also adapt
Frequency of reference value signal is
E 1315 0 the specified range. Received pulses the gear ratio in the operating mode
too high.
may be lost. Received pulses may be Electronic Gear to the application
lost. requirements (position accuracy and

4
velocity).

Connection
Position capture via signal input

Wiring
E 1316 1 Position capture is already being used.
currently not possible
Interfering pulses or impermissible
Verify cable specifications, shield
E 1317 0 Interference at PTI input edge transitions (A and B signal
connection and EMC.
simultaneously) have been detected.

5
Oscilloscope: No additional data
E 1600 0
available

Front Panel
Oscilloscope: Parameterization
E 1601 0
incomplete
Oscilloscope: Trigger variable not
E 1602 0
defined
E 1606 0 Logging still active

6
E 1607 0 Logging: No trigger defined

Operation
E 1608 0 Logging: Invalid trigger option
E 1609 0 Logging: No channel selected
E 160A 0 Logging: No data available
E 160B 0 Parameter cannot be logged

7 Commissioning
Verify that the system can easily be
Autotuning: Moment of inertia outside
E 160C 1 The load inertia is too high. moved. Verify the load.
permissible range
Use a differently rated drive.
Autotuning: Test movement could not
E 160E 1
be started
Start Autotuning when the drive is in
Autotuning: Power stage cannot be Autotuning was not started in the
E 160F 1 the operating state Ready to Switch
enabled operating state Ready to Switch On.
8

On.
Diagnosis

Autotuning stopped by user command

or by detected error (see additional
Remove the cause of the stop and
E 1610 1 Autotuning: Processing stopped error message in error memory, for
restart Autotuning.
example, DC bus undervoltage, limit
switches triggered)
System error detected: Parameter
9

E 1611 1
could not be written during Autotuning
Parameters

System error detected: Parameter

E 1612 1
could not be read during Autotuning
Autotuning: Maximum permissible The movement exceeded the adjusted
E 1613 1 Increase the movement range value
movement range exceeded movement range during Autotuning.

TM
8-7
Chap08. Diagnostics

Error code Error class Description Cause Correctives

Autotuning has been started twice
simultaneously or an Autotuning Wait for Autotuning to finish before
E 1614 0 Autotuning: Already active
parameter is modified during restarting Autotuning.
Autotuning.
Verify that the system can easily be
Autotuning: Friction torque or load The current limit has been reached
E 1617 1 moved. Verify the load.
torque too great (parameter P0-24).
Use a differently rated drive.
The internal Autotuning sequence has
See the additional information provided
E 1618 1 Autotuning: Optimization aborted not been finished, there may have
in the error memory.
been a following error.
Parameter AT_n_ref < 2 * Modify the parameter AT_n_ref or
Autotuning: Velocity jump in parameter
E 1619 0 AT_n_tolerance. The drive only checks AT_n_tolerance to meet the required
AT_n_ref is not sufficient
this for the first velocity jump. condition.
Product rating is not suitable for the
machine load. Detected machine
E 1620 1 Autotuning: Load torque too high Reduce load, verify rating.
inertia is too high compared to the
inertia of the motor.
System error detected: Calculation
E 1621 1 error Autotuning: Not possible to
perform Autotuning
Autotuning: Not possible to perform Autotuning can only be performed if no Terminate the active operating mode
E 1622 0
Autotuning operating mode is active. or disable the power stage.
Autotuning: HALT request has stopped Autotuning can only be performed if no Terminate the active operating mode
E 1623 1
the autotuning process operating mode is active. or disable the power stage.
Real-time auto tuning: The acceleration Acceleration below lower limit;
Increase the operational acceleration
E 1624 0 and deceleration below the lower limit: inaccurate identification of real-time
and deceleration
2,000 rpm auto tuning
When the oscillation frequency is less
Adaptive notch filter: Oscillation
E 1625 0 than 150Hz, the adaptive notch filter
frequency below the lower limit: 150Hz
exhibits no obvious suppression effect
System error detected: FIFO memory
E 1A00 0
overflow
Motor has been changed (different type Detected motor type is different from
E 1A01 3 Confirm the change.
of motor) previously detected motor.
System error detected: Hardware and
E 1A03 4
firmware do not match
System error detected: SDFM value Please contact the Technical Support
E 1A04 0
not read in time Department
Incorrect manufacturer parameter
System error detected: Incorrect
E 1B00 3 value (data) non- volatile memory of Replace device.
parameters for motor and power stage
device.
E 1B02 3 Target value too high.
Error detected during parameter
E 1B05 2
switching
The operating state at the beginning Set the operating state to Ready To
E 1B0B 1 of the commutation offset identification Switch On and restart commutation
must be Ready To Switch On. offset identification.
E 1B0C 3 Motor velocity too high.
Incorrect system inertia for velocity
Change the velocity observer dynamics
observer calculations. Incorrect
via the parameter CTRL_SpdObsDyn.
velocity observer dynamics.
Change the system inertia used for
Velocity value determined by velocity System inertia changes during
E 1B0D 3 velocity observer calculations via the
observer is incorrect operation.
parameter CTRL_SpdObsInert.
In this case, operation with velocity
If the detected error persists, deactivate
observer is not possible and the
the velocity observer.
velocity observer must be deactivated.

8-8 TM
Error code Error class Description Cause Correctives

1
Incorrect motor data, for example
motor resistance, motor inertia (in case

Overview
of rotary motors) or motor mass (in
Not possible to determine the case of linear motors). Verify correct motor data. Verify setting
E 1B0E 3 commutation angle at the end of the Incorrect setting for parameter of parameter WakesAndShakeGain.
wake and shake procedure WakeAndShakeGain. Holding brake (if Verify correct wiring of holding brake.
available) not properly wired.

2
Holding brake (if available) not properly

Type Selection
wired.
System error detected: DC bus transfer
E 2201 2
error
Motor short circuit and disabling of
E 2300 3 Power stage overcurrent the power stage. Motor phases are Verify the motor power connection.
inverted.

3 Installation
If you use an external braking resistor,
E 2301 3 Braking resistor overcurrent Braking resistor short circuit. verify correct wiring and rating of the
braking resistor.
Short circuit of the U phase of motor to
Eliminate the short circuit and ensure
Output stage U-phase Sigma Delta the ground and other phases occurs
E 2302 3 the power cable connection of motor is
overcurrent or the output stage is disabled. Wrong
correct.

4
wiring of phase line for motor

Connection
Short circuit of the W phase of motor

Wiring
Eliminate the short circuit and ensure
Output stage W-phase Sigma Delta to the ground and other phases occurs
E 2303 3 the power cable connection of motor is
overcurrent or the output stage is disabled. Wrong
correct.
wiring of phase line for motor
Short circuit of the U and W phases of
Eliminate the short circuit and ensure
Output stage U- and W-phase Sigma motor to the ground and other phases

5
E 2304 3 the power cable connection of motor is
Delta overcurrent occurs or the output stage is disabled.
correct.

Front Panel
Wrong wiring of phase line for motor
Check the connection between
Excessively high load, motor stalling,
Excessively large output stage current motor and load; check the encoder
E 2305 3 loss of encoder connection, or incorrect
offset connection; check the power cable
connection of motor phase lines
connection of motor
“The absence of phase lasts longer

6
than 50 ms.
Absence of power supply, undervoltage Assure the consistency of supply

Operation
E 3100 2 The supply voltage is outside the valid
or overvoltage voltage with technical parameters.
range. The supply frequency is outside
the valid range.”
Absence of 24V output of switching Switching power supply is out of Please contact the Technical Support
E 3101 0
power supply service Department

7 Commissioning
Excessively regeneration during Verify correct deceleration ramp, rating
E 3200 3 DC bus overvoltage
deceleration. of drive and braking resistor.
DC bus undervoltage (shutdown Power supply outage, insufficient
E 3201 3 Verify mains supply.
threshold) power supply.
DC bus undervoltage (Quick Stop Power supply outage, insufficient
E 3202 2 Verify mains supply.
threshold) power supply.
Undervoltage DC bus, missing mains Verify that the values of the mains
8

Lack of power supply or excessively

E 3206 0 supply, undervoltage mains supply or power supply network comply with the
high supply voltage
Diagnosis

overvoltage mains supply technical data.

If the winding voltage of the motor is Verify the motor temperature. In the
The winding voltage of the motor is lower than the nominal supply voltage case of overtemperature, use a motor
E 3300 0 lower than the nominal supply voltage of the drive, this may result in motor with a higher winding voltage or use
of the drive overtemperature due to high current a drive with a lower nominal supply
ripple. voltage.
9

Transistors overtemperature: Ambient

Verify the fan, improve the heat
E 4100 3 Power stage overtemperature temperature is too high, fan is
Parameters

dissipation in the cabinet.

inoperative, dust.
Transistors overtemperature: Ambient
Verify the fan, improve the heat
E 4101 0 Power stage overtemperature temperature is too high, fan is
dissipation in the cabinet.
inoperative, dust.
The current has exceeded the nominal
E 4102 0 Power stage overload (I2t) Verify rating, reduce cycle time.
value for an extended period of time.

TM
8-9
Chap08. Diagnostics

Error code Error class Description Cause Correctives

Improve heat dissipation in the control
cabinet.
If a fan is installed, verify correct
Excessively high ambient temperature
E 4200 3 Device overtemperature operation of the fan.
due to, for example, dust.
Install a fan in the control cabinet..
Improve heat transfer from the rear wall
of the device to the control cabinet.
“Improve the heat dissipation of control
cabinet. Please assure the proper
“Excessively high ambient temperature, functioning of fan (if any). Please install
E 4201 0 Excessively high temperature of CPU dust or other factors impair the heat a fan in the control cabinet. Please
dissipation.” improve the thermal conductivity from
the back of equipment to the control
cabinet.”
Ambient temperature is too high.
Verify motor installation: The heat must
Duty cycle is too high.
be dissipated via the mounting surface.
E 4300 2 Motor overtemperature Motor not properly mounted (thermal
Reduce ambient temperature.
insulation).
Provide ventilation.
Motor overload.
Ambient temperature is too high.
Verify motor installation: The heat must
Duty cycle is too high.
be dissipated via the mounting surface.
E 4301 0 Motor overtemperature Motor not properly mounted (thermal
Reduce ambient temperature.
insulation).
Provide ventilation.
Motor overload.
Verify that the system can easily be
moved.
2 The current has exceeded the nominal
E 4302 0 Motor overload (I t) Verify the load.
value for an extended period of time.
Use a differently sized motor, if
necessary.
The temperature parameters (in
electronic nameplate of motor, non-
Contact Technical Support.
E 4303 0 No motor temperature monitoring volatile memory of encoder) are
Replace motor.
unavailable or invalid; parameter A12
is equal to 0.
The encoder does not support motor
E 4304 0
temperature monitoring
Regeneration energy too high.
External loads too high.
2 Reduce load, velocity, deceleration.
E 4402 0 Braking resistor overload (I t > 75%) Motor velocity too high.
Verify correct braking resistor rating
Deceleration too fast.
Insufficient braking resistor.
Regeneration energy too high.
External loads too high.
2 Reduce load, velocity, deceleration.
E 4403 0 Braking resistor overload (I t > 100%) Motor velocity too high.
Verify correct braking resistor rating
Deceleration too fast.
Insufficient braking resistor.
E 5101 0 Insufficient Modbus voltage supply
Encoder power supply is not within Replace the device.
E 5102 4 Motor encoder supply voltage
permissible range of 8 V to 12 V. Contact Technical Support.
The hardware revision does not
E 5207 1 Function is not supported
support the function.
The connected motor only works with
The motor requires a PWM frequency a PWM frequency of 16 kHz (motor
Use a motor that works with a PWM
E 5302 4 (16kHz) which the power stage does nameplate entry). However, the power
frequency of 8 kHz.
not support. stage does not support this PWM
frequency.
System error detected:
E 5430 4
EEPROM read error
E 5431 3 System error: EEPROM write error
E 5432 3 System error: EEPROM state machine
E 5433 3 System error: EEPROM address error
System error: EEPROM incorrect data
E 5434 3
length
E 5435 4 System error: EEPROM not formatted
System error: EEPROM incompatible
E 5436 4
structure

8-10 TM
Error code Error class Description Cause Correctives

1
System error detected: EEPROM
E 5437 4
checksum error (manufacturer data)

Overview
System error detected: EEPROM
E 5438 3
checksum error (user parameters)
System error detected: EEPROM
E 5439 3
checksum error (fieldbus parameters)

2
System error detected: No valid
E 543B 4

Type Selection
manufacturer data
System error detected: EEPROM
E 543E 3
checksum error
System error detected: EEPROM
E 543F 3
checksum error (motor parameters)
System error detected: EEPROM

3 Installation
E 5441 4 checksum error (global control loop
parameter set)
System error detected: EEPROM
E 5442 4 checksum error (control loop parameter
set 1)
System error detected: EEPROM
E 5443 4 checksum error (control loop parameter

4
set 2)

Connection
System error detected: EEPROM

Wiring
E 5444 4
checksum error (NoReset parameter)
System error detected: EEPROM
E 5445 4
checksum error (hardware information)
System error detected: EEPROM
Restart the drive. If the detected error

5
E 5446 4 checksum error (used for power outage Internal EEPROM not operative.
persists, contact Technical Support.
data)

Front Panel
System error detected: EEPROM
E 5447 4 checksum error (data sets operating
mode Motion Sequence)
System error detected: EEPROM
E 544A 4
checksum error (administration data)

6
System error detected: EEPROM
E 544B 4
checksum error (DeviceNet data)

Operation
System error detected: EEPROM is
E 544C 4
write protected
The content of the memory card and
Memory card implicitly written by the
E 5462 0 the content of the EEPROM are not
device
identical.

7 Commissioning
System error detected: EEPROM
E 5468 4 checksum error (control bribery
parameter set 3)
System error detected: EEPROM
E 5469 4 checksum error (real-time auto tuning
parameter set)
8

E 5600 3 Motor connection phase error detected Missing motor phase. Verify connection of motor phases.
Incorrect wiring of motor cable.
Diagnosis

Verify motor phases, verify encoder

Encoder signals are lost or subject to
wiring.
interference.
Improve EMC, verify grounding and
The load torque is greater than the
shield connection.
E 5603 3 Commutation error detected motor torque.
Use a differently sized motor that can
The encoder EEPROM contains
withstand the load torque.
incorrect data (encoder phase offset is
9

Verify the motor data.

incorrect).
Contact Technical Support.
Parameters

Motor is not adjusted.

Assure the correct connection of
Output stage overcurrent is detected;
encoder/ensure the correct power
the current loop command is equal to Incorrect encoder signal/incorrect
connection for motor/check the
E 5604 3 the max. current threshold (300%) for connection of motor phase line/motor
mechanical system to avoid stalling;
a period of time that is longer than the overload
check the matching between motor
time set in P5-21
and load; check the acceleration ramp

TM
8-11
Chap08. Diagnostics

Error code Error class Description Cause Correctives

System error detected: Internal
E 6102 4
software error
System error detected: System stack
E 6103 4
overflow
System error detected: Division by zero
E 6104 0
(internal)
System error detected: Overflow during
E 6105 0
32 bit operation (internal)
System error detected: Size of data
E 6106 4
interface does not match
Parameter outside of value range
E 6107 0
(calculation error detected)
E 6108 0 Function not available
System error detected: Internal range
E 6109 0
exceeded
System error detected: Calculated
E 610A 2 value cannot be represented as a 32
bit value
E 610D 0 Error detected in selection parameter Incorrect parameter value selected. Verify the value to be written.
System error detected: 24 VDC, below
E 610E 4
undervoltage threshold for shutdown
System error detected: Internal timer
E 610F 4
basis missing (Timer0)”
System error detected: Memory area
E 6111 2
locked
E 6112 2 System error detected: Out of memory
System error detected: Calculated
E 6113 1 value cannot be represented as a 16
bit value
System error detected: Impermissible
E 6114 4 function call from interrupt service Incorrect programming
routine
Error detected in power stage data
System error detected: Invalid power Contact Technical Support or replace
E 7100 4 stored in device (incorrect CRC), error
stage data the device.
detected in internal memory data.
Perform FSU “first setup” or set the P6-
E 712D 4 Motor model data not configured Motor model data not configured
00 parameter of drive
Not possible to write motor
E 7133 0
configuration
E 7134 4 Incomplete motor configuration
E 7135 4 Format is not supported
Incorrect encoder type selected with
E 7136 4
parameter MotEnctype
Error detected during the internal
E 7137 4
conversion of the motor configuration
Parameter of the motor configuration
E 7138 4
out of permissible range
Encoder offset: Data segment in
E 7139 0
encoder is incorrect.
System error detected: Calibration
E 7200 4 analog/digital converter during
manufacturing / incorrect BLE file
Index pulse is not available for the
E 734D 0
encoder
RS485/Modbus: Overflow error
E 7500 0 EMC, cabling. Verify cables.
detected
RS485/Modbus: Framing error
E 7501 0 EMC, cabling. Verify cables.
detected
E 7502 0 RS485/Modbus: Parity error detected EMC, cabling. Verify cables.

8-12 TM
Error code Error class Description Cause Correctives

1
RS485/Modbus: Receive error
E 7503 0 EMC, cabling. Verify cables.
detected

Overview
Please check the cable connection.
Encoder is not connected or the
E 762A 3 Incremental encoder initialization failed Please check the cable specifications,
communication is disturbed; EMC
shield connection and EMC
The motor rotates when the drive is
Incremental encoder initialization failed:
E 762B 3 powered on, which results in the failure Stop and perform the power-on again

2
The motor rotates when powered on
of initial position identification

Type Selection
Calculated velocity too high for Gear ratio or reference velocity value Reduce the gear ratio or reference
E A060 2
operating mode Electronic Gear too high velocity.
Position change in reference value for Position reference change is too high. Reduce the resolution of the master.
E A061 2 operating mode Electronic Gear too Error detected at signal input for Verify signal input for reference value
high reference value. signal.
Wait until the currently active data set
E A065 0 Parameter cannot be written A data set is still active.

3 Installation
has been terminated.
E A066 0 Teach-in position cannot be accepted Data set type is not ‘MoveAbsolute’ Set the data set type to ‘MoveAbsolute’.
Invalid value in data set (additional info See also parameters _MSM_error_num
E A067 1 = data set number (low byte) and entry Value not possible in data set. and _MSM_error_entry for additional
(high byte)) information
Operating mode Electronic Gear Start operating mode Electronic Gear
E A068 0 Offset positioning not possible
inactive or no gear method selected. and/or select a gear method.

4
Setting the offset position is not If offset positioning is active, it is not Wait until ongoing offset positioning
E A069 0

Connection
possible possible to set the position offset. has finished.

Wiring
The position deviation has become Verify the velocity of the external
Position deviation in operating mode
E A06B 2 excessively high due to a velocity reference values and the velocity
Electronic Gear too high
limitation or the release of direction. limitation. Verify release of direction.
HALT was removed too soon. Wait for complete stop before removing
Deceleration after HALT request still New command was sent before motor HALT signal.

5
E A300 0
running standstill was reached after a HALT Wait until motor has come to a
request. complete standstill.

Front Panel
Drive in operating state Quick Stop Error with error class 1 detected.
E A301 0
Active Drive stopped with Quick Stop.
The positive limit switch was activated
Verify application.
because movement range was
E A302 1 Stop by positive limit switch Verify limit switch function and
exceeded, incorrect operation of limit
connection.

6
switch or signal disturbance.
The negative limit switch was activated

Operation
Verify application.
because movement range was
E A303 1 Stop by negative limit switch Verify limit switch function and
exceeded, incorrect operation of limit
connection.
switch or signal disturbance.
E A304 1 Stop by reference switch
Drive is in operating state Quick Stop

7 Commissioning
Active due to a software stop request.
The activation of a new operating Clear break condition with command
E A306 1 Stop by user-initiated software stop
mode is not possible, the error code is Fault Reset.
sent as the response to the activation
command.
In the operating modes Homing
and Jog, the movement is internally
interrupted by an internal software
8

E A307 0 Interruption by internal software stop stop. The activation of a new operating Perform a Fault Reset.
mode is not possible, the error code is
Diagnosis

sent as the response to the activation

command.
Verify the error code (HMI or
Drive is in operating state Fault or Fault Error with error class 2 or higher
E A308 0 commissioning software), remove the
Reaction Active detected.
cause and perform a Fault Reset.
A command was sent that requires
9

the drive to be in the operating state

Drive not in operating state Operation Set drive to operating state Operation
Parameters

E A309 0 Operation Enabled (for example, a

Enabled Enabled and repeat the command.
command to change the operating
mode).
Command cannot be used because the
Set drive to an operating state in which
power stage is not enabled (operating
E A310 0 Power stage not enabled the power stage is enabled, see state
state Operation Enabled or Quick Stop
diagram.
Active).

TM
8-13
Chap08. Diagnostics

Error code Error class Description Cause Correctives

A start request for an operating mode
E A311 0 Operating mode change active has been received while a change of
the operating mode was active.
E A312 0 Profile generation interrupted
The movement range limits were
Position overflow, zero point is exceeded and the zero point is no Define a valid zero point by means of
E A313 0
therefore no longer valid (ref_ok=0) longer valid. An absolute movement the operating mode Homing.
requires a valid zero point.
Command needs a valid zero point Define a valid zero point by means of
E A314 0 No valid zero point
(ref_ok=1). the operating mode Homing.
Command cannot be used while the Wait until reference movement is
E A315 0 Homing active
operating mode Homing is active. finished.
Overflow during calculation of
E A316 0
acceleration
Command sent which is not
permissible when the motor is not at a
standstill.
For example:
Wait until the motor has come to a
E A317 0 Motor is not at a standstill - Change of software limit switches
standstill (x_end = 1).
- Change of handling of monitoring
signals
- Setting of reference point
- Teach in of data set
Wait until the command in the
Activation of a new operating mode is
operating mode has finished (x_end=1)
E A318 0 Operating mode active (x_end=0) not possible while another operating
or terminate active operating mode
mode is still active.
with HALT command.
The movement exceeds the
Manual tuning/Autotuning: Movement Verify permissible movement range
E A319 1 parameterized maximum movement
out of range value and time interval.
range.
Manual tuning/Autotuning: Amplitude/ Amplitude plus offset for tuning exceed Choose lower amplitude and offset
E A31A 0
offset too high internal velocity or current limitation. values.
Command not permissible while Halt is Clear Halt request and repeat
E A31B 0 Halt requested
requested. command.
Value for negative (positive) software
Invalid position setting with software limit switch is greater (less) than value
E A31C 0 Set correct position values.
limit switch for positive (negative) software limit
switch.
The velocity was set to a value If the value of parameter P6-09 is
Velocity range exceeded (parameter greater than the maximum permissible greater than the value of parameter
E A31D 0
P4-17, P6-09) velocity in parameter P4-17 or P6-09, P4-17, increase the value of parameter
whichever is lower. P4-17 or reduce the velocity value.
Not possible to execute command
Return to the permissible movement
E A31E 1 Stop by positive software limit switch because positive software limit switch
range.
was triggered.
Not possible to execute command
Return to the permissible movement
E A31F 1 Stop by negative software limit switch because negative software limit switch
range.
was triggered.
Reduce external load or acceleration.
Use a differently rated drive, if
Permissible position deviation External load or acceleration are too
E A320 3 necessary.
exceeded high.
Error response can be adjusted via
parameter P0-23
Invalid setting for RS422 position
E A321 0
interface
E A322 0 Error detected in ramp calculation
System error detected: Processing
E A323 3 error detected during generation of
profile
Homing movement was stopped in
Possible sub-error codes:
Error detected during homing response to a detected error, the
E A324 1 E A325, E A326, E A327, EA328 or E
(additional info = detailed error code) detailed reason is indicated by the
A329.”
additional info in the error memory.

8-14 TM
Error code Error class Description Cause Correctives

1
Limit switch to be approached not Homing to positive limit switch or Enable limit switch via 'IOsigLimP' or
E A325 1
enabled negative limit switch is disabled. 'IOsigLimN'.

Overview
Reference switch not found between
Reference switch inoperative or not Verify the function and wiring of the
E A326 1 positive limit switch and negative limit
correctly connected. Reference switch.
switch
More than one signal positive limit Reference switch or limit switch not
Verify the wiring and 24 VDC supply
E A329 1 switch/negative limit switch/reference connected correctly or supply voltage

2
voltage.
switch active for switches too low.

Type Selection
Start reference movement with
Verify correct connection and function
negative direction (for example,
of limit switch. Activate a jog movement
Positive limit switch triggered with reference movement to negative limit
E A32A 1 with negative direction of movement
negative direction of movement switch) and activate the positive limit
(target limit switch must be connected
switch (switch in opposite direction of
to the negative limit switch).
movement).

3 Installation
Start reference movement with positive Verify correct connection and function
direction (for example, reference of limit switch. Activate a jog movement
Negative limit switch triggered with
E A32B 1 movement to positive limit switch) and with positive direction of movement
positive direction of movement
activate the negative limit switch (switch (target limit switch must be connected
in opposite direction of movement). to the positive limit switch).
Switch signal disturbance. Motor Verify supply voltage, cabling and
Reference switch error detected
subjected to vibration or shock when function of switch. Verify motor
E A32C 1 (switch signal briefly enabled or switch

4
stopped after activation of the switch response after stopping and optimize
overtraveled)
signal. control loop settings.

Connection
Wiring
Switch signal disturbance. Motor Verify supply voltage, cabling and
Positive limit switch error detected
subjected to vibration or shock when function of switch. Verify motor
E A32D 1 (switch signal briefly enabled or switch
stopped after activation of the switch response after stopping and optimize
overtraveled)
signal. control loop settings.
Switch signal disturbance. Verify supply voltage, cabling and
Negative limit switch error detected

5
Motor subjected to vibration or shock function of switch.
E A32E 1 (switch signal briefly enabled or switch
when stopped after activation of the Verify motor response after stopping
overtraveled)

Front Panel
switch signal. and optimize control loop settings.
Index pulse signal not connected or not Verify index pulse signal and
E A32F 1 Index pulse not found
working properly. connection.
Increase the distance between the
Reference movement to index pulse The position difference between the index pulse and the switching point.
E A330 0 cannot be Reproduced. Index pulse is index pulse and the switching point is If possible, the distance between the

6
too close to the switch Parameter insufficient. index pulse and the switching point

Operation
should be a half motor revolution.
Jog error detected (additional info = Jog movement was stopped in For additional info, verify the detailed
E A332 1
detailed error code) response to a detected error. error code in the error memory.
System error detected: Invalid internal
E A333 3
selection

7 Commissioning
Position deviation after movement Verify load.
greater than standstill window. This Verify settings for standstill window
E A334 2 Timeout Standstill Window monitoring
may have been caused by an external (parameter MON_p_win, P5-10 and
load. P5-11). Optimize control loop settings.
System error detected: Jerk limitation
with position offset after end of
E A336 1
movement (additional info = offset in
Inc.)
8

Continuation of interrupted movement

Diagnosis

in operating mode Profile Position

is not possible because another
operating mode had been active in
E A337 0 Operating mode cannot be continued Restart the operating mode.
the meantime. In the operating mode
Motion Sequence, continuation is
not possible if a motion blend was
9

interrupted.
Parameters

The selected operating mode is not

E A338 0 Operating mode unavailable
available.
No processing of motor encoder
E A339 0 selected or position capture of motor
index pulse active

TM
8-15
Chap08. Diagnostics

Error code Error class Description Cause Correctives

No zero point defined by means of
operating mode Homing. Zero point no Use operating mode Homing to define
No valid zero point (ref_ok=0)
E A33A 0 longer valid due to movement beyond a valid zero point.
Parameter _WarnLatched Bit 4”
permissible movement range. Motor Use a motor with an absolute encoder.
does not have an absolute encoder.
Activation of a function which is not
available in the active operating mode.
Function not available in this operating
E A33C 0 Example: Start of backlash
mode
compensation while autotuning/manual
tuning is active.
Change of motion blend during the
Wait for the motion blend to complete
E A33D 0 Motion blend is already active ongoing motion blend (end position of
before setting the next position.
motion blend not yet reached)
Activation of a motion blend without Start a movement before the motion
E A33E 0 No movement activated
movement. blend is activated.
Position of motion blend movement not The position of the motion blend is Verify the position of the motion blend
E A33F 0
in the Range of the ongoing movement outside of the movement range. and the movement range.
The operating mode Motion Sequence
Error detected in operating mode
was stopped in response to a detected
E A340 1 Motion Sequence (additional info = See the additional error information.
error. Verify the error memory for
detailed error code)
details on the detected error.
Position of motion blend has already The movement has passed beyond the
E A341 0
been passed position of the motion blend.
The position of the motion blend was Reduce the Ramp velocity so that
Target velocity was not reached at
E A342 1 overtraveled, the target velocity was the target velocity is reached at the
motion blend position.
not reached. position of the motion blend.
Processing only possible with linear Motion blend position was set with a
E A343 0 Set a linear ramp.
ramp non-linear ramp.
Incorrect or inoperative encoder cable.
Machine encoder not connected or not
supplied correctly.
Maximum position deviation between Verify encoder connection.
Different counting directions of motor
E A344 3 motor encoder and machine encoder Verify parameterization of machine
encoder and machine encoder.
exceeded encoder.
Incorrect setting of resolution factors
(numerator or denominator) of machine
encoder.
Reduce external load or acceleration.
Permissible position deviation External load or acceleration are too
E A347 0 Threshold value can be adjusted via
exceeded high.
the parameter P0-21.
No analog reference value source Select an analog reference value
E A348 1 No analog reference value selected
selected source.
Position scaling of POSscaleDenom Change POSscaleDenom and
E A349 0 Position setting exceeds system limits and POSscaleNum results in a scaling POSscaleNum in such a way as to
factor that is too small. increase the resulting scaling factor.
The velocity scaling of
'VELscaleDenom' and 'VELscaleNum'
results in a scaling factor that is too Change 'VELscaleDenom' and
E A34A 0 Velocity setting exceeds system limits small. The velocity has been set to 'VELscaleNum' in such a way as to
a value greater than the maximum increase the resulting scaling factor.
possible velocity (the maximum velocity
is 13200 rpm).
The Ramp scaling of
Change of 'RAMPscaleDenom' and
'RAMPscaleDenom' and
E A34B 0 Ramp setting exceeds system limits 'RAMPscaleNum' in such a way as to
'RAMPscaleNum' results in a scaling
increase the resulting scaling factor.
factor that is too small.
Resolution of scaling too high (range
E A34C 0
exceeded)
Function not available when Modulo is The function cannot be executed when
E A34D 0 Deactivate Modulo to use the function.
active Modulo is active.
If parameter 'MOD_Absolute' is set to:
Shortest Distance: Target value is not
Target value for absolute movement in defined modulo range.
Set a correct target value for absolute
E A34E 0 not possible with defined modulo range Positive Direction: Target value is less
movement.
and modulo handling. than parameter 'MOD_Min'.
Negative Direction: Target value is
greater than parameter 'MOD_Max'.

8-16 TM
Error code Error class Description Cause Correctives

1
Target position outside of modulo The setting of parameter Change the parameter
E A34F 0 range. Corresponding movement within 'MOD_AbsMultiRng' only allows for a 'MOD_AbsMultiRng' to allow for

Overview
range performed instead. movement within the modulo range. movements beyond the modulo range.
Operating mode Electronic Gear
with processing method 'Position Deactivate jerk filter processing for
Change for jerk filter input position too synchronization with compensation Electronic Gear or use processing
E A350 1
great movement' has been activated which method 'Position synchronization

2
resulted in a position change greater without compensation movement'.
than 0.25 revolutions.

Type Selection
The positions scaling factor is set
to a value less than 1rev/131072
usr_p, which is less than the internal
Function cannot be executed with this Use a different position scaling factor
E A351 1 resolution.
position scaling factor or deactivate the selected function.
In the operating mode Cyclic
Synchronous Position, the resolution is
not set to 1rev/1310f2 usr_p.

3 Installation
E A352 0 Position list active
E A353 0 Position list not sorted
Position list does not match the
E A354 0
configuration of the Modulo range
Position list does not match the
E A354 0
configuration of the Modulo range

4
Error detected during relative

Connection
E A355 1 movement after capture (additional info Movement was stopped by error. Verify the error memory.

Wiring
= detailed error code)
Function Relative Movement after Assign the function Relative Movement
E A356 0
Capture not assigned to a digital input after Capture to a digital input.
Command is not permissible during Wait until motor has come to a
E A357 0 Deceleration still running
deceleration. complete standstill.

5
Target position overtraveled with Stopping distance too small or velocity

Front Panel
E A358 1 function Relative Movement after too high at the point in time of the Reduce the velocity.
Capture capture event.
Request cannot be processed since
E A359 0 the relative movement after capture is
still active
The data set with the selected number
E A35A 1 Selected data set cannot be started Verify the number of the data set.

6
is not available.
The set operating mode does not

Operation
E A35B 0 Modulo cannot be activated
support Modulo.
The triggered limit switch fails to move
The limit switch trigger signal holds,
E A35C 1 to the new reference position, even if Remove the limit switch signal
and the motor fails to move any more
the error has been reset
RS485/Modbus: Indeterminable Unsupported Modbus service was Verify application on the Modbus
E B100 0

7 Commissioning
service received. master.
Incorrect I/O data configuration The I/O data configuration or the
E B101 1 (additional info = Modbus register Modbus I/O scanning configuration Verify the configuration of the I/O data.
address) contains an invalid parameter.
Logical protocol error detected:
RS485/Modbus: Protocol error Verify application on the Modbus
E B200 0 Incorrect length or unsupported
detected master.
subfunction.
8

Logical protocol error detected:

RS485/Modbus: Protocol error Verify application on the Modbus
E B200 0 Incorrect length or unsupported
detected master.
Diagnosis

subfunction.
Verify all connections and cables used
RS485/Modbus: Interruption of the Connection monitoring has detected an
E B201 2 for data exchange. Verify that the
connection interruption of the connection.
device is on.
Verify all connections and cables used
RS485/Modbus: Interruption of the Connection monitoring has detected an
E B202 0 for data exchange. Verify that the
9

connection interruption of the connection.

device is on.
Parameters

RS485/Modbus: Incorrect number of

E B203 0
monitor objects

TM
8-17
Chap09. Parameters

9.1 Parameter Overview........................................................................................................ 9-1

9.2 P0 - Basic Settings........................................................................................................... 9-8
9.3 P1 - Gain Adjustment.................................................................................................... 9-16
9.4 P2 - Damping Adjustment............................................................................................. 9-26
9.5 P3 - I/O Settings............................................................................................................. 9-31
9.6 P4 - External Settings.................................................................................................... 9-37
9.7 P5 - Special Settings..................................................................................................... 9-45
9.8 P6 - Device Information................................................................................................ 9-50
9.1 Parameter Overview

1 Overview
Parameter No.
Reference Name Description Page
Group
No.
00 InvertDirOfMove Inversion of direction of movement
01 RTATU_TuningMode Tuning Mode selection

2
02 RTATU_StiffIndex Auto adaptive stiffness index

Type Selection
03 RTATU_InertiaRealTime Auto adaptive real time inertia ratio
04 RTATU_LoadType Auto adaptive load type selection
05 RTATU_CtrlTab Auto adaptive control table selection
06 PTI_signal_type Type of reference value signal for PTI interface
07 PTI_pulse_filter Filter time for input signals at the PTI interface
08 IO_GEARmethod Processing mode for operating mode Electronic Gear

3 Installation
09 GEARdir_enabl Enabled movement direction of gear processing
10 GEARratio Selection of predefined gear ratios
11 GEARdenom 1st Denominator of gear ratio
12 GEARnum 1st Numerator of gear ratio
[P0] 13 GEARdenom2 2nd Denominator of gear ratio
14 GEARnum2 2nd Numerator of gear ratio

4
Link
Basic 15 GEARjerklim Activation of jerk limitation

Connection
Settings

Wiring
16 RAMP_v_jerk Jerk limitation of the motion profile for velocity
17 GEARpos_v_max Velocity limitation for the method Position Synchronization
18 GEARposChgMode Treatment of position changes with inactive power stage
19 ESIM_scale Resolution of encoder simulation
20 ESIM_dir Inversion of direction of encoder simulation

5
21 MON_p_dif_warn Maximum load-dependent position deviation (warning)

Front Panel
22 MON_p_dif_load_usr Maximum load-dependent position deviation (following error)
Error response to excessively high load-dependent position
23 ErrorResp_p_dif
deviation
24 CTRL_I_max Current limitation
25 RESext_P Nominal power of external braking resistor
26 RESext_R Resistance value of external braking resistor

6
27 RESext_ton Maximum permissible switch-on time of external braking resistor

Operation
28 RESint_ext Selection of type of braking resistor

7 Commissioning
8
9 Diagnosis
Parameters

TM
9-1
Chap09. Parameters

Parameter No.
Reference Name Description Page
Group
No.
00 CTRL1_KPp Parameter set 1: Velocity controller P gain
01 CTRL1_KPn Parameter set 1: Velocity controller P gain
02 CTRL1_TNn Parameter set 1: Velocity controller integral action time
03 CTRL1_KFPp Parameter set 1: Velocity feed-forward control
Parameter set 1: Filter time constant of the reference velocity
04 CTRL1_TAUnref
value filter
Parameter set 1: Filter time constant of the reference current value
05 CTRL1_TAUiref
filter
06 CTRL1_Kfric Parameter set 1: Friction compensation gain
07 CTRL2_KPp Parameter set 2: Velocity controller P gain
08 CTRL2_KPn Parameter set 2: Velocity controller P gain
09 CTRL2_TNn Parameter set 2: Velocity controller integral action time
10 CTRL2_KFPp Parameter set 2: Velocity feed-forward control
Parameter set 2: Filter time constant of the reference velocity
11 CTRL2_TAUnref
value filter
Parameter set 2: Filter time constant of the reference current value
12 CTRL2_TAUiref
filter
13 CTRL2_Kfric Parameter set 2: Friction compensation gain
14 CTRL3_KPp Parameter set 3: Velocity controller P gain
15 CTRL3_KPn Parameter set 3: Velocity controller P gain
16 CTRL3_TNn Parameter set 3: Velocity controller integral action time
Parameter set 3: Filter time constant of the reference velocity
17 CTRL3_TAUnref
value filter
Parameter set 3: Filter time constant of the reference current value
18 CTRL3_TAUiref
filter
19 CTRL_TAUpref Filter time constant of the reference position value filter.
20 CTRL_TAUnact Filter time constant to smooth velocity of motor
[P1] 21 CTRL_KFAcc Acceleration feed-forward control
22 CTRL_I_max_fw Maximum current for field weakening (d component) Link
Gain 23 CTRL_KFLoad Torque load feed-forward control
Adjustment
24 CTRL_SpdFric Speed of rotation up to which the friction compensation is linear
25 CTRL_ParChgTime Period of time for parameter switching
26 CTRL_PwrUpParSet Selection of controller parameter set at power up
27 CLSET_ParSwiCond Condition for parameter set switching
28 CLSET_winTime Time window for parameter set switching
29 CLSET_p_DiffWin_usr Position deviation for parameter set switching
30 CLSET_v_Threshol Velocity threshold for parameter set switching
31 CTRL_DYNGNSWSET Dynamic gain switching selection
32 CTRL_DYNGNSWTM Dynamic gain switching time
33 CTRL_DYNSWPOSDLYTM Dynamic gain switching: motion command Ok delay time
34 CTRL_DYNSWPOSOKTHD Dynamic gain switching: Position command Ok threshold
35 CTRL_DYNSWTAUPOSDIF Dynamic gain switching: Filter time constant for Position difference
36 CTRL_DYNSWSPDLWTM Dynamic gain switching: speed low lasting time
37 CTRL_DYNSWSPDLWTHD Dynamic gain switching: speed low threshold
38 CTRL_DYNGNSTIFF Dynamic gain switching: stiffness for lower gain
39 CTRL_vPIDDPart PID velocity controller: D gain
40 CTRL_vPIDDTime PID velocity controller: Time constant of D term smoothing filter
41 RTATU_VibDetCycleNum Vibration detection Cycle number
42 RTATU_VibDetLevel Vibration detection level
43 RTATU_VibDetTmDly Vibration detection time delay
44 RTATU_TnnUser2FRC Velocity controller integral action time of parameter set 2
45 _AT_J Auto tuning: Moment of inertia of the entire system
46 _AT_info1 Auto tuning: Fault diagnosis message 1 for customer service
47 _AT_info2 Auto tuning: Fault diagnosis message 2 for customer service
48 _AT_M_friction Auto tuning: Friction torque of the system
49 _AT_M_load Auto tuning: Constant load torque

9-2 TM
 Parameter No.
Reference Name Description Page
Group

1
No.

Overview
00 RTATU_ANotchMode Adaptive notch filter mode selection
01 CTRL_ANf1damp Adaptive Notch filter 1: Damping
02 CTRL_ANf1freq Adaptive Notch filter 1: Frequency
03 CTRL_ANf1bandw Adaptive Notch filter 1: Bandwidth
04 CTRL_ANf2damp Adaptive Notch filter 2: Damping

2
05 CTRL_ANf2freq Adaptive Notch filter 2: Frequency

Type Selection
06 CTRL_ANf2bandw Adaptive Notch filter 2: Bandwidth
07 CTRL1_Nf1damp Parameter set 1: Notch filter 1 damping
08 CTRL1_Nf1freq Parameter set 1: Notch filter 1 frequency
09 CTRL1_Nf1bandw Parameter set 1: Notch filter 1 bandwidth
10 CTRL1_Nf2damp Parameter set 1: Notch filter 2 damping
11 CTRL1_Nf2freq Parameter set 1: Notch filter 2 frequency

3 Installation
[P2] 12 CTRL1_Nf2bandw Parameter set 1: Notch filter 2 bandwidth
13 CTRL1_Osupdamp Parameter set 1: Overshoot suppression filter damping Link
Damping
Adjustment 14 CTRL1_Osupdelay Parameter set 1: Overshoot suppression filter time delay
15 CTRL2_Nf1damp Parameter set 2: Notch filter 1 damping
16 CTRL2_Nf1freq Parameter set 2: Notch filter 1 frequency
17 CTRL2_Nf1bandw Parameter set 2: Notch filter 1 bandwidth

4
18 CTRL2_Nf2damp Parameter set 2: Notch filter 2 damping

Connection
Wiring
19 CTRL2_Nf2freq Parameter set 2: Notch filter 2 frequency
20 CTRL2_Nf2bandw Parameter set 2: Notch filter 2 bandwidth
21 CTRL2_Osupdamp Parameter set 2: Overshoot suppression filter damping
22 CTRL2_Osupdelay Parameter set 2: Overshoot suppression filter time delay
23 CTRL_AnVibf1 Frequency for anti-vibration filter 1

5
24 CTRL_AnVibf2 Frequency for anti-vibration filter 2

Front Panel
25 CTRL_AnVibdamp1 Damping factor for anti-vibration filter 1
26 CTRL_AnVibdamp2 Damping factor for anti-vibration filter 2

6
8
9 Operation
7 Commissioning
Diagnosis
Parameters

TM
9-3
Chap09. Parameters

Parameter No.
Reference Name Description Page
Group
No.
00 IOfunct_DI0 Function Input DI0
01 IOfunct_DI1 Function Input DI1
02 IOfunct_DI2 Function Input DI2
03 IOfunct_DI3 Function Input DI3
04 IOfunct_DI4 Function Input DI4
05 IOfunct_DI5 Function Input DI5
06 IOfunct_DQ0 Function Output DQ0
07 IOfunct_DQ1 Function Output DQ1
08 IOfunct_DQ2 Function Output DQ2
[P3]
09 DI_0_Debounce Debounce time of DI0
10 DI_1_Debounce Debounce time of DI1 Link
I/O
Setting 11 DI_2_Debounce Debounce time of DI2
12 DI_3_Debounce Debounce time of DI3
13 DI_4_Debounce Debounce time of DI4
14 DI_5_Debounce Debounce time of DI5
15 IO_AutoEnable Enabling the power stage at PowerOn
16 IO_v_limit Velocity limitation via input
17 IO_I_limit Current limitation via input
Enables the power stage as set via IO_AutoEnable even after
18 IO_AutoEnaConfig
error
19 IO_FaultResOnEnaInp Additional 'Fault Reset' for the signal input function 'Enable'

9-4 TM
 Parameter No.
Reference Name Description Page
Group

1
No.

Overview
00 HMIlocked Lock HMI
01 JOGv_slow Velocity for slow JOG movement
02 JOGv_fast Velocity for fast movement
03 HMv Homing: Target velocity for searching the switch (fast)
04 HMv_out Homing: Target velocity for moving away from switch (slow)

2
05 HMsrchdis Homing: Maximum search distance after overtravel of switch

Type Selection
06 HMoutdis Homing: Maximum distance for search for switching point
07 HMdis Homing: Distance from switching point
08 HMp_home Homing: Position at reference point
09 HMprefmethod Homing: Preferred homing method
10 RAMP_v_acc Acceleration of the motion profile for velocity
11 RAMP_v_dec Deceleration of the motion profile for velocity

3 Installation
12 RAMP_v_max Maximum velocity of the motion profile for velocity
13 RAMP_v_enable Activation of the motion profile for velocity
[P4] 14 BRK_AddT_release Additional time delay for releasing the holding brake
External 15 BRK_AddT_apply Additional time delay for applying the holding brake Link
Settings 16 DYN_BRK_enable Enable dynamic brake function
17 CTRL_v_max Velocity limitation

4
18 LIM_HaltReaction Halt option code

Connection
Wiring
19 LIM_I_maxHalt Current value for Halt
20 LIM_QStopReact Quick Stop option code
21 RAMPquickstop Deceleration ramp for Quick Stop
22 LIM_I_maxQSTP Current value for Quick Stop
23 OFSp_RelPos1 Relative offset position 1 for offset movement

5
24 OFSp_RelPos2 Relative offset position 2 for offset movement

Front Panel
25 OFSv_target Target velocity for offset movement
26 OFS_Ramp Acceleration and deceleration for offset movement
27 MBaddress Modbus address
28 MBbaud Modbus baud rate
29 ScalePOSnum Position scaling: Numerator (usr_p)

6
30 ScalePOSdenom Position scaling: Denominator (usr_p)

9 Operation
7 Commissioning
8 Diagnosis
Parameters

TM
9-5
Chap09. Parameters

Parameter No.
Reference Name Description Page
Group
No.
00 MON_IO_SelErr1 First number for the signal output function Selected Error
01 MON_IO_SelErr2 The error number from the 2nd monitor
02 MON_IO_SelWar1 First number for the signal output function Selected Warning
03 MON_IO_SelWar2 Second number for the signal output function Selected Warning
04 MON_SW_Limits Activation of software limit switches
05 MON_SWLimMode Behavior when position limit is reached
06 MON_swLimP Positive position limit for software limit switch
07 MON_swLimN Negative position limit for software limit switch
08 MON_v_zeroclamp Velocity limit for Zero Clamp
Target position reached: Standstill window permissible control
09 MON_p_win_usr
deviation
10 MON_p_winTime Target position reached: Standstill window time
[P5] Target position reached: Timeout time for standstill window
11 MON_p_winTout
monitoring
12 MON_ChkTime Monitoring of time window Link
Special
Settings 13 MON_p_DiffWin_usr Position deviation monitoring: Monitoring of position deviation
14 MON_v_DiffWin Speed deviation monitoring: Monitoring of velocity deviation
15 MON_v_Threshold Low speed monitoring: Monitoring of velocity threshold
16 MON_I_Threshold Current monitoring: Monitoring of current threshold
17 MON_commutat Commutation monitoring
18 MON_GroundFault Ground fault monitoring
19 ErrorResp_I2tRES Error response to 100% I2t braking resistor
20 PWM_fChop PWM frequency of power stage
21 I_Sat_winTime Current saturation window time
22 BLSH_Mode Processing mode of backlash compensation
23 BLSH_Position Position value for backlash compensation
24 BLSH_Time Processing time for backlash compensation
25 _Imax_system Current limitation of the system

9-6 TM
 Parameter No.
Reference Name Description Page
Group

1
No.

Overview
00 M_filename Motor file name
01 _M_Encoder Type of motor encoder
02 _M_HoldingBrake Holding brake identification
03 _M_BRK_T_apply Holding brake application time
04 _M_BRK_T_release Holding brake release time

2
05 _M_M_0 Continuous stall torque of motor

Type Selection
06 _M_I_0 Continuous stall current of motor
07 _M_I_max Maximum current of motor
08 _M_I_nom Maximum current of motor
09 _M_n_max Maximum permissible speed of rotation/velocity of motor
10 _M_n_nom Nominal speed of rotation/velocity of motor
11 _M_Jrot Moment of inertia of motor

3 Installation
12 _M_kE Voltage constant kE of motor
13 _M_U_nom Nominal voltage of motor
[P6] 14 _M_M_max Maximum torque of motor
Device Link
15 _M_M_nom Nominal torque/force of motor
Information
16 _M_T_max Maximum temperature of motor
17 _M_I2t Maximum permissible time for maximum current of motor (I2t)

4
18 _hwVersCPU Hardware version of control board

Connection
Wiring
19 _prgNoDEV Firmware number of device
20 _prgVerDEV Firmware version of device
21 _prgRevDEV Firmware revision of device
22 _hwVersPS Hardware version of power stage
23 _PS_I_nom Rated current of output stage

5
24 _PS_I_max Maximum current of power stage

Front Panel
25 _PS_U_minDC Minimum permissible DC bus voltage
26 _PS_U_maxDC Maximum permissible DC bus voltage
27 _PS_U_minStopDC DC bus voltage low threshold for Quick Stop
28 _PS_T_max Maximum power stage temperature
29 _PS_T_warn Temperature warning threshold of power stage

6
8
9 Operation
7 Commissioning
Diagnosis
Parameters

TM
9-7
Chap09. Parameters

9.2 P0 - Basic Settings

Minimum value 0 Unit

P0-00 InvertDirOfMove Inversion of direction of movement Factory setting 0
-
Maximum value 1
Description:
Inversion of direction of movement
0 / Inversion Off: Inversion of direction of movement is off
1 / Inversion On: Inversion of direction of movement is on

The limit switch which is reached with a movement in positive direction must be connected to the positive limit switch (LIMP)
input.
The limit switch which is reached with a movement in negative direction must be connected to the negative limit switch (LIMN)
input.

Positive Negative
Function Instruction Motor rotation
limit switch limit switch
Forward value direction direction
(CCW) (LIMP) (LIMN)
Positive Counterclockwise Effective -
0
Negative Clockwise - Effective
Reverse Positive Clockwise Effective -
1
Factory default
(CW) Negative Counterclockwise - Effective

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

Minimum value 0 Unit

P0-01 RTATU_TuningMode Tuning Mode selection Factory setting 0
-
Maximum value 3
Description:
Tuning Mode selection
0 / Invalid: Auto adaptive tuning is invalid; use the cascade PID control loop parameter
1 / Standard: Standard auto adaptive tuning mode: the system inertia ratio is estimated automatically, stiffness index is set
manually, auto adaptive control loop takes effect.
2 / Passive: Passive auto adaptive tuning mode: both system inertia ratio and stiffness index are set manually, auto adaptive
control loop takes effect.
3 / Adaptive: Adaptive auto adaptive tuning mode: the system inertia ratio is estimated automatically, stiffness index is also
estimated automatically (increase 4 levels at the maximum), auto adaptive control loop takes effect

The new settings will be employed next time when the motor goes into operation.

Minimum value 1 Unit

P0-02 RTATU_StiffIndex Auto adaptive stiffness index Factory setting 14
-
Maximum value 32
Description:
Set the rigidity level for auto adaptive control loop parameters
The control loop parameter is automatically calculated in combination of this parameter and system load inertia ratio when auto
adaptive tuning control loop mode is active.
Higher the stiffness index selected, higher the system response will be achieved. However, when increasing the value, more
system vibration could be expected. Lower the stiffness index selected, lower the system response will be achieved. Also,
there will be less system vibratio.
Please change the set values in ascending order.

Changed settings become active immediately.

9-8 TM
 Minimum value 0.00 Unit
P0-03 RTATU_InertiaRealTime Auto adaptive real time inertia ratio Factory setting 1.50
-

1
Maximum value 100.00

Overview
Description:
Show/set the system inertia ratio, or the ratio of load inertia over rotor inertia, for auto adaptive control loop,
This parameter is invalid when parameter P0-01 is set to 0 - invalid.
When auto adaptive control loop is in standard mode (P0-01=1) or active mode (P0-01=3), the drive automatically estimates
the system inertia ratio. The adjustment of this parameter therefore takes no effect at this moment.

2
When auto adaptive control loop is in passive mode (P0-01=2), the drive does not estimate the system inertia ratio, but this

Type Selection
parameter still takes effect in the calculation of control loop parameters. User could manually adjust this parameter.

Changed settings become active immediately.

Minimum value 0 Unit

3 Installation
P0-04 RTATU_LoadType Auto adaptive load type selection Factory setting 1
-
Maximum value 3
Description:
Set the load type for auto adaptive tuning
0 / Rotary Disk: Direct connection
1 / Ball Screw: Lead screw
2 / Belt: Belt

4
3 / Large Inertia: Large inertia

Connection
The default of P0-02 auto adaptive tuning stiffness index varies depending on the type of load selected.

Wiring
Changed settings become active immediately.

5
Minimum value 0 Unit
P0-05 RTATU_CtrlTab Auto adaptive control table selection Factory setting 0

Front Panel
-
Maximum value 1
Description:
Auto adaptive control table selection
0 / Standard Mode (Table 1): Standard mode that balances system overshoot and steady-state time
1 / Positioning Mode (Table 2): Position priority mode; the control loop parameter set employs long integration time, and the

6
system positioning is free of overshoot

Operation
When this parameter is set to “1 / Positioning Mode (Table 2)”, parameter P1-44 can be set and used to replace the integration
time in current parameter set

Changed settings become active immediately.

7 Commissioning
Minimum value 0 Unit
Type of reference value signal for PTI
P0-06 PTI_signal_type Factory setting 1
interface -
Maximum value 2
Description:
Type of reference value signal for PTI interface
0 / A/B Signals: Phase A + Phase B orthogonal signal, with quadruplicated frequency
8

1 / P/D Signals: Signals PULSE and DIR

2 / CW/CCW Signals: Signals CW and CCW
Diagnosis

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.
9 Parameters

TM
9-9
Chap09. Parameters

Minimum value 0 Unit

Filter time for input signals at the PTI
P0-07 PTI_pulse_filter Factory setting 0
interface -
Maximum value 2000
Description:
A signal at the PTI interface is only evaluated if it is available for a time that is longer than the set filter time.
0 / Without filter: Invalid low pass filter
2000 / 2000 kHz: The max. frequency of low pass filter is 2000 kHz
1000 / 1000 kHz: The max. frequency of low pass filter is 1000 kHz
500 / 500 kHz: The max. frequency of low pass filter is 500 kHz
250 / 250 kHz: The max. frequency of low pass filter is 250 kHz
125 / 125 kHz: The max. frequency of low pass filter is 125 kHz
50 / 50kHz: The max. frequency of low pass filter is 50 kHz

When parameter P0-06 is set to 0, since phase A + phase B orthogonal signal has quadruplicated frequency, the minimum
value of this parameter shall start from 250kHz

Setting can only be changed if power stage is disabled..

Changed settings become active the next time the power stage is enabled.

Minimum value 1 Unit

Processing mode for operating mode
P0-08 IO_GEARmethod Factory setting 1
Electronic Gear -
Maximum value 3
Description:
Processing mode for operating mode Electronic Gear
1 / Position Synchronization Immediate: Position synchronization without compensation movement
2 / Position Synchronization Compensated: Position synchronization with compensation movement
3 / Velocity Synchronization: Velocity synchronization

Changed settings become active the next time the motor moves.

Minimum value 1 Unit

Enabled movement direction of gear pro-
P0-09 GEARdir_enabl Factory setting 3
cessing -
Maximum value 3
Description:
Choose whether the motor is allowed to move in forward, reverse or both directions
1 / POSITIVE: Positive direction
2 / NEGATIVE: Negative direction
3 / BOTH: Both directions
This allows you to activate a return movement lock function.

Changed settings become active immediately.

9-10 TM
 Minimum value 0 Unit
P0-10 GEARratio Selection of predefined gear ratios Factory setting 8
-

1
Maximum value 11

Overview
Description:
Selection of predefined gear ratios
0 / Gear Factor: Usage of gear ratio adjusted with GERRnum/GERRdenom
1 / 200:200
2 / 400:400

2
3 / 500:500

Type Selection
4 / 1000:1000
5 / 2000:2000
6 / 4000:4000
7 / 5000:5000
8 / 10000: 10000
9 / 4096:4096

3 Installation
10 / 8192:8192
11 / 16384:16384

Changed settings become active immediately.

4
Minimum value 1 Unit
P0-11 GEARdenom 1st Denominator of gear ratio Factory setting 10000

Connection
-

Wiring
Maximum value 2147483647
Description:
Denominator of the 1st set of electronic gear parameters
Electronic gear ratio = P0-12 (GEARnum) / P0-11 (GEARdenom)
Number of input PTI pulses * P0-12 (GEARnum) / P0-11 (GEARdenom) = Motor location (unit: revolution) * 131072

5
The new gear ratio is applied when the numerator value is supplied.

Front Panel
Changed settings become active immediately.

Minimum value -2147483648 Unit

P0-12 GEARnum 1st Numerator of gear ratio Factory setting 131072

6
-
Maximum value 2147483647

Operation
Description:
Numerator of the 1st set of electronic gear parameters
Electronic gear ratio = P0-12 (GEARnum) / P0-11 (GEARdenom)
Number of input PTI pulses * P0-12 (GEARnum) / P0-11 (GEARdenom) = Motor location (unit: revolution) * 131072
The new gear ratio is applied when the numerator value is supplied.

7 Commissioning
Changed settings become active immediately.

Minimum value 1 Unit

P0-13 GEARdenom2 2nd Denominator of gear ratio Factory setting 10000
-
Maximum value 2147483647
8

Description:
Diagnosis

Denominator of the 2nd set of electronic gear parameters

Electronic gear ratio = P0-14 (GEARnum2) / P0-13 (GEARdenom2)
Number of input PTI pulses * P0-14 (GEARnum2) / P0-13 (GEARdenom2) = Motor location (unit: revolution) * 131072
The new gear ratio is applied when the numerator value is supplied.

Changed settings become active immediately.

9 Parameters

TM
9-11
Chap09. Parameters

Minimum value -2147483648 Unit

P0-14 GEARnum2 2nd Numerator of gear ratio Factory setting 131072
-
Maximum value 2147483647
Description:
Numerator of the 2nd set of electronic gear parameters
Electronic gear ratio = P0-14 (GEARnum2) / P0-13 (GEARdenom2)
Number of input PTI pulses * P0-14 (GEARnum2) / P0-13 (GEARdenom2) = Motor location (unit: revolution) * 131072
The new gear ratio is applied when the numerator value is supplied.

Changed settings become active immediately.

Minimum value 0 Unit

P0-15 GEARjerklim Activation of jerk limitation Factory setting 0
-
Maximum value 1
Description:
Activation of jerk limitation
0 / Off: Jerk limitation deactivated.
1 / PosSyncOn: Jerk limitation active
The time for jerk limitation must be set via parameter P0-16.

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

Minimum value 0 Unit

Jerk limitation of the motion profile for
P0-16 RAMP_v_jerk Factory setting 0
velocity ms
Maximum value 128
Description:
Jerk limitation of the motion profile for velocity
0 / Off: Off
1 / 1: 1 ms
4 / 4: 4 ms
8 / 8: 8 ms
16 / 16: 16 ms
32 / 32: 32 ms
64 / 64: 64 ms
128 / 128: 128 ms

Adjustments can only be made if the operating mode is inactive.

Changed settings become active the next time the motor moves.

Minimum value 0 Unit

Velocity limitation for the method Position
P0-17 GEARpos_v_max Factory setting 0
Synchronization usr_v
Maximum value 2147483647
Description:
Velocity limitation for the method Position Synchronization
0: No velocity limitation
>0: Velocity limitation in usr_v

Changed settings become active immediately.

9-12 TM
 Minimum value 0 Unit
Treatment of position changes with
P0-18 GEARposChgMode Factory setting 0
inactive power stage -

1
Maximum value 1

Overview
Treatment of position changes with inactive power stage
0 / Off: Position changes in states with disabled power stage are ignored.
1 / On: Position changes in states with disabled power stage are taken into account.
This parameter is effective only when P0-08 is set to "2 - Position synchronization with position compensation”

2
Changed settings become active the next time the product is powered on.

Type Selection
Minimum value 8 Unit
P0-19 ESIM_scale Resolution of encoder simulation Factory setting 10000
EncInc
Maximum value 65535
Description:

3 Installation
Resolution of encoder simulation
Resolution defines the number of increments per revolution (AB signal with quadruple evaluation).
The index pulse is created once per revolution at an interval where signal A and signal B are high.

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

4Connection
Minimum value 0 Unit

Wiring
Inversion of direction of encoder
P0-20 ESIM_dir Factory setting 0
simulation -
Maximum value 1
Description:
Set whether the analog encoder output direction is opposite to the rotation direction of motor
0 / Inversion Off: Analog encoder output direction is the same with the rotation direction of motor

5
1 / Inversion On: Analog encoder output direction is opposite to the rotation direction of motor

Front Panel
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

6
Minimum value 0 Unit
Load-dependent position deviation
P0-21 MON_p_dif_warn Factory setting 75

Operation
(warning) %
Maximum value 100
Description:
Load-dependent position deviation (error class 0)
100.0 % correspond to the maximum position deviation (following error) as specified by means of parameter P0-22.

7 Commissioning
Changed settings become active immediately.

Minimum value 1 Unit

P0-22 MON_p_dif Load-dependent position deviation Factory setting 131072
usr_p
Maximum value 2147483647
Description:
8

Load-dependent position deviation

Diagnosis

The load-dependent position deviation is the difference between the reference position and the actual position caused by the
load.

Changed settings become active immediately.

9 Parameters

TM
9-13
Chap09. Parameters

Minimum value 1 Unit

Error response to excessively high
P0-23 ErrorResp_p_dif Factory setting 3
load-dependent position deviation -
Maximum value 3
Description:
Description:
Error response to excessively high load-dependent position deviation
1 / Error Class 1: Error class 1
2 / Error Class 2: Error class 2
3 / Error Class 3: Error class 3

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

Minimum value 0.00 Unit

P0-24 CTRL_I_max Current limitation Factory setting -
Arms
Maximum value 463.00
Description:
Max. current limitation
During operation, the actual current limit is one of the following values (whichever is lowest):
●● P0-24
●● P6-07
●● P6-24
Limitations caused by I2T monitoring are also taken into account.
In increments of 0.01 Arms
Default: P6-24 at 8 kHz PWM frequency

Changed settings become active immediately.

Minimum value 1 Unit

P0-25 RESext_P Nominal power of external braking resistor Factory setting 10
W
Maximum value 32767
Description:
Nominal power of external braking resistor

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

Minimum value - Unit

Resistance value of external braking resis-
P0-26 RESext_R Factory setting 100.00
tor Ω
Maximum value 327.67
Description:
Resistance value of external braking resistor
The minimum value depends on the type of drive
In increments of 0.01 Ω

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

Minimum value 1 Unit

Maximum permissible switch-on time of
P0-27 RESext_ton Factory setting 100
external braking resistor ms
Maximum value 32767
Description:
Maximum permissible switch-on time of external braking resistor

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

9-14 TM
 Minimum value 0 Unit
P0-28 RESint_ext Selection of type of braking resistor Factory setting 0
-

1
Maximum value 1

Overview
Description:
Selection of type of braking resistor

0 / No External Braking Resistor: External braking resistor not activated

1 / External Braking Resistor: External braking resistor activated

2
Setting can only be changed if power stage is disabled.

Type Selection
Changed settings become active the next time the power stage is enabled.

3 Installation
4
5
6
8
9Connection
Wiring
Front Panel
Operation
7 Commissioning
Diagnosis
Parameters

TM
9-15
Chap09. Parameters

9.3 P1 - Gain Adjustment

Minimum value 2.0 Unit

Parameter set 1: Velocity controller P
P1-00 CTRL1_KPp Factory setting -
gain 1/s
Maximum value 900.0
Description:
Parameter set 1: Velocity controller P gain
The default value is calculated on the basis of the motor parameters.
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.1 l/s

Changed settings become active immediately.

Minimum value 0.0001 Unit

Parameter set 1: Velocity controller P
P1-01 CTRL1_KPn Factory setting -
gain A/(1/min)
Maximum value 2.5400
Description:
Parameter set 1: Velocity controller P gain
The default value is calculated on the basis of the motor parameters.
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.0001 A/(1/min)

Changed settings become active immediately.

Minimum value 0.00 Unit

Parameter set 1: Velocity controller
P1-02 CTRL1_TNn Factory setting -
integral action time ms
Maximum value 327.67
Description:
Parameter set 1: Velocity controller integral action time
The default value is calculated on the basis of the motor parameters.
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.01 ms

Changed settings become active immediately.

Minimum value 0.0 Unit

Parameter set 1: Velocity feed-forward
P1-03 CTRL1_KFPp Factory setting 55.0
control %
Maximum value 200.0
Description:
Parameter set 1: Velocity feed-forward control
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.1%

Changed settings become active immediately.

Minimum value 0.00 Unit

Parameter set 1: Filter time constant of
P1-04 CTRL1_TAUnref Factory setting 9.00
the reference velocity value filter ms
Maximum value 327.67
Description:
Parameter set 1: Filter time constant of the reference velocity value filter
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.01 ms

Changed settings become active immediately.

9-16 TM
 Minimum value 0.00 Unit
Parameter set 1: Filter time constant of
P1-05 CTRL1_TAUiref Factory setting 0.50
the reference current value filter ms

1
Maximum value 4.00

Overview
Description:
Parameter set 1: Filter time constant of the reference current value filter
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.01 ms

2
Changed settings become active immediately.

Type Selection
Minimum value 0.00 Unit
Parameter set 1: Filter time constant of
P1-06 CTRL1_Kfric Factory setting 0.00
the reference current value filter Arms
Maximum value 10.00

3 Installation
Description:
Parameter set 1: Friction compensation gain
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.01 Arms

Changed settings become active immediately.

4Connection
Wiring
Minimum value 2.0 Unit
Parameter set 2: Velocity controller P
P1-07 CTRL2_KPp Factory setting -
gain 1/s
Maximum value 900.0
Description:

5
Parameter set 2: Velocity controller P gain
The default value is calculated on the basis of the motor parameters.

Front Panel
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.1 l/s

Changed settings become active immediately.

6 Operation
Minimum value 0.0001 Unit
Parameter set 2: Velocity controller P
P1-08 CTRL2_KPn Factory setting -
gain A/(1/min)
Maximum value 2.5400
Description:
Parameter set 2: Velocity controller P gain

7 Commissioning
The default value is calculated on the basis of the motor parameters.
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.0001 A/(1/min)

Changed settings become active immediately.

8 Diagnosis

Minimum value 0.00 Unit

Parameter set 2: Velocity controller inte-
P1-09 CTRL2_TNn Factory setting -
gral action time ms
Maximum value 327.67
Description:
Parameter set 2: Velocity controller integral action time
9

The default value is calculated on the basis of the motor parameters.

Parameters

In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.01 ms

Changed settings become active immediately.

TM
9-17
Chap09. Parameters

Minimum value 0.0 Unit

Parameter set 2: Velocity feed-forward
P1-10 CTRL2_KFPp Factory setting 55.0
control %
Maximum value 200.0
Description:
Parameter set 2: Velocity feed-forward control
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.1%

Changed settings become active immediately.

Minimum value 0.00 Unit

Parameter set 2: Filter time constant of
P1-11 CTRL2_TAUnref Factory setting 9.00
the reference velocity value filter ms
Maximum value 327.67
Description:
Parameter set 2: Filter time constant of the reference velocity value filter
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.01 ms

Changed settings become active immediately.

Minimum value 0.00 Unit

Parameter set 2: Filter time constant of
P1-12 CTRL2_TAUiref Factory setting 0.50
the reference current value filter ms
Maximum value 4.00
Description:
Parameter set 2: Filter time constant of the reference current value filter
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.01 ms

Changed settings become active immediately.

Minimum value 0.00 Unit

Parameter set 2: Filter time constant of
P1-13 CTRL2_Kfric Factory setting 0.00
the reference current value filter Arms
Maximum value 10.00
Description:
Parameter set 2: Friction compensation gain
In the case of switching between the two control loop parameter sets, the values are changed linearly over the time defined in
the parameter P1-25.
In increments of 0.01 Arms

Changed settings become active immediately.

Minimum value 2.0 Unit

Parameter set 3: Velocity controller P
P1-14 CTRL3_KPp Factory setting -
gain 1/s
Maximum value 900.0
Description:
Parameter set 3: Velocity controller P gain
The default value is calculated on the basis of the motor parameters.
Where the low-speed conditions of motor are met, automatic switching is performed from control loop parameter set 1 or 2 to
control loop parameter set 3, while the parameter values will be subjected to linear switching based on the time set in parame-
ter P1-32 CTRL_DYNGNSWTM
In increments of 0.1 l/s

Changed settings become active immediately.

9-18 TM
 Minimum value 0.0001 Unit
Parameter set 3: Velocity controller P
P1-15 CTRL3_KPn Factory setting -
gain A/(1/min)

1
Maximum value 2.5400

Overview
Description:
Parameter set 3: Velocity controller P gain
The default value is calculated on the basis of the motor parameters.
Where the low-speed conditions of motor are met, automatic switching is performed from control loop parameter set 1 or
2 to control loop parameter set 3, while the parameter values will be subjected to linear switching based on the time set in

2
parameter P1-32 CTRL_DYNGNSWTM

Type Selection
In increments of 0.0001 A/(1/min)

Changed settings become active immediately.

Minimum value 0.00 Unit

Parameter set 3: Velocity controller

3 Installation
P1-16 CTRL3_TNn Factory setting -
integral action time ms
Maximum value 327.67
Description:
Parameter set 3: Velocity controller integral action time
The Factory setting Position controller P gain is automatically determined by servo drive based on motor model number
Where the low-speed conditions of motor are met, automatic switching is performed from control loop parameter set 1 or
2 to control loop parameter set 3, while the parameter values will be subjected to linear switching based on the time set in

4
parameter P1-32 CTRL_DYNGNSWTM

Connection
In increments of 0.01 ms

Wiring
Changed settings become active immediately.

5
Minimum value 0.00 Unit
Parameter set 3: Filter time constant of
P1-17 CTRL3_TAUnref Factory setting 9.00

Front Panel
the reference velocity value filter ms
Maximum value 327.67
Description:
Parameter set 3: Filter time constant of the reference velocity value filter
Where the low-speed conditions of motor are met, automatic switching is performed from control loop parameter set 1 or
2 to control loop parameter set 3, while the parameter values will be subjected to linear switching based on the time set in

6
parameter P1-32 CTRL_DYNGNSWTM
In increments of 0.01 ms

Operation
Changed settings become active immediately.

7 Commissioning
Minimum value 0.00 Unit
Parameter set 3: Filter time constant of
P1-18 CTRL3_TAUiref Factory setting 0.50
the reference current value filter ms
Maximum value 4.00
Description:
Parameter set 3: Filter time constant of the reference current value filter
Where the low-speed conditions of motor are met, automatic switching is performed from control loop parameter set 1 or
2 to control loop parameter set 3, while the parameter values will be subjected to linear switching based on the time set in
8

parameter P1-32 CTRL_DYNGNSWTM

In increments of 0.01 ms
Diagnosis

Changed settings become active immediately.

Minimum value 0.00 Unit

Filter time constant of the reference posi-
9

P1-19 CTRL_TAUpref Factory setting 0.00

tion value filter. ms
Parameters

Maximum value 256.00

Description:
Filter time constant of the reference position value filter.
In increments of 0.01 ms

Changed settings become active immediately.

TM
9-19
Chap09. Parameters

Minimum value 0.00 Unit

Filter time constant to smooth velocity of
P1-20 CTRL_TAUnact Factory setting -
motor ms
Maximum value 30.00
Description:
Filter time constant to smooth velocity of motor
The default value is calculated on the basis of the motor data.
In increments of 0.01 ms

Changed settings become active immediately.

Minimum value 0.0 Unit

P1-21 CTRL_KFAcc Acceleration feed-forward control Factory setting -
%
Maximum value 3000.0
Description:
Acceleration feed-forward control
In increments of 0.1%

Changed settings become active immediately.

Minimum value 0.00 Unit

Maximum current for field weakening
P1-22 CTRL_I_max_fw Factory setting 0.00
(d component) AArms
Maximum value 300.00
Description:
Maximum current for field weakening (d component)
This value is only limited by the minimum/maximum parameter range (no limitation of this value by motor/power stage).

The actual field weakening current is the minimum value of the following parameter:
●● P1-22 Max. weak magnetic current (d axis)
●● P6-08 Half of the rated current of motor
●● P6-23 Half of the rated current of drive
The step of is 0.01 Arms

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

Minimum value 0.0 Unit

P1-23 CTRL_KFLoad Torque load feed-forward control Factory setting 0.0
%
Maximum value 300.0
Description:
Torque load feed-forward control
In increments of 0.1%

Changed settings become active immediately.

Minimum value 0 Unit

Speed of rotation up to which the friction
P1-24 CTRL_SpdFric Factory setting 5
compensation is linear 1/min
Maximum value 20
Description:
Speed of rotation up to which the friction compensation is linear

Changed settings become active immediately.

9-20 TM
 Minimum value 0 Unit
P1-25 CTRL_ParChgTime Period of time for parameter switching Factory setting 0
ms

1
Maximum value 2000

Overview
Description:
Period of time for parameter switching
In the case of control loop parameter set switching, the values of the following parameters are changed gradually:
P1-01 (CTRL1_KPn)/ P1-08 (CTRL2_KPn)
P1-02 (CTRL1_TNn)/ P1-09 (CTRL2_TNn)

2
P1-00 (CTRL1_KPp)/ P1-07 (CTRL2_KPp)

Type Selection
P1-05 (CTRL1_TAUiref)/ P1-12 (CTRL2_TAUiref)
P1-04 (CTRL1_TAUnref)/ P1-11 (CTRL2_TAUnref)
P1-03 (CTRL1_KFPp)/ P1-10 (CTRL2_KFPp)
Such a switching can be caused by:

●● change of the active control loop parameter set

●● change of the global gain

3 Installation
●● change of any of the parameters listed above

Changed settings become active immediately.

Minimum value 0 Unit

4
Selection of control loop parameter set at
P1-26 CTRL_PwrUpParSet Factory setting 1
power up -

Connection
Maximum value 2

Wiring
Description:
Selection of control loop parameter set at power up
0 / Switching Condition: The switching condition is used for control loop parameter set switching
1 / Parameter Set 1: Control loop parameter set 1 is used
2 / Parameter Set 2: Control loop parameter set 2 is used

5 Front Panel
Changed settings become active immediately.

Minimum value 0 Unit

P1-27 CLSET_ParSwiCond Condition for parameter set switching Factory setting 1
-

6
Maximum value 4
Description:

Operation
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 P1-29)
2 / Below Reference Velocity: Below reference velocity (value definition in parameter P1-30)
3 / Below Actual Velocity: Below actual velocity (value definition in parameter P1-30)

7 Commissioning
4 / Reversed: Reserved

In the case of parameter set switching, the values of the following parameters are changed gradually:
P1-01 (CTRL1_KPn)/ P1-08 (CTRL2_KPn)
P1-02 (CTRL1_TNn)/ P1-09 (CTRL2_TNn)
P1-00 (CTRL1_KPp)/ P1-07 (CTRL2_KPp)
P1-05 (CTRL1_TAUiref)/ P1-12 (CTRL2_TAUiref)
8

P1-04 (CTRL1_TAUnref)/ P1-11 (CTRL2_TAUnref)

Diagnosis

P1-03 (CTRL1_KFPp)/ P1-10 (CTRL2_KFPp)

In the case of parameter set switching, the values of the following parameters are changed gradually:
P2-07 (Ctrl1_Nf1damp) / P2-15 (Ctrl2_Nf1damp)
P2-08 (Ctrl1_Nf1freq) / P2-16 (Ctrl2_Nf1freq)
P2-09 (Ctrl1_Nf1bandw) / P2-17 (Ctrl2_Nf1bandw)
9

P2-10 (Ctrl1_Nf2damp) / P2-18 (Ctrl2_Nf2damp)

P2-11 (Ctrl1_Nf2freq) / P2-19 (Ctrl2_Nf2freq)
Parameters

P2-12 (Ctrl1_Nf2bandw) / P2-20 (Ctrl2_Nf2bandw)

P2-13 (Ctrl1_Osupdamp) / P2-21 (Ctrl2_Osupdamp)
P2-14 (Ctrl1_Osupdelay) / P2-22 (Ctrl2_Osupdelay)
P1-06 (Ctrl1_Kfric) / P1-13 (Ctrl2_Kfric)

Changed settings become active immediately.

TM
9-21
Chap09. Parameters

Minimum value 0 Unit

Time window for parameter set switch-
P1-28 CLSET_winTime Factory setting 0
ing ms
Maximum value 1000
Description:
Control loop parameter set switches the time window for monitoring of position error and speed threshold:
0: Monitoring window disabled
>0: Window time for the parameters switching

Changed settings become active immediately.

Minimum value 0 Unit

Position deviation for parameter set
P1-29 CLSET_p_DiffWin_usr Factory setting 164
switching usr_p
Maximum value 2147483647
Description:
Position deviation for parameter set switching
When parameter P1-27 is set to "1 / Inside Position Deviation", if the position error is smaller than this parameter value, control
loop parameter set 2 will be used; otherwise, control loop parameter set 1 will be used

Changed settings become active immediately.

Minimum value 0 Unit

Velocity threshold for parameter set
P1-30 CLSET_v_Threshol Factory setting 50
switching usr_v
Maximum value 2147483647
Description:
Velocity threshold for parameter set switching
When parameter P1-27 is set to "2 / Below Reference Velocity", if the target speed is smaller than this parameter value, control
loop parameter set 2 will be used; otherwise, control loop parameter set 1 will be used
When parameter P1-27 is set to "3 / Below Actual Velocity", if the target speed is smaller than this parameter value, control
loop parameter set 2 will be used; otherwise, control loop parameter set 1 will be used

Changed settings become active immediately.

Minimum value 0 Unit

P1-31 CTRL_DYNGNSWSET Dynamic gain switching selection Factory setting 1
-
Maximum value 3
Description:
Dynamic gain switching selection
0 / Dynamic Gain Switch Disable: Disable the adaptive stiffness index switching
1 / Dynamic Gain Switch No Ramp: Direct parameter switching for adaptive stiffness index switching
2 / Dynamic Gain Switch Deep Sleep Mode: Switching to stiffness index even lower than the lower stiffness in P1-38.
3 / Dynamic Gain Switch With Ramp: Adaptive stiffness index switching with slope

Changed settings become active immediately.

Minimum value 0.0 Unit

Dynamic Gain Switching: the time for
P1-32 CTRL_DYNGNSWTM Factory setting 0.0
parameter set switching ms
Maximum value 200.0
Description:
The time for parameter set switching with slope.
After the switching conditions are met, the control loop parameter set switches to the control loop parameter set 3 or stiffness
index selected in P1-38 linearly within the given time
In increments of 0.1 ms

Changed settings become active immediately.

9-22 TM
 Minimum value 0.0 Unit
Dynamic gain switching: motion command
P1-33 CTRL_DYNSWPOSDLYTM Factory setting 2.0
Ok delay time ms

1
Maximum value 200.0

Overview
Description:
Dynamic gain switching: The delay time for position detection after motion is finished.
When motion is finished, if the position deviation after filtering by the filter defined in P1-35 is within the position thresholds
defined in P1-34 for a time longer than the value in this parameter, dynamic gain switching condition is met.
In increments of 0.1 ms

2
Changed settings become active immediately.

Type Selection
Minimum value 0.2 Unit
Dynamic gain switching: Position command
P1-34 CTRL_DYNSWPOSOKTHD Factory setting 5.0
Ok threshold °
Maximum value 10.0

3 Installation
Description:
Dynamic gain switching: Position deviation thresholds for dynamic gain switching.
When motion is finished, if the position deviation after filtering by the filter defined in P1-35 is within the position thresholds
defined in this parameter for a time longer than the value defined in P1-33, dynamic gain switching condition is met.
In increments of 0.1°

Changed settings become active immediately.

4Connection
Wiring
Minimum value 0.00 Unit
Dynamic gain switching: Filter time con-
P1-35 CTRL_DYNSWTAUPOSDIF Factory setting 10.00
stant for position deviation filter ms
Maximum value 200.00
Description:

5
Dynamic gain switching: Filter time constant for position deviation filter
In increments of 0.1 ms

Front Panel
Changed settings become active immediately.

Minimum value 0.0 Unit

6
Dynamic gain switching: speed low lasting
P1-36 CTRL_DYNSWSPDLWTM Factory setting 2.0
time ms

Operation
Maximum value 200.0
Description:
Dynamic gain switching: The delay time for speed detection after motion is finished.
When motion is finished, if the actual speed is lower than the thresholds defined in P1-37 for a time longer than the value in
this parameter, dynamic gain switching condition is met.

7 Commissioning
In increments of 0.1 ms

Changed settings become active immediately.

Minimum value 0 Unit

Dynamic gain switching: speed low thresh-
P1-37 CTRL_DYNSWSPDLWTHD Factory setting 20
8

old 1/min
Maximum value 50
Diagnosis

Description:
Dynamic gain switching: Low speed thresholds after motion is finished.
When motion is finished, if the actual speed is lower than the thresholds defined in this parameter for a time longer than the
value in P1-36, dynamic gain switching condition is met.
In increments of 1 1/min
9

Changed settings become active immediately.

Parameters

TM
9-23
Chap09. Parameters

Minimum value 1 Unit

Dynamic gain switching: stiffness for lower
P1-38 CTRL_DYNGNSTIFF Factory setting 10
gain -
Maximum value 32
Description:
Dynamic gain switching: stiffness for lower gain

Changed settings become active immediately.

Minimum value 0.0 Unit

P1-39 CTRL_vPIDDPart PID velocity controller: D gain Factory setting 0.0
%
Maximum value 400.0
Description:
PID velocity controller: D gain
In increments of 0.1%

Changed settings become active immediately.

Minimum value 0.01 Unit

PID velocity controller: Time constant of D
P1-40 CTRL_vPIDDTime Factory setting 0.25
term smoothing filter ms
Maximum value 10.00
Description:
PID velocity controller: Time constant of D term smoothing filter
In increments of 0.01 ms

Changed settings become active immediately.

Minimum value 0 Unit

P1-41 RTATU_VibDetCycleNum Vibration detection Cycle number Factory setting 2
-
Maximum value 10
Description:
Vibration detection Cycle number

Changed settings become active immediately.

Minimum value 0 Unit

P1-42 RTATU_VibDetLevel Vibration detection level Factory setting 20
-
Maximum value 100
Description:
Vibration detection level
Changed settings become active immediately.

Minimum value 0.0 Unit

P1-43 RTATU_VibDetTmDly Vibration detection time delay Factory setting 0.0
ms
Maximum value 100.0
Description:
Vibration detection time delay
In increments of 0.1 ms

Changed settings become active immediately.

9-24 TM
 Minimum value 0.0 Unit
Velocity controller integral action time of
P1-44 RTATU_TnnUser2FRC Factory setting 0.00
parameter set 2 ms

1
Maximum value 327.67

Overview
Description:
Velocity controller integral action time of parameter set 1 (P0-05=1)
0: Use the default integration time of auto adaptive control loop in position mode
>0: This parameter is used as the integration time of auto adaptive control loop in position mode
In increments of 0.01 ms

2
Changed settings become active immediately.

Type Selection
Minimum value 1.0 Unit
Auto tuning: Moment of inertia of the
P1-45 _AT_J Factory setting 1.0
entire system kgcm2
Maximum value 6553.5

3 Installation
Description:
Inertia of the entire system
The parameter value is automatically calculated during Autotuning.
In increments of 0.1 kgcm2

Changed settings become active immediately.

4Connection
Wiring
Minimum value 0 Unit
Auto tuning: Fault diagnosis message 1
P1-46 _AT_info1 Factory setting 0
for customer service -
Maximum value 4294967295
Description:
Auto tuning: Fault diagnosis message 1 for customer service

5
Changed settings become active immediately.

Front Panel
Minimum value 0 Unit
Auto tuning: Fault diagnosis message 2
P1-47 _AT_info2 Factory setting 0
for customer service -
Maximum value 4294967295

6
Description:

Operation
Auto tuning: Fault diagnosis message 2 for customer service

Changed settings become active immediately.

7 Commissioning
Minimum value 0.00 Unit
Auto tuning: Friction torque of the
P1-48 _AT_M_friction Factory setting 0.00
system Arms
Maximum value 655.35
Description:
Friction torque of the system
The parameter value is automatically measured during auto tuning
In increments of 0.01 Arms
8

Changed settings become active immediately.

Diagnosis

Minimum value -327.68 Unit

P1-49 _AT_M_load Auto tuning: Constant load torque Factory setting 0.00
Arms
Maximum value 327.67
9

Description:
Parameters

Constant load torque

The parameter value is automatically calculated during Rutotuning.
In increments of 0.01 Arms

Changed settings become active immediately.

TM
9-25
Chap09. Parameters

9.4 P2 - Damping Adjustment

Minimum value 0 Unit

P2-00 RTATU_ANotchMode Adaptive notch filter mode Factory setting 0
-
Maximum value 3
Description:
Choose the mode of adaptive notch filters
0 / Invalid: The adaptive notch filters are not set automatically, parameters of adaptive notch filters remain unchanged
1 / Enable 1: Enable the 1st set of adaptive notch filters
2 / Enable 2: Enable the 1st and 2nd sets of adaptive notch filters
3 / Reset: Reset all adaptive notch filters

Changed settings become active immediately.

Minimum value 55.0 Unit

P2-01 RTATU_ANf1damp Adaptive Notch filter 1: Damping Factory setting 90.0
%
Maximum value 99.0
Description:
Adaptive Notch filter 1: Damping
In increments of is 0.1%

Changed settings become active immediately.

Minimum value 50.0 Unit

P2-02 RTATU_ANf1freq 1st adaptive notch filter frequency Factory setting 1500.0
Hz
Maximum value 1500.0
Description:
1st adaptive notch filter frequency
This notch filter is disabled when the parameter value is set to 1500.0
In increments of is 0.1 Hz

Changed settings become active immediately.

Minimum value 1.0 Unit

P2-03 RTATU_ANf1bandw Adaptive Notch filter 1: Bandwidth Factory setting 70.0
%
Maximum value 90.0
Description:
Adaptive Notch filter 1: Bandwidth
In increments of is 0.1%

Changed settings become active immediately.

Minimum value 55.0 Unit

P2-04 RTATU_ANf2damp Adaptive Notch filter 2: Damping Factory setting 90.0
%
Maximum value 99.0
Description:
Adaptive Notch filter 2: Damping
In increments of is 0.1%

Changed settings become active immediately.

9-26 TM
 Minimum value 50.0 Unit
P2-05 RTATU_ANf2freq Adaptive Notch filter 2: Frequency Factory setting 1500.0
Hz

1
Maximum value 1500.0

Overview
Description:
Adaptive Notch filter 2: Frequency
This notch filter is disabled when the parameter value is set to 1500.0
In increments of is 0.1Hz

2
Changed settings become active immediately.

Type Selection
Minimum value 1.0 Unit
P2-06 RTATU_ANf1bandw Adaptive Notch filter 2: Bandwidth Factory setting 70.0
%
Maximum value 90.0
Description:

3 Installation
Adaptive Notch filter 2: Bandwidth
In increments of is 0.1%

Changed settings become active immediately.

4
Minimum value 55.0 Unit
P2-07 CTRL1_Nf1damp Parameter set 1: Notch filter 1 damping Factory setting 90.0

Connection
%

Wiring
Maximum value 99.0
Description:
Parameter set 1: Notch filter 1 damping
In increments of is 0.1%

Changed settings become active immediately.

5 Front Panel
Minimum value 50.0 Unit
P2-08 CTRL1_Nf1freq Parameter set 1: Notch filter 2 bandwidth Factory setting 1500.0
Hz
Maximum value 1500.0
Description:

6
Parameter set 1: Notch filter 2 bandwidth

Operation
This notch filter is disabled when the parameter value is set to 1500.0
In increments of is 0.1Hz

Changed settings become active immediately.

7 Commissioning
Minimum value 1.0 Unit
P2-09 CTRL1_Nf1bandw Parameter set 1: Notch filter 1 bandwidth Factory setting 70.0
%
Maximum value 90.0
Description:
In increments of is 0.1%
8

Changed settings become active immediately.

Diagnosis

Minimum value 55.0 Unit

P2-10 CTRL1_Nf2damp Parameter set 1: Notch filter 2 damping Factory setting 90.0
%
Maximum value 99.0
9

Description:
Parameter set 1: Notch filter 2 damping
Parameters

In increments of is 0.1%

Changed settings become active immediately.

TM
9-27
Chap09. Parameters

Minimum value 50.0 Unit

P2-11 CTRL1_Nf2freq Parameter set 1: Notch filter 2 frequency Factory setting 1500.0
Hz
Maximum value 1500.0
Description:
Parameter set 1: Notch filter 2 frequency
This notch filter is disabled when the parameter value is set to 1500.0
In increments of is 0.1 Hz

Changed settings become active immediately.

Minimum value 1.0 Unit

P2-12 CTRL1_Nf2bandw Parameter set 1: Notch filter 2 bandwidth Factory setting 70.0
%
Maximum value 90.0
Description:
Parameter set 1: Notch filter 2 bandwidth
In increments of is 0.1%

Changed settings become active immediately.

Minimum value 0.0 Unit

Parameter set 1: Overshoot suppression
P2-13 CTRL1_Osupdamp Factory setting 0.0
filter damping %
Maximum value 50.0
Description:
Parameter set 1: Overshoot suppression filter damping
This filter is disabled when the parameter value is set to 0
In increments of is 0.1%

Changed settings become active immediately.

Minimum value 0.00 Unit

Parameter set 1: Overshoot suppression
P2-14 CTRL1_Osupdelay Factory setting 0.00
filter time delay ms
Maximum value 75.00
Description:
Parameter set 1: Overshoot suppression filter time delay
This filter is disabled when the parameter value is set to 0
In increments of is 0.01ms
Changed settings become active immediately.

Minimum value 55.0 Unit

P2-15 CTRL2_Nf1damp Parameter set 2: Notch filter 1 damping Factory setting 90.0
%
Maximum value 99.0
Description:
Parameter set 2: Notch filter 1 damping
In increments of is 0.1%

Changed settings become active immediately.

Minimum value 50.0 Unit

P2-16 CTRL2_Nf1freq Parameter set 2: Notch filter 1 bandwidth Factory setting 1500.0
Hz
Maximum value 1500.0
Description:
Parameter set 2: Notch filter 1 bandwidth
This notch filter is disabled when the parameter value is set to 1500.0
In increments of is 0.1 Hz

Changed settings become active immediately.

9-28 TM
 Minimum value 1.0 Unit
P2-17 CTRL2_Nf1bandw Parameter set 2: Notch filter 1 bandwidth Factory setting 70.0
%

1
Maximum value 90.0

Overview
Description:
In increments of is 0.1%

Changed settings become active immediately.

2 Type Selection
Minimum value 55.0 Unit
P2-18 CTRL2_Nf2damp Parameter set 2: Notch filter 2 damping Factory setting 90.0
%
Maximum value 99.0
Description:
Parameter set 2: Notch filter 2 damping
In increments of is 0.1%

3 Installation
Changed settings become active immediately.

Minimum value 50.0 Unit

P2-19 CTRL2_Nf2freq Parameter set 2: Notch filter 2 frequency Factory setting 1500.0
Hz

4
Maximum value 1500.0
Description:

Connection
Wiring
Parameter set 2: Notch filter 2 frequency
This notch filter is disabled when the parameter value is set to 1500.0
In increments of is 0.1Hz

Changed settings become active immediately.

5 Front Panel
Minimum value 1.0 Unit
P2-20 CTRL2_Nf2bandw Parameter set 2: Notch filter 2 bandwidth Factory setting 70.0
%
Maximum value 90.0
Description:
Parameter set 2: Notch filter 2 bandwidth

6
In increments of is 0.1%

Operation
Changed settings become active immediately.

Minimum value 0.0 Unit

7 Commissioning
Parameter set 2: Overshoot suppression
P2-21 CTRL2_Osupdamp Factory setting 0.0
filter damping %
Maximum value 50.0
Description:
Parameter set 2: Overshoot suppression filter damping
This filter is disabled when the parameter value is set to 0
In increments of is 0.1%
8

Changed settings become active immediately.

Diagnosis

Minimum value 0.00 Unit

Parameter set 2: Overshoot suppression
P2-22 CTRL2_Osupdelay Factory setting 0.00
filter time delay ms
Maximum value 75.00
Description:
9

Parameter set 2: Overshoot suppression filter time delay

Parameters

This filter is disabled when the parameter value is set to 0

In increments of is 0.01ms

Changed settings become active immediately.

TM
9-29
Chap09. Parameters

Minimum value 0.0 Unit

P2-23 CTRL_AnVibf1 Frequency for anti-vibration filter 1 Factory setting 0.0
Hz
Maximum value 200.0
Description:
Frequency for anti-vibration filter 1
In increments of is 0.1Hz

Changed settings become active immediately.

Minimum value 0.0 Unit

P2-24 CTRL_AnVibf2 Frequency for anti-vibration filter 2 Factory setting 0.0
Hz
Maximum value 200.0
Description:
Frequency for anti-vibration filter 2
In increments of is 0.1Hz

Changed settings become active immediately.

Minimum value 0.0 Unit

P2-25 CTRL_AnVibdamp1 Damping factor for anti-vibration filter 1 Factory setting 50.0
%
Maximum value 300.0
Description:
Damping factor for anti-vibration filter 1
In increments of is 0.1%

Changed settings become active immediately.

Minimum value 0.0 Unit

P2-26 CTRL_AnVibdamp2 Damping factor for anti-vibration filter 2 Factory setting 50.0
%
Maximum value 300.0
Description:
Damping factor for anti-vibration filter 2
In increments of is 0.1%

Changed settings become active immediately.

9-30 TM
9.5 P3 - I/O Settings

1 Overview
Minimum value 1 Unit
P3-00 IOfunct_DI0 Function Input DI0 Factory setting 3
-
Maximum value 142
Description:
Function Input DI0

2 Type Selection
Function code
Function Description
NO NC
Freely Available No function assigned, available as required 1 -
Fault Reset Reset after error 2 102
Enable Enables the power stage 3 103
Halt Halt 4 104
Current Limitation Limits the current to parameter value 6 106

3 Installation
Zero Clamp Zero clamping 7 107
Velocity Limitation Limits the velocity to parameter value 8 108
Jog Positive Jog: Moves in positive direction 9 109
Jog Negative Jog: Moves in negative direction 10 110
Jog Fast/Slow Jog: Switches between slow and fast movement 11 111
Electronic Gear: Switches between two gear
Gear Ratio Switch 12 112

4
ratios

Connection
Gear Offset 1 Electronic Gear: Adds first gear offset 19 119

Wiring
Gear Offset 2 Electronic Gear: Adds second gear offset 20 120
Reference Switch (REF) Reference switch 21 121
Positive Limit Switch (LIMP) Positive limit switch 22 122
Negative Limit Switch (LIMN) Negative limit switch 23 123
Switch Controller Parameter Set Switches control loop parameter set 24 124

5
Velocity Controller Integral Off Switches off velocity controller integral term 28 128

Front Panel
ORGP Start homing movement 42 142

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

6
Minimum value 1 Unit

Operation
P3-01 IOfunct_DI1 Function Input DI1 Factory setting 2
-
Maximum value 142
Description:
Function Input DI1
See parameter P3-00

7 Commissioning
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the product is powered on.

Minimum value 1 Unit

8

P3-02 IOfunct_DI2 Function Input DI2 Factory setting 122

-
Maximum value 142
Diagnosis

Description:
Function Input DI2
See parameter P3-00

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.
9 Parameters

TM
9-31
Chap09. Parameters

Minimum value 1 Unit

P3-03 IOfunct_DI3 Function Input DI3 Factory setting 123
-
Maximum value 142
Description:
Function Input DI3
See parameter P3-00

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

Minimum value 1 Unit

P3-04 IOfunct_DI4 Function Input DI4 Factory setting 12
-
Maximum value 142
Description:
Function Input DI4
See parameter P3-00

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

Minimum value 1 Unit

P3-05 IOfunct_DI5 Function Input DI5 Factory setting 104
-
Maximum value 142
Description:
Function Input DI5
See parameter P3-00

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

Minimum value 1 Unit

P3-06 IOfunct_DQ0 Function Output DQ0 Factory setting 2
-
Maximum value 125
Description:
Function Output DQ0

Function code
Function Description
NO NC
Freely Available No function assigned, available as required 1 -
No Fault No fault found on device 2 102
Active Device power stage is enabled 3 103
In Position Deviation Window Position deviation is within window 5 105
In Velocity Deviation Window Velocity deviation is within window 6 106
Velocity Below Threshold Motor velocity below threshold 7 107
Torque Below Threshold Motor torque below threshold 8 108
Halt Acknowledge Halt acknowledgement 9 109
Motor Standstill Motor at a standstill 13 113
One of the specified errors of error
Selected Error 14 114
classes 1 … 4 is active
Valid Reference (ref_ok) Zero point is valid (ref_ok) 15 115
One of the specified errors of error class 0 is
Selected Warning 16 116
active
Motor Moves Positive Motor moves in positive direction 22 122
Motor Moves Negative Motor moves in negative direction 23 123
Release Brake Motor holding brake control 24 124
Torque Over Threshold Motor current over threshold 25 125

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

9-32 TM
 Minimum value 1 Unit
P3-07 IOfunct_DQ1 Function Output DQ1 Factory setting 5
-

1
Maximum value 142

Overview
Description:
Function Output DQ1
See parameter P3-06

Setting can only be changed if power stage is disabled.

2
Changed settings become active the next time the product is powered on.

Type Selection
Minimum value 1 Unit
P3-08 IOfunct_DQ2 Function Output DQ2 Factory setting 13
-
Maximum value 142
Description:

3 Installation
Function Output DQ2
See parameter P3-06

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on.

4
Minimum value 0 Unit

Connection
Wiring
P3-09 DI_0_Debounce Debounce time of DI0 Factory setting 6
-
Maximum value 6
Description:
Debounce time of DI0
0 / No: No software debouncing

5
1 / 0.25 ms: 0.25 ms
2 / 0.5 ms: 0.5 ms

Front Panel
3 / 0.75 ms: 0.75 ms
4 / 1.0 ms: 1.0 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms

6
Setting can only be changed if power stage is disabled.
Changed settings become active immediately.

Operation
Minimum value 0 Unit
P3-10 DI_1_Debounce Debounce time of DI1 Factory setting 6
-

7 Commissioning
Maximum value 6
Description:
Debounce time of DI1
0 / No: No software debouncing
1 / 0.25 ms: 0.25 ms
2 / 0.5 ms: 0.5 ms
3 / 0.75 ms: 0.75 ms
8

4 / 1.0 ms: 1.0 ms

Diagnosis

5 / 1.25 ms: 1.25 ms

6 / 1.50 ms: 1.50 ms

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.
9 Parameters

TM
9-33
Chap09. Parameters

Minimum value 0 Unit

P3-11 DI_2_Debounce Debounce time of DI2 Factory setting 6
-
Maximum value 6
Description:
Debounce time of DI2
0 / No: No software debouncing
1 / 0.25 ms: 0.25 ms
2 / 0.5 ms: 0.5 ms
3 / 0.75 ms: 0.75 ms
4 / 1.0 ms: 1.0 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

Minimum value 0 Unit

P3-12 DI_3_Debounce Debounce time of DI3 Factory setting 6
-
Maximum value 6
Description:
Debounce time of DI3
0 / No: No software debouncing
1 / 0.25 ms: 0.25 ms
2 / 0.5 ms: 0.5 ms
3 / 0.75 ms: 0.75 ms
4 / 1.0 ms: 1.0 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

Minimum value 0 Unit

P3-13 DI_4_Debounce Debounce time of DI4 Factory setting 6
-
Maximum value 6
Description:
Debounce time of DI4
0 / No: No software debouncing
1 / 0.25 ms: 0.25 ms
2 / 0.5 ms: 0.5 ms
3 / 0.75 ms: 0.75 ms
4 / 1.0 ms: 1.0 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

9-34 TM
 Minimum value 0 Unit
P3-14 DI_5_Debounce Debounce time of DI5 Factory setting 6
-

1
Maximum value 6

Overview
Description:
Debounce time of DI5
0 / No: No software debouncing
1 / 0.25 ms: 0.25 ms
2 / 0.5 ms: 0.5 ms

2
3 / 0.75 ms: 0.75 ms

Type Selection
4 / 1.0 ms: 1.0 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

3 Installation
Minimum value 0 Unit
P3-15 IO_AutoEnable Enabling the power stage at PowerOn Factory setting 0
-
Maximum value 2
Description:
Enabling the power stage at PowerOn

4
0 / RisingEdge: A rising edge with the signal input function "Enable" enables the power stage

Connection
Wiring
1 / HighLevel: An active signal input with signal input function "Enable" enables the power stage
2 / AutoOn: The power stage is automatically enabled

Changed settings become active the next time the power stage is enabled.

5 Front Panel
Minimum value 0 Unit
P3-16 IO_v_limit Velocity limitation via input Factory setting 10
usr_v
Maximum value 2147483647
Description:
Velocity limitation
A velocity limitation can be activated via a digital input.

6
Changed settings become active the next time the product is powered on.

Operation
Minimum value 0.00 Unit
P3-17 IO_I_limit Current limitation via input Factory setting 0.20
Arms

7 Commissioning
Maximum value 300.00
Description:
Current limitation
A current limit can be activated via a digital input.
In increments of 0.01 Arms

Changed settings become active the next time the product is powered on.
8 Diagnosis

Minimum value 0 Unit

Enables the power stage as set via IO_
P3-18 IO_AutoEnaConfig Factory setting 0
AutoEnable even after error -
Maximum value 1
Description:
Action method of parameter P3-15 automatic enabling
9

0 / Off: Setting in parameter IO_RutoEnable is only used after start-up

Parameters

1 / On: Setting in parameter IO_RutoEnable is used after start- up and after detected error

Changed settings become active the next time the power stage is enabled.

TM
9-35
Chap09. Parameters

Minimum value 0 Unit

Additional 'Fault Reset' for the signal
P3-19 IO_FaultResOnEnaInp Factory setting 0
input function 'Enable' -
Maximum value 1
Description:
Additional 'Fault Reset' for the signal input function 'Enable'
0/Off: No additional 'Fault Reset'
1/OnFallingEdge: Additional 'Fault Reset' with falling edge
2/OnRisingEdge: Additional 'Fault Reset' with rising edge

Changed settings become active the next time the power stage is enabled.

9-36 TM
9.6 P4 - External Settings

1 Overview
Minimum value 0 Unit
P4-00 HMILocked Lock HMI Factory setting 0
-
Maximum value 1
Description:
Choose whether to lock the front panel HMI integrated with the drive

2
0 / Not Locked: HMI not locked

Type Selection
1 / Locked: HMI locked
The following functions can no longer be started when the HMI is locked:
- Parameter change
- Jog (test run)
- Simple autotuning
- Fault Reset

3 Installation
Changed settings become active immediately.

Minimum value 1 Unit

P4-01 JOGv_slow Velocity for slow JOG movement Factory setting 100
usr_v

4
Maximum value 2147483647
Description:

Connection
Wiring
Velocity for slow movement
The adjustable value is internally limited to the parameter setting in P4-12.

Changed settings become active immediately.

5 Front Panel
Minimum value 1 Unit
P4-02 JOGv_fast Velocity for fast movement Factory setting 200
usr_v
Maximum value 2147483647
Description:
Velocity for fast movement
The adjustable value is internally limited to the parameter setting in P4-12

6 Operation
Changed settings become active immediately.

Minimum value 1 Unit

Homing: Target velocity for searching
P4-03 HMv Factory setting 60

7 Commissioning
the switch (fast) usr_v
Maximum value 2147483647
Description:
Target velocity for searching the switch (fast)
The adjustable value is internally limited to the parameter setting in P4-12

Changed settings become active immediately.

8 Diagnosis

Minimum value 1 Unit

Homing: Target velocity for moving
P4-04 HMv_out Factory setting 6
away from switch (slow) usr_v
Maximum value 2147483647
Description:
Target velocity for moving away from switch (slow)
The adjustable value is internally limited to the parameter setting in P4-12
9 Parameters

Changed settings become active immediately.

TM
9-37
Chap09. Parameters

Minimum value 0 Unit

Homing: Maximum search distance after
P4-05 HMsrchdis Factory setting 0
overtravel of switch usr_p
Maximum value 2147483647
Description:
Homing: Maximum search distance after overtravel of switch
0: Search distance monitoring disabled
>0: Search distance
The switch must be activated again within this search distance, otherwise the reference movement is canceled.

Changed settings become active the next time the motor moves.

Minimum value 0 Unit

Homing: Maximum distance for search for
P4-06 HMoutdis Factory setting 0
switching point usr_p
Maximum value 2147483647
Description:
Maximum distance for search for switching point
0: Monitoring of distance inactive
>0: Maximum distance
After detection of the switch, the drive starts to search for the defined switching point. If the defined switching point is not found
within the distance defined here, the reference movement is canceled and an error is detected.

Changed settings become active the next time the motor moves.

Minimum value 1 Unit

P4-07 HMdis Homing: Distance from switching point Factory setting 200
usr_p
Maximum value 2147483647
Description:
The distance from the switching point is defined as the reference point.
The parameter is only effective during a reference movement without index pulse.

Changed settings become active the next time the motor moves.

Minimum value 0 Unit

P4-08 HMp_home Homing: Position at reference point Factory setting 200
usr_p
Maximum value 2147483647
Description:
Position at reference point
After a successful reference movement, this position is automatically set at the reference point.

Changed settings become active the next time the motor moves.

Minimum value 1 Unit

P4-09 HMprefmethod Homing: Preferred homing method Factory setting 18
-
Maximum value 35
Description:
Preferred homing method
1 / LIMN with index pulse: A movement to the negative limit switch in fast velocity is performed, when the negative limit switch
is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the negative
limit switch in slow velocity. From the switching point of the negative limit switch, a movement is made to the next index pulse
of the motor in slow velocity, the position of the index pulse is the reference point.
2 / LIMP with index pulse: A movement to the positive limit switch in fast velocity is performed, when the positive limit switch
is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the positive
limit switch in slow velocity. From the switching point of the positive limit switch, a movement is made to the next index pulse of
the motor in slow velocity, the position of the index pulse is the reference point.
7 / REF+ with index pulse, inv., outside: A positive movement to the reference switch in fast velocity is performed, when the
reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
8 / REF+ with index pulse, inv., inside: A positive movement to the reference switch in fast velocity is performed, when the
reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.

9-38 TM
 Minimum value 1 Unit
P4-09 HMprefmethod Homing: Preferred homing method Factory setting 18
-

1
Maximum value 35

Overview
Description:
9 / REF+ with index pulse, not inv., inside: A positive movement to the reference switch in fast velocity is performed, when
the reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
10 / REF+ with index pulse, not inv., outside: A positive movement to the reference switch in fast velocity is performed, when
the reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching

2
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next

Type Selection
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
11 / REF- with index pulse, inv., outside: A negative movement to the reference switch in fast velocity is performed, when the
reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
12 / REF- with index pulse, inv., inside: A negative movement to the reference switch in fast velocity is performed, when the
reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.

3 Installation
13 / REF- with index pulse, not inv., inside: A negative movement to the reference switch in fast velocity is performed, when
the reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.
14 / REF- with index pulse, not inv., outside: A negative movement to the reference switch in fast velocity is performed, when
the reference switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching
point of the reference switch in slow velocity. From the switching point of the reference switch, a movement is made to the next
index pulse of the motor in slow velocity, the position of the index pulse is the reference point.

4
17 / LIMN: A movement to the negative limit switch in fast velocity is performed, when the negative limit switch is reached, the
motor is stopped and a movement is made in the opposite direction back to the switching point of the negative limit switch in

Connection
slow velocity. From the switching point of the negative limit switch, a movement is made to a parameterizable distance defined

Wiring
in parameter P4-07 from the switching point in slow velocity, the position of the parameterizable distance from the switching
point is the reference point.
18 / LIMP: A movement to the positive limit switch in fast velocity is performed, when the positive limit switch is reached, the
motor is stopped and a movement is made in the opposite direction back to the switching point of the positive limit switch in
slow velocity. From the switching point of the positive limit switch, a movement is made to a parameterizable distance defined
in parameter P4-07 from the switching point in slow velocity, the position of the parameterizable distance from the switching

5
point is the reference point.
23 / REF+, inv., outside: A positive movement to the reference switch in fast velocity is performed, when the reference switch

Front Panel
is reached, a movement is made in the same direction to the other switching point of the reference switch in slow velocity.
From the other switching point of the reference switch, a movement is made in the opposite direction to a parameterizable
distance defined in parameter P4-07 in slow velocity, the position of the parameterizable distance from the switching point is
the reference point.
24 / REF+, inv., inside: A positive movement to the reference switch in fast velocity is performed, when the reference switch
is reached, a movement is made in the same direction to the other switching point of the reference switch in slow velocity.
From the other switching point of the reference switch, a movement is made in the opposite direction to a parameterizable
distance defined in parameter P4-07 in slow velocity, the position of the parameterizable distance from the switching point is

6
the reference point.

Operation
25 / REF+, not inv., inside: A positive movement to the reference switch in fast velocity is performed, when the reference switch
is reached, a movement is made in the same direction to the other switching point of the reference switch in slow velocity.
From the other switching point of the reference switch, a movement is made in the opposite direction to a parameterizable
distance defined in parameter P4-07 in slow velocity, the position of the parameterizable distance from the switching point is
the reference point.
26 / REF+, not inv., outside: A positive movement to the reference switch in fast velocity is performed, when the reference
switch is reached, a movement is made in the same direction to the other switching point of the reference switch in

7 Commissioning
slow velocity. From the other switching point of the reference switch, a movement is made in the opposite direction to a
parameterizable distance defined in parameter P4-07 in slow velocity, the position of the parameterizable distance from the
switching point is the reference point.
27 / REF-, inv., outside: A negative movement to the reference switch in fast velocity is performed, when the reference switch
is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the reference
switch in slow velocity. From the switching point of the reference switch, a movement is made to a parameterizable distance
defined in parameter P4-07 in slow velocity, the position of the parameterizable distance from the switching point is the
reference point.
28 / REF-, inv., inside: A negative movement to the reference switch in fast velocity is performed, when the reference switch is
8

reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the reference
switch in slow velocity. From the switching point of the reference switch, a movement is made to a parameterizable distance
Diagnosis

defined in parameter P4-07 in slow velocity, the position of the parameterizable distance from the switching point is the
reference point.
29 / REF-, not inv., inside: A negative movement to the reference switch in fast velocity is performed, when the reference
switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the
reference switch in slow velocity. From the switching point of the reference switch, a movement is made to a parameterizable
distance defined in parameter P4-07 in slow velocity, the position of the parameterizable distance from the switching point is
the reference point.
30 / REF-, not inv., outside: A negative movement to the reference switch in fast velocity is performed, when the reference
9

switch is reached, the motor is stopped and a movement is made in the opposite direction back to the switching point of the
Parameters

reference switch in slow velocity. From the switching point of the reference switch, a movement is made to a parameterizable
distance defined in parameter P4-07 in slow velocity, the position of the parameterizable distance from the switching point is
the reference point.
33 / Index pulse neg. direction: A negative movement to the motor index in slow velocity is performed, the position of the index
pulse is the reference point.
34 / Index pulse pos. direction: A positive movement to the motor index in slow velocity is performed, the position of the index
pulse is the reference point.

TM
9-39
Chap09. Parameters

Minimum value 1 Unit

P4-09 HMprefmethod Homing: Preferred homing method Factory setting 18
-
Maximum value 35
Description:
35 / Position setting: Position setting:

Changed settings become active immediately.

Minimum value 1 Unit

Acceleration of the motion profile for
P4-10 RAMP_v_acc Factory setting 600
velocity usr_a
Maximum value 2147483647
Description:
Acceleration of the motion profile for velocity
Writing the value 0 has no effect on the parameter.

Changed settings become active the next time the motor moves.

Minimum value 1 Unit

Deceleration of the motion profile for
P4-11 RAMP_v_dec Factory setting 600
velocity usr_a
Maximum value 2147483647
Description:
Deceleration of the motion profile for velocity
The minimum value depends on the operating mode:
●● The minimum value is 1 in “pulse command speed synchronization” mode (P0-08 = 3)
●● The minimum value is 120 in test run or return-to-zero motion mode
Writing the value 0 has no effect on the parameter.

Changed settings become active the next time the motor moves.

Minimum value 1 Unit

Maximum velocity of the motion profile for
P4-12 RAMP_v_max Factory setting 13200
velocity usr_v
Maximum value 2147483647
Description:
Maximum velocity of the motion profile for velocity
If a greater reference velocity is set in one of these operating modes,it is automatically limited to P4-12.

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the motor moves.

Minimum value 0 Unit

P4-13 RAMP_v_enable Activation of the motion profile for velocity Factory setting 1
-
Maximum value 1
Description:
Activation of the motion profile for velocity
0 / Profile Off: Profile off
1 / Profile On: Profile on

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

Minimum value 0 Unit

Additional time delay for releasing the
P4-14 BRK_AddT_release Factory setting 0
holding brake ms
Maximum value 400
Description:
Additional time delay for releasing the holding brake

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

9-40 TM
 Minimum value 0 Unit
Additional time delay for applying the
P4-15 BRK_AddT_apply Factory setting 0
holding brake ms

1
Maximum value 1000

Overview
Description:
Additional time delay for applying the holding brake

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

2 Type Selection
Minimum value 0 Unit
P4-16 DYN_BRK_enable Enable dynamic brake function Factory setting 0
-
Maximum value 1
Description:
Whether to enable dynamic braking in the case of faults corresponding to error report levels 2, 3, and 4

3 Installation
0 / Dynamic Braking Function Off: Dynamic braking feature deactivated
1 / Dynamic Braking Function On: Dynamic braking feature activated

Changed settings become active immediately.

4
Minimum value 1 Unit
P4-17 CTRL_v_max Velocity limitation Factory setting 13200

Connection
usr_v

Wiring
Maximum value 2147483647
Description:
Velocity limitation
During operation, the velocity limit is one of the following values (whichever is lowest):
●● P4-17

5
●● P6-09
●● Velocity limitation via analog input (module IOM1)

Front Panel
Changed settings become active immediately.

Minimum value 1 Unit

6
P4-18 LIM_HaltReaction Halt option code Factory setting 1
-

Operation
Maximum value 3
Description:
Halt option code
1 / Deceleration Ramp: Deceleration ramp
3 / Torque Ramp: Torque ramp

7 Commissioning
When 1 / Deceleration Ramp is selected, the stop mode will be based on the deceleration curve set up through parameter
P4-11 (RAMP_v_dec)
When 3 / Torque Ramp is selected, the stop mode will be based on the deceleration torque set up through parameter P4-19
(LIM_I_maxHalt)

If a deceleration ramp is already active, the parameter cannot be written.

8

Changed settings become active immediately.

9 Diagnosis
Parameters

TM
9-41
Chap09. Parameters

Minimum value 0.01 Unit

P4-19 LIM_I_maxHalt Deceleration current for Halt Factory setting -
Arms
Maximum value 463.00
Description:
Current for Halt
This value is only limited by the minimum/maximum value range (no limitation of this value by motor/power stage).
In the case of a Halt, the current limit (_Imax_act) is one of the following values (whichever is lowest): P4-19, P6-07, P6-24.

Further current limitations caused by I2t monitoring are also taken into account during a Halt.
Default: P6-24 at 8 kHz PWM frequency
In increments of 0.01 Arms

Changed settings become active immediately.

Minimum value -2 Unit

P4-20 LIM_QStopReact Quick Stop option code Factory setting 6
-
Maximum value 7
Description:
Choose the stop mode when quick stop is activated
-2 / Torque Ramp (Fault): Use torque ramp and transit to operating state 9 Fault
-1 / Deceleration Ramp (Fault): Use deceleration ramp and transit to operating state 9 Fault
6 / Deceleration Ramp (Quick Stop): Use deceleration ramp and remain in operating state 7 Quick Stop
7 / Torque Ramp (Quick Stop): Use torque ramp and remain in operating state 7 Quick Stop

When -1 / Deceleration Ramp (Fault) and 6 / Deceleration Ramp (Quick Stop) are selected, the motion will be stopped based
on the deceleration curve set by parameter P4-21 (RAMPquickstop)
When -2 / Torque Ramp (Fault) and 7 / Torque Ramp (Quick Stop) are selected, the motion will be stopped based on the
deceleration torque set by parameter P4-22 (LIM_I_maxQSTP)

If a deceleration ramp is already active, the parameter cannot be written.

Changed settings become active immediately.

Minimum value 1 Unit

P4-21 RAMPquickstop Deceleration ramp for Quick Stop Factory setting 6000
usr_a
Maximum value 2147483647
Description:
Deceleration ramp for Quick Stop
Deceleration ramp for a software stop or an error with error class 1 or 2.

Changed settings become active the next time the motor moves.

Minimum value 0.01 Unit

P4-22 LIM_I_maxQSTP Current value for Quick Stop Factory setting 0.01
Arms
Maximum value 463.00
Description:
Current value for Quick Stop
This value is only limited by the minimum/maximum value range (no limitation of this value by motor/power stage).
In the case of a Quick Stop, the current limit (_Imax_act) is one of the following values (whichever is lowest):
●● P4-22
●● P6-07
●● P6-24

Further current limitations caused by I2t monitoring are also taken into account during a Quick Stop.
Default: P6-24 at 8 kHz PWM frequency
In increments of 0.01 Arms

Changed settings become active immediately.

9-42 TM
 Minimum value -2147483648 Unit
Relative offset position 1 for offset move-
P4-23 OFSp_RelPos1 Factory setting 0
ment Inc

1
Maximum value 2147483647

Overview
Description:
Relative offset position 1 for offset movement

Changed settings become active immediately.

2 Type Selection
Minimum value -2147483648 Unit
Relative offset position 2 for offset move-
P4-24 OFSp_RelPos2 Factory setting 0
ment Inc
Maximum value 2147483647
Description:
Relative offset position 2 for offset movement

Changed settings become active immediately.

3 Installation
Minimum value -2147483648 Unit
P4-25 OFSv_target Target velocity for offset movement Factory setting 0
Inc
Maximum value 2147483647
Description:

4
Target velocity for offset movement

Connection
Wiring
Changed settings become active immediately.

Minimum value 1 Unit

Acceleration and deceleration for offset

5
P4-26 OFS_Ramp Factory setting 600
movement usr_a

Front Panel
Maximum value 2147483647
Description:
Acceleration and deceleration for offset movement

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

6 Operation
Minimum value 1 Unit
P4-27 MBaddress Modbus address Factory setting 1
-
Maximum value 247
Description:

7 Commissioning
Modbus address
Valid addresses: 1 to 247

Changed settings become active the next time the product is powered on.

Minimum value 9600 Unit

8

P4-27 MBbaud Modbus baud rate Factory setting 19200

-
Diagnosis

Maximum value 38400

Description:
Modbus baud rate
9600 / 9600 Baud: 9600 Baud
19200 / 19200 Baud: 19200 Baud
38400 / 38400 Baud: 38400 Baud
9 Parameters

Changed settings become active the next time the product is powered on.

TM
9-43
Chap09. Parameters

Minimum value 1 Unit

P4-29 ScalePOSnum Position scaling: Numerator (usr_p) Factory setting 1
rev
Maximum value 2147483647
Description:
Used to calculate the proportionality coefficient between the revolution count of motor and the desired internal position unit
(usr_p):
Motor revolution count = Internal position unit (usr_p) * P4-29 / P4-30
A new scaling is activated when the numerator value is supplied.

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

Minimum value 1 Unit

P4-30 ScalePOSdenom Position scaling: Denominator (usr_p) Factory setting 131072
usr_p
Maximum value 2147483647
Description:
Used to calculate the proportionality coefficient between the revolution count of motor and the desired internal position unit
(usr_p):
Motor revolution count = Internal position unit (usr_p) * P4-29 / P4-30
A new scaling is activated when the numerator value is supplied.

Setting can only be changed if power stage is disabled.

Changed settings become active immediately.

9-44 TM
9.7 P5 - Special Settings

1 Overview
Minimum value 0 Unit
First number for the signal output function
P5-00 MON_IO_SelErr1 Factory setting 0
Selected Error -
Maximum value 65535
Description:
First number for the signal output function Selected Error

2
This parameter specifies the error code of an error of error classes 1...4 which is to activate the signal output function.

Type Selection
Changed settings become active immediately.

Minimum value 0 Unit

Second error code for the signal output
P5-01 MON_IO_SelErr2 Factory setting 0

3 Installation
function Selected Error -
Maximum value 65535
Description:
Second error code for the signal output function Selected Error
This parameter specifies the error code of an error of error classes 1...4 which is to activate the signal output function.

Changed settings become active immediately.

4Connection
Wiring
Minimum value 0 Unit
First error code for the signal output
P5-02 MON_IO_SelWar1 Factory setting 0
function Selected Warning -
Maximum value 65535
Description:
First error code for the signal output function Selected Warning

5
This parameter specifies the error code of an error of error class 0 which is to activate the signal output function.

Front Panel
Changed settings become active immediately.

Minimum value 0 Unit

Second error code for the signal output
P5-03 MON_IO_SelWar2 Factory setting 0

6
function Selected Warning -
Maximum value 65535

Operation
Description:
Second error code for the signal output function Selected Warning
This parameter specifies the error code of an error of error class 0 which is to activate the signal output function.
Changed settings become active immediately.

7 Commissioning
Minimum value 0 Unit
P5-04 MON_SW_Limits Activation of software limit switches Factory setting 0
-
Maximum value 3
Description:
Activation of software limit switches
8

0 / None: Deactivated
Diagnosis

1 / SWLIMP: Activation of software limit switches positive direction

2 / SWLIMN: Activation of software limit switches negative direction
3 / SWLIMP + SWLIMN: Activation of software limit switches both directions

Software limit switches can only be activated if the zero point is valid.
9

Changed settings become active immediately.

Parameters

TM
9-45
Chap09. Parameters

Minimum value 0 Unit

P5-05 MON_SWLimMode Behavior when position limit is reached Factory setting 0
-
Maximum value 1
Description:
Behavior when position limit is reached
0 / Standstill Behind Position Limit: Quick Stop is triggered at position limit and standstill is reached behind position limit
1 / Standstill At Position Limit: Quick Stop is triggered in front of position limit and standstill is reached at position limit

Changed settings become active immediately.

Minimum value -2147483648 Unit

Positive position limit for software limit
P5-06 MON_swLimP Factory setting 2147483647
switch usr_p
Maximum value 2147483647
Description:
Positive position limit for software limit switch

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

Minimum value -2147483648 Unit

Negative position limit for software limit
P5-07 MON_swLimN Factory setting -2147483648
switch usr_p
Maximum value 2147483647
Description:
Negative position limit for software limit switch

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

Minimum value 0 Unit

P5-08 MON_v_zeroclamp Velocity limit for Zero Clamp Factory setting 10
usr_v
Maximum value 2147483647
Description:
Velocity limit for Zero Clamp
The zero speed lock feature is applicable only when the given speed is lower than the low speed threshold of zero speed lock

Changed settings become active immediately.

Minimum value 0 Unit

Standstill window, permissible control
P5-09 MON_p_win_usr Factory setting 128
deviation usr_p
Maximum value 2147483647
Description:
Standstill window, permissible control deviation
The control deviation for the standstill window time must be within this range for a standstill of the drive to be detected.

Processing of the standstill window must be activated via the

parameter P5-10

Changed settings become active immediately.

Minimum value 0 Unit

Target position reached: Standstill win-
P5-10 MON_p_winTime Factory setting 0
dow time ms
Maximum value 32767
Description:
Target position reached: Standstill window time
0: Monitoring of standstill window deactivated
>0: Time in ms during which the control deviation must be in the standstill window

Changed settings become active immediately.

9-46 TM
 Minimum value 0 Unit
Target position reached: Timeout time for
P5-11 MON_p_winTout Factory setting 0
standstill window monitoring ms

1
Maximum value 16000

Overview
Description:
Target position reached: Timeout time for standstill window monitoring
0: Timeout monitoring deactivated
>0: If the target position is not reached within the time threshold defined by this parameter, the servo drive will display a fault
message

2
The timer is started after the completion of motion command; if the motor fails to reach the target position within the time

Type Selection
threshold defined by this parameter, the servo drive will display a fault message

Changed settings become active immediately.

Minimum value 0 Unit

3 Installation
P5-12 MON_ChkTime Monitoring of time window Factory setting 0
ms
Maximum value 9999
Description:
Monitoring of time window
Adjustment of a time for monitoring of position deviation, velocity deviation, velocity value and current value.

4
Changed settings become active immediately.

Connection
Wiring
Minimum value 0 Unit
P5-13 MON_p_DiffWin_usr Monitoring of position deviation Factory setting 128
usr_p
Maximum value 2147483647
Description:

5
Position error threshold of motor position error monitoring

Front Panel
The system monitors whether the drive is within the defined deviation

during the period set with P5-12.

Changed settings become active immediately.

6 Operation
Minimum value 1 Unit
P5-14 MON_v_DiffWin Monitoring of velocity deviation Factory setting 10
usr_v
Maximum value 2147483647
Description:
Position error threshold of motor speed error monitoring

7 Commissioning
The system monitors whether the drive is within the defined deviation
during the period set with P5-12.

Changed settings become active immediately. 8

Minimum value 1 Unit

P5-15 MON_v_Threshold Monitoring of velocity threshold Factory setting 10
Diagnosis

usr_v
Maximum value 2147483647
Description:
Low speed detection threshold for motor speed monitoring
The system monitors whether the drive is below the defined value
9

during the period set with P5-12.

Parameters

Changed settings become active immediately.

TM
9-47
Chap09. Parameters

Minimum value 1 Unit

P5-16 MON_I_Threshold Monitoring of current threshold Factory setting 10
Arms
Maximum value 2147483647
Description:
Monitoring of current threshold
The system monitors whether the drive is below the defined value during the period set with MON_ChkTime. P5-12

Changed settings become active immediately.

Minimum value 0 Unit

P5-17 MON_commutat Commutation monitoring Factory setting 1
-
Maximum value 1
Description:
Commutation monitoring

0 / Off: Commutation monitoring off

1 / On (OpState6): Commutation monitoring on in operating state 6
2 / On (OpState6+7): Commutation monitoring on in operating states 6 and 7”
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the power stage is enabled.

Minimum value 0 Unit

P5-18 MON_GroundFault Ground fault monitoring Factory setting 1
-
Maximum value 1
Description:
Ground fault

0 / Off: Ground fault monitoring off

1 / On: Ground fault monitoring on

Changed settings become active the next time the product is powered on.

Minimum value 0 Unit

Error response to 100% I2t braking resis-
P5-19 ErrorResp_I2tRES Factory setting 0
tor -
Maximum value 2
Description:
Error response to 100% I2t braking resistor
0 / Error Class 0: Error class 0
1 / Error Class 1: Error class 1
2 / Error Class 2: Error class 2

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

Minimum value 4 Unit

P5-20 PWM_fChop PWM frequency of power stage Factory setting 8
-
Maximum value 16
Description:
PWM frequency of power stage
4 / 4 kHz: 4 kHz
8 / 8 kHz: 8 kHz
16 / 16 kHz: 16 kHz

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

9-48 TM
 Minimum value 0 Unit
P5-21 I_Sat_winTime Current saturation window time Factory setting 5000
ms

1
Maximum value 20000

Overview
Description:
Current saturation window time
The drive reports an error when the current command of current loop is at or beyond the max. current threshold (300%) for a
time that is longer than defined in this parameter

2
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the power stage is enabled.

Type Selection
Minimum value 0 Unit
Processing mode of backlash compen-
P5-22 BLSH_Mode Factory setting 0
sation -
Maximum value 3

3 Installation
Description:
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
3 / OnAfterBothMovenent: Backlash compensation is on, last movement was in positive or negative direction

4
Changed settings become active immediately.

Connection
Wiring
Minimum value 0 Unit
Position value for backlash compensa-
P5-23 BLSH_Position Factory setting 0
tion usr_p
Maximum value 2147483647

5
Description:
Position value for backlash compensation

Front Panel
Setting can only be changed if power stage is disabled.
Changed settings become active the next time the power stage is enabled.

6
Minimum value 0 Unit
Processing time for backlash compen-

Operation
P5-24 BLSH_Time Factory setting 0
sation ms
Maximum value 16383
Description:
Processing time for backlash compensation
0: Immediate backlash compensation

7 Commissioning
>0: Processing time for backlash compensation

Setting can only be changed if power stage is disabled.

Changed settings become active the next time the power stage is enabled.

Minimum value 0.00 Unit

8

P5-25 _Imax_system Current limitation of the system Factory setting 0.00

Arms
Diagnosis

Maximum value 655.35

Description:
Current limitation of the system
This parameter specifies the maximum system current, which is the smallest one of the following values:
●● P6-07
●● P6-24
9

In increments of 0.01 Arms

Parameters

Read-only parameter.

TM
9-49
Chap09. Parameters

9.8 P6 - Device Information

Minimum value 0 Unit

P6-00 M_filename Motor file name Factory setting 0
-
Maximum value 16
Description:
Motor file name
0 / No Motor Selected: No motor selected
1 / BCH16LB01330A5C: 0.1 kW motor, low inertia, 40mm flange, rated speed 3000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, without holding brake, free leads, Asian style mounting interface
2 / BCH16LB01330F5C: 0.1 kW motor, low inertia, 40mm flange, rated speed 3000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, with holding brake, free leads, Asian style mounting interface
3 / BCH16HD02330A5C: 0.2 kW motor, high inertia, 60 mm flange, rated speed 3000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, without holding brake, free leads, Asian style mounting interface
4 / BCH16HD02330F5C: 0.2 kW motor, high inertia, 60 mm flange, rated speed 3000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, with holding brake, free leads, Asian style mounting interface
5 / BCH16HD04330A5C: 0.4 kW motor, high inertia, 60 mm flange, rated speed 3000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, without holding brake, free leads, Asian style mounting interface
6 / BCH16HD04330F5C: 0.4 kW motor, high inertia, 60 mm flange, rated speed 3000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, with holding brake, free leads, Asian style mounting interface
7 / BCH16HF07330A5C: 0.75 kW motor, high inertia, 80 mm flange, rated speed 3000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, without holding brake, free leads, Asian style mounting interface
8 / BCH16HF07330F5C: 0.75 kW motor, high inertia, 80 mm flange, rated speed 3000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, with holding brake, free leads, Asian style mounting interface
9 / BCH16LH10330A6C: 1.0 kW motor, low inertia, 100 mm flange, rated speed 3000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, without holding brake, MIL connector, Asian style mounting interface
10 / BCH16LH10330F6C: 1.0 kW motor, low inertia, 100 mm flange, rated speed 3000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, with holding brake, MIL connector, Asian style mounting interface
11 / BCH16HM10230A6C: 1.0 kW motor, high inertia, 130 mm flange, rated speed 2000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, without holding brake, MIL connector, Asian style mounting interface
12 / BCH16HM10230F6C: 1.0 kW motor, high inertia, 130 mm flange, rated speed 2000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, with holding brake, MIL connector, Asian style mounting interface
13 / BCH16HM08130A6C: 0.85 kW motor, high inertia, 130 mm flange, rated speed 1500 rpm, key shaft with oil seal, 2500ppr
incremental encoder, without holding brake, MIL connector, Asian style mounting interface
14 / BCH16HM08130F6C: 0.85 kW motor, high inertia, 130 mm flange, rated speed 1500 rpm, key shaft with oil seal, 2500ppr
incremental encoder, with holding brake, MIL connector, Asian style mounting interface
15 / BCH16HM15230A6C: 1.5 kW motor, high inertia, 130 mm flange, rated speed 2000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, without holding brake, MIL connector, Asian style mounting interface
16 / BCH16HM15230F6C: 1.5 kW motor, high inertia, 130 mm flange, rated speed 2000 rpm, key shaft with oil seal, 2500ppr
incremental encoder, with holding brake, MIL connector, Asian style mounting interface

The new settings will be employed next time when the equipment is switched on.

Minimum value 0 Unit

P6-01 _M_Encoder Type of motor encoder Factory setting 9
-
Maximum value 9
Description:
Type of motor encoder
1 / SinCos With HiFa: SinCos with Hiperface
2 / SinCos Without HiFa: SinCos without Hiperface
3 / SinCos With Hall: SinCos with Hall
4 / SinCos With Endat: SinCos with EnDat
5 / EnDat Without SinCos: EnDat without SInCos
6 / Resolver: Resolver
7 / Resvered
8 / BISS: BISS encoder
9 / 2500ppr Incremental: 2500ppr incremental encoder

Read-only parameter.

9-50 TM
 Minimum value - Unit
P6-02 _M_HoldingBrake Holding brake identification Factory setting -
-

1
Maximum value -

Overview
Description:
Holding brake identification
0: Motor without holding brake
1: Motor with holding brake

2
Read-only parameter.

Type Selection
Minimum value - Unit
P6-03 _M_BRK_T_apply Holding brake application time Factory setting -
ms
Maximum value -
Description:

3 Installation
Holding brake application time

Read-only parameter.

Minimum value - Unit

4
P6-04 _M_BRK_T_release Holding brake release time Factory setting -
ms
Maximum value -

Connection
Wiring
Description:
Holding brake release time

Read-only parameter.

5 Front Panel
Minimum value - Unit
P6-05 _M_M_0 Continuous stall torque of motor Factory setting -
Ncm
Maximum value -
Description:
Continuous stall torque of motor

6
Read-only parameter.

Operation
Minimum value - Unit
P6-06 _M_I_0 Continuous stall current of motor Factory setting -
Arms
Maximum value -

7 Commissioning
Description:
Continuous stall current of motor
In increments of 0.01 Arms

Read-only parameter. 8

Minimum value - Unit

Diagnosis

P6-07 _M_I_max Maximum current of motor Factory setting -

Arms
Maximum value -
Description:
Maximum current of motor
In increments of 0.01 Arms
9

Read-only parameter.
Parameters

TM
9-51
Chap09. Parameters

Minimum value - Unit

P6-08 _M_I_nom Maximum current of motor Factory setting -
Arms
Maximum value -
Description:
Maximum current of motor
In increments of 0.01 Arms

Read-only parameter.

Minimum value - Unit

Maximum permissible speed of rotation/
P6-09 _M_n_max Factory setting -
velocity of motor 1/min
Maximum value -
Description:
Maximum permissible speed of rotation/velocity of motor

Read-only parameter.

Minimum value - Unit

Nominal speed of rotation/velocity of
P6-10 _M_n_nom Factory setting -
motor 1/min
Maximum value -
Description:
Nominal speed of motor

Read-only parameter.

Minimum value - Unit

P6-11 _M_Jrot Moment of inertia of motor Factory setting -
kgcm2
Maximum value -
Description:
Nominal speed of motor

Read-only parameter.

Minimum value - Unit

P6-12 _M_kE Voltage constant kE of motor Factory setting - Vrms/1/
Maximum value - min
Description:
Voltage constant kE of motor
Voltage constant in Vrms at 1000 min-1.
In increments of 0.1 Vrms/1/min

Read-only parameter.

Minimum value - Unit

P6-13 _M_U_nom Nominal voltage of motor Factory setting -
V
Maximum value -
Description:
Nominal voltage of motor
In increments of 0.1V

Read-only parameter.

9-52 TM
 Minimum value - Unit
P6-14 _M_M_max Maximum torque of motor Factory setting -
Nm

1
Maximum value -

Overview
Description:
Maximum torque of motor
In increments of 0.1Nm

Read-only parameter.

2 Type Selection
Minimum value - Unit
P6-15 _M_M_nom Nominal torque/force of motor Factory setting -
Ncm
Maximum value -
Description:
Nominal torque/force of motor

3 Installation
Read-only parameter.

Minimum value - Unit

P6-16 _M_T_max Maximum temperature of motor Factory setting -
°C
Maximum value -

4
Description:

Connection
Wiring
Maximum temperature of motor

Read-only parameter.

5
Minimum value - Unit
Maximum permissible time for maximum

Front Panel
P6-17 _M_I2t Factory setting -
current of motor ms
Maximum value -
Description:
Maximum permissible time for maximum current of motor

Read-only parameter.

6 Operation
Minimum value - Unit
P6-18 _hwVersCPU Hardware version of control board Factory setting -
-
Maximum value -
Description:

7 Commissioning
Hardware version of control board

Read-only parameter.

Minimum value - Unit

P6-19 _prgNoDEV Firmware number of device Factory setting -
8

-
Maximum value -
Diagnosis

Description:
Firmware number of device
Example: PR0912.00. The value is provided as a decimal value: 91200

Read-only parameter.
9 Parameters

TM
9-53
Chap09. Parameters

Minimum value - Unit

P6-20 _prgVerDEV Firmware version of device Factory setting -
-
Maximum value -
Description:
Firmware version of device
The version format is [Link].
Part [Link] is contained in this parameter. Part ZZ is contained in parameter P6-21
Example: V01.23.45. The value is provided as a decimal value: 123

Read-only parameter.

Minimum value - Unit

P6-21 _prgRevDEV Firmware revision of device Factory setting -
-
Maximum value -
Description:
Firmware revision of device
The format of version No. is [Link]
Part [Link] is contained in parameter P6-20. Part ZZ is contained in this parameter.
Example: V01.23.45. The value is provided as a decimal value: 45

Read-only parameter.

Minimum value - Unit

P6-22 _hwVersPS Hardware version of power stage Factory setting -
-
Maximum value -
Description:
Hardware version of power stage

Read-only parameter.

Minimum value - Unit

P6-23 _PS_I_nom Rated current of output stage Factory setting -
Arms
Maximum value -
Description:
Rated current of output stage
In increments of 0.01 Arms

Read-only parameter.

Minimum value - Unit

P6-24 _PS_I_max Maximum current of power stage Factory setting -
Arms
Maximum value -
Description:
Maximum current of power stage
In increments of 0.01 Arms

Read-only parameter.

Minimum value - Unit

P6-25 _PS_U_minDC Minimum permissible DC bus voltage Factory setting -
V
Maximum value -
Description:
Minimum permissible DC bus voltage
In increments of 0.1 V

Read-only parameter.

9-54 TM
 Minimum value - Unit
P6-26 _PS_U_maxDC Maximum permissible DC bus voltage Factory setting -
V

1
Maximum value -

Overview
Description:
Maximum permissible DC bus voltage
In increments of 0.1 V

Read-only parameter.

2 Type Selection
Minimum value - Unit
DC bus voltage low threshold for Quick
P6-27 _PS_U_minStopDC Factory setting -
Stop V
Maximum value -
Description:
DC bus voltage low threshold for Quick Stop

3 Installation
If the threshold is reached, the drive performs a Quick Stop.
In increments of 0.1 V

Read-only parameter.

4
Minimum value - Unit
P6-28 _PS_T_max Maximum temperature of power stage Factory setting -

Connection
°C

Wiring
Maximum value -
Description:
Maximum temperature of power stage

Read-only parameter.

5 Front Panel
Minimum value - Unit
Temperature warning threshold of power
P6-29 _PS_T_warm Factory setting -
stage °C
Maximum value -
Description:
Temperature warning threshold of power stage

6
Read-only parameter.

9 Operation
7 Commissioning
8 Diagnosis
Parameters

TM
9-55