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BIAS Command

BIAS command

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0% found this document useful (0 votes)

10 views211 pages

BIAS Command

BIAS command

Uploaded by

Frederic Mercier

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BIAS

BIAS - Command

Software
Manual
10-06-05-E-V0304.doc
Further descriptions,
that relate to this document:
Further descriptions, that relate to this document:

UL: 07-01-08-02
Product manual 631

UL: 07-01-05-06
Product manual 635

UL: 07-02-08-03
Product manual 637

UL: 07-02-09-01
Product manual 637+

UL: 07-02-10-01
Product manual 637f

CD -ROM:
EASYRIDER® Windows - Software

©SSD Drives GmbH.

All rights reserved. No portion of this description may be produced or processed in any form without the
consent of the company.

Changes are subject to change without notice.

SSD Drives has registered in part trademark protection and legal protection of designs.
The handing over of the descriptions may not be construed as the transfer of any rights.

Made in Germany, 2004

________________________________________________________________________________________________________________________________________________________________________________________________________________________

2 Software manual Type: BIAS 10-06-05-E-V0304.doc

Contents
CONTENTS
Page
The most important thing first .......................................................................... 6
1 General ...................................................................................................... 7
1.0 Introduction ..................................................................................................................................... 7
1.1. Program layout................................................................................................................................ 8
1.2. Execute a BIAS program ................................................................................................................ 8
1.3. Execute a PLC program ................................................................................................................. 9
1.4. Execute a Mathematics program.................................................................................................... 9
1.5. BIAS example programs............................................................................................................... 10
2 BIAS commands overview..................................................................... 22
3 BIAS-Command group ........................................................................... 23
3.1 BIAS-Command group “Move commands“................................................................................... 23
3.2 BIAS-Command group „Parameter commands“ .......................................................................... 24
3.3 BIAS Command group “Variable commands“ .............................................................................. 26
3.4 BIAS Command group “Flag commands“..................................................................................... 26
3.5 BIAS Command group “Conditional jump commands“................................................................. 27
3.6 BIAS Commands group “Program control commands” ................................................................ 27
3.7 BIAS Command group “Mathematic commands“......................................................................... 28
3.8 BIAS Command group “Output commands“................................................................................. 28
3.9 BIAS Command group “CAN-Commands“ ................................................................................... 29
3.10 BIAS Command group “637f V8.xx commands“ .......................................................................... 29
4 BIAS - Command .................................................................................... 30
4 - 00 BIAS-Command “Move position“ .................................................................................................. 30
4 - 01 BIAS-Command “Move incremental position“ .............................................................................. 31
4 - 02 BIAS-Command “Move datum“..................................................................................................... 32
4 - 03 BIAS-Command “Move infinite positive“....................................................................................... 34
4 - 04 BIAS-Command “Move infinite negative“ ..................................................................................... 35
4 - 05 BIAS-Command “Move synchron“................................................................................................ 36
4 -06 BIAS-Command “Move CAM profile“............................................................................................ 38
4 - 07 BIAS-Command “Synchronous settings 1“................................................................................... 39
4 - 08 BIAS-Command “Synchronous settings 2“................................................................................... 40
4 - 09 BIAS-Command “Move PID, speed“............................................................................................. 42
4 - 0A BIAS-Command “Move PID, torque“ ............................................................................................ 44
4 - 0B BIAS-Command “Set position [axis no. ] = const.“ ....................................................................... 46
4 - 0C BIAS-Command “Set position [axis no. ] = [variable X]“............................................................... 47
4 - 0D BIAS-Command “Move relative“ ................................................................................................... 48
4 - 0E BIAS-Command “Start axis“ ......................................................................................................... 49
4 - 0F BIAS-Command “Stop axis“.......................................................................................................... 50
4 - 10 BIAS-Command “Move position + parameter“ ............................................................................. 51
4 - 11 BIAS-Command “Move incremental position + parameter“.......................................................... 52
4 - 12 BIAS-Command “Move datum + parameter“................................................................................ 53
4 - 13 BIAS-Command “Move infinite positive + parameter“ .................................................................. 55
4 - 14 BIAS-Command “Move inifinite negative + parameter“ ................................................................ 56
4 - 15 BIAS-Command “Move synchron + parameter“ ........................................................................... 57
4 - 16 BIAS-Command “Move analogue value + integrator“ .................................................................. 58
4 - 17 BIAS-Command “Move speed + integrator“ ................................................................................. 59
4 - 1A BIAS command “Cycle length = Const.“ ....................................................................................... 60
4 - 1B BIAS command “Cycle length = [variable X] “ .............................................................................. 60
4 - 1C BIAS-Command “Load parameter set X = [variable [Y]]“ ............................................................. 61
4 - 1F BIAS-Command “Stop axis + parameter“..................................................................................... 65
4 - 20 BIAS-Command “Position = const.“.............................................................................................. 66
4 - 21 BIAS-Command “Speed = const.“ ................................................................................................ 67
4 - 22 BIAS-Command “Acceleration = const.“....................................................................................... 68
4 - 23 BIAS-Command “Deceleration = const.“ ...................................................................................... 69
4 - 24 BIAS-Command “Gear factor = const.“ ........................................................................................ 70
4 - 25 BIAS-Command “Position reached" window = const. .................................................................. 71
4 - 26 BIAS-Command “Remaining position= const.“............................................................................. 72

10-06-05-E-V0304.doc Software manual Type: BIAS 3

Contents
.................................................................................................................................................................. Page
4 - 27 BIAS-Command “Ramp filter = const.,[variable Y]“ ...................................................................... 73
4 - 28 BIAS-Command “Actual position X = const.“................................................................................ 74
4 - 29 BIAS-Command “If actual position X ? const. then jump“ ............................................................ 75
4 - 2A BIAS-Command “If actual position X ? [variable Y] then jump“.................................................... 76
4 - 2B BIAS-Command “Sensor window = const.“ .................................................................................. 77
4 - 2C BIAS-Command “Sensor position = const.“.................................................................................. 79
4 - 2D BIAS-Command “Sensor adjustment 1 = const.“ ......................................................................... 80
4 - 2E BIAS-Command “Sensor adjustment 2 = const.“ ......................................................................... 81
4 - 2F BIAS-Command “Update parameter“ ........................................................................................... 82
4 - 30 BIAS-Command “Position = [variable X]“ ..................................................................................... 83
4 - 31 BIAS-Command “Speed = [variable X]“........................................................................................ 84
4 - 32 BIAS-Command “Acceleration = [variable X]“ .............................................................................. 85
4 - 33 BIAS-Command “Deceleration = [variable X]“.............................................................................. 86
4 - 34 BIAS-Command “Gear factor = [variable X]“ ................................................................................ 87
4 - 35 BIAS-Command “Position reached" window = [variable X]“......................................................... 88
4 - 36 BIAS-Command “Remaining position = [variable X]“ ................................................................... 89
4 - 37 BIAS-Command “Maximum current = [variable X]“ ...................................................................... 90
4 - 38 BIAS-Command “Actual position X = [variable Y]“ ....................................................................... 91
4 - 39 BIAS-Command “Analog output X = [variable Y]“ ........................................................................ 92
4 - 3A BIAS-Command “PID scaling“ ...................................................................................................... 93
4 - 3B BIAS-Command “Sensor window = [variable X]“.......................................................................... 94
4 - 3C BIAS-Command “Sensor position = [variable X]“ ......................................................................... 96
4 - 3D BIAS-Command “Sensor adjustments 1 = [variable X]“ ............................................................... 97
4-3 BIAS-Command “Sensor adjustments 2 = [variable X]“ ............................................................... 98
4 - 3F BIAS-Command “PID parameter“................................................................................................. 99
4 - 40 BIAS-Command “[Variable X] = position“ ................................................................................... 100
4 - 41 BIAS-Command “[Variable X] = speed“...................................................................................... 101
4 - 42 BIAS-Command “[Variable X] = accerleration“........................................................................... 102
4 - 43 BIAS-Command “[Variable X] = deceleration“............................................................................ 103
4 - 44 BIAS-Command “[Variable X] = gear factor“ .............................................................................. 104
4 - 45 BIAS-Command “[Variable X] = block number“.......................................................................... 105
4 - 46 BIAS-Command “[Variable X] = actual position Y“ ..................................................................... 106
4 - 47 BIAS-Command “[Variable X] = analog input Y“ ........................................................................ 107
4 - 48 BIAS-Command “[Variable X] = latch position Y“ ....................................................................... 108
4 - 49 BIAS-Command “[Variable X] = actual speed Y“........................................................................ 109
4 - 4A BIAS-Command “[Variable X] = latch status Y“.......................................................................... 110
4 - 4B BIAS-Command “[Variable X] = position Y“................................................................................ 111
4 - 4C BIAS-Command “[Variable X] = value Y“.................................................................................... 112
4 - 4D BIAS-Command “[Variable X] = axis status, axis no. Y“............................................................. 120
4 - 50 BIAS-Command “NOP“............................................................................................................... 122
4 - 51 BIAS-Command “End of program, mode =“ ............................................................................... 123
4 - 52 BIAS-Command “Sub-program“ ................................................................................................. 124
4 - 53 BIAS-Command “End of sub-program “ ..................................................................................... 125
4 - 54 BIAS-Command “PLC-program“................................................................................................. 126
4 - 55 BIAS-Command “Jump const.” ................................................................................................... 127
4 - 56 BIAS-Command “Jump [variable X]“ .......................................................................................... 128
4 - 57 BIAS-Command “BIAS-execution pointer = const.“.................................................................... 129
4 - 58 BIAS-Command “Wait for "position reached"“............................................................................ 130
4 - 59 BIAS-Command “Wait time = const.“.......................................................................................... 131
4 - 5A BIAS-Commands “Wait time = [variable X]“ ............................................................................... 132
4 - 5B BIAS-Command “BIAS-execution pointer = [variable X]“ ........................................................... 133
4 - 5C BIAS-Command “Jump [var.[ X ]]; length = Y ; from line“........................................................... 134
4 - 5D BIAS-Command “Execute X commands“ ................................................................................... 135
4 - 5F BIAS-Command “Virtual program“.............................................................................................. 136
4 - 60 BIAS-Command ”Flag X = const.“ .............................................................................................. 137
4 - 61 BIAS-Command “If flag X ? const. then jump “........................................................................... 138
4 - 62 BIAS-Command “Flag X = flag Y“............................................................................................... 139
4 - 63 BIAS-Command “Flag X = input Y“............................................................................................. 140
4 - 64 BIAS-Command “Flag X = output Y“ .......................................................................................... 141
4 - 65 BIAS-Command “Flag X = flag Y & flag Z“ .................................................................................142
4 - 66 BIAS-Command “Flag X = flag Y | flag Z“................................................................................... 143

4 Software manual Type: BIAS 10-06-05-E-V0304.doc

Contents
................................................................................................................................................................Page
4 - 67 BIAS-Command “Flag X = flag Y ^ flag Z“.................................................................................. 144
4 - 68 BIAS-Command “Flag X = !flag Y“.............................................................................................. 145
4 - 69 BIAS-Command “Flag X = status Y“........................................................................................... 146
4 - 6A BIAS-Command “If status X ? const. then jump“........................................................................ 147
4 - 6B BIAS-Command “Mode X = const.“ ............................................................................................ 148
4 - 6C BIAS-Command “Flag X = [variable Y], number Z“ .................................................................... 149
4 - 6D BIAS-Command “[Variable X]. bit [Y] = const.“........................................................................... 150
4 -6E BIAS-Command “If [variable X]. bit Y ? const. then jump“ ......................................................... 151
4 - 6F BIAS-Command “Axis state, axis no. X, bit Y = const. [flag Z]“.................................................. 152
4 - 70 BIAS-Command “If input X ? const. then jump“.......................................................................... 154
4 - 71 BIAS-Command “ If output X ? const. then jump“ ...................................................................... 156
4 - 72 BIAS-Command “Output X = const.“ .......................................................................................... 158
4 - 73 BIAS-Command “Output X = flag Y“........................................................................................... 159
4 - 78 BIAS-Command “IBT-mask number = X, LED status [variable Y]“ ............................................ 160
4 - 79 BIAS-Command “IBT-notification number = X,LED status[variable Y]“...................................... 161
4 - 7A BIAS-Command ”CAN-command = [variable X]“ ....................................................................... 162
4 - 7B BIAS-Command “IBT- data transfer“ .......................................................................................... 164
4 - 7C BIAS-Command ”CAN2-command = [variable X]“ ..................................................................... 165
4 - 80 BIAS-Command “[Variable X] = const.“ ...................................................................................... 167
4 - 81 BIAS-Command “If [variable X] ? const.“.................................................................................... 168
4 - 82 BIAS-Command “[Variable X] = [variable Y] + const.“................................................................ 170
4 - 83 BIAS-Command “[Variable X] = [variable Y] - const.“................................................................. 171
4 - 84 BIAS-Command “[Variable X] = [variable Y] * const.“ ................................................................ 172
4 - 85 BIAS-Command “[Variable X] = [variable Y] / const.“................................................................. 173
4 - 86 BIAS-Command “[Variable X] = flag Y“ ..................................................................................... 174
4 - 87 BIAS-Command “[Variable X] = [variable Y].bit Z ; number“ ..................................................... 175
4 - 88 BIAS-Command “[Variable X] = [variable Y]“ ............................................................................. 176
4 - 89 BIAS-Command “If [variable X] ? [variable Y]“ ...........................................................................177
4 - 8A BIAS-Command “[Variable X] = [variable Y] + [variable Z]“ ....................................................... 179
4 - 8B BIAS-Command “[Variable X] = [variable Y] - [variable Z]“ ........................................................ 180
4 - 8C BIAS-Command “[Variable X] = [variable Y] * [variable Z]“ ........................................................ 181
4 - 8D BIAS-Command “[Variable X] = [variable Y] / [variable Z]“......................................................... 182
4 - 8E BIAS-Command “[Teachvariable X] = [variable Y]“ .................................................................... 183
4 - 8F BIAS-Command “[Variable X] = [teachvariable Y]“..................................................................... 184
4 - 90 BIAS-Command “Mathematic program“ ..................................................................................... 185
4 - 91 BIAS-Command “Profile initialization“ ........................................................................................ 186
4 - 92 BIAS-Command “Profile cycle length = [variable X]“.................................................................. 187
4 - 93 BIAS-Command “[Variable X] = profile value“ ............................................................................ 188
4 - 94 BIAS-Command “Profile value = [variable X]“ ............................................................................ 189
4 - 97 BIAS-Command “ Save table“ .................................................................................................... 190
4 - A0 BIAS-Command “Table ([variable X])= const.“ ........................................................................... 191
4 - A1 BIAS-Command “Table ([variable X]) = [Y variable Z]“ .............................................................. 192
4 - A2 BIAS-Command “ [X variable Y] = table ([variable Z])“............................................................... 193
4 - A3 BIAS-Command “[W variable X] = [Y variable Z]“ ...................................................................... 194
4 - A4 BIAS-Command “[X variable Y] = const.“ ................................................................................... 195
4 - A5 BIAS-Command “[Variable [X]] = const.“ .................................................................................... 196
4 - A6 BIAS-Command “[Variable [X]] = [variable Y].............................................................................197
4 - A7 BIAS-Command “[Variable X] = [variable [Y]].............................................................................198
4 - A8 BIAS-Command “[Variable X ] = [variable Y ] ? [variable Z]“...................................................... 199
4 - A9 BIAS-Command “[Variable X ] = [variable Y ] ? const.“.............................................................. 200
4 - B0 BIAS-Command “[D_variable X]=[D_variable Y]+[D_variable Z] ............................................... 201
4 - B1 BIAS-Command “[D_variable X]=[D_variable Y]-[D_variable Z] ................................................ 202
4 - B2 BIAS-Command “[D_variable X] = [D_variable Y] * [D_variable Z] ............................................ 203
4 - B3 BIAS-Command “[D_variable X] = [D_variable Y] / [D_variable Z] ............................................ 204
4 - B4 BIAS-Command “If [D_variable X] ? [D_variable Y] ................................................................... 205
4 - B5 BIAS-Command “[D_variable X] = SIN ([D_variable Y])............................................................. 207
4 - B6 BIAS-Command “[D_variable X] = COS ([D_variable Y])........................................................... 208
4 - B7 BIAS-Command “[D_variable X] = SQRT ([D_variable Y]) ........................................................ 209
5 Modification Record ............................................................................. 210

10-06-05-E-V0304.doc Software manual Type: BIAS 5

The most important thing first
The most important thing first
Thanks for your confidence choosing our product.
These operating instructions present themselves as an overview of the technical data and
features.
Please read the operating instructions before operating the product.
If you have any questions, please contact your nearest SSD Drives representative.
Improper application of the product in combination with dangerous voltage can lead to
injuries.
In addition, damage can also occur to motors or other products.
Therefore please observe our safety precautions strictly.

Safety precautions
We assume that, as an expert, you are familiar with the relevant safety regulations,
especially in accordance with VDE 0100, VDE 0113,VDE 0160, EN 50178, the accident
prevention regulations of the employers liability insurance company and the DIN
regulations and that you are able to use and apply them.
As well, relevant European Directives must be observed.
Depending on the kind of application, additional regulations e.g. UL, DIN are subject to be
observed.
If our products are operated in connection with components from other manufacturers,
their operating instructions are also subject to be observed strictly.

6 Software manual Type: BIAS 10-06-05-E-V0304.doc

General
630 Programming language BIAS 1
1 General
630 Programming language BIAS
1.0 Introduction
The programming language “BIAS“

Bedienersprache für intelligente Antriebs – Steuerungen

was developed to allow the programming of complex and yet clear programs.
Therefore the BIAS commands were divided according to their function into the 9 following command
groups:
0. Move command
1. Move command + parameters
2. Parameter commands
3. ”Parameter frrom variables” - commands
4. ”Parameter into variables” - commands
5. Control commands
6. Flag commands
7. In-/ output commands
8. Variable commands
9. Mathematics commands 1
10. Mathematics commands 2
11. Floating point commands

BIAS – Command overview

With the softwareversion 5.10 you have the possibility in the drives of the 630 series to program in the
additional command groups 10 - 12 mathematical operations. i.e. to calculate online the synchronous
profiles.
For further information see motion control manual (UL:10.6.7)
With these commands you will be able to program the required machine process in chains of steps
The size of a program is limited to a maximum of 1500 BIAS commands
The designing of the programs occurs with EASYRIDER software at the PC and can be transmitted into the
servo drive via serial communication.
If you create the BIAS program with the EASYRIDER shell, jump labels, comments and a unit for the
position presettings are provided.
A further possibility is programming or transmitting and controlling the BIAS program via a field bus
respectively.The nesseccary command coding is listed in the command instruction.

10-06-05-E-V0304.doc Software manual Type: BIAS 7

General
1 630 Programming language BIAS

1.1. Program layout

A BIAS program consists of 3 basic memory areas.
1. The program definition:
contains all definitions for starting and processing a BIAS program, the entries for defining a unit for
position presetting and the necessary configurations of the inputs and outputs.
2. The command memory:
contains up to 1500 BIAS commands.
3. The synchronous parameters:
contain the definitions for the 16 synchronous profile blocks and the 2048 supporting points.

The basic memory areas are part of the BIAS program.

In the EASYRIDER-DOS Software this file has the extension *.ASB.
In the EASYRIDER for Windows Software the extension is *.WBD.
In the EASYRIDER for Windows Software ist is possible to read files with the DOS extension ( *.ASB).
With saving the file in the Windows Version it is converted in the Windows version ( *.WBD).
With the DOS version it is not possible to read files with the *.WBD extension !!

1.2. Execute a BIAS program

The BIAS processing is started in operating mode 5 ”position control with BIAS processing” after activating
the output stage of the regulator.
The first BIAS block to be executed is determined in the BIAS program definition (Parameter ”program
start”).
After that, the regulator processes one BIAS command sequentially every trajectory cycle.
If the BIAS processing encounters a move command, it can be started with the Low-High slope of the start
input.
Serie Input Configuration
635/ 637/637+/637f: X10.11 ”Start input BIAS” (Function 0)
631: X10.9 “Start input ” (Function 3)

Alternatively, move commands are started when the start identifier is set before the move command, via the
BIAS command ”Start axis”.
The following blocks will be processed after a successful start.
If the command, ”Wait for “position reached”” follows a move command, block processing will only be
continued after the target position is reached.
Drive type Trajectory cycle
631/635/637 1,899ms
637+/637f 0,844ms

8 Software manual Type: BIAS 10-06-05-E-V0304.doc

General
630 Programming language BIAS 1

1.3. Execute a PLC program

A cyclic PLC program for supervisory monitoring tasks can be started parallel to the sequential processing of
a BIAS program
The PLC program is started by processing the BIAS command, ”PLC program”.
After the PLC program is activated the programmed PLC commands are processed as of the specified block
number.
The command ”end of program, mode = 0” within a PLC program causes a jump back to the start of the
PLC program.
The regulator processes one PLC command sequentially every trajectory cycle.
The reaction of the PLC program to the deactivation of the output stage can be adjusted in the BIAS
program definition (parameter ”program reaction PLC program”). Thus it is possible to allow the PLC
program to continue to process also during the deactivation of the regulator. Is in this mode the first
command of the BIAS execution the command “PLC program” the PLC task starts automatically
independently of the state (deactive/active) of the drive.
In the plc-loop not all of the BIAS commands are allowed.
In chapter 3 command overview the allowed commands are listed.
The check of allowed commands is done by the drive during run time!
Drive type Trajectory cycle
631/635/637 1,899ms
637+/637f 0,844ms

1.4. Execute a Mathematics program

A 3 task as math program for supervisory calculation can be started parallel to the sequential processing of
a BIAS program and/or PLC program.
The mathematics-program is started by processing the BIAS command, ”Mathematics program”.
After the mathematics program is activated the programmed mathematics commands are processed as of
the specified block number.
The command ”end of program, mode =0” within a mathematic - program causes a jump back to the start
of the mathematics program.
The command ”end of program, mode =3” cancels the mathematics program.
The reaction of the mathematics program to the deactivation of the output stage can be adjusted in the BIAS
program definition (parameter ”program reaction mathematics program”). Thus it is possible to allow the
mathematics program to continue to process also during the deactivation of the regulator.
In this mode the command „Mathematic program“ is executed at the first or second line (if the PLC program
is on line 1)of the BIAS progam or at line 0 , if the drive is not enabled.
The calculation of the mathematics commands is done in the interruptfree calculation time of the drive. In a
standard application approx. 10 commands are processed every 2ms

10-06-05-E-V0304.doc Software manual Type: BIAS 9

General
1 630 Programming language BIAS

1.5. BIAS example programs

The example programs you will find in the BIAS editor; menu ”File”; submenu “load BIAS example
1. BIAS-application example: Reverse operation free motor shaft
Explanation: 1. Absolute positioning to the position of 16384 increments
2. Waiting time of 1 second
3. Absolute positioning to the position of 0 increments
Filename: EXP_001.wbd
Requirements: operation mode 5 (”Position control with BIAS-execution”)

Programlisting
* ***********************************************************************
* !!! Attention !!!
* The program leads to automatic movements of the axis!
PROG_START:
0 Actual position 1 = 0 INCR
* ***********************************************************************
* Definition of the movement profile for the 1st positioning
1 Acceleration = 5000 rpm/s
* Definition of the acceleration ramp a+
2 Speed = 100 rpm
* Definition of the maximum speed v
3 Deceleration = 2500 rpm/s
* Definition of the deceleration ramp a-
4 Position = 16384 INCR
* Definition of the 1st target position in increments
* ***********************************************************************
5 Start axis
* Give start permission (set start mark)
6 Move position, axis no.= 0, target = 0
* start 1st positioning as absolute positioning
* ***********************************************************************
7 Wait for “position reached”
* interrupt BIAS-execution until reaching the target position
8 Wait time 1000 ms
* waiting time (t1) of 1000 ms
* ***********************************************************************
* Definition of the movement profile for the 2nd positioning
9 Position = 0 INCR
* Definition of the 2nd target position, the definitions for the acceleration ramp, the maximum speed
* and/or the deceleration ramp are not changed, so they retain their values and validity
* ***********************************************************************
10 Start axis
* Give start permission (set start mark)
11 Move position, axis no.= 0, target = 0

* start 2nd positioning as absolute positioning

12 Wait for “position reached”
* interrupt BIAS-execution until reaching the target position
* ***********************************************************************
13 Eend of program, mode 0
* Continue BIAS-execution at the beginning of the program (at block 0 or at label ”PROG_START”)
* ************************************************************************

10 Software manual Type: BIAS 10-06-05-E-V0304.doc

General
630 Programming language BIAS 1

2. BIAS-application example: Feed free motor shaft

Explanation: 1. Relative positioning of 100000 increments in the positive direction
2. Waiting time of 1 second
3. Relative positioning of 32700 increments in the positive direction
Filename: EXP_002.wbd
Requirements: Operation mode 5 (”Position control with BIAS-execution”)

Programlisting
* *********************************************************************
* !!! Attention !!!
* The program leads to automatic movements of the axis!
* ***********************************************************************
PROG_START:
* Starting point of the BIAS-Program after every activation of the power stage
* ***********************************************************************
* Definition of the movement profile for the 1st positioning
0 Acceleration = 5000 rpm/s
* Definition of the acceleration ramp a+
1 Deceleration = 2500 rpm/s
* Definition of the deceleration ramp a-
START_POS:
2 Speed = 1000 rpm
* Definition of the maximum speed v1
3 Position = 100000 INCR
*…..Definition of the 1st target position in increments (high resolver resolution ca. 6.1 motor revolutions)
4 Start axis
* Give start permission (set start mark)
5 Move incremental, axis no.= 0, target = 0
* start 1st positioning as relative positioning
* ***********************************************************************
6 Wait for position reached
* interrupt BIAS-execution until reaching the target position
7 Wait time 1000 ms
* waiting time (t1) of 1000 ms
* ***********************************************************************
* Definition of the movement profile for the 2nd positioning
8 Position = 32700 INCR
* Definition of the 2nd target position (high resolver resolution circa 2 motor revolutions)
9 Speed = 250 rpm
* Definition of the maximum speed v2
10 Start axis
* Give start permission (set start mark)
11 Move incremental, axis no.= 0, target = 0
* start 2nd positioning as relative positioning
12 Wait for “position reached”
* interrupt BIAS-execution until reaching the target position
* ***********************************************************************
13 Jump START_POS
* Continue BIAS-execution at the label ”START_POS”
* ************************************************************************

10-06-05-E-V0304.doc Software manual Type: BIAS 11

General
1 630 Programming language BIAS

3.1 BIAS-application example: Linear unit 635/637

Explanation: 1. Reference run (sensor +following zero impulse in negative direction)
2. Absolute positioning to position P2 (25 mm)
3. Start after external signal (low-high-slope input X10.11) to position P3 (125 mm)
4. Start after external signal (low-high-slope input X10.11) to position P2 (25 mm)
5. Continue with 3.
Filename: EXP_003.wbd
Requirements: Operation mode 5 (”Position control with BIAS-execution”)
Wire start input X10.11 and configure with function 0 (BIAS start input)
Reference sensor (1) wired to X10.24 and configuration X10.24 with function 1 (ref. sensor)

Spindle operation with

gradient = 1,25 mm
total length = 150 mm

1 = reference sensor
P1 = reference position
P2 = target position 1
P3 = target position 2
Programlisting
* *********************************************************************
* !!! Attention !!!
* The program leads to automatic movements of the axis!
* Required inputs for the unit " mm" at BIAS-program definitions
* Unit (Drive):
* cog count output drive = 100; cog count input drive = 100 (gear factor 1:1)
* high resolver resolution =Y (16384 increments / motor revolution)
* distance per output turn = 1.25 (gradient of the spindle)
* displayed text for unit = mm
* ***********************************************************************
PROG_START:
* Definition of the movement profile for the reference run
0 Acceleration = 2000 rpm/s
1 Deceleration = 2000 rpm/s
2 Start axis
3 Move datum, mode = 11, v = 100 rpm, s = 0 mm
4 Wait for position reached
* ***********************************************************************
Pos_Loop:
* Definition of the movement profile for the 1st positioning P2
5 Acceleration = 25000 rpm/s
6 Deceleration = 15000 rpm/s
7 Move position; v = 2500 rpm, s = 25 mm
* start permission is given via the low-high slope X10.11
8 Wait for “position reached”
* 1st positioning ended
* ***********************************************************************
* Definition of the movement profile for the 2nd positioning P3
9 Acceleration = 5000 rpm/s
10 Deceleration = 5000 rpm/s
11 Move position; v = 1500 rpm, s = 125 mm
12 Wait for “position reached”
* 2nd positioning ended
13 Jump Pos_Loop
* ***********************************************************************

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General
630 Programming language BIAS 1

3.2 BIAS-application example: Linear unit 631

Explanation: 1. Reference run (sensor +following zero impulse in negative direction)
2. Absolute positioning to position P2 (25 mm)
3. Start after external signal (low-high-slope input X10.11) to position P3 (125 mm)
4. Start after external signal (low-high-slope input X10.11) to position P2 (25 mm)
5. Continue with 3.
Filename: E631_003.wbd
Requirements: Operation mode 5 (”Position control with BIAS-execution”)
Wire start input X10.8 and configure with function 0 (BIAS start input)
Reference sensor (1) wired to X10.9 and configuration X10.9 with function 1 (ref. sensor)

Spindle operation with

gradient = 1,25 mm
total length = 150 mm

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General
1 630 Programming language BIAS

4.1 BIAS-application example: Electronic gear box 635/637/637+/637f

Explanation: 1. Move position synchronous to the external incremental encoder (α)
as long as the input X10.11 is active.
Filename: EXP_004.wbd
Requirements: Operation mode 5 (”Position control with BIAS-execution”)
Wire start input X10.11 and configure with function 3 (BIAS input 11)
Configure X40-connector with function 1 (incremental input)
X40-resolution depending the external encoder (8192 increments / revolution)

14 Software manual Type: BIAS 10-06-05-E-V0304.doc

General
630 Programming language BIAS 1

4.2 BIAS-application example: Electronic gear box 631

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General
1 630 Programming language BIAS

4.3 BIAS-application example: Electronic gear box 637f

Explanation: 1. Move position synchronous to the external incremental encoder (α)
as long as the input X10.11 is active.
Filename: EXP_004f.wbd
Requirements: Operation mode 5 (”Position control with BIAS-execution”)
Wire start input X10.11 and configure with function 3 (BIAS input 11)
Configure X40-connector with function 1 (incremental input)
X40-resolution depending the external encoder (8192 increments / revolution)

16 Software manual Type: BIAS 10-06-05-E-V0304.doc

General
630 Programming language BIAS 1

Programmlisting
* *********************************************************************
* !!! Attention !!!
* necessary I/O-configurations (BIAS-program definition configuration)
* input X10.11 function 3 (BIAS-input 11)
* Configure X40-connector with function 1 (incremental input)
* X40-resolution depending the external encoder (8192 increments / revolution)
* *********************************************************************
ProgStart:
0 Act. posit. 1 = 0 INKR
1 Act. posit. 2 = 0 INKR
2 Mode 8 = 1
3 Sub-program Para_Sync
4 Load parameter set 1 = [variable [23 ]] *PointerVa10*
5 If input 11 == 0 then jump ProgStart
6 Start axis
7 Move synchron; axis no. = 1 , target =1 , reference =1
FAHRE:
8 If input 11 == 1 then jump FAHRE
9 Stop axis; mode = 1 ; axis no. = 1
10 Mode 8 = 0
11 End of program, mode = 0
* *
* Parameter set of type 1 for Synchronism *
* *
* *********************************************************************
Para_Sync:
12 [Variable 10 ] = 0 *Start angle*
13 [Variable 11 ] = 0 *Delay Time *
* *********************************************************************
∆s1 ∆s2 s2 4096
= =
* Requirement: ∆t ∆t ; s1 = 8192; s2= 4096; gear factor = s1 8192 = 0,5
* *********************************************************************
* Gear ratio = 0,5 *
* At an external encoder resolution of 4096 Incr *
* *********************************************************************
14 [Variable 12 ] = 4096 *GearNumerat*
15 [Variable 13 ] = 8192 *KopDenomina*
* *********************************************************************
16 [Variable 14 ] = 10000 *MoveAcc *
17 [Variable 15 ] = 10000 *MoveCont *
18 [Variable 16 ] = 10000 *MoceDec *
19 [Variable 17 ] = 10000 *MoveWait *
20 [Variable 18 ] = 0 *CAM_Start_o*
21 [Variable 19 ] = 0 *Cam_Nr *
22 [Variable 20 ] = 10000 *ScalNumerat*
23 [Variable 21 ] = 10000 *ScalDenomin*
24 [Variable 23 ] = 10 *PointerVa10*
25 Flag 0 = 0 *Start_Angle*
26 Flag 1 = 0 *Start_Direc*
27 Flag 2 = 0 *Gear_Trig_o*
28 Flag 3 = 0 *Backstop *
29 Flag 4 = 0 *Clutch_on *
30 Flag 5 = 0 *Ramp_Direct*
31 Flag 6 = 0 *Ramp_Up *
32 Flag 7 = 0 *Ramp_Down *
33 Flag 8 = 0 *Ramp_Wait *
34 Flag 9 = 0 *Move_Linked*
35 Flag 10 = 0 *Merge_Linke*
36 Flag 11 = 0 *Caming_on *
37 Flag 12 = 0 *Stop_Cam *
38 Flag 13 = 0 *Cam_Backsto*
39 Flag 14 = 0 *Res1 *
40 Flag 15 = 0 *Res2 *
41 [Variable 22 ] = flag 0 , number = 16 *Bits , Start_Angle*
42 End of sub-program

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General
1 630 Programming language BIAS

5.1 BIAS-application example: Electronic cam profile 635/637

Explanation: 1. Move position synchronous to the external incremental encoder (α)
as long as the input X10.11 is active.
Filename: EXP_005.wbd
Requirements: Operation mode 5 (”Position control with BIAS-execution”)
Wire start input X10.11 and configure with function 3 (BIAS input 11)
Configure X40-connector with function 1 (incremental input)
X40-resolution depending the external encoder (8192 increments / revolution)

Programmlisting
* *********************************************************************
PROG_START:
0 If 11 == 0 then jump PROG_START
1 Gear factor = 1
2 Start axis
3 Move CAM-profile 0
* *********************************************************************
* necessary inputs for cam profile calculation, profile 0
* Necessary inputs for the cam profile calculation, profile 0
* synchr. profile punch =6
* incremental correction =N
* master distance per cycle = 100 mm
* slave distance per cycle = 250 mm
* number of supporting points = 128
* synchronous distance = 25 mm
* *********************************************************************
MOVE:
4 If input 11 == 1 then jump MOVE
5 Stop axis, mode = 1 a- = 5000 rpm /s
6 End of program, mode 0

18 Software manual Type: BIAS 10-06-05-E-V0304.doc

General
630 Programming language BIAS 1

5.2 BIAS-application example: Electronic cam profile 631

Explanation: 1. Move position synchronous to the external incremental encoder (α)
as long as the input X10.11 is active.
Filename: E631_005.wbd
Requirements: Operation mode 5 (”Position control with BIAS-execution”)
Wire start input X10.8 and configure with function 3 (BIAS input 8)
Configure X40-connector with function 1 (incremental input)
X40-resolution depending the external encoder (8192 increments / revolution)

Programmlisting
* *********************************************************************
PROG_START:
0 If 8 == 0 then jump PROG_START
1 Gear factor = 1
2 Start axis
3 Move CAM-profile 0
* *********************************************************************
* necessary inputs for cam profile calculation, profile 0
* Necessary inputs for the cam profile calculation, profile 0
* synchr. profile punch =6
* incremental correction =N
* master distance per cycle = 100 mm
* slave distance per cycle = 250 mm
* number of supporting points = 128
* synchronous distance = 25 mm
* *********************************************************************
MOVE:
4 If input 8 == 1 then jump MOVE
5 Stop axis, mode = 1 a- = 5000 rpm /s
6 End of program, mode 0

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General
1 630 Programming language BIAS

5.3 BIAS-application example: Electronic cam profile 637f

Explanation: 1. Move position synchronous to the external incremental encoder (α)
as long as the input X10.11 is active.
Filename: EXP_005f.wbd
Requirements: Operation mode 5 (”Position control with BIAS-execution”)
Wire start input X10.11 and configure with function 3 (BIAS input 11)
Configure X40-connector with function 1 (incremental input)
X40-resolution depending the external encoder (8192 increments / revolution)

20 Software manual Type: BIAS 10-06-05-E-V0304.doc

General
630 Programming language BIAS 1

Programmlisting
* *********************************************************************
* !!! Attention !!!
* necessary I/O-configurations (BIAS-program definition configuration)
* input X10.11 function 3 (BIAS-input 11)
* Configure X40-connector with function 1 (incremental input)
* X40-resolution depending the external encoder (8192 increments / revolution)
* *********************************************************************
ProgStart:
0 Act. posit. 1 = 0 INKR
1 Act. posit. 2 = 0 INKR
2 Mode 8 = 1
3 Sub-program Para_Sync
4 Load parameter set 1 = [variable [23 ]] *PointerVa10*
5 If input 11 == 0 then jump ProgStart
6 Start axis
7 Move synchron; axis no. = 1 , target =1 , reference =1
FAHRE:
8 If input 11 == 1 then jump FAHRE
9 Stop axis; mode = 1 ; axis no. = 1
10 Mode 8 = 0
11 End of program, mode = 0
* *
* Parameter set of type 1 for CAM profile 0 *
* *
* *********************************************************************
Para_Sync:
12 [Variable 10 ] = 0 *Start angle*
13 [Variable 11 ] = 0 *Delay Time *
* *********************************************************************
* Gear ratio = 0,5 *
* At an external encoder resolution of 4096 Incr *
* *********************************************************************
14 [Variable 12 ] = 4096 *GearNumerat*
15 [Variable 13 ] = 4096 *KopDenomina*
16 [Variable 14 ] = 10000 *MoveAcc *
17 [Variable 15 ] = 10000 *MoveCont *
18 [Variable 16 ] = 10000 *MoceDec *
19 [Variable 17 ] = 10000 *MoveWait *
20 [Variable 18 ] = 0 *CAM_Start_o*
21 [Variable 19 ] = 0 *Cam_Nr *
22 [Variable 20 ] = 10000 *ScalNumerat*
23 [Variable 21 ] = 10000 *ScalDenomin*
24 [Variable 23 ] = 10 *PointerVa10*
25 Flag 0 = 0 *Start_Angle*
26 Flag 1 = 0 *Start_Direc*
27 Flag 2 = 0 *Gear_Trig_o*
28 Flag 3 = 0 *Backstop *
29 Flag 4 = 0 *Clutch_on *
30 Flag 5 = 0 *Ramp_Direct*
31 Flag 6 = 0 *Ramp_Up *
32 Flag 7 = 0 *Ramp_Down *
33 Flag 8 = 0 *Ramp_Wait *
34 Flag 9 = 0 *Move_Linked*
35 Flag 10 = 0 *Merge_Linke*
36 Flag 11 = 1 *Caming_on *
37 Flag 12 = 0 *Stop_Cam *
38 Flag 13 = 0 *Cam_Backsto*
39 Flag 14 = 0 *Res1 *
40 Flag 15 = 0 *Res2 *
41 [Variable 22 ] = flag 0 , number = 16 *Bits , Start_Angle*
42 End of sub-program

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2 BIAS commands overview
2 BIAS commands overview

Position = const. [Variable X] = position BIAS-execution pointer [Variable X] =flag Y Profile value = [variable X] Save table PLC-program
This command is only This command is only This command is only This command is only This command is only This command is only This command is only permitted in
permitted in the BIAS- task permitted in the BIAS, PLC permitted in the PLC and permitted in the BIAS and permitted in the MATH-Task permitted in the MATH-Task the BIAS and MATH-Task
and MATH-Task MATH-Task PLC -Task

0 1 2 3 4 5 6 7 8 9 A B
[D_Variable X] =
Move position + Position = [Variable X] = [Variable X] = Mathematic Table
0 Move position Position = const. NOP Flag X = const. If input X ? const. [D_Variable Y]+
parameter [variable X] position const. program [[variable X]] = const.
[D_Variable Z]
Move
Move Table [D_Variable X] =
incremental Speed = [Variable X] = If [variable X] ? Profile initialization
1 incremental Speed = const. End of program If flag X ? const. If output X ? const. [[variable X]] = [D_Variable Y] -
position + [variable X] speed const. = const.
position [Y_Variable Z] [D_Variable Z]
parameter
[Variable X] = [D_Variable X] =
Move datum + Acceleration = [Variable X] = Flag X = Profile cycle length [X_Variable Y]= Table
2 Move datum Acceleration = const. Sub- program Output X = const. [variable Y] + [D_Variable Y] *
parameter [Variable X] acceleration flag Y = [variable X] [[variable Z]]
const. [D_Variable Z]
Move infinite [Variable X] = [D_Variable X] =
Move infinite Deceleration = [Variable X] = Flag X = Output X = [Variable X] = [ W_Variable X] =
3 positive + Deceleration = const. End of Sub-program [variable Y] – [D_Variable Y] /
positive [variable X] deceleration input Y flag Y profile value [ Y_Variable Z]
parameter const. [D_Variable Z]
Move infinite
Move infinite Gear factor = [Variable X] = Flag X = [Variable X] = Profile value = [ X_ Variable Y] = If [D_Variable X] ?
4 negative + Gear factor = const. PLC-program _____________
negative [Variable X] gear factor output Y [variable Y] * const. [variable X] const. [D_Variable Y]
parameter
Move Move synchron "Position reached" “Position reached“ [Variable X] = Flag X = [Variable X] = [Variable [X]] = [D_Variable X] =
5 Jump const. _____________ _____________
synchron + parameter window = const. window =[variable X] block number flag Y & flag Z [variable Y] / const. const. SIN {[D_Variable Y]}
Move analogue
Move CAM Remaining position = Remaining position = [Variable X] = Flag X = [Variable X] = [Variable [X]] = [D_Variable X] =
6 value + Jump [variable X] _____________ _____________
profile const. [variable X] actual position Y flag Y | flag Z flag Y [variable Y] COS {[D_Variable Y]}
integrator
[Variable X] =
Synchronous Move speed + Ramp filter = const., Maximal current = [Variable X] = BIAS-Execution Flag X = [Variable [X]] = [D_Variable X] =
7 _____________ [variable Y].bit Z Save table
settings 1 integrator [variable X] [variable X] analogue input Y pointer = const. flag Y ^ flag Z [variable Y] SQRT {[D_Variable Y]}
number
[Variable X] =
Synchronous Actual position X = Actual position X = [Variable X] = Wait for Flag X = IBT- mask number = [Variable X] =
8 _____________ _____________ [variable Y] ? _____________
settings 2 const. [variable Y] latch position Y ”position reached” ! flag Y const. [variable Y]
[variable Z]
[Variable X] =
Move PID; If actual position X Analogue output X = [Variable X] = IBT- notification If [variable X] ?
9 _____________ Wait time = const. Flag X = status Y _____________ [variable Y] ? _____________
speed ? const. [variable Y] actual speed Y number = const. [variable Y]
const.
[Variable X]=
Move PID; Cycle length = If actual position X [Variable X] = Wait time = CAN Command =
A PID scaling If status X ? const. [variable Y] + _____________ _____________ _____________
torque const. ? [variable Y] latch status Y [variable X] [variable X]
[variable Z]
Set point [Variable X] = [Variable X]=
Cycle length = Sensor window = Sensor window = BIAS-execution
B [axis no.] = position Y; Modus X = const. IBT- data transfer [variable Y] - ______________ ____________ _____________
[variable X] const. [variable X] pointer = [variable X]
const. axis no. [variable Z]
Set point Load parameter [Variable X]=
Sensor position = Sensor position = [Variable X] = Jump [var.[X]]; length Flag X = CAN2 Command =
C [axis no.] = set X = [variable Y] * _____________ _____________ _____________
const. [variable X] value Y = const.; from [variable Y] [variable X]
[variable X ] [variable[Y]] [variable Z]
Sensor Sensor [Variable X] = [Variable X]=
[Variable X]. bit[Y] =
D Move relative _____________ adjustment 1 = adjustment 1 = axis status, Execute X commands _____________ [variable Y] / _____________ _____________ _____________
const.
const. [variable X] axis no. Y [variable Z]
Sensor Sensor
If [var. X]. bit Y == [Teachvariable X] =
E Start axis _____________ adjustment 2 = adjustment 2 = _____________ _____________ _____________ _____________ _____________ _____________
const. then jump [variable Y]
const. [variable X]
Stop axis Axis state, axis no.
[Variable X] =
F Stop axis + Update parameter PID parameter _____________ Virtual program X, bit Y = const., _____________ _____________ _____________ _____________
[teachvariable Y]
parameter [flag Z]

Command group “Move commands“ Command group “Program control commands“

Command group “Parameter commands“ Command group “Mathematic commands“
Command group “Variable commands“ Command group “Output commands“
Command group “Flag commands“ Command group “CAN- Commands“
Command group “Conditional jump commands“ Command group “637f commands“

22 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command group 3
3 BIAS-Command group
3.1 BIAS-Command group “Move commands“
No. Applicable in program
Command name
task...
Move commands BIAS PLC MATH
Move incremental position 01 ;
Move PID, speed 09 ;
Move PID, torque 0A ;
Move position 00 ;
Move datum 02 ;
Move relative 0D ;
Move synchron 05 ;
Move CAM profile 06 ;
Move infinite negative 04 ;
Move infinite positive 03 ;
Start axis 0E ;
Stop axis 0F ; ;
Move commands with parameter BIAS PLC MATH
Move speed + integrator 17 ;
Move incremental position + parameter 11 ;
Move position + parameter 10 ;
Move datum + parameter 12 ;
Move synchron + parameter 15 ;
Move Analogue value + integrator 16 ;
Move infinite negative + parameter 14 ;
Move infinite positive + parameter 13 ;
Stop axis + parameter 1F ; ;

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3 BIAS-Command group

3.2 BIAS-Command group „Parameter commands“

No. Applicable in program
Command name
task...
Parameter = Constant BIAS PLC MATH
Acceleration = const. 22 ;
Speed = const. 21 ;
Actual position X = const. 28 ;
Gear factor = const. 24 ;
“Position reached“ window = const. 25 ;
Ramp filter = const.; [variable X] 27 ;
Remaining position = const. 26 ;
Sensor adjustment 1 = const. 2D ; ;
Sensor adjustment 2 = const. 2E ; ;
Sensor window = const. 2B ; ; ;
Sensor position = const. 2C ; ; ;
Set point [axis no] = const. 0B ;
Synchronous settings 1; modus X …. 07 ;
Synchronous settings 2; linear X .… 08 ;
Cycle length = const. 1A ;
Deceleration = const. 23 ;
Position = const. 20 ;
Update parameter 2F ;
Parameter = Variable
Analogue output X = [variable Y] 39 ; ; ;
Acceleration = [variable X] 32 ;
Speed = [variable X] 31 ;
Actual position X = [variable Y] 38 ;
Gear factor = [variable X] 34 ;
Load parameter set X = [variable [Y]] 1C ;
Maximal current = [variable X] 37 ; ; ;
PID parameter 3F ; ;
PID scaling 3A ; ;
“Position reached“ window = [variable X] 35 ;
Remaining position = [variable X] 36 ;
Sensor adjustment 1 = [variable X] 3D ; ;
Sensor adjustment 2 = [variable X] 3E ; ;
Sensor window; modus = [variable X] 3B ; ; ;
Sensor position = [variable X] 3C ; ;
Set point [axis no] = [variable X] 0C ;
Cycle length = [variable X] 1B ;
Deceleration = [variable X] 33 ;
Position = [variable X] 30 ;

24 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command group 3

Variable = Parameter
[Variable X] = analogue input Y 47 ; ; ;
[Variable X] = axis status, axis no. Y 4D ; ; ;
[Variable X] = acceleration 42 ; ; ;
[Variable X] =actual speed Y 49 ; ; ;
[Variable X] = speed 41 ; ; ;
[Variable X] = actual position Y 46 ; ; ;
[Variable X] = gear factor 44 ; ; ;
[Variable X] = latch position Y 48 ; ; ;
[Variable X] = latch state Y 4A ; ; ;
[Variable X] = position Y 4B ; ; ;
[Variable X] = set number 45 ; ; ;
[Variable X] = deceleration 43 ; ; ;
[Variable X] = position 40 ; ; ;
[Variable X] = value Y 4C ; ; ;

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3 BIAS-Command group

3.3 BIAS Command group “Variable commands“

No. Applicable in program
Command name
task...
Variables commands BIAS PLC MATH
[X_Variable Y] = const. A4 ;
Longinteger-variables commands
[Variable X] = [variable Y].bit Z, number 87 ; ; ;
[Variable X] = [variable Y] - [variable Z] 8B ; ; ;
[Variable X] = [variable Y] - const. 83 ; ; ;
[Variable. X] = [variable Y] * [variable Z] 8C ; ; ;
[Variable X] = [variable Y] * const. 84 ; ; ;
[Variable X] = [variable Y] / [variable Z] 8D ; ; ;
[Variable X] = [variable Y] / const. 85 ; ; ;
[Variable X] = [variable Y] + [Var. Z] 8A ; ; ;
[Variable X] = [variable Y] + const. 82 ; ; ;
[Variable [X]] = [variable Y] A6 ; ; ;
[Variable [X]] = const. A5 ; ; ;
[Variable X] = [variable [Y]] A7 ; ; ;
[Variable X] = [variable Y] 88 ; ; ;
[Variable X] = flag Y, number Z 86 ; ;
[Variable X].bit Y = const. 6D ; ; ;
[Variable X] = const. 80 ; ; ;
[Variable X] = [teachvariable Y] 8F ; ; ;
[Teachvariable X]= [variable Y] 8E ;
[Variable X] = [variable Y] ? [variable Z] A8 ; ; ;
[Variable X] = [variable Y] ? const A9 ; ; ;

3.4 BIAS Command group “Flag commands“

No. Applicable in program
Command name
task...
Flag commands BIAS PLC MATH
Axis state, axis no. X, bit Y = const., [flag Z] 6F ; ;
Flag X = ! flag Y 68 ; ; ;
Flag X = [variable Y], number Z 6C ; ;
Flag X = output Y 64 ; ; ;
Flag X = input Y 63 ; ; ;
Flag X = flag Y & flag Z 65 ; ; ;
Flag X = flag Y ^ flag Z 67 ; ; ;
Flag X = flag Y | flag Z 66 ; ; ;
Flag X = flag Y 62 ; ; ;
Flag X = state Y 69 ; ; ;
Flag X = const. 60 ; ; ;

26 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command group 3

3.5 BIAS Command group “Conditional jump commands“

No. Applicable in program
Command name
task...
Conditional jump commands BIAS PLC MATH
If [D_Var. X] ? [D_Var. Y] then jump B4 ;
If [var. X] ? [var. Y] then jump 89 ; ; ;
If [var. X] ? const. then jump 81 ; ; ;
If output X ? const. then jump 71 ; ; ;
If input X ? const. then jump 70 ; ; ;
If actual position X ? const. then jump 29 ; ; ;
If actual position X [var. Y] then jump 2A ; ; ;
If flag X ? then jump 61 ; ; ;
If state X ? const. then jump 6A ; ; ;
If [variable X].bit Y == const. 6E ; ; ;

3.6 BIAS Commands group “Program control commands”

No. Applicable in program
Command name
task...
Program control commands BIAS PLC MATH
Execute X commands 5D ; ;
BIAS- execution pointer = [variable X] 5B ; ;
BIAS- execution pointer 57 ; ;
Mathematic program 90 ; ;
Modus X = const. 6B ; ; ;
NOP 50 ; ; ;
End of program, modus = 51 ; ; ;
Jump [variable X] 56 ; ; ;
Jump [variable [X]]; length; const. 5C ; ;
Jump const. 55 ; ; ;
PLC- program 54 ; ;
Sub program 52 ; ; ;
End of sub program 53 ; ; ;
Virtual program 5F ;
Wait for "position reached" 58 ;
Wait time = [variable X] 5A ;
Wait time = const. 59 ;

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3 BIAS-Command group

3.7 BIAS Command group “Mathematic commands“

No. Applicable in program
Command name
task...
Profile Commands BIAS PLC MATH
[Variable X] = profile value Y, Z 93 ;
[X_Variable Y] = const. A4 ;
[X_Variable Y] = table ([variable Z]) A2 ;
Profile initialization = const. 91 ; ; ;
Profile cycle length = [variable X] 92 ;
Profile value Y, Z = [variable X] 94 ;
Table ([Variable X]) = [Y_Variable Z] A1 ;
Table ([Variable X]) = const. A0 ;
Save table 97 ;

floating point Variable commands BIAS PLC MATH

[D_Variable X] = [D_Variable Y] - [D_Variable Z] B1 ;
[D_Variable X] = [D_Variable Y] * [D_Variable Z] B2 ;
[D_Variable X] = [D_Variable Y] / [D_Variable Z] B3 ;
[D_Variable X] = [D_Variable Y] +[D_Variable Z] B0 ;
[D_Variable X] = COS {[D_Variable Y]} B6 ;
[D_Variable X] = SIN {[D_Variable Y]} B5 ;
[D_Variable X] = SQRT {[D_Variable Y]} B7 ;

Variable type change command

[W_Variable X] = [Y_Variable Z] A3 ;

3.8 BIAS Command group “Output commands“

No. Applicable in program
Command name
task...
Output commands BIAS PLC MATH
Output X = flag Y 73 ; ; ;
Output X = const. 72 ; ; ;
Analogue output X = [variable Y] 39 ; ; ;

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BIAS-Command group 3

3.9 BIAS Command group “CAN-Commands“

No. Applicable in program
Command name
task...
CAN commands BIAS PLC MATH
CAN-Command =[variable X] 7A ; ;
CAN2 Command = [variable X] 7C ; ;
IBT-data transfer 7B ; ;
IBT-mask number = X, LED status [var. Y] 78 ; ; ;
IBT-notification number = X, LED status [var. Y] 79 ; ; ;

3.10 BIAS Command group “637f V8.xx commands“

No. Applicable in program
Command name
task...
637f V8.xx- Commands BIAS PLC MATH
Axis state, axis no. X. bit Y = const, [flag Z] 6F ; ;
CAN2 Command = [variable X] 7C ; ;
Execute X commands 5D ; ;
Move relative, axis no. X, target Y 0D ; ; ;
Load parameter set X = [variable [Y]] 1C ;
Set point [axis no.] = const. 0B ;
Set point [axis no.] = [variable X] 0C ;
Jump [var.[X ]]; length=Y ; from Z 5C ; ;
[Variable X] = axis status, axis no.Y 4D ; ; ;
[Variable X].bit Y = const. 6D ; ; ;
[Variable X] = [variable Y].bit Z, number 87 ; ; ;
If [variable X].bit Y == const. 6E ; ; ;
[Variable X] = [variable Y] ? [variable Z] A8 ; ; ;
[Variable X] = [variable Y] ? const. A9 ; ; ;

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4 BIAS-Command
4 BIAS - Command
4 - 00 BIAS-Command “Move position“
Move position; axis no. = X , target = Y
Explanation:
The command "Move position" starts the axis on the target position defined Load example
last.

Drive type: Parameters: Permissible inputs: ; BIAS program

PLC program
631/635/637/ Mathematics
637+: none -

637f with Multi- X: Axis number 1-3

Axis-Function:
Y: Target 1 = Reference for position controller
(Mode 8 = 1)
2 = Reference for CAN2-PDO3
4 = Reference for CAN2-PDO4
8 = Reference for X40 output
The parallel connection of the setpoint
targets is possible by addition of the
function coding.
To the generation of move curve always apply the last adjusted parameters for:
Position, Acceleration, Speed, Deceleration, Ramp filter

When switching on of the controller, these parameters are pre-loaded with the
settings from EASYRIDER menue “Start-up position controller”.

When using the Multi-Axis-Function with the controller type 637f the parameters
must be pre-loaded over the command “Load parameterset 0 = [variable[X]]“.

Example: Result:
0 Position = 1000 INCR The axis moves 1000 increments on the absolute
1 Start axis position. BIAS processing is continued with the set 4
2 Move position; axis no. = 0 , target = 0 after the position reached.
3 Wait for "position reached"
4....

o 631
When using the start input X10.9 the function 3 for the input X10.9 (Start input) is to be
selected in the configuration.
• The momentary set position can be determined with the BIAS command [Variable X] = position 1.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
00 X Y 00 00 00 00 00

Parameters: D1 = Axis number: 1…3

D2 = Target: 1...15

30 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

4 - 01 BIAS-Command “Move incremental position“

Move incremental position; axis no. = X , target = Y
Explanation:
The command "Move incremental position" starts the axis on the position, which
Load example
results from the sum of the current target position plus the relative distance defined
in the command “Position= “.

Drive type: Parameters: Permissible inputs: ; BIAS program

PLC program
631/635/637/ Mathematics
637+: none -

637f with Multi- X: Axis number 1-3

Axis-Function: Y: Target
(Mode 8 = 1) 1 = Reference for position controller
2 = Reference for CAN2-PDO3
4 = Reference for CAN2-PDO4
8 = Reference for X40 output
The parallel connection of the setpoint
targets is possible by addition of the
function coding.

To the generation of move curve always apply the last adjusted parameters for:
Position, Acceleration, Speed, Deceleration, Ramp filter

When switching on of the controller, these parameters are pre-loaded with the
settings from EASYRIDER menue “Start-up position controller”.

When using the Multi-Axis-Function with the controller type 637f the parameters
must be pre-loaded over the command "Load parameter set 0 = [Variable[X]]".

Example: Result:
0 Position = 1000 INCR The axis moves 1000 increments.
1 Start Axis BIAS processing is continued with the set 4 after
2 Move incremental position; axis no. = 0, target = 0 the position reached command.
3 Wait for "position reached"
4....

Note:
• Before the start a valid starting identification is waited for:
a.) preceding the command "Start axis"
b.) Low-High impulse of the Start input X10.11 (X10.9 with the 631)
o 635/ 637/ 637+/ 637f
When using the start input X10.11 the function 0 for the input X10.11 (Start input) is to be
selected in the configuration.
631 o
When using the start input X10.9 the function 3 for the input X10.9 (Start input) is to be
selected in the configuration.
• The target position can be determined with the BIAS command [Variable X] = position 2 .
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
01 X Y 00 00 00 00 00

Parameters: D1 = Axis number: 1…3

D2 = Target: 1...15

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4 BIAS-Command

4 - 02 BIAS-Command “Move datum“

Move datum, mode= X , [variable Y ]
631 load example
Explanation:
The command "Move datum" starts the reference move (homing) of the 635/637 load example
axis corresponding to the specified reference mode.
637+ load example

Drive type: Parameters: Permissible inputs: ; BIASprogram

PLC program
631/635/637/ Mathematics
637+: X: Mode Mode: 0...23

637f: X: Mode Mode: 0...23, 24 oder 128, 192

Y: Variable 0 -255

To the generation of move curve always apply the last adjusted

parameters for: Position, Acceleration, Speed, Deceleration, Ramp filter.

After switching the drive on these parameters are initialized with the values
of the tuning position loop menu.

Example: Result:
0 Position = 4000 INKR The axis moves in the positive direction to the Low-High
1 Start axis slope of the reference sensor and then the zero point of
2 Move datum, mode 16 the encoder.
3 Wait for "position reached"
4 ....

Then it moves +4000 increments from this position and

then sets the actual position to zero.

32 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

Note:

• The encoder could be resolver or HIPERFACE®

In position control with actual position 2 (X40) the 0-position of the external encoder is used.

• Before starting a valid start mark has to occur:

a.) the command "Start axis" before the move command or
b.) low-high impulse of the start input X10.11 (X10.9 at 631)

o 635/ 637/ 637+/637f

When using the start input X10.11 the function 0 (start input) has to be selected for the input
X10.11 in the configuration.

o 631
When using the start input X10.9 the function 3 (start input) has to be selected for the input
X10.9 in the configuration.

• 635/ 637/ 637+/637f

When using the reference sensor input X10.24 the function 1 (reference sensor) has to be selected
for the input X10.24 in the configuration.

• 631
When using the reference sensor for one of the inputs (X10.8, X10.9 or X10.10) the function 1
(reference sensor) has to be selected in the configuration.

• 631/ 635/ 637

The maximum permissible speed depends on the resolver resolution configuration.
With a high resolver resolution only 4000 rpm is allowed.
• 637f
When the drive 637f is mounted by the option board C28 the input X120.4 can configurated as
reference sensor. The reference sensor input configuration at the X10.24 clamp has no function.

Mode = 24, the reference bit (and the output initialized) are set immediately.

Mode = 128, the value of the specified variable is loaded.

Mode =192, the value of the specified variable is used as encoder zero point shift.
Attention: With this mode the axis do not start. The offset is calculated only after a new
Move datum command with the mode encoder zero point.

Command coding:
Code D1 D2 D3 D4 D5 D6 D7
02 X Y 00 00 00 00 00

Parameters: D1 = Reference mode: 0...24, 128, 192

D2 = Variable 0-255

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4 BIAS-Command

4 - 03 BIAS-Command “Move infinite positive“

Move infinite positive; axis no. = X, target = Y
Explanation:
The command "Move infinite positive" starts the movement of the axis in a
Load example
positive direction at the currently defined speed.

Drive type: Parameters: Permissible inputs: ; BIAS program

631/635/637/ PLC program
637+: None Mathematics
-
637f With X: Axis number 1 - 3
Multi-Axis- 1 = reference for position
function: Y: Target controller
(Mode 8 = 1)
2 = reference for CAN2-PDO3
4 = reference for CAN2-PDO4
8 = reference for X40-output
At using more reference value
target the function codes are
able to add.

The setpoint calculation always uses the last defined parameters of:
"Position", Acceleration, Speed, Deceleration, Ramp filter
After switching the drive on these parameters are initialized with the values
of the tuning position loop menu.
At using the multi axis functions by the drive 637f the parameters must
loaded with the command “Load parameter set 0 = [variable [X]]“.
Example: Result:
0 Speed = 1000 rpm The axis moves 1s in positive direction.
1 Start axis
2 Move infinite positive, axis no. = 0, target = 0
3 Wait time 1000 ms
4 Stop axis; mode 1
5 ....
Note:
• The command "Start axis" before the move command
b.) low-high impulse of the start input X10.11 (X10.9 on 631)
o 635/ 637/ 637+/ 637f
When using the start input X10.11 the function 0 (start input) has to be selected in the
configuration

o 631
When using the start input X10.9 the function 3 (start input) has to be selected in the
configuration.

• Speed changes can be carried out during the run with the command "Update parameter".
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
03 X Y 00 00 00 00 00

Parameters: D1 = Axis number: 1…3

D2 = Target: 1...15

34 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

4 - 04 BIAS-Command “Move infinite negative“

Move infinite negative; axis no. = X, target = Y
Explanation:
The command "Move infinite negative" starts the movement of the axis in Load example
a negative direction at the currently defined speed.

Drive type: Parameters: Permissible inputs: ; BIAS program

PLC program
631/635/637/ Mathematics
637+: none -

637f with Multi- X: Axis number 1-3

Axis-Function:
(Mode 8 = 1) Y: Target 1 = reference for position
controller
2 = reference for CAN2-PDO3
4 = reference for CAN2-PDO4
8 = reference for X40 output
The parallel connection of the
setpoint targets is possible by
addition of the function coding.
To the generation of move curve always apply the last adjusted
parameters for: Acceleration, Speed, Deceleration, Ramp filter
When switching on of the controller, these parameters are pre-loaded with
the settings from EASYRIDER menue “Start-up position controller”.
When using the Multi-Axis-Function with the controller type 637f the
parameters must be pre-loaded over the command “Load parameterset 0
= [variable[X]]“.
Example: Result::
0 Speed = 1000 rpm The axis moves 1s in the negative direction.
1 Start axis
2 Move infinite negative, axis no = 0, target = 0
3 Wait time 1000 ms
4 Stop axis ; mode 1
5 ....

o 631
When using the start input X10.9 the function 3 for the input X10.9 (Start input) is to be
selected in the configuration.
• Speed changes can be carried out during the run with the command "Update parameter".
Command coding:
Code D1 D2 D3 D4 D5 D6 D7
04 X Y 00 00 00 00 00

Parameters: D1 = axis number: 1…3

D2 = Target: 1...15

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4 BIAS-Command

4 - 05 BIAS-Command “Move synchron“

Move synchron; axis no = X , target = Y , reference = Z
Explanation:
The command "Move synchron" starts the movement of the axis with the adjusted
Load example
gear factor synchronous to the master increments.

Drive type: Parameters: Permissible inputs: ; BIAS program

631/635/637/ PLC program
637+: none - Mathematics

637f with Multi- X: Axis number 1-3

Axis-function: 1 = Setpoint into position controller
(Mode 8 = 1) Y: Target 2 = Setpoint on CAN2-PDO3
4 = Setpoint on CAN2-PDO4
8 = Setpoint on X40-output
The parallel switch of targets is possible by
addition of the function codes.
1 = X40 actual position 2
2 = Actual position 3 (CAN2-SSI-PDO1)
Z: Reference 4 = Actual position 4 CAN2-PDO3
8 = Actual position 5 CAN2-PDO4
16 = Setpoint position of Axis 1
32 = Setpoint position of Axis 2
64 = Setpoint position of Axis 3
The sum of the reference value is allowed.

Attention:
It is not permitted to select the setpoint
of the specified axis as reference.

At using the multi-axis functions at the drive 637f the parameter must load with the
command “Load parameterset X = [variable[Y]]“.

Further information about the synchronous function of the 630 Series

Example 635/637/637+/637f: Result:
0 Cycle length = 0 INKR After the Low-High slope of the start input 11
1 Gear factor = 1.0 the axis runs synchronously (per master
2 Move synchron; axis no. = 0, target = 0 , setpoint = 0 increment = gear factor increments), until the
3 If input 11 == 1 then jump 3 start input drops.
4 Stop axis ; mode 1
5 ...
Example 631: After the Low-High slope of the start input 9the
0 Cycle length = 0 INKR axis runs synchronously (per master increment
1 Gear factor = 1.0 = gear factor increments), until the start input
2 Move synchron; axis no. = 0, target = 0 , setpoint = 0 drops.
3 If input 9 == 1 then jump 3
4 Stop axis ; mode 1
5 ...
Note:
• Before starting a valid start mark has to occur:

a. The command "Start axis" before the move command.

optional : Sensor; mode=128

b. low-high impulse of the start input X10.11 (X10.9 on 631)

o 635/ 637/ 637+/637f

When using the start input X10.11 the function 0 (start input) has to be selected for the input
X10.11 in the configuration.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

36 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4
o 631
When using the start input X10.9 the function 3 (start input) has to be selected for the input
X10.9 in the configuration.

• X40 has to be configured for encoder input in the counter configuration.

• The gear ratio can change with the command "Gear factor =" during a synchronous move command

• The command "Cycle lenth =" placed before the move command defines the length of the format.

• The setpoints are specified as position differences.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
05 X Y Z 00 00 00 00

Parameters: D1 = Axis number: 1…3

D2 = Target: 1...15
D3 = Reference 1…127

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4 BIAS-Command

4 -06 BIAS-Command “Move CAM profile“

Move CAM-profile X
Explanation:
The command "Move CAM profile" starts the movement of the axis with the
Load example
specified profile number synchronous to the master increments.

Drive type: Parameters: Permissible inputs: ; BIAS program

PLC program
All X: Profile number 0-15 Mathematics

Further information about the synchronous profile function of the 630 Series

Example 635/637/ 637+/ 637f: Result:

0 Gear factor = 1.0 The profile calculated in the CAM profile 0 is processed until
1 Move CAM-profile 0 input 11 drops.
2 If input 11 == 1 then jump 2
3 Stop axis; mode 1
4 .....

Example 631: Result:

0 Gear factor = 1.0 The profile calculated in the CAM profile 0 is processed until
1 Move CAM-profile 0 input 9 drops.
2 If input 9 == 1 then jump 2
3 Stop axis; mode 1
4 .....

Note:
• Before starting a valid start command has to be encountered by either:
• The command "Start axis" before the move command
low-high impulse of the start input X10.11 (X10.9 on 631)

a. 635/ 637/637+/637f:
When using the start input X10.11 the function 0 (start input) has to be selected in the
configuration.
b. 631
When using the start input X10.9 the function 3 (start input) has to be selected in the
configuration.

• X40 has to be configured for encoder input in the counter configuration..

• Before enabling the command the corresponding profile has to be calculated ("Program", "Manage
CAM profiles)

• The command "Gear factor =" placed before the move command defines a scaling of the master
cycle length (resulting master cycle length = calculated master cycle length * Gear factor)
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
06 X 00 00 00 00 00 00

Parameters: D1 = Profile number 0...15

38 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

4 - 07 BIAS-Command “Synchronous settings 1“

Synchronous settings 1; mode=X; offset=[var.Y ]; start offset=[var.Z ]
Explanation:
With the command "Synchronous settings 1" it is possible to influence a
synchronous move command in progress by setting a mode and/or the Load example
definition of an offset in variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: Modus 0...255 PLC program
Y: Offsetvariable 0…255 Mathematics
Z: Startoffsetvar. 0…255
Further information about the synchronous functions of the 630 Series

Example: Result:
0 Synchronous settings 1.; mode=0; offset=[var.0]; start offset=[var.0]
Note:
• The following functions are possible with the parameter mode:
1. No function

2. Brake to 0 speed within half of the cycle length.

3. Move to synchronous speed within half of the cycle length.

4. Reserved (customer depending special function)

• The reaction to offset modifications can be influenced by the following combinations:

Mode + 32 Offset value will be loaded immediately (not only on the format trigger point).
Mode + 64 Offset value will be loaded as offset 2 (profile shifting on the master axis).
Mode + 128 Start point for the synchronous move on the master position given in the parameter start
offset
The parameter offset defines the variable, whose content is added to the synchronous run as an absolute
shifting on the slave axis (default) or on the master axis (mode + 64).
The parameter start offset defines the variable, whose content shifts the starting point for the modes 1 and
2 with regard to the format beginning (default) or defines the position on the master axis on which the
synchronous run is started (mode + 128).
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
07 X Y Z 00 00 00 00

Parameters: D1 = Mode: 0..255

D2 = Variable number for offset value: 0..255
D3 = Variable number for start offset value: 0..255

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4 BIAS-Command

4 - 08 BIAS-Command “Synchronous settings 2“

Synchronous settings 2; linear= X , mode= Y ,value = Z
Explanation:
With the command "synchronous settings 2" it is possible to suppress the
resetting of the counter on the format trigger and when starting the
synchronous run (linear axis). Load example
With the parameters mode and value it is possible to define various
synchron parameters.

Drive type: Parameters:

Permissible inputs: ; BIAS program
All X: Linear
0/1 (1= don’t clear the counter) PLC program
Y: Mode
0…255 Mathematics
0…65535
Z: Value
Example: Result:
0 Synchronous settings 2; linear= 0, mode= 0, value = 0

Mode = 1 Value = 0..500 Phase shift on slave axis offset, adjust speed as % of the actual
synchron speed
Mode = 2 Value = 0..65535 Phase shift on slave axis offset, adjust speed in increments per sampling
cycle
Note:
• If no mode is set or the values are zero, the default offset adjust speed is offset/256, that
means in 512 msec the new offset will be adjusted.

Mode = 3 Value = 0 Movement of the axis either directional is possible

Value = 1 Movement only in a positive count direction is possible
Mode = 4 Value = 0 Ramp filter will effect the complete position setpoint
Value = 1 Ramp filter will affect only the offset adjustment on the slave axis in
synchronous mode
Mode = 5 Value =0 ..500 Phase shift on the master axis offset, adjust speed as % of the actual
synchron speed
Mode = 6 Value =0 .... Phase shift on the master axis offset, adjust speed in increments per
sampling cycle
Mode = 7 Value = 0 Positive synchron start direction
Value = 1 Negative synchron start direction
Mode = 8 Value = 0 Gear ratio resolution 1/256 (standard)
Value = 1 Gear ratio resolution 1/65536
Value = 2 Gear ratio is defined with the command gear factor = [variable(x)] as a
fraction between the high and the low word of variable (x)
Example:
0 [Variable 0 ] = 3
1 [Variable 1 ] = 1
2 [Variable 3 ] = [variable 1 ] * 65536
3 [Variable 2 ] = [variable 0 ] + [variable 3 ]
4 Synchronous settings 2; linear= 1 ,mode = 8 , val.= 2
5 Gear factor = [variable 2 ]
Defines a gear ratio of 1/3

40 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

Mode = 9 Value = 0 At the end of the synchron profile the actual defined profile is
only 637f continoused.
Value = 1 The synchronism is finished at the end of the synchron profile.
Mode = 10 Value = 1 With this mode it is possible to save all parameters and values of the
only 637f synchronous move during a stop or deactive state.
At a restart the synchronism is activated with the stored parameters.
During a stop or deactive state the incomming increments of the master
are ignored.
Value = 0 Disables mode 10, stored synchronous parameters are ignored.
Mode = 11 Value = 1 The overwriting of the master cycle length is not allowed, if an absolute
only or relative move command is called during a synchron move
631/635/637 (The command “Position = “ overwrites the cycle lenght.)
Mode = 12 Value = 0 The scale out function is switched off.
only 637f
Value = 1 The scale out function is enabled.
The scaling factor can adjusted during the sychronism.
Variable 250 = numerator
Variable 251 = denominator
Mode = 13 Value = 0 The reverse rotation of the master over a format change is not checked.
only 637f
Value = 1 The reverse rotation to the format change is checked or is permitted.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
08 X Y Z(low) Z(high) 00 00 00

Parameters: D1 = Linear: 0, 1
D2 = Mode: 0-255
D3, D4 = Value: 0 - 65535

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4 BIAS-Command

4 - 09 BIAS-Command “Move PID, speed“

Move PID; speed; set value= X , act. value=Y , mode=Z
Explanation:
The command "Move PID, speed" enables the controlling of the actual
speed according to the control error between the set point and the actual
value specified in the parameter of the PID controller (see also commands
"PID scaling" and "PID parameter".

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: Set value 0…4 PLC program
Y: Actual value 0…4 Mathematics
Z: Mode 0…255
Further information about the PID-controller of the 630 series

Example: Ergebnis:
PROG_START:
0 [Variable 0 ] = 200 * P-Gain 200/4096=0.048
1 [Variable 1 ] = 100 * Integration-Time 100*1.89 msec=189 msec
2 [Variable 2 ] = 3 * Derivative Time 3*1,89msec=5,67mSec
3 [Variable 3 ] = 0 * Filtertimeconstant
4 [Variable 4 ] = 500 * PID Output limit high
5 [Variable 5 ] = -1000 * PID Output limit low
6 PID parameter ; start=[variable 0 ] * load PID Parameters
7 [Variable 6 ] = 2500 * Scaling Setpoint numerator
8 [Variable 7 ] = 2500 * Scaling Setpoint denominator
9 [Variable 8 ] = -2500 * Scaling actual value numerator
10 [Variable 9 ] = 2500 * Scaling actual value denominator
11 [Variable 10 ] = 18000 * Scaling PID Output numerator
12 [Variable 11 ] = 100 * Scaling PID Output denominator
13 PID scaling; start=[variable 6 ] * Overtake Scalings
* Start execution PID , output = speed setpoint
14 Start axis
15 Move PID; speed; set value= 4 , act. value=0, mode=7 * Setpoint =Variable 254 =0, Actual value
Loop: =ana.in.1,PID enable,I enable, Feed Forward
16 Jump Loop on.
Note:
• Before starting a valid start command has to be encountered by either:
a.) the command "Start axis" before the move command, or

• b.) low-high impulse of the start input X10.11 (X10.9 on 631)

o 635/ 637/ 637+/ 637f

When using the start input X10.11 the function 0 (start input) has to be selected in the
configuration.

o 631
When using the start input X10.9 the function 3 (start input) has to be selected in the
configuration.

42 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

Setpoint X Explanation:
0 Analogue input 1 (± 10V = ± 2047)
1 Analogue input 2 (± 10V = ± 2047)
2 Actual speed 1 intern
3 631/635/637 637+/637f
Act. speed 2 Act. speed 2
(increments /1,899 ms) (increments /0,844 ms)
4 BIAS-variable 254

Actual Explanation
value Y
0 Analogue input 1 (± 10V = ± 2047)
1 Analogue input 2 (± 10V = ± 2047)
2 Actual speed 1 intern
3 631/635/637 637+/637f
Act. speed 2 Act. speed 2
(increments /1,899 ms) (increments /0,844 ms)
4 BIAS-variable 255

Mode: The parameter "Mode" contains several bit-coded switches.

Bit 0: PID enable 0 = PID controller deactivated (all parts = 0)
1 = PID controller activated
Bit 1: I part enable 0 = I part deactivated
1 = I part activated
Bit 2: Feed forward enable 1 = Feed forward activated
Bit 3: Feed forward selection 0 = Feed forward standard (Default)
1 = Feed forward with Var. 253
Bit 4: Stop integral part 0 = Integral runs
1 = Integral stop (the last actual integral
value is valid)
Bit 5...6: Reserved always 0
Bit 7: Real analog speed control 0 = Standard PID function
(without PID function) 1 = Real analog speed control
Command coding:
Code D1 D2 D3 D4 D5 D6 D7
09 X Y Z 00 00 00 00

Parameters: D1 = Set value (0-4)

D2 = Actual value (0-4)
D3 = Mode (0 – 255)

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4 BIAS-Command

4 - 0A BIAS-Command “Move PID, torque“

Move PID, torque ; setpoint = X , act. value = Y , mode = Z
Explanation:
The command "Move PID, torque" enables the controlling of the actual
current according the control error between the set point and the actual
value specified in the parameter of the PID controller.
(see also commands "PID Scaling" and "PID parameters").

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: Setpoint 0…4 PLC program
Y: Act. value 0…4 Mathematics
Z: Mode 0…255
Further information about the PID controller of 630 series

Example: Result:
PROG_START:
0 [Variable 0 ] = 200 * P-Gain 200/4096=0.048
1 [Variable 1 ] = 100 * Integration-Time 100*1.89 msec=189 msec
2 [Variable 2 ] = 3 * Derivative Time 3*1,89msec=5,67mSec
3 [Variable 3 ] = 0 * Filtertimeconstant
4 [Variable 4 ] = 500 * PID Output limit high
5 [Variable 5 ] = -1000 * PID Output limit low
6 PID parameter ; start=[variable 0 ] * load PID Parameters
7 [Variable 6 ] = 2500 * Scaling Setpoint numerator
8 [Variable 7 ] = 2500 * Scaling Setpoint denominator
9 [Variable 8 ] = -2500 * Scaling actual value numerator
10 [Variable 9 ] = 2500 * Scaling actual value denominator
11 [Variable 10 ] = 18000 * Scaling PID Output numerator
12 [Variable 11 ] = 100 * Scaling PID Output denominator
13 PID scaling; start=[variable 6 ] * Overtake Scalings
* Start execution PID, output = speed setpoint
14 Start axis
15 Move PID; torque; setpoint=4, act. value=0, mode=7 * Setpoint =Variable 254 =0, Actual value
Loop: =ana.in.1, PID enable, I enable, Feed Forward on.
16 Jump Loop
Note:
• Before starting a valid start command has to be encountered by either:
a.) the command "Start axis" before the move command, or

• b.) low-high impulse of the start input X10.11 (X10.9 on 631)

o 635/ 637/ 637+/ 637f

When using the start input X10.11 the function 0 (start input) has to be selected in the
configuration.

o 631
When using the start input X10.9 the function 3 (start input) has to be selected in the
configuration.

44 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

Setpoint X Explanation
0 Analogue input 1 (± 10V = ± 2047)
1 Analogue input 2 (± 10V = ± 2047)
2 Actual speed 1 intern
3 631/635/637 637+/637f
Act. speed 2 Act. speed 2
(increments /1,899 ms) (increments /0,844 ms)
4 BIAS variable 254

Act. value Y Explanation

0 Analogue input 1 (± 10V = ± 2047)
1 Analogue input 2 (± 10V = ± 2047)
2 Actual speed 1 intern
3 631/635/637 637+/637f
Act. speed 2 Act. speed 2
(increments /1,899 ms) (increments /0,844 ms)
4 BIAS variable 255

Mode: The parameter "Mode" contains several bit-coded switches.

Parameters: D1 = Setpoint (0-4)

D2 = Act. value (0-4)
D3 = Mode (0 – 255)

10-06-05-E-V0304.doc Software manual Type: BIAS 45

4 BIAS-Command

4 - 0B BIAS-Command “Set position [axis no. ] = const.“

Set position [axis no.X] = Y INCR
Explanation:
With the command "Set position [axis no. ] = const." it is possible to set
Load example
the set position of the selected axis to a certain value.

Drive type: Parameters: Permissible inputs: ; BIAS program

PLC program
637f with Multi- X: Axis number 1-3 Mathematics
Axis-Function
(Mode 8 = 1) Y: Constant +/- 231

Example: Result:
0 Set position [axis no.1] = 10000 INCR The set position of the axis 1 is loaded on 10000
increments.

Note:
• This command is available with the 637f starting from the firmware V8.19
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
0B X Y(low) Y(high 00 00
)

Parameters: D1 = Axis 1 - 3
D2-D5 = Constant +/- 231

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BIAS-Command 4

4 - 0C BIAS-Command “Set position [axis no. ] = [variable X]“

Set position [axis no.X] = [variable Y]
Explanation:
With the command "Set position [axis no.X] = [variable Y]" it is possible to
Load example
set the set position of the selected axis on contents of the defined variable.

Drive type: Parameters: Permissible inputs: ; BIAS program

PLC program
637f with Multi- X: Axis number 1-3 Mathematics
Axis-Function
(Mode 8 = 1) Y: Variable 0…255

Example: Result:
0 [Variable 0] = 10000 The set position of the axis 1 is loaded on 10000
1 Set position [axis no.1] = [variable 0] increments.

Note:
• This command is available with the 637f starting from the firmware V8.19
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
0C X Y 00 00 00 00 00

Parameters: D1 = Axis number: 1-3

D2 = Variable number: 0…255

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4 BIAS-Command

4 - 0D BIAS-Command “Move relative“

Move relative; axisno. = X, target = Y
Explanation:
The command "Move relative" starts the axis X on the position, which results
Load example
from the sum of the current set position plus the relative distance defined in
the parameter set.

Drive type: Parameters: Permissible inputs: ; BIAS program

PLC program
637f with Multi- X: Axis number 1-3 Mathematics
Axis-Function: 1 = Setpoint into position controller
(Mode 8 = 1) Y: Target 2 = Setpoint on CAN2-PDO3
4 = Setpoint on CAN2-PDO4
8 = Setpoint on X40 output

The parallel connection of the setpoint

targets is possible by addition of the
function coding.

This command is permitted only with the use of the Multi-Axes-Function

with the controller type 637f, therefore the parameters must be pre-loaded
over the command “Load parameter set 0 = [variable[X]]“.

Example: Result
0 [Variable 10 ] = 100000 Starting from the momentary set position the axis
1 [Variable 11 ] = 1000 moves on with the speed 1000 for 100000 increments.
2 [Variable 12 ] = 4000
3 [Variable 13 ] = 4000
4 [Variable 0 ] = 10
5 Load parameter set 0 = [variable [0]]
6 Start axis
7 Move relative; axis no. = 1 , target = 1

Note:
• This command is available with the 637f starting from the firmware V8.19
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
0D X Y 00 00 00 00 00
Parameters: D1 = Axis number: 1-3
D2 = Target: 1...15

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BIAS-Command 4

4 - 0E BIAS-Command “Start axis“

Explanation:
The command "Start axis" places the start mark for the following move
command. With this command a move command can be executed without Load example
external start condition. Every move command resets the start mark.

Drive type: Parameters: Permissible inputs: ; BIAS program

All none - PLC program
Mathematics

Example: Result:
0 Start Axis The first move command "Move incremental position" is
1 Move incremental position executed immediately.
2 Wait for "position reached" After reaching the target position (block 2) the second move
3 Move incremental position command waits for a Low-High impulse of the start input X 10.11
4 .... (X 10.9 with the 631).
Note:
• The command "Start axis" replaces the Low-High impulse of the start input X10.11 (X10.9 with the 631)
as a valid start mark.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
0E 00 00 00 00 00 00 00

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4 BIAS-Command

4 - 0F BIAS-Command “Stop axis“

Stop axis ; mode = X ; axis no. = Y
Explanation:
The command "Stop axis; mode =" stops drive movements with the
Load example
function specified in the parameter mode.

Drive type: Parameters: Permissible inputs: ; BIAS program

; PLC program
631/635/637/ Mathematics
637+: X: Mode 0/1
mode 0 = stop abruptly (target
position = actual position)
mode 1 = stop guided (with the
current deceleration ramp)

637f with Multi- Y: Axis 0 Stops all axis and

Axis-Function: number disables the
(Mode 8 = 1)
multiaxis function
1 – 3 guided stop of the
selceted
axis

Example: Result:
0 Start axis The move command "move infinite positive" is stopped after 1
1 Move infinite positive second with the defined deceleration ramp of 10000 rpm/s.
2 Wait time 1000 ms
3 Deceleration = 10000 rpm/s
4 Stop Axis, Mode 1
5 Wait for "position reached"

Note:

• If the axis is to be stopped over a certain deceleration ramp, the use of the command "Stop axis +
parameter" is recommended.

• After the command “Stop axis” it is recommended to insert the command Wait for “Pos. reached“
into BIAS processing.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
0F X Y 00 00 00 00 00

Parameters: D1 = Mode 0 = stop abruptly (target position = actual position)

D1 = Mode 1 = stop guided (with the current deceleration ramp)
D2 = AxisNo. 1…3

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BIAS-Command 4

4 - 10 BIAS-Command “Move position + parameter“

Move position; v = X rpm, s= Y INCR
Explanation:
The command "Move position + parameter" starts the axis at the speed
specified in the parameter "v=" to the position defined in the Load example
parameter "s="

Parameters: ; BIAS program

v =1...12000 rpm PLC program
s = ± 231 Increments Mathematics
The setpoint calculation always uses the last defined parameters of:
acceleration,biascom21-E.htm decelleration, Ramp filter
After power on these parameters are initialized with the values of the
tuning position loop.
Example: Result:
0 Start axis The axis will move to the absolute position 1000
1 Move position; v= 100 rpm, s= 1000 INCR increments at a speed of 100 rpm.
2 Wait for "position. reached" The BIAS processing is continued with block 3 after
3.... reaching the position.
Note:
• Before starting a valid start mark has to occur:
a.) low-high impulse of the start input X10.11 (X10.9 at 631) or
b.) the command "Start axis"before the move command.

• 635/ 637/ 637+/637f

When using the start input X10.11 the function 0 (start input) has to be selected for the input X10.11
in the configuration

• 631
When using the start input X10.9 the function 3 (start input) has to be selected for the input X10.9 in
the configuration.

• 631/ 635 / 637

The maximum permissible speed depends on the resolver resolution configuration.
With a high resolver resolution only 4000 rpm is allowed.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
10 X(low) X(high) Y(low) Y(high) 00

Parameters: D1, D2 = Speed 1….12000 rpm

D3…D6 = Absolute position ±231 Increments

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4 BIAS-Command

4 - 11 BIAS-Command “Move incremental position + parameter“

Move incremental position; v = X rpm, s= Y INCR
Explanation:
The command "move incremental position + parameter" starts the axis at
the speed specified in the parameters "v=" to the position resulting from Load example
the current position + the position defined in the parameter "s=".

Parameters: ; BIAS program

Example: Result:
0 Start axis The axis moves 1000 increments from the
1 Move incemental position; v= 100 rpm, s= 1000 INCR current position at a speed of 100 rpm.
2 Wait for "position reached" The BIAS processing is continued with block
3.... 3 after reaching the position reaching the
position.
Note:
• Before starting a valid start mark has to occur:
a.) low-high impulse of the start input X10.11 (X10.9 at 631) or
b.) the command "Start axis" before the move command

o 635/ 637/637+/637f
When using the start input X10.11 the function 0 (start input) has to be selected for the input
X10.11 in the configuration.

o 631
When using the start input X10.9 the function 3 (start input) has to be selected for the input
X10.9 in the configuration.

• 631/ 635/ 637

The maximum permissible speed depends on the resolver resolution configuration.
With a high resolver resolution only 4000 rpm is allowed.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
11 X(low) X(high) Y(low) Y(high) 00

Parameters: D1,D2 = Speed 1….12000 rpm

D3…D6 = Relative position ±231 Increments

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BIAS-Command 4

4 - 12 BIAS-Command “Move datum + parameter“

Move datum; mode=X ; v = Y rpm , s= Z INCR
Explanation: 631 load example
The command "move datum +" starts the reference move at the speed
specified in the parameter "v=" corresponding to the specified mode. 635/637 load example

The reference shift is defined in the parameter "s=".

637+ load example

Drive type: Parameters: Permissible inputs: ; BIAS program

PLC program
All X: Mode Mode: 0...23 Mathematics

Y: Speed v =1...12000 rpm (Speed)

Z: Reference point s =± 231 Increments (Position)

shift

The setpoint calculation always uses the last defined parameters of:
Acceleration, Deceleration, Ramp filter

After power on these parameters are initialized with the values of the
tuning position loop menu.

Example: Result:
0 Start axis The axis moves in the positive direction to the
1 Move datum, mode 16, v= 100rpm, s=4000 Inkr Low-High slope of the reference sensor and the
2 Wait for "position reached" encoder zero position.

The final reference position is shifted by +4000

increments from this position.

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4 BIAS-Command
Note:
• The encoder could be resolver or HIPERFACE®
In position control with actual position 2 (X40) the 0-position of the external encoder is used.

• Before starting a valid start mark has to occur:

a.) the command "Start axis" before the move command or
b.) low-high impulse of the start input X10.11 (X10.9 at 631)

o 635/ 637/ 637+/637f

When using the start input X10.11 the function 0 (start input) has to be selected for the input
X10.11 in the configuration.

o 631
When using the start input X10.9 the function 3 (start input) has to be selected for the input
X10.9 in the configuration.

• 635/ 637/ 637+/637f

When using the reference sensor input X10.24 the function 1 (reference sensor) has to be selected
for the input X10.24 in the configuration.

• 631
When using the reference sensor for one of the inputs (X10.8, X10.9 or X10.10) the function 1
(reference sensor) has to be selected in the configuration.

• 631/ 635/ 637

The maximum permissible speed depends on the resolver resolution configuration.
With a high resolver resolution only 4000 rpm is allowed.

• 637f
When the drive 637f is mounted by the option board C28 the input X120.4 can configurated as
reference sensor. The reference sensor input configuration at the X10.24 clamp has no function.

Command coding:
Code D1 D2 D3 D4 D5 D6 D7
12 X Y(low) Y(high) Z(low) Z(high)

Parameters: D1 = Reference mode: 0...23

D2, D3 = Speed 1….12000 rpm
D4…D7 = Reference point shift, position ±231 Increments

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BIAS-Command 4

4 - 13 BIAS-Command “Move infinite positive + parameter“

Move positive ; v= X rpm , a+ = Y rpm/s , a- = Z rpm/s
Explanation: 631 load example
The command "Move infinite positive + parameter" starts the axis with the 635/637 load example
specified parameters "v=" (speed), "a+" (acceleration) and a-
(deceleration) in the positive direction. 637+ load example

Parameters: ; BIAS program

v = 1...12000 rpm PLC program
a+= 5...320000 rpm/s Mathematics
a-= 5...320000 rpm/s
The setpoint calculation always uses the last defined parameters of: Ramp
filter.
After power on these parameters are initialized with the values of the
tuning position loop menu.
Example: Result:
0 Move positive; v= 900 rpm, a+= 200rpm/s, a-= 5000 rpm/s The axis moves in the positive direction
1 If input 11 == 1 then jump 1 as soon as the start input is activated.
2 Stop axis ; mode 1 After deactivation of the start input the
3 ... axis is stopped.
Note:
• Before starting a valid start mark has to occur:
a.) the command "Start axis" before the move command
b.) low-high impulse of the start input X10.11 (X10.9 at 631)

o 635/ 637/ 637+/637f

When using the start input X10.11 the function 0 (start input) has to be selected for the input
X10.11 in the configuration

o 631
When using the start input X10.9 the function 3 (start input) has to be selected for the input
X10.9 in the configuration.

• 631/ 635/ 637 The maximum permissible speed depends on the resolver resolution configuration.
With a high resolver resolution only 4000 rpm is allowed.

Command coding:
Code D1 D2 D3 D4 D5 D6 D7
13 X(low) X(high) Y(low) Y(high) Z(low) Z(high) 00

Parameters: D1,D2 = Speed 1….12000 [rpm]

D3,D4 = Acceleration 1….64000 [5*rpm/s]
D5,D6 = Deceleration 1….64000 [5*rpm/s]

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4 BIAS-Command

4 - 14 BIAS-Command “Move inifinite negative + parameter“

Move negative; v= X rpm , a+ = Y rpm/s , a- = Z rpm/s
Explanation: 631 load example
The command "Move infinite negative + parameter" starts the axis with the 635/637 load example
specified parameters "v=" (speed), "a+" (acceleration) and a-
(deceleration) in the negative direction. 637+ load example

Parameters: ; BIAS program

v = 1...12000 rpm PLC program
a+= 5...320000 rpm/s Mathematics
a-= 5...320000 rpm/s
The setpoint calculation always uses the last defined parameters of: Ramp
filter
After power on these parameters are initialized with the values of the
tuning position loop menu.
Example: Result:
0 Move negative; v= 900 rpm, a+= 200rpm/s, a-= 5000 rpm/s The axis moves in the negative direction
1 If input 11 == 1 then jump 1 as soon as the start input is activated.
2 Stop axis ; mode 1 After deactivation of the start input the
3 ... axis is stopped.
Note:
• Before starting a valid start mark has to occur:

c. The command "Start axis" before the move command.

d. low-high impulse of the start input X10.11 (X10.9 on 631)

o 635/ 637/ 637+/637f

When using the start input X10.11 the function 0 (start input) has to be selected for the input
X10.11 in the configuration.

o 631
When using the start input X10.9 the function 3 (start input) has to be selected for the input
X10.9 in the configuration.

• 631/ 635/ 637

The maximum permissible speed depends on the resolver resolution configuration.
With a high resolver resolution only 4000 rpm is allowed.

Command coding:
Code D1 D2 D3 D4 D5 D6 D7
14 X(low) X(high) Y(low) Y(high) Z(low) Z(high) 00

Parameters: D1, D2 = Speed 1…12000 [rpm]

D3, D4 = Acceleration 1…64000 [5*rpm/s]
D5, D6 = Deceleration 1…64000 [5*rpm/s]

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BIAS-Command 4

4 - 15 BIAS-Command “Move synchron + parameter“

Move synchron; gear factor = X
Explanation: 631 load example
The command "Move synchron + parameter" starts the axis with the
specified gear factor synchronous to the master increments. 635/637 load example

637+ load example

Drive type: Parameters:
Permissible inputs: ; BIAS program
All = Gear factor +/-127, with 1/256
X: Standard: PLC program
accuracy Mathematics
X: extended: Synchonous settings 2; linear= 0,
mode= 8 ,value = 1
= Gear factor +/-127, with 1/65536
accuracy
The setpoint calculation always uses the last defined parameters of: Ramp
filter
After power on these parameters are initialized with the values of the tuning
position loop menu.

Further Information about synchronous functions of 630 series

Example: Result:
0 Cycle length = 0 INCR After the Low-High slope of the start input the axis moves
1 Move synchron; gear factor = 1.0 synchronously (per master increment = gear factor * increments),
2 If input 11 == 1 then jump 2 until deactivation of the start input.
3 Stop axis ; mode 1
4 ...

Note:
• Before starting a valid start mark has to occur:
a. the command "Start axis" before the move command
optional : sensor; mode=128
b. low-high impulse of the start input X10.11 (X10.9 at 631)

• 635/ 637/ 637+/637f

When using the start input X10.11 the function 0 (start input) has to be selected for the
input X10.11 in the configuration.

• 631
When using the start input X10.9 the function 3 (start input) has to be selected for the
input X10.9 in the configuration.

• The function X40 has to be selected as incremental input in the counter configuration.

• Changing the gear ratio is possible during the synchronous run with the command “Gear factor =“.

• The command "Cycle lenth =" placed before the move command defines the length of the format.

Command coding:
Code D1 D2 D3 D4 D5 D6 D7
15 X(low ) X(low) X(high) X(VZ) 00 00 00

Parameters: D1-D4= Gear factor, X(high) = +/-127

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4 BIAS-Command

4 - 16 BIAS-Command “Move analogue value + integrator“

Move infinite with analog value; integrator = X rpm/s
Explanation: 631 load example
The command "Move infinite with analog value" starts the axis to the
speed resulting from the analog setpoint X10.5 to X10.18(631 X10.1 to 635/637 load example
X10.2) multiplied by the speed setpoint scaling value.

The permitted rate of speed change can be limited by the parameter

637+ load example
“integrator” (0 = no limiting)

Parameters: Integrator = 0...160000 rpm/s; 0 = Integrator deactivated ; BIAS program

PLC program
Mathematics

Example: Result:
0 Move infinite with analog value; integrator = 10000 rpm/s The axis moves according to the analog
1 If input X == 1 then 1 setpoint value (as operating mode
2 Stop axis; mode 1 "speed control"), as long as input X is
active.
The maximum possible speed change
is limited to 10000 rpm/s.

Note:

• Before starting a valid start mark has to occur:

a. The command "Start axis" before the move command.

b. Low-high impulse of the start input X10.11 (X10.9 at 631)

o 635/ 637/ 637+/637f

When using the start input X10.11 the function 0 (start input) has to be selected for the
input X10.11 in the configuration.

o 631
When using the start input X10.9 the function 3 (start input) has to be selected for the
input X10.9 in the configuration
• The command “Ramp filter =“ must deactivat before thhis move move command.
• The parameter acceleration and decelleration haven’t influence to the ramps.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
16 X(low ) X(high) 00 00 00 00 00

Parameters: D1,D2= Integrator [5*rpm/s]

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BIAS-Command 4

4 - 17 BIAS-Command “Move speed + integrator“

Move speed, speed =X rpm , integrat.= Y rpm/s
Explanation: 631 load example
The command "Move speed + integrator" starts the axis according to
value “Speed” by-passing the position controller. 635/637 load example
This corresponds to the operating mode "speed control".
The permitted rate of speed change can be limited by the parameter 637+ load example
“integrator” (0 = no limiting)

Parameters X: v =1...12000 rpm ; BIAS program

Y: Integrator = 0...160000 rpm/s; 0 = Integ. deactive PLC program
Mathematics

Example: Result:
0 Start axis The axis moves according to
1 Move speed ,speed =1000 rpm , integrat.= 10000 rpm/s the set speed of 1000 rpm (as
2 If input X == 1 then jump 1 operating mode "speed
3 Stop axis; mode 1 control") as long as the start
input X is active.
During the process, speed
changes are limited to a
maximum of 10000 rpm/s.

Note:

• Before starting a valid start command has to be encountered by either:

a.) the command "Start axis" before the move command.

• b.) low-high impulse of the start input X10.11 (X10.9 at 631)

o 635/ 637/ 637+/637f

When using the start input X10.11 the function 0 (start input) has to be selected for the input
X10.11 in the configuration.

o 631
When using the start input X10.9 the function 3 (start input) has to be selected for the input
X10.9 in the configuration.
• The command “Ramp filter =“ must deactivat before thhis move move command.
• The parameter acceleration and decelleration haven’t influence to the ramps

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
17 X(low ) X(high) Y(low) Y(high) 00 00 00

Parameters: D1,D2= Speed [rpm]

D3,D4= Integrator [5*rpm/s]

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4 BIAS-Command

4 - 1A BIAS command “Cycle length = Const.“

Cycle length = X INCR
Explanation: 631 Load example
The command "Cycle length=" specifies the master cycle length for
synchronous applications. 635/637 Load example
A value of 0 deactivates the format check.
637+ Load example

Parameter: X: s = ± 231 Increments ; BIAS program

PLC program
Mathematics
Further information about synchronous functions of the 630 series
Example: Result:

Note:
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
1A X(low ) X(high) 00 00 00

Parameters: D1-D4= Cycle length: ± 231

4 - 1B BIAS command “Cycle length = [variable X] “

Cycle length = [variable X]
Explanation: 631 Load example
The command "Cycle length = [variable X]" specifies the master cycle
length in increments specified by the content of [variable X] for
synchronous applications. 635/637 Load example
A variable content of 0 deactivates the format check.
A value of 0 deactivates the format check.
637+ Load example

Parameter: X: 0 -255 ; BIAS program

PLC program
Further information about synchronous functions of the 630 series Mathematics

Example: Result:

Note:
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
1B X 00 00 00 00 00 00

Parameters: D1= Variable number: 0...255

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BIAS-Command 4

4 - 1C BIAS-Command “Load parameter set X = [variable [Y]]“

Load paramerter set X = [variable [Y]]
Explanation:
The command “Load paramter set X = [variable [Y]]” defines the
starting variable of the appropriate parameter set of type X by the
contents of the variable Y.

Paramters: X ; BIAS program

Type 0: Type 1: Type 2: PLC Program
Axis no./ Parameter set for Parameter set for Parameter set for Mathematics
cam positioning synchronouse cam function
(by type commands move
2):
1 0 1 8
2 2 3 9
3 4 5 10
4 6 (Reserved) 7 (Reserved) 11
Parameters: Y
Pointer variable Y on the starting 0 - 255
variable of the appropriate parameters
set of type X

Further information about synchronous functions of the 630 series

Example: Result:

Note:
• The function “Synchronous run” receives their control paramter before the start from the variables,
which are indicated in the parameter set and in the state “Active” from the axis state.
• Acceleration and deceleration are transferred to 5min-1/s.

Parameterset: Type 0: Parameterset for positioning commands

Var. + 0: Position Target position in increments (+/-231)

Var. + 1: Speed Max. speed, every time positive, in rpm
Var. + 2: Acceleration Acceleration (5-64000) in rpm/(min*Sec)
Var. + 3: Deceleration Deceleration (5-64000) in rpm/(min*sec)

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4 BIAS-Command

Parameter set: Type 1: Parameterset for synchronous commands

0: Start angle Defines switch-on point of the synchronous movement . Unit: Increments
of the selected refererence for the synchronous movement.
1: Delay time comp., The phase shift between master and slave, resulting from the scanning,
Sync. mechanical delay and electrical switching times, is compensated by
addition of a speed-proportional offset to the reference of the
synchronous move. The input is made in %. 100% corresponds to the
accurate compensation of the delay caused by the scanning in the
controller (844uSec) .
2: Gear factor numerator Gear factor numerator: 32bit signed Integer value.
3: Gear factor Gear factor denominator: 31bit unsigned Integer value.
denominator
4: Move_Linked_ACC Distance in increments during ramp-up of the slave; distance = input/2
5: Move_Linked_CONT Distance in increments during synchronous movement of the slave
6: Move_Linked_DEC Distance in increments during ramp-down of the slave; distance = input/2
7: Move_Linked_WAIT Distance in increments during waiting.
It is only used by MOVE_LINKED = 0.
8: CAM_Startoffset Shift of the start point of the CAM profile toward the master axis. The
start takes place on the slave axis incrementally.
9: CAM No. Indicates which CAM profile comes to execution. General altogether
2048 profile supporting points are momentarily possible to be stored in
the controller. Which can be distributed then on 2-16 different profiles.
10: Scaling numerator This parameter defines numerator of the output scaling.
11: Scaling denominator This parameter defines denominator of the output scaling.
12: Sync. settings Bit code for synchronous run options

62 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

Bit Code for synchronous movement options

Bit Name Meaning

Selection of the function for synchronous movement start on
0 START_ANGLE
defined master angle (Bit 0 =1).
Direction in which the start is to take place on defined master
1 START_DIRECTION
angle (0 = positive counting direction).
Switch on of the trigger function for the gearbox.
2 GEARBOX_TRIGGER_ON
The gear factor is took over at the trigger point at format length
reached (gear factor denominator) (”Gearbox Trigger On“ =1).
If the gear factor is took over immediately the flag “bit gearbox
Trigger Ext“ must set to 1 after the new gear factor was written
(Trigger On =0).
3 Backstop On
Disables the synchronous move during a back rotation of the
master at the beginning of the Profil, until the master reaches
the backstop position. The direction is defined in the flag “Start
direction“ If the position of the master is behind the backstop
position the error bit “Backstop Error“ is set to 1.
Switch-on of the clutch function (Bit 4 =1)
4 CLUTCH_ON
Slave direction of the clutch function
5 RAMP_DIRECTION_Y
Starts the synchronous ramp-up of the clutch function
6 RAMP_UP
Starts the synchronous ramp-down of the clutch function
7 RAMP_DOWN
Starts the synchronous waiting of the clutch function
8 RAMP_WAIT
9 MOVE_LINKED Move Linked = 1, moves the positions Move Linked ACC,
Move Linked Cont and Move Linked DEC consecutively.
10 MERGE_MOVE_LINKED
Start a new profile,by a positive slope of the flag ” Merge Move
Linked” the new formats are took over and the flag “Merge
Move Linked” is cleared after the restart.
Switches on the CAM function block.
11 CAMING_ON
Stops the synchronous movement at end of the profile.
12 STOP_CAM_END
CAM_BACKSTOP_OFF
13 If the reference is turning backwards, the movement of the
This function is still in
CAM is stopped at the beginning of the profile, until the
preparation !!!
reference is crossing again the switch off point in positive
direction. With this flag it is possible to carry on CAM execution
in negative direction of the reference.
14 RESERVE 1
Important ! Bit 15 = 0
15 RESERVE 2

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4 BIAS-Command

Parameter set: Type 2 Parameter set for cams

0: Mode Cam switching device mode

1: Modulo 1-4 Cycle length of the cam switching device.
in this application 65536 Incr == 360 degrees at the SSI.
2: Switch-on point 1-4 Defines switch-on point of the output with modes 2,4 and 8.
Unit: Increments of the SSI trajectory
3: Switch-off point 1-4 Defines switch-off point of the output with modes 2.
Unit: Increments of the SSI trajectory
4: Cycle duration 1-4 Defines the cyclic duration of the output with mode 8. Unit: ms
5: Delay time comp. 1-4 The phase shift between master and slave, resulting from the scanning,
mechanical delay and electrical switching times, is compensate by addition
of the speed-proportinal offset to SSI trajectory. The input is made in %.
100% correspond to the accurate compensation of the delay of the SSI
scanning in the controller (422µs).

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
1C X Y 00 00 00 00 00

Paramters: D1= Parameter set number: 0…255

D2= Variable number: 0…255

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BIAS-Command 4

4 - 1F BIAS-Command “Stop axis + parameter“

Stop axis; mode = X a- = Y rpm/s
Explanation:
The command "Stop Axis; mode = X a- = Y" stops the drive with the
Load example
function indicated in the mode.

Drive type: Parameters: Permissible inputs: ; BIAS program

PLC program
All Mathematics
X: Mode 0/1
0 = Stop abruptly
(target position = actual position)
1 = Stop guided
a-= 5...320000 rpm/s
Y: Deceleration

Example: Result:
0 Start axis The move command "move infinite positive" is stopped
1 Move inifinite positive after 1 seconds with the specified deceleration ramp of
2 Wait time 1000 ms 10000 rpm/s.
3 Stop axis, mode 1 a-= 10000 rpm/s
4 Wait for "position reached"

Note:

• After the command “Stop axis + parameter“ the use of the command “Wait for "Position reached"“ is
recommended.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
1F X Y(low) Y(high 00 00 00 00

Parameters: D1 = Mode 0 = Stop abruptly (target position = actual position)

D1 = Mode 1 = Stop guided
D2, D3 = Deceleration 1….64000 [5*rpm/s]

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4 BIAS-Command

4 - 20 BIAS-Command “Position = const.“

Position = X INCR
Explanation:
The command "Position =" defines the setpoint position for the move
commands. The defined position remains in effect until the next move
command.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: ± 231 increments PLC program
Mathematics

Example: Result:
0 Position = 10000 INKR The axis moves 10000 increments on a Low-High slope
1 Start axis of the start input.
2 Move incremental position
3 Wait for "position reached
4 Jump 1
Note:
• When using commands with direct position specification, the command will be overwritten.

• When using calculated units, changes in the position entered can occur since these positions always
have to be rounded to an integral number of increments.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
20 X(low) X(high) 00 00 00

Parameters: D1…D4 = Absolut position ±231 increments

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BIAS-Command 4

4 - 21 BIAS-Command “Speed = const.“

Speed = X rpm
Explanation:
The command "Speed =" defines the maximum speed for the move
commands.
The defined speed remains in effect until the next speed command.

Drive type: Parameters: Permissible inputs ; BIAS program

All X: 1...12000 PLC program
Mathematics

Example: Result:
0 Speed = 1000 rpm The axis moves 10000 increments from the current
1 Position = 10000 INKR actual position at 1000 rpm.
2 Start axis
3 Move incremental position
4 Wait for "position reached
5 Jump 5

Note:
• When using commands with direct speed specification, the command will be overwritten.

• 631/635/637/The maximum permissible speed depends on the configured resolver resolution.

With a high resolver resolution only 4000 rpm is allowed.

Command coding:
Code D1 D2 D3 D4 D5 D6 D7
21 X(low) X(high) 00 00 00 00 00
Parameters: D1,D2 = speed 1….12000 [rpm]

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4 BIAS-Command

4 - 22 BIAS-Command “Acceleration = const.“

Acceleration = X rpm/s
Explanation:
The command "Acceleration =" defines the acceleration ramp for the move
commands.
The defined acceleration remains in effect until the next acceleration
command.

Drive type: Parameters: Permissible inputs ; BIAS program

All X: 5...320000 PLC program
Mathematics

Example: Result:
0 Acceleration = 5000 rpm/s The axis moves 10000 increments from the current
1 Speed = 1000 actual position at 1000 rpm and an acceleration of
2 Position = 10000 INKR 10000 rpm/s.
3 Start axis
4 Move incremental position
5 Wait for "position reached"
6 Jump 6
Note:
• When using commands with direct acceleration specification, the command will be overwritten.

• The parameter acceleration is used by the change of speed from 0 rpm to a defined speed or by
change of speed with the same sign.

o The parameter acceleration is used by an active move command if the speed is decreased
(without different sign).
o The variation of the speed over 0 rpm, the parameter deceleration is used to 0 rpm and the
parameter acceleration is used to the defined new speed.

With minimum acceleration to 4000rpm With maximum acceleration to 4000rpm

Exp.: Exp.:
a = 5 rpm/s a = 320000 rpm/s
4000rpm 4000rpm
t= = 800s t= = 0,0125s = 12,5ms
rpm rpm
5 320000
==> s ==> s

Command coding:
Code D1 D2 D3 D4 D5 D6 D7
22 X(low) X(high) 00 00 00 00 00
Parameters: D1,D2 = Acceleration: 1….64000 [5*rpm/s]

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BIAS-Command 4

4 - 23 BIAS-Command “Deceleration = const.“

Deceleration =X rpm/s
planation:
The command “Deceleration =” defines the deceleration ramp for the move
commands.
The defined deceleration remains in effect until the next deceleration
command.

ive type: ameters: rmissible inputs:

; BIAS program
.320000
PLC program
Mathematics
ample: sult:
0 Deceleration = 10000 rpm/s The axis moves 10000 increments from the current
1 Acceleration = 5000 rpm/s actual position at 1000 rpm with an acceleration rate of
2 Speed = 1000 10000 rpm/s and a deceleration rate of 5000 rpm/s
3 Position = 10000 INKR
4 Start axis
5 Move incremental position
6 Wait for “Pos reached”
7 Jump 7

Note:
• When using commands with direct deceleration specification, the command will be overwritten.
• The parameter deceleration is used by the change of speed to 0 rpm
o The parameter acceleration is used by an active move command if the speed is decreased
(without different sign).
o The variation of the speed over 0 rpm, the parameter deceleration is used to 0 rpm and the
parameter acceleration is used to the defined new speed.
Command coding:
Code D1 D2 D3 D4 D5 D6 D7
23 X(low) X(high) 00 00 00 00 00

Parameters: D1,D2 = Deceleration 1….64000 [5*rpm/s]

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4 BIAS-Command

4 - 24 BIAS-Command “Gear factor = const.“

Gear factor = X
Explanation:
The command "gear factor =" determines the gear ratio between master and
slave (the axis following the master) during a synchronous run ("Move
synchron").
The gear factor specifies the number of increments to be moved per master
increment.
With the command "Synchronous settings 2“with mode 8 it is possible to
select the resolution of the gear factor (value 0, 1 or 2).

Drive type: Parameters: Permissible inputs: ; BIAS program

PLC program
All X: standard: = Gear factor +/-127, with 1/256 Mathematics
accuracy adjustment see:
X: extended: Synchronous settings 2; linear= 0,
mode= 8, value = 1
= Gear factor +/-127, with 1/65536
accuracy adjustment

Further more information about synchron functionen of the 630 Series

Example: 635/637/637+/637f Result:

0 Gear factor = 1.0 The axis moves synchronously until the start input 11
1 Move synchron drops. With this, 1 increments are traversed per 1
2 If input 11 == 1 then jump 2 increments (master increments) counted on the X40-
3 Stop axis; mode 1 input

Example:631 Result:
0 Gear factor = 1.0 The axis moves synchronously until the start input 9
1 Move synchron drops. With this, 1 increments are traversed per 1
2 If input 9 == 1 then jump 2 increments (master increments) counted on the X40-
3 Stop axis; mode 1 input.

Note:

• The parameter "gear factor" must be defined before the command "move synchron".

• Changes of the gear factor during the synchronous run will be activated immediately
(without the command "Update parameter").

Command coding:
Code D1 D2 D3 D4 D5 D6 D7
24 X(low ) X(low) X(high) X(VZ) 00 00 00

Parameters: D1-D4= Gear factor, X(high) = +/-127

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BIAS-Command 4

4 - 25 BIAS-Command “Position reached" window = const.

"Pos. reached" window = X
Explanation:
The command "Position reached window =" defines the range in which the
position to be moved to is regarded as reached.
The range results from the setpoint position ± the defined window.
See also: Position reached.
Drive type: Parameters: Permissible inputs ; BIAS program
All X: 1...32000 PLC program
Mathematics

Example: Result:
0 "Position reached" window = 400 The BIAS execution is continued with line 5 as soon as
1 Position = 10000 incr the ramp generation of the move command is ended
2 Start axis and the actual position of the axis is located in the range
3 Move position of 9600 to 10400 increments.
4 Wait for "position reached"
5 …..
See also: Parameter ”Position reached” window
Note:
1. 635/637/637+/637f:
If output X10.12 is configured with the function 0 (position reached), it will reflect the "position
reached" window (output = 1 = actual position within the "position reached" window).

2. 631:
If output X10.6 is configured with the function 0 (position reached), it will reflect the "position
reached” window (output = 1 = actual position within the ”position reached” window).

Command coding:
Code D1 D2 D3 D4 D5 D6 D7
25 X(low) X(high) 00 00 00 00 00

Parameters: D1,D2 = +/-window value 1….32000 Increments

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4 BIAS-Command

4 - 26 BIAS-Command “Remaining position= const.“

Remaining position = X INKR
Explanation:
The command "Remaining position =" defines the position, which is added
together with the latch value measured, when positioning with a sensor. The
defined remaining position remains in effect until the next remaining position
command.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: ± 231 Increments PLC program
Mathematics

Example:
0 Actual position 1 = 0 INCR
1 Position = 10000 INCR
2 Sensor; mode= 10 on= 6000 Incr off= 8000 Incr
3 Remaining position = 3000
4 Move position
5 Wait for "position reached"
6 Jump 6

Result:

1 Sensor window on
2 Sensor window off
3 Sensor position
4 Target position
5 Sensor position + Target
position
6 Sensor window
7 New target position

The axis starts to move to the absolute position of 10000 increments.

If a Low-High slope on the sensor X10.4 (X10.9 on 631) is evaluated between the positions 6000 and 8000
increments then the remaining position is added to the latch position and moved to.
With an assumed sensor position of 7500 increments, the new target position is:
7500 increments + remaining position 3000 increments = 10500 increments
Note:
• This command is only to be used in combination with the command
"Sensor window; mode =; mode 10".

• When using calculated units, changes in the position entered can occur since these positions always
have to be rounded to an integral number of increments.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
26 X(low) X(high) 00 00 00

Parameters: D1…D4 = Remaining position ±231 Increments

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BIAS-Command 4

4 - 27 BIAS-Command “Ramp filter = const.,[variable Y]“

Ramp filter = X , [variable Y ]
Explanation:
The command "Ramp filter =" sets the filter constant of the ramp filter.
The command thus allows a torque dampening (S-curve) of the
acceleration and braking ramp.

Drive type: Parameters: Permissible ; BIAS program

inputs: PLC program
Mathematics
631/635/637 X: 0, 4, 8, 12, 16, 20,
637+: X: 24, 28, 32
0-7

637f: X: 0 - 8 or 255
Y: variable 0 - 255
permitted variable
content 0 - 8

Example: Result:

Note:
• At the move commands
“Move PID, speed“
“ Move PID, torque“
“ Move analogue value“
“ Move speed“
the ramp filter must loaded with 0.
• The value 0 switches the ramp filter off.
• 637f: If the value X is 255, the ramp filter is loaded by the content of the specified variable.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
27 X Y 00 00 00 00 00

Parameters: D1= Ramp filter constant (see explanation)

D2= Ramp filter form variable: 0...255

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4 BIAS-Command

4 - 28 BIAS-Command “Actual position X = const.“

Act. posit. X = incr
Explanation:
The command "Actual position X =" presets the specified position value into
the actual position defined.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 1 = internal position PLC program
2 = X40-input Mathematics
Y: ± 231 Increments

Example: Result:
0 Act posit. 1 = 0 INCR The internal position is set to 0.
1 Position = 10000 INCR After the drive will move to the absolute position
2 Speed = 1000 rpm of 10000 increments.
3 Acceleration = 2000 rpm/s
4 Deceleration = 2000 rpm/s
5 Start axis
6 Move position; axis no. = 0 , target = 0

Note:
• The actual position used for position control should only be changed at standstill, since this
corresponds to a stop command without ramp.

• When using calculated units, changes in the position entered can occur since these
positions always have to be rounded to an integral number of increments

• 637f:
This command has no effects in the mode “Multi axis“. The specified actual position is not
changed.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
28 X Y(low) Y(high) 00 00

Parameters: D1 = 1 / 2
D2…D5 = Absolute position ±231 Increments

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BIAS-Command 4

4 - 29 BIAS-Command “If actual position X ? const. then jump“

If actual pos X ? Y INKR then jump Z
Explanation:
The command "If actual pos. X ? const." allows program branches by
comparing the actual value X with the constant.
If the condition is true the execution will be continued at the specified
command line. Otherwise the next BIAS command line is executed.

Drive type: Parameters: Permissible inputs: ; BIAS program

All 1: = internal position ; PLC program
X: ; Mathematics
2: = X40-input
3: = CAN-Bus

? > greater than (0)

< less than (1)
== equal to (2)
>= greater than or equal to (3)
<= less than or equal to (4)
!= not equal to (5)
-> positive (6)
-< negative (7)
Y: ± 231 Increments
Z: Address:
0…1499
The maximum permissible jump
address corresponds to the number of
BIAS command lines in the program
and corresponds to the number of the
last BIAS command line.
As an alternative to the line numbers
labels (jump labels) can be used
Example: Result:
0 Output 20 = 0 The output 20 is set to 1 in the position range
1 If actual pos. 1 < 1000 then jump 1 of 1000 to 10000 increments.
2 Output 20 = 1
LOOP:
3 If actual pos. 1 < 10000 then jump LOOP
4 Jump 4
Note:
•
The comparison of both values is carried out by a subtraction of the constant factor from the actual
position.
• The conditional jumps depend only on the sign of the result for the conditions "difference positive"
and "difference negative"
Command coding:

Code D1 D2 D3 D4 D5 D6 D7.0-D7.3 D7.4-D7.7

29 X Y(low) Y(high) Z(low) Z(high) ?

Parameters: D1 = Actual position 1,2,3 (see explanation)

D2…D5 = Absolute position ±231 Increments
D6,D7.0-D7.3 = Jump address 0...1499
D7.4-D7.7 = Comparison condition 0...7 (see explanation)

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4 BIAS-Command

4 - 2A BIAS-Command “If actual position X ? [variable Y] then jump“

If actual pos. X ? [variable Y] then jump Z
Explanation:
The command "If actual pos. X ? [variable Y]" allows program branches
by comparing the actual value X with the contents of the specified
variable.
If the condition is true the execution will be continued at the specified
command line. Otherwise the next BIAS command line is executed.

Drive type: Parameters: Permissible inputs: ; BIAS program

All 1: = internal position ; PLC program
X: ; Mathematics
2: = X40-input
3: = CAN-Bus

? > greater than (0)

< less than (1)
== equal to (2)
>= greater than or equal to (3)
<= less than or equal to (4)
!= not equal to (5)
-> positive (6)
-< negative (7)
Y: 0-255
Z:Address: 0…1499
The maximum permissible jump
address corresponds to the number of
BIAS command lines in the program
and corresponds to the number of the
last BIAS command line.
As an alternative to the line numbers
labels (jump labels) can be used.
.
Example: Result:
0 Variable 0 = 1000 The output 20 is set to 0 in the position range
1 Variable 1 = 10000 of 1000 to 10000 increments.
2 Output 20 = 0
3 If actual pos. 1 < [var. 0] then jump 3
4 Output 20 = 1
LOOP:
5 If actual pos. 1 < [var. 1] then jump LOOP
6 Jump 2
Note:
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
2A X ? Y Z(low) Z(high) 00 00

Parameters: D1 = Actual position: 1,2,3 (see explanation)

D2 = Comparison condition 0...255
D3 = Variable number 0...7 (see explanation)
D4,D5 = Jump address 0...1499

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BIAS-Command 4

4 - 2B BIAS-Command “Sensor window = const.“

Sensor; mode= X ; on = Y Increm.; off = Z Increm.
Explanation:
The command "Sensor window = const." loads the mode and the window values for
controlling the sensor functions.
The sensor control is only defined for positioning in a positive direction.

Drive type: Parameters Permissible inputs: ; BIAS program

: ; PLC program
All 0 = Switch off the sensor functions. ; Mathematics
X: Mode
1 = Switch on sensor function in synchronous run
with latch input 2.
2 = Customer specific special function.
3 = Switch on the sensor function in synchronism
with latch input 2.
4 = Switch on the Quadraloc function without auto
correction in synchronous run.
Latch on real position 1.
5 = Switch on the Quadraloc function with auto
correction in synchronous run.
Latch on real position 1.
6 = Switch on the Quadraloc function without auto
correction in synchronous run.
Latch on real position 2.
7 = Switch on the Quadraloc function with auto
correction in synchronous run.
Latch on real position 2.
10 = Switch on sensor function with “remaining
position =” for latch input 1
11 = Switch on sensor function for latch input 1.
The monitoring of the sensor window is
deactivated.
12 = Switch on interrupt function for latch input 2
The monitoring of the sensor window is
deactivated.
64 = Switch on interrupt function for latch input 1.
The monitoring of the sensor window is
deactivated
65 = Switch on interrupt function for latch input 2.
The monitoring of the sensor window is
deactivated.
128 = Switch on the interrupt function for latch
input 1.
254 = Switch off sensor function for latch input 1
255 = Switch off sensor function for latch input 2
Y: 224 Increments

Z: 224 Increments

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4 BIAS-Command

Example: for mode 10: Result:

0 Position = 10000 INCR The axis starts moving to the absolute
1 Remaining position = 2000 INCR position. Should a Low-High slope of the
2 Sensor; mode=10 ;on=6000 Increm.; off =9000 Increm. Latch input 1 (635/637/637+/637f X10.4,
3 Start axis 631 X10.9) occur in the position range of
4 Move position 6000 to 9000 increments, 2000
increments will be added to the Latch
position and moved to.

Note:

Latch input 1:
635/637/637+/637f input X10.4 configured for function 0,
631 input X10.9 configured for function 5.
The latch status can be queried with the command "Variable [X] = latch status 1“.
The latch position can be queried with the command "Variable [X] = latch position 1“

Latch input 2:
635/637/637+/637f input X10.25 configured for function 0,
631 input X10.10 configured for function 5.
The monitoring of maximum correction length is activated.

Parameters: D1 = Mode (see explanation)

D2-D4 = window on 224 Increments
D5-D7 = window off 224 Increments

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BIAS-Command 4

4 - 2C BIAS-Command “Sensor position = const.“

Explanation:
The command "Sensor position = const." defines the starting position in which
the sensor is expected.
The sensor position is required for the evaluation of the maximum correction in
synchronous move.
Drive type: Parameters Permissible inputs: ; BIAS program
: ; PLC program
All ± 231 Mathematics
const.
Example: Result:

Note:
• This command is only to be used in connection with the
commands “Sensor window , mode 1“, “Sensor adjustment 1“ and “Sensor adjustment 2”.

• The variable content is required for position in increments.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
2C X(low) X(high 00 00 00
)

Parameters: D1- D4 = Position: ± 231

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4 BIAS-Command

4 - 2D BIAS-Command “Sensor adjustment 1 = const.“

Sensoradjustment ; correct. = X increm.; average= Y
Explanation:
The command "Sensor adjustments 1 = const." defines the maximum
permitted value for the correction of the position according to the latched
sensor position in “sensor window; mode = 1”.
The parameter average specifies the number of latch positions whose
average values are to be evaluated for the position correction.

Drive type: Parameters: Permissible inputs: ; BIAS program

; PLC program
All X: Correction: 224 Increments Mathematics
Y: Average: 0…255

Example: Result:

Note:
• This command is only to be used in connection with the
commands “Sensor window , mode 1“, “"Sensor position"and “Sensor adjustment 2”.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
2D X (low) X (high) Y 00 00 00

Parameters: D1 - D3 = Correction: 224

D4 = Average 0...255

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BIAS-Command 4

4 - 2E BIAS-Command “Sensor adjustment 2 = const.“

Explanation:
The command "Sensor adjustment 2 = cost." defines the time within which the
position correction is to be carried out.

Drive type: Parameters: Permissible inputs: ; BIAS program

; PLC program
All const. 65535 in ms Mathematics

Example: Result:

Note:

• This command is only to be used in connection with the commands "Sensor window, mode 1",
"Sensor position" and "Sensor adjustment 1".
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
2E X (low) X (high) 00 00 00 00 00

Parameters: D1, D2 = Correction time: 0...65535

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4 BIAS-Command

4 - 2F BIAS-Command “Update parameter“

Explanation:
The command "Update parameter" allows the parameters: position, speed,
acceleration, deceleration, and window to be updated during a move command in
progress.
During a synchronous run in progress this command has no effect.

637f: With Multi-Axis Mode this command is not allowed!

Drive type: Parameters: Permissible inputs: ; BIAS program

PLC program
All none --- Mathematics

Example: Result:
0 Position = 100000 Inkr. The axis moves at a speed of 100 rpm to the
1 Speed = 100 rpm position of 10000 incrementsthen at a speed of
2 Start axis 1000 rpm to the position of 100000 increments.
3 Move position
4 Speed = 1000 rpm
5 If actual pos. 1 < 10000 Incr then jump 5
6 Update parameter
7 Wait for ”position reached”

Note:

• Each time, the last defined parameter values are updated.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
2F 00 00 00 00 00 00 00

Parameters:

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BIAS-Command 4

4 - 30 BIAS-Command “Position = [variable X]“

Explanation:
The command "Position = [variable X]" defines the setpoint position for the
move commands from the contents of the variable X.
The defined position is in effect until the next position command.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 PLC program
permitted variable content Mathematics
± 231 increments

Example: Result:
0 [Variable 0] = 10000 The axis moves 10000 increments from the current
1 Position = [variable 0] actual position.
2 Start Axis
3 Move in incremental position
4 Wait for "position reached"
5 Jump 2

Note:
• When using move commands with direct position specification, the command will be overwritten.

• The content of the variable is interpreted as incremental position specification.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
30 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

permissible variable content: ± 231

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4 BIAS-Command

4 - 31 BIAS-Command “Speed = [variable X]“

Explanation:
The command "Speed = [variable X]" defines the maximum speed for the
move commands from the contents of the specified variable X.
The defined speed remains in effect until the next speed command.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 PLC program
permitted variable content: Mathematics
1...12000

Example: Result:
0 [Variable 0] = 1000 The axis moves 10000 increments further relatively from
1 Speed = [variable 0] the current actual position at 1000 rpm.
2 Position = 10000 incr
3 Start axis
4 Move incremental position
5 Wait for "position reached"
6 Jump 3

Note:
• When using move commands with direct speed specification, the command will be overwritten.
• The content of the variable is interpreted as a speed specification in rpm.
• 631/635/637
The maximum permissible speed depends on the configured resolver resolution.
With a high resolver resolution only 4000 rpm is allowed.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
31 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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BIAS-Command 4

4 - 32 BIAS-Command “Acceleration = [variable X]“

Explanation:
The command "Acceleration = [variable X]" defines the acceleration ramps
for the move commands from the contents of the specified variable X.
The defined acceleration remains in effect until the next acceleration
command.

Dirve type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 PLC program
permitted Variable content: Mathematics
1...64000

Explanation: Result:
0 [Variable 0] = 1000 The axis moves 10000 increments further relatively from
1 Acceleration = [variable 0] the current actual position at 1000 rpm and an
2 Speed = 1000 acceleration of 10000 rpm/s..
3 Position = 10000 INCR
4 Start axiss
5 Move incremental position
6 Wait for "position reached"
7 Jump 4

Note:
• When using move commands with direct acceleration specification, the command will be
overwritten.

• The content of the variable is interpreted as an acceleration specification in 5 rpm/s

(variable x * 5 = acceleration rate).

• The parameter acceleration is used by the change of speed from 0 rpm to a defined speed or by
change of speed with the same sign.

o The parameter acceleration is used by an active move command if the speed is decreased
(without different sign).

o The variation of the speed over 0 rpm, the parameter deceleration is used to 0 rpm and the
parameter acceleration is used to the defined new speed.
With minimum acceleration to 4000rpm With maximum acceleration to 4000rpm
Exp.: Exp.:
a = 5 rpm/s a = 32000 rpm/s
4000rpm 4000rpm
==> t= = 800s ==> t= = 0,0125s = 12,5ms
rpm rpm
5 320000
s s

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
32 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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4 BIAS-Command

4 - 33 BIAS-Command “Deceleration = [variable X]“

Explanation:
The command "Deceleration = [variable X]" defines the deceleration ramps
for the move commands from the contents of the specified variable X.
The defined deceleration remains in effect until the next deceleration
command.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 PLC program
permitted variable content: Mathematics
1...64000

Example: Result:
0 [Variable 0] = 2000 The axis moves 10000 increments further relatively from
1 Deceleration = [variable 0] the current actual position at 1000 rpm with an
2 Acceleration = 5000 rpm/s acceleration rate of 5000 rpm/s and a deceleration rate
3 Speed = 1000 of 2000 rpm/s.
4 Position = 10000 INCR
5 Start axis
6 Move incremental position
7 Wait for "position reached"
8 Jump 4

Note:
• When using move commands with direct deceleration specification, the command will be
overwritten.

• The content of the variable is interpreted as a deceleration specification in 5 rpm/s (variable x * 5

= deceleration rate).

• The parameter deceleration is used by the change of speed to 0 rpm

o The parameter acceleration is used by an active move command if the speed is decreased
(without different sign).

o The variation of the speed over 0 rpm, the parameter deceleration is used to 0 rpm and the
parameter acceleration is used to the defined new speed.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
33 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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BIAS-Command 4

4 - 34 BIAS-Command “Gear factor = [variable X]“

Explanation:
The command "Gear factor = [variable X]" defines the gear factor for the
move command "Move synchron" from the contents of the specified variable.
It is the ratio between master and slave (the axis following the master) during
a synchronous run.
With the command “Synchron adjustment 2“ with mode 8 is possible to
select the resolution of the gear factor (value 0, 1 or 2).
Drive type: Parameters: Permissible inputs ; BIAS program
All X: 0...255 PLC program
Mathematics
permitted variable content see:
Synchron adjustment 2

Example: 635/637/637+/637f Result:

0 [Variable 0] = 256 The axis moves synchronously until the start input 11
1 Gear factor = [variable 0] drops.
2 Move synchron At the same time 1 increment is traversed per 1
3 If input 11 == 1 then jump 3 increment (master increment) counted in on the X40
4 Stop axis ; mode 1 connection.

Example: 631 Result:

0 [Variable 0] = 256 The axis moves synchronously until the start input 9
1 Gear factor = [variable 0] drops.
2 Move synchron At the same time 1 increment is traversed per 1
3 If input 11 == 9 then jump 3 increment (master increment) counted in on the X40
4 Stop axis ; mode 1 connection.

Note:
• The parameter "gear factor" must be defined before the command "move synchron".

• The content of the variable is interpreted as gear factor * 256.

• Changes of the gear factor during the synchronous run will be activated immediately (without the
command"Update parameter").
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
34 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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4 BIAS-Command

4 - 35 BIAS-Command “Position reached" window = [variable X]“

Pos. window = [variable X ]
Explanation:
The command "Position reached window = [variable X]" determines the
range within the position moved to is regarded as reached.
The range results from the setpoint position ± the defined window.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 PLC program
permitted variable content Mathematics
1...32000

Example: Result:
0 [Variable 0 ] = 400 The BIAS execution is continued as soon as the ramp
1 Pos. window = [variable 0 ] generation of the move command is ended and the
2 Position = 10000 incr actual position of the axis is located in the range of 9600
3 Start axis to 10400 increments
4 Move position
5 Wait for "position reached"

Note:
• 635/637/637+/ 637f
If output X10.12 is configured with the function 0 (position reached), it will reflect the "position
reached” window(output = 1 = actual position within the ”position reached” window).
• 631
If output X10.6 is configured with the function 0 (position reached), it will reflect the "position
reached” window
(output = 1 = actual position within the ”position reached” window).
• The variable content is interpreted as a window specification in increments.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
35 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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BIAS-Command 4

4 - 36 BIAS-Command “Remaining position = [variable X]“

Explanation:
The command "Remaining position = [variable X]" defines the variable where
the remaining position is stored, which is added together with the latch value
measured, when positioning with a sensor.
The defined remaining position remains in effect until the next remaining
position command.

Drive type: Parameters: Permissible Inputs ; BIAS program

All X: 0...255 PLC program
permitted variable content: Mathematics
± 231 Increments

Example:
0 Actual position 1 = 0 INCR
1 Position = 10000 INCR
2 Sensor; mode= 10 on= 6000 Incr off= 8000 Incr
3 [Variable 0] = 3000
4 Remaining position = [variable 0]
5 Move position
6 Wait for "position reached"
7 Jump 0

Result:

1 Sensor window on
2 Sensor window off
3 Sensor position
4 Target position
5 Sensor position +
remaining position
6 Sensor window
7 New target position

The axis starts to move to the absolute position of 10000 increments.

If a Low-High slope on the sensor X10.4 (X10.9 on 631) is evaluated between the positions of 6000 and
8000 increments then the remaining position is added to the latch position and moved to.
With an assumed sensor position of 7500 increments, the new target position is:7500 increments +
remaining position 3000 increments = 10500 increments
Note:
• This command is only to be used in combination with the
command "Sensor window; mode =; mode 10".
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
36 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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4 BIAS-Command

4 - 37 BIAS-Command “Maximum current = [variable X]“

Maximum current = [variable X ], mode = Y
Explanation:
The command "Maximum current = [variable X]" defines the maximum
permitted current of the drive and thus allows a variable torque limiting of the
axis.

Drive type: Parameters: Permissible inputs: ; BIAS program

X: 0...255 ; PLC program
Y: 0: The content of the variable is ; Mathematics
evaluated in 1/10 amps.
1: The content of the variable is
evaluated in D/A-steps.
Permitted variable content:
Mode 0: (2 x maximum current of the drive) x 10

631 Mode 1: 0 - 6061 = 100%

maximum current of the drive.
635/637/637+/637 0 - 12123 = 100%
f maximum current of the drive.

Example: Result:
0 [Variable 10] = 10 The position of 10000 increments is moved to.
1 [Variable 11] = 100 In the range of 0 to 7500 increments the
2 Position = 10000 INCR maximum current is limited to 10 A rms.
3 Maximum current = [variable 11], mode = 0 In the range of 7500 increments to 10000
4 Start axis increments the maximum current is limited to 1
5 Move position A rms.
6 If actual position 1 < 7500 INCR then jump 6
7 Maximum current = [variable 10], mode = 0
8 Wait for "position reached"
9 Jump 3
Note:
The specified maximum current is only taken into account if there are no other smaller limitations to the
maximum current. Possibilities are:
a. The external current limitation with analog input 2 is active (not 631 !).

b. The function current limitation at warning is activated.

c. The maximum current is limited in the menu "commissioning motor"

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
37 X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Mode 1/ 2

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BIAS-Command 4

4 - 38 BIAS-Command “Actual position X = [variable Y]“

Actual position X = [variable Y]
Explanation:
The command "Actual position X = [variable Y]" loads the contents of the
specified variable into the actual position defined (counter preset).

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 1 = internal position PLC program
2 = X40-input Mathematics
Y: 0...255

Example: Result:
0 [Variable 0 ] = 0 The internal position is set to 0 increments.
1 Actual position 1 = [variable 0] After the drive will move to the absolute position
2 Position = 10000 INCR of 10000 increments.
3 Speed = 1000 rpm
4 Acceleration = 2000 rpm/s
5 Deceleration = 2000 rpm/s
6 Start axis
7 Move position; axis no. = 0 , target = 0

Note:
• The actual position used for position control should only be changed at standstill, since this
corresponds to a stop command without ramp.

• This command has no effects in the mode “Multi axis“. The specified actual position is not
changed.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
38 X Y 00 00 00 00 00

Parameters: D1 = Mode 1/ 2
D2 = Variable number: 0...255

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4 BIAS-Command

4 - 39 BIAS-Command “Analog output X = [variable Y]“

Analog output X = [variable Y ]
Explanation:
The command "analog output X = [variable Y]" loads the contents of the
specified variable into the analog output defined.

Drive type: Parameters: Permissible inputs: ; BIAS program

631: none This command is not available on ; PLC program
635/ 637/ X: the 631 drive ; Mathematics
637+/ 637f 1 = MP 1 (X10.17)
2 = MP 2 (X10.6)
Y:
0...255
Permitted variable content
635/ 637: X = 1/ 2 -64…+63
corresponding to: -10…+10V

637+/637f: X = 1 MP1
-512…+511
corresponding to: -10…+10V
X = 2 MP2 -128…+127
corresponding to: -10…+10V
Example: 635/ 637: Result:
0 [Variable 0] = -64 An analog voltage of -10V is sent out on the
1 Analog output 1 = [Variable 0] MP 1 (X10.17).
Note:
• In order to be able to use the analog output function 1 (BIAS) it must be selected in the
configuration for the respective analog output.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
39 X Y 00 00 00 00 00

Parameters: D1 = MP 1/ 2
D2 = Variable number: 0...255

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BIAS-Command 4

4 - 3A BIAS-Command “PID scaling“

Explanation:
The command ”PID scaling” defines the variable area for the scaling
parameters of the PID-controller.
The variable area starts with the specified variable and has a length of 6
variables.

Drive type: Parameters: Explanation:: Permitted ; BIAS program

variable ; PLC program
content Mathematics
All n scaling X numerator ± 32767
n+1 scaling X denominator ± 32767
n+2 scaling Y numerator ± 32767
n+3 scaling Y denominator ± 32767
n+4 scaling Z numerator ± 32767
n+5 scaling Z denominator ± 32767

Example : Result:
0 [Variable 5] = 1250 The command PID scaling scales the set point
1 [Variable 6] = 1000 value with a factor of 1.25, the actual value with
2 [Variable 7] = 900 0.9 and the PID output (adjustment value) with
3 [Variable 8] = 1000 0.5.
4 [Variable 9] = 500
5 [Variable 10] = 1000
6 PID scaling; start = [variable 5]
Note:
X1 = X ⋅
[variable n]
[variable n + 1]
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
3A X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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4 BIAS-Command

4 - 3B BIAS-Command “Sensor window = [variable X]“

Sensor; mode = [var. X ]; on = [var. Y ]; off = [var. Z ]
Explanation:
The command "Sensor window = [variable X]" loads the contents of the specified
variables into the mode and the window values for controlling the sensor functions.
The sensor control is only defined for positionings in a positive direction.
If a sensor impuls occurs the selected function is deactivated automatical.

Drive type: Parameters: Permissible inputs: ; BIAS program

All 0-255 ; PLC program
X: Mode ; Mathematics
permitted variable content:
0 = Switch off the sensor functions.
1 = Switch on sensor function in synchronous run
with latch input 2.
2 = Customer specific special function.
3 = Switch on the sensor function in synchronism
with latch input 2 on actual position 1.
4 = Switch on the Quadraloc function without
auto correction in synchronous run.
Latch on actual position 1.
5 = Switch on the Quadraloc function with auto
correction in synchronous run.
Latch on actual position 1.
6 = Switch on the Quadraloc function without auto
correction in synchronous run.
Latch on actual position 2.
7 = Switch on the Quadraloc function with auto
correction in synchronous run.
Latch on actual position 2.
10 = Switch on sensor function with “remaining
position =” for latch input 1 on actual position
1
11 = Switch on sensor function for latch input 1 on
actual position 1.
The monitoring of the sensor window is
deactivated.
12 = Switch on interrupt function for latch input 2
on actual position 1.
The monitoring of the sensor window is
deactivated.
64 = Switch on interrupt function for latch input 1
on actual position 2.
The monitoring of the sensor window is
deactivated
65 = Switch on interrupt function for latch input 2
on actual position 2.
The monitoring of the sensor window is
deactivated.
128 = Switch on the interrupt function for latch
input 1.
254 = Switch off sensor function for latch input 2.
255 = Switch off sensor function for latch input 1.
Y: 0-255
permitted variable content 224 increments
Z: 0-255
permitted variable content 224 increments
Example: for mode 10: Result:
0 Variable 0= 10 The axis starts moving to the absolute
1 Variable 1= 6000 position. Should a Low-High slope of the
2 Variable 2= 9000
________________________________________________________________________________________________________________________________________________________________________________________________________________________

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BIAS-Command 4
3 Position = 10000 INCR Latch input 1 occur in the position range
4 Remaining position = 2000 INCR of 6000 to 9000 increments, 2000
5 Sensor; mode=[var. 0]; on=[var. 1]; off=[var. 2] increments will be added to the latch
6 Start axis position and moved to.
7 Move position

Note:

Latch input 2:
635/637/637+/637f input X10.25 configured for function 0,
631 input X10.10 configured for function 5.
The monitoring of maximum correction length is activated.

Parameters: D1 = Mode (see explanation)

D2 = Variable 0-255: window on 224 increments
D3 = Variable 0-255 window off 224 increments

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4 BIAS-Command

4 - 3C BIAS-Command “Sensor position = [variable X]“

Explanation:
The command "Sensor position = [variable X]" defines the starting position in
which the sensor is expected.
The sensor position is required for the evaluation of the maximum correction
in synchronous move.
Drive type Parameters Permissible inputs: ; BIAS program
: ; PLC program
All: 0…255 Mathematics
X: Mode

Example: Result:

Note:

1. This command is only to be used in connection with the

commands “Sensor window , mode 1“, “Sensor adjustment 1“ and “Sensor adjustment 2”.

2. The variable content is required for position in increments.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
3C X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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BIAS-Command 4

4 - 3D BIAS-Command “Sensor adjustments 1 = [variable X]“

Sensoradjustment; correction = [var. X ]; average= [var. Y]
Explanation::
The command "Sensor adjustments 1= [variable X]" defines the maximum
permitted value for the correction of the position according to the latched
sensor position in “sensor window; mode = 1”.
The parameter average specifies the number of latch positions whose
average values are to be evaluated for the position correction.

Drive type: Parameters: Permissible inputs: ; BIAS program

; PLC program
All X: 0…255 Mathematics
permitted variable content:
± 224 increments
Y: 0…255
permitted variable content:
0…255

Example: Result:

Note:

• This command is only to be used in connection with the commands "Sensor window, mode 1 =
[variable X]"; "Sensor position = [variable X]" and "Sensor adjustment 2 = [variable X]".

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
3D X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Variable number: 0...255

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4 BIAS-Command

4-3 BIAS-Command “Sensor adjustments 2 = [variable X]“

Explanation:
The command "Sensor adjustment 2 = [Variable X]" defines the time within
which the position correction is to be carried out.

Drive type: Parameters: Permissible inputs; ; BIAS program

; PLC program
All X: 0…255 Mathematics
permitted variable content:
65535 in ms

Example: Result:

Note:

• This command is only to be used in connection with the commands "Sensor window, mode 1 =
[variable X]"; "Sensor position = [variable X]" and "Sensor adjustment 1 = [variable X]"

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
3E X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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BIAS-Command 4

4 - 3F BIAS-Command “PID parameter“

Explanation:
The command ”PID parameter” defines the variable area for the parameters of the PID-
controller.
The variable area starts with the specified variable and has a length of 6 variables.

Drive type: Parameters: Permissible Meaning Permitted ; BIAS program

inputs: variable content ; PLC program
Mathematics
631/ 635/ 637 n 0…249 P-gain 0..32767 * 1/4096
n+1 Integration time 0..32767 * 1,899ms
n+2 Deviation time 0..32767 * 1,899ms
n+3 Filter time constant 0..32767 * 1,899ms
n+4 Clamp maximum ± 32767
n+5 Clamp minimum ± 32767

637+/ 637f n 0…249 P-gain 0..32767 * 1/4096

n+1 Integration time 0..32767 * 0,844ms
n+2 Deviation time 0..32767 * 0,844ms
n+3 Filter time constant 0..32767 * 0,844ms
n+4 Clamp maximum ± 32767
n+5 Clamp minimum ± 32767

Example: Result:

Note:
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
3F X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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4 BIAS-Command

4 - 40 BIAS-Command “[Variable X] = position“

Explanation:
The command "[Variable X] = position" loads the current position into the
specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 ; PLC program
; Mathematics

Example: Result:
0 [Variable 0 ] = position The actual set point is increased by 1000 increments and is
1 [Variable 0] = [variable 0] + 1000 activated.
2 Position = [variable 0]
3 Update parameter

Note:
• The position is a value in increments
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
40 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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BIAS-Command 4

4 - 41 BIAS-Command “[Variable X] = speed“

Explanation:
The command "[Variable X] = speed" loads the current speed into the
specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 ; PLC program
; Mathematics

Example: Result:
0 [Variable 0] = speed The actual current speed is increased by 100rpm and is
1 [Variable 0] = [variable 0] + 100 activated.
2 Speed = [variable 0]
3 Update parameter

Note:
• The setpoint speed is a value in rpm.

• 631/ 635/ 637

The maximum permissible speed is subject of the configuration of the resolver resolution. If the
resolver resolution is configured to high resolution the maximum permissible speed is 4000rpm.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
41 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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4 BIAS-Command

4 - 42 BIAS-Command “[Variable X] = accerleration“

Explanation:
The command "[Variable X] = acceleration" loads the current acceleration
into the specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 ; PLC program
; Mathematics

Example: Result:
0 [Variable 0] = accleration The current defined acceleration is increased by 500 rpm/s
1 [Variable 0] = [variable 0] + 100 and activated.
2 Acceleration = [variable 0]
3 Update parameter

Note:
• The acceleration is a value in 5 rpm/s.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
42 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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BIAS-Command 4

4 - 43 BIAS-Command “[Variable X] = deceleration“

Explanation:
The command "[Variable X] = deceleration" loads the current deceleration
into the specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 ; PLC program
; Mathematics

Example: Result:
0 [Variable 0] = deceleration The current defined deceleration is increased by 600 rpm/s
1 [Variable 0] = [variable 0] + 120 and activated.
2 Deceleration = [variable 0]
3 Update parameter

Note:
• The deceleration is a value in 5 rpm/s.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
43 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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4 BIAS-Command

4 - 44 BIAS-Command “[Variable X] = gear factor“

Explanation:
The command "[Variable X] = gear factor" loads the current gear factor into
the specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 ; PLC program
; Mathematics

Example synchronous setting 2, Result:

mode 8, value 0 (standard): Up to the slave position of 655360 increments,
0 [Variable 1] = actual pos 1 every 4096 increments the gear factor is
1 [Variable 0] = gear factor decreased by 1/256.
2 [Variable 0] = [variable 0] – 1
3 [Variable 1] = [variable 1] + 4096
4 If actual pos 1 < [variable 1] then jump 4
5 Gear factor = [variable 0]
6 If actual pos 1< 655360 then jump 2

Note:
• The content of the variable is defined in the commands "Gear factor = [variable X]" and
"Gear factor =" und "Synchronous settings 2"

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
44 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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BIAS-Command 4

4 - 45 BIAS-Command “[Variable X] = block number“

Explanation:
The command "[Variable X] = block number" loads the current block number
of the BIAS process into the specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 ; PLC program
; Mathematics

Example: Result:
0 ... The block number 2 is stored in variable 1.
1 ...
2 [Variable 1] = block number
3 ...

Note:
• This command allows storing of the program steps.
• see also: command "BIAS execution pointer = [variable X]".

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
45 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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4 BIAS-Command

4 - 46 BIAS-Command “[Variable X] = actual position Y“

Explanation:
The command "[Variable X] = actual position Y" loads the value of the defined
actual position Y into the specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 ; PLC program
Y: 1: internal position (X30) ; Mathematics
2: X40 input
3: CAN-Bus absolute encoder

only 637f: 3: CAN2 PDO1 SSI – reference value

4: CAN2 PDO3 reference value
5: CAN2 PDO4 reference value

Example for 635/ 637/ 637+/ 637f: Result:

0 [Variable 1] = actual pos. 1 The BIAS output 13 is set as of the current
1 [Variable 1] = [variable 1] + 4096 position and reset 4096 increments later.
2 Output 13 = 1
3 If actual pos. 1 < [variable 1] then jump 3
4 Output 13 = 0

Note:
• The position is a value in increments.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
46 X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0…255

D2 = Actual position: 1…5 (see explanation)

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BIAS-Command 4

4 - 47 BIAS-Command “[Variable X] = analog input Y“

Explanation:
The command "[Variable X] = analog input Y" loads the value of the defined
analog input Y into the specified variable.

Drive type: Parameters: Permissible inputs: ; BIAS program

X: 0...255 ; PLC program
631 Y: 1= X10.1-X10.2 ; Mathematics
(setpoint input)

635/ 637/ 1= X10.5- X10.18

637+/ 637f (setpoint input)
2= X10.10- X10.19
(external current limitation)

Example: Result:
0 [Variable 0] = analog input 2 The axis moves corresponding to the analog
1 [Variable 0] = [variable 0] / 2 voltage on analog input 2.
2 [Variable 0] = [variable 0]* -1 With the setpoint speed as follows:
3 [Variable 1] = [variable 0] + 2048 [ Variable 0] Vana log
4 Speed = [variable 1] v = 2048 − ⋅
4095 (10 V )
5 Update parameter
6 Jump 0

Note:
• The value range of the analog input 1 is 2047Digits (±11 Bit; ±10V)
The 637f use only 12bit (real 14Bit)!
• The value range of the analog input 2 is ± 4095 Digits.
(Real only ±9 Bit; ±10V)

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
47 X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Analog input (see explanation)

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4 BIAS-Command

4 - 48 BIAS-Command “[Variable X] = latch position Y“

Explanation:
The command "[Variable X] = latch position Y" loads the value of the defined
latch position Y into the specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

X: 0...255 ; PLC program
631: Y: 1 = Latch value X10.9 ; Mathematics
2 = Latch value X10.10
635/ 637/ 1 = Latch value X10.4
637+/ 637f: 2 = Latch value X10.25

Example: Result:
0 [Variable 0] = latch status 1 The actual position at the latch pulse is stored in
1 If [variable 0] <= 0 then jump 0 the variable 1
2 [Variable 1] = latch position 1

Note:
• This command can used in connection with the command "Sensor window; mode X" zu
benutzen.
• The latch position is only current, if a value > 0 is returned with the command “[Variable X]=
latch status Y“
• The latch position is a value in increments.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
48 X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Latch position 1/2 (see explanation)

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BIAS-Command 4

4 - 49 BIAS-Command “[Variable X] = actual speed Y“

Explanation:
The command "[Variable X ] = actual speed Y" loads the value of the defined
speed Y into the specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

All X: 0...255 ; PLC program
Y: ; Mathematics
1 = internal actual position (X30)
2 = X40-input

only 637f 3 = SSI-actual position 3 actual speed

Example 635/ 637/ 637+/ 637f: Result:

0 [Variable 0] = actual speed 2 The output X10.13 is set as well as the speed
1 If [variable 0] >= 0 then jump 3 calculated from the increment coming in on the
2 [Variable 0] = [variable 0]* -1 X40 counter input is less than 100 rpm.
3 If [variable 0] >= 100 then jump 6
4 Output 13 = 1
5 Jump 0
6 Output 13 = 0
7 Jump 0

Note:
• The speed is a value in rpm and is marked with a plus or minus sign.

• For speed 2 the correct increment resolution of the external encoder must be specified in
"Commissioning", "Counter", "X40 resolution.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
49 X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Actual speed 1,2,3 (see explanation)

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4 BIAS-Command

4 - 4A BIAS-Command “[Variable X] = latch status Y“

Explanation:
The command "[Variable X] = latch status Y" loads the status of the defined
latch input Y into the specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

X: 0...255 ; PLC program
631: Y: 1 = Latch value X10.9 ; Mathematics
2 = Latch value X10.10

635/ 637/ 1 = Latch value X10.4

637+/ 637f: 2 = Latch value X10.25

Status:
0 Latch not yet appeared
-1 No latch appeared within the sensor window
1 Latch executed (mode 10)
2 Latch executed (mode 11)
12 Latch executed (mode 12)
64 Latch executed (mode 64)
65 Latch executed (mode 65)

Example: Result:
0 [Variable 0] = latch status 1 The actual position at the latch pulse is stored in
1 If [variable 0] <= 0 then jump 0 the variable 1.
2 [Variable 1] = latch position 1

Note:
• This command can used in connection with the command "Sensor window; mode X" zu
benutzen.
• The latch position is a value in increments.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
4A X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Latch status 1/2 (see explanation)

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BIAS-Command 4

4 - 4B BIAS-Command “[Variable X] = position Y“

[Variable X ] = position Y ; axis no. Z
Explanation:
The command "[Variable X] = position Y" stores the content of the defined position into
the specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

631/ 635/ 637/ X: 0...255 ; PLC program
637+/ 637f ; Mathematics
Y: Position value 1 = actual setpoint position
2 = internal target position

637f with Y: Position value 1 = actual setpoint position (axis Z)

Multi-Axis-
2 = internal target position (axis Z)
Function:
3 = Brake distance (axis Z)
(Mode 8 = 1)
4 = Profile cycle length (axis Z)
Z: Axis number 1-3

Example for 635/637/637+: Result:

0 [Variable 0] = position 2 The output 13 is set 2000 increments before
1 [Variable 0] = [variable 0] – 2000 reaching the target position.
2 If actual pos. 1 < variable 0] then jump 2
3 Output 13 = 1

Note:
1. The position is a value in increments.

2. The actual setpoint position represents the position course during a positioning.
It gives, therefore, the respective setpoint position at a certain point in time.

3. The internal target position specifies the target of a positioning as an absolute value.

4. The braking distance specifies the necessary path for the braking ramp in increments.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
4B X Y Z 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Position value (see explanation)
D3 = Axis number: 1...3

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4 BIAS-Command

4 - 4C BIAS-Command “[Variable X] = value Y“

Explanation:
The command "[Variable X] = value Y" loads the defined value in the
specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

; PLC program
All: X: 0...255 ; Mathematics

Y: 0= Actual current with sign in 1/10 Amps

1= Actual effective current without
sign in 1/10 Amps
2= Field bus status
3= Actual speed in rpm
4= Position deviation of the position
controller (trail error)
5= Setpoint of the PID-function
6= Actual value of the PID-function
7= Actual deviation of the PID-function
8= Actual integral value of the PID-function
9= Output value multiplied by 256 of
the PID-function
10 = Time value (in 2 ms steps)
11 = actual maximum current in 1/10 Amps
12 = actual maximum current in D/A Steps
13 = actual effective current in D/A Steps
14 = Ucc in Volts
15 = IBT-Mask number
16 = Drive maximum current in 1/10 Amps
17 = Synchronism speed
18 = Fieldbus node number
19 = Input-/output status of X120
20 = I²t Motor
21 = I²t Drive
22 = CAN2-Bus-node monitoring state
23 = Rotor postion at positive slope of the
reference sensor
(from Firmware V8.20 only 637f)

Value = 0:

loads the actual current with sign in 1/10 Amps in the selected variable.

Example: Result::
The command is executed with a drive 635-05 (5 The variable 2 is loaded with the actual current
Amps nominal current) with sign in 1/10 Amps.
The drive is producing -1 amp of current; the
Variable 2 = value 0 variable 2 has the content -10.

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BIAS-Command 4

Value = 1:
loads the actual current without sign in 1/10 Amps in the selected variable

Example: Result:
The command is executed with a drive 635-05 (5 The variable 2 is loaded with the actual current
Amps nominal current). without sign in 1/10 Amps.
The drive is producing -1 amp of current; the
0 Variable 2 = value 1 variable 2 has the content 10

Value = 2:
loads the following 4-byte status information in the selected variable.

Example: Result:
0 Variable 2 = value 2 The variable 2 is loaded with the actual status
information.

Byte 0

In- output status 631 Input status low byte: 635/637 637+/637f

Byte 1 and Byte 2

Error word 631 635/637 637f

Byte 3

Status word 2 low Byte 631 635/637 637f

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4 BIAS-Command

Value = 10:
loads the actual timer value in the selected variable

Note: 631/ 635 /637

Der The internal timer value is increased every 2 ms by 1.

637+/ 637f
Der The internal timer value is increased every 0,844 ms by 1.

With this function it is possible to define free running timers in the BIAS - processing

Example for 631/ 635 /637: Result:

ProgStart: The drive should be stopped
0 Actual position 1 = 0 INKR after reaching the actual position
1 Start axis > 10000 or after 5 seconds.
2 Move positive; v= 100 rpm , a+= 5000 rpm/s , a-= 5000 rpm/s
3 [Variable 0 ] = value 10
4 [Variable 1 ] = [variable 0 ] + 2500
WAIT:
5 If actual position 1 > 100000 INKR then jump STOP
6 [Variable 0 ] = value 10
7 If [Variable 0 ] -< [variable 1 ] then jump WAIT
STOP:
8 Stop axis; mode = 1
9 NOP
10 NOP

Value = 11:
loads the actual permitted maximum current in 1/10 Amps in the selected variable.

Note: The maximum current can be influenced with the following functions:

a. The external current limitation with analog input 2 is active (not 631 !).

b. The function current limitation at warning activated.

c. The maximum current in the menu "commissioning motor"

d. The maximum current defined with the BIAS-command "Maximum current = variable“

Gener The lowest value is valid

Example: Result:
The command is executed with a drive 635-05 (5 The variable 2 is loaded with the actual valid
Amps nominal current) and in "commissioning motor" maximum current in 1/10 Amps.
the maximum current is limited to 50 %.
The variable 2 has the content 25.
0 Variable 2 = value 11

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BIAS-Command 4

Value = 12:
loads the actual permitted maximum current with the internal notation in the selected variable

Note: The maximum current can be influenced with the following functions:

a. The external current limitation with analog input 2 is active (not 631 !).

b. The function current limitation at warning is activated.

c. The maximum current in the menu "commissioning motor" is limited.

d. The maximum current defined with the BIAS-command “Maximal current = [variable X]“.

The lowest value is valid!

Note: 631 The maximum current of the drive: 100% has the internal value 6060.

635/637/637+/637f: The maximum current of the drive: 100% has the internal value 12123.

Example: Result:
The command is executed with a drive 635-05 (5 The variable 2 is loaded with the actual valid
Amps nominal current) and in "commissioning motor" maximum current with the internal notation.The
the maximum current is limited to 50 %. variable 2 has the content 6060.

0 Variable 2 = value 12

Value = 13:
loads the actual measured current with the internal notation in the selected variable..

Note: 631: The maximum current of the drive: 100% has the internal value 6060.

635/637/637+/637f: The maximum current of the drive: 100% has the internal value 12123.

Example: Result:
The command is executed with a drive 635-05 (5 The variable 2 is loaded with amount of the
Amps nominal current). actual measured current with the internal
notation. The drive is producing 5 amps of
0 Variable 2 = value 13 current; the variable 2 has the content 6060.

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4 BIAS-Command

Value = 14:
loads the actual DC-Bus voltage in the selected variable.

Example: Result:
The DC-Bus voltage is 322 V The variable 2 is loaded with the value of the
DC-Bus voltage.
0 Variable 2 = value 14 The variable 2 has the content of 322.

Value = 15:
loads the actual mask number of the IBT in the selected variable.

Note:

This command is only valid when you use an IBT with CAN-Bus. With this information it is
possible to decide the change of the display mask with the BIAS-command "IBT-Mask number".

Example: Result:
The display of the IBT shows the main mask (4). The variable 2 is loaded with the actual mask
number.
0 Variable 2 = value 15 The variable 2 has the content of 4.

Value = 16:
loads the maximum current of the drive in 1/10 Amps in the selected variable.

Example: Result:
The command is calculated with the drive 635-05 (5 The variable 2 is loaded with the maximum
Amps nominal currentÆ 10 Amps maximum current). current of the drive in 1/10 Amps.
The variable 2 has the content of 100.
0 Variable 2 = value 16

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BIAS-Command 4

Value = 17:
Loads the actual measured synchronous speed (∆increments) in the specified variable.
Ths speed is not valid in the multi axis synchronous mode.
s
∆Incr × 60
v= min
65535Incr × sampling time position control
sampling time position control:
637+, 637f: 0,844ms
631, 635, 637: 1,899ms

Example 637+/ 637f: Result:

The synchronous speed is 1000rpm The variable 2 is loaded by the value of the
Synchronous speed.
0 Variable 2 = value 17 The variable 2 has the value 921.

Value = 18:
loads the actual node or axis number in the specified variable.

Example: Result:
The defined node number is 3. The variable 2 is loaded by the value of the
node number.
0 Variable 2 = value 18 The variable 2 has the value 3.

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4 BIAS-Command

Value = 19:
Loads the actual input/ output status from clamp X120 in the specified variable.

• This command is available with the 637f as of firmware V8.19.

Bit Meaning
0 Input 1.
1 Input 2.
2 Input 3.
3 Input 4.
4 Output 1.
5 Output 2.
6 Output 3.
7 Output 4.
8 Cam 1.
9 Cam 2.
10 Cam 3.
11 Cam 4.
12 Reserve.
13 Reserve.
14 cam-operated switchgroup On.
15 Cam Backstop.
Example: Result:
The inputs 2 and 3, and the outputs 1 and 4 have The variable 2 is loaded with the value by the
High- level input/ output status.
The variable 2 has the content 150. (96hex).
0 Variable 2 = value 19

Value = 20:
load the actual motor performance in the specified variable.
2
The 100% of the performance is normalized to. INo min al ⋅ 2

Example: Result:
The motor performance is 100%. The variable 2 is loaded with the value by the
The command is executed with a motor motor performance.
AC M2n0290-4-/1-3 (6 Amps nominal current) The variable 2 has the content 51.

0 Variable 2 = value 20

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BIAS-Command 4

Value = 21:
load the actual drive performance in the specified variable.
2
The 100% of the performance is normalized to INo min al ⋅ 2 .

Example: Result:
The drive performance is 100%. The variable 2 is loaded with the value by the
The command is executed with a drive 637f-20 (20 drive performance.
Amps nominal current) The variable 2 has the content 560.

0 Variable 2 = value 21

Value = 22:
load the actual CAN2-Bus-node monitoring state.

Example: Result:
0 Variable 2 = value 22 The variable 2 is loaded with the value by the
CAN2-Bus-node monitoring state.
The bit of the asking axis is not set to one.

value = 23:
load the rotor position at positive slope of the reference sensor at homing mode with reference sensor.
See BIAS-command “Move datum“
(from Firmware V8.20 only 637f)

Example: Result:

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
4C X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Value 0...22

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4 BIAS-Command

4 - 4D BIAS-Command “[Variable X] = axis status, axis no. Y“

Explanation:
The command "[Variable X] = axis status, axis no. Y" loads the actual status
of the specified axis Y in the specified variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

; SPS program
637f: X: 0...255
; Mathematics
Y: 1…3

Bit Meaning Axis status of axis 1 - 3

0 Done This flag signals that either no multi axis move command was started up to now, or
the last commanded multi axis move command was terminated.
The signal will stay on low after start of a move command for the minimum
““Pos reached” time” (EASYRIDER parameter).
NOTE: A stop command with axis no != 0 is also a move command !!!
1 Acceleration Axis X accelerates
2 Continuous Axis X moves with constant speed
3 Deceleration Axis X decelerates
4 Slope start angle Signal that synchronous start happens (synchronism is active, start cam drive
through)
5 Trigger Gearbox Ext Trigger for update the gearbox parameters. The flag is set to 1 by the gearbox
function block of the synchronous movement and can be reset by BIAS.
6 Trigger Clutch Ext Trigger for manual update parameter
(The flag must set to 1 or set to 0 by BIAS)
e.g. synchronisation of switching parameters with other drives or PLC’s
7 Trigger CAM Ext Trigger for manual update parameter
(The flag must set to 1 or set to 0 by BIAS)
e.g. synchronisation of switching parameters with other drives or PLC’s
8 Gearbox Trigger Trigger for update the gearbox parameters. The flag is set to 1 by the gearbox
function block of the synchronous move for one sampling cycle.
9 Clutch Trigger Trigger update clutch factor 1 cycle
10 CAM Trigger Trigger for update the the caming parameters The flag is set to 1 by the CAM
function block of the synchronous move for one sampling cycle.
11 First CAM Reserved for Internal diagnosis
12 Backstop Error Error master moves in wrong direction
13 Start Error Start angle is drive through by switch on the synchronism
14 Clutch Error Parameter or control error clutch
15 CAM Start Error Error in CAM data
16 Start Angle Selection of the function for synchronous movement start on defined master angle
(Bit 0 =1).
17 Start direction Direction in which the start is to take place on defined master angle
(0 = positive counting direction).
18 Gearbox Trigger On Switch on of the trigger function for the gearbox.
The gear factor is took over at the trigger point at format length reached (gear
factor denominator) (”Gearbox Trigger On“ =1).
If the gear factor is took over immediately the flag “bit gearbox Trigger Ext“ must set
to 1 after the new gear factor was written (Trigger On =0).
19 Back stop Stops the synchronous move if the master turns backwards.
In this case the errorbit „Backstop error“ is set.
The slave is stopped until the master is crossing again the switch off point in
positive direction.
Forward or backward is defined with the flag “Start direction“

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BIAS-Command 4

20 Clutch On Switch on the clutch function (Bit 4 =1)

21 Ramp direction Slave direction of the clutch function

22 Ramp Up Starts the synchronous ramp-up of the clutch function
23 Ramp Down Starts the synchronous ramp-down of the clutch function
24
Ramp Wait Starts the synchronous wait of the clutch function
25 Move Linked Move Linked = 1, moves the positions Move Linked ACC, Move Linked
Cont and Move Linked DEC consecutively.
26 Merge Move Linked
Start a new profile,by a positive slope of the flag ” Merge Move Linked” the
new formats are took over and the flag “Merge Move Linked” is cleared
after the restart.
27 Caming On Switch on the CAM-Function block

28 Stop CAM End Stops the synchronous movement at the end of cam profile

29 CAM Backstop
If the reference is turning backwards, the movement of the CAM is stopped
This function is still
at the beginning of the profile, until the reference is crossing again the
in preparation !!!
switch off point in positive direction. With this flag it is possible to carry on
CAM execution in negative direction of the reference.
30 Reserve
31 Reserve

Example: Result:
9 ... The axis status of the axis 2 is allocated the
10 [Variable 0 ] = axis status, axis no. = 2 variable 2.
11 If [variable 0 ].Bit 12 == 1 then jump Error If the flag Backstop Error is set to 1 the
12 ... program continuous at the label “Error“
otherwise the program continuous at line 12.
Error:
60 ...

Note:

• This command is available with the 637f as of firmware V8.19

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
4D X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0…255

D2 = axis number: 1…3

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4 BIAS-Command

4 - 50 BIAS-Command “NOP“

Explanation:
The command “NOP“ serves as a line space and the following bock is
worked on.
Parameters: none ; BIAS program
; PLC program
; Mathematics

Example: Result:
0 NOP The assignment of the variable 0 is delayed for 2 cycles.
1 NOP (The NOP’s in line 0 and 1).
2 [Variable 0 ] = 1
3 Jump 3

Note: NOP-lines make the program execution slowly.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
50 00 00 00 00 00 00 00

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BIAS-Command 4

4 - 51 BIAS-Command “End of program, mode =“

End of program, mode = X
Explanation:
The command “End of program, mode =“ continue the execution depending
on the value of the parameter “mode”.
Parameters: Permissible inputs: ; BIAS program
X: Mode: 0...6 ; PLC program
; Mathematics
0 = Return to program start block of the calling task
(BIAS-, PLC- oder Mathematic-program)
1 = stop the execution of the BIAS program
2 = stop the execution of the PLC program
3 = stop the execution of the Mathematic program
4 = Deactivates the drive
5 = Activate the drive (only possible within the PLC-
program with “Continue execution at reactivation” and
if the drive is deactivated with mode 4).
6 = execute a drive reset (only possible within the PLC-
program with “Continue execution at reactivation”)

Example: Result:
ProgStart: After the start the BIAS- program calles the mathematic
0 [Variable 0 ] = 0 and PLC task. Then the BIAS- program is stoped.
1 [Variable 1 ] = 0 The mathematic and the PLC task are executed cyclic
2 Mathematic program MATH (return to program start block of the calling task)
3 PLC-program PLC
4 End of program, mode = 1
PLC:
5 [Variable 0 ] = [variable 0 ] + 1
6 End of program, mode = 0
MATH:
7 [Variable 1 ] = [variable 1 ] + 1
8 End of program, mode = 0

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
51 X 00 00 00 00 00 00
Parameters: D1 = Mode 0-6

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4 BIAS-Command

4 - 52 BIAS-Command “Sub-program“
Sub-program X
Explanation:
The command "Sub-program" sets the BIAS-execution pointer to the
specified set block-number.
At the same time the following block-number is stored as the return address
in the sub-program-stack.
The stack depth is limited to 128 sub-programs.
The return is programmed by the command “End of sub-program“.
Parameters: Permissible inputs: ; BIAS program
X: Address: 0...1499 ; PLC program
The maximum address depends on the length ; Mathematics
of the BIAS-program and corresponds to the
block-number of the last BIAS-block.
Instead of block-numbers, labels can be used.

Example: Result:
ProgStart: At first the BIAS execution calls the sub program UP_1.
0 Sub-program UP_1 The sub program UP_1 calls the sub program UP_2.
1 Springe 1 After all sub program has stopped the BIAS execution is
UP_1: continued with line 1.
2 Sub-program UP_2
3 [Variable 0 ] = 0
4 End of sub-program
UP_2:
5 [Variable 1 ] = 123
6 End of sub-program

Note:
• BIAS-, PLC- und Mathematic- programs have separated sub-program-stacks.

• If the command “BIAS execution pointer“ is used, the BIAS-program-stack is cleared!

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
52 X(low) X(high 00 00 00 00 00
)
Parameters: D1,D2 = Jump address: 0...1499

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BIAS-Command 4

4 - 53 BIAS-Command “End of sub-program “

Explanation:
The Command “End of sub-program“ loads the return address stored in the
sub program stack and concludes the subroutine.

Parameters: None ; BIAS program

; PLC program
; Mathematics

Example: Result:
ProgStart: At first the BIAS execution calls the sub-program UP_1.
0 Sub-program UP_1 The sub-program UP_1 calls the sub-program UP_2.
1 Jump 1 After all sub-programs are finished the BIAS execution
UP_1: is continued with line 1.
2 Sub-program UP_2
3 [Variable 0 ] = 0
4 End of sub-program
UP_2:
5 [Variable 1 ] = 123
6 End of sub-program

Note:
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
53 00 00 00 00 00 00 00

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4 BIAS-Command

4 - 54 BIAS-Command “PLC-program“
PLC-program X
Explanation:
The command "PLC-program" sets the PLC-execution pointer to the
specified block-number.
With this command a cyclic program can be started parallel to the BIAS-
program execution.
The specified block-number can be taken as a return address in the PLC-
program with the command "End of program".

Parameters: Permissible inputs: ; BIAS program

PLC program
X: Address: 0...1499 ; Mathematics
the maximum address depends on the length of
the BIAS-program and corresponds to the
block-number of the last BIAS-block.
Instead of block-numbers, labels can be used.

Example: Result:
ProgStart: After the start the BIAS- program calles the mathematic
0 [Variable 0 ] = 0 and PLC task. Then the BIAS- program is stoped.
1 [Variable 1 ] = 0 The mathematic and the PLC task are executed cyclic
2 Mathematic program MATH (return to program start block of the calling task)
3 PLC-program PLC
4 End of Program, mode = 1
PLC:
5 [Variable 0 ] = [variable 0 ] + 1
6 End of Program, mode = 0
MATH:
7 [Variable 1 ] = [variable 1 ] + 1
8 End of Program, mode= 0

Note:

• Do not execute the command "PLC-program cyclically, because the PLC-processing will always
begin at the specified block-number.

• In the PLC- loop not all of the BIAS commands are allowed.

• The reaction of the PLC program to the deactivation of the output stage can be adjusted in the BIAS
program definition (parameter ”program reaction PLC program”) Thus it is possible to allow the PLC
program to allow the PLC program to continue to process also during the deactivation of the
regulator.
o Is in this mode the first command of the BIAS execution the command “PLC program” the PLC
task starts automaticaly independently of the state (deactive/active) of the drive.

• Attention: With this mode “Continue execution at reactivation“!!

Download of a BIAS-program with changed command lines may result in uncontrolled
movements and program reactions!

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
54 X(low) X(high 00 00 00 00 00
)
Parameters: D1,D2 = Jump address: 0...1499

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BIAS-Command 4

4 - 55 BIAS-Command “Jump const.”

Jump const.
Explanation:
The command “Jump const.“ sets the execution pointer to the specified block
number.

Parameters Permissible inputs: ; BIAS program

Const.: 0...1499 ; PLC program
The maximum address depends on the length ; Mathematics
of the BIAS-program and corresponds to the
block-number of the last BIAS-block.
Instead of block-numbers, labels can be used.

Example: Result:
0 If flag 0 == 0 then jump 3 If the flag 0 is not set the execution is continued in line 3
1 [Variable 0] = 5 and the variable 0 is multiplied with 100.
2 Jump 4
3 [Variable 0] = 1
4 [Variable 0] = [variable 0]* 100
5 Jump [variable 0]

Note:
1. The maximum address depends on the length of the BIAS-program and corresponds to the block-
number of the last BIAS-block.

2. Instead of block-numbers, labels can be used.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
55 X(low) X(high) 00 00 00 00 00

Parameters: D1, D2 = Jump address: 0...1499

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4 BIAS-Command

4 - 56 BIAS-Command “Jump [variable X]“

Jump [variable X ]
Explanation:
The command “Jump [variable X]“ sets the execution pointer to the value of
the variable X.

Parameters Permissible inputs: ; BIAS program

X: 0...255 ; PLC program
Permissible variable content ; Mathematics
0...1499
The maximum address depends on
the length of the BIAS-program and
corresponds to the block-number of
the last BIAS-block.
Instead of block-numbers, labels
can be used.

Example: Result:
0 If flag 0 == 0 then jump 3 If the flag 0 is set to 0 the execution is continued in line
1 [Variable 0] = 5 500 and if the flag 0 is not set to 1 the execution is
2 Jump 4 continued in line 100.
3 [Variable 0] = 1
4 [Variable 0] = [variable 0]* 100
5 Jump [variable 0]

Note:

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
56 X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0…255

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BIAS-Command 4

4 - 57 BIAS-Command “BIAS-execution pointer = const.“

BIAS-execution pointer = const.
Explanation:
The command “BIAS-execution pointer = const.“ sets the execution pointer
of the BIAS program to the specified block number.

Parameters: Permissible inputs: BIAS program

Address: 0...1499 ; PLC program
The maximum address depends on ; Mathematics
the length of the BIAS-program and
corresponds to the block-number of
the last BIAS-block. Instead of
block-numbers, labels can be used

Example: Result:
0 PLC-program 50 The processing of the BIAS program is
Stop_1: continued in block 10 (label Stops) as soon as
10 Stop axis, mode 1, a- = 10000 rpm/s the actual position is greater than 500000
11 Jump 11 increments or smaller than 0 increments.
...
50 If actual position > 500000 INKR then jump Stop
51 If actual position < 0 INKR then jump Stop
52 End of program
Stop:
53 BIAS-execution pointer Stop_1
54 End of program

Note:
1. The maximum address depends on the length of the BIAS-program and corresponds to the block-
number of the last BIAS-block.

2. Instead of block-numbers, labels can be used

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
57 X(low) X(high) 00 00 00 00 00

Parameters: D1, D2 = Jump address: 0...1499

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4 BIAS-Command

4 - 58 BIAS-Command “Wait for "position reached"“

Wait for "position reached"
Explanation:
The command "Wait for “position reached"“ waits for the the calculation of
the trajectory generator and then for the position +/- the “position reached“
window.
After reaching this position the “position reached bit” is set to 1 and the next
BIAS command is executed.

Parameters: none ; BIAS program

PLC program
Mathematics

Example: Result:
0 Position = 10000 INKR The BIAS execution will only continue in line 4, if moving
1 "Pos. reached" window = 1 to position ends and the actual position is between 9900
2 Move position up to 10100 increments.
3 Wait for "position reached"
4 ...

Note:
• The bit “position reached“ will set to 1 if a limit switch is active (dependent on direction)!

• The Bit ”position reached” is always set in the mode 8 (Multi axis function)
To check the target position reached signal use the command “[Variable X ] = axis status, axis no.”
in the multi axis mode.
see also:
o BIAS-command “If status == 8 then jump"
BIAS-command “Position reached window = const."
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
58 00 00 00 00 00 00 00

Parameters: -

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BIAS-Command 4

4 - 59 BIAS-Command “Wait time = const.“

Wait time X ms
Explanation:
The command "Wait time" starts the specified waiting time.
Only after this waiting time runs out will the next BIAS command be
executed.

Parameters: Permissible inputs: ; BIAS program

Const. 0...131070 ms PLC program
Mathematics

Example: Result:
The BIAS execution will continue at line 5, 1 second
1 … after reaching the position.
2 Move position
3 Wait for "position reached"
4 Wait time 1000 ms
5 ...

Note:
• Only even waiting periods are permissible. Odd waiting periods get roundet off.

• When selecting a block number via the strobe function the waiting time is deleted.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
59 X(low) X(high) 00 00 00 00 00

Parameters: D1, D2 = Wait time: 0...131070

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4 BIAS-Command

4 - 5A BIAS-Commands “Wait time = [variable X]“

Wait time [variable X ]
Explanation:
The command "Wait time [variable X]" starts the waiting time specified in the
variable X.
Only after this waiting time runs out will the next BIAS command be
executed.

Parameters: Permissible inputs: ; BIAS program

X: 0...255 PLC program
permissible variable content: Mathematics
0...65535

Example: Result:
The BIAS execution will ccontinue at line 5, 1 second
1 [ Variable 0] = 1000 after reached the position..
2 Move position
3 Wait for "position reached"
4 Wait time [variable 0]
5 ...

Note:
• The variable content is interpreted as a time specificated in ms.
The drive types 637+ and 637f count the time in 1 ms steps
The drive types 631,635 and 637 count the time in 2 ms steps. Odd waiting periods get roundet off.

• When selecting a block number via the strobe function the waiting time is deleted

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
5A X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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BIAS-Command 4

4 - 5B BIAS-Command “BIAS-execution pointer = [variable X]“

BIAS-execution pointer = [variable X ]
Explanation:
The command "BIAS-execution pointer = [variable X]" sets the BIAS
execution pointer to the block-number specified in Variable X.

Parameters: Permissible inputs: BIAS program

X: 0...255 ; PLC program
The maximum permitted variable ; Mathematics
content depends on the length of
the BIAS program and corresponds
to the block-number of the last BIAS
block. Instead of block-numbers,
labels can be used

Example: Result:
0 [Variable 0] = 10 The processing of the BIAS program is
1 PLC-program 50 continued in line 10 (lable Stop_1) if the actual
… position is greater than 500000 or less than 0
Stop_1: increments.
10 Stop axis, mode 1, a- = 10000 rpm/s
11 Jump 11
...
50 If actual position > 500000 INCR then jump Stop
51 If actual position < 0 INCR then jump Stop
52 End of program
Stop:
53 BIAS-execution pointer = [variable 0 ]
54 End of program

Note:
1. The maximum address depends on the length of the BIAS-program and corresponds to the block-
number of the last BIAS-block.

2. Instead of block-numbers, labels can be used.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
5B X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

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4 BIAS-Command

4 - 5C BIAS-Command “Jump [var.[ X ]]; length = Y ; from line“

Jump [var.[ X]]; length= Y ; from Z
Explanation:
The command “Jump [var.[ X ]]; length = Y ; from line“ allows program
branches dependent on the content of the specified variable X. The content
of the variable X is not allowed to be greater than the length Y.
The command beginning from line Z must be jump commands (e.g. “Jump
const.” or “Jump [variable X])!

The first command at the jump target is executed in the same cycle.

Parameters: Permissible inputs: ; BIAS program

; PLC program
X: 0...255 (Variable content X <= Y) Mathematics
Y: 0...99
Z: 0...1499
(Y+line)<1499

Example: Result:
10 Jump [var.[64 ]]; length=6; from JUMP If the line 10 is executed the programm will be
JUMP: continue dependent on the content of the specified
11 Jump STANDSTILL variable 64 with the next command at the jump
12 Jump MOVE_ABS target.
13 Jump MOVE_REL
14 Jump MOVE_HOME The content of the variable 64 is 1, then the
15 Jump MOVE_INF program continues at the label MOVE_ABS with
16 Jump STOP_AXIS executing the command “Start axis”.
STANDSTILL:
17 Jump 10
MOVE_ABS:
18 Starts axis
19 Move position
……..

Note:

• This command is available with the 637f as of firmware V8.19

• This command is available with the 631/635/637 as of firmware V6.19

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
5C X Y Z(low) Z(high) 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Length: 0...99
D3,D4 = Jump address: 0...1499

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BIAS-Command 4

4 - 5D BIAS-Command “Execute X commands“

Execute X commands
Explanation:
The command “Execute X commands“ executes the number of commands
which are defined in the parameter X in one cycle.
The command is not counted itself!

Parameters Permissible inputs: ; BIAS program

X: 0...9 ; PLC program
Mathematics

Example: Result:
0 Wait time 1000 ms After the delay time of 1 second the positioning is
1 Execute 6 commands started in the next cycle immediately. The commands 2
2 Position = 10000 INCR to 7 are executed in one cycle.
3 Speed = 1000 rpm
4 Acceleration = 5000 rpm/s
5 Deceleration = 5000 rpm/s
6 Start axis
7 Move position; axis no. = 0 , target = 0
8 Wait for "pos. reached"
9 NOP

Note:
• This command is available with the 637f as of firmware V8.19

• The command is ignored if this command is in the block of the commands which are executed in one
cycle..
In this case the next command is executed.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
5D X 00 00 00 00 00 00

Parameters: D1: Number of commands 0...9

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4 BIAS-Command

4 - 5F BIAS-Command “Virtual program“

Virtual program a= W, b = X, c = Y, d = Z

Explanation:
The command “Virtual program“ is implemented only for test purposes and
not for use!

Parameters Permissible inputs: ; BIAS program

W: 0...255 PLC program
X: 0...255 Mathematics
Y: 0...255
Z: 0...255

Further informations are in the manual Configuration trajectory

generator

Example: Result:

Note:
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
5F W X Y Z 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Variable number: 0...255
D3 = Variable number: 0...255
D4 = Variable number: 0...255

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BIAS-Command 4

4 - 60 BIAS-Command ”Flag X = const.“

Flag X = const.
Explanation:
The command "Flag X =" assigns the constant 0 or 1 to the flag.

Parameters Permissible inputs ;BIAS program

X: 0...255 ;PLC program
const.: 0/1 ;Mathematics

Example: Result:
0 Flag 255 = 1 The flag 255 is set to 0.

Note:
• After power on all flags are cleared.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
60 X Y 00 00 00 00 00

Parameters: D1 = flag number 0..255

D2 = const. 0 / 1

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4 BIAS-Command

4 - 61 BIAS-Command “If flag X ? const. then jump “

If flag X ? const. then jump Y
Explanation:
The command “If flag X ? const then jump Y“ allows program branches
througt the comparison of the selected flag with the constant 0 or 1.
If the condition is true the processing will be continued with the specified
command.
Parameters Permissible inputs: Comment: ; BIAS program
X: 0...255 ; PLC program
?: == equal to ; Mathematics
!= not equal to
Const.: 0/1
Y: 0...1499
Address: The maximum address
depends on the length of the
BIAS-program and
corresponds to the block-
number of the last BIAS-
block.

Example: Reslut:
0 If flag 0 == 1 then jump 3 If the flag 0 is set to 1, output 12 will be set to 1. (Output 12
1 Output12 = 0 must be configured as a BIAS output).
2 Jump 4
3 Output12 = 1
4 Jump 4

Note:
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
61 X ? Const. Y(low) Y(high 00 00
)

Parameters: D1 = Flag number: 0…255

D2 = Comparison condition == (0) / != (1)
D3 = Constant: 0/1
D4, D5 = Jump address: 0..1499

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BIAS-Command 4

4 - 62 BIAS-Command “Flag X = flag Y“

Flag X = flag Y
Explanation:
The command "Flag X = flag Y“ assignes the content of the flag Y to the flag X.

Parameters Permissible inputs: ; BIAS program

X: 0...255 ; PLC program
Y: 0...255 ; Mathematics

Example: Result:
0 Flag 0 = flag 1 The state of the flag 1 is copied into the flag 0.
Note:
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
62 X Y 00 00 00 00 00

Parameters: D1 = Flag number 0…255

D2 = Flag number 0…255

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4 BIAS-Command

4 - 63 BIAS-Command “Flag X = input Y“

Flag X = input Y
Explanation:
The command "Flag X = input Y“ assigns the state of the input Y to the flag
X.

Drive type: Parameters: Permissible inputs: ; BIAS program

; PLC program
X: 0...255 ; Mathematics

631: Y: 7, 8, 9, 10
Pin no. at X10-clamp

635/637/ Y: 2, 4, 11, 15, 22, 24, 25

637+/637f: Pin no. at X10- female

Y: 101, 102, 106, 107, 108

Pin no. at COM2 Sub-D-female
I/O-Option board
RP-EA5 (Slot B)
Y: 201-208, 211-216
I/O-Option board Pin no at X200 Sub-D-female
RP-EAE (Slot C)
637f: Y: 121 – 124
2 x CAN + 4 outputs Pin no. at X120 clamp
and 4 inputs
RP-2C8 (Slot B):
Y: 91, 93
2 Inputs Pin no. at X290 clamp
RP-SBT 91: Activation Drive
(Slot C) 93. Safe standstill

Example: Result:
0 Flag 0 = input 2 The flag 0 reflects the state of the input X10.2.

Note:

• The inputs can be scanned independently of their configuration.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
63 X Y 00 00 00 00 00

Parameters: D1 = Flag number: 0…255

D2 = Number of the input: (see explanation)

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BIAS-Command 4

4 - 64 BIAS-Command “Flag X = output Y“

Flag X = Output Y
Explanation:
The command "Flag X = output Y“ assigns the state of the output to the flag X.

Drive type: Parameters: Permissible inputs: ; BIAS program

; PLC program
X: 0...255 ; Mathematics

631: Y: 5, 6
Pin no. at X10-clamp

635/637/ Y: 8, 12, 13, 20, 23

637+/637f Pin no. at X10- clamp

X: 109, 110
Pin no. at COM2 Sub-D-female
I/O-Option board
RP-EA5 (Slot B)
X: 209-210, 217-224
Pin no. at X200 Sub-D-female
I/O-Option board
RP-EAE (Slot C)
637f X: 125 – 128
2 x CAN + 4 outputs Pin no. at X120 clamp
and 4 inputs
RP-2C8 (Slot B):

Example: Result:
0 Flag 0 = output 12 The flag 0 reflects the state of the output X10.12.

Note:

• The outputs can be scanned independently of their configuration.

Command coding

Code D1 D2 D3 D4 D5 D6 D7
64 X Y 00 00 00 00 00

Parameters: D1 = Flag number: 0…255

D2 = Number of the output: (see explanation)

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4 BIAS-Command

4 - 65 BIAS-Command “Flag X = flag Y & flag Z“

Flag X = flag Y & flag Z
Explanation:
The command "Flag X = flag Y & flag Z“ makes an “AND“ operation with the
flag Y and the flag Z and stores the result in the flag X.

Parameters: Permissible inputs: ; BIAS program

X: 0...255 ; PLC program
Y: 0...255 ; Mathematics
Z: 0...255
Example: Result:
0 Flag 0 = 0 Flag 2 = 0
1 Flag 1 = 1
2 Flag 2 = flag 1 & flag 0

Note :

Operation table:
X = Y & Z
0 = 0 & 0
0 = 0 & 1
0 = 1 & 0
1 = 1 & 1

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
65 X Y Z 00 00 00 00

Parameter: D1 = Flag number 0…255

D2 = Flag number 0…255
D3 = Flag number 0…255

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BIAS-Command 4

4 - 66 BIAS-Command “Flag X = flag Y | flag Z“

Flag X = flag Y | flag Z
Explanation:
The command "Flag X = flag Y | flag Z“ makes an “OR“ operation with the
flag Y and the flag Z and stores the result in the flag X.

Parameters: Permissible inputs ; BIAS program

X: 0...255 ; PLC program
Y: 0...255 ; Mathematics
Z: 0...255

Example: Result:
0 Flag 0 = 0 Flag 2 = 1
1 Flag 1 = 1
2 Flag 2 = flag 1 | flag 0

Note:

Opteration
table:
X = Y | Z
0 = 0 | 0
1 = 0 | 1
1 = 1 | 0
1 = 1 | 1

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
66 X Y Z 00 00 00 00

Parameter: D1 = Flag number 0…255

D2 = Flag number 0…255
D3 = Flag number 0…255

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4 BIAS-Command

4 - 67 BIAS-Command “Flag X = flag Y ^ flag Z“

Flag X = flag Y ^ flag Z
Explanation:
The command "Flag X = flag Y ^ flag Z“ makes an “exclusive OR“ operation
with the flag Y and the flag Z and stores the result in the flag X

Parameters: Permissible inputs: ; BIAS program

X: 0...255 ; PLC program
Y: 0...255 ; Mathematics
Z: 0...255

Example: Result:
0 Flag 0 = 0 Flag 2 = 0
1 Flag 1 = 1
2 Flag 2 = flag 1 ^ flag 0

Note:

Operation table:
X = Y ^ Z
0 = 0 ^ 0
1 = 0 ^ 1
1 = 1 ^ 0
0 = 1 ^ 1

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
67 X Y Z 00 00 00 00

Parameters: D1 = Flag number 0…255

D2 = Flag number 0…255
D3 = Flag number 0…255

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BIAS-Command 4

4 - 68 BIAS-Command “Flag X = !flag Y“

Flag X = !flag Y
Explanation:
The command "Flag X = !flag Y“ assigns the negated content of the flag Y to
the flag X.

Parameters Permissible inputs ; BIAS program

X: 0...255 ; PLC program
Y: 0...255 ; Mathematics

Example: Result:
0 Flag 0 = 0 The flag 1 ist set to 1
1 Flag 1 = ! flag 0

Note:

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
68 X Y 00 00 00 00 00

Parameters: D1 = Flag number 0…255

D2 = Flag number 0…255

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4 BIAS-Command

4 - 69 BIAS-Command “Flag X = status Y“

Flag X = status Y
Explanation:
The command "Flag X = Status Y“ copies the current status to flag X.

Parameters: Permissible inputs: Meaning: ; BIAS program

X: 0...255 ; PLC program
Y: 0 position reached ; Mathematics
1 output stage inactive
2 format check executed (Synchron)
3 intern (knock down bit)
4 offset correction executed
5 trigger profile switch
6 sensor latch error
7 ”move datum” successfully done
8 target position reached
9 IBT data transfer runs
10 axis in position control (standstill)
11 axis in decelleration ramp
12 ramp filter function done
(new value can be loaded)
13 table saved runs (only for 637f)
14 pos. position limit
(only for 637f)
15 neg. position limit
(only for 637f)
16 limit switches detected
17 speed limit reached
(only for 637f)
Example: Result:
0 Flag 1 = status 11 The flag 1 shows if the position set value is in the decelleration
ramp.
Note:
• The Bit 8 ”target position reached” is always set in the mode 8 (Multi axis function)
To check the target position reached signal use the command “[Variable X ] = axis status, axis no.”
in the multi axis mode.

• The status 2 (format check synchronous move) is set only on one BIAS-cycle.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
69 X Y 00 00 00 00 00

Parameters: D1 = Flag number: 0…255

D2 = Status: 0…17

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BIAS-Command 4

4 - 6A BIAS-Command “If status X ? const. then jump“

If status X ? const. then jump Y
Explanation:
The command "If status X ?" allows program branches through the comparison
of the selected status X with the constants 0 and 1.

If the comparison is true, the processing is continued with the specified

command.
Parameters Permissible inputs: Meaning ; BIAS program
Y: 0 position reached ; PLC program
1 output stage inactive ; Mathematics
2 format check executed (Synchron)
3 intern (knock down bit)
4 offset correction executed
5 trigger profile switch
6 sensor latch error
7 ”move datum” successfully done
8 target position reached
9 IBT data transfer runs
10 axis in position control (standstill)
11 axis in decelleration ramp
12 ramp filter function done
(new value can be loaded)
13 table saved runs (only for 637f)
14 pos. position limit
(only for 637f)
15 neg. position limit
(only for 637f)
16 limit switches detected
17 speed limit reached
(only for 637f)
?: == equal to
!= not equal to
Const.: 0/1
Y: 0…1499
Address: The maximum permitted address depends on the length of the
BIAS program and corresponds to the block-number of the
last BIAS block.
As an alternative to the block-numbers, labels (jump labels)
can be used.

Example: Result:

Note:
• The Bit 8 ”target position reached” is always set in the mode 8 (Multi axis function)
To check the target position reached signal use the command “[Variable X ] = axis status, axis no.”
in the multi axis mode.

• The status 2 (format check synchronous move) is set only on one BIAS-cycle.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
6A X ? Const Y(low) Y(high) 00 00

Parameters: D1 = Status 0...17

D2 = Comparison condition: == (0)/ != (1)
D3 = Constant: 0/ 1
D4, D5 = Jump address: ...1499

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4 BIAS-Command

4 - 6B BIAS-Command “Mode X = const.“

Explanation:
The command "Mode =const.“ loads the specified mode with the constant
value.
Parameters Permissible inputs: ; BIAS program
X: 0...255 ; PLC program
Const.: 231 ; Mathematics

Mode Special functions

0 Shift factors (only 637f)
4 0 = Ramp steepness standard 1 = Ramp steepness multiplied by 4 (only 637f)
8 0 = Multi axis mode off 1 = Multi axis mode (only 637f)
22 0 = CAN2-Bus-node monitoring value reset (only 637f with RP 2CA/ RP 2C8)

Example: Result:
0 Modus 8 = 1 The multi axis mode is activated. The variables
1 [Variable 10 ] = 200000 define the parameter set for a positioning.
2 [Variable 11 ] = 1000 The axis moves on the position 200000 increments
3 [Variable 12 ] = 2000 and after the axis reached this position the line 11 is
4 [Variable 13 ] = 2000 executed.
5 [Variable 14 ] = 10
6 Load parameter set 0 = [variable [14 ]]
7 Start axis
8 Move position; Axis no. = 1 , target = 1
9 [Variable 0 ] = Axis status, Axis no. = 1
10 If [variable 0 ].Bit 0 == 0 then jump 9
11 ...

Note:
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
6B X Y (low) Y (high) 00 00

Parameters: D1 = Mode: 0...255

D2-D5 = Constant: ±231

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BIAS-Command 4

4 - 6C BIAS-Command “Flag X = [variable Y], number Z“

Flag X = [variable Y ], number = Z
Explanation:
The command "Flag X = [variable Y], number Z“ copies the Z lowest bits of
the content variable Y in the flag range starting with flag X.

Flag X = Bit 0

Parameters: Permissible inputs: ; BIAS program

X: 0...255 ; PLC program
Y: 0...255 Mathematics
Z: 1...32
note: (X+Z)<257

Example: Result:
The 4 lowest bits of the variable 0 are copied in Flag 0 = 1
the flags 0 to 3. Flag 1 = 1
Flag 2 = 1
0 Variable 0 = 15 Flag 3 = 1
1 Flag 0 = variable 0, number 4

Note:
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
6C X Y Z 00 00 00 00

Parameters: D1 = Flag number: 0...255

D2 = Variable number: 0...255
D3 = Number of bits: 1...32

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4 BIAS-Command

4 - 6D BIAS-Command “[Variable X]. bit [Y] = const.“

[Variable X ].bit Y = const. ,[flag Z ]
Explanation:
The command “[ Variable X ]. bit [Y] = const. , flag Z“ sets or clears the
specified bit Y of the specified variable X.
If in the constant the value 255 is registered, the content of the flag Z is
copied in the specified bit Y of the variable X.

Parameters Permissible inputs: ; BIAS program

; PLC program
X: 0...255 ; Mathematics
Y: 0...31
Const.: 0/1 , 255
Z: 0...255

Example: Result:
0 Flag 10 = 1 The bit 15 of the variable 0 is cleared and
1 [Variable 0 ].bit 15 = 0 ,[flag 0 ] the bit 1 of the variable 1 is set (by the flag 10= 1).
2 [Variable 1 ].bit 1 = 255 ,[flag 10 ]

Note:

• This command is available with the 637f as of firmware V8.19.

• This command is available with the 631/635/637 as of firmware V6.19.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
6D X Y Const. Z 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Bit number 0...31
D3 = Constant: 0/1 , 255
D4 = Flag number: 0...255

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BIAS-Command 4

4 -6E BIAS-Command “If [variable X]. bit Y ? const. then jump“

If [variable X]. bit Y ? const. then jump Z
Explanation:
The command “ If [var. X]. bit Y ? const. then jump“ allows program branches
by comparing the bit Y of the variable X with the constant.
If the condition is true the execution will be continued at the specified
command line.
Otherwise the next BIAS command is executed.

Parameters: Permissible inputs: Meaning: ; BIAS program

; PLC program
X: 0...255 ; Mathematics
Y: 0...31

?: == equal to
!= not equal to

Z: 0…1499
Address: The maximum permissible jump address
corresponds to the length of the BIAS program.
As an alternative to the line numbers labels
(jump labels) can be used.

Example: Result:
LOOP: The program is executed at line 1 if the bit 3
0 If [variable 10 ].bit 3 == 0 then jump LOOP of the variable 10 is set to 1.
1….

Note:

• This command is available with the 637f as of firmware V8.19.

• This command is available with the 631/635/637 as of firmware V6.19.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
6E X Y ? Z(low) Z(high 00 00
)

Parameters: D1 = Variable number 0...255

D2 = Bit number 0...31
D3 = Comparison condition == (0)/ != (1)
D4, D5 = Jump address 0...1499

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4 BIAS-Command

4 - 6F BIAS-Command “Axis state, axis no. X, bit Y = const. [flag Z]“

Axis state, axis no. X, bit Y = const, [flag Z ]
Explanation:
The command “Axis state, axis no. X , bit Y = const. , [flag Z]“ sets or cleares
the specified bit of the axis state of the specified axis number X.

If in the constant the value 255 is registered, the content of the flag Z is
copied in the bit of the axis state.
This command is used in context with the multi axis function

Drive type: Parameters: Permissible inputs: ; BIAS program

; PLC program
637f X: 1..3
Y: 5-7, 21-24, 28 Mathematics

Const. 0/1/ 255

Z: 0…255

Parameters Y:

Bit Name Meaning

5 Trigger Gearbox Ext Trigger for update the gearbox parameters. The flag is
set to 1 by the gearbox function block of the synchronous
movement and can be reset by BIAS.
6 Trigger Clutch Ext Trigger for manual update parameter (The flag must set
to 1 or set to 0 by BIAS)
e.g. synchronisation of switching parameters with other
drives or PLC’s
7 Trigger CAM Ext Trigger for manual update parameter (The flag must set
to 1 or set to 0 by BIAS)
e.g. synchronisation of switching parameters with other
drives or PLC’s

21 Ramp direction Slave direction of the clutch function

22 Ramp Up Starts the synchronous ramp-up of the clutch function
23 Ramp Down Starts the synchronous ramp-down of the clutch function
24 Ramp Wait Starts the synchronous wait of the clutch function

26 Merge Move Linked Start a new profile, by a positive slope of the flag ” Merge
Move Linked” the new formats are took over and the flag
“Merge Move Linked” is cleared after the restart.

28 Stop CAM End Stops the synchronous movement at the end of cam
profile

All not listed flags are not allowed or not able to change
.

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BIAS-Command 4

Example: Result:
35 ... The flag “Ramp down“and “Ramp Wait“
36 [Variable 1 ] = axis status, axis no. = 1 are set and the flag “Trigger clutch Ext“ is
37 If [variable 1 ].bit 6 == 0 the jump SYNC_SSI1 cleared if the bit 6 of the axis status is set
38 Axis state, axis no 1 , bit 23 = 1 , [flag 0 ] to 1.
39 Axis state, axis no 1 , bit 24 = 1 , [flag 0 ]
40 Axis state, axis no 1 , bit 6 = 0 , [flag 0 ]
41 ..

SYNC_SSI1:

Note:
• This command is available with the 637f as of firmware V8.19
• The function “synchronous move“ gets their parameters from the variable of the specified parameter
set before start and after the parameters are defined in the axis state.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
6F X Y Const. Z 00 00 00

Parameters: D1 = Axis number 0...3

D2 = Bit number 5-7, 21-24, 28
D3 = Constant 0/1, 255
D4 = Flag number 0...255

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4 - 70 BIAS-Command “If input X ? const. then jump“

If input X ? const. then jump
Explanation:
The command "If input X ?" allows program branches through the
comparison of the selected input X with the constant 0 or 1.
If the condition is true the execution will be continued at the specified
command line.
Otherwise the next BIAS command is executed.

Drive type Parameters Permissible input: ; BIAS program

; PLC program
631: X: 7, 8, 9, 10 ; Mathematics
Pin no. at X10- clamp

635/637/ X: 2, 4, 11, 15, 22, 24, 25

637+/637f: Pin no. at X10- female

X: 101, 102, 106, 107, 108

Pin no. at COM2 Sub-D-female
I/O-Option board
RP-EA5 (Slot B)

X: 201-208, 211-216
Pin no. at X200 Sub-D-female
I/O-Option board
RP-EAE (Slot C)

637f: X: 121 – 124

2 x CAN + 4 outputs Pin no. at X120 clamp
and 4 inputs
RP-2C8 (Slot B):

X: 91, 93
2 Inputs Pin no. at X290 clamp
RP-SBT 91: Activation Drive
(Slot C) 93. Safe standstill

? == equal to
!= not equal to

const. 0/1

Y: 0…1499
Address: The maximum permissible jump
address corresponds to the
length of the BIAS program.
As an alternative to the line
numbers labels (jump labels) can
be used.

Example: Result:
0 If input 2 == 1 then jump 3 If input 2 is set, the output 12 is set to 1. (Output
1 Output 12 = 0 12 has to be configured as BIAS-output.)
2 Jump 4
3 Output 12 = 1
4 Jump 4

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Note:
• The inputs can be scanned independently of their configuration.

• The maximum address depends on the length of the BIAS-program and corresponds to the block-
number of the last BIAS-block.
Instead of block-numbers, labels can be used.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
70 X ? Const. Y(low) Y(high 00 00
)

Parameters: D1 = Input pin number: (see explanation)

D2 = Compare condition: == (0) or != (1)
D3 = Compare constant: 0/1
D4,D5 = Address : 0...1499

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4 - 71 BIAS-Command “ If output X ? const. then jump“

If output X ? const. then jump Y
Explanation:
The command "If output X ?" allows program branches through the
comparison of the selected output X with the constant 0 or 1.
If the condition is true the execution will be continued at the specified
command line.
Otherwise the next BIAS command is executed.

Drive type: Parameters: Permissible inputs ; BIAS program

; PLC program
631: X: 5, 6 ; Mathematics
Pin no. at X10-clamp

635/637/ X: 8, 12, 13, 20, 23

637+/637f: Pin no. at X10- female

X: 109, 110
Pin no. at COM2 Sub-D-female
I/O-Option board
RP-EA5 (Slot B)

X: 209-210, 217-224
Pin no. at X200 Sub-D-female
I/O-Option board
RP-EAE (Slot C)

637f: X: 125 – 128

2 x CAN + 4 outputs Pin no. at X120 clamp
and 4 inputs
RP-2C8 (Slot B):

? == equal to
!= not equal to

Const. 0/1

Y: 0…1499
Address: The maximum permissible jump
address corresponds to the
length of the BIAS program.
As an alternative to the line
numbers labels (jump labels) can
be used.
Example: Result:
0 If output 12 == 1 then jump 3 If output 12 is set, the flag 1 is set to 1.
1 Flag 1 = 0
2 Jump 4
3 Flag 1 = 1
4 Jump 4

Note:

• The output number corresponds to the pin number on the X10 or X200 connection.

• The outputs can be scanned independently of their configuration.

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BIAS-Command 4
• The maximum address depends on the length of the BIAS-program and corresponds to the block-
number of the last BIAS-block.

• Instead of block-numbers, labels can be used.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
71 X ? const. Y(low) Y(high 00 00
)

Parameters: D1 = Output pin number: (see explanation)

D2 = Compare condition: == (0) / != (1)
D3 = Compare constant: 0/1
D4, D5 = Address 0...1499

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4 - 72 BIAS-Command “Output X = const.“

Output X = const.
Explanation:
The command "Output X =" assigns the constant 0 or 1 to the output.

Drive type: Parameters: Permissible inputs ; BIAS program

; PLC program
631: X: 5, 6 ; Mathematics
Pin no. at X10-clamp

635/637/ X: 12, 13, 20, 23

637+/637f: Pin no. at X10- female

X: 109, 110
Pin no. at COM2 Sub-D-female
I/O-Option board
RP-EA5 (Slot B)

X: 209, 210, 217-224

Pin no. at X200 Sub-D-female
I/O-Option board
RP-EAE (Slot C)

637f: X: 125– 128

2 x CAN + 4 outputs Pin no. at X120 clamp
and 4 inputs
RP-2C8 (Slot B):

Example: Result:
0 If input 2 == 1 then jump3 Ist If input 2 is set, the output 12 is set to 1.
1 Output 12 = 0 (Output 12 has to be configured as BIAS-output.)
2 Jump 4
3 Output 12 = 1
4 Jump 4

Note:

• The command is only valid with outputs defined as BIAS-outputs (function 2) in the
configuration.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
72 X Const. 00 00 00 00 00

Parameters: D1 = Output pin number (see explanation)

D2 = Constant: 0/1

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BIAS-Command 4

4 - 73 BIAS-Command “Output X = flag Y“

Output X = flag Y
Explanation:
The command "Output X = flag Y" assigns the state of the flag Y to the
output.

Drive type: Parameters: Permissible inputs ; BIAS program

; PLC program
Y: 0...255 ; Mathematics

631: X: 5, 6
Pin no. at X10-clamp

635/637/ 12, 13, 20, 23

637+/637f: Pin no. at X10- female

X: 109, 110
Pin no. at COM2 Sub-D-
I/O-Option board female
RP-EA5 (Slot B)
X: 209, 210, 217-227
Pin no. at X200 Sub-D-female
I/O-Option board
RP-EAE (Slot C)
637f: X: 121 – 124
2 x CAN + 4 outputs and Pin no. at X120 clamp
4 inputs
RP-2C8 (Slot B):

Example: Result:
0 Flag 0 = input 2 The state of the input 2 is assigned to the output 12.
1 Output 12 = flag 0 (Output 12 has to be configured as BIAS-output.)

Note:

• The command is only valid with outputs defined as BIAS-outputs (function 2) in the
configuration.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
73 X Y 00 00 00 00 00

Parameters:
D1 = Output pin number: (see explanation)
D2 = Flag number: 0...255

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4 BIAS-Command

4 - 78 BIAS-Command “IBT-mask number = X, LED status [variable Y]“

Explanation:
The command "IBT mask number = " activates the selected screen mask of
the IBT and the status of the function key LED's of the IBT.

Parameters: Meaning: Permissible inputs: ; BIAS program

; PLC program
X: Mask number: 0...9999 ; Mathematics

Y: 0..255

Example: Result:
0 Variable 0 = 0 The main mask 4 on the IBT display is
1 IBT-Mask number = 4, LED- status = [variable 0] activated. All the LED's are switched
off.

Note:

• The LED-status results of the sum of the following values

Key On flash

F1 32768 16384

F2 8192 4096

F3 2048 1024

F4 512 256

F5 128 64

F6 32 16

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
78 X(low) X(high Y 00 00 00 00
)

Parameters: D1,D2 = Number of the IBT Mask

D3 = Variable number: 0...255

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BIAS-Command 4

4 - 79 BIAS-Command “IBT-notification number = X,LED status[variable Y]“

Explanation:
The command "IBT notification number = " activates the notification of the
specified message in the serial message buffer of the IBT and the status of
the function key LED's of the IBT.

Parameters: Meaning: Permissible inputs: ; BIAS program

X: Notification number 0...9999 ; PLC program
Z: Dats set number 0..255 ; Mathematics

Example: Result:
0 Variable 0 = 48 The notification mask 10 on the IBT
1 IBT- notification number = 10, LED-status = [variable display is activated. The LED of the
0] function key 6 flashes. All the other
LED's are switched off.
Note:
• The specified mask must be known to the IBT.

• The LED-status results of the sum of the following values .

Kex on flash

F1 32768 16384

F2 8192 4096

F3 2048 1024

F4 512 256

F5 128 64

F6 32 16

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
79 X(low) X(high Y 00 00 00 00
)

Parameters: D1,D2 = Number of IBT notification

D3 = Variable number: 0...255

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4 BIAS-Command

4 - 7A BIAS-Command ”CAN-command = [variable X]“

CAN-command; start=[variable X ]
Explanation:
The command "CAN-command" allows to transmit or to receive data via the
CAN-Bus.
a. CAN-command transmit
The variable range starts with the specified variable X and has a
length of 5 variables.
The first variable specifies the identifier.
The bits 11 – 14 define the length of the command.
The bit no.14 selects between fixed and variable data length.
The bits 11 - 13 define the length binary coded.
(see bit coding of the identifier X)
The second to fifth variable includes the transmit data.
b. CAN-command receive
The variable range of the remote CAN -command starts with the
specified variable X and has a length of 5 variables.
The first variable specifies the identifier with the Remote Bit (Bit 15 =
1) for the receive command.
The second variable selects the number of the variable, where the
receive data is written in.
The receive data range uses 14 variables.
(see variable range und data type)
a.) CAN-command transmit
Parameters: Name: Permissible inputs ; BIAS program
X Mode 216 ; PLC program
X+1 Data byte 0, 1 216 Mathematics
X+2 Data byte 2 ,3 216
X+3 Data byte 4 ,5 216
X+4 Data byte 6 ,7 216

Bit coding of mode X

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 – 0
0 = transmit 0 = fixed length 8 Byte 22 21 20 Identifier
1 = variable length 0 to 7 Byte bit coding length 0...7 0...2047
1 = Remote- – Identifier
request 0...2047

Example: Transmit Login Result:

0 [Var. 0] = 200 With execution of line 6 the identifier 200
1 [Var. 1] = 1 with control word 1 (LOGIN) will be
3 [Var. 2] = 0 transmitted via the CAN-Bus.
4 [Var. 3] = 0 .
5 [Var. 4] = 0
6 CAN-command; start = [variable 0]
7 ...

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BIAS-Command 4

b.) CAN-command Receive

Parameters: Name: Permissible inputs
X Identifier + Remote Bit (Bit 15) 0 ... 2047 + 32768
X+1 Variable start address 0 ... 242
for receive data
X+2 reserved 0
X+3 reserved 0
X+4 reserved 0
The variable x+1 selects the number of the variable, where the receive data is written in.
The 1st variable of the receive data field has the value -1 until the complete answer is received.
.

The following variables and data formats are used:

CAN DB0 DB1 DB2 DB3 DB4 DB5 DB6 DB7
Target var. (X+1)+
(X+1)+0 (X+1)+1 (X+1)+2 (X+1)+4 (X+1)+5 (X+1)+6 (X+1)+7
char 3
Target var.
(X+1)+8 (X+1)+9 (X+1)+10 (X+1)+11
word
Target var.
(X+1)+12 (X+1)+13
longword

Example: Receive Status Result:

1 [Variable 0 ] = 201 With execution of line 7 the identifier 201
2 [Variable 0 ].bit 15 = 1, [flag 0 ] with remote bit will be transmitted via the
3 [Variable 1 ] = 10 CAN-Bus.
4 [Variable 2 ] = 0 The station with the transmit identifier 201
5 [Variable 3 ] = 0 answers.
6 [Variable 4 ] = 0 When the variable 10 gets a value not
7 CAN-command; start=[variable 0 ] equal –1 the received data will be stored
WAIT_CAN: starting with variable 10.
8 If [variable 10 ] == -1 than jump WAIT_CAN
9 …

CAN DB0 DB1 DB2 DB3 DB4 DB5 DB6 DB7

char Var. 10 Var. 11 Var. 12 Var. 13 Var. 14 Var. 15 Var. 16 Var. 17
word Var. 18 Var. 19 Var. 20 Var. 21
longwor
Var. 22 Var. 23
d
Note:
• Further information for the CAN-commando coding see CAN-BUS manual. (UL: 07-05-03-02...
und UL: 07-05-03-03...)

• The coding of the data length is available with the 637f as of firmware V8.19

• The coding of the data length is available with the 631/ 635/ 637 as of firmware V6.19

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
7A X 00 00 00 00 00 00

Parameters: D1 = Variable number: 0...251

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4 BIAS-Command

4 - 7B BIAS-Command “IBT- data transfer“

IBT-data transfer, mode = X , recipe = Y, dataset = Z
Explanations:
The command "IBT- data transfer" controls the dataset transfer between the
IBT and the drive.

Mode 0: Transfer from the IBT to the drive

Mode 1: Transfer from the drive to the IBT

Parameters: Name: Permissible inputs: ; BIAS program

X: mode: 0/1 ; PLC program
Y: recipe number 1..250 Mathematics
Z: dataset number 0..250

Example: Result:

Note:
• The IBT must know the recipe number and the dataset number.

Command code:

Code D1 D2 D3 D4 D5 D6 D7
7B X Y Z 00 00 00 00

Parameters:
D1 = Mode: 0/1
D2 = Recipe number: 0...250
D3 = Dataset: 0...250

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BIAS-Command 4

4 - 7C BIAS-Command ”CAN2-command = [variable X]“

CAN2-command; start=[variable X ]
Explanation:
The command "CAN2-command = [variable X]“ permits to receive or transmit
a telegram by the CAN2-BUS.

It is allowed to transmit up to 8 byte with the objects 5 and 6

The receiver copies the data in the variables 246 and 247 (object 5) or 248
and 249 (object 6).
The transmitter transmits only the number of data as configured in the
configuration.
Before the configuration of an object is changed, the mode "Off" must be
turned on.
Parameters: Name: Permissible ; BIAS program
Variable number: input: ; PLC program
Mathematics
X Parameter X: 0...251
Permissible variable content
X: Configuration:
X+1: Data byte 0 - 3 232
X+2: Data byte 4 - 7 232

Configuration bit coded

Bit 31 -16 Bit 15 – 12 Bit 11 - 8 Bit 7 Bit 6 – 0

Delay time Number of Mode Target Identifier-
Data byte offset
Time until the next 0...8 27 26 25 24 0 = Objekt 5 0 ... 7F
CAN2-command in 0 0 0 0 Off from ID 300h
the mode “Cyclic 0 0 0 1 receive 1 = Object 6
transmit“ is 0 0 1 0 1 time from ID 380h
transmited. transmit
1 = 0,844ms 0 1 1 0 Cyclic
65536 = 55,3s transmit

Example 1: CAN2-Receive object 5 with 8 Byte Result:

0 [Variable 0 ] = 0x4A0 The variable 0 is loaded with the value for
1 [Variable 1 ] = 0x8 the delay time 1s, the variable 1 with 8 for
2 [Variable 2 ] = 0x6 the data length of 8 byte, the variable 2 with
3 [Variable 3 ] = 0x7F 6 for the mode 6 and the variable 3 with
4 [Variable 0 ] = [variable 0 ] << 0x4 identifier offset 7Fh.
5 [Variable 0 ] = [variable 0 ] + [variable 1 ] The following 6 command combine the
6 [Variable 0 ] = [variable 0 ] << 0x4 configuration in variable 20. The variable
7 [Variable 0 ] = [variable 0 ] + [variable 2 ] content is 0x04A0867F.
8 [Variable 0 ] = [variable 0 ] << 0x8 With the command “CAN2- command” in
9 [Variable 20 ] = [variable 0 ] + [variable 3 ] line 12 the object 5 is initialized as
10 [Variable 21 ] = 0x150 transmitter with the ID 37Fh and the
11 [Variable 22 ] = 0x250 variables 21 and 22 are transmitted cyclic
12 CAN2-command; start=[variable 20] every second.

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4 BIAS-Command

CAN2-Receive object 5 Result:

5 [Variable 20 ] = 0x17F The object 5 is switched on as a receiver with the
6 CAN2-command; start=[variable 20] ID 37Fh.

Var. 21 Var. 22 Var. 246 Var. 247

Transmitte
r
Byte 0- 3
0x150
Byte 4-7
0x 250
→ Byte 0 – 3
0x150
Byte 4 - 7
0x 250
Receiver

Example 2: CAN2-Transmit object 6 with 6 Byte Result:

3 [Variable 20 ] = 0x6280 With the command “CAN2- command” in
4 [Variable 21 ] = 0xFFEEDDCC line 6 the object 6 once transmits the
5 [Variable 22 ] = 0x88664422 variables 21 and 22.
6 CAN2-command; start=[variable 20]

CAN2- Receive object 6 Result:

5 [Variable 20 ] = 0x180 The object 6 is switched on as a receiver
6 CAN2-command; start=[variable 20] with the ID 380h.

Var. 21 Var. 22 Var. 248 Var. 249

Transmitte
r
Byte 0 - 3
0xFFEEDDC
Byte 4-7
0x8866442
→ Byte 0 - 3
0x FFEEDDCC
Byte 4 – 7
0xYYYY4422
Receiver
C 2
YY = Bytes not change

Example 3:CAN2-Transmit object 5 deactivate Result:

0 [Variable 0 ] = 0x0 The object 5 is switched off.
1 CAN2-command; start=[variable 20] A new configuration is possible now.

Note:
• This command is available with the 637f as of firmware V8.19

• The user of this command has to take note of the bus load in combination with fixed CAN2
telegrams
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
7C X 00 00 00 00 00 00

Parameters: D1 = variable number: 0...251

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BIAS-Command 4

4 - 80 BIAS-Command “[Variable X] = const.“

[Variable X ] = const.

Explanation:
The command "[Variable X] = " assigns the value of the constant to the
variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

; PLC program
All: X: 0-255 ; Mathematics

Y: Const. ± 231

Example: Result:
0 [Variable 0] = 100000 The content of the variable 1 is 100000.

Note:
1. After switching the drive on all variables have the content 0.
2. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
80 X Y(low) Y(high 00 00
)

Parameters: D1 = Variable number:0...255

D2-D5 = Constant: ± 231

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4 BIAS-Command

4 - 81 BIAS-Command “If [variable X] ? const.“

If [variable X] ? then jump Y
Explanation:
The command "If [variable X] ? const." allows program branches by
comparing the variable X with the constant.
If the condition is true the execution will be continued at the specified
command line.
Otherwise the next BIAS command is executed.

Drive type: Parameters Permissible inputs: ; BIAS program

: ; PLC program
; Mathematics
All: X: 0...255

?: > greater than (0)

< lower than (1)
== equal to (2)
>= greater than or equal to (3)
<= lower than or equal to (4)
!= not equal to (5)
-> positive (6)
-< negative (7)

value in () for command coding

Y: 0…1499
Address: The maximum permissible jump address
corresponds to the length of the BIAS
program.
As an alternative to the line numbers labels
(jump labels) can be used.

Example: Result:
0 Start axis The output 20 is set if the actual speed is greater
1 Move position or equal than 500 rpm and lower than 2500 rpm.
2 Output 20 = 0
3 [Variable 0] = actual speed 1
4 If [variable 0] < 500 then jump 3
5 Output 20 = 1
LOOP:
6 [Variable 0] = actual speed 1
7 If [variable 0] < 500 then jump 2
8 If [variable 0] < 2500 then jump LOOP
9 Jump 2

Note:

1. The maximum permissible jump address corresponds to the length of the BIAS program.

2. As an alternative to the line numbers labels (jump labels) can be used.

3. After switching the drive on all variables have the content 0.

4. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

5. The comparison of both values is carried out by a subtraction of the constant factor from the
contents of the variable.
The conditional jump depends on the sign of the result.

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BIAS-Command 4
Command coding:

Code D1 D2 D3 D4 D5 D6.7..D6.4 D6.3..D6.0 D7

81 X Y(low) Y(high ? Z Z
)

Parameters: D1 = Variable number: 0...255

D2– D5= Constant: ± 231
D6.7…D6.4: Comparison condition: 0...7 (see explanation)
D6.3..D6.0, D7: Address: 0...1499

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4 - 82 BIAS-Command “[Variable X] = [variable Y] + const.“

[Variable X ] = [variable Y ] + const.

Explanation:
The command "[Variable X] = [variable Y] + const." adds the content of the
variable Y to the constant and stores the sum in the variable X.

Drive type: Parameters Permissible inputs: ; BIAS program

: ; PLC program
; Mathematics
All: X: 0...255

Y: 0...255

Const.: ± 231

Example: Result:
0 If input 11 == 0 then jump 4 If the input 11 is active, the axis moves 15000
1 [Variable 0] = position increments further..
2 [Variable 0] = [variable 0] + 15000
3 Position = [variable 0]
4 Start axis
5 Move position

Note:

1. After switching the drive on all variables have the content 0.

2. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
82 X Y Z(low) Z(high) 00

Parameters: D1 = Variable number 0…255

D2 = Variable number 0…255
D3 – D6 = Constant ± 231

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BIAS-Command 4

4 - 83 BIAS-Command “[Variable X] = [variable Y] - const.“

[Variable X ] = [variable Y ] – const.

Explanation:
The command "[Variable X] = [variable Y] - const." subtracts the constant
from the content of the variable Y and stores the difference in the variable X..

Drive type: Parameters Permissible inputs: ; BIAS program

: ; PLC program
; Mathematics
All: X: 0...255

Y: 0...255

Const.: ± 231

Example: Result:
0 If input 11 == 0 then jump 4 If the input 11 is active, the axis moves 15000
1 [Variable 0] = position fewer increments.
2 [Variable 0] = [variable 0] - 15000
3 Position = [variable 0]
4 Start axis
5 Move position

Note:

3. After switching the drive on all variables have the content 0.

4. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
83 X Y Z(low) Z(high) 00

Parameters: D1 = Variable number 0…255

D2 = Variable number 0…255
D3 – D6 = Constant ± 231

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4 BIAS-Command

4 - 84 BIAS-Command “[Variable X] = [variable Y] * const.“

[Variable X ] = [variable Y ] * const.

Explanation:
The command "[Variable X] = [variable Y] * const." multiplies the content of
the variable Y with the constant and stores the result in the variable X.

Drive type: Parameters Permissible inputs: ; BIAS program

: ; PLC program
; Mathematics
All: X: 0...255

Y: 0...255

Const.: ± 231

Example: Result::
0 If input 11 == 0 then jump 4 If the input 11 is active, the axis moves 5 times
1 [Variable 0] = position the position.
2 [Variable 0] = [variable 0] * 5
3 Position = [variable 0]
4 Start axis
5 Move position

Note:

5. After switching the drive on all variables have the content 0.

6. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
84 X Y Z(low) Z(high) 00

Parameters: D1 = Variable number 0…255

D2 = Variable number 0…255
D3 – D6 = Constant ± 231

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BIAS-Command 4

4 - 85 BIAS-Command “[Variable X] = [variable Y] / const.“

[Variable X ] = [variable Y ] / const.

Explanation:
The command "[Variable X] = [variable Y] / const." divides the content of the
variable Y with the constant and stores the integer result in the variable X.

Drive type: Parameters Permissible inputs: ; BIAS program

: ; PLC program
; Mathematics
All: X: 0...255

Y: 0...255

Const.: ± 231

Example: Result:
0 If input 11 == 0 then jump 4 If the input 11 is active, the axis moves 1/5 the
1 [Variable 0] = position position..
2 [Variable 0] = [variable 0] / 5
3 Position = [variable 0]
4 Start axis
5 Move position

Note:

7. After switching the drive on all variables have the content 0.

8. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
85 X Y Z(low) Z(high) 00

Parameters: D1 = Variable number 0…255

D2 = Variable number 0…255
D3 – D6 = Constant ± 231

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4 BIAS-Command

4 - 86 BIAS-Command “[Variable X] = flag Y“

[Variable X ] = flag Y , number = Z

Explanation:
The command "[Variable X] = flag Y, number = Z" copy the status of the
desired Z flags starting with flag Y bit wise to the content of the variable
X.(flag Y = bit 0).

Drive type: Parameters Permissible inputs: ; BIAS program

: ; PLC program
Mathematics
All: X: 0 - 255

Y: 0 – max. 255 -(number W-1)

Z: 1 - 32

Example: Result
0 [Flag 0 ] = 0 The value 5 (Flag 0 = 1 + Flag 2 = 4) is loaded
1 [Flag 1 ] = 1 into variable 10.
2 [Flag 2 ] = 0
3 [Flag 3 ] = 1
4 [Variable 10] = flag 0 , number = 3
Note:
1. After switching the drive on all flags have the content 0.
2. The flag contents will be displayed cyclically in the "diagnosis", "BIAS" page.
3. Before the vaue is allocated the target variable is deleted,viz the not used bits are set to 0.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
86 X Y Z 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Flag number: 0...255
D3 = Number: 1...32

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BIAS-Command 4

4 - 87 BIAS-Command “[Variable X] = [variable Y].bit Z ; number“

[Variable X ] = [variable Y ].bit Z , number = W

Explanation:
The command “[Variable X] = [variable Y].bit Z, number = W." allocates the
variable X on the bit position 0 to (number -1) bit wise with the value of the bit
Z from the variable Y to Y+(number-1)

Drive type : Parameters Permissible inputs: ; BIAS program

: ; PLC program
; Mathematics
All: X: 0 - 255

Y: 0 – max. 255 -(number W-1)

Z: 0 - 31

W: 1 - 32

Example: Result:
0 [Variable 0 ] = 1 The variable 8 is loaded on the bit position 0 – 7
1 [Variable 1 ] = 3 bit wise with the value of the bit 0 from the
2 [Variable 2 ] = 1 variables 0 – 7.
3 [Variable 3 ] = 3
4 [Variable 4 ] = 1 Variable 8 = 255d ; 0FFh, ...0011111111b
5 [Variable 5 ] = 3
6 [Variable 6 ] = 1 The variable 9 is loaded with the value of the bit 1
7 [Variable 7 ] = 3 .
8 [Variable 8 ] = [Variable 0 ].Bit 0 , number = 8 Variable 9 = 204d ; 0CCh, ..0010101010b
9 [Variable 9 ] = [Variable 0 ].Bit 1 , number = 8
Note:

• This command is available with the 637f as of firmware V8.19.

• This command is available with the 631, 635, 637 as of firmware V8.19

• After switching the drive on all variables have the content 0.

• The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

• Before the vaue is allocated the target variable is deleted,viz the not used bits are set to
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
87 X Y Z W 00 00 00

Parameter: D1 = Variable number: 0...255

D2 = Variable number: 0...255
D3 = Bit number: 0...31
D4 = Number: 1...32

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4 BIAS-Command

4 - 88 BIAS-Command “[Variable X] = [variable Y]“

[Variable X ] = [variable Y ]
Explanation:
The command "[Variable X] = [variable Y]." assigns the content of the
variable Y to the variable X.

Drive type: Parameters Permissible inputs: ; BIAS program

: ; PLC program
; Mathematics
All: X: 0...255

Y: 0…255

Example: Result:
0 [Variable 0] = position The parameter position is multiplied by 1.2.
1 [Variable 1] = [variable 0]
2 [Variable 0] = [variable 0] / 5
3 [Variable 0] = [variable 0] + [variable 1]
4 Position = [variable 0]
Note:

1. After switching the drive on all variables have the content 0.

2. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
88 X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Variable number: 0...255

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BIAS-Command 4

4 - 89 BIAS-Command “If [variable X] ? [variable Y]“

If [Variable X ] ? [variable Y ] then jump Z
Explanation:
The command "If [variable X] ? [variable Y]" allows program branches by
comparing the variable X with the variable Y.
If the condition is true the execution will be continued at the specified
command line.
Otherwise the next BIAS command is executed.

Drive type: Parameters Permissible inputs: ; BIAS program

: ; PLC program
; Mathematics
All: X: 0...255

?: > greater than (0)

< lower than (1)
== equal to (2)
>= greater than or equal to (3)
<= lower than or equal to (4)
!= bot equal to (5)
-> positive (6)
-< negative (7)

value in () for the command coding s.u.

Y: 0…255

Z: 0…1499
Address: The maximum permissible jump address
corresponds to the length of the BIAS
program.
As an alternative to the line numbers, labels
(jump labels) can be used.

Example: Result:
0 Start axis The output 20 is set if the actual speed
1 Move position is greater or equal than 500 rpm and
2 [Variable 1] = 500 lower than 2500 rpm.
3 [Variable 2] = 2500
4 Output 20 = 0
5 [Variable 0] = actual speed 1
6 If [variable 0] < [variable 1] then jump 5
7 Ausgang 20 = 1
LOOP:
8 [Variable 0] = actual speed 1
9 If [variable 0] < [variable 1] then jump 4
10 If [Variable 0] < [Variable 2] then jump LOOP
11 Jump 2
The maximum permissible jump address corresponds to the length of the BIAS program.
1. As an alternative to the line numbers, labels (jump labels) can be used.
2. After switching the drive on all variables have the content 0.
3. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

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4 BIAS-Command
4. The comparison of both values is carried out by a subtraction of the constant factor from the
contents of the variable.
The conditional jump depends on the sign of the result..

Command coding:

D2 D3 D4 D5 D6 D7
Code D1

? Y Z(low Z(high 00 00
89 X
) )

D1 = Variable number: 0...255

D2 = Comparison condition 0...7 (see explanation)
D3 = Variable number: 0...255
D4,D5 = Address 0-1499

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BIAS-Command 4

4 - 8A BIAS-Command “[Variable X] = [variable Y] + [variable Z]“

[Variable X ] = [variable Y ] + [variable Z ]

Explanation:
The command "[Variable X] = [variable Y] + [variable Z]" adds the content of
the variable Z to the variable Y and stores the sum in the variable X.

Drive type: Parameters Permissible inputs ; BIAS program

: ; PLC program
; Mathematics
All: X: 0...255

Y: 0…255

Z: 0…255

Example: Result:
0 If input 11 == 0 then jump 5 If the input 11 is active, the axis moves 15000
1 [Variable 1] = 15000 increments further.
2 [Variable 2] = position
3 [Variable 0] = [variable 0] + [variable 1]
4 Position = [Variable 0]
5 Start axis
7 Move position

Note:
1. After switching the drive all variables have the content 0.
2. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
8A X Y Z 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Variable number: 0...255
D3 = Variable number: 0...255

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4 BIAS-Command

4 - 8B BIAS-Command “[Variable X] = [variable Y] - [variable Z]“

[Variable X ] = [variable Y ] - [variable Z ]
Explanation:
The command "[Variable X] = [variable Y] - [variable Z]" subtracts the
content of the variable Z from the content of the variable Y and stores the
difference in the variable X
.

Drive type: Parameters: Permissible inputs: ; BIAS program

; PLC program
All: X: 0...255 ; Mathematics

Y: 0…255

Z: 0…255

Example: Result:
0 If input 11 == 0 then jump 5 If the input 11 is active, the axis moves 15000
1 [Variable 1] = 15000 fewer increments.
2 [Variable 0] = position
3 [Variable 0] = [variable 0] - [variable 1]
4 Position = [variable 0]
5 Start axis
6 Move position
Note:

1. After switching the drive on all variables have the content 0.

2. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
8B X Y Z 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Variable number: 0...255
D3 = Variable number: 0...255

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BIAS-Command 4

4 - 8C BIAS-Command “[Variable X] = [variable Y] * [variable Z]“

[Variable X ] = [variable Y ] * [variable Z ]

Explanation:
The command "[Variable X] = [variable Y] * [variable Z]" multiplies the content
of the variable Y with the content of the variable Z and stores the result in the
variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

; PLC program
All: X: 0...255 ; Mathematics

Y: 0…255

Z: 0…255

Example: Result:
0 If Input 11 == 0 then jump 5 If the input 11 is active, the axis moves 5 times
1 [Variable 1] = 5 the position.
2 [Variable 2] = position
3 [Variable 0] = [variable 0] * [variable 1]
4 Weg = [variable 0]
5 Start axis
7 Move position

Note:

3. After switching the drive on all variables have the content 0.

4. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
8C X Y Z 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Variable number: 0...255
D3 = Variable number: 0...255

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4 BIAS-Command

4 - 8D BIAS-Command “[Variable X] = [variable Y] / [variable Z]“

[Variable X ] = [variable Y ] / [variable Z ]

Explanation:
The command "[Variable X] = [variable Y] / [variable Z]" divides the content of
the variable Y with the content of the variable Z and stores the integer result in
the variable X.

Drive type: Parameters: Permissible inputs: ; BIAS program

; PLC program
All: X: 0...255 ; Mathematics

Y: 0…255

Z: 0…255

Example: Result:
0 If input 1 == 0 then jump 5 If the input 11 is active, the axis moves 1/5 the
1 [Variable 1] = 5 position.
2 [Variable 2] = position
3 [Variable 0] = [variable 0] / [variable 1]
4 Position = [variable 0]
5 Start axis
7 Move position

Note:
1. The result of the division has no remainder.
2. After switching the drive on all variables have the content 0.
3. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
8D X Y Z 00 00 00 00

Parameter: D1 = Variable number: 0...255

D2 = Variable number: 0...255
D3 = Variable number: 0...255

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BIAS-Command 4

4 - 8E BIAS-Command “[Teachvariable X] = [variable Y]“

[Teachvariable X ] = [variable Y ]
Explanation:
The BIAS command "[Teachvariable X] = [variable Y]" assigns the contents
of variable Y to the permanently stored variable X (teach variable).

Drive type: Parameters Permissible inputs ; BIAS program

: PLC program
Mathematics
All: X: 0...15

Y: 0…255

Example: Result:
0 [Variable 0] = actual position 1 The current actual position 1 is stored
1 [Teachvariable 1] = [variable 0] permanently in the teach variable 1.
It can for example be used later as a target
position.

Note:

• During the execution of this command the BIAS processing is stopped for approx. 10 ms.

• Because of the limitation of save cycles from the EEPROM this command must not executed
cyclically (appr. 100.000 save cycles)

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
8E X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0...15

D2 = Variable number: 0...255

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4 BIAS-Command

4 - 8F BIAS-Command “[Variable X] = [teachvariable Y]“

[Variable X ] = [teachvariable Y ]

Explanation:
The command "[Variable X] = [teachvariable Y]" assigns the content of the
permanently stored variable Y (teach variable) to the variable X.

Drive type: Parameters Permissible inputs: ; BIAS program

: ; PLC program
; Mathematics
All: X: 0...255

Y: 0…15

Example: Result:
0 [Variable 0] = [teachvariable 1] The content of the teach variable 1 is loaded as
1 Position = [variable 0] setpoint position.

Note:
• After switching the drive on the contents of all teach variables are automatically preloaded.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
8F X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Variable number: 0...15

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BIAS-Command 4

4 - 90 BIAS-Command “Mathematic program“

Explanation:
The command "Mathematics program" starts the execution of a third
task.This task will be executed in the time that isn't used for the interrupt
execution.The execution time of the math-program is not determined.

Drive type: Parameters Permissible inputs: ; BIAS program

: ; PLC program
Mathematics
All: Address: 0 – 1499

The maximum perissible jump address

corresponds to the length of the BIAS-
program.
As an alternative to the line numers labels
(jump label) can be used.

Example: Result:
0 End of program, mode = 3 The executed Mathematics program is terminated
1 Mathematics program Math and then the new program at the label Math
started.
Note:

• The execution of this command is only permitted, if no MATH-program is executed.

In any other case the execution of the calling task is terminated with the error message "start error".

• In the mathematic task are not all BIAS-Command permitted

• In the BIAS-program definitions (Parameters“ Program reaction to drive deactivation/ activation) can
set the reaktion of the mathematic task at deactivation of the drive. So the mathematic task can
continue to work after the deactivation of the drive.

• In this mode the command „Mathematic program“ is executed at the first or second line (if the PLC
program is on line 1), if the drive is not enabled.

• Attention at the Mode “Continue execution after reactivation“!!

If you download a new BIAS-Program with modifications in the line numbers, the mechanic
can make uncontrolled movements

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
90 X(low) X(high 00 00 00 00 00
)

Parameters: D1, D2 : Address 0…1499

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4 BIAS-Command

4 - 91 BIAS-Command “Profile initialization“

Profile init.; profilnr.= X ,supp. point = Y, start address = Z
Explanation:
The command "profile initializing” initializes the specified synchronous
parameter block. This command should be used in combination with the
command "profile cycle length".

Drive type: Parameters: Permissible inputs: BIAS program

PLC program
All: X: 0...15 ; Mathematics
Profile number

Y: 1...1024
Supporting points

Z: 0...2047
Start address

Example: Result:
ProgStart: The profile is initialized with 128
0 Profile init.;profilnr.=0 ,supp. point =128, start address =0 supporting points and it starts adress 0

Note:

The values can load with the command “Profile value, profile X , value Y = [variable Z ]”, too.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
91 X Y(low) Y(high Z(low) Z(high) 00 00
)

Parameters: D1: Profile number: 0...15

D2, D3: Supporting points: 1...1024
D4, D5: Start address: 0...2047

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BIAS-Command 4

4 - 92 BIAS-Command “Profile cycle length = [variable X]“

Profile cycle length; profile no.= X ,master=[var. Y ] ,slave=[var. Z ]
Explanation::
The command "profile length" loads the cycle length for the master and slave
of the specified synchronous profile block with the contents of the
variables.This command should be used in combination with the command
"Profile initialization".

Drive type: Parameters: Permissible inputs: BIAS program

PLC program
All: X: 0...15 ; Mathematics
Profile number

Y: 0...255

Z: 0...255

Example: Result:
ProgStart: The profil 0 is initialized with a
0 [Variable 10 ] = 100000 master cycle length of
1 [Variable 11 ] = 80000 100000 increments and a
2 Profile cycle length; profile no.= 0 ,master=[var. 10] ,slave=[var. 11 ] slave cylce length of 80000
increments.

Note:

The values can load with the command “Profile value, profile X , value Y = [variable Z ]”, too.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
92 X Y Z 00 00 00 00

Parameters: D1 = Profile number: 0...15

D2 = Variable number: 0...255
D3 = Variable number: 0...255

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4 BIAS-Command

4 - 93 BIAS-Command “[Variable X] = profile value“

[Variable X] = profile value, profile Y, value Z

Explanation:
The command "[Variable X]=profile value, profile Y value Z" sloads the desired
paramerter Z of the cam profile Y in the variable X.

Drive type: Parameters: Permissible inputs: BIAS program

PLC program
All: X: 0...255 ; Mathematics

Y: 0…15
Profile number

Z: 0 Number of supporting points

1 Address of first supporting point
2 Master cycle length
3 Slave cycle length Reserve

Example: Result:
ProgStart: The parameters are loaded in the variables 0 – 3.
0 [Variable 0 ] = profile value, profile 0 , value 0
1 [Variable 1 ] = profile value, profile 0 , value 1
2 [Variable 2 ] = profile value, profile 0 , value 2
3 [Variable 3 ] = profile value, profile 0 , value 3

Note :

With this command you can check imported profile for valid valuation.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
93 X Y Z 00 00 00 00

Parameters: D1 = Variable number: 0...255

D2 = Profile number: 0...15
D3 = Value: 0...99

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BIAS-Command 4

4 - 94 BIAS-Command “Profile value = [variable X]“

Profile value, profile X , value Y = [variable Z ]

Explanation:
The command "Profile value, profile X, value Y=[variable X]" stores the
content of the variable Z in the desired value Y of the cam profile X.

Drive type: Parameters: Permissble inputs: BIAS program

PLC program
All: X: 0...15 ; Mathematics
Profile
number

Y: 0 Number of supporting points

1 Address of first supporting point
2 Master cycle length
3 Slave cycle length
4…99 Reserve

Z: 0…255

Example: Result:
ProgStart: The profile 0 has 128 supporting points.
0 [Variable 10 ] = 128
1 Profile value, profile 0 , value 0 = [variable 10 ]
2 NOP
Note:

• Modification of profile parameters are not permitted!

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
94 X Y Z 00 00 00 00

Parameters: D1 = Profile number: 0...15

D2 = Value 0...99
D3 = Variable number 0...255

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4 BIAS-Command

4 - 97 BIAS-Command “ Save table“

Explanation:
The command "Save table" starts the saving of the entire profile table.
For the execution of this command it is necessary to interrupt the PLC-
program execution.
It means the execution time of this command is larger than the 2ms default
value.

Drive type : Parameters: Permissible inputs: BIAS program

; PLC program
All: None --- Mathematics

Example: Result:
0 If Flag 1 == 0 then jump NotSave If the flag 1 is set, the table will save. Beside the
1 End of program 4 the drive is deactivated, the table save and the
2 Save table drive is activated again..
3 End of program 5
4 Flag 1 = 0
NotSave:

Note:

• The execution of this command is possible only in the deactivated status of the servo drive.

• I.e. for the execution mode of the PLC program the value 2 "go on execution on deactivation"
must be configured.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
97 00 00 00 00 00 00 00

Parameters:

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BIAS-Command 4

4 - A0 BIAS-Command “Table ([variable X])= const.“

Table ([variable X ]) = const.

Explanation:
The command "Table([var. X]) = const." loads the constant value into the
profile memory address specified by the variable X.

Drive type Parameters: Permissible inputs: BIAS program

PLC program
All: X: 0-255 ; Mathematics
Permitted variable content
0…4095

Y: const. ± 231

Example: Result:
ProgStart: The value 1000 is loaded into the profile memory
0 [Variable 10 ] = 0 address 0.
1 Table([variable 10 ])= 1000
2 NOP

Note:

• The command “Save table“ is able to save values of the table permanent.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
A0 X Y(low) Y(high 00 00
)

Parameters: D1 = Variable number: 0...255

D2-D5 = Constant : ± 231

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4 BIAS-Command

4 - A1 BIAS-Command “Table ([variable X]) = [Y variable Z]“

Table ([variable X]) = [Y variable Z]

Explanation:
The command "Table([variable X]) = [Y variable Z]" loads the contents of the
Y type variable Z into the profile memory address specified by the variable X.

Drive type: Parameters: Permissible inputs BIAS program

PLC program
All: X: 0-255 ; Mathematics
Permitted variable content:
0…4095

Y: type selection L = Long Integer

F = Float
D = Double Float

Z: 0…255

Example: Result:
ProgStart: The value is loaded into the profile memory
0 [Variable 0 ] = 1000 address 0.
1 [Variable 10 ] = 0
2 Table([variable 10 ])= [L variable 0 ]
3 NOP

Note:

1. The command “Save table“ is able to save the values of the table permanent.

2. A type conversion to type Long Integer will be executed before assigning a type variable.

3. 3 different type variables are available to you.

All type variables are stored in different memory areas.
The long integer variables 0...255 corresponds to the BIAS-variables 0...255.
The float variables 0...255 corresponds to the 4-byte IEEE format.
The double float variables 0...255 corresponds to the 8-byte IEEE format.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
A1 X Y Z 00 00 00 00

Parameters: D1 = Variable number: 0…255

D2 = Data type selection: (Long = 0, Float = 1, Double = 2)
D3 = Variable number: 0…255

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BIAS-Command 4

4 - A2 BIAS-Command “ [X variable Y] = table ([variable Z])“

[X variable Y] = table ([variable Z])

Explanation:
The command "[X variable Y] = table([variable Z])" loads the contents of the
profile memory address specified by the variable Z into the X type variable Y.

Drive type: Parameters: Permissible inputs BIAS program

PLC program
All: X: L = Long Integer ; Mathematics
Type selection F = Float
D = Double Float

Y: 0-255

Z: 0-255
Permitted variable content
0…4095

Example: Result:
ProgStart: The value of the profile memory address 10 is
0 [Variable 10 ] = 0 loaded into the long integer variable 5.
1 [L variable 5 ] = table([variable 10 ])
2 NOP

Note:

4. The command “Save table“ is able to save the values of the table permanent.

5. A type conversion to type Long Integer will be executed before assigning a type variable.

6. 3 different type variables are available to you.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
A2 X Y Z 00 00 00 00

Parameters: D1 = Type selection (Long = 0, Float = 1, Double = 2)

D2 = Variable number: 0…255
D3 = Variable number: 0…255

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4 BIAS-Command

4 - A3 BIAS-Command “[W variable X] = [Y variable Z]“

[W variable X] = [Y variable Z]

Explanation:
The command "[W variable X] = [Y variable Z]" loads the contents of the Y
type variable Z into the W type variable X.

Drive type: Parameters: Permissible inputs: BIAS program

PLC program
All: W: L = Long integer ; Mathematics
Type selection F = Float
D = Double float

X: 0-255

Y: L = Long integer
Type selection F = Float
D = Double float

Z: 0-255

Example: Result:
0 [D_variable 0 ] = 0 The double variable 2 is loaded into
1 [D_variable 1 ] = 0.250000000 the long integer variable 1.
2 If [D_variable 1 ] -< [D_variable 0 ] then jump error
3 [D_variable 2 ] = SQRT([D_variable 1 ])
4 [L_variable 1 ] = [D_variable 2 ]
...
error:
50 ...

Note:

7. A type conversion to type Long Integer will be executed before assigning a type variable.

8. 3 different type variables are available to you.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
A3 W X Y Z 00 00 00

Parameters: D1 = Type selection: (Long = 0, Float = 1, Double = 2)

D2 = Variable number: 0…255
D3 = Type selection: (Long = 0, Float = 1, Double = 2)
D4 = Variable number: 0…255

194 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

4 - A4 BIAS-Command “[X variable Y] = const.“

[X variable Y] = const.

Explanation:
The command "[X variable Y] = const." loads the constant value into the X
type variable Y.

Drive type: Parameters: Permissible inputs BIAS program

PLC program
All: X: L = Long integer ; Mathematics
Type selection: F = Float
D = Double float

Y: 0-255

Const. ± 231

Example: Result:
0 [D_variable 0 ] = 0 If the content of the type variable 1
1 [D_variable 1 ] = 0.250000000 isn’t negative, the square root is
2 If [D_variable 1 ] -< [D_variable 0 ] the jump Error calculated and the result is stored
3 [D_variable 1 ] = SQRT([D_variable 1 ]) back into the type variable 1.
4 ... If the content of the type variable is
Error: negative, the BIAS execution
50 ... pointer is set at the label Error (line
50).

Note:
1. It is possible to use a constant floating point value for the assignment of a float or double float
variable.
2. 3 different type variables are available to you.
All type variables are stored in different memory areas.
The long integer variables 0...255 corresponds to the BIAS-variables 0...255.
The float variables 0...255 corresponds to the 4-byte IEEE format.
The double float variables 0...255 corresponds to the 8-byte IEEE format.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
A4 X Y Z(low) Z(high) 00

Parameters: D1 = Type selection: (Long = 0, Float = 1, Double = 2)

D2 = Variable number: 0…255
D3 – D6 = Constant: ± 231

10-06-05-E-V0304.doc Software manual Type: BIAS 195

4 BIAS-Command

4 - A5 BIAS-Command “[Variable [X]] = const.“

[Variable [X]] = const.

Explanation:
The command "[Variable [X]] = const " assigns the constant value to the
variable addressed by the content of the variable X.

Drive type: Parameters: Permissible inputs ; BIAS program

; PLC program
All: X: 0…255 ; Mathematics
permitted variable content:
0…255

Const. ± 231

Example: Result:
0 [Variable 0] = 10 The variable 10 is loaded with the value 10000.
1 [Variable [0]] = 10000

Note :

1. After switching the drive on all variables have the content 0.

2. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
A5 X Y(low) Y(high 00 00
)

Parameters: D1 = Variable number: 0…255

D2, D3 = Constant: ± 231

196 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

4 - A6 BIAS-Command “[Variable [X]] = [variable Y]

[Variable [X]] = [variable Y]

Explanation:
The command "[Variable [X]] = [variable Y]" assigns the content of variable Y
to the variable addressed by the content of the variable X.

Drive type: Parameters: Permissible inputs ; BIAS program

; PLC program
All: X: 0…255 ; Mathematics
Permitted variable content:
0…255

Y 0…255

Example: Result:
0 [Variable 0] = 10 The content of the variable 10 is 100000.
1 [Variable 1] = 100000
2 [Variable [0]] = [variable 1]

Note:

1. After switching the drive on all variables have the content 0

2. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
A6 X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0…255

D2 = Variable number: 0…255

10-06-05-E-V0304.doc Software manual Type: BIAS 197

4 BIAS-Command

4 - A7 BIAS-Command “[Variable X] = [variable [Y]]

[Variable X] = [variable [Y]]

Explanation:
The command "[Variable X] = [variable [Y]]" assigns the content of variable
addressed by the content of the variable Y to the variable X.

Drive type Parameters: Permissible inputs: ; BIAS program

; PLC program
All: X: 0…255 ; Mathematics

Y: 0…255
permitted variable content
0…255

Example: Result:
0 [Variable 0] = 10 The content of the variable 1 is 100000.
1 [Variable 10] = 100000
2 [Variable 1] = [variable [0]]

Note:

1. After switching the drive on all variables have the content 0

2. The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
A7 X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0…255

D2 = Variable number: 0…255

198 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

4 - A8 BIAS-Command “[Variable X ] = [variable Y ] ? [variable Z]“

Explanation:
The command “[Variable X] = [variable Y ] ? [variable Z]“ allocates the
result from the logical operation between the selected variables Y and Z into
the variable X.

Drive type : Parameters: Permissible inputs: ; BIAS program

; PLC program
All: X: 0…255 ; Mathematics
Y: 0...255

Z: 0…255

? & AND (11)

| OR (12)
>> Shift right (13)
<< Shift left (14)
rl Rotate left (15)
rr Rotate right (16)
^ XOR (17)
Value in () for the command coding

Permitted variable content of the variable

Z for command coding 13 – 16
1…31

Example: Result:
0 [Variable 0] = 1 The variable 0 is shifted 15 Bit to left. The content
1 [Variable 1] = 15 of the variable 2 is 65536.
2 [Variable 2] = [variable 0] << [variable 1]

Note :

• This command is available with the 637f as of firmware V8.19

• This command is available with the 631/635/637 as of firmware V6.19

• After switching the drive on all variables have the content 0

• The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
A8 X Y ? Z 00 00 00

Parameters: D1 = Variable number: 0…255

D2 = Variable number: 0…255
D3 = Logic operation (11...17) (see explanation)
D4 = Variable number: 0…255

10-06-05-E-V0304.doc Software manual Type: BIAS 199

4 BIAS-Command

4 - A9 BIAS-Command “[Variable X ] = [variable Y ] ? const.“

[Variable X ] = [variable Y ] ? Z

Explanation:
The Command “[Variable X] = [variable Y ] ? const.” allocates the result
from the logical operation between the selected variable Y and the constant
into the variable X.

Drive type : Parameters: Permissible inputs: ; BIAS program

; PLC program
All: X: 0…255 ; Mathematics
Y: 0...255

Const.: ± 231

? & AND (11)

| OR (12)
>> Shift right (13)
<< Shift left (14)
rl Rotate Left (15)
rr Rotate right (16)
^ XOR (17)
Value in () for the command coding s.u.

Permitted variable content of the variable

Z for command coding 13 – 16
1…31

Example: Result:
0 [Variable 0] = 0x0000 00FF The variable 0 is combined logic OR with the
1 [Variable 1] = [variable 0] | 0x0000 FF00 constant and the result is saved into the variable 1.
The content of the variable 1 is 65535.

Note:

• This command is available with the 637f as of firmware V8.19

• This command is available with the 631/635/637 as of firmware V6.19

• After switching the drive on all variables have the content 0

• The variable contents will be displayed cyclically in the "diagnosis", "BIAS" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
A9 X Y ? Z (low) Z(high)

Parameters: D1 = Variable number: 0…255

D2 = Variable number: 0…255
D3 = Logic operation (11...17) (see explanation)
D4 - D7 = Constant: ± 231 exception D3 = 13, 14, 15, 16

200 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

4 - B0 BIAS-Command “[D_variable X]=[D_variable Y]+[D_variable Z]

[D_variable X] = [D_variable Y] + [D_variable Z]

Explanation:
The command "[D_var. X] = [D_var.Y] + [D_var.Z]" adds the contents of the
double variable Z to the contents of the double variable Y and stores the sum
into the double variable X.

Drive type: Parameters: Permissible inputs: BIAS program

PLC program
All: X: 0…255 ; Mathematics

Y: 0…255

Z: 0…255

Example: Result:
0 [D_variable 0 ] = 1.250000000 The double variable 0 and 1 are added and
1 [D_variable 1 ] = 0.250000000 the sum is stored in the double- variable 2.
2 [D_Variable 2 ] = [D_variable 0 ] + [D_variable 1 ]

Note:
1. After switching on all variables have the content 0.

2. The double variable contents will be displayed cyclically in the "diagnosis", "Mathematics" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
B0 X Y Z 00 00 00 00

Parameters: D1: Variable number: 0…255

D2: Variable number: 0…255
D3: Variable number: 0…255

10-06-05-E-V0304.doc Software manual Type: BIAS 201

4 BIAS-Command

4 - B1 BIAS-Command “[D_variable X]=[D_variable Y]-[D_variable Z]

[D_variable X] = [D_variable Y] - [D_variable Z]

Explanation:
The command "[D_var. X] = [D_var.Y] - [D_var.Z]" subtracts the contents of
the double variable Z from the contents of the double variable Y and stores
the difference into the double variable X.

Drive type: Parameters: Permissible input: BIAS program

PLC program
All: X: 0…255 ; Mathematics

Y: 0…255

Z: 0…255

Example: Result:
0 [D_variable 0 ] = 1.250000000 The contents of the double variable 1 is
1 [D_variable 1 ] = 0.250000000 subtracted from the contents of the double
2 [D_variable 2 ] = [D_variable 0 ] - [D_variable 1 ] variable 0. The difference is stored in the
double variable 2

Note:
3. After switching on all variables have the content 0.

4. The double variable contents will be displayed cyclically in the "diagnosis", "Mathematics" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
B1 X Y Z 00 00 00 00

Parameters: D1: Variable number: 0…255

D2: Variable number: 0…255
D3: Variable number: 0…255

202 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

4 - B2 BIAS-Command “[D_variable X] = [D_variable Y] * [D_variable Z]

[D_variable X] = [D_variable Y] * [D_variable Z]

Explanation:
The command "[D_var. X] = [D_var.Y] * [D_var.Z]" multiplies the contents of
the double variable Z with the contents of the double variable Y and stores
the product into the double variable X.

Drive type: Parameters: Permissible inputs: BIAS program

PLC program
All: X: 0…255 ; Mathematics

Y: 0…255

Z: 0…255

Example: Result:
0 [D_variable 0 ] = 1.250000000 The content of the double variable 0 and 1 are
1 [D_variable 1 ] = 0.250000000 multiplied and the product is stored into the
2 [D_variable 2 ] = [D_variable 0 ] * [D_variable 1 ] double variable 2.

Note:

5. After switching on all variables have the content 0.

6. The double variable contents will be displayed cyclically in the "diagnosis", "Mathematics" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
B2 X Y Z 00 00 00 00

Parameters: D1: Variable number: 0…255

D2: Variable number: 0…255
D3: Variable number: 0…255

10-06-05-E-V0304.doc Software manual Type: BIAS 203

4 BIAS-Command

4 - B3 BIAS-Command “[D_variable X] = [D_variable Y] / [D_variable Z]

[D_variable X] = [D_variable Y] / [D_variable Z]

Explanation:
The command "[D_var. X] = [D_var.Y] / [D_var.Z]" divides the contents of the
double variable Z by the contents of the double variable Y and stores the
quotient into the double variable X.

Drive type: Parameters: Permissible inputs: BIAS program

PLC program
All: X: 0…255 ; Mathematics

Y: 0…255

Z: 0…255

Example: Result:
0 [D_variable 0 ] = 1.250000000 The content of the double variable 1 is divided
1 [D_variable 1 ] = 0.250000000 by the content of the double variable 0 and
2 [D_variable 2 ] = [D_variable 0 ] / [D_variable 1 ] the quotient is stored into the double variable
2.

Note:

7. After switching on all variables have the content 0.

8. The double variable contents will be displayed cyclically in the "diagnosis", "Mathematics" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
B3 X Y Z 00 00 00 00

Parameters: D1 = Variable number: 0…255

D2 = Variable number: 0…255
D3 = Variable number: 0…255

204 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

4 - B4 BIAS-Command “If [D_variable X] ? [D_variable Y]

If [D_variable X] ? [D_variable Y] then jump Z
Explanation:
The command "If [D_var.X] ? [D_var.Y]" allows program branches by
comparing the double variable X with the double variable Y.
If the condition is true the execution will be continued at the specified
command line.
Otherwise the next BIAS command is executed.

Drive type: Parameters: Permissible inputs: BIAS program

PLC program
All: X: 0…255 ; Mathematics

?: > greater than (0)

< lower than (1)
== equal to (2)
>= greater than or equal to(3)
<= lower than or equal to (4)
!= not equal to (5)
-> positive (6)
-< negative (7)

value in () for the command coding s.u.

Y: 0…255

Z: 0…1499
address: The maximum permissible jump address
corresponds to the length of the BIAS
program.
As an alternative to the line numbers labels
(jump labels) can be used.

Example: Result:
0 [D_variable 0 ] = 0 If the double variable 1 is not
1 [D_variable 1 ] = 0.250000000 negative, the program calculates
2 If [D_variable 1 ] -< [D_variable 0 ] then jump error the square root of the double-
3 [D_variable 1 ] = SQRT([D_variable 1 ]) variable 1 and stores the result
4 ... back.
error: If the double variable 1 is negative
50 ... the execution continue at the label
“error”

10-06-05-E-V0304.doc Software manual Type: BIAS 205

4 BIAS-Command

Note:
5. The maximum permissible jump address corresponds to the length of the BIAS program.

6. As an alternative to the line numbers labels (jump labels) can be used.

7. After switching on all variables have the content 0.

8. The double variable contents will be displayed cyclically in the "diagnosis", "Mathematics" page.

9. The comparison of both, values is carried out by a subtraction of the variable Y from the variable X.
The conditional jump depends on the sign of the result.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
B4 X ? Y Z(low) Z(high) 00 00

Parameters: D1 = Variable number: 0…255

D2 = Condition: 0...7 (see explanation)
D3 = Variable number: 0…255
D4, D5 = address: 0...1499

206 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

4 - B5 BIAS-Command “[D_variable X] = SIN ([D_variable Y])

[D_variable X] = SIN([D_variable Y])

Explanation:
The command "[D_var. X] = SIN([D_var.Y])" calculates the sinus of the
double-variable Y and stores the result in the double-variable X.

Drive type: Parameters: Permissible inputs: BIAS program

PLC program
All: X: 0…255 ; Mathematics

Y: 0…255

Example: Result:
0 [D variable 0 ] = 30 The example calculates the sinus of 30°.
1 [D variable 1 ] = 180 At first the radiant is calculated and stored in the
2 [D variable 2 ] = 3.141592741 double variable 3.
3 [D_variable 3 ] = [D_variable 0 ] * [D_variable 2 ] After this the sinus value is calculated and the
4 [D_variable 3 ] = [D_variable 3 ] / [D_variable 1 ] result is stored in the double variable 0.
5 [D_variable 0 ] = SIN([D_variable 3 ])

Note:

9. After switching on all variables have the content 0.

10. The double variable contents will be displayed cyclically in the "diagnosis", "Mathematics" page.
Command coding:

Code D1 D2 D3 D4 D5 D6 D7
B5 X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0…255

D2 = Variable number: 0…255

10-06-05-E-V0304.doc Software manual Type: BIAS 207

4 BIAS-Command

4 - B6 BIAS-Command “[D_variable X] = COS ([D_variable Y])

[D_variable X] = COS([D_variable Y])

Explanation:
The command "[D_var. X] = COS([D_var.Y])" calculates the cosinus of the
double variable Y and stores the result in the double-variable X.

Drive type: Parameters: Permissible inputs: BIAS program

PLC program
All: X: 0…255 ; Mathematics

Y: 0…255

Example: Result:
0 [D_variable 0 ] = 30 The example calculates the cosinus of 30°.
1 [D_variable 1 ] = 180 At first the radiant is calculated and stored in the
2 [D_variable 2 ] = 3.141592741 double variable 3.
3 [D_variable 3 ] = [D_variable 0 ] * [D_variable 2 ] After this the cosinus value is calculated and the
4 [D_variable 3 ] = [D_variable 3 ] / [D_variable 1 ] result is stored in the double variable 0.
5 [D_variable 0 ] = COS([D_variable 3 ])

Note:
11. After switching on all variables have the content 0.

12. The double variable contents will be displayed cyclically in the "diagnosis", "Mathematics" page.

Commands coding:

Code D1 D2 D3 D4 D5 D6 D7
B6 X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0…255

D2 = Variable number: 0…255

208 Software manual Type: BIAS 10-06-05-E-V0304.doc

BIAS-Command 4

4 - B7 BIAS-Command “[D_variable X] = SQRT ([D_variable Y])

[D_variable X] = SQRT([D_variable Y])

Explanation:
The command "[D_var. X] = SQRT([D_var.Y])" calculates the square root of
the double-variable Y and stores the result in the double-variable X.

Drive type: Parameters: Permissible inputs: BIAS program

PLC program
All: X: 0…255 ; Mathematics

Y: 0…255

Example: Result:
0 [D_variable 0 ] = 0 If the double-variable 1 is not
1 [D_variable 1 ] = 0.250000000 negativ then the square root is
2 If [D_variable 1 ] -< [D_variable 0 ] then jump Error calculated and the result is stored in
3 [D_variable 1 ] = SQRT([D_variable 1 ]) the double variable 1.
4 ... If the double variable is negative
Error: the BIAS execution pointer is set to
50 ... the line “Error”.

Note:
13. After switching on all variables have the content 0.

14. The double variable contents will be displayed cyclically in the "diagnosis", "Mathematics" page.

Command coding:

Code D1 D2 D3 D4 D5 D6 D7
B7 X Y 00 00 00 00 00

Parameters: D1 = Variable number: 0…255

D2 = Variable number: 0…255

10-06-05-E-V0304.doc Software manual Type: BIAS 209

5 Modification Record
5 Modification Record

Version Modification Chapter Date Name Comment

V0104 New manual version 29.04.2004 T. Saladin Master:

for 630’series S. Prüfer DOC-LIBRARY
N. Dreilich (html)
V0204 Update from the source DOC-LIBRARY 07.10.2004 ET - Team
V0304 SSD Drives 03.11.2004 N. Dreilich Logos

210 Software manual Type: BIAS 10-06-05-E-V0304.doc

AUSTRALIEN CHINA DÄNEMARK DEUTSCHLAND
Eurotherm Pty Ltd Eurotherm Pty Ltd Eurotherm GmbH SSD DRIVES GmbH
Unit 1 Apt. 1805, 8 Building Hua Wei Li Enghavevej 11 Von-Humboldt-Straße 10
20-22 Foundry Road Chao Yang District, DK-7100 Vejle 64646 Heppenheim
Seven Hills Beijing 100021 Tel: +45 70 201311 Tel: +49 6252 7982-00
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Tel: +61 2 9838 0099 Fax: +86 10 87790272
Fax: +61 2 9838 9288

ENGLAND FRANKREICH HONG KONG INDIEN

SSD Drives Ltd SSD Drives SAS Eurotherm Ltd Eurotherm DEL India Ltd
New Courtwick Lane 15 Avenue de Norvège Unit D 152, Developed Plots Estate
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Tel: +44 1903 737000 Tel: +33 1 69 185151 Aberdeen Tel: +91 44 2496 1129
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Fax: +852 2870 0148

IRLAND ITALIEN JAPAN KANADA

SSD Drives SSD Drives SpA PTI Japan Ltd SSD Drives Inc
2004/4 Orchard Ave Via Gran Sasso 9 7F, Yurakucho Building 880 Laurentian Drive
Citywest Business Park 20030 Lentate Sul Seveso 10-1, Yuakucho 1-Chome Burlington
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Tel: +353 1 4691800 Tel: +39 0362 557308 Tel: +81 3 32132111 Canada, L7N 3V6
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Fax: +1 905 632-0107

KOREA NIEDERLANDE POLEN RUMÄNIEN

Myungshin Drives Co. Ltd. Eurotherm BV OBR-USN Servosisteme SRL
1308, Daeryung Techno Town Genielaan 4 ul. Batorego 107 Sibiu 17
8th Bldg., 481-11 Gasan-Dong, 2404CH PL 87-100 Torun 061535 Bukarest
Geumcheon-Gu, Alphen aan den Rijn Tel: +48 56 62340-21 Tel: +40 723348999
Seoul 153-803 Tel: +31 172 411 752 Fax: +48 56 62344-25 Fax: +40 214131290
Tel: +82 2 2163 6677 Fax: +31 172 417 260
Fax: +82 2 2163 8982

SPANIEN SCHWEDEN SCHWEIZ U.S.A

Eurotherm Espana S.A. SSD Drives AB Indur Antriebstechnik AG SSD Drives Inc.
Pol. Ind. Alcobendas Montörgatan 7 Margarethenstraße 87 9225 Forsyth Park Drive
C/ La Granja, 74 S-30260 Halmstad CH 4008 Basel Charlotte
28108 Madrid Tel: +46 35 177300 Tel: +41 61 27929-00 North Carolina 28273-3884
Tel: +34 91 661 60 01 Fax: +46 35 108407 Fax: +41 61 27929-10 Tel: +1 704 588 3246
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