Parameter Description BOSCH REXROTH SERVO DRIVE

Industrial
Hydraulics
Electric Drives
and Controls
Linear Motion and

Assembly Technologies
Pneumatics
Service
Automation
Mobile
Hydraulics
Rexroth IndraControl VCP 20
Rexroth IndraDrive
Drive Controllers
MPx-02, MPx-03
Parameter Description
R911297317
Edition 02
About this Documentation
IndraDrive
Title
Rexroth IndraDrive
Drive Controllers
Type of Documentation
Document Typecode
Internal File Reference
Parameter Description
DOK-INDRV*-GEN-**VRS**-PA02-EN-P
Box: M8*-01VRS
Info for Document Author, z.B. Ablagevermerk
120-2400-B306-02/EN
Purpose of Documentation
This documentation serves:

for parameterization of the drive controller
Record of Revisions
Copyright
Description
Release
Date
Notes
03.2004
First Release
02.2005
Second Release
2005 Bosch Rexroth AG

Copying this document, giving it to others and the use or communication
of the contents thereof without express authority, are forbidden. Offenders
are liable for the payment of damages. All rights are reserved in the event
of the grant of a patent or the registration of a utility model or design
(DIN 34-1).
Validity
Published by
The specified data is for product description purposes only and may not
be deemed to be guaranteed unless expressly confirmed in the contract.
All rights are reserved with respect to the content of this documentation
and the availability of the product.
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 D-97816 Lohr a. Main
Telephone +49 (0)93 52/40-0 Tx 68 94 21 Fax +49 (0)93 52/40-48 85
http://www.boschrexroth.com/
Dept. EDY1 (mr/mw/bb/hp)
Note
This document has been printed on chlorine-free bleached paper.
Contents I
IndraDrive
Contents
1
General Information
1-1
Document Structure ................................................................................................................. 1-1

Definitions ................................................................................................................................ 1-2
Standard Parameters
2-1
S-0-0000, Dummy parameter .................................................................................................. 2-1

S-0-0001, NC cycle time (TNcyc) ............................................................................................ 2-1
S-0-0002, SERCOS cycle time (TScyc) .................................................................................. 2-2
S-0-0003, Minimum AT transmit starting time (T1min)............................................................ 2-3
S-0-0004, Transmit/receive transition time (TATMT) .............................................................. 2-3
S-0-0005, Minimum feedback acquisition time (T4min) .......................................................... 2-4
S-0-0006, AT Transmission starting time (T1)......................................................................... 2-4
S-0-0007, Feedback acquisition starting time (T4).................................................................. 2-5
S-0-0008, Command value valid time (T3) .............................................................................. 2-6
S-0-0009, Position of data record in MDT ............................................................................... 2-6
S-0-0010, Length of master data telegram .............................................................................. 2-7
S-0-0011, Class 1 diagnostics ................................................................................................. 2-7
S-0-0012, Class 2 diagnostics ................................................................................................. 2-8
S-0-0013, Class 3 diagnostics ............................................................................................... 2-10
S-0-0014, Interface status...................................................................................................... 2-11
S-0-0015, Telegram type parameter...................................................................................... 2-12
S-0-0016, Configuration list of AT.......................................................................................... 2-13
S-0-0017, IDN-list of all operation data.................................................................................. 2-14
S-0-0018, IDN list of operating data for communication phase 2 .......................................... 2-14
S-0-0019, IDN list of operating data for communication phase 3 .......................................... 2-15
S-0-0021, IDN list of invalid operating data for communication phase 2............................... 2-15
S-0-0022, IDN list of invalid operating data for communication phase 3............................... 2-16
S-0-0024, Config. list of the master data telegram ................................................................ 2-17
S-0-0025, IDN-list of all procedure commands...................................................................... 2-17
S-0-0026, Configuration list signal status word ..................................................................... 2-18
S-0-0027, Configuration list signal control word .................................................................... 2-19
S-0-0028, MST error counter ................................................................................................. 2-20
S-0-0029, MDT error counter................................................................................................. 2-20
S-0-0030, Manufacturer version ............................................................................................ 2-21
S-0-0032, Primary mode of operation.................................................................................... 2-22
S-0-0033, Secondary operation mode 1................................................................................ 2-23
S-0-0036, Velocity command value ....................................................................................... 2-26
S-0-0037, Additive velocity command value.......................................................................... 2-26
II Contents
IndraDrive
S-0-0038, Positive velocity limit value ................................................................................... 2-27

S-0-0039, Negative velocity limit value.................................................................................. 2-28
S-0-0040, Velocity feedback value ........................................................................................ 2-28
S-0-0041, Homing velocity..................................................................................................... 2-29
S-0-0042, Homing acceleration ............................................................................................. 2-29
S-0-0043, Velocity polarity parameter ................................................................................... 2-30
S-0-0044, Velocity data scaling type ..................................................................................... 2-31
S-0-0045, Velocity data scaling factor ................................................................................... 2-32
S-0-0046, Velocity data scaling exponent ............................................................................. 2-32
S-0-0047, Position command value....................................................................................... 2-33
S-0-0048, Additive position command value ......................................................................... 2-34
S-0-0049, Positive position limit value ................................................................................... 2-35
S-0-0050, Negative position limit value ................................................................................. 2-36
S-0-0051, Position feedback 1 value ..................................................................................... 2-37
S-0-0052, Reference distance 1 ............................................................................................ 2-38
S-0-0053, Position feedback 2 value ..................................................................................... 2-39
S-0-0054, Reference distance 2 ............................................................................................ 2-40
S-0-0055, Position polarities .................................................................................................. 2-41
S-0-0057, Position window .................................................................................................... 2-43
S-0-0058, Reversal clearance ............................................................................................... 2-44
S-0-0059, Position switch flag parameter .............................................................................. 2-45
S-0-0060, Position switch point 1 "On" .................................................................................. 2-46
S-0-0076, Position data scaling type ..................................................................................... 2-46
S-0-0077, Linear position data scaling factor ........................................................................ 2-48
S-0-0078, Linear position data scaling exponent................................................................... 2-48
S-0-0079, Rotational position resolution................................................................................ 2-49
S-0-0080, Torque/force command value ............................................................................... 2-50
S-0-0081, Additive torque/force command value................................................................... 2-51
S-0-0082, Torque/force limit value positive ........................................................................... 2-52
S-0-0083, Torque/force limit value negative .......................................................................... 2-53
S-0-0084, Torque/force feedback value ................................................................................ 2-54
S-0-0085, Torque/force polarity parameter............................................................................ 2-55
S-0-0086, Torque/force data scaling type.............................................................................. 2-56
S-0-0087, Transmit to transmit recovery time (TATAT)......................................................... 2-57
S-0-0088, Receive to receive recovery time (TMTSY) .......................................................... 2-58
S-0-0089, MDT Transmit starting time (T2) ........................................................................... 2-58
S-0-0090, Command value proceeding time (TMTSG) ......................................................... 2-59
S-0-0091, Bipolar velocity limit value..................................................................................... 2-59
S-0-0092, Bipolar torque/force limit value.............................................................................. 2-60
S-0-0093, Torque/force data scaling factor ........................................................................... 2-61
S-0-0094, Torque/force data scaling exponent...................................................................... 2-61
S-0-0095, Diagnostic message.............................................................................................. 2-62
S-0-0096, Slave arrangement (SLKN)................................................................................... 2-63
S-0-0097, Mask class 2 diagnostics ...................................................................................... 2-64
S-0-0098, Mask class 3 diagnostics ...................................................................................... 2-65
S-0-0099, C0500 Reset class 1 diagnostics.......................................................................... 2-66
Contents III
IndraDrive
S-0-0100, Velocity loop proportional gain.............................................................................. 2-66

S-0-0101, Velocity loop integral action time .......................................................................... 2-67
S-0-0103, Modulo value......................................................................................................... 2-68
S-0-0104, Position loop Kv-factor .......................................................................................... 2-69
S-0-0106, Current loop proportional gain 1 ........................................................................... 2-70
S-0-0107, Current loop integral action time 1 ........................................................................ 2-71
S-0-0108, Feedrate override.................................................................................................. 2-72
S-0-0109, Motor peak current ................................................................................................ 2-73
S-0-0110, Amplifier peak current ........................................................................................... 2-73
S-0-0111, Motor current at standstill...................................................................................... 2-74
S-0-0112, Amplifier nominal current ...................................................................................... 2-75
S-0-0113, Maximum motor speed ......................................................................................... 2-75
S-0-0115, Position feedback 2 type....................................................................................... 2-76
S-0-0116, Feedback 1 Resolution ......................................................................................... 2-77
S-0-0117, Feedback 2 Resolution ......................................................................................... 2-78
S-0-0121, Input revolutions of load gear................................................................................ 2-78
S-0-0122, Output revolutions of load gear............................................................................. 2-79
S-0-0123, Feed constant ....................................................................................................... 2-80
S-0-0124, Standstill window................................................................................................... 2-81
S-0-0125, Velocity threshold nx ............................................................................................. 2-82
S-0-0126, Torque threshold Tx .............................................................................................. 2-82
S-0-0127, C0100 Communication phase 3 transition check ................................................. 2-83
S-0-0128, C0200 Communication phase 4 transition check ................................................. 2-84
S-0-0130, Probe value 1 positive edge.................................................................................. 2-84
S-0-0131, Probe value 1 negative edge ................................................................................ 2-85
S-0-0132, Probe value 2 positive edge.................................................................................. 2-86
S-0-0133, Probe value 2 negative edge ................................................................................ 2-86
S-0-0134, Master control word............................................................................................... 2-87
S-0-0135, Drive status word .................................................................................................. 2-88
S-0-0138, Bipolar acceleration limit value ............................................................................. 2-89
S-0-0139, C1600 Parking axis command .............................................................................. 2-90
S-0-0140, Controller type....................................................................................................... 2-91
S-0-0141, Motor type ............................................................................................................. 2-91
S-0-0142, Application type..................................................................................................... 2-92
S-0-0143, Sercos interface version ....................................................................................... 2-92
S-0-0144, Signal status word................................................................................................. 2-93
S-0-0145, Signal control word................................................................................................ 2-94
S-0-0146, C4300 NC-controlled homing procedure command ............................................. 2-94
S-0-0147, Homing parameter ................................................................................................ 2-95
S-0-0148, C0600 Drive-controlled homing procedure command .......................................... 2-97
S-0-0149, C1300 Positive stop drive procedure command ................................................... 2-98
S-0-0150, Reference offset 1................................................................................................. 2-99
S-0-0151, Reference offset 2............................................................................................... 2-100
S-0-0152, C0900 Position spindle command ...................................................................... 2-101
S-0-0153, Spindle angle position......................................................................................... 2-102
S-0-0154, Spindle position parameter ................................................................................. 2-102
IV Contents
IndraDrive
S-0-0155, Friction compensation ......................................................................................... 2-104

S-0-0156, Velocity feedback value 2 ................................................................................... 2-104
S-0-0157, Velocity window................................................................................................... 2-105
S-0-0158, Power threshold Px ............................................................................................. 2-105
S-0-0159, Monitoring window .............................................................................................. 2-106
S-0-0160, Acceleration data scaling type ............................................................................ 2-107
S-0-0161, Acceleration data scaling factor .......................................................................... 2-108
S-0-0162, Acceleration data scaling exponent .................................................................... 2-109
S-0-0164, Acceleration feedback value 1 ............................................................................ 2-109
S-0-0165, Distance-coded reference offset A...................................................................... 2-110
S-0-0166, Distance-coded reference offset B...................................................................... 2-110
S-0-0169, Probe control parameter ..................................................................................... 2-111
S-0-0170, Probing cycle procedure command .................................................................... 2-112
S-0-0171, C4400 Calculate displacement procedure command ......................................... 2-113
S-0-0172, C4500 Displacement to referenced system procedure command...................... 2-114
S-0-0173, Marker position A ................................................................................................ 2-115
S-0-0174, Marker position B ................................................................................................ 2-115
S-0-0175, Offset parameter 1 .............................................................................................. 2-116
S-0-0176, Offset parameter 2 .............................................................................................. 2-117
S-0-0177, Absolute offset 1 ................................................................................................. 2-117
S-0-0178, Absolute offset 2 ................................................................................................. 2-118
S-0-0179, Probe status ........................................................................................................ 2-119
S-0-0180, Spindle relative offset.......................................................................................... 2-120
S-0-0183, Velocity synchronization window ........................................................................ 2-120
S-0-0185, Length of the configurable data record in the AT................................................ 2-121
S-0-0186, Length of the configurable data record in the MDT ............................................ 2-122
S-0-0187, List of configurable data in the AT ...................................................................... 2-122
S-0-0188, List of configurable data in the MDT ................................................................... 2-123
S-0-0189, Following distance............................................................................................... 2-123
S-0-0190, C4200 Drive-controlled oscillation command ..................................................... 2-124
S-0-0191, C1500 Cancel reference point procedure command .......................................... 2-124
S-0-0192, IDN-list of backup operation data........................................................................ 2-125
S-0-0193, Positioning Jerk................................................................................................... 2-126
S-0-0195, Acceleration feedback value 2 ............................................................................ 2-126
S-0-0197, C3300 Set coordinate system procedure command........................................... 2-127
S-0-0198, Initial coordinate value ........................................................................................ 2-127
S-0-0199, C3400 Shift coordinate system procedure command......................................... 2-128
S-0-0201, Motor warning temperature................................................................................. 2-128
S-0-0204, Motor shutdown temperature .............................................................................. 2-129
S-0-0206, Drive on delay time ............................................................................................. 2-129
S-0-0207, Drive off delay time ............................................................................................. 2-130
S-0-0208, Temperature data scaling type ........................................................................... 2-130
S-0-0213, Oscillation speed................................................................................................. 2-131
S-0-0214, Oscillation offset speed....................................................................................... 2-131
S-0-0215, Oscillation cycle time .......................................................................................... 2-132
S-0-0216, C4100 Switch parameter set command.............................................................. 2-132
Contents V
IndraDrive
S-0-0217, Preselect parameter set command ..................................................................... 2-133

S-0-0219, IDN-list of parameter set ..................................................................................... 2-133
S-0-0222, Spindle positioning speed ................................................................................... 2-134
S-0-0228, Position synchronization window ........................................................................ 2-134
S-0-0254, Current parameter set......................................................................................... 2-135
S-0-0256, Multiplication 1 .................................................................................................... 2-135
S-0-0257, Multiplication 2 .................................................................................................... 2-136
S-0-0258, Target position .................................................................................................... 2-137
S-0-0259, Positioning velocity.............................................................................................. 2-137
S-0-0260, Positioning acceleration ...................................................................................... 2-138
S-0-0261, Coarse position window ...................................................................................... 2-139
S-0-0262, C07_x Load defaults procedure command......................................................... 2-139
S-0-0263, C2300 Load working memory procedure command........................................... 2-140
S-0-0264, C2200 Backup working memory procedure command....................................... 2-141
S-0-0265, Language selection ............................................................................................. 2-141
S-0-0267, Password ............................................................................................................ 2-142
S-0-0269, Storage mode...................................................................................................... 2-142
S-0-0270, Selected IDN list of operation data to backup..................................................... 2-143
S-0-0273, Maximum drive off delay time ............................................................................. 2-143
S-0-0275, Coordinate offset value ....................................................................................... 2-144
S-0-0277, Position feedback 1 type..................................................................................... 2-145
S-0-0278, Maximum travel range ........................................................................................ 2-146
S-0-0279, IDN-list of password-protected operation data ................................................... 2-147
S-0-0282, Positioning command value ................................................................................ 2-147
S-0-0283, Current coordinate offset .................................................................................... 2-148
S-0-0284, Secondary operation mode 4.............................................................................. 2-149
S-0-0292, List of all operating modes .................................................................................. 2-153
S-0-0293, C2400 Selectively backup working memory procedure command..................... 2-154
S-0-0298, Reference cam shift ............................................................................................ 2-155
S-0-0299, Home switch offset.............................................................................................. 2-156
S-0-0301, Allocation of real-time control bit 1...................................................................... 2-157
S-0-0303, Allocation of real-time control bit 2...................................................................... 2-158
S-0-0305, Allocation of real-time status bit 1 ....................................................................... 2-159
S-0-0307, Allocation of real-time status bit 2 ....................................................................... 2-160
S-0-0315, Positioning velocity > nLimit................................................................................ 2-161
S-0-0323, Target position outside of travel range................................................................ 2-161
S-0-0326, Parameter checksum .......................................................................................... 2-162
S-0-0327, IDN list of checksum parameter.......................................................................... 2-162
S-0-0328, Assign list signal status word .............................................................................. 2-163
S-0-0329, Assign list signal control word............................................................................. 2-163
S-0-0330, Message n_actual = n_command ..................................................................... 2-164
S-0-0331, Status n_feedback = 0....................................................................................... 2-165
S-0-0332, Message nactual < nx........................................................................................ 2-165
VI Contents
IndraDrive
S-0-0333, Message T >= Tx............................................................................................... 2-166

S-0-0334, Message T >= Tlimit .......................................................................................... 2-166
S-0-0335, Message n command > n limit........................................................................... 2-167
S-0-0336, Message In position ............................................................................................ 2-167
S-0-0337, Message P >= Px .............................................................................................. 2-168
S-0-0338, Message In target position.................................................................................. 2-169
S-0-0341, Status "In coarse position" .................................................................................. 2-170
S-0-0342, Status "Target position attained"......................................................................... 2-170
S-0-0343, Status "Interpolator halted" ................................................................................. 2-171
S-0-0346, Positioning control word...................................................................................... 2-171
S-0-0347, Velocity error ....................................................................................................... 2-173
S-0-0348, Acceleration feedforward gain ............................................................................ 2-174
S-0-0349, Jerk limit bipolar .................................................................................................. 2-175
S-0-0359, Positioning deceleration...................................................................................... 2-176
S-0-0360, Data container A: command value 1................................................................... 2-176
S-0-0362, Data container A: list index command values..................................................... 2-177
S-0-0364, Data container A: feedback value 1 .................................................................... 2-178
S-0-0366, Data container A: list index feedback values ...................................................... 2-178
S-0-0368, Data container A: addressing.............................................................................. 2-179
S-0-0370, Data container A: configuration list command value-1 ....................................... 2-180
S-0-0371, Data container A: configuration list feedback value-1......................................... 2-180
S-0-0372, Drive Halt acceleration bipolar ............................................................................ 2-181
S-0-0375, List of diagnostic numbers .................................................................................. 2-182
S-0-0378, Absolute encoder range of motor encoder ......................................................... 2-182
S-0-0379, Absolute encoder range of optional encoder ...................................................... 2-183
S-0-0380, DC bus voltage.................................................................................................... 2-183
S-0-0382, DC bus power ..................................................................................................... 2-184
S-0-0383, Motor temperature............................................................................................... 2-184
S-0-0384, Amplifier temperature.......................................................................................... 2-185
S-0-0386, Active position feedback value............................................................................ 2-185
S-0-0390, Diagnostic message number .............................................................................. 2-186
S-0-0391, Monitoring window feedback 2............................................................................ 2-186
S-0-0393, Command value mode........................................................................................ 2-187
S-0-0398, IDN list of configurable data in signal status word .............................................. 2-189
S-0-0399, IDN list of configurable data in the signal control word....................................... 2-189
S-0-0400, Home switch........................................................................................................ 2-190
S-0-0401, Probe 1................................................................................................................ 2-190
S-0-0402, Probe 2................................................................................................................ 2-191
S-0-0403, Position feedback value status ........................................................................... 2-192
S-0-0404, Position command value status .......................................................................... 2-193
S-0-0405, Probe 1 enable.................................................................................................... 2-194
S-0-0406, Probe 2 enable.................................................................................................... 2-194
S-0-0407, Homing enable .................................................................................................... 2-195
S-0-0408, Reference marker pulse registered..................................................................... 2-196
S-0-0409, Probe 1 positive latched...................................................................................... 2-197
S-0-0410, Probe 1 negative latched .................................................................................... 2-198
Contents VII
IndraDrive
S-0-0411, Probe 2 positive latched...................................................................................... 2-199

S-0-0412, Probe 2 negative latched .................................................................................... 2-200
S-0-0413, Bit number allocation of real-time control bit 1.................................................... 2-201
S-0-0414, Bit number allocation of real-time control bit 2.................................................... 2-201
S-0-0415, Bit number allocation of real-time status bit 1..................................................... 2-202
S-0-0416, Bit number allocation of real-time status bit 2..................................................... 2-203
S-0-0417, Positioning velocity threshold in modulo mode................................................... 2-203
S-0-0418, Target position window in modulo mode ............................................................ 2-204
S-0-0419, Positioning command acknowledge.................................................................... 2-205
S-0-0426, Signal select probe 1........................................................................................... 2-206
S-0-0427, Signal select probe 2........................................................................................... 2-206
S-0-0428, Probe, IDN list signal selection ........................................................................... 2-207
S-0-0430, Effective target position....................................................................................... 2-208
S-0-0437, Positioning status word ....................................................................................... 2-209
S-0-0446, Ramp reference velocity for acceleration data ................................................... 2-210
S-0-0460, Position switch point 1 "Off" ................................................................................ 2-214
S-0-0490, Data container A: configuration list command value 2........................................ 2-218
S-0-0500, Data container A: configuration list feedback value 2......................................... 2-223
Product Specific Parameters P-0-0001 P-0-0905
3-1
VIII Contents
IndraDrive
P-0-0001, Switching frequency of the power output stage ...................................................... 3-1

P-0-0004, Velocity loop smoothing time constant.................................................................... 3-2
P-0-0008, Activation E-Stop function....................................................................................... 3-3
P-0-0009, Error number ........................................................................................................... 3-4
P-0-0010, Excessive position command value ........................................................................ 3-5
P-0-0011, Last valid position command value ......................................................................... 3-5
P-0-0012, C0300 Command Set absolute measuring............................................................. 3-6
P-0-0013, List of all IDNs not corresponding to default value ................................................. 3-7
P-0-0014, C1400 Command Get marker position ................................................................... 3-7
P-0-0018, Number of pole pairs/pole pair distance ................................................................. 3-8
P-0-0019, Initial position value................................................................................................. 3-8
P-0-0020, Oscilloscope: operating mode................................................................................. 3-9
P-0-0021, Oscilloscope: list of measured values 1................................................................ 3-10
P-0-0023, Oscilloscope: signal selection 1 ............................................................................ 3-11
P-0-0025, Oscilloscope: trigger mask.................................................................................... 3-12
P-0-0026, Oscilloscope: trigger signal selection.................................................................... 3-13
P-0-0027, Oscilloscope: trigger level ..................................................................................... 3-13
P-0-0028, Oscilloscope: control word .................................................................................... 3-14
P-0-0029, Oscilloscope: status word ..................................................................................... 3-15
P-0-0030, Oscilloscope: trigger edge .................................................................................... 3-16
P-0-0031, Oscilloscope: time resolution ................................................................................ 3-17
P-0-0032, Oscilloscope: size of memory ............................................................................... 3-17
P-0-0033, Oscilloscope: number of measured values after trigger event ............................. 3-18
P-0-0034, Position command additional actual value............................................................ 3-19
P-0-0035, Oscilloscope: control offset ................................................................................... 3-19
P-0-0036, Oscilloscope: external trigger signal ..................................................................... 3-20
P-0-0037, Oscilloscope: internal trigger signal ...................................................................... 3-20
P-0-0038, Torque-generating current, command value......................................................... 3-21
P-0-0039, Flux-generating current, command value ............................................................. 3-22
P-0-0040, Velocity feedforward evaluation ............................................................................ 3-22
P-0-0041, Position command average value filter time constant .......................................... 3-23
P-0-0042, Current position command average value filter order........................................... 3-24
P-0-0043, Torque-generating current, actual value ............................................................... 3-25
P-0-0044, Flux-generating current, actual value.................................................................... 3-25
P-0-0045, Control word of current controller.......................................................................... 3-26
P-0-0046, Status word of current controller ........................................................................... 3-27
P-0-0047, Position command value control ........................................................................... 3-28
P-0-0048, Effective velocity command value......................................................................... 3-29
P-0-0049, Effective torque/force command value.................................................................. 3-30
P-0-0051, Torque/force constant ........................................................................................... 3-30
P-0-0052, Actual position value of measuring encoder ......................................................... 3-31
P-0-0053, Master axis position .............................................................................................. 3-32
P-0-0054, Additive master axis position ................................................................................ 3-32
P-0-0055, Return distance ..................................................................................................... 3-33
Contents IX
IndraDrive
P-0-0056, Return velocity ...................................................................................................... 3-34

P-0-0057, Return acceleration ............................................................................................... 3-34
P-0-0058, Return jerk............................................................................................................. 3-35
P-0-0059, Additive position command value, controller ........................................................ 3-35
P-0-0060, Filter time constant additional pos. Command...................................................... 3-36
P-0-0061, Angle offset begin of profile .................................................................................. 3-36
P-0-0063, Torque-generating voltage, actual value .............................................................. 3-37
P-0-0064, Flux-generating voltage, actual value ................................................................... 3-37
P-0-0065, Absolute voltage value, actual value..................................................................... 3-38
P-0-0071, C3100 Recalculate actual value cycle .................................................................. 3-38
P-0-0072, Cam shaft profile1 ................................................................................................. 3-39
P-0-0073, Cam shaft distance 2 ............................................................................................ 3-40
P-0-0074, Encoder type 1 (motor encoder) ........................................................................... 3-40
P-0-0075, Encoder type 2 (optional encoder)........................................................................ 3-43
P-0-0076, Encoder type 3 (measuring encoder).................................................................... 3-45
P-0-0077, Assignment motor encoder->optional slot ............................................................ 3-46
P-0-0078, Assignment optional encoder ->optional slot ........................................................ 3-48
P-0-0079, Assignment measuring encoder ->optional slot.................................................... 3-49
P-0-0081, Parallel output 1 .................................................................................................... 3-50
P-0-0082, Parallel input 1 ...................................................................................................... 3-51
P-0-0083, Gear ratio fine adjust............................................................................................. 3-51
P-0-0085, Dynamic angle offset ............................................................................................ 3-52
P-0-0087, Actual position value offset of measuring encoder ............................................... 3-53
P-0-0088, Control word for synchronous operation modes ................................................... 3-54
P-0-0089, Status word for synchronous operating modes .................................................... 3-56
P-0-0090, Travel range limit parameter ................................................................................. 3-57
P-0-0092, Cam shaft profile 2 ................................................................................................ 3-58
P-0-0093, Cam shaft distance ............................................................................................... 3-60
P-0-0094, Cam shaft switch angle......................................................................................... 3-60
P-0-0095, Absolute encoder monitoring window for motor encoder...................................... 3-61
P-0-0096, Absolute encoder monitoring window for opt. encoder......................................... 3-61
P-0-0097, Absolute encoder monitoring window for measuring encoder .............................. 3-62
P-0-0098, Max. model deviation ............................................................................................ 3-63
P-0-0099, Position command smoothing time constant ........................................................ 3-64
P-0-0100, Position command value extension ...................................................................... 3-64
P-0-0101, Configuration for starting lockout selector ............................................................ 3-65
P-0-0102, Oper. hours power section at last activat. of start. lockout ................................... 3-66
P-0-0103, Time interval of forced dynamization .................................................................... 3-66
P-0-0104, Change history time interval of forced dynamization ............................................ 3-67
P-0-0105, Time stamp for list of diagnostic message numbers............................................. 3-67
P-0-0108, Master drive polarity.............................................................................................. 3-68
P-0-0109, Torque/force peak limit ......................................................................................... 3-69
P-0-0114, Undervoltage threshold......................................................................................... 3-70
P-0-0115, Device control: status word................................................................................... 3-71
P-0-0116, Device control: control word.................................................................................. 3-72
P-0-0117, Activation of NC reaction on error......................................................................... 3-73
X Contents
IndraDrive
P-0-0118, Power supply, configuration.................................................................................. 3-73

P-0-0119, Best possible deceleration .................................................................................... 3-75
P-0-0121, Gear 1 motor-side (motor encoder) ...................................................................... 3-76
P-0-0122, Gear 1 encoder-side (motor encoder)................................................................... 3-77
P-0-0123, Feed constant 2 (optional encoder) ...................................................................... 3-77
P-0-0124, Gear 2 load-side (optional encoder) ..................................................................... 3-78
P-0-0125, Gear 2 encoder-side (optional encoder) ............................................................... 3-79
P-0-0127, Input revolutions of measuring gear...................................................................... 3-79
P-0-0128, Output revolutions of measuring gear................................................................... 3-80
P-0-0129, Internal position data format ................................................................................. 3-81
P-0-0130, Position switch signal selection list ....................................................................... 3-81
P-0-0131, Position switch signal selection............................................................................. 3-82
P-0-0132, Position switch switch-on threshold ...................................................................... 3-83
P-0-0133, Position switch switch-off thresholds .................................................................... 3-83
P-0-0134, Position switch lead times..................................................................................... 3-84
P-0-0135, Position switch status word................................................................................... 3-84
P-0-0139, Analog output 1 ..................................................................................................... 3-85
P-0-0140, Analog output 2 ..................................................................................................... 3-85
P-0-0141, Thermal drive load ................................................................................................ 3-86
P-0-0142, Synchronization acceleration ................................................................................ 3-87
P-0-0143, Synchronization velocity........................................................................................ 3-87
P-0-0144, Cam shaft distance switch angle .......................................................................... 3-88
P-0-0149, Oscilloscope: signal selection list.......................................................................... 3-91
P-0-0150, Oscilloscope: number of valid measured values .................................................. 3-92
P-0-0151, Synchronization init window for modulo format .................................................... 3-92
P-0-0152, Synchronization completed................................................................................... 3-93
P-0-0153, Optimum distance home switch-reference mark .................................................. 3-94
P-0-0154, Synchronization direction...................................................................................... 3-95
P-0-0155, Synchronization mode .......................................................................................... 3-96
P-0-0156, Master drive gear input revolutions....................................................................... 3-98
P-0-0157, Master drive gear output revolutions..................................................................... 3-98
P-0-0158, Angle offset change rate ....................................................................................... 3-99
P-0-0159, Slave drive feed travel ........................................................................................ 3-100
P-0-0162, C1800 Command Automatic control loop adjust ................................................ 3-101
P-0-0163, Damping factor for autom. controller adjust........................................................ 3-102
P-0-0164, Application for autom. controller adjust............................................................... 3-103
P-0-0165, Selection for autom. controller adjust.................................................................. 3-104
P-0-0166, Lower limit for autom. control loop adjust ........................................................... 3-105
P-0-0167, Upper limit for autom. control loop adjust ........................................................... 3-106
P-0-0168, Maximum acceleration to be parameterized....................................................... 3-107
P-0-0169, Travel distance for autom. controller adjust........................................................ 3-107
P-0-0176, Torque/Force command smoothing time constant ............................................. 3-108
Contents XI
IndraDrive
P-0-0177, Absolute encoder buffer 1 (motor encoder) ........................................................ 3-109

P-0-0178, Absolute encoder buffer 2 (optional encoder)..................................................... 3-109
P-0-0179, Absolute encoder buffer 3 (measuring encoder) ................................................ 3-110
P-0-0180, Acceleration feedforward smoothing time constant ............................................ 3-111
P-0-0185, Control word of encoder 2 (optional encoder) .................................................... 3-112
P-0-0187, Position command processing mode .................................................................. 3-113
P-0-0190, Operating hours control section .......................................................................... 3-115
P-0-0191, Operating hours power section ........................................................................... 3-116
P-0-0192, Error memory of diagnostic numbers.................................................................. 3-117
P-0-0193, Error memory operating hours of control section................................................ 3-118
P-0-0194, Error memory power section............................................................................... 3-119
P-0-0195, IDN list of retain data (replacement of devices).................................................. 3-120
P-0-0196, Build date and time ............................................................................................. 3-121
P-0-0200, Start position probe function 2 active.................................................................. 3-121
P-0-0201, End position probe function 2 active ................................................................... 3-122
P-0-0202, Difference probe values 1 ................................................................................... 3-123
P-0-0203, Difference probe values 2 ................................................................................... 3-124
P-0-0204, Start position probe function 1 active.................................................................. 3-125
P-0-0205, End position probe function 1 active ................................................................... 3-125
P-0-0206, Probe 1, max. number of marker failures ........................................................... 3-126
P-0-0207, Probe 2, max. number of marker failures ........................................................... 3-127
P-0-0210, Analog input 1 ..................................................................................................... 3-127
P-0-0211, Analog input 2 ..................................................................................................... 3-128
P-0-0212, Analog input, list of assignable parameters ........................................................ 3-129
P-0-0213, Analog input, assignment A, target parameter ................................................... 3-129
P-0-0214, Analog input, assignment A, scaling per 10V full scale ...................................... 3-130
P-0-0215, Analog input, assignment A, signal value at 0V.................................................. 3-130
P-0-0216, Analog input, assignment A, dead zone ............................................................. 3-131
P-0-0217, Analog input 1, time constant input filter ............................................................. 3-131
P-0-0218, Analog input, control parameter.......................................................................... 3-132
P-0-0219, Analog input, maximum value for adjust............................................................. 3-134
P-0-0220, C2800 Analog input adjust command................................................................. 3-135
P-0-0222, Travel range limit switch inputs........................................................................... 3-136
P-0-0223, E-Stop input ........................................................................................................ 3-136
P-0-0224, Probe 1, number of marker failures .................................................................... 3-137
P-0-0225, Probe 2, number of marker failures .................................................................... 3-138
P-0-0226, Probe, extended control word ............................................................................. 3-139
P-0-0227, Cam shaft profile, access angle.......................................................................... 3-140
P-0-0228, Analog input 3 ..................................................................................................... 3-141
P-0-0229, Analog input 4 ..................................................................................................... 3-142
P-0-0236, Analog input, assignment B, target parameter ................................................... 3-146
P-0-0237, Analog input, assignment B, scaling per 10V full scale ...................................... 3-146
P-0-0238, Analog input, assignment B, signal value at 0V.................................................. 3-147
XII Contents
IndraDrive
P-0-0239, Analog input, assignment B, dead zone ............................................................. 3-147

P-0-0240, C1700 Command measuring wheel mode ......................................................... 3-148
P-0-0241, Actual pos. smoothing time constant for hybrid pos. control .............................. 3-149
P-0-0242, Current actual slip value in % ............................................................................. 3-149
P-0-0243, Maximum occurred actual slip value in %........................................................... 3-150
P-0-0244, Monitoring window of slip in %............................................................................ 3-151
P-0-0300, Digital I/Os, assignment list................................................................................. 3-151
P-0-0301, Digital I/Os, bit numbers...................................................................................... 3-153
P-0-0302, Digital I/Os, direction ........................................................................................... 3-154
P-0-0303, Digital I/Os, status display................................................................................... 3-155
P-0-0304, Digital I/Os, outputs............................................................................................. 3-156
P-0-0326, Multiplication of measuring encoder ................................................................... 3-157
P-0-0327, Encoder resolution of measuring encoder .......................................................... 3-158
P-0-0328, Type of position encoder for measuring encoder ............................................... 3-159
P-0-0329, Smoothing of actual position value 3 of measuring encoder .............................. 3-160
P-0-0330, Control word of measuring encoder.................................................................... 3-160
P-0-0331, Status of measuring encoder .............................................................................. 3-161
P-0-0332, Actual velocity value of measuring encoder ....................................................... 3-162
P-0-0334, Absolute encoder range of measuring encoder.................................................. 3-162
P-0-0340, C3500 Command Determine encoder correction values.................................... 3-163
P-0-0341, Control word for encoder correction.................................................................... 3-163
P-0-0342, Correction value table for encoder correction..................................................... 3-164
P-0-0343, Encoder 1, cosine signal..................................................................................... 3-165
P-0-0344, Encoder 1, sine signal......................................................................................... 3-165
P-0-0391, Actual position value difference encoder1 - encoder2........................................ 3-169
P-0-0393, IDN groups: control word .................................................................................... 3-170
P-0-0394, IDN groups: list.................................................................................................... 3-171
P-0-0395, Average value filter for display: signal selection ................................................. 3-171
P-0-0396, Average value filter for display: signal selection list............................................ 3-172
P-0-0397, Average value filter for display: time constant .................................................... 3-173
P-0-0400, Axis correction external correction value ............................................................ 3-174
P-0-0401, Axis correction active correction value................................................................ 3-174
P-0-0402, Axis correction reference temperature................................................................ 3-175
P-0-0403, Axis correction reference position for temp. corr. ............................................... 3-175
P-0-0404, Axis correction actual temperature pos.-dependent ........................................... 3-176
P-0-0405, Axis correction actual temperature pos.-independent ........................................ 3-176
P-0-0406, Axis correction temperature factor pos.-dependent............................................ 3-177
P-0-0407, Axis correction temperature factor pos.-independent ......................................... 3-178
P-0-0408, Axis correction start position ............................................................................... 3-178
P-0-0409, Axis correction end position ................................................................................ 3-179
P-0-0410, Axis correction support point distance ................................................................ 3-180
P-0-0411, Axis correction, correction table positive............................................................. 3-181
Contents XIII
IndraDrive
P-0-0412, Axis correction, correction table negative ........................................................... 3-182

P-0-0413, Axis correction control word................................................................................ 3-183
P-0-0414, Analog Output 3 .................................................................................................. 3-184
P-0-0415, Analog Output 4 .................................................................................................. 3-184
P-0-0418, Analog output, assignment A, signal value at 0V ............................................... 3-185
P-0-0419, Analog output, assignment B, signal value at 0V ............................................... 3-185
P-0-0420, Analog output, assignment A, signal selection ................................................... 3-186
P-0-0422, Analog output, assignment A, scaling [1/V] ........................................................ 3-186
P-0-0423, Analog output, assignment B, signal selection ................................................... 3-187
P-0-0425, Analog output, assignment B, scaling [1/V] ........................................................ 3-188
P-0-0426, Analog output IDN list of assignable parameters................................................ 3-188
P-0-0427, Control parameter of analog output .................................................................... 3-189
P-0-0434, Position command value of controller ................................................................. 3-190
P-0-0435, Control word of position controller ...................................................................... 3-191
P-0-0436, Reference radius for quadrant error correction................................................... 3-191
P-0-0437, Velocity time range for quadrant error correction ............................................... 3-192
P-0-0438, Table of path velocities for quadrant error correction ......................................... 3-192
P-0-0439, Table of velocity pulse for quadrant error correction .......................................... 3-193
P-0-0440, Actual output current value (absolute value) ...................................................... 3-194
P-0-0441, Overload warning ................................................................................................ 3-194
P-0-0442, Actual value torque limit positive (stationary) ..................................................... 3-195
P-0-0443, Actual value torque limit negative (stationary) .................................................... 3-196
P-0-0444, Actual value peak torque limit ............................................................................. 3-197
P-0-0445, Status word torque/current limit .......................................................................... 3-198
P-0-0451, Actual acceleration torque/force value................................................................ 3-199
P-0-0452, Actual process torque/force value....................................................................... 3-199
P-0-0453, Integral-action component velocity loop ............................................................. 3-200
P-0-0454, Velocity feedforward actual value ....................................................................... 3-200
P-0-0455, Acceleration feedforward actual value ................................................................ 3-201
P-0-0460, Module group, control word ................................................................................ 3-202
P-0-0461, Module group, status word.................................................................................. 3-202
P-0-0477, Logbook axis number.......................................................................................... 3-204
P-0-0478, Logbook event..................................................................................................... 3-204
P-0-0479, Logbook time stamp............................................................................................ 3-205
P-0-0480, Patch function 1, source pointer ......................................................................... 3-205
P-0-0481, Patch function 1, attribute ................................................................................... 3-206
P-0-0482, Patch function 1, bit mask................................................................................... 3-207
P-0-0483, Patch function 1, exponent ................................................................................. 3-207
P-0-0485, Patch function 1, display ..................................................................................... 3-208
P-0-0486, Patch function 2, source pointer ......................................................................... 3-209
P-0-0487, Patch function 2, attribute ................................................................................... 3-209
P-0-0488, Patch function 2, bit mask................................................................................... 3-210
P-0-0489, Patch function 2, exponent ................................................................................. 3-211
P-0-0491, Patch function 2, display ..................................................................................... 3-211
P-0-0506, Amplitude for angle acquisition ........................................................................... 3-212
P-0-0507, Test frequency for angle acquisition ................................................................... 3-213
XIV Contents
IndraDrive
P-0-0508, Commutation offset............................................................................................. 3-214

P-0-0510, Rotor inertia......................................................................................................... 3-215
P-0-0512, Temperature sensor............................................................................................ 3-216
P-0-0513, Temperature sensor characteristic ..................................................................... 3-217
P-0-0517, Commutation: required harmonics component................................................... 3-219
P-0-0520, Error threshold for encoder monitoring ............................................................... 3-220
P-0-0521, Effective commutation offset............................................................................... 3-220
P-0-0522, Control word for commutation setting ................................................................. 3-221
P-0-0523, Commutation setting measured value ................................................................ 3-223
P-0-0524, C1200 Commutation offset setting command..................................................... 3-224
P-0-0525, Holding brake control word ................................................................................. 3-224
P-0-0528, Flux control loop proportional gain...................................................................... 3-226
P-0-0529, Scaling of stall current limit ................................................................................. 3-227
P-0-0530, Slip increase........................................................................................................ 3-228
P-0-0532, Premagnetization factor ...................................................................................... 3-229
P-0-0533, Voltage loop proportional gain ............................................................................ 3-231
P-0-0534, Voltage loop integral action time......................................................................... 3-232
P-0-0535, Motor voltage at no load ..................................................................................... 3-233
P-0-0536, Maximum motor voltage...................................................................................... 3-234
P-0-0539, Holding brake status word .................................................................................. 3-235
P-0-0540, Torque of holding brake ...................................................................................... 3-236
P-0-0541, C2100 Brake check command............................................................................ 3-236
P-0-0542, C2000 Command Release motor holding brake................................................. 3-237
P-0-0543, C3800 Command Apply motor holding brake..................................................... 3-238
P-0-0544, C3900 Command Abrasion of brake .................................................................. 3-238
P-0-0545, Test torque for releasing motor holding brake .................................................... 3-239
P-0-0546, Starting torque for releasing motor holding brake............................................... 3-240
P-0-0547, Nominal load of holding system .......................................................................... 3-240
P-0-0549, Oper. hours control section at last successful brake check................................ 3-241
P-0-0550, Time interval brake check ................................................................................... 3-242
P-0-0555, Status word of axis controller.............................................................................. 3-243
P-0-0556, Control word of axis controller ............................................................................ 3-244
P-0-0565, C3600 Command Motor data identification ........................................................ 3-245
P-0-0566, C4600 Command Calculate motor control parameters ...................................... 3-246
P-0-0568, Voltage boost ...................................................................................................... 3-246
P-0-0569, Maximum stator frequency change..................................................................... 3-247
P-0-0570, Stall protection loop proportional gain................................................................. 3-247
P-0-0571, Stall protection loop integral action time ............................................................. 3-248
P-0-0572, Slip compensation factor..................................................................................... 3-248
P-0-0573, IxR boost factor ................................................................................................... 3-249
P-0-0574, Oscillation damping factor................................................................................... 3-249
P-0-0575, Search mode: search current factor.................................................................... 3-250
P-0-0576, Search mode: finding point slip factor................................................................. 3-250
P-0-0577, Square characteristic: lowering factor................................................................. 3-251
P-0-0590, Motor model frequency loop proportional gain ................................................... 3-251
P-0-0591, Motor model frequency loop integral action time ................................................ 3-252
Contents XV
IndraDrive
P-0-0592, Motor model adjust factor ................................................................................... 3-253

P-0-0612, Control word for setting absolute measuring ...................................................... 3-254
P-0-0640, Cooling type ........................................................................................................ 3-254
P-0-0681, Assignment IDN -> parallel output 1 ................................................................... 3-255
P-0-0682, Assignment parallel input 1 -> IDN ..................................................................... 3-256
P-0-0690, Additive velocity command value, process loop ................................................. 3-256
P-0-0691, Additive position command value, process loop................................................. 3-257
P-0-0692, Additive master axis position, process loop........................................................ 3-258
P-0-0693, Filter time constant, add. master axis pos., process loop................................... 3-259
P-0-0694, Gear ratio fine adjust, process loop .................................................................... 3-260
P-0-0695, Angle offset begin of profile, process loop.......................................................... 3-261
P-0-0696, Filter time constant, angle offset profile, process loop........................................ 3-262
P-0-0750, Master axis revolutions per master axis cycle .................................................... 3-262
P-0-0751, Synchronization divisions per command cycle slave axis .................................. 3-263
P-0-0752, Load revolutions per actual value cycle slave axis ............................................. 3-264
P-0-0753, Position actual value in actual value cycle.......................................................... 3-265
P-0-0754, Command value cycle......................................................................................... 3-266
P-0-0755, Gear reduction .................................................................................................... 3-267
P-0-0764, Master axis speed ............................................................................................... 3-268
P-0-0765, Modulo factor measuring encoder ...................................................................... 3-268
P-0-0775, Resulting master axis position ............................................................................ 3-269
P-0-0776, Effective master axis position ............................................................................. 3-270
P-0-0777, Effective master axis velocity.............................................................................. 3-270
P-0-0778, Synchronous position command value ............................................................... 3-271
P-0-0779, Synchronous velocity .......................................................................................... 3-273
P-0-0780, Cam shaft profile 3 .............................................................................................. 3-274
P-0-0786, Modulo value actual value cycle ......................................................................... 3-281
P-0-0806, Current mains voltage crest value ...................................................................... 3-281
P-0-0809, Properties of charging circuit .............................................................................. 3-282
P-0-0810, Minimum mains crest value ................................................................................ 3-282
P-0-0815, Nominal mains voltage crest value ..................................................................... 3-283
P-0-0816, Amplifier temperature 2....................................................................................... 3-284
P-0-0833, Braking resistor threshold ................................................................................... 3-284
P-0-0844, Braking resistor load ........................................................................................... 3-285
P-0-0858, Data of external braking resistor ......................................................................... 3-285
P-0-0859, Data of internal braking resistor .......................................................................... 3-286
P-0-0860, Control word of power section ............................................................................ 3-287
P-0-0861, Status word of power section.............................................................................. 3-288
P-0-0900, Encoder emulation signal selection list ............................................................... 3-289
P-0-0901, Encoder emulation signal selection .................................................................... 3-290
P-0-0902, Encoder emulation control parameter................................................................. 3-291
XVI Contents
IndraDrive
P-0-0903, Encoder emulation resolution ............................................................................. 3-292

P-0-0904, Encoder emulation zero pulse offset .................................................................. 3-294
P-0-0905, Encoder emulation zero pulse distance .............................................................. 3-294
Product Specific Parameters (P-0-1000 P-0-4095)
4-1
P-0-1000, Kind of encoder 1, encoder memory....................................................................... 4-1

P-0-1001, Encoder 1 resolution, encoder memory.................................................................. 4-2
P-0-1002, Absolute encoder offset 1, encoder memory .......................................................... 4-2
P-0-1003, Pulse wire encoder offset 1, encoder memory ....................................................... 4-3
P-0-1004, Pulse wire encoder status 1, encoder memory....................................................... 4-3
P-0-1013, Pulse wire encoder offset 2, encoder memory ....................................................... 4-6
P-0-1014, Pulse wire encoder status 2, encoder memory....................................................... 4-6
P-0-1119, Velocity mix factor feedback 1 & 2.......................................................................... 4-9
P-0-1120, Velocity control loop filter: filter type ....................................................................... 4-9
P-0-1121, Velocity control loop filter: limit frequency of low pass.......................................... 4-11
P-0-1122, Velocity control loop filter: bandwidth of band-stop filter....................................... 4-12
P-0-1123, Vel. cont. loop filter: center frequency of band-stop filter...................................... 4-13
P-0-1125, Velocity control loop: average value filter clock .................................................... 4-14
P-0-1126, Velocity control loop: acceleration feedforward .................................................... 4-14
P-0-1150, Command value generator output ........................................................................ 4-16
P-0-1151, Command value generator, list of possible target parameters ............................. 4-16
P-0-1152, Command value generator, target parameter assignment ................................... 4-17
P-0-1153, Command value generator, control word.............................................................. 4-18
P-0-1154, Command value generator, offset ........................................................................ 4-19
P-0-1155, Command value generator, amplitude.................................................................. 4-19
P-0-1156, Command value generator, duration 1 ................................................................. 4-20
P-0-1157, Command value generator, duration 2 ................................................................. 4-20
P-0-1158, Command value generator, periodic time............................................................. 4-21
P-0-1200, Control word of velocity control mode................................................................... 4-21
P-0-1201, Ramp 1 pitch ......................................................................................................... 4-22
P-0-1202, Final speed ramp 1 ............................................................................................... 4-23
P-0-1203, Ramp 2 pitch ......................................................................................................... 4-24
P-0-1206, Memory of velocity command values.................................................................... 4-24
P-0-1207, Lower limit of velocity masking window ................................................................ 4-25
P-0-1208, Upper limit of velocity masking window ................................................................ 4-26
P-0-1209, Acceleration factors for velocity masking window................................................. 4-27
P-0-1210, Status word of velocity control mode .................................................................... 4-28
P-0-1211, Deceleration ramp 1.............................................................................................. 4-29
P-0-1213, Deceleration ramp 2.............................................................................................. 4-30
P-0-1214, Motor potentiometer, control parameter ............................................................... 4-31
Contents XVII
IndraDrive
P-0-1215, Motor potentiometer, acceleration ........................................................................ 4-32

P-0-1216, Motor potentiometer, deceleration ........................................................................ 4-33
P-0-1217, Motor potentiometer, step size.............................................................................. 4-34
P-0-1218, Motor potentiometer, command value .................................................................. 4-34
P-0-1222, Velocity command filter ......................................................................................... 4-35
P-0-1350, PLC control word................................................................................................... 4-36
P-0-1351, PLC status word.................................................................................................... 4-37
P-0-1352, PLC user program administration data ................................................................. 4-38
P-0-1353, PLC user program area 0 ..................................................................................... 4-38
P-0-1360, PLC program identifier .......................................................................................... 4-41
P-0-1361, PLC program name............................................................................................... 4-42
P-0-1362, PLC boot projec tinfo ............................................................................................ 4-42
P-0-1363, PLC project info..................................................................................................... 4-43
P-0-1367, PLC configuration.................................................................................................. 4-44
P-0-1368, PLC Global Register GL2 ..................................................................................... 4-45
P-0-1369, PLC internally reserved......................................................................................... 4-46
P-0-1370, PLC Global Register G0 ....................................................................................... 4-46
P-0-1380, PLC Global Register G10 ..................................................................................... 4-51
P-0-1386, PLC display format Global Register...................................................................... 4-54
P-0-1387, PLC Global text register GT0................................................................................ 4-55
P-0-1388, PLC Global text register GT1................................................................................ 4-56
P-0-1389, PLC Global Register GL1 ..................................................................................... 4-56
P-0-1390, PLC input %IW0.................................................................................................... 4-57
P-0-1391, PLC input %IW1.................................................................................................... 4-58
P-0-1392, PLC input %IW2.................................................................................................... 4-58
P-0-1393, PLC input %IW3.................................................................................................... 4-59
P-0-1394, PLC input %IW4.................................................................................................... 4-59
XVIII Contents
IndraDrive
P-0-1395, PLC input %IW5.................................................................................................... 4-60

P-0-1396, PLC input %IW6.................................................................................................... 4-60
P-0-1397, PLC input %IW7.................................................................................................... 4-61
P-0-1410, PLC output %QW0................................................................................................ 4-61
P-0-1411, PLC output %QW1................................................................................................ 4-62
P-0-1412, PLC output %QW2................................................................................................ 4-62
P-0-1413, PLC output %QW3................................................................................................ 4-63
P-0-1414, PLC output %QW4................................................................................................ 4-63
P-0-1415, PLC output %QW5................................................................................................ 4-64
P-0-1416, PLC output %QW6................................................................................................ 4-64
P-0-1417, PLC output %QW7................................................................................................ 4-65
P-0-1450, PLC Positioning command value .......................................................................... 4-65
P-0-1451, PLC Positioning velocity........................................................................................ 4-66
P-0-1452, PLC Positioning acceleration ................................................................................ 4-67
P-0-1453, PLC Positioning deceleration................................................................................ 4-67
P-0-1454, PLC Positioning command value acceptance ...................................................... 4-68
P-0-1455, PLC positioning command value acknowledge .................................................... 4-69
P-0-1460, PLC Velocity command value ............................................................................... 4-69
P-0-1461, PLC Ramp 2 pitch ................................................................................................. 4-70
P-0-1463, PLC Deceleration ramp 2...................................................................................... 4-71
P-0-1465, PLC Torque/force command value ....................................................................... 4-71
P-0-1499, PLC retain data on-board...................................................................................... 4-72
P-0-1506, Circuit board code optional module 1 ................................................................... 4-73
P-0-1509, Circuit board code master communication ........................................................... 4-76
P-0-1510, Circuit board code power section.......................................................................... 4-77
P-0-1511, Circuit board code control section......................................................................... 4-78
P-0-1513, Circuit board code optional module 1 for safety technology................................. 4-79
P-0-1514, Circuit board code optional module 2 for safety technology................................. 4-80
P-0-1518, Module code of control section ............................................................................. 4-81
P-0-1519, Module code of power section .............................................................................. 4-82
P-0-1520, Control section type .............................................................................................. 4-83
P-0-2002, Oper. hours of contr. sect. at change of functional packages .............................. 4-83
P-0-2003, Selection of functional packages .......................................................................... 4-84
P-0-2004, Active functional packages ................................................................................... 4-84
P-0-2100, Velocity loop proportional gain, encoder memory................................................. 4-85
P-0-2101, Velocity loop integral-action time, encoder memory............................................. 4-86
P-0-2104, Position loop Kv-factor, encoder memory............................................................. 4-86
P-0-2106, Current loop proportional gain 1, encoder memory .............................................. 4-87
P-0-2107, Current loop integral-action time 1, encoder memory........................................... 4-87
P-0-2109, Motor peak current, encoder memory................................................................... 4-88
P-0-2111, Motor current at standstill, encoder memory ........................................................ 4-89
P-0-2113, Maximum velocity of motor, encoder memory ...................................................... 4-89
P-0-2141, Motor type, encoder memory ................................................................................ 4-90
P-0-2204, Motor shutdown temperature, encoder memory................................................... 4-90
Contents XIX
IndraDrive
P-0-2206, Drive On delay time, encoder memory ................................................................. 4-91

P-0-2207, Drive Off delay time, encoder memory ................................................................. 4-91
P-0-2216, Parameter set switching, group selection ............................................................. 4-92
P-0-2217, Parameter set switching, preselection range........................................................ 4-93
P-0-3000, Module code of motor, encoder memory .............................................................. 4-94
P-0-3001, Encoder type 1 (motor encoder), encoder memory .............................................. 4-95
P-0-3002, Number of pole pairs/pole pair distance, encoder memory .................................. 4-95
P-0-3003, Rotor inertia, encoder memory ............................................................................. 4-96
P-0-3004, Speed controller smoothing time constant, encoder memory .............................. 4-96
P-0-3005, Torque/force constant, encoder memory.............................................................. 4-97
P-0-3006, Rated motor speed, encoder memory .................................................................. 4-97
P-0-3007, Stator resistance, encoder memory...................................................................... 4-98
P-0-3008, Commutation offset, encoder memory.................................................................. 4-98
P-0-3009, Holding brake control word, encoder memory ...................................................... 4-99
P-0-3010, Torque of motor holding brake, encoder memory................................................. 4-99
P-0-3011, Holding brake current, encoder memory ............................................................ 4-100
P-0-3012, Temperature sensor, encoder memory............................................................... 4-100
P-0-3014, Magnetizing current, encoder memory ............................................................... 4-101
P-0-3015, Flux-generating current, limit value, encoder memory........................................ 4-101
P-0-3016, Direct-axis inductance of motor, encoder memory ............................................. 4-102
P-0-3017, Quadrature-axis inductance of motor, encoder memory .................................... 4-102
P-0-3018, Charact. quadr.-axis induct. of motor, induct., enc. Memory .............................. 4-103
P-0-3019, Charact. quadr.-axis induct. of motor, currents, enc. Memory............................ 4-103
P-0-3020, Thermal time constant of winding, encoder memory.......................................... 4-104
P-0-3021, Thermal time constant of motor, encoder memory ............................................. 4-104
P-0-3022, Thermal short-time overload of winding, encoder memory................................. 4-105
P-0-3023, Current limit value of demagnetization, encoder memory .................................. 4-105
P-0-3028, Flux loop proportional gain, encoder memory .................................................... 4-106
P-0-3029, Scaling of stall current limit, encoder memory .................................................... 4-106
P-0-3032, Premagnetization factor, encoder memory......................................................... 4-107
P-0-3033, Voltage loop proportional gain, encoder memory ............................................... 4-107
P-0-3034, Voltage loop intergral action time, encoder memory .......................................... 4-108
P-0-3035, Motor voltage at no load, encoder memory ........................................................ 4-108
P-0-3036, Maximum motor voltage, encoder memory ........................................................ 4-109
P-0-3039, Stator leakage inductance, encoder memory ..................................................... 4-109
P-0-3040, Rotor leakage inductance, encoder memory ...................................................... 4-110
P-0-3041, Motor magnetizing inductance, encoder memory............................................... 4-110
P-0-3042, Characteristic of motor magnetizing inductance, encoder mem......................... 4-111
P-0-3043, Rotor time constant, encoder memory................................................................ 4-111
P-0-3050, Motor inductance, encoder memory ................................................................... 4-112
P-0-3100, Version of data structure in encoder memory..................................................... 4-112
P-0-3200, Safety technology firmware code........................................................................ 4-113
P-0-3201, Change counter of safety technology memory ................................................... 4-114
P-0-3202, Operating hours at last change of memory......................................................... 4-114
P-0-3203, Memory image of safety technology memory ..................................................... 4-115
P-0-3204, C3000 Synchronize and store safety technology IDN command ....................... 4-115
XX Contents
IndraDrive
P-0-3205, Safety technology device identifier ..................................................................... 4-116

P-0-3206, Safety technology password ............................................................................... 4-116
P-0-3207, Safety technology password level....................................................................... 4-118
P-0-3208, Backup of safety techn. data channel 2 .............................................................. 4-118
P-0-3209, Safety technology commissioning identifier ........................................................ 4-120
P-0-3210, Safety technology control word........................................................................... 4-120
P-0-3211, Safety technology I/O control word, channel 2 ................................................... 4-122
P-0-3212, Safety technology signal control word, channel 1............................................... 4-123
P-0-3213, Safety technology status..................................................................................... 4-124
P-0-3214, Safety technology signal status word, channel 1................................................ 4-125
P-0-3215, Selected safety technology mode ....................................................................... 4-125
P-0-3216, Active safety technology signals ......................................................................... 4-126
P-0-3217, I/O status channel 2 (optional safety technology module) .................................. 4-127
P-0-3218, C3700 Manually unlocking the safety door ......................................................... 4-128
P-0-3219, Diagnostic safety technology message .............................................................. 4-129
P-0-3220, Tolerance time transition from normal operation ................................................ 4-130
P-0-3221, Max. tolerance time for different channel states ................................................. 4-130
P-0-3222, Max. activation time of enabling control.............................................................. 4-131
P-0-3223, Time interval for dynamization of safety function selection ................................ 4-131
P-0-3224, Duration of dynamization pulse of safety function selection............................... 4-132
P-0-3225, Tolerance time transition from safety rel. oper. .................................................. 4-133
P-0-3228, C4000 Homing procedure command channel 2 ................................................. 4-133
P-0-3229, Tolerance window for safety related homing procedure ..................................... 4-134
P-0-3230, Monitoring window for safety related operational stop........................................ 4-135
P-0-3231, Safety related reference position channel 2 ....................................................... 4-135
P-0-3232, Monitoring window for safety related direction of motion.................................... 4-136
P-0-3233, Velocity threshold for safety related stopping process ....................................... 4-136
P-0-3234, Safety related maximum speed .......................................................................... 4-137
P-0-3235, Safety related end position, positive ................................................................... 4-138
P-0-3236, Safety related end position, negative.................................................................. 4-138
P-0-3237, Safety technology absolute offset ....................................................................... 4-139
P-0-3240, Control word for safety related motion 1 ............................................................. 4-139
P-0-3241, Safety related limited absolute position 1, positive ............................................. 4-140
P-0-3242, Safety related limited absolute position 1, negative............................................ 4-141
P-0-3243, Safety related limited increment 1....................................................................... 4-141
P-0-3244, Safety related reduced speed 1 .......................................................................... 4-142
P-0-3245, Safety related deceleration/acceleration ramp 1 ................................................ 4-143
P-0-3251, Safety related limited absolute position 2, positive ............................................. 4-144
P-0-3252, Safety related limited absolute position 2, negative............................................ 4-145
Contents XXI
IndraDrive

P-0-3280, Actual position value, channel 2 ......................................................................... 4-152
P-0-3281, Actual velocity value, channel 2.......................................................................... 4-153
P-0-3282, Safety related monitored deceleration ................................................................ 4-154
P-0-3290, PROFIsafe: F_Destination_Address................................................................... 4-154
P-0-3291, PROFIsafe: F_Source_Address ......................................................................... 4-155
P-0-3292, PROFIsafe: F_Parameters ................................................................................. 4-156
P-0-3900, Command values for control section adjust........................................................ 4-157
P-0-3901, Adjust values of control section .......................................................................... 4-157
P-0-3902, Command values for power section adjust......................................................... 4-158
P-0-3903, Adjust values of power section ........................................................................... 4-158
P-0-3904, Adjust values analog I/O interface ...................................................................... 4-159
P-0-4002, Charact. of quadrature-axis induct. of motor, inductances ................................. 4-159
P-0-4003, Charact. of quadrature-axis inductance of motor, currents ................................ 4-161
P-0-4004, Magnetizing current............................................................................................. 4-162
P-0-4005, Flux-generating current, limit value..................................................................... 4-163
P-0-4006, Positioning block target position ......................................................................... 4-164
P-0-4007, Positioning block velocity .................................................................................... 4-164
P-0-4008, Positioning block acceleration............................................................................. 4-165
P-0-4009, Positioning block jerk .......................................................................................... 4-166
P-0-4010, Load inertia ......................................................................................................... 4-166
P-0-4013, Current limit value of demagnetization................................................................ 4-167
P-0-4014, Type of construction of motor ............................................................................. 4-168
P-0-4016, Direct-axis inductance of motor .......................................................................... 4-170
P-0-4017, Quadrature-axis inductance of motor ................................................................. 4-171
P-0-4019, Positioning block mode ....................................................................................... 4-172
P-0-4021, Baud rate RS-232/485 ........................................................................................ 4-173
P-0-4022, Drive address of serial interface ......................................................................... 4-174
P-0-4023, C0400 Communication phase 2 transition.......................................................... 4-174
P-0-4025, Drive address of master communication............................................................. 4-175
P-0-4026, Positioning block selection.................................................................................. 4-176
P-0-4027, Transmission length SERCOS interface............................................................. 4-176
P-0-4028, Device control word............................................................................................. 4-177
P-0-4029, Diagnostic report SCSB module ......................................................................... 4-178
P-0-4031, Overview of device addresses ............................................................................ 4-178
P-0-4032, Motor type plate data .......................................................................................... 4-180
P-0-4033, C3200 Command Calculate motor data.............................................................. 4-181
P-0-4034, Thermal time constant of winding ....................................................................... 4-182
P-0-4035, Thermal time constant of motor .......................................................................... 4-183
P-0-4036, Rated motor speed.............................................................................................. 4-184
P-0-4037, Thermal short-time overload of winding.............................................................. 4-185
P-0-4039, Stator leakage inductance .................................................................................. 4-186
XXII Contents
IndraDrive
P-0-4040, Rotor leakage inductance ................................................................................... 4-187

P-0-4041, Motor magnetizing inductance ............................................................................ 4-188
P-0-4042, Characteristic of motor magnetizing inductance................................................. 4-189
P-0-4043, Rotor time constant ............................................................................................. 4-190
P-0-4045, Maximum possible continuous current................................................................ 4-191
P-0-4046, Effective peak current ......................................................................................... 4-191
P-0-4048, Stator resistance ................................................................................................. 4-192
P-0-4050, Answer delay RS-232/485 .................................................................................. 4-193
P-0-4051, Positioning block acknowledgment ..................................................................... 4-193
P-0-4052, Positioning block, last accepted.......................................................................... 4-194
P-0-4053, Positioning block, last active ............................................................................... 4-194
P-0-4057, Positioning block, input linked blocks ................................................................. 4-195
P-0-4058, Amplifier type data .............................................................................................. 4-195
P-0-4059, Electric type data of power section ..................................................................... 4-196
P-0-4060, Positioning block control word ............................................................................ 4-196
P-0-4061, Positioning block status word.............................................................................. 4-197
P-0-4063, Positioning block deceleration ............................................................................ 4-198
P-0-4064, Password level .................................................................................................... 4-198
P-0-4065, Non-volatile memory active................................................................................. 4-199
P-0-4066, MMC identification number (CID)........................................................................ 4-200
P-0-4067, Project identification ............................................................................................ 4-200
P-0-4068, Field bus: control word IO ................................................................................... 4-201
P-0-4069, Field bus: module diagnosis ............................................................................... 4-202
P-0-4071, Field bus: length of cyclic command value data channel.................................... 4-202
P-0-4072, C2900 Command Firmware update from MMC.................................................. 4-203
P-0-4073, Field bus: diagnostic message............................................................................ 4-204
P-0-4074, Field bus: data format ......................................................................................... 4-205
P-0-4075, Field bus: watchdog ............................................................................................ 4-205
P-0-4076, Field bus: cycle time (Tcyc) ................................................................................ 4-206
P-0-4077, Field bus: control word........................................................................................ 4-206
P-0-4078, Field bus: status word ......................................................................................... 4-208
P-0-4079, Field bus: baud rate ............................................................................................ 4-210
P-0-4080, Field bus: config. list of cyclic actual value data ch. ........................................... 4-210
P-0-4081, Field bus: config. list of cyclic command value data ch. ..................................... 4-211
P-0-4082, Field bus: length of cyclic actual value data channel.......................................... 4-212
P-0-4083, Field bus: length of parameter channel............................................................... 4-212
P-0-4084, Field bus: profile type .......................................................................................... 4-213
P-0-4085, C4700 Command Activate easy startup mode ................................................... 4-214
P-0-4086, Master communication status ............................................................................. 4-214
P-0-4087, Baud rate SERCOS interface ............................................................................. 4-216
P-0-4090, Index for C07 Load defaults procedure .............................................................. 4-216
P-0-4091, C2500 Copy IDN from optional memory to internal memory.............................. 4-217
P-0-4092, C2600 Copy IDN from internal memory to optional memory.............................. 4-218
P-0-4095, RS-232/485 Parity............................................................................................... 4-218
Index
5-1
IndraDrive
Service & Support
Contents XXIII
6-1
6.1
Helpdesk ........................................................................................................................................ 6-1
6.2
Service-Hotline............................................................................................................................... 6-1
6.3
Internet ........................................................................................................................................... 6-1
6.4
Vor der Kontaktaufnahme... - Before contacting us....................................................................... 6-1
6.5
Kundenbetreuungsstellen - Sales & Service Facilities .................................................................. 6-2
XXIV Contents
IndraDrive
General Information 1-1
IndraDrive
General Information
Document Structure
All standard and product specific parameters are listed in this
documentation in a numerically ascending order.
In addition to the data contained in the Functional Description, it
represents a complete description of all parameters used in the drive
firmware.
The description of the individual parameters is divided into two
subsections.
1) General description
This section describes the function or significance of the parameter and
contains tips for setting the parameter.
2) Description of attributes
The characteristic values or features listed in this section help to classify
the parameter. They are necessary for a complete description of the
parameter.
1-2 General Information
IndraDrive
Definitions
The following abbreviations are used:
Data length:
2Byte - the data length of the operating data is 2 bytes
4Byte - the data length of the operating data is 4 bytes
1Byte variable - the operating data has variable length (list), the length of
a data element is 1 byte
a data element is 2 bytes
a data element is 4 bytes
Format:
BIN - The display format for the operating data should be binary.
HEX - The display format for the operating data should be hexadecimal.
DEC_OV - The display format for the operating data should be decimal
without sign.
DEC_MV - The display format for the operating data should be decimal
with sign.
ASCII - The operating data is a string.
IDN - The operating data is an ID number.
Editability:
no - The operating data cannot be edited.
P2 - The operating data can only be edited in communication phase 2.
P23 - The operating data can be edited in communication phases 2
and 3.
P234 - The operating data can be edited in any communication phase.
Memory:
no The operating data is not buffered in the drive, the value after
switching the drive controller on is not defined.
PARAM_SP/SPS_IDN_SP / FIX_IDN_SP - The operating data is stored
in the active non-volatile memory (see P-0-4065).
ON_BOARD_SP The operating data is stored in the flash on the control
section.
RETAIN_GERAET In case control voltage fails, the operating data is
stored in the active non-volatile memory (see P-0-4065) and, with MMC
active, during operation cyclically in the flash on the control section.
RETAIN_KUNDE In case control voltage fails, the operating data is
stored in the active non-volatile memory (see P-0-4065) and, with MMC
active, during operation cyclically in the flash on the control section.
General Information 1-3
IndraDrive
FEEDB_I2C/FEEDB_ENDAT/FEEDB_RS485/FEEDB_HYPER - The
operating data is buffered on the E^2PROM of the motor encoder data
memory (only for Rexroth motors with data feedback).
LT_SP - The operating data is stored in the flash on the power section.
I2C_OPM_SP - The operating data is stored on the E^2PROM of an
optional card.
Validity check:
no - The operating data is not checked for validity.
P2->P3 The operating data is checked in the "Communication phase 3
transition check" command.
P3->P4 The operating data is checked in the "Communication phase 4
transition check" command.
Extreme value check:
no - When writing data, the operating data is not checked for its extreme
values.
yes - When writing data, the operating data is checked for its extreme
values.
Combination check:
no - When writing data, the operating data is not checked for valid
combination (bit lists).
yes - When writing data, the operating data is checked for valid
combination (bit lists).
Cyc. transmittable:
no - The operating data can neither be configured as a cyclic data in the
master data telegram nor in the drive telegram.
AT - The operating data can be configured as a cyclic data in the drive
telegram.
MDT - The operating data can be configured as a cyclic data in the
master data telegram.
AT & MDT - The operating data can be configured as a cyclic data in the
drive telegram and in the master data telegram.
Default Value:
The default value indicates the value of the parameter definitely
programmed in the drive. The default value is activated by executing the
command S-0-0262, C07_x Load defaults procedure command (with
P-0-4090, Index for C07 Load defaults procedure equal "1") or by
pressing the "Esc" key when the "PL" message appears on the display.
Basic principles of drive control:
open-loop axis control or open-loop operation (open-loop U/f
control)
open-loop-controlled operation without encoder information
closed-loop axis control or closed-loop operation
closed-loop-controlled operation with encoder feedback
1-4 General Information
IndraDrive
Firmware Variants
For the IndraDrive range, there are different application-related firmware
variants available that are characterized by their scope of functions and
their performance:
MTH: Drives for Machine Tool Applications with SERCOS interface
(Advanced Performance and Functionality)
MPX: Drives for General Automation (Incl. Machine Tool Applications)
with SERCOS interface, Profibus, Ethernet CanOpen, DeviceNet, as
well as Parallel and Analog Interface
(the variants of design are MPH, MPB and MPD; see below)
Note:
The first two letters of the firmware designation identify the

application and profile of the firmware:
MT: "Machine Tool" Drives for Machine Tool
Applications with SERCOS interface
(drive profile according to SERCOS)
MP: "Multi Purpose" Drives for General Automation
(Incl. Machine Tool Applications) with
SERCOS interface, Profibus, as well as Parallel and
Analog Interface
(drive profile according to SERCOS)
The third letter of the firmware designation identifies the
hardware and performance and functionality of the firmware
(X includes H, B and D):
H: single-axis firmware with Advanced performance and
functionality
B: single-axis firmware with Basic performance and
functionality
D: double-axis firmware with Basic performance and
functionality
Standard Parameters 2-1
IndraDrive
Standard Parameters
S-0-0000, Dummy parameter

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
"open loop" and "closed loop"
This parameter serves as a wild card, it does not have any function. This
parameter can be cyclically written and read.
Possible applications:
filling up S-0-0370, Configuration list for MDT data container with

wild cards
measuring dead time for writing and reading data via the bus
S-0-0000 - Attribute
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT & MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0001, NC cycle time (TNcyc)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The NC cycle time indicates the time intervals in which the numerical
control provides new command values.
In the case of SERCOS interface, the NC cycle time has to be transmitted
to the slave in communication phase 2 and be taken into account in the
slave from communication phase 3 on. The TNcyc has to be an integral
multiple of the S-0-0002, SERCOS cycle time (TScyc).
TNcyc = TScyc * j
j:
1, 2, 3 ...
TNcyc:
TScyc:
NC cycle time
Fig. 2-1:
SERCOS cycle time

Determining the NC cycle time
See also Functional Description "Master communication SERCOS

interface"
2-2 Standard Parameters
IndraDrive
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1000 / 65000
2000
MPD:
1000 / 65000
2000
MPH:
250 / 65000
2000
S-0-0002, SERCOS cycle time (TScyc)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
optional master communication card
Funct. package(s):
The content of S-0-0002, SERCOS cycle time (TScyc) defines the time
intervals in which the cyclic real-time data (MDT and AT) are transmitted
via SERCOS and processed in the drive.
The allowed input values in S-0-0002 are depending on the position loop
clock:
minimum SERCOS cycle time:
Tposition
time intervals of the allowed inputs: Tposition

With the position loop clock in the different firmware variants:
CSH01.1C with MPH firmware:
Tposition = 250s
CSB01.1x with MPB firmware:
Tposition = 500s
CDB01.1C with MPD firmware:
Tposition = 500s
The following input values are resulting for a basic control section
(CSB01.1), for example:
500 s, 1 ms, 2ms, to 65ms in steps of 500s
Note:
In the case of SERCOS interface, the SERCOS cycle time has

to be transmitted from the master to the slave in
communication phase 2 and be activated in both from
communication phase 3 on.
See also Functional Description

Communication - SERCOS interface"
"System
Overview
Master
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1000 / 65000
2000
MPD:
1000 / 65000
2000
MPH:
250 / 65000
2000
IndraDrive
S-0-0003, Minimum AT transmit starting time (T1min)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In the value of this parameter the slave indicates the minimum time
required between the end of the received master synchronization
telegram and the transmission of its drive telegram.
The T1min time is read by the master in communication phase 2 in order
to calculate the transmission starting time of the drive telegram T1
S-0-0006, AT Transmission starting time (T1).
See also Functional Description "Telegram Structure, Telegram Frame"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0004, Transmit/receive transition time (TATMT)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The value of this parameter indicates the time required by the slave in
order to switch to reception of the master data telegram after having
transmitted its drive telegram.
The transmit/receive transition time is read by the master in
communication phase 2 in order to calculate the transmission starting
time of the master data telegram T2 S-0-0089, MDT Transmit starting
time (T2).
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0005, Minimum feedback acquisition time (T4min)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Minimum time required by the slave between actual value acquisition and
the end of the master synchronization telegram (MST in the case of
SERCOS). The drive generates this value in such a way that the current
actual values can be transmitted to the numerical control in the next drive
telegram.
In the case of the SERCOS interface, the master reads this value in
communication phase 2 in order to set the acquisition starting time of the
actual values T4 S-0-0007, Feedback acquisition starting time (T4)
accordingly for all drives.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
S-0-0006, AT Transmission starting time (T1)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The transmission starting time of the drive telegram (AT) determines

when the slave has to transmit its drive telegram in communication
phases 3 and 4 after the end of the master synchronization telegram.
In communication phase 2 this parameter is transmitted by the master to
the slave and becomes active from communication phase 3 on. The AT
transmission starting time (T1) has to be set equal to or greater than the
transmission reaction time S-0-0003, Minimum AT transmit starting
time (T1min).
The following must apply:
T1min T1
IndraDrive
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
4 / 65000
200
MPD:
4 / 65000
200
MPH:
4 / 65000
200
S-0-0007, Feedback acquisition starting time (T4)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Actual value acquisition starting time, set by the master, after the end of
the synchronization telegram.
The master can therefore specify the same actual value acquisition
starting time for all drives that operate in a co-ordinate mode. This
guarantees the synchronization of actual value acquisition for the drives
involved. In addition, the cyclically transmitted command values are
processed at the point of time T4. In the case of the SERCOS interface,
the master has to set the actual value acquisition starting time equal to or
less than the difference of S-0-0002, SERCOS Cycle time (Tscyc) and
the S-0-0005,Minimum feedback acquisition time (T4min) that has been
queried.
T4 TScyc - T4min
The following must apply:
From communication phase 3 on the drive activates the actual value

acquisition starting time.
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
11 / 65000
500
MPD:
11 / 65000
500
MPH:
11 / 65000
500
IndraDrive
S-0-0008, Command value valid time (T3)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The "command valid time" indicates the point of time at which the drive is
allowed to access the new command values.
The master can therefore set the same "command valid time" for all
drives that operate in a co-ordinate mode. The drive activates the
"command valid time" from communication phase 3 on.
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 65000
900
MPD:
0 / 65000
900
MPH:
0 / 65000
900
S-0-0009, Position of data record in MDT

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter represents the beginning address of a data record of a

drive in the MDT, represented as a byte position. Starting with 1 for the
first data byte after the address position in the MDT.
The beginning address of the drive data record in the MDT is transmitted
to each drive by the master in communication phase 2 and activated from
communication phase 3 on.
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 65531
MPD:
1 / 65531
MPH:
1 / 65531
IndraDrive
S-0-0010, Length of master data telegram

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The length of the master data telegram, which is the number of bytes,
contains the data records of all drives. The length of the MDT is
transmitted by the master to all drives in communication phase 2 and
activated by master and slave from communication phase 3 on.
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Byte
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
4 / 65534
MPD:
4 / 65534
MPH:
4 / 65534
S-0-0011, Class 1 diagnostics

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When a class 1 diagnostics error is detected in the drive, this causes the
static error bit to be set in the corresponding status word:
SERCOS: S-0-0135, Drive status word, bit 13, for class 1 diagnostics
field bus: P-0-4078, Field bus: status word, bit 13, for class 1
diagnostics
analog/parallel: P-0-0115, Device control: status word, bit 13, for
class 1 diagnostics
The error bit will only be reset to "0" by the drive, when
there isnt any more class 1 diagnostics error present and
the command S-0-0099, C0500 Reset class 1 diagnostics was
started.
Drive Interlock
A class 1 diagnostics error situation detected by the drive will cause

the error reaction of the drive (see Functional Description "Error
Reaction") and
the setting of the static error bit (S-0-0135, Drive status word, bit 13)
for class 1 diagnostics.

Parameter Structure
IndraDrive
The structure of the parameter and the significance of the individual bits is
explained below. As regards the bits, the following setting generally
applies:
bit x = "0": no class 1 diagnostics error present
bit x = "1": class 1 diagnostics error present
Bit
1
Designation/function
Comment
amplifier overtemperature shutdown

motor overtemperature shutdown
(see also S-0-0204)
reserved
control voltage error
encoder error
reserved
overcurrent error
reserved
undervoltage error
10
reserved
11
excessive deviation
12
communication error
13
position limit value exceeded
14
reserved
manufacturer-specific error
15
Fig. 2-2:
See also Functional Description "Status Classes, Status Displays, Control

Parameters"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When a class 2 diagnostics warning becomes active or inactive in the

drive, this causes the change bit to be set in the corresponding status
word:
SERCOS:
The change bit (S-0-0135, Drive status word, bit 12) for class 2
diagnostics is only cleared by the drive when the parameter S-0-0012,
Class 2 diagnostics is read.
IndraDrive
field bus:
The change bit P-0-4078, Field bus: status word for class 2
diagnostics is immediately cleared by the drive when the condition for
the warning is no longer fulfilled.
The structure of the parameter and the significance of the individual bits is
explained below. As regards the bits, the following setting generally
applies:
bit x = "0": condition for warning not fulfilled
bit x = "1": condition for warning fulfilled
Parameter structure:
Bit
overload warning
(cf. P-0-0445, bit 8, P-0-0445, bit 9, P-0-0861, bit 7)
amplifier overtemperature warning
(cf. P-0-0861, bit 12, P-0-0861, bit 14)
motor overtemperature warning
(cf. P-0-0445, bit 14)
reserved
1
2
4/3
5
8-6
9
Comment
positioning velocity > nlimit

(see also P-0-0315, bit 0)
reserved
undervoltage in DC bus
(see also P-0-0861, bit 0, P-0-0861, bit 3)
12-10 reserved
13
target position outside of position limit values
(see also S-0-0323, bit 0)
15
manufacturer-specific warning
(see also P-0-0115, bit 2)
Fig. 2-3: S-0-0012, Class 2 diagnostics
As illustrated in the table above, the individual status bits are mapped to
other manufacturer-specific parameters (e.g. P-0-0861, P-0-0115,).
Note:
For configuration in S-0-0144, Signal status word preferably

use the manufacturer-specific bits in the P-parameters.

Parameters"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When a class 3 diagnostics message becomes active or inactive in the

drive, this causes the change bit to be set in the corresponding status
word:
SERCOS:
The change bit (S-0-0135, Drive status word, bit 11) for class 3
diagnostics is only cleared by the drive when the parameter S-0-0013,
Class 3 diagnostics is read.
field bus:
The change bit P-0-4078, Field bus: status word, bit 11, for class 3
diagnostics is immediately cleared by the drive when the condition for
the message is no longer fulfilled.
Parameter Structure
Defined operating status messages are assigned to the individual bits of

this parameter. The structure of the parameter and the significance of the
individual bits is explained below. As regards the bits, the following setting
generally applies:
bit x = "0": condition for message not fulfilled
bit x = "1": condition for message fulfilled
Bit
Comment
actual velocity = command velocity (S-0-0330)

|(S-0-0040)-(S-0-0036)-(S-0-0037)| S-0-0157
| actual velocity | < standstill window (S-0-0331)
1
|S-0-0040| < S-0-0124
| actual velocity | < velocity threshold (S-0-0332)
2
|S-0-0040| < S-0-0125
3
actual torque/force value | torque threshold
(S-0-0333)
|S-0-0084| S-0-0126
4
| actual torque/force value | minimum torque limit value
(S-0-0334)
|S-0-0084| minimum of (P-0-0444, P-0-0442,
P-0-0443)
| command velocity | > vel. limit value (S-0-0335)
5
|(S-0-0036) + (S-0-0037)| > S-0-0091
In Position (S-0-0336)
6
| lag error | < position window
|S-0-0189| < S-0-0057
only with active "position spindle" command:
|S-0-0040| < S-0-0124
(S-0-0331) and
|actual position value - (S-0-0430)| < S-0-0057 and
|S-0-0036| + |S-0-0037| < S-0-0124
7
| actual power value | power threshold (S-0-0337)
|S-0-0382| S-0-0158
lag error < coarse position window (S-0-0341)
11
|S-0-0189| < S-0-0261
target position attained (S-0-0342)
12
internal position cmd value = effective target position
P-0-0434 = S-0-0430
Fig. 2-4:
0

Parameters"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0014, Interface status

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains important status bits with regard to the master
communication or the communication phases.
Current Communication Phase
Communication Error Bits

according to SERCOS interface
By means of the lower three bits (0, 1, 2) it is possible to read the current
communication phase (binary coding):
010b:
drive is in phase 2 (parameter mode)
011b:
drive is in phase 3 (parameter mode)
100b:
drive is in phase 4 (operating mode)
When a master communication interface error occurs with SERCOS and

field bus drives,
one of the bits 3-15 is set in S-0-0014, Interface status
(bit in 4 .. 15 = 1 => error is present)
and bit 12 is set in S-0-0011, Class 1 diagnostics.
Note:
The communication error bits will only be cleared by the drive

when the respective interface error is no longer present and
the command S-0-0099, C0500 Reset class 1 diagnostics
was started.
Bit
Comment
communication phase
0-2
double MST failure
3
double MDT failure
4
invalid phase (phase > 4)
5
error during phase progression (order)
6
error during phase regression (not to phase 0)
7
phase switching without ready signal
8
reserved
9-15
Fig. 2-5: S-0-0014, Interface status
Note:
Bits 6, 7 and 8 are only supported with SERCOS interface!
See also Functional

Communication"
Description
"Basic
Functions
of
Master
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0015, Telegram type parameter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In the telegram type parameter it is possible to choose between priority

telegrams and configured telegram.
When "configurable telegram" has been selected, it is possible to

freely configure S-0-0016, Configuration list of AT and S-0-0024,
Config. list of the master data telegram.
For priority telegrams the content of S-0-0016, Configuration list of

AT and S-0-0024, Config. list of the master data telegram is
automatically adjusted to the selected priority telegram.
Note:
The telegram type selected is activated in the master and in

the slave only from communication phase 3 on.
Bit
Comment
priority telegram selection or selection of configured

telegram
3
0: actual position value-1 (motor encoder)
1: actual position value-2 (external encoder)
Fig. 2-6: S-0-0015, Telegram type parameter
0-2
The following table describes the individual priority telegrams that can be
selected via bit 0...2.
Bit 2...0
MDT (cyclic command values)
AT (cyclic actual values)
000
VZ 0
no cyclic data
no cyclic data
001
VZ 1
DF1: S-0-0080, Torque/force command value
no cyclic data
010
VZ 2
DF1: S-0-0036, Velocity command value
DF1: S-0-0040, Velocity feedback value
011
VZ 3
DF1: S-0-0051/S-0-0053 Position feedback

1/2 value
100
VZ 4
DF1: S-0-0047, Position command value
DF1: S-0-0051/S-0-0053Position feedback

1/2 value
101
VZ 5
DF1: S-0-0047, Position command value

DF1: S-0-0051/S-0-0053Position feedback

1/2 value
DF2: S-0-0040, Velocity feedback value
110
VZ 6
no cyclic data
111
configurable telegram
Fig. 2-7:
configurable telegram
Supported bits
IndraDrive
with
VZ:
priority telegram
DF1/2:
data field 1/2
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
BIN
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 15
MPD:
0 / 15
MPH:
0 / 15
S-0-0016, Configuration list of AT

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter defines the parameter values which are contained in the
drive telegram (AT) in case the configurable telegram is fixed by the
S-0-0015, Telegram type parameter.
The configurable parameters are contained in the S-0-0187, List of
configurable data in the AT parameter and are entered in this
parameter as a list.
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0017, IDN-list of all operation data

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The IDNs of all operating data available in the drive are contained in this
IDN list.
See also Functional Description "Parameters, Basics"
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0018, IDN list of operating data for communication phase 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The IDN list contains the IDNs of all parameters that the drive checks in
the transition check command for phase 3. Only if the data of the listed
IDNs are correct can the transition check command be positively
acknowledged and the transition to communication phase 3 be allowed.
See also Functional Description "IDN Lists of Parameters"
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0019, IDN list of operating data for communication phase 3

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The IDN list contains the IDNs of all parameters that the drive checks in
the transition check command for phase 4. Only if the data of the listed
IDNs are correct can the transition check command be positively
acknowledged and the transition to communication phase 4 be allowed.
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0021, IDN list of invalid operating data for communication phase 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Before the drive switches from phase 2 to phase 3 in accordance with the
S-0-0127, C0100 Communication phase 3 transition check command,
it checks whether all communication parameters are complete and
correct.
If the drive recognizes one or more invalid IDNs, it writes the operating
data still required or invalid to this IDN list. The drive displays this by
means of the fault diagnosis C0101 Invalid parameters (see S-0-0021).
In the case of other fault diagnoses the respective parameters are written
to S-0-0021, too.
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0022, IDN list of invalid operating data for communication phase 3

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Before the drive switches from phase 3 to phase 4 in accordance with the
S-0-0128, C0200 Communication phase 4 transition check command,
it checks the parameters for the following aspects:
validity of the parameter
parameter within the possible input range
"compatibility" with other parameters
If the result of the parameter check is negative, the drive writes the
respective operating data to this IDN list.
The drive then acknowledges the transition command with the messages:
C0201 Invalid parameters (->S-0-0022) or
C0202 Parameter limit error (->S-0-0022) or
C0203 Parameter calculation error (->S-0-0022) or
C0242 Multiple configuration of a parameter (->S-0-0022)
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0024, Config. list of the master data telegram

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter defines the parameter values which are contained in the
master data telegram (MDT) in case the configurable telegram is fixed by
the S-0-0015, Telegram type parameter.
The configurable parameters are contained in the S-0-0188, List of
configurable data in the MDT parameter and are entered in this
parameter as a list.
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0025, IDN-list of all procedure commands

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The IDNs of all commands available in the drive are stored in the data of
the IDN list.
See also Functional Description "Commands"
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0026, Configuration list signal status word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter it is possible to list (configure) a maximum of 16

parameter IDNs, one bit of each is to be mapped to S-0-0144, Signal
status word. The first line of the list corresponds with the LSB of
S-0-0144, the following lines with the respective more significant bits.
The IDNs of the parameters that can be entered in S-0-0026 are
contained in S-0-0398, IDN list of configurable data in the signal
status word.
The assignment with regard to which bit of the respective parameter is
mapped to S-0-0144 is made in S-0-0328, Assign list signal status
word.
Note:
If the IDN S-0-0000 is entered, this position does not have
any function, the respective bit in the signal status word
(S-0-0144) displays the value "0".
If an IDN is entered that is not contained in S-0-0398, the
parameter error "Data incorrect" (error code 7008h) is
generated.
See also Functional Description "Configurable Signal Status Word"
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0027, Configuration list signal control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter it is possible to list (configure) a maximum of 16

parameter IDNs, one bit of each is to be written via S-0-0145, Signal
control word. The first line of the list corresponds with the LSB of
S-0-0145, the following lines with the respective more significant bits.
The IDNs of the parameters that can be entered in S-0-0027 are
contained in S-0-0399, IDN list of configurable data in the signal
control word. The assignment with regard to which bit of the respective
parameter is to be written in S-0-0027 is made in S-0-0329, Assign list
signal control word.
Note:
If the IDN S-0-0000 is entered, the respective bit does not
have any function in the signal control word (S-0-0145).
If an IDN is entered that is not contained in S-0-0399, the
parameter error "Data incorrect" (error code 7008h) is
generated.
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0028, MST error counter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter registers the number of all invalid master control

telegrams (MSTs) in the communication phases 3 and 4.
If two MSTs are invalid in immediate succession, the F4001 Double MST
failure shutdown error is generated and the drive is switched back to
communication phase 0.
16
The maximum countable number of invalid MSTs is 2 -1 (65535). If

parameter S-0-0028 has high values, this implies frequent communication
errors.
When switching to communication phase 3, the count is reset to zero.
See also Functional Description "Error Counter for Telegram Failures"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0029, MDT error counter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter displays the number of all invalid master data telegrams
(MDTs) in the communication phases 3 and 4.
If two MDTs are invalid in immediate succession, the error F4002 Double
MDT failure shutdown is generated and the drive is switched back to
16
The maximum countable number of invalid MDTs is 2 -1 (65535). If

parameter S-0-0029 has high values, this implies frequent communication
failures.
Note:
The content of S-0-0029 is reset to zero in the transition

command S-0-0127, C0100 Communication phase 3
transition check.
See also Functional Description "Error Counter for Telegram Failures"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0030, Manufacturer version

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The version of the drive firmware can be read from this parameter in the
form of a text.
See also Functional Description "System Overview"
Function: Parameter
Editability:
no
Data l.:
1Byte var.
Memory: no
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0032, Primary mode of operation

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The operating mode determined in this parameter is activated in the drive,

if:
the primary mode of operation was selected in the master control word
(bits 8 and 9 = "00") and
control and power sections are ready for operation and
drive enable "RF" was set.
The operating mode is determined by entering a binary value in this
parameter. In this value, certain positions have a fixed definition. In bit 3
you have to determine whether to work with lagless position control or
with position control with lag distance.
The following applies:
distance
bit 3 = 0
position control with lag
bit 3 = 1
lagless position control
The operating modes supported by the respective firmware are stored in

parameter S-0-0292, List of all operating modes and when being read
are displayed in the form of a hexadecimal code.
Note:
The binary values assigned to the operating modes are listed

in the "Overview of operating modes" table in the parameter
description of S-0-0292.
See also Functional Description "Selecting the Operating Mode"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
S-0-0033, Secondary operation mode 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

if:
the secondary operating mode 1 was selected in the master control
word
bit 3 = 0
bit 3 = 1
position control with lag distance


Note:

in the table "Overview of operating modes" in the parameter
See also Parameter Description "S-0-0292, List of all operating modes"

Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

if:
word
distance
bit 3 = 0
bit 3 = 1

Note:

Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

if:
word
distance
bit 3 = 0
bit 3 = 1

Note:

Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
S-0-0036, Velocity command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the "Velocity control" mode the control unit cyclically enters the
command value in this parameter.
Note:
The velocity command value actually effective (addition of all

components that generate the velocity command value) at the
summing point of the velocity controller is displayed in
parameter P-0-0048.
See also Functional Description "Operating Modes - Velocity Control"

Record of Modifications
Version
Attribute
Comment
GEN-02VRS
Extr. val. ch.: yes
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
S-0-0037, Additive velocity command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In velocity-controlled and position-controlled operating modes, the control

unit can cyclically enter an additive command value in this parameter in
case the control unit provides the respective value.
Note:

summing point of the velocity controller is displayed in
parameter "P-0-0048".
Version
Attribute
GEN-02VRS
Extr. val. ch.: yes
Comment
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
S-0-0038, Positive velocity limit value

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Depending on the application, this parameter indicates the value for the
maximum allowed positive velocity command value of the motor.
The maximum value for S-0-0038 is the value of S-0-0113, Maximum
motor speed in positive direction. This value also is the maximum value
for all other velocity parameters.
If S-0-0091, Bipolar velocity limit value is smaller than S-0-0038,
Positive velocity limit value, the limit value from S-0-0091 takes effect.
The default value for S-0-0038 is "0" (switched off), the value from
S-0-0091 therefore acts as limit for positive velocities.
See also Functional Description "Velocity Limitation"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
S-0-0039, Negative velocity limit value

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
maximum allowed negative velocity command value of the motor.
The maximum value for S-0-0039 is the value of S-0-0113, Maximum
motor speed in negative direction. This value also is the maximum value
for all other velocity parameters.
If the absolute value of S-0-0091, Bipolar velocity limit value is smaller
than S-0-0039, Negative velocity limit value, the limit value from
S-0-0091 takes effect.
The default value for S-0-0039 is "0" (switched off), the value from
S-0-0091 therefore acts as limit for negative velocities.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
S-0-0040, Velocity feedback value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The actual velocity value can be transmitted by the drive controller to the
control unit either cyclically or via the service channel.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0041, Homing velocity

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The product of "S-0-0041, Homing velocity" and "S-0-0108, Feedrate

override" determines the maximum velocity of the axis during "S-0-0148,
C0600 Drive-controlled homing procedure command".
Version
Attribute
Comment
GEN-02VRS
Extr. val. ch.: yes
See also Functional Description "Establishing the Position Data

Reference (Drive-Controlled Homing)"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1000000
MPD:
1000000
MPH:
1000000
S-0-0042, Homing acceleration

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The value for the acceleration with which the drive changes the internally
generated velocity command value during the execution of S-0-0148,
C0600 Drive-controlled homing procedure command is entered in this
parameter.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1000000
MPD:
1000000
MPH:
1000000
IndraDrive
S-0-0043, Velocity polarity parameter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter it is possible to change, related to the application, the

polarities of the velocity data. The polarities arent changed inside but
outside (at the input and output) of the controlled system.
The following applies to rotary motors:
A clockwise turn of the motor output shaft results in a positive actual
velocity value (positive polarity).
The following applies to linear motors:
A move of the primary part in the direction of the cable connection side
results in a positive actual velocity value (positive polarity).
Bit
Comment
velocity command value

0: positive polarity
1: negative polarity
1
velocity command value, additive
2
actual velocity value
Fig. 2-8: S-0-0043, Velocity polarity parameter
Note:
Bits 1 and 2 are copies of bit 0. Only changes in bit 0 are

effective. It is impossible to have different settings for the
individual bits!
See also Functional Description "Scaling of Physical Data"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/7
MPD:
0/7
MPH:
0/7
IndraDrive
S-0-0044, Velocity data scaling type

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The scaling type of the velocity data determines in which format and
which reference the velocity data are exchanged between the drive and
the control unit or user interface. The values of the velocity data
parameters (e.g. S-0-0040, Velocity feedback value) are displayed by
the drive with the scaling that has been set. The scaling setting is
normally preset by the control unit.
Bit
Comment
2-0
scaling type
0 0 1: linear scaling
0 1 0: rotary scaling
3
0: preferred scaling
1: parameter scaling
4
unit for linear scaling
0: meter [m]
1: inch [in]
unit for rotary scaling
0: revolution
1: reserved
5
unit of time
0: minute [min]
1: second [s]
6
data reference
0: with respect to motor shaft
1: with respect to load
reserved
15-7
Fig. 2-9: S-0-0044, Velocity data scaling type
In the case of preferred scaling (bit 3 = "0"), the following parameters are
predefined and cannot be changed:
S-0-0045, Velocity data scaling factor
S-0-0046, Velocity data scaling exponent
In the case of parameter scaling, the scaling is realized by inputting the
desired parameter values.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of
S-0-0045, Velocity data scaling factor and
the scaling factor and the decimal format (the decimal place) of the
velocity data parameters are determined in the case of parameter scaling
(see S-0-0044).
If preferred scaling is selected in S-0-0044, Velocity data scaling type,
the values in S-0-0045 and S-0-0046 are automatically set by the drive.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 4294967295
MPD:
1 / 4294967295
MPH:
1 / 4294967295

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of
S-0-0046, Velocity data scaling exponent and
the scaling factor and the decimal format (the decimal place) of the
velocity data parameters are determined in the case of parameter scaling
(see S-0-0044).
If preferred scaling is selected in S-0-0044, Velocity data scaling type,
the values in S-0-0045 and S-0-0046 are set automatically by the drive.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
IndraDrive
Input min/max:
Default value:
MPB:
-15 / 0
---
MPD:
-15 / 0
---
MPH:
-15 / 0
---
S-0-0047, Position command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Note:
Write Access
The content and significance of S-0-0047 are different for read

and write access!
In the "position control" mode the control unit by means of S-0-0047 and
in the clock of its interpolation cycle time writes the cyclic position
command values to the drive.
If required, these position command values coming directly from the
control unit can be read via P-0-0047, Position command value control!
Note:
Read Access
The interpolation cycle time of the control unit (cf. S-0-0001)

can be a multiple of the communication cycle time (cf.
S-0-0002) so that P-0-0047 is updated on the same time base,
too!
When S-0-0047 is read, the effective position command value input at the
input of the position loop is displayed in the parameter, this value can also
be displayed via P-0-0434, Position command value of controller. The
effective position command values in the "position control" mode are the
position command values of the control unit, fine-interpolated, possibly
filtered and jerk-limited by the drive! Parameter S-0-0047 is therefore
updated on the time base of the position loop cycle time (Advanced:
250s, Basic: 500s)!
Note:
S-0-0047 is only updated in the "cyclic position control" mode

and P-0-0434 in all operating modes in which the position
control loop is closed in the drive!
See also Functional Description "Position Control with Cyclic Command

Value Input"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
S-0-0048, Additive position command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
synchronisation (ELS)
If a synchronization mode with outer position control loop was selected,

the additive position command value is added in the drive to P-0-0434,
Position command value of controller. This allows establishing a
position offset between the master axis encoder and the slave axis.
Real/Virtual Master Axis"
"Velocity
Synchronization
with
See also Functional Description "Phase Synchronization with Real/Virtual

Master Axis"
See also Functional Description "Electronic Cam Shaft with Real/Virtual
Master Axis"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
S-0-0049, Positive position limit value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The allowed travel range of an axis can be defined by position limit

values. The greatest allowed actual position value (positive travel
direction) is entered in this parameter.
If an external encoder is used in addition to the motor encoder, the
position limit values either refer to
the encoder in reference
- or, if both encoders are in reference, to the encoder that has been selected by bit 3 of S-0-0147, Homing
parameter.
Activation
The position limit value monitor is only active when the actual position
values of the motor encoder or, if available, the external encoder are
referred to the axis zero point, i.e. when an encoder has been homed.
(Bit 1 or bit 2 in parameter S-0-0403, Position feedback value status
must be 1).
Via bit 4 in S-0-0055, Position polarities it is possible to switch off the
position limit value monitor.
Warning
If a S-0-0258, Target position beyond the positive position limit value is

preset for the drive, it sets the warning bit 13 in S-0-0012, Class 2
diagnostics and generates the E2053 Target position out of travel
range warning.
If the positive position limit value is exceeded, the drive sets the error
bit 13 in S-0-0011, Class 1 diagnostics.
See also Functional Description "Position Limit Values (Software Limit
Switch)"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
S-0-0050, Negative position limit value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The allowed travel range of an axis can be defined by position limit

values. The smallest allowed actual position value (negative travel
direction) is entered in this parameter.
If an external encoder is used in addition to the motor encoder, the
position limit values either refer to
the encoder in reference
- or, if both encoders are in reference, to the encoder that has been selected by bit 3 of S-0-0147, Homing
parameter.
Activation
The position limit value monitor is only active when the actual position
values of the motor encoder or, if available, the external encoder are
referred to the axis zero point, i.e. when an encoder has been homed.
(Bit 1 or bit 2 in parameter S-0-0403, Position feedback value status
must be 1).
Via bit 4 in S-0-0055, Position polarities it is possible to switch off the
position limit value monitor.
Warning
If a S-0-0258, Target position beyond the negative position limit value is

preset for the drive, it sets the warning bit 13 in S-0-0012, Class 2
diagnostics and generates the E2053 Target position out of travel
range warning.
If the negative position limit value is exceeded, the drive sets the error
bit 13 in S-0-0011, Class 1 diagnostics.
See also Functional Description "Position Limit Values (Software Limit
Switch)"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
S-0-0051, Position feedback 1 value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The actual position value of encoder 1 shows the current position of the
motor encoder. After the drive is switched on, the actual position value is
initialized, i.e. set to an initial value, by the S-0-0128, C0200
Communication phase 4 transition check command during the
communication phase sequence.
If the motor encoder is an absolute measuring system, the value in
S-0-0051, Position feedback 1 value displays
the position referring to the machine zero point, if the P-0-0012, C0300
Command Set absolute measuring command was executed once
during initial commissioning and if, at the same time, the motor
encoder had been selected with bits 3 and 4 in P-0-0612, Control
word for setting absolute measuring.
first of all the current absolute position of the motor encoder during
initial commissioning. The absolute position does not have any
reference to the machine zero point until P-0-0012, C0300 Command
Set absolute measuring is executed for the first time.
If the motor encoder is an incremental measuring system, the value in
first of all the actual position value that has not been homed. It refers
to the value of P-0-0019, Initial position value. This value is assigned
to the initial encoder position (default value of P-0-0019 is zero).
the position referring to the machine zero point, if the command
S-0-0148, C0600 Drive-controlled homing procedure command
was executed after drive enable and if, at the same time, the motor
encoder had been selected with bit 3 in S-0-00147, Homing
parameter.
See also Functional Description "Measuring Systems"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0052, Reference distance 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The desired actual position value with regard to a specific axis position
(reference position) is entered in this parameter. By means of the
S-0-0148, C0600 Drive-controlled homing procedure command or
P-0-0012, C0300 Command Set absolute measuring commands the
value entered in parameter S-0-0052 becomes effective as the actual
position value at the reference position.
This allows establishing a specific position reference system for an axis or
changing an existing reference system to a new one ("switching").
Incremental Measuring Systems
In the case of incremental measuring systems the reference of the actual

position values to the axis zero point is established at a mechanically
defined axis reference position, the so-called home point, by the "Drivecontrolled homing procedure" command. After the homing procedure, the
actual position value 1 at the home point corresponds to the values of
parameter S-0-0052, Reference distance 1. The actual position value 1
is the distance between this reference point and the axis zero point.
Absolute Measuring Systems
In the case of absolute measuring systems the previous reference system

of the actual position values is switched to a new one at an axis reference
position by means of the "Set absolute measuring" command.
The reference position can
have a defined distance to the axis zero point and
be preset as an actual position value of the previous reference system
(before the change of the reference system).
If the reference position has a defined distance to the axis zero point, this
distance value has to be contained in the S-0-0052, Reference
distance 1 parameter when the reference system is switched by the
command. After "Set absolute measuring" the actual position value 1 at
the reference position corresponds to the value of parameter S-0-0052,
Reference distance 1, if bit 1 of the P-0-0612, Control word for setting
absolute measuring parameter has the value "0".
Note:
The actual position value the reference position had before

switching the reference system is stored in the P-0-0613,
Reference
position:
setting
absolute
measuring
parameter.
If the reference position is to be preset as the defined actual position

value of the previous reference system, it is to be entered in the
P-0-0613, Reference position: setting absolute measuring parameter.
In the P-0-0612, Control word for setting absolute measuring
parameter the external setting of the reference position has to be
activated by bit 1 = 1. After executing the command, the new actual
position value at the reference position of the previous reference system
corresponds to the value of parameter S-0-0052, Reference distance 1.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The actual position value of encoder 2 shows the current position of the
external encoder. After the drive is switched on, the actual position value
is initialized, i.e. set to an initial value, by the S-0-0128, C0200
Communication phase 4 transition check command during the
If the external encoder is an absolute measuring system, the value in
the position referring to the machine zero point, if the P-0-0012, C0300
Command Set absolute measuring command was executed once
during initial commissioning and if, at the same time, the external
encoder had been selected with bits 3 and 4 in P-0-0612, Control
word for setting absolute measuring.
first of all the current absolute position of the external encoder during
If the external encoder is an incremental measuring system, the value in
first of all the actual position value that has not been homed. It refers
to the value of P-0-0019, Initial position value. This value is assigned
to the initial encoder position (default value of P-0-0019 is zero).
the position referring to the machine zero point, if the command
was executed after drive enable and if, at the same time, the external
parameter.
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0054, Reference distance 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The desired actual position value with regard to a specific axis position
(reference position) is entered in this parameter. By means of the
S-0-0148, C0600 Drive-controlled homing procedure command or
P-0-0012, C0300 Command Set absolute measuring commands the
value entered in parameter S-0-0054 becomes effective as the actual
position value at the reference position.
This allows establishing a specific position reference system for an axis or
changing an existing reference system to a new one ("switching").
Incremental Measuring Systems
In the case of incremental measuring systems the reference of the actual

position values to the axis zero point is established at a mechanically
defined axis reference position, the so-called home point, by the "Drivecontrolled homing procedure" command. After the homing procedure, the
actual position value 2 at the home point corresponds to the values of
parameter S-0-0054, Reference distance 2. The actual position value 2
is the distance between this reference point and the axis zero point.
Absolute Measuring Systems
In the case of absolute measuring systems the previous reference system

of the actual position values is switched to a new one at an axis reference
position by means of the "Set absolute measuring" command.
The reference position can
have a defined distance to the axis zero point and
be preset as an actual position value of the previous reference

system (before the change of the reference system).
If the reference position has a defined distance to the axis zero point, this
distance value has to be contained in the S-0-0054, Reference
distance 2 parameter when the reference system is switched by the
command. After "Set absolute measuring" the actual position value 2 at
the reference position corresponds to the value of parameter S-0-0054,
Reference distance 2, if bit 1 of the P-0-0612, Control word for setting
absolute measuring parameter has the value "0".
Note:
The actual position value the reference position had before

switching the reference system is stored in the P-0-0613,
Reference
position:
setting
absolute
measuring
parameter.
IndraDrive
If the reference position is to be preset as the defined actual position

value of the previous reference system, it is to be entered in the
P-0-0613, Reference position: setting absolute measuring parameter.
In the P-0-0612, Control word for setting absolute measuring
parameter the external setting of the reference position has to be
activated by bit 1 = 1. After executing the command, the new actual
position value at the reference position of the previous reference system
corresponds to the value of parameter S-0-0054, Reference distance 2.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
S-0-0055, Position polarities

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By means of this parameter it is possible to invert the polarities of the

indicated position data. The polarities are changed outside of the
controlled system, i.e. at the input and output of the controlled system.
Note:
The position polarity must be determined with the initial

commissioning of an axis before establishing the machine
zero point for the measuring systems, because a change in
the polarity causes different actual position values.

A clockwise turn of the motor output shaft in the case of positive position
command value difference and positive polarity.
A move of the primary part in the direction of the cable connection side in
the case of positive command value difference and positive polarity.
With bit 4 software position limit values are activated or deactivated.
IndraDrive
Bit
Comment
position command val.

1
position command value, additive
2
actual position value 1
3
actual pos. value 2
4
position limit values
0: not active
1: active
Fig. 2-10: S-0-0055, Position polarities
Note:
Bits 1, 2 and 3 are copies of bit 0. Only changes in bit 0 are

individual bits!
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 31
MPD:
0 / 31
MPH:
0 / 31
IndraDrive
S-0-0057, Position window

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
If an operating mode with internal position control is activated in the drive,

several status messages are generated with regard to the positioning
behavior of the drive. To do this the S-0-0057, Position window
parameter, among others, is used as a "window" for the following status
messages and functionalities:
"In Position" (S-0-0013, Class 3 diagnostics, Bit 6 =1)
|lag error (S-0-0189)| < position window (S-0-0057)
"IN_TARGET POS." (P-0-0188, Status word positioning gen., Bit 1 =1)
|S-0-0258/P-0-0050 S-0-0051/53| <
S-0-0057
"IZP" (P-0-0188, Status word positioning generator, Bit 2 =1)
IN_TARGET POSITION && IN_POSITION && Nact = 0
During the execution of the S-0-0148, C0600 Drive-controlled
homing procedure command the drive signals the command to be
completed, when the internal position command value generator has
reached its target value and the difference between this final value and
the actual position value is smaller than the position window.
As a hysteresis window for the position limit value monitor. This
means, if the drive has passed the position limit value the travel range
is additionally limited by the position window.
If the position limit values are active, positioning is realized to the
position limit value position windows in the "Jogging" operating mode.
It is always over the shortest distance that the drive moves to target
positions that are within the position window, independent of the
setting in S-0-0393, Command value mode.
For the "Position spindle" command in order to show that the spindle
is in position.
See also Parameter Descriptions
P-0-0188, Status word positioning generator
P-0-0555, Controller status word
See also Functional Description "Positioning Block Mode"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1000
MPD:
1000
MPH:
1000
IndraDrive
S-0-0058, Reversal clearance

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The reversal clearance describes the absolute measure of play between

drive and load in the case of a reversal of direction, referring to the
position data. The processing depends on the following values:
value in S-0-0124, Standstill window
value in S-0-0036, Velocity command value that is generated by the
position loop when position control is active.
P-0-0401,
Axis corr. active correction
value (correction value for
actual position value)
S-0-0124, Standstill window
S-0-0036,
Velocity command value or
position cmd val. difference
S-0-0058,
Reversal clearance
Sv5173f1.fh7
Fig. 2-11:
Processing of reversal clearance
backlash of toothed wheels

causes play in transmission
of rotary motion
Mb5001d2.fh7
Fig. 2-12: Graphical representation of the backlash of toothed wheels in the case
of reversal of direction
See also Functional Description "Axis Error Correction"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
S-0-0059, Position switch flag parameter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Bit 0 of this parameter displays the switch status of a "virtual", positiondependent switch. The switch positions are preset in S-0-0060/S-0-0460,
Position switch point 1 "On"/"Off" (cf. adjusting the switch-on/switchoff edge of a mechanical switch cam).
Bit
Comment
switch status of virtual switch

0: open
1: closed
Fig. 2-13: S-0-0059, Position switch flag parameter
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0060, Position switch point 1 "On"

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter determines the switch-on position for a "virtual" positiondependent switch (cf. adjusting the switch-on position by mechanical
switch cams). If the actual position value is smaller than the switch-on
position, the respective bit of S-0-0059, Position switch flag parameter
is "0". Otherwise it is "1" if the actual position value hasnt exceeded the
value of S-0-0460, Position switch point 1 "Off".
Version
Attribute
Comment
GEN-02VRS
Validity ch.: P2-3
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
S-0-0076, Position data scaling type

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The scaling type of the position data determines in which format and
which reference the position data are exchanged between the drive and
the control unit or user interface. The values of the position data
parameters (e.g. S-0-0051, Position feedback 1 value) are displayed by
the drive with the scaling that has been set. The scaling setting is
normally preset by the control unit.
The following settings can be made:
IndraDrive
Bit
2-0
scaling type
0 0 1: linear scaling
0 1 0: rotary scaling
0: meter [m]
1: inch [in]
0: angular degree
1: reserved
reserved
3
4
5
6
Comment
data reference
7
processing format
0: absolute format
1: modulo format
reserved
15-8
Fig. 2-14: S-0-0076, Position data scaling type
S-0-0077, Linear position data scaling factor
S-0-0078, Linear position data scaling exponent
S-0-0079, Rotational position resolution
In the case of parameter scaling (bit 3 = "1"), the scaling is realized by
inputting the desired values in the mentioned parameters.
Note:
See also example in the case of S-0-0077, Linear position

data scaling factor.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
S-0-0077, Linear position data scaling factor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the case of linear parameter scaling (see S-0-0076) the scaling factor
and the decimal format (the decimal place) of the position data
parameters are determined with this parameter and with S-0-0078, Linear
position data scaling exponent.
If preferred scaling is selected in S-0-0076, Position data scaling type,
Example for position data display in the case of linear scaling:
Physical actual position value of the motor encoder equals 0.12 m
(meters).
A) Selected scaling = linear preferred scaling (S-0-0077 = 1,
S-0-0078 = 7). The result of this is the numeric value 1200000 for
S-0-0051, Position feedback 1 value (with unit mm and 4 decimal
places).
B) Selected scaling = linear parameter scaling (S-0-0077 = 3,
S-0-0078 = 7). The result of this is the numeric value 400000 for
S-0-0051, Position feedback 1 value (with unit mm and 4 decimal
places).
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 4294967295
MPD:
1 / 4294967295
MPH:
1 / 4294967295
S-0-0078, Linear position data scaling exponent

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the case of linear parameter scaling (see S-0-0076) the scaling factor
and the decimal format (the decimal place) of the position data
parameters are determined with this parameter and with S-0-0077, Linear
position data scaling factor.
If preferred scaling is selected in S-0-0076, Position data scaling type,
Note:
See also example in the case of S-0-0077, Linear position

data scaling factor.
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-15 / 0
---
MPD:
-15 / 0
---
MPH:
-15 / 0
---
S-0-0079, Rotational position resolution

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the case of rotary parameter scaling (see S-0-0076), the smallest angle
value is determined with this parameter for the rotary position data
parameters.
smallest angle
360 degr
Rotational position resolution
The smallest angle value can refer to the motor or the load (see
S-0-0076). If rotary preferred scaling is set (see S-0-0076), the value in
S-0-0079, Rotational position resolution is fixed to 3.600.000. The
smallest angle value is therefore fixed to 0,0001 degree of angle for all
rotary position data.
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 0xFFFFFFFF
3600000
MPD:
1 / 0xFFFFFFFF
3600000
MPH:
1 / 0xFFFFFFFF
3600000
IndraDrive
S-0-0080, Torque/force command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the "Torque/force control" mode the command value is generated

directly by the control unit and entered in this parameter.
In all other operating modes the torque/force command value is
generated by the velocity controller and optionally by a torque/force
lookahead.
Note:
The torque/force command value generated by higher-level

control loops is contained in the P-0-0049, Effective
torque/force command value parameter and can be
cyclically transmitted to the control unit for diagnosis or
process purposes and/or be visualized via the analog output.
Another value (S-0-0081, Additive torque/force command) can be

added to the torque/force command value (S-0-0080). Several limit values
act on the sum of both values (P-0-0049) before it is transmitted to the
current controller. The resulting limit values can be queried via
parameters:
P-0-0442, Actual value torque limit positive (stationary)
P-0-0443, Actual value torque limit negative (stationary)
P-0-0444, Actual value peak torque limit
The unit of the parameter depends on the settings in the S-0-0086,
Torque/force data scaling type and P-0-0640, Cooling type
parameters.
See also Functional Description "Torque/Force Control"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
yes
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
S-0-0081, Additive torque/force command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By this parameter the master can, depending on the process, have a

torque/force feedforward value added in the controller.
Several limit values act on the sum of both values (P-0-0049) before it is
transmitted to the current controller. The resulting limit values can be
queried via the following parameters:
The unit of the parameter depends on the settings in the S-0-0086,

Torque/force data scaling type and P-0-0640, Cooling type
parameters.
Note:
In the torque/force control mode it generally does not make

sense to use this parameter, because the control unit should
only preset one command value (S-0-0080, Torque/Force
command)! Feedforward values should already be contained
in the value of S-0-0080, if required!
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
yes
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0
MPD:
0,0
MPH:
0,0
IndraDrive
S-0-0082, Torque/force limit value positive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter allows determining a torque or force limit value for

positive torque/force command values. This limit value only takes effect
with regard to the torque command value of the velocity controller
(P-0-0049) and not with regard to command values from the acceleration
feedforwards (S-0-0348, P-0-1126). Positive torque takes effect in the
case of:
motive operation at positive velocity
regenerative operation at negative velocity
The unit for the values of this parameter depends on the scaling that has
been set (S-0-0086, Torque/force data scaling type).
Note:
This limit value takes effect in a unipolar way. There are
also the bipolar limit values S-0-0092, Bipolar
torque/force limit value and P-0-0109, Torque/force
peak limit. The lowest value in the above parameters is
the active limit value.
The effective positive limit value is displayed in P-0-0442,
Actual value torque limit positive (stationary) (including
load-dependent limits due to motor and controller).
If higher torque or force than in stationary operation
(constant velocity command value) is to be available to the
drive for acceleration processes, this can be achieved by a
higher value in S-0-0092 compared to S-0-0082, in case
the acceleration feedforward has been activated.
Parameter S-0-0082 then limits to maximum, positive load
torque/maximum load force and parameter S-0-0092 limits
to the sum of acceleration torque and load torque/load
force.
See also Functional Description "Torque/Force Limitation"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Comb. check.: no
Input min/max:
Default value:
MPB:
400,0
MPD:
400,0
MPH:
400,0
IndraDrive
S-0-0083, Torque/force limit value negative

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter allows determining a torque or force limit value for

negative torque/force command values. This limit value only takes effect
with regard to the torque command value of the velocity controller
(P-0-0049) and not with regard to command values from the acceleration
feedforwards (S-0-0348, P-0-1126). Negative torque takes effect in the
case of:
motive operation at negative velocity
regenerative operation at positive velocity
Note:
This limit value takes effect in a unipolar way. There are
also the bipolar limit values S-0-0092, Bipolar
torque/force limit value and P-0-0109, Torque/force
peak limit. The lowest value in the above parameters is
the active limit value.
The effective negative limit value is displayed in P-0-0443,
Actual value torque limit negative (stationary) (including
load-dependent limits due to motor and controller).
If higher torque or force than in stationary operation
(constant velocity command value) is to be available to the
drive for acceleration processes, this can be achieved by a
higher value in S-0-0092 compared to S-0-0083, in case
the acceleration feedforward has been activated.
Parameter S-0-0083 then limits to maximum, negative load
torque/maximum load force and parameter S-0-0092 limits
to the sum of acceleration torque and load torque/load
force.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
S-0-0084, Torque/force feedback value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Display parameter for the actual torque/force value currently effective.

Calculating the Actual
Torque/Force Value
actual torque/force value = torque-generating current, actual value

(P-0-0043) * torque factor (see note)
Fig. 2-15:
Relation for calculating the actual torque/force value
Note:
In the case of drives that are not operated in field
weakening operation, the torque factor corresponds to the
torque/force constant (P-0-0051).
In the case of drives that are operated in field weakening
operation, the torque factor is calculated in speeddependent way on the basis of the torque/force constant
(P-0-0051).
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0085, Torque/force polarity parameter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter it is possible to invert the polarities of the indicated

torque/force data with regard to the application. The polarities are
changed outside of the controlled system, i.e. at the input and output of
the controlled system.
A clockwise turn of the motor output shaft in the case of positive torque
and positive polarity.
A move of the primary part in the direction of the cable connection side in
the case of positive force and positive polarity.
Bit
Comment
torque command value

1
torque command value additive
2
actual torque value
Fig. 2-16: S-0-0085, Torque/force polarity parameter
Note:
Bits 1 and 2 are copies of bit 0. Only changes in bit 0 are

individual bits!
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/7
MPD:
0/7
MPH:
0/7
IndraDrive
S-0-0086, Torque/force data scaling type

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The unit and reference of the torque/force data of a drive are set by this
parameter:
percentage-based scaling (% of reference value, see below)
rotary scaling (Nm, inlbf)
linear scaling (N, lbf)
Bit
Comment
2-0
scaling type
0 0 0: percentage-based scaling
0 0 1: linear scaling (force)
0 1 0: rotary scaling (torque)
4
unit for force
0: newton [N]
1: pound-force [lbf]
unit for torque
0: newtonmeter [Nm]
1: inch pound-force [inlbf]
6
data reference
0: at the motor shaft
1: at the load
reserved
15-7
Fig. 2-17: Relevant bits of S-0-0086, Torque/force data scaling type
Note:
Calculating the Reference Value
Freely parameterizable scaling (parameter

impossible for the torque/force data!
scaling)
is
In the case of percentage-based scaling, a reference value (100%-value)

for torque/force data is required.
reference value = motor current at standstill (S-0-0111) * torque/force
constant (P-0-0051) * cooling type factor (dep. on P-0-0640)
Fig. 2-18:
Calculating the reference value for torque/force data
Note:
In the case of MHD, MKD and MKE motors, the reference
value corresponds to the continuous torque at standstill
(depending on cooling type factor).
In the case of 2AD, MAD, ADF and MAF motors as well as
rotary and linear kit motors, the reference value also
corresponds to the continuous torque at standstill, but the
cooling type factor has to be "1.0" (P-0-0640 = "0" (default))
due to the non-variable cooling type!
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
S-0-0087, Transmit to transmit recovery time (TATAT)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The "transmit to transmit recovery time (TATAT)" is the time required

between tow drive telegrams when they are sent by the same slave
(double-axis device). For slaves with one drive only this parameter is not
available. The "transmit to transmit recovery time" is read by the master in
communication phase 2, in order to correctly calculate the transmission
starting times of the drive telegrams T1 (S-0-0006).
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0088, Receive to receive recovery time (TMTSY)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The time the slave needs to be ready to receive the next master
synchronization telegram after having received a master data telegram is
defined in this parameter. The parameter is read by the control unit in
phase 2 in order to calculate the time slot parameters.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0089, MDT Transmit starting time (T2)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Transmit starting time of the master data telegram after the end of the
master synchronization telegram. In communication phase 2 the value is
transmitted from the master to the slave and activated in phase 3.
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 65000
600
MPD:
0 / 65000
600
MPH:
0 / 65000
600
IndraDrive
S-0-0090, Command value proceeding time (TMTSG)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Time required in the slave to provide the command values for the drive
after having received the master data telegram.
In communication phase 2 the master reads the time in order to calculate
the "Command valid time (T3)" (S-0-0008).
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0091, Bipolar velocity limit value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
maximum allowed velocity command value of the motor, independent of
the sense of rotation.
The maximum value for S-0-0091 is the value of "S-0-0113, Maximum
motor speed". This value also is the maximum value for all other velocity
parameters.
Depending on the sense of rotation, the maximum velocity limit van be
influenced by the parameters "S-0-0038, Positive velocity limit value" and
"S-0-0039, Negative velocity limit value". These two parameters have the
default value "0" and thereby are switched off, only S-0-0091 takes effect.
Version
Attribute
GEN-02VRS
Extr. val. ch.: yes
Comment
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
10000000
MPD:
10000000
MPH:
10000000
S-0-0092, Bipolar torque/force limit value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By this parameter it is possible to limit the torque/force command value to

allowed maximum values in order to protect the mechanical components.
The parameter acts in a bipolar way, i.e. positive and negative command
values are limited to the entered value. The limitation acts on the sum of
all torque command values, i.e. on the sum of the command value
components of the velocity controller output and the command value
components from acceleration-dependent feedforwards (S-0-0348,
Acceleration feedforward gain; P-0-1126, Velocity control loop:
acceleration feedforward). The unit of S-0-0092 depends on the scaling
that has been set.
See also Parameter Description S-0-0086, Torque/Force data scaling
type.
Note:
The effective limit value is displayed in P-0-0049, Effective
torque/force command value. This value can be limited
with regard to S-0-0092, due to a lower value in P-0-0109,
Torque/force peak limit or due to a current limit by the
respective work load of amplifier or motor.
If in stationary operation (constant speed) a lower torque
than in the case of acceleration processes is to be made
available to the drive, this can be achieved by appropriate
values of S-0-0082, Torque/force limit value positive and
S-0-0083, Torque/force limit value negative in
conjunction with acceleration feedforward (S-0-0348 or
P-0-1126).
The bipolar torque/force limit value also acts on C1300 Positive stop
drive procedure command, the value of S-0-0092 is a criterion for the
acknowledgment of C1300.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
400,0
MPD:
400,0
MPH:
400,0
S-0-0093, Torque/force data scaling factor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is always adapting itself to the selected preferred scaling.

The parameter cannot be changed!
Note:

scaling)
is
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0094, Torque/force data scaling exponent

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is always adapting itself to the selected preferred scaling.

The parameter cannot be changed!
Note:

scaling)
is
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0095, Diagnostic message

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains the operating status of the drive at present

relevant in the form of a text.
Preceding the text is the respective content of parameter S-0-0390,
Diagnostic message number.
Example:
"A0010 Drive HALT"
See also Functional Description "Coded Diagnostic Drive Messages"
Function: Parameter
Editability:
no
Data l.:
1Byte var.
Memory: no
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0096, Slave arrangement (SLKN)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
During the initialization the master has to know which drives are available
under which slave number in order to be able to carry out an optimum
automatic time slot calculation.
By the respective entry the master recognizes which drive address the
addressed slave possesses. For an optimum automatic time slot
calculation by the master it is necessary, during the initialization, to know
which drives belong to the physical slaves that are controlling them. In
phase 2 the master can request this information from the drive. By the
respective entry the master recognizes whether there are further drives
available at the same physical slave.
High byte: "Own drive address"
- The drive here enters its own address
Low byte: "Next drive address"
The slave, in ascending order, here enters the next higher drive
address that it controls.
If the current drive is the one with the highest address at the physical
slave, the slave here enters the lowest drive address that is available
at the slave.
If the slave only controls one drive, "Own drive address" is entered
here.
Example for address 3:
High byte
Low byte
03
03
Content of S-0-0096
See also Functional Description "Master Communication"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0097, Mask class 2 diagnostics

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With this parameter it is possible to adjust the change bit of class 2

diagnostics in the drive status to the requirements of the machine control
unit.
Due to the default setting in parameter S-0-0097 (all bits are "1") every
change of a bit in the S-0-0012, Class 2 diagnostics parameter is
displayed by the change bit of class 2 diagnostics in the drive status word.
Note:
The S-0-0012 parameter is a message parameter that

displays different shutdown pre-warnings of the drive by
means of the individual bits.
If only the change of specific shutdown pre-warnings of the drive is to be

queried on the control-side by means of the change bit of class 2
diagnostics in the drive status word, the display of irrelevant pre-warning
changes can be suppressed ("masked") by this parameter (S-0-0097).
The irrelevant bits of the S-0-0012, Class 2 diagnostics parameter are
masked by the value "0" at the same position of the bit list of this
parameter (S-0-0097).
Parameters"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0xFFFF
MPD:
--- / ---
0xFFFF
MPH:
--- / ---
0xFFFF
IndraDrive
S-0-0098, Mask class 3 diagnostics

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With this parameter it is possible to adjust the change bit of class 3

diagnostics in the drive status to the requirements of the machine control
unit.
Due to the default setting in parameter S-0-0098 (all bits are "1") every
change of a bit in the S-0-0013, Class 3 diagnostics parameter is
displayed by the change bit of class 3 diagnostics in the drive status word.
Note:
The S-0-0013 parameter is a message parameter that

displays different operating states of the drive by means of the
individual bits.
If only the change of specific operating states of the drive is to be queried

on the control-side by means of the change bit of class 3 diagnostics in
the drive status word, the display of irrelevant operating state changes
can be suppressed ("masked") by this parameter (S-0-0098).
The irrelevant bits of the S-0-0013, Class 3 diagnostics parameter are
masked by the value "0" at the same position of the bit list of this
parameter (S-0-0098).
Parameters"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0xFFFF
MPD:
--- / ---
0xFFFF
MPH:
--- / ---
0xFFFF
IndraDrive
S-0-0099, C0500 Reset class 1 diagnostics

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to start the command for

resetting error messages. When the causes of the errors are removed, all
present error messages are reset and the drive goes to its regular status.
Note:
As an alternative you can activate the command for resetting

error messages by pressing the "Esc" button on the control
panel of the drive controller!
See also Functional Description "Errors"
Function: Kommando
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0100, Velocity loop proportional gain

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The speed loop generates a torque/force command value (P-0-0049)

from the difference of velocity command value and actual velocity value
(= S-0-0347, Velocity error).
This torque/force command value consists of:
a proportional component
Kp = S 0 0100 S 0 0347
an integral component
KI = t
S 0 0100
S 0 0347
S 0 0101
The transfer function for the PI-controller is the following:
P 0 0049(t ) = S 0 0100 1 +
S 0 0347(t )
S 0 0101
Note:
The parameter S-0-0100 contains the value for the

proportional gain of the velocity loop. The output value at the
velocity loop was standardized to Newton (N) or Newton
meter (Nm).
IndraDrive
Unit, Decimal Places
The drive firmware automatically adjusts the unit and decimal places to
the type of construction of the motor (rotary or linear) entered in P-0-4014,
Type of construction of motor.
Unit for
type of constr. of motor (P-0-4014)
Decimal places for

rotary
rotary
linear
linear
Nm/(rad/s)
N/(mm/min)
3
3
Fig. 2-19: Unit and decimal places of S-0-0100, depending on P-0-4014
Note:
In comparison to EcoDrive 03 and Diax 04 the numeric values

for the content of S-0-0100 change respectively. The "new
input
values"
are
calculated
as
follows:
S 0 0100Indradrive = S 0 0100Eco_ DIAX P 0 0051Eco_ DIAX

By means of the "Load defaults procedure" command it is possible to load
a default value for this parameter, if a motor with motor encoder data
memory is available (see P-0-4014, Type of construction of motor).
See also Functional Description "Control Loop Structure"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 1000000,00
0,50
MPD:
0,00 / 1000000,00
0,50
MPH:
0,00 / 1000000,00
0,50
S-0-0101, Velocity loop integral action time

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The speed controller generates a torque/force command value (P-0-0049)

from the difference of velocity command value and actual velocity value
(= S-0-0347, Speed deviation).
This torque/force command value consists of:
a proportional component
Kp = S 0 0100 S 0 0347
an integral component
KI = t
S 0 0100
S 0 0347
S 0 0101
The transfer function for the PI-controller is the following:
P 0 0049(t ) = S 0 0100 1 +
S 0 0347(t )
S 0 0101

Definition of the
Integral Action Time
IndraDrive
Note:
The integral action time (S-0-0101) is the value on the time

axis at which the integral component equals the proportional
component. This means that it is the time a mere I-controller
would need until the controller output value y would equal the
output value of a P-controller at the time t = 0.
controller
output
dx*Ki = integral component
dx*Kp = proportional
component
Tn = integral action time

with:
dx : control deviation
Tn = Kp/ i
Fig. 2-20:
Explanation integral action time (Tn) and proportional gain Kp with

the PI-controller
Note:
The integral component is switched off with the input value

S-0-0101 = 0 ms.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
ms
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 6553,5
100,0
MPD:
0,0 / 6553,5
100,0
MPH:
0,0 / 6553,5
100,0
S-0-0103, Modulo value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
When the modulo format was set (parameter S-0-0076, Position data
scaling type, bit 7), the modulo value determines at which numeric value
the position data overflow to 0.
IndraDrive
Note:
The value in S-0-0103 must be smaller than the value of
S-0-0278, Maximum travel range, otherwise the drive
signals C0123 Modulo value for motor encoder cannot
be displayed.
The modulo value also influences bit 6 of S-0-0277,
Position feedback 1 type and S-0-0115, Position
feedback 2 type. This bit indicates the possibility of
absolute encoder evaluation.
See also Parameter Description "S-0-0393, Command value mode"

See also Functional Description "Modulo Processing"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
3600000
MPD:
3600000
MPH:
3600000
S-0-0104, Position loop Kv-factor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The drive controller has a cascade structure, i.e. for the current controller
there is the higher-level velocity controller and for the velocity controller
there is the higher-level position controller.
The S-0-0104, Position loop Kv-factor parameter includes the value for
the proportional gain of the position controller.
Note:
The unit of S-0-0104, Position loop Kv-factor is "1000

1/min".
Example of Conversion
S 0 0104 = 1,0
Note:
1000
1000 1
1
= 1,0
= 16,67
min
s
60 s
In the case of all MHD, MKD and MKE motors, the basic
settings for the controllers are contained in the motor encoder
data memory and can be loaded to the drive by executing the
S-0-0262, C07_x Load defaults procedure command.
See also Functional Description "Drive Control - Axis Control (ClosedLoop Operation)"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
1000/min
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 655,35
1,00
MPD:
0,00 / 655,35
1,00
MPH:
0,00 / 655,35
1,00
S-0-0106, Current loop proportional gain 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The value for this parameter is motor-specific. It is influenced, however,

by the selected switching frequency and the control performance that was
set.
For each Rexroth motor the value for S-0-0106 referring to 4 kHz is made
available:
In the case of motors with data memory in the motor encoder (MSK,
MHD, MKD, MKE), via the value of P-0-2106, Current loop
proportional gain 1, encoder memory stored in this memory.
In the case of motors without encoder data memory (2AD, ADF,

MAD, MAF and kit motors 1MB, MBS, MBT, LSF, MLF), via the
commissioning tool "DriveTop" or the Intranet output of the
manufacturer-side data base "DriveBase".
The adjustment of the values of S-0-0106 to the selected PWM frequency

(P-0-0001, Switching frequency of the power output stage) and
performance (P-0-0556, Control word of axis controller) takes place
automatically for motors with encoder data memory (see above).
manually by the commissioning staff for motors without encoder data

memory (see above).
manually by the commissioning staff for third-party motors (see

Functional Description, subchapter "Third-Party Motors").
In case the value of S-0-0106 is adjusted manually, the value referring to

4 kHz has to be converted as follows:
S 0 0106 (PWM) = k S 0 0106 (4kHz)

S-0-0106(4kHz): current loop proportional gain 1 referring to 4 kHz, from
"IndraWorks D" or "DriveBase"
k:
factor for PWM- and performance-dependent current loop gain, see
table
Fig. 2-21: Calculating the value for S-0-0106
IndraDrive
Control performance
P-0-0556; bit 2
x
0 (Basic)
1 (Advanced)
x
x
P-0-0001:
P-0-0556:
Switching frequency
(in Hz) P-0-0001
Factor K
for determining current
loop gain
4000
1.3
8000
2.0
8000
2.6
12000
3.0
16000
4.0
switching frequency of the power output stage
control word of axis controller ("x" = 0 or 1)
Fig. 2-22:
K-factor for determining the current loop gain
Note:
For motors without encoder memory you should not deviate

from the setting recommended for S-0-0106!
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
V/A
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 500,00
8,00
MPD:
0,00 / 500,00
8,00
MPH:
0,00 / 500,00
8,00
S-0-0107, Current loop integral action time 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The value for the current loop integral action time is motor-specific and is
determined individually for each motor type.
Note:
Writing the correct value to this parameter:
In the case of MHD, MKD, MKE, automatically at initial
commissioning.
In the case of 2AD, ADF, linear and rotary kit motors, by
loading the motor parameters with the DriveTop
commissioning tool.
In the case of other motors manual input.
Note:
The values of the current controller that have been set at the
factory should not be changed!
See also Functional Description "Determining the Motor Parameter

Values"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 429496729,5
2,0
MPD:
0,0 / 429496729,5
2,0
MPH:
0,0 / 429496729,5
2,0
S-0-0108, Feedrate override

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The parameter S-0-0108, Feedrate override is used for variable

adjustment of an interpolation velocity that was permanently set before.
To do this the effective interpolation velocity
S-0-0041, Homing velocity
S-0-0259, Positioning Velocity
P-0-4007, Positioning block velocity
is generated by multiplication with the value of S-0-0108, Feedrate
override.
The feedrate override takes effect in all interpolating operating modes and
commands, such as:
drive-internal interpolation
drive-controlled positioning
positioning block mode
jog mode
commands with which the drive is moved in an interpolating way (e.g.
S-0-0148, C0600 Drive-controlled homing procedure command)
Note:
The parameter S-0-0108, Feedrate override can be both

cyclically configured and assigned to an analog input so that it
can be optimally used for the so-called manual mode.
See also Functional Description "Operating Modes - Drive-Controlled

Positioning"
See also Functional Description "Operating Modes - Drive-Internal
Interpolation"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 600,00
100,00
MPD:
0,00 / 600,00
100,00
MPH:
0,00 / 600,00
100,00
S-0-0109, Motor peak current

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Maximum allowed current that may temporarily flow in the motor.

Note:
commissioning.
commissioning tool.
In the case of other motors, manual input according to
manufacturers specification.
See also Functional Description "Limitations"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
A eff
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 1000,000
5,000
MPD:
0,000 / 1000,000
5,000
MPH:
0,000 / 1000,000
5,000
S-0-0110, Amplifier peak current

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Peak current of the controller. The value is set automatically by the

device. This current is only available temporarily.
See also Functional Description "Current Limitation"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
A eff
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0111, Motor current at standstill

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The value of this parameter is the torque-/force-generating component of

the continuous motor current when the motor is loaded with the least
allowed cooling type, with the continuous torque ensured at standstill or
with the ensured continuous force (see motor data sheet).
The value is motor-dependent. In the case of MHD, MKD and MKE
motors, it is stored in the motor encoder. When the drive is switched on
for the first time, the value is loaded from there together with other motor
parameters. In the case of all other motor types, the value of the motor
current at standstill, together with other motor parameters, is loaded to the
drive or input by means of the "DriveTop" commissioning tool. In case the
motor type is not contained in the DriveTop data base, the value is to be
manually entered together with the other motor parameters.
Note:
If percentage-based scaling has been set in the S-0-0086,

Torque/force data scaling type parameter, this parameter is
included in the calculation of the reference value (100% value)
(see parameter S-0-0086).
See also Functional Description "Rexroth Motors"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
A eff
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 500,000
1,000
MPD:
0,000 / 500,000
1,000
MPH:
0,000 / 500,000
1,000
IndraDrive
S-0-0112, Amplifier nominal current

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Allowed continuous current for the controller. The value is set

automatically by the device.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
A eff
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0113, Maximum motor speed

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Value for the maximum velocity command value of the motor. The actual
velocity value may be a maximum of 12.5% higher than the value of
S-0-0113, with higher actual values the drive reacts with torque disable
and generates the error message F8079 Velocity limit S-0-0091
exceeded.
Note:
commissioning.
loading the motor parameters with the "IndraWorks D"
commissioning tool.
Unit for
Decimal places for

rotary
rotary
-1
min
Fig. 2-23:
linear
linear
mm/min
4
2
Unit and decimal places of S-0-0113, depending on P-0-4014
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
yes
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
3000,0000
MPD:
3000,0000
MPH:
3000,0000
S-0-0115, Position feedback 2 type

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
With this parameter the essential properties of the optional (external)

encoder are defined.
Bit
kind of encoder
0: rotary
1: linear
distance-coded measuring system
0: no distance-coded reference marks
1: distance-coded reference marks (S-0-0165,
S-0-0166)
rotational direction
0: not inverted
1: inverted
design of distance-coded measuring system
0: positive direction of counting
1: negative direction of counting
absolute evaluation
x0: no absolute evaluation possible (bit 7 irrelevant)
01: absolute evaluation possible and allowed
(encoder is handled as absolute encoder)
11: absolute evaluation possible, but not allowed
7/6
Fig. 2-24:
Comment
Annotation:
In the case of absolute measuring systems with data memory, the bit 6 is
automatically set.
Note:
Only the bits mentioned here are supported by the software.
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0x0
MPD:
--- / ---
0x0
MPH:
--- / ---
0x0
S-0-0116, Feedback 1 Resolution

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The resolution of the motor encoder is indicated in this parameter.

The value means:
In the case of rotary motors, the number of division periods or cycles
per motor revolution (DP/rev).
In the case of linear motors the resolution in mm (mm/line count).
In the case of motors with resolver feedback, the number of pole pairs
of the resolver is indicated.
The significance of the value of S-0-0116 is determined by P-0-4014,
Type of construction of motor (rotary or linear motor).
Note:
In the case of Rexroth housing motors (MHD, MKD, MKE,

2AD, ADF, MAD, MAF) and linear motors with EnDat encoder,
the correct value is automatically written to parameter
S-0-0116!
Unit for
Decimal places for

rotary
rotary
linear
linear
DP/revolution
mm
0
5
Fig. 2-25: Unit and decimal places of S-0-0116, depending on P-0-4014
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: P-0-4014
P-0-4014
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
256
MPD:
--- / ---
256
MPH:
--- / ---
256
IndraDrive
S-0-0117, Feedback 2 Resolution

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The resolution of the external encoder is indicated in this parameter.

The value means:
In the case of rotary encoders, the number of division periods or cycles
per revolution of the encoder shaft (DP/rev).
In the case of linear motors the resolution in mm (mm/line count).
In the case of resolvers, the number of pole pairs.
The significance of the value of S-0-0117 is determined by S-0-0115,
Position feedback 2 type (rotary or linear encoder).
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
TP/U
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
S-0-0121, Input revolutions of load gear

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
If a mechanical gear has been built in between motor and load, the gear
ratio is input by means of S-0-0121 and S-0-0122, Output revolutions of
load gear.
In this parameter the number (integral) of motor revolutions (gear input) is
entered that cause an integral number of gear output revolutions
(S-0-0122, Output revolutions of load gear).
The gear ratio is:
S 0 0121, Input revolutions of load gear

S 0 0122, Output revolutions of load gear
Fig. 2-26: Calculating the gear ratio
IndraDrive
Example:
5 motor revolutions result in 2 gear output revolutions.
S-0-0121: 5
S-0-0122: 2
See also Functional Description "Status Classes"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Rev
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 4294967295
MPD:
1 / 4294967295
MPH:
1 / 4294967295
S-0-0122, Output revolutions of load gear

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
If a mechanical gear has been built in between motor and load, the gear
ratio is input by means of S-0-0122 and S-0-0121, Input revolutions of
load gear.
In this parameter the number (integral) of gear output revolutions is
entered that are caused by an integral number of motor revolutions
(S-0-0121, Input revolutions of load gear).
The gear ratio is:
S - 0 - 0121, Input revolutions of load gear

S - 0 - 0122, Output revolutions of load gear
Fig. 2-27: Calculating the gear ratio
Example:
5 motor revolutions result in 2 gear output revolutions.
S-0-0121: 5
S-0-0122: 2
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Rev
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 4294967295
MPD:
1 / 4294967295
MPH:
1 / 4294967295
S-0-0123, Feed constant

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is only relevant for linear axes that are driven by a rotary
motor.
The feed constant if the distance covered by the axis when the gear
output shaft or motor shaft moves by one revolution.
Determining the feed constant with different mechanical transmission
elements:
Ballscrew
Toothed rack + gear pinion
feed constant = spindle lead

(typical value 10.00 mm)
feed constant = effective diameter of

the gear pinion = effective
circumference of the gear pinion
Fig. 2-28: Determining the feed constant
Note:
The unit depends on bit 4 of S-0-0076, Position data scaling

type.
See
also
Functional
Parameterization/Commissioning"
Description
"Notes
on
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1,00000
MPD:
1,00000
MPH:
1,00000
IndraDrive
S-0-0124, Standstill window

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
To recognize the motor or axis standstill a threshold value for the velocity
is entered in this parameter. If the absolute value of the actual velocity
value falls below this threshold the controller recognizes a standstill. In the
case of standstill, bit 1 of "S-0-0013, Class 3 diagnostics" is set and the
"S-0-0331, Status n_feedback = 0" message is output.
The standstill window also "acts":
when aborting or interrupting a drive control command. The abortion or
the interruption is acknowledged when the drive has stopped.
in the case of drive-controlled homing. The actual values and the
command values are only switched when the drive has stopped.
in the case of command value processing. The command value
processing is initialized when switching the operating modes to the
velocity = 0 when the drive has stopped.
in the case of "C1300 Positive stop drive procedure command", the
value of S-0-0124 is a criterion for the acknowledgment of C1300
in the case of axis error correction. The values is used as a criterion
for detecting the positive or negative direction of motion of the axis.
Version
Attribute
GEN-02VRS
Extr. val. ch.: yes
Comment
See also Functional Description "Drive Functions - Drive Halt"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
200000
MPD:
200000
MPH:
200000
IndraDrive
S-0-0125, Velocity threshold nx

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
If the absolute value of "S-0-0040, Velocity feedback value" falls below

the value of "S-0-0125, Velocity threshold nx", the drive outputs the
S-0-0332, Message nactual < nx message and sets a bit in "S-0-0013,
Class 3 diagnostics".
Version
Attribute
Comment
GEN-02VRS
Extr. val. ch.: yes
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
10000000
MPD:
10000000
MPH:
10000000
S-0-0126, Torque threshold Tx

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter the torque/force message threshold is entered. At a

torque work load above this threshold the controller generates the
message T >= Tx (S-0-0333).
See also Parameter Description "S-0-0013, Class 3 diagnostics"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
100,0
MPD:
100,0
MPH:
100,0
IndraDrive
S-0-0127, C0100 Communication phase 3 transition check

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When executing the S-0-0127, C0100 Communication phase 3

transition check command, all interface parameters are checked for
validity.
If there are invalid interface parameters
the drive will terminate the command with an error message
and
the invalid parameters are entered in the S-0-0021, IDN list of invalid
operating data for communication phase 2 parameter.
In addition, the encoder data settings are checked and the scalings are
calculated (see C01xx error messages).
With the commands
S-0-0127, C0100 Communication phase 3 transition check and
it is possible to switch from the parameterization mode to the operating
mode.
Note:
Executing the command only causes the parameterization

mode to be switched to the operating mode if the master
communication is inactive (P-0-4086 = xx1b)!
See also Functional Description "Device Control (Status Machine)"
Function: Kommando
Editability:
P23
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When executing the S-0-0128, C0200 Communication phase 4

transition check command, all parameters are checked for validity and
possible limit value violations.
If there are invalid parameters or limit value violations, the drive will
terminate the command with an error message and enter the invalid
parameters in S-0-0022, IDN list of invalid operating data for
In addition, different drive functions are initialized.
With the commands
S-0-0127, C0100 Communication phase 3 transition check and
it is possible to switch from the parameterization mode to the operating
mode.
Note:
Executing the command only causes the parameterization

mode to be switched to the operating mode if the master
communication is inactive (P-0-4086 = xx1b)!
Function: Kommando
Editability:
P34
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0130, Probe value 1 positive edge

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Servo(compensation) and synchronisation (ELS)
With a positive edge of the probe 1 input signal the drive stores the
current value of the selected parameter (S-0-0426, Signal select
probe 1) in parameter S-0-0130.
Prerequisite:
S-0-0170, Probing cycle procedure command must have been set
and be executed.
Probe 1 must have been enabled (S-0-0405, Probe 1 enable).
IndraDrive
Note:
The switch status of the probe 1 input signal is displayed in

S-0-0401, Probe 1 as long as the probing cycle is active!
See also Functional Description "Probe Function"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0131, Probe value 1 negative edge

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With a negative edge of the probe 1 input signal the drive stores the
Prerequisite:
and be executed.
Note:

Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0132, Probe value 2 positive edge

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
With a positive edge of the probe 2 input signal the drive stores the
Prerequisite:
and be executed.
Note:

Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0133, Probe value 2 negative edge

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
With a negative edge of the probe 2 input signal the drive stores the
Prerequisite:
and be executed.
Note:

IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0134, Master control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For drives with SERCOS interface the master control word is cyclically
transmitted from master to drive.
There is important control information defined in the master control word,
like for example:
drive enable
Drive Halt
selection of command operating mode
The exac
Bit
0-5
7/6
9/8
control information for service channel

real-time ctrl bits 1 and 2
10
11
13
Comment
command oper. mode

00: primary mode of operation
01: secondary oper. mode 1, etc.
IPOSYNC
interpolator clock, toggles when new command
values are to be transmitted
reserved
for internal operating mode selection
bit 13: Drive HALT, 1-0 change:
drive shut down under compliance with max.
acceleration (S-0-0138)
(only possible, if bit 14 and 15 = 1)
14
drive enable
1-0 change: torque switched off without delay
(independent of bit 15 or 13)
15
drive ON
1-0 change: best possible deceleration (only
possible, if Bit 14 = 1)
Fig. 2-29: Structure of the master control word (S-0-0134)

See also Functional Description "System Overview - Master
See also Functional Description "Drive Functions Drive Halt"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0135, Drive status word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For drives with SERCOS interface the master status word is cyclically
transmitted from drive to master. There is important status information
contained in the master status word, like for example:
readiness for operation of control and power sections
drive error
change bits class 2 and 3 diagnostics
current operating mode
Bit
2-0
3
5
7/6
10-8
control information for service channel

status of cmd value processing
command change bit
real-time status bits 1 and 2
actual operating mode
000: primary mode of oper. active
001: secondary oper. mode 1 active
change bit class 3 diagnostics
change bit class 2 diagnostics
drive error, error in class 1 diagnostics
11
12
13
15/14
Comment
ready for operation

00: drive not ready for power on, because internal
checks not positively completed
01: ready for power on
10: control section and power section ready for
operation, torque-free
11: in operation, with torque
Fig. 2-30: Structure of the drive status word (S-0-0135)

See also Functional Description "System Overview - Master
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0138, Bipolar acceleration limit value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The bipolar acceleration limit value is the maximum allowed acceleration

symmetrically in both directions (i.e. during acceleration and
deceleration).
Note:
This limit value takes effect in all operating modes with internal
position control (e.g. positioning block mode, positioning, cyclic
position control, ...).
When the limit value is exceeded the F2039 Maximum acceleration

exceeded error message is generated.
Positioning"
Interpolation"
Value Input"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
10000000
MPD:
10000000
MPH:
10000000
IndraDrive
S-0-0139, C1600 Parking axis command

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By starting this command the drive is brought to the status "parking axis"
which is signaled by "PA" on the display.
Starting the Command
Clearing the Command
The command can only be activated in communication phase 2 or 3 and

has the following effects:
encoder monitoring switched off
motor temperature monitoring switched off
reference bit in "position feedback value status" disabled
drive enable cannot be set in communication phase 4
In transition command 3-4 (cf. C0200) there arent any axis-specific

calculations/checks/initializations made.
The command can only be cleared in phase 2 or 3 or by switching back to

phase 0. Clearing the command has the following effects:
encoder monitoring switched on
motor temperature monitoring switched on
drive enable is possible again in phase 4
Clearing the command that was set causes all mentioned monitoring
functions to be switched on again. In order to refer the actual position
values to the reference point again, the drive has to move to the reference
again.
Note:
The command is not acknowledged as having been

completed, in order to keep the command change bit free for
other commands.
See also Functional Description "Parking Axis"
Function: Kommando
Editability:
P23
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0140, Controller type

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The type of the basic device is contained in the operating data of this
parameter in the form of a text.
See also Functional Description "Configuring the PROFIBUS-DP Slave"
Function: Parameter
Editability:
P2
Data l.:
1Byte var.
Memory: LT_SP
Validity ch.:
P2->P3
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0141, Motor type

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The type designation of the motor is entered in this parameter. When it is

switched on, the controller can therefore recognize whether a different
motor type has been connected in the meantime. To do this the contents
of this parameter and P-0-2141, Motor type, encoder memory are
compared.
If a different motor has been connected in the meantime, the controller
generates the message F2008 RL The motor type has changed.
Note:
commissioning.
commissioning tool.
See also Functional Description "Motor, Mechanical Axis System,
Measuring Systems"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
1Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0142, Application type

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
A descriptive name (text) for the drive or the axis (e.g. swiveling axis) can
be stored in this parameter. It does not have any influence on the
function.
Function: Parameter
Editability:
P234
Data l.:
1Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0143, Sercos interface version

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The operating data contains the version of the SERCOS interface

specification.
At present, the following applies:
V01.03
SERCOS update German/English

release date
Fig. 2-31:
S-0-0143, Sercos interface version

interface"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
1Byte var.
Memory: no
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0144, Signal status word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of the signal status word it is possible to transmit signals in real

time from the drive to the control unit.
To do this the signal status word must be configured as a cyclic data to
the drive telegram (AT; slave -> master).
The bits in the signal status word can be configured by means of the
parameters
S-0-0026, Configuration list signal status word and
S-0-0328, Assign list signal status word
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0145, Signal control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of the signal control word it is possible to transmit signals in

real time from the control unit to the drive.
To do this the signal control word must be configured as a cyclic data to
the master data telegram (MDT; master -> slave).
The bits in the signal control word can be configured by means of the
parameters
S-0-0027, Configuration list signal control word and
S-0-0329, Assign list signal control word
See also Functional Description "Configurable Signal Control Word"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0146, C4300 NC-controlled homing procedure command

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The procedure for which the master, to establish the position data
reference, uses the travel motion for searching the dedicated point is
called "NC-controlled homing procedure". On the drive side the entire
procedure is supported via three commands:
NC-controlled homing procedure command (S-0-0146)
Calculate displacement procedure command (S-0-0171)
Displacement to referenced system procedure command

(S-0-0172)
After the master has started "C4300", it has to input command values for
the search for the dedicated point. When the drive has identified the
dedicated point, this is signaled in S-0-0408, Reference marker pulse
registered and the command execution is acknowledged. The master
then shuts down the axis and clears the command.
IndraDrive
Bit
Comment
command in drive
0: clear
1: set
1
command execution
0: interrupt
1: execute
Fig. 2-32: S-0-0146, C4300 NC-controlled homing procedure command
For details see Functional Descriptions "Establishing Position Data

Reference for Relative Measuring Systems", "Drive Functions Establishing the Position Data Reference"
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0147, Homing parameter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Based on the facility, NC and drive installation, there are settings made
for the following commands in this parameter:
S-0-0146, C4300 NC-controlled homing procedure command
S-0-0171, C4400 Calculate displacement procedure command
S-0-0172, C4500 Displacement to referenced system procedure

command
Bit
Comment
reference travel direction (only drive-controlled

homing)
0: positive = clockwise rotation with view to the
motor shaft
1: negative = counter-clockwise rotation with view to
the motor shaft
reference travel direction (only drive-controlled
homing)
0: positive = motion in the direction of increasing
actual position values (to positive travel range limit)
1: negative = motion in the direction of decreasing
actual position values (to negative travel range limit)
edge evaluation home switch
up to and
including MPx02
as of MPx03
IndraDrive
8/7
10
0: positive edge ("activated" at high signal)

1: negative edge ("activated" at low signal)
only for MPx03
home switch (only NC-controlled homing)
0: connected to master (NC)
1: connected to drive
encoder selection
0: motor encoder
1: optional encoder (external encoder)
only for MPx03
evaluation in drive (only NC-controlled homing)
0: home switch and homing enable (only if
bit 2 = "1")
1: only homing enable
evaluation home switch (only drive-controlled
homing)
0: yes
1: no
evaluation reference mark (only drive-controlled
homing)
0: yes
1: no
stop/positioning/run path (only drive-controlled
homing)
0 0: "stop"
After C0600 has been started, the drive stops, with
relative measuring systems, after the position data
reference was established; with absolute measuring
systems, when the position data reference has been
established and C0300 has not been activated.
0 1: "positioning"
After C0600 has been started, the drive positions,
with relative measuring systems, at the home point
after the position data reference was established;
with absolute measuring systems, at the position of
S-0-0052/54, if C0300 has not been activated.
1 0: "run path" (only for measuring systems with
distance-coded reference marks!)
For drive-controlled establishing of the position data
reference, the drive always moves over a distance
that corresponds to the double reference mark
distance. This supports the commissioning of Gantry
axes!
1 1: Not allowed!
evaluation travel range limit switch as home
switch (only drive-controlled homing)
0: no
1: yes
evaluation axis blocking (positive stop) for
homing (only drive-controlled homing)
0: no
1: yes
only for MPx03
only for MPx03
Fig. 2-33:
Relevant bits of S-0-0147, Homing parameter
Note:
It is only possible to evaluate a measuring system with

distance-coded reference marks as a motor encoder or
external encoder!
For details see Functional Descriptions "Establishing Position Data

Reference for Relative Measuring Systems", "Drive Functions Establishing the Position Data Reference"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0x0024
MPD:
--- / ---
0x0024
MPH:
--- / ---
0x0024

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
When setting and enabling this command, drive enable has to be present.
The drive now goes to internal position control and accelerates with
S-0-0042, Homing acceleration to S-0-0041, Homing velocity.
In the S-0-0403, Position feedback value status parameter the bit of the
respective encoder (motor or external encoder, depending on bit 3 of
S-0-0147, Homing parameter) is set to zero at first. As long as the
command is active, the cyclic command values of the control unit are
ignored. The sequence of the homing procedure is also determined via
S-0-0147.
After the correct execution of the command (drive has stopped and actual
position value is referred to the axis zero point) the drive sets the
respective bit in the S-0-0403, Position feedback value status
parameter to "1". The bit, with regard to the respective encoder,
corresponds to the "In reference" signal.
See also Functional Description "Establishing Position Data Reference for
Relative Measuring Systems"
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0149, C1300 Positive stop drive procedure command

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By setting and enabling this command all monitors are switched off which
would otherwise, when the drive is blocked by positive stop, cause a class
1 diagnostics error message.
The following error messages are inactive when the command C1300 is
active:
F2028 Excessive deviation
F2037 Excessive position command difference
F2039 Maximum acceleration exceeded
F8078 Speed loop error
When the command is cleared again, the monitors are reset to their
original status.
Bit
Comment
command in drive
0: clear
1: set
1
command execution
0: interrupt
1: execute
Fig. 2-34: S-0-0149, C1300 Positive stop drive procedure command
See also Functional Description "Positive Stop Drive Procedure"
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0150, Reference offset 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The value of this parameter is the position difference between the

dedicated point (first reference mark of the motor encoder after activation
of home switch) and the home point determined on the axis-side.
HomePoint
DedicatedPoint
(S - 0 - 0150)
*)
xHomePoint: actual position value of the axis-side home point

*)
xDedicatedPoint: actual position value of the dedicated point determined by a motor
encoder reference mark
S-0-0150: Reference offset 1 (with sign!)
*)
:
Both actual position values have to have the same position data
reference!
Fig. 2-35: Operating principle of S-0-0150
This parameter allows compensating the position difference between the

position of the motor encoder reference mark (dedicated point) depending
on the motor arrangement and the position of the home point determined
on the axis-side.
Note:
If the sign of S-0-0150 is positive (alternative: negative), the

actual position value of the home point is more positive
(alternative: more negative) than the one of the dedicated
point. The homing direction does not have any influence!

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
S-0-0151, Reference offset 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The value of this parameter is the position difference between the

dedicated point (first reference mark of the external encoder after
activation of home switch) and the home point determined on the axisside.
HomePoint
DedicatedPoint
(S - 0 - 0151)
*)
xHomePoint: actual position value of the axis-side home point

*)
xDedicatedPoint: actual position value of the dedicated point determined by a
reference mark of the external encoder
S-0-0151: Reference offset 2 (with sign!)
*)
:
Both actual position values have to have the same position data
reference!
Fig. 2-36: Operating principle of S-0-0151
This parameter allows compensating the position difference between the

position of the reference mark of the external encoder (dedicated point)
depending on the encoder arrangement and the position of the home
point determined on the axis-side.
Note:
If the sign of S-0-0151 is positive (alternative: negative), the

actual position value of the home point is more positive
(alternative: more negative) than the one of the dedicated
point. The homing direction does not have any influence!

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
S-0-0152, C0900 Position spindle command

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
main spindle
When setting and enabling this command the "Position spindle" function
is activated in the drive, if it is in drive enable.
The cyclic command values are ignored and, considering the parameters
S-0-0138, Bipolar acceleration limit value
S-0-0154, Spindle position parameter
S-0-0222, Spindle positioning speed
S-0-0349, Jerk limit bipolar,
the drive moves to the position in S-0-0153, Spindle angle position or
the distance entered in S-0-0180, Spindle relative offset is traveled.
After the spindle positioning process is over the S-0-0336, Message In
position message is set, the command, in the command
acknowledgment, is not acknowledged as being completed.
Note:
If the drive is not in reference (S-0-0403, Position
feedback value status, bit 0 = 0), a homing procedure is
automatically started before positioning.
For homing and positioning the encoder selected in
S-0-0147, Homing parameter, bit 3 is used.
See also Functional Description "Spindle Positioning"
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0153, Spindle angle position

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
main spindle
This parameter contains the absolute target position (in the case of
absolute positioning) for the command S-0-0152, C0900 Position
spindle command.
Note:
In S-0-0430, Effective target position the effective absolute

target position with the active command S-0-0152, C0900
Position spindle command is displayed!
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
S-0-0154, Spindle position parameter

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
main spindle
The options of the "Position spindle" function are determined in this

parameter.
The following options can be selected:
spindle clockwise
spindle counter-clockwise
shortest distance
absolute positioning
relative positioning
Prerequisite:
The position data format must be "modulo" (S-0-0076,

Position data scaling type)!
IndraDrive
Bit
Comment
1/0
spindle movement
0 0: clockwise
0 1: counter-clockw.
1 0: shortest distance
positioning
2
0: absolute
1: relative
Fig. 2-37: Relevant bits of S-0-0154, Spindle position parameter
The selection whether to position with motor encoder or spindle encoder

is made in bit 3 of S-0-0147, Homing parameter.
Note:
By means of S-0-0417, Velocity threshold for
positioning in modulo format it is possible to define a
threshold value for the actual velocity above which the drive
moves to a target position without reversing even if the
specification in S-0-0154 should cause reversing! S-0-0417
is deactivated with the value "0", very small values can
cause unpredictable drive behavior!
By means of S-0-0418, Target position window in
modulo format it is possible to determine a symmetrical
position range relative to the current position ("target
position window"). Within this range the drive always
moves to a target position over the shortest distance even
if only one direction of movement has been determined for
positioning in S-0-0154! S-0-0418 is deactivated with the
value "0".
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
S-0-0155, Friction compensation

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The content of S-0-0155, Friction compensation acts as an additive

torque/force command value and is used for compensating (lookahead) a
possibly existing static friction.
The preceding sign of the compensation value is determined by the
preceding sign of the velocity command value. A change of preceding
signs only takes place if the absolute value of the velocity command value
is greater than the velocity set in S-0-0124, Standstill window.
Note:
By activating the friction compensation it is possible to

compensate the static friction when accelerating out of
standstill and when inverting the direction.
See also Functional Description "Friction Torque Compensation"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0
MPD:
0,0
MPH:
0,0
S-0-0156, Velocity feedback value 2

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The actual velocity value 2 indicates the velocity that is transmitted by the
optional control encoder. The actual velocity value can be transmitted by
the drive controller to the control unit either cyclically or via the service
channel.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0157, Velocity window

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The velocity window is related to the absolute value of the velocity

command (S-0-0036).
If the actual velocity value is within the calculated velocity window, the
drive sets bit 0 of class 3 diagnostics (S-0-0013) ("actual velocity =
command velocity" message). Parameter for inputting the tolerance
window for the message indicating whether the actual velocity value has
reached the command value ("actual velocity = command velocity"
message).
The "actual velocity = command velocity" message is set when the
absolute value of S-0-0040, Velocity feedback value is within the range of
values limited by the resulting velocity command value (S-0-0036 +
S-0-0037) +/- S-0-0157, Velocity window. This message also appears in
S-0-0013, Class 3 diagnostics.
Version
Attribute
GEN-02VRS
Extr. val. ch.: yes
Comment
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
1000000
MPD:
1000000
MPH:
1000000
S-0-0158, Power threshold Px

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The power message threshold is entered in this parameter. At a power

work load above this threshold the controller generates the message
P >= Px (S-0-0337).
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Watt
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 2147483647
MPD:
0 / 2147483647
MPH:
0 / 2147483647
S-0-0159, Monitoring window

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
If an operating mode with drive-internal position control has been

activated in the drive, the position control loop is monitored. To do this an
"actual model position value" is calculated and compared to the real
actual position value.
Note:
The maximum occurring deviation is always stored in

parameter P-0-0098, Max. model deviation.
By means of the parameter S-0-0159, Monitoring window it is possible

to set the maximum tolerated deviation between measured and calculated
"actual model position value". If the position deviation exceeds the value
set in S-0-0159, Monitoring window, the drive evidently cannot follow
the preset command value and the error F2028 Excessive deviation is
generated in class 1 diagnostics.
See also Troubleshooting Guide for "F2028 Excessive deviation"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1000000
MPD:
1000000
MPH:
1000000
IndraDrive
S-0-0160, Acceleration data scaling type

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
As described below, it is possible to set different scaling types for the

acceleration data in the drive.
The scaling type of the acceleration data determines in which format and
which reference the acceleration data are exchanged between the drive
and the control unit or user interface. The values of the acceleration data
parameters (e.g. S-0-0138, Bipolar acceleration limit value) are
displayed by the drive with the scaling that has been set. The scaling
setting is normally preset by the control unit.
Bit
Comment
2-0
scaling type
001: linear scaling
010: rotary scaling
011: ramp time
3
4
0: meter [m]
1: inch [in]
0: radian [rad]
1: reserved
5
unit of time
0: second [s]
1: reserved
6
data reference
reserved
15-7
Fig. 2-38: S-0-0160, Acceleration data scaling type
S-0-0161, Acceleration data scaling factor
S-0-0162, Acceleration data scaling exponent
In the case of parameter scaling, the scaling is realized by inputting the
desired parameter values.
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
S-0-0161, Acceleration data scaling factor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the case of parameter scaling (see S-0-0160) the scaling factor and the
decimal format (the decimal place) of the acceleration data parameters
are determined with this parameter and with S-0-0162, Acceleration data
scaling exponent.
If preferred scaling is selected in S-0-0160, Acceleration data scaling
type, the values in S-0-0161 and S-0-0162 are set automatically by the
drive.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 4294967295
MPD:
1 / 4294967295
MPH:
1 / 4294967295
IndraDrive
S-0-0162, Acceleration data scaling exponent

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the case of parameter scaling (see S-0-0160) the scaling factor and the
decimal format (the decimal place) of the acceleration data parameters
are determined with this parameter and with S-0-0161, Acceleration data
scaling factor.
If preferred scaling is selected in S-0-0160, Acceleration data scaling
type, the values in S-0-0161 and S-0-0162 are set automatically by the
drive.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-15 / 0
---
MPD:
-15 / 0
---
MPH:
-15 / 0
---
S-0-0164, Acceleration feedback value 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The S-0-0164, Acceleration feedback value 1 is an actual velocity value

of the motor encoder that is differentiated and filtered during 4 ms.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
0162
Extr. val. ch.:
no
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
S-0-0165, Distance-coded reference offset A

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
When using a distance-coded incremental encoder the greater distance

(division period) of the distance-coded reference marks is entered in this
parameter.
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Periods
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 2147483647
1001
MPD:
0 / 2147483647
1001
MPH:
0 / 2147483647
1001
S-0-0166, Distance-coded reference offset B

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
When using a distance-coded incremental encoder the smaller distance

(division period) of the distance-coded reference marks is entered in this
parameter.
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Periods
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 2147483647
1000
MPD:
0 / 2147483647
1000
MPH:
0 / 2147483647
1000
IndraDrive
S-0-0169, Probe control parameter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter controls the probe function.

Bit
Comment
activation pos. edge probe 1

0: pos. edge is not evaluated
1: pos. edge is evaluated
1
activation neg. edge probe 1
0: neg. edge is not evaluated
1: neg. edge is evaluated
2
activation pos. edge probe 2
0: pos. edge is not evaluated
1: pos. edge is evaluated
3
activation neg. edge probe 2
0: neg. edge is not evaluated
1: neg. edge is evaluated
5
enable mode probe 1
0: single measurement, after each measurement a new
measurement must be activated by a 0-1 change of the
enable
1: continuous measurement, the measurement is
continued as long as enable remains "1"
6
enable mode probe 2
0: single measurement, after each measurement a new
measurement must be activated by a 0-1 change of the
enable
1: continuous measurement, the measurement is
continued as long as enable remains "1"
Fig. 2-39: Relevant bits of S-0-0169, Probe control parameter
Note:
The measurement is individually enabled for each probe by
the S-0-0405, Probe 1 enable and S-0-0406, Probe 2
enable parameters.
"pos. edge" means the probe input changes from 0 V to
+24 V,
"neg. edge" means the probe input changes from +24 V to
0 V.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
S-0-0170, Probing cycle procedure command

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By setting and enabling the "Probing cycle procedure" command the drive
reacts to
S-0-0405, Probe 1 enable/S-0-0406, Probe 2 enable and
S-0-0401, Probe 1/S-0-0402 Probe 2
as has been set in S-0-0169, Probe control parameter.
While the command is active the control unit can make various
measurements. If there are no more measurements required, the control
unit clears the command.
Bit
Comment
command in drive
0: clear
1: set
1
command execution
0: interrupt
1: execute
Fig. 2-40: S-0-0170, Probing cycle procedure command
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
0/3
MPD:
0/3
MPH:
0/3
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The procedure for which the master, to establish the position data
reference, uses the travel motion for searching the dedicated point is
called "NC-controlled homing procedure". On the drive side the entire
procedure is supported via three commands:
NC-controlled homing procedure command (S-0-0146)
Calculate displacement procedure command (S-0-0171)
Displacement to referenced system procedure command (S-0-0172)
The master can start the command "C4400 Calculate displacement

procedure command" after the drive has successfully completed the
command "C4300 NC-controlled homing procedure command" for
searching the reference point. By means of command C4400 the drive
calculates the required actual position value displacement, in order to
establish the axis zero point reference of the actual position values.
The displacement value is displayed in
S-0-0175, Offset parameter 1 (motor encoder) or
S-0-0176, Offset parameter 2 (external encoder)
the drive then acknowledges the command execution. After that the
master clears the command.
Bit
0
Comment
command in drive
0: clear
1: set
command execution
0: interrupt
1: execute
Fig. 2-41:

Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0172, C4500 Displacement to referenced system procedure

command
Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
When this command is started, the drive switches to the referenced

actual value system, enters the referenced actual position value 1
(S-0-0051) or actual position value 2 (S00053) and signals this in
parameter S-0-0403, Position feedback value status. In order to inform
the master of this switching action in real time, bit 0 from S-0-0403 can be
assigned to a real-time status bit.
During the active command the master switches to the referenced
position command value system and signals this with S-0-0404, Position
command value status. In order that the drive is informed of the
switching process in a chronologically consistent way with the switching of
the cyclic command values, bit 0 from S-0-0404, Position command
value status must have been assigned to a real-time control bit. The
drive completes the command correctly when the bits S-0-0403, Position
feedback value status and S-0-0404, Position command value status
have been set. The bit "position command value status" must be set by
the control unit independent of the operating mode.
Bit
Comment
command in drive
0: clear
1: set
1
command execution
0: interrupt
1: execute
Fig. 2-42: S-0-0172, C4500 Displacement to referenced system procedure
command
See also Functional Description "Drive Functions - Establishing the

Position Data Reference"
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0173, Marker position A

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the case of a drive with an incremental measuring system, the actual

position value of the reference mark (zero pulse) is stored in this
parameter during the drive-controlled homing procedure. This actual
position value still refers to the "old" coordinate system (before switching
the coordinate system when executing the homing procedure).
In addition, it is possible to activate the reference mark detection by the
P-0-0014, C1400 Command Get marker position command. In this
case, the respective actual position value is stored in this parameter at
the next reference mark pulse of the encoder and the command is
positively acknowledged.
In case the drive, apart from the motor encoder, is equipped with an
external encoder, bit 3 of S-0-0147, Homing parameter determines by
which encoder the position of the reference mark is stored!
Note:
In the case of incremental encoders with distance-coded

reference marks, the actual position value of the reference
mark that has been detected first is stored in this parameter!
The actual position value of the second reference mark is
stored in S-0-0174, Marker position B!
See also Functional Description "Detecting the Marker Position"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0174, Marker position B

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the case of a drive with an incremental measuring system with

distance-coded reference marks, the actual position value of the second
reference mark that has been detected is stored in this parameter during
the drive-controlled homing procedure. This actual position value still
refers to the "old" coordinate system (before switching the coordinate
system when executing the homing procedure).
IndraDrive
In addition, it is possible to activate the reference mark detection by the

P-0-0014, C1400 Command Get marker position command. In this
case, with distance-coded reference marks, the respective actual position
value is stored in this parameter at the reference mark pulse of the
encoder after the next pulse and the command is positively
acknowledged.
In case the drive, apart from the motor encoder, is equipped with an
external encoder, bit 3 of S-0-0147, Homing parameter determines by
which encoder the position of the reference mark is stored!
Note:
In the case of incremental encoders with distance-coded

reference marks, the actual position value of the reference
mark that has been detected first is stored in the S-0-0173,
Marker position A parameter!
See also Functional Description "Detecting the Marker Position"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0175, Offset parameter 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Display parameter that displays the difference between the position

reference system after and before homing or setting absolute measuring
of the motor encoder.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
S-0-0176, Offset parameter 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Display parameter that displays the difference between the position

reference system after and before homing or setting absolute measuring
of the external encoder.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
S-0-0177, Absolute offset 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is required for homing distance-coded motor encoders. It

is the offset between the zero point of the motor encoder (position of the
st
1 reference mark of the motor encoder) and the machine zero point.
The correct value for this parameter is determined in two steps:
First the value "0" is entered in S-0-0177 and the command S-0-0148,
C0600 Drive-controlled homing procedure command is carried out.
The actual position value 1 in S-0-0051 then displays the current
position with regard to the zero point of the motor encoder.
If the axis is then moved to he machine zero point by means of
jogging, the value displayed in S-0-0051 at the zero point has to be
read and entered in S-0-0177 with inverted sign.
After carrying out the homing command again the value in S-0-0051 then
displays the position with regard to the machine zero point.
Note:
In case the drive, apart from the motor encoder, is equipped

with an external encoder, bit 3 of S-0-0147, Homing
parameter determines which encoder is homed!

IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
S-0-0178, Absolute offset 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is required for homing distance-coded external encoders.

st
It is the offset between the zero point of the encoder (position of the 1
reference mark of the external encoder) and the machine zero point.
The correct value for this parameter is determined in two steps:
First the value "0" is entered in S-0-0178 and the command S-0-0148,
C0600 Drive-controlled homing procedure command is carried out.
The actual position value 2 in S-0-0052 then displays the current
position with regard to the zero point of the external encoder.
If the axis is then moved to he machine zero point by means of
jogging, the value displayed in S-0-0052 at the zero point has to be
read and entered in S-0-0178 with inverted sign.
After carrying out the homing command again the value in S-0-0052 then
displays the position with regard to the machine zero point.
Note:
In case the drive, apart from the motor encoder, is equipped

with an external encoder, bit 3 of S-0-0147, Homing
parameter determines which encoder is homed!

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
S-0-0179, Probe status

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
If the drive, during the active probing cycle procedure command

(S-0-0170), stores one or more probe values, at the same time it sets the
corresponding bit in the measured value status.
Note:
Clearing the measured value status bits:

If the enable of probe 1 (S-0-0405) is cleared by the control
unit, the drive clears bit 0, bit 1 and bit 4 in the measured
value status.
If the enable of probe 2 (S-0-0406) is cleared by the control
unit, the drive clears bit 2, bit 3 and bit 5 in the measured
value status.
The drive clears all bits, if the probing cycle procedure
command (S-0-0170) is cleared by the control unit.
Bit
probe value 1 positive

0: not latched
1: latched
probe value 1 negative
0: not latched
1: latched
probe value 2 positive
0: not latched
1: latched
probe value 2 negative
0: not latched
1: latched
probe 1, marker failure status
(cf. P-0-0224 and P-0-0206)
0 - failures < max. value
1 - failures >= max. value
probe 2, marker failure status
(cf. P-0-0225 and P-0-0207)
0 - failures < max. value
1 - failures >= max. value
reserved
15-6
Fig. 2-43:
S-0-0179, Probe status
Comment
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0180, Spindle relative offset

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
main spindle
This parameter contains the travel distance (in the case of relative
positioning) for the command S-0-0152, C0900 Position spindle
command.
Note:
In S-0-0430, Effective target position the effective absolute

target position with the active command S-0-0152, C0900
Position spindle command is displayed!
Version
Attribute
Comment
GEN-02VRS
Cycl. tra.: MDT
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
S-0-0183, Velocity synchronization window

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
If during the operating mode "speed synchronization" the absolute value

of the difference between velocity command value and actual value
becomes smaller than the synchronization window, bit 8 is set in
parameter P-0-0089, Status word for synchronous operating modes.
IndraDrive

Bit 8 = 1, if
with
| dX synch + dX additive dX act | < S-0-0183
dX act:
velocity feedback value (S-0-0040)
dX synch:
synchronous velocity command value, generated

from current master axis speed
dX additive:
additive velocity command value (S-0-0037)
See also Functional Description "Dynamic Synchronization with Velocity

Synchronization"
"Velocity
Synchronization
with
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
200000
MPD:
200000
MPH:
200000
S-0-0185, Length of the configurable data record in the AT

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In the operating data of this parameter the drive indicates the maximum
length in byte that it can process in the configurable data record of the
drive data telegram.
The maximum length depends on the relation of position cycle time and
SERCOS cycle time:
SERCOS cycle time = position cycle time:
max. length 16 byte
max. length 32 byte
See also Functional Description "Communication Phases According to

SERCOS Specification"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Byte
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0186, Length of the configurable data record in the MDT

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In the operating data of this parameter the drive indicates the maximum
length in byte that it can process in the configurable data record of the
master data telegram.
The maximum length depends on the relation of position cycle time and
SERCOS cycle time:
max. length 16 byte
max. length 32 byte

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Byte
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0187, List of configurable data in the AT

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This list contains the IDNs of the parameters or operating data which can
be configured in the drive telegram.
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0188, List of configurable data in the MDT

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This list contains the IDNs of the parameters or operating data which can
be configured in the master data telegram.
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0189, Following distance

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
If an operating mode with internal position control is activated in the

drive, the current difference between position command value (cf.
P-0-0434) and actual position value (cf. S-0-0051, Position feedback 1
value or S-0-0053, Position feedback 2 value) is displayed in S-0-0189,
Following error.
X_cmd
S-0-0104
X_act
S-0-0189
Fig. 2-44: S-0-0189, Control deviation in position control loop (following error)
Note:
The content of S-0-0189, Following error corresponds to the

control deviation of the position controller; the content of
S-0-0189 is used for many status messages. If position control
has not been activated, the value of the parameter is set to
"0".
See also Functional Description "Position Controller (with Respective

Feedforward Functions)"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0190, C4200 Drive-controlled oscillation command

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
main spindle
This parameter starts the function "drive-controlled oscillation". The

command is processed via the drive-internal speed control loop. The drive
automatically generates the speed command value characteristic for the
oscillation motion.
See also Functional Description "Drive-Controlled Oscillation"
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0191, C1500 Cancel reference point procedure command

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Setting and enabling the command "cancel reference point" clears the
reference of the encoder defined via S-0-0147, Homing parameter. The
actual position value status (bit 0 in S-0-0403) is cleared, too.
The drive completes the command correctly when the actual position
value status bit is set to "0" and the actual position value of the active
measuring system no longer refers to the machine zero point (= is no
longer referenced).
IndraDrive
Bit
Comment
command in drive
0: clear
1: set
1
command execution
0: interrupt
1: execute
Fig. 2-45: S-0-0191, C1500 Cancel reference point procedure command

Function: Kommando
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0192, IDN-list of backup operation data

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this list the IDNs of those parameters are stored the values of which
are axis-specific and for regular operation have to be loaded to the drive
of the respective axis. Depending on the setting in S-0-0269, Parameter
buffer mode, these parameters are also stored, continuously or in a
command-controlled way, in the internal non-volatile memory ("flash") or
on the MultiMediaCard (MMC).
Note:
The control unit should use this parameter in order to make a

backup copy of the drive parameters and the axis-specific
values.
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0193, Positioning Jerk

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The positioning jerk limits the change in acceleration per unit of time in
the following operating modes
drive-internal interpolation and
Note:
The value "0" switches the jerk filter off!

Interpolation"
Positioning"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The S-0-0195, Acceleration feedback value 2 is an actual velocity value

of the optional encoder that is differentiated and filtered during 4ms.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
0162
Extr. val. ch.:
no
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
S-0-0197, C3300 Set coordinate system procedure command

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
With S-0-0197, C3300 Set coordinate system procedure command the

drive disconnects from the control unit and goes to standstill in a drivecontrolled way. As in the case of "Drive Halt", this takes place
independent of the active operating mode with a position ramp or a speed
ramp. In standstill the value of S-0-0198, Initial coordinate value is now
entered in the actual position value.
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0198, Initial coordinate value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
By executing the command S-0-0197, C3300 Set coordinate system

procedure command the actual position value in standstill is set to the
value of this parameter (S-0-0198, Initial coordinate value).
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
S-0-0199, C3400 Shift coordinate system procedure command

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
With this command the master can set the actual value system of a
moving axis to a different display reference. The position data reference
of the axis is not influenced!
The drive in this case becomes independent of the command values
preset by the control unit, but maintains the active motion. The display of
the actual position value changes abruptly by adding S-0-0275,
Coordiante offset value. When the command is still active, the control
unit accepts the current actual position value, after the command has
been cleared the command values are preset by the control unit again.
The offset of the position display is displayed in S-0-0283, Current
coordinate offset.
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0201, Motor warning temperature

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
If the motor temperature exceeds the motor warning temperature, the

drive sets bit 2 (motor overtemperature warning) in S-0-0012, Class 2
diagnostics and the warning E2051 Motor overtemp. prewarning is
output. In the case of MHD and MKD motors, the drive sets this
parameter to 145 C, in the case of MKE motors to 125 C.
See also Functional Description "Motor Temperature Monitoring"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
S-0-0208
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
145,0
MPD:
145,0
MPH:
145,0
IndraDrive
S-0-0204, Motor shutdown temperature

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
If the motor temperature exceeds the motor shutdown temperature, the

drive sets bit 2 (motor overtemperature shutdown) in S-0-0011, Class 1
diagnostics and the error F2019 Motor overtemperature shutdown is
generated.
In the case of MHD and MKD motors, the drive sets this parameter to
155 C, in the case of MKE motors to 135 C.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
S-0-0208
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
155,0
MPD:
155,0
MPH:
155,0
S-0-0206, Drive on delay time

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The value of this parameter is the time distance between the triggering for
releasing the holding brake and the message in S-0-0135, Drive status
word (bit 3 = "1") indicating that the drive can follow the command values
of the control unit.
The value should at least equal the release delay of the holding brake in
order to make sure that the holding brake is released when the axis or
spindle moves.
See also Functional Description "Motor Holding Brake"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 100000
100
MPD:
0 / 100000
100
MPH:
0 / 100000
100
IndraDrive
S-0-0207, Drive off delay time

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The value of this parameter is the time distance between the activation for
applying the holding brake and the torque/force release of the motor
(drive-internal switching off of drive enable).
The value should be at least as high as the clamping delay of the holding
brake in order to make sure that vertical axes which are not equilibrated
do not move down when the drive enable is switched off!
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 100000
100
MPD:
0 / 100000
100
MPH:
0 / 100000
100
S-0-0208, Temperature data scaling type

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter the unit of the temperature data of the drive is
determined. The values are displayed with the first decimal place.
Bit
temperature data in
0: degrees Celsius (C)
1: Fahrenheit (F)
reserved
1-15
Fig. 2-46:
Comment
Determining the temperature data
Version
Attribute
GEN-02VRS
validity ch.: P2-3
Description
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
S-0-0213, Oscillation speed

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
main spindle
The oscillation speed is the amplitude of the speed oscillation around the
S-0-0214, Oscillation offset speed.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 4
Rpm
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0000 / 214748,3647
8,0000
MPD:
0,0000 / 214748,3647
8,0000
MPH:
0,0000 / 214748,3647
8,0000
S-0-0214, Oscillation offset speed

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
main spindle
The oscillation offset speed is the average value of speed oscillation.

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 4
Rpm
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0000 / 214748,3647
1,0000
MPD:
0,0000 / 214748,3647
1,0000
MPH:
0,0000 / 214748,3647
1,0000
IndraDrive
S-0-0215, Oscillation cycle time

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
main spindle
The oscillation cycle time is the periodic time of speed oscillation.

Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
ms
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
0,1 / 429496729,5
400,0
S-0-0216, C4100 Switch parameter set command

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
main spindle
At the execution of this command parameter set switching is carried out.

As a prerequisite the settings according to the application have to be
made in P-0-2216, Parameter set switching, group selection and
P-0-2217, Parameter set switching, preselection range. After the
switching the parameter set with that number is active which had been
entered in S-0-0217, Preselect parameter set command at the time of
switching. The parameter set active after switching is displayed in
S-0-0254, Current parameter set.
See also Functional Description "Parameter Set Switching"
Function: Kommando
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0217, Preselect parameter set command

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
main spindle
The value of this parameter determines the number of the parameter set
which is activated by executing S-0-0216, C4100 Switch parameter set
command.
As a prerequisite the settings according to the application have to be
made in P-0-2216, Parameter set switching, group selection and
P-0-2217, Parameter set switching, preselection range.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / var.
---
MPD:
0 / var.
---
MPH:
0 / var.
---
S-0-0219, IDN-list of parameter set

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
main spindle
All IDNs concerned by S-0-0216, C4100 Switch parameter set

command are listed in this parameter.
Note:
The number of parameters listed in S-0-0219 is determined by

the setting in P-0-2216, Parameter set switching, group
selection and P-0-2217, Parameter set switching,
preselection range.
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0222, Spindle positioning speed

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
main spindle
The maximum speed with which the spindle turns at the command
S-0-0152, C0900 Position spindle command is entered in this
parameter.
The motor accelerates with S-0-0372, Drive Halt acceleration bipolar to
this speed, in order that
the drive moves to the target position entered in S-0-0153, Spindle
angle position
or that the drive travels the travel distance entered in S-0-0180,
Spindle relative offset.
Version
Attribute
Comment
GEN-02VRS
GEN-02VRS
Cycl. tra.: no
Extr. val. ch.: yes
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
S-0-0228, Position synchronization window

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
If with parameterized synchronization mode with outer position control

loop the absolute value of the difference between velocity command value
and actual value becomes smaller than the synchronization window, bit 8
is set in parameter P-0-0089, Status word for synchronous operating
modes.
Bit 8 = 1, if
with
| X synch + X additive X act | < S-0-0228
X act:
actual position value S-0-0051 or S-0-0053
X synch:
synchronous position command value, generated

from current master axis position
X additive:
additive position command value, S-0-0048
IndraDrive
See also Functional Description "Dynamic

Synchronous Position Control Modes"
Synchronization
with
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
100000
MPD:
100000
MPH:
100000
S-0-0254, Current parameter set

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
main spindle
This parameter displays the number of the currently active parameter set.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0256, Multiplication 1
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The S-0-0256, Multiplication 1 parameter indicates with which factor the

signals of the motor encoder are multiplied in the drive.
The multiplication 1 results subject to the S-0-0278, Maximum travel
range and S-0-0116, Feedback 1 Resolution parameters.
IndraDrive
The internal encoder resolution for the motor encoder is calculated from:
S - 0 - 0116, Feedback 1 resolution * S - 0 - 0256, Multiplication 1

Fig. 2-47: Internal encoder resolution for the motor encoder
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
S-0-0257, Multiplication 2
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The S-0-0257, Multiplication 2 parameter indicates with which factor the

signals of the optional encoder are multiplied in the drive.
The multiplication 2 results subject to the S-0-0278, Maximum travel
range and S-0-0117, Feedback 2 Resolution parameters.
The internal resolution for the optional encoder is calculated as follows:
S - 0 - 0117, Feedback 2 resolution * S - 0 - 0257, Multiplication 2

Fig. 2-48: Internal resolution for the optional encoder
See also Functional Description "Basics on Measuring Systems,

Resolution"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0258, Target position

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By this parameter the control unit presets the target position for the drive
in the "Drive-internal interpolation" mode.
With the internally generated position command value sequence, the
drive moves to the target position (S-0-0258) and, apart from the
positioning velocity (S-0-0259), takes the maximum positioning
acceleration (S-0-0260) or deceleration (S-0-0359), the maximum
positioning jerk (S-0-0193) and the feedrate override (S-0-0108) into
consideration.
Interpolation"
Positioning"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
S-0-0259, Positioning velocity

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By this parameter the maximum velocity at which to move to the target

position (S-0-0258, Target position or S-0-0282, Positioning command
value) is preset for the drive in the "Drive-internal interpolation" and
"Drive-controlled positioning" modes.
The internally generated position command value sequence, apart from
the positioning velocity (S-0-0259), takes the maximum positioning
acceleration (S-0-0260) or deceleration (S-0-0359), the maximum
positioning jerk (S-0-0193) and the feedrate override (S-0-0108) into
consideration.
Interpolation"
Positioning"
IndraDrive
Version
Attribute
Comment
GEN-02VRS
Extr. val. ch.: yes
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
100000
MPD:
100000
MPH:
100000
S-0-0260, Positioning acceleration

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By this parameter the maximum acceleration at which to move to the

target position (S-0-0258, Target position or S-0-0282, Positioning
command value) is preset for the drive in the "Drive-internal
interpolation" and "Drive-controlled positioning" modes.
the positioning acceleration (S-0-0260) or deceleration (S-0-0359), takes
the maximum positioning velocity (S-0-0259), the maximum positioning
jerk (S-0-0193) and the feedrate override (S-0-0108) into consideration.
Interpolation"
Positioning"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
1000000
MPD:
1000000
MPH:
1000000
IndraDrive
S-0-0261, Coarse position window

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The S-0-0261, Positioning window coarse parameter is used for the

status message "In Position coarse" (S-0-0013, Class 3 diagnostics,
bit 11 = 1) |following error (S-0-0189)| < positioning window (S-0-0261).
Version
Attribute
GEN-02VRS
GEN-02VRS
MPB Default value: 500
Comment
MPH Default value: 500
See also Parameter Description "Status Classes"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
5000
MPD:
5000
MPH:
5000
S-0-0262, C07_x Load defaults procedure command

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With "C07_x Load defaults procedure command" different default

parameter values can be loaded depending on P-0-4090, Index for C07
Load defaults procedure.
C07_0 Load defaults procedure command (load controller
parameters):
the motor-specific control loop parameter values (adjustment of
controller to motor, default setting of P-0-4090!) stored in the motor
encoder
C07_1 Load defaults procedure command (load basic parameters):
the set of basic parameter values (firmware-specific default values for
all parameters) stored in the firmware
C07_2 Load defaults procedure command (load defaults procedure for
safety technology):
the set of default values for the safety technology parameters stored in
the firmware
IndraDrive
CAUTION
By executing this command axis-specific or

safety-technology-specific parameter values
that have already been optimized are possibly
overwritten!
Only execute command during initial commissioning!
See also Functional

Parameters"
Description
"Loading,
Storing
and
Saving
Function: Kommando
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0263, C2300 Load working memory procedure command

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This command copies the parameter set from the active non-volatile
memory and loads it to the volatile memory of the drive controller (RAM).
The active non-volatile memory can be the internal flash memory or the
MultiMediaCard (MMC) if it has been plugged.
Function: Kommando
Editability:
P2
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0264, C2200 Backup working memory procedure command

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This command copies the parameter set from the volatile memory of the
drive controller (RAM) and saves it in the active non-volatile memory.
Function: Kommando
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0265, Language selection

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
All parameter names, units and diagnostic/error messages are stored in

the drive controller in several languages. This parameter determines the
language of the texts to be output.
0: German
1: English
See also Functional Description "Language Selection"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / var.
MPD:
0 / var.
MPH:
0 / var.
IndraDrive
S-0-0267, Password
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
A customer password can be activated by means of this parameter.

This password allows protecting the values of the parameters contained
in S-0-0279, IDN list of password-protected operation data against
inadvertent or unauthorized changes. The password entered in the default
status is "007". This allows writing data to the parameters (original status).
Note:
BRC reserves the right to use a master password function. In

this context the parameter is also used to unlock customer
service functions (see also P-0-4064, Password level).
See also Functional Description "Password"
Function: Parameter
Editability:
P234
Data l.:
1Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0269, Storage mode

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Bit 0 of this parameter determines the mode in which the parameter

values from S-0-0192, IDN list of backup operation data are stored in
the internal non-volatile memory ("flash") or on the MultiMediaCard
(MMC).
0: With every change the parameter values are stored immediately.
1: The parameters are only stored by the command S-0-0264, C2200
Backup working memory procedure command.
Note:
Frequent writing of data to the non-volatile memories will

reduce their service life!
See also Functional

Parameters"
Description
"Loading,
Storing
and
Saving
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/1
MPD:
0/1
MPH:
0/1
S-0-0270, Selected IDN list of operation data to backup

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The contents of all parameters the IDNs of which are listed in this
parameter are saved from the working memory (volatile memory) to the
active non-volatile memory by activating the S-0-0293, C2400 Selectively
backup working memory procedure command parameter.
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0273, Maximum drive off delay time

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter the determined time is entered that the drive needs in
order to stop the axis out of maximum velocity at maximum inertia or
mass with maximum allowed brake torque or brake force. Increase the
determined time to make sure the axis really stops!
When the time entered in this parameter is over, the holding brake is
activated in different ways, depending on the operating principle (servo or
main spindle brake according to P-0-0525, Holding brake control word):

Servo Brake
IndraDrive
The drive internally sets a velocity command value of zero and the
holding brake is applied.
It then takes the time in S-0-0207, Drive off delay time until the drive
is torque-free or force-free.
Main Spindle Brake
The drive becomes torque-free or force-free, the drive enable is

switched off internally.
-1
When the speed is lower than 10 min , the brake is applied.

-1
Note:
When the axis or spindle falls below the velocity of 10 min or

10 mm/min before the time in S-0-0273 is over, the brake is
applied, the drive enable is switched off with the delay "Drive
off delay time" (S-0-0207).
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
500 / 100000
10000
MPD:
500 / 100000
10000
MPH:
500 / 100000
10000
S-0-0275, Coordinate offset value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
In this parameter the difference is entered by which the actual position

value display changes (addition to current actual position value), when
S-0-0199, C3400 Shift coordinate system procedure command is
executed.
The unit of the value corresponds to the selected position scaling.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
With this parameter the essential properties of the motor encoder are
defined.
Bit
kind of encoder
0: rotary
1: linear
distance-coded measuring system
0: no distance-coded reference marks
1: distance-coded reference marks (S-0-0165,
S-0-0166)
0: not inverted
1: inverted
design of distance-coded measuring system
0: positive direction of counting
1: negative direction of counting
absolute evaluation
x0: absolute evaluation impossible (bit 7 irrelevant)
01: absolute evaluation possible and active
(encoder is handled as absolute encoder)
11: absolute evaluation possible, but deactivated
7/6
Fig. 2-49:
Comment
Annotation:
For Rexroth housing motors (MHD, MKD, MKE, 2AD, ADF, MAD,
MAF) the bits 0, 1, 3 are set to the value "0"!
If the connected motor is a linear motor, bit 0 is set to "1".
Depending on the absolute encoder range and the maximum travel
range or modulo value, bit 6 is either set or cleared.
Note:
Only the bits mentioned above are supported by the software.
See also Functional Description "Absolute Measuring Systems"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0x0000
MPD:
--- / ---
0x0000
MPH:
--- / ---
0x0000
IndraDrive
S-0-0278, Maximum travel range

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The S-0-0278, Maximum travel range parameter defines the greatest

possible mechanical travel distance of the machine.
Depending on the scaling that was set, modulo format or absolute format
(see also S-0-0076, Position data scaling type), the input is a unipolar
or bipolar value. The S-0-0278, Maximum travel range parameter
influences the S-0-0256, Multiplication 1, S-0-0257, Multiplication 2
and P-0-0129, Internal position data format parameters and therefore
the internal encoder and position resolution. In addition, the velocity and
acceleration limit values of the internal position command value generator
are influenced by the maximum travel range. Among others the maximum
input value for S-0-0259, Positioning Velocity and S-0-0260,
Positioning Acceleration depends on the value in S-0-0278.
Note:
The greater the maximum travel range that was set, the
smaller the multiplication and the internal position
resolution and the higher the limit values of the acceleration
and velocity data.
The value for the maximum travel range also influences
bit 6 of S-0-0277, Position feedback 1 type and S-0-0115,
Position feedback 2 type. This bit indicates the possibility
of absolute encoder evaluation.

Version
Attribute
GEN-02VRS
GEN-02VRS
Editability: P2
Comment
Validity ch.: P2-3
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
360000000
MPD:
360000000
MPH:
360000000
IndraDrive
S-0-0279, IDN-list of password-protected operation data

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of a customer password (S-0-0267, Password) the values of

the parameters contained in this list can be protected against inadvertent
or unauthorized changes.
In its default status this parameter contains an empty list. The user can
enter IDNs in this list according to his requirements.
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0282, Positioning command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By this parameter the control unit presets the target position (absolute
position) or a relative travel distance for the drive in the "Drive-controlled
positioning" mode.
Note:
The effective target position at which the drive positions can

be read at any time from S-0-0430, Effective target position!
Upon a change of the edge of bit 0 in S-0-0346, Positioning control

word, the drive, controlled by an internally generated position command
value, moves to an axis position that corresponds to the positioning
command value (S-0-0282).
In addition, the drive takes the following positioning data into account:
S-0-0259, Positioning Velocity
S-0-0260, Positioning
deceleration
S-0-0193, Positioning jerk
S-0-0108, Feedrate override
acceleration
or
S-0-0359,
Positioning

Positioning"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
S-0-0283, Current coordinate offset

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
This parameter displays by which value the actual position value display
has changed compared to the real actual position value, when S-0-0197,
C3300 Set coordinate system procedure command or S-0-0199,
C3400 Shift coordinate system procedure command was executed.
The unit of the value corresponds to the selected position scaling.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

if:
word
(bits 11, 9, 8 = "100") and
bit 3 = 0
bit 3 = 1


Note:

Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

if:
word
(bits 11, 9, 8 = "101") and
bit 3 = 0
bit 3 = 1


Note:

Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

if:
word
(bits 11, 9, 8 = "110") and
bit 3 = 0
bit 3 = 1


Note:

Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

if:
word
(bits 11, 9, 8 = "111") and
bit 3 = 0
bit 3 = 1


Note:

Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
S-0-0292, List of all operating modes

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
All operating modes that are supported by the drive firmware used are
listed in this parameter.
The codes (hexadecimal) of those operating modes are displayed that
can be entered in the parameters S-0-0032 S-0-0035 and
S-0-0284 S-0-0287 (primary mode of operation and secondary
operation modes) in the form of binary values.
The following table shows a reference list of all possible operating modes
with their respective codes and binary values.
Note:
In accordance with the firmware used, the list parameter

S-0-0292 contains only a part of the codes listed in this
overview.
Operating mode
torque control
velocity control
position control, encoder 1
position control, encoder 2
position control lagless, encoder 1
position control lagless, encoder 2
drive-internal interpolation, encoder 1
drive-internal interpolation, encoder 2
drive-internal interpolation lagless, encoder 1
drive-internal interpolation lagless, encoder 2
positioning block mode, encoder 1
positioning block mode, encoder 2
positioning block mode lagless, encoder 1
positioning block mode lagless, encoder 2
position control drive-controlled, encoder 1
position control drive-controlled, encoder 2
position control drive-controlled lagless, encoder 1
position control drive-controlled lagless, encoder 2
drive-controlled positioning, encoder 1
drive-controlled positioning, encoder 2
drive-controlled positioning lagless, encoder 1
drive-controlled positioning lagless, encoder 2
cam shaft, encoder 1, virtual master axis
cam shaft, encoder 2, virtual master axis
cam shaft lagless, encoder 1, virtual master axis
cam shaft lagless, encoder 2, virtual master axis
cam shaft, encoder 1, real master axis
cam shaft, encoder 2, real master axis
cam shaft lagless, encoder 1, real master axis
cam shaft lagless, encoder 2, real master axis
phase synchronization, encoder 1, virtual master axis
phase synchronization, encoder 2, virtual master axis
phase synchronization lagless, encoder 1, virtual master axis
Code
displayed in
S-0-0292
0x0001
0x0002
0x0003
0x0004
0x000B
0x000C
0x0013
0x0014
0x001B
0x001C
0x0033
0x0034
0x003B
0x003C
0x0103
0x0104
0x010B
0x010C
0x0213
0x0214
0x021B
0x021C
0x8803
0x8804
0x880B
0x880C
0x8813
0x8814
0x881B
0x881C
0x9003
0x9004
0x900B
Associated value
of the parameters
S-0-0032...S-0-0035
0000.0000.0000.0001
0000.0000.0000.0010
0000.0000.0000.0011
0000.0000.0000.0100
0000.0000.0000.1011
0000.0000.0000.1100
0000.0000.0001.0011
0000.0000.0001.0100
0000.0000.0001.1011
0000.0000.0001.1100
0000.0000.0011.0011
0000.0000.0011.0100
0000.0000.0011.1011
0000.0000.0011.1100
0000.0001.0000.0011
0000.0001.0000.0100
0000.0001.0000.1011
0000.0001.0000.1100
0000.0010.0001.0011
0000.0010.0001.0100
0000.0010.0001.1011
0000.0010.0001.1100
1000.1000.0000.0011
1000.1000.0000.0100
1000.1000.0000.1011
1000.1000.0000.1100
1000.1000.0001.0011
1000.1000.0001.0100
1000.1000.0001.1011
1000.1000.0001.1100
1001.0000.0000.0011
1001.0000.0000.0100
1001.0000.0000.1011
IndraDrive
phase synchronization lagless, encoder 2, virtual master axis

0x900C
1001.0000.0000.1100
phase synchronization, encoder 1, real master axis
0x9013
1001.0000.0001.0011
phase synchronization, encoder 2, real master axis
0x9014
1001.0000.0001.0100
phase synchronization lagless, encoder 1, real master axis
0x901B
1001.0000.0001.1011
phase synchronization lagless, encoder 2, real master axis
0x901C
1001.0000.0001.1100
velocity synchronization, virtual master axis
0xA002
1010.0000.0000.0010
velocity synchronization, real master axis
0xA012
1010.0000.0001.0010
motion profile, encoder 1, virtual master axis
0x9803
1001.1000.0000.0011
motion profile, encoder 2, virtual master axis
0x9804
1001.1000.0000.0100
motion profile lagless, encoder 1, virtual master axis
0x980B
1001.1000.0000.1011
motion profile lagless, encoder 2, virtual master axis
0x980C
1001.1000.0000.1100
motion profile, encoder 1, real master axis
0x9813
1001.1000.0001.0011
motion profile, encoder 2, real master axis
0x9814
1001.1000.0001.0100
motion profile lagless, encoder 1, real master axis
0x981B
1001.1000.0001.1011
motion profile lagless, encoder 2, real master axis
0x981C
1001.1000.0001.1100
Fig. 2-50: Overview of operating modes with codes and binary values
See also Functional Description "Operating Modes"
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0293, C2400 Selectively backup working memory procedure

command
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this command the contents of all parameters the IDNs of

which are listed in parameter S-0-0270, Selected IDN list of operation
data to backup are saved from the working memory (volatile memory) to
the active non-volatile memory.
Function: Kommando
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0298, Reference cam shift

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter displays the distance by which the home switch

(reference cam) is to be shifted in order to realize the optimum distance
between home switch and selected reference mark of the encoder.
Explanation
When homing an axis an actual position value referred to the axis zero
point is assigned to a reference mark of the encoder. If the encoder has
several reference marks over the travel range of the axis, it is necessary
to select one and always the same reference mark for an unequivocal
reference to the axis zero point. This is done with a home switch that is
mounted at one end of the travel range. The switch is actuated by the axis
during homing, the position reference to the axis zero point is established
by the next reference mark of the encoder the axis passes. The distance
between home switch and reference mark mustnt fall below a minimum
value. Otherwise, depending on the situation, it may not be the next
reference mark that is recognized after the home switch signal, but only
the reference mark after the next. This would not allow establishing an
unequivocally reproducible zero point reference to the axis.
Monitoring
The distance between home switch and reference mark is therefore

monitored by the drive.
If the distance between home switch and reference mark is okay, a "0"
is displayed in S-0-0298, Reference cam shift.
If the distance is without the allowed range, the S-0-0148, C0600
Drive-controlled homing procedure command is terminated with
the C0602 Distance home switch - reference mark erroneous error.
Establishing the Regular Status
If the distance is without the allowed range, the distance is displayed in

this parameter (S-0-0298). The regular status can be established by
means of parameter or mechanically:
Enter the value that is displayed in S-0-0298 in the S-0-0299, Home
switch offset parameter. This causes the effective home switch signal
to be shifted with regard to the actually existing one. Or:
Move the position of the home switch by the value displayed in
S-0-0298.
Note:
The settings for home switch, reference mark, encoder and

homing procedure are made in S-0-0147, Homing parameter.

IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0299, Home switch offset

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By means of this parameter it is possible to virtually offset, by a certain

distance, the point at which the home switch signal becomes effective
with regard to the real switch point. This distance is entered in this
parameter.
The value for the distance is displayed in S-0-0298, Reference cam shift,
when the "Drive-controlled homing procedure" command is terminated
with the C0602 Distance home switch - reference mark erroneous
error.
Note: It is now only the reference mark after the next reference mark of
the encoder that is detected after the home switch signal. This allows
establishing an unequivocally reproducible zero point reference to the
axis. Depending on the situation, this would not have been possible with
the next reference mark!
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
S-0-0301, Allocation of real-time control bit 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of the real-time control bits 1 and 2 it is possible to directly

write, at each case, one bit of a parameter in the drive.
The IDN of the parameter containing the bit to be written by the realtime control bit 1 is entered in parameter S-0-0301.
The bit number is entered in S-0-0413, Bit number allocation of

real-time control bit 1.
Note:
The IDNs of the parameters that can be entered in S-0-0301

are contained in S-0-0399, IDN list of configurable data in
the signal control word.
The real time control bits are part of the parameter S-0-0134, Master
control word and are cyclically ("in real time") sent to the drive, i.e. in the
clock of the SERCOS communication one bit of the assigned parameter
can be written.
Note:
If the respective parameter is not available, the drive reacts
with the service channel error message "Invalid data".
If the respective parameter is available but cannot be
written in phase 4, the drive reacts with the error message
"Data not correct".
See also Functional Description "Real-Time Control Bits and Real-Time

Status Bits"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
S-0-0303, Allocation of real-time control bit 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

write, at each case, one bit of a parameter in the drive.
The IDN of the parameter containing the bit to be written by the realtime control bit 2 is entered in parameter S-0-0303.

real-time control bit 2.
Note:

the signal control word.
The real time control bits are part of the parameter S-0-0134, Master
control word and are cyclically ("in real time") sent to the drive, i.e. in the
clock of the SERCOS communication one bit of the assigned parameter
can be written.
Note:
If the respective parameter is not available, the drive reacts
with the service channel error message "Invalid data".
If the respective parameter is available but cannot be
written in phase 4, the drive reacts with the error message
"Data not correct".

Status Bits"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
S-0-0305, Allocation of real-time status bit 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of the real-time status bits 1 and 2 it is possible to map a

parameter bit for direct access by a control unit to S-0-0135, Drive status
word.
The IDN of the parameter containing the bit to be read by the realtime status bit 1 is entered in parameter S-0-0305.

real-time status bit 1.
Note:

signal status word.
The real-time status bits are part of the parameter S-0-0135, Drive status
word and are cyclically ("in real time") sent by the drive to the master, i.e.
in the clock of the SERCOS communication one bit of the assigned
parameter can be evaluated in the master.
Note:
If the respective parameter is not available, the drive reacts with

the service channel error message "Invalid data".
If the respective parameter is available but cannot be written in

phase 4, the drive reacts with the error message "Invalid data".

Status Bits"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
S-0-0307, Allocation of real-time status bit 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

parameter bit for direct access by a control unit to S-0-0135, Drive status
word.
The IDN of the parameter containing the bit to be read by the real-time
status bit 2 is entered in parameter S-0-0307.
real-time status bit 2.
Note:

signal status word.
The real-time status bits are part of the parameter S-0-0135, Drive status
word and are cyclically ("in real time") sent by the drive to the master, i.e.
in the clock of the SERCOS communication one bit of the assigned
parameter can be evaluated in the master.
Note:
If the respective parameter is not available, the drive reacts with the
service channel error message "Invalid data".
If the respective parameter is available but cannot be written in
phase 4, the drive reacts with the error message "Invalid data".

Status Bits"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
S-0-0315, Positioning velocity > nLimit

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
When the positioning velocity with active positioning mode (interpolation,

positioning or positioning block mode) has exceeded the limit value
indicated in S-0-0091,
limitation to the value in S-0-0091 takes place in the ramp generator
and
the message "Positioning velocity > nLimit" is generated, i.e. bit 0 is
set in S-0-0315.
Note:
The message bit can be configured, for example, in the signal

control word or as real-time status bit!

Positioning"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0323, Target position outside of travel range

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
When the new target position with active positioning mode (interpolation,
positioning or positioning block mode) is outside of the position limit
values (cf. S-0-0049, S-0-0050) and the drive has been homed,
the drive generates the warning E2053 Target position out of travel
range and
the message "target position outside of travel range" (i.e. bit 0 in
S-0-0323) is generated.
Note:

control word or as real-time status bit!
IndraDrive

Positioning"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0326, Parameter checksum

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When reading this parameter the checksum is generated by all parameter

values the IDNs of which are listed in parameter S-0-0327, IDN list of
checksum parameter.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0327, IDN list of checksum parameter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The IDNs of those parameters the checksum of which is to be generated are

entered in this parameter. The checksum generation is triggered with the
reading of the S-0-0326, Parameter checksum parameter. In the
condition as supplied the parameter S-0-0327 does not yet contain any
IDNs.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0328, Assign list signal status word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this list parameter the assignment is made which bit of the respective
parameter entered in S-0-0026, Configuration list signal status word is
to be mapped to S-0-0144,Signal status word.
The first line of the list contains the number of the bit of the first parameter
from the S-0-0026 list that is mapped in the LSB of S-0-0144. The other
lines of the list correspond respectively with the other parameters from the
list of S-0-0026 and the more significant bits of S-0-0144.
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 31
---
MPD:
0 / 31
---
MPH:
0 / 31
---
S-0-0329, Assign list signal control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this list parameter the assignment is made which bit of the respective
parameter entered in S-0-0027, Configuration list signal control word
is written via the signal control word (S-0-0145).
IndraDrive
The first line of the list contains the number of the bit of the first parameter
from the S-0-0027 list that is written with the LSB of S-0-0145. The other
lines of the list correspond respectively with the other parameters from the
list of S-0-0027 and the more significant bits of S-0-0145.
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 31
---
MPD:
0 / 31
---
MPH:
0 / 31
---
S-0-0330, Message n_actual = n_command

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays whether the actual velocity value has reached the
command value within a tolerance window ("n_actual = n_command"
message).
Bit 0 of this parameter becomes "1" when the absolute value of S-0-0040,
Velocity feedback value is within the range of values limited by the
resulting velocity command value (S-0-0036 + S-0-0037) +/- S-0-0157,
Velocity window.
This message also appears in S-0-0013, Class 3 diagnostics.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0331, Status n_feedback = 0

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays whether the actual velocity value has fallen below
a threshold value that can be set, below which the controller recognizes
motor or axis standstill ("n_feedback = 0" message).
Velocity feedback value is smaller than the value of S-0-0124,
Standstill window.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0332, Message nactual < nx

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays whether the actual velocity value has fallen below
a threshold value that can be set ("n_actual = nx" message).
Velocity feedback value is smaller than the value of S-0-0125, Velocity
threshold nx.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0333, Message T >= Tx

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter indicates whether the actual torque or force value has
exceeded a threshold value ("T >= Tx" message) that can be set.
Torque/force feedback value is greater than or equal to the value of
S-0-0126, Torque threshold Tx. This message also appears in
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0334, Message T >= Tlimit

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter indicates whether the actual torque or force value has
reached the limit value ("T >= Tlimit" message).
The limit value is generated by the smallest value of
P-0-0109, Torque/force peak limit
work load-dependent limits by motor and controller.
Torque/force feedback value is equal to or greater than the mentioned
limit value. The current limit values can be called up via
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0335, Message n command > n limit

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays when the absolute velocity command value is

greater than the velocity limit value that can be set ("n command > n limit"
message).
Bit 0 of this parameter becomes "1", when the absolute value of the
resulting velocity command value (S-0-0036 + S-0-0037) is greater than
the value of S-0-0091, Bipolar velocity limit value.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0336, Message In position

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
If an operating mode with internal position control has been activated in

the drive, this parameter is used to map the In Position message to an
individual IDN (bit 0). This allows assigning the status message to a realtime status bit in S-0-0135, Drive status word.
The In Position message (S-0-0336 Bit 0 = 1) is also defined as a bit in
class 3 diagnostics (S-0-0013 Bit 6) and is set when the following distance
(S-0-0189) is smaller than the position window (S-0-0057).
IndraDrive
Note:
When executing the "Position spindle" command the message

is set when the spindle is in position.

Status Bits"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0337, Message P >= Px

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter indicates whether the absolute value of the actual power
value has exceeded a threshold value ("P >= Px" message)that can be
set. Bit 0 of this parameter becomes "1" when the absolute value of
S-0-0382, Intermediate bus power is greater than or equal to the value
of S-0-0158, Power threshold Px. This message also appears in
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0338, Message In target position

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
When the drive positions at the active target position S-0-0430, it

generates this message if
the actual position value of the axis is within the position window
around the active target position (In-Position: "S-0-0336")
and
the axis has stopped, i.e. the actual velocity is within the S-0-0124,
Standstill window (In-Standstill: "S-0-0331").
Note:

control word or as real-time status bit! The message is
generated after initialization in any status, i.e. also with
operating mode not activated!

Positioning"
Interpolation"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0341, Status "In coarse position"

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter was introduced for the In Position coarse message in

order to make the assignment to a real-time status bit (e.g. S-0-0303)
possible. The In Position coarse message (S-0-0341 Bit 0 = 1) is also
defined as a bit in class 3 diagnostics (S-0-0013 Bit 11) and is set when
S-0-0189, Following error is smaller than S-0-0261, Positioning
window coarse.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0342, Status "Target position attained"

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter displays whether the internally generated position command

value has reached the target position.
Bit 0 of this parameter becomes "1" when the command value of the
interpolator (P-0-0434, Position command value controller), in the case
of drive-controlled positioning processes, has reached the target position
(P-0-0050, Effective target position).
Interpolation"
Positioning"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0343, Status "Interpolator halted"

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Message parameter that, with the value "1", displays the following
interpolator (command value generator) states in the "Drive-internal
interpolation" and "Drive-controlled positioning" modes:
velocity command value (P-0-0048) is zero and
drive-internal position command value (P-0-0434) has not yet reached
the target position (S-0-0258 or P-0-0050).
Note:
This message signals that the value "0" is written to S-0-0259,

Positioning Velocity during a positioning process, for
example.

Interpolation"
Positioning"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0346, Positioning control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is used as control word for positioning and has the
following structure:
IndraDrive
Bit
Comment
acceptance positioning command value

acceptance by toggling
2/1
activation of positioning
0:0: positioning active, start by toggling of bit 0
positioning aborted by:
0:1: infinite travel in positive direction (jog+),
1:0: infinite travel in negative direction (jog-)
1:1: stopping the axis (positioning stop)
3
kind of positioning cmd val.
0: absolute
1: relative
4
reference of new target position (S-0-0430) with
relative positioning at...
0: previous target position
1: current actual position value
5
approaching target with repeated target input
during positioning
0: drive moves to current target before positioning at
the new one
1: immediate block change, i.e. drive immediately
moves to new target
7/6
behavior with sequential block (bit 5=0)
0,0: halt at target position of start block
0,1: overrunning target position of start block (mode 1)
1,0: overrunning target position of start block (mode 2)
Fig. 2-51: Relevant bits of S-0-0346, Positioning control word
Command Value Acceptance
Bit 0: acceptance of command values by toggling of the bit

-
"S-0-0282, Positioning command value" for drive-controlled

positioning (absolute position)
"P-0-4026, Positioning block selection" for positioning block mode
Note:
Cyclic Command Value Mode
When a command value is accepted, this is afterwards

confirmed
with
S-0-0419,
Positioning
command
acknowledge.
Bit 1...5: setting of other modalities that can be cyclically changed

during the active operating mode
Bit 7,6:
behavior for sequential block (bit 5=0)
0,0: halt at target position of start block
0,1: Overrunning target position of start block (mode 1). The
target position of the start block is run through at the velocity of
the start block.
1,0: Overrunning target position of start block (mode 2). The
target position of the start block is run through at the velocity of
the sequential block. Velocity changes possibly already take place
during the start block. Switching to the next target position does
not occur until the previous target position is overrun.
IndraDrive

Positioning"
Interpolation"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
S-0-0347, Velocity error

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The S-0-0347 parameter indicates the difference between velocity

command value and actual velocity value in the velocity control loop.
Vcmd
S-0-0100
S-0-0101
Vact
S-0-0347
Fig. 2-52: S-0-0347, Speed deviation
See also Functional Description "Velocity Loop"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0348, Acceleration feedforward gain

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Modification Note
Note:
Operating Principle
As of MP*03VRS the data length is increased from 2 bytes to

4 bytes and the number of decimal places for rotary motors is
increased to 4 places. For linear motors there still is one
decimal place!
The acceleration feedforward reduces the lag error during acceleration in

lagless operation.
Note:
The acceleration feedforward only takes effect in lagless

operation (cf. "P-0-0040").
The acceleration command value obtained from double differentiation of

the position command value is multiplied with the content of S-0-0348 and
added to the torque/force command value at the velocity controller output.
Input Values
Note:
The acceleration feedforward is activated by entering a value

in S-0-0348, Acceleration feedforward gain that is greater
than "0"!
(S-0-0348 = 0 switched off)!
For optimum parameterization of the acceleration feedforward the

following data have to be entered in S-0-0348, Acceleration feedforward
gain:
total mass (motor + load) in kg (linear motor),
total mass inertia (motor + load), referring to the motor output shaft, in
kgm^2 (rotary motor).
Note:
Depending on the respective mechanical system, the input

value of S-0-0348, Acceleration feedforward gain has to be
adjusted on site.
The drive firmware automatically adjusts the unit and decimal places (as
of MP*03VRS) to the type of construction of the motor (rotary or linear)
entered in P-0-4014, Type of construction of motor.
rotary motor:
mN*m / rad/s^2
linear motor:
mN / mm/s^2
g*m^2
kg.
Version
Attribute
GEN-02VRS
GEN-02VRS
GEN-02VRS
GEN-02VRS
Data l.: 2Byte
Comment
MPB: min/max: 65535

MPD: min/max: 65535
MPH: min/max: 65535
See also Functional Description "Control Loop Structure"

See also Functional Description "Position Loop (with Respective
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
P-0-4014
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0000 / 214748,3647
0,0000
MPD:
0,0000 / 214748,3647
0,0000
MPH:
0,0000 / 214748,3647
0,0000
S-0-0349, Jerk limit bipolar

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The bipolar jerk limit value, in the operating modes listed below, describes
the maximum allowed acceleration change per time (= jerk),
symmetrically in both directions (acceleration and deceleration).
The limit value takes effect in the following operating modes:
Position control
Note:
The bipolar jerk limit value limits the change in acceleration

per time for "Drive Halt", the error reaction quick stop (velocity
command value reset with filter and ramp) and the commands
that are generating their own position command values. The
value "0" switches the jerk filter off!

Reference (Drive Controlled Homing)"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0
MPD:
0,0
MPH:
0,0
IndraDrive
S-0-0359, Positioning deceleration

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By this parameter the maximum deceleration at which to move to the

target position (S-0-0258, Target position or S-0-0282, Positioning
command value) is preset for the drive in the "Drive-internal
interpolation" and "Drive-controlled positioning" modes.
the positioning acceleration (S-0-0260) or deceleration (S-0-0359), takes
the maximum positioning velocity (S-0-0259), the maximum positioning
jerk (S-0-0193) and the feedrate override (S-0-0108) into consideration.
Interpolation"
Positioning"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
1000000
MPD:
1000000
MPH:
1000000
S-0-0360, Data container A: command value 1

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter the master transmits the data which in the drive is
written to the target parameter addressed via S-0-0368, Data container
A: addressing from S-0-0370, Data container A: configuration list
command value-1.
If a 2-byte target parameter is addressed with 2-byte data, only the low
word of S-0-0360, Data container A: command value 1 is used. In order
to use the data container, the parameter S-0-0360 has to be entered in
the list of cyclic data S-0-0024 in phase 2.
See also Functional Description "Multiplex Channel"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0362, Data container A: list index command values

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains the list index by means of which it is possible to

access individual list elements configured in "data container A:
configuration list command value-x".
It is thereby possible with the multiplex channel to write individual
elements of a list via an index in a controlled way. The parameter
S-0-0362, Data container A: list index command values can,
depending on the requirements, be configured in the cyclic command
values or write accessed via the non-cyclical data channel or some other
interface.
Note:
The parameter becomes effective only if a list parameter is

addressed via S-0-0368, Data container A: addressing.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0364, Data container A: feedback value 1

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
To parameter S-0-0364 the drive copies the data of the source parameter
addressed via S-0-0368, Data container A: addressing from S-0-0371,
Data container A: configuration list feedback value-1.
If a 2-byte source parameter is addressed with 2-byte data, only the low
word is copied to S-0-0364, Data container A: feedback value 1. In
order to use the data container, the parameter S-0-0364 has to be
entered in the list of cyclic data S-0-0016 in phase 2.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0366, Data container A: list index feedback values

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains the list index by means of which it is possible to

access individual list elements configured in "data container A:
configuration list feedback value-x".
It is thereby possible with the multiplex channel to read individual
elements of a list via an index in a controlled way. The parameter
S-0-0366, Data container A: list index feedback values can, depending
on the requirements, be configured in the cyclic command values or write
accessed via the non-cyclical data channel or some other interface.
Note:
The parameter becomes effective only if a list parameter is

addressed via S-0-0368, Data container A: addressing.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0368, Data container A: addressing

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains the indices by means of which the parameter

lists "data container A: configuration list command value-x" and "data
container A: configuration list feedback value-x" are accessed. This
defines the content of the two data containers "data container A:
configuration list command value-x" and "data container A: configuration
list feedback value-x". Only bits 0...4 (for command values) and 8...12 (for
actual values) are used for addressing; the other bits are cut off.
Bit
0-4
8-12
addressing for command values

addressing for actual values
Comment
Fig. 2-53: S-0-0368, Data container A: addressing
Note:
If the indicated index is greater than the number of elements in

the respective list, the warning E4008 Invalid addressing
command value data container A or E4009 Invalid
addressing actual value data container A is generated.
Note:
The parameter S-0-0368, Data container A: addressing can,

depending on the requirements, be configured in the cyclic
command values or write accessed via the non-cyclical data
channel or some other interface.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0370, Data container A: configuration list command value-1

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Those IDNs are entered in parameter S-0-0370 which are transmitted in

S-0-0360, Data container A: command value 1 depending on the index
in S-0-0368, Data container A: addressing, low byte. Write accessing S0-0370 is only possible in communication phase 2.
In the command S-0-0127, C0100 Communication phase 3 transition
check a check is run to find out whether the IDNs contained in S-0-0370
are contained in the lists S-0-0188, List of configurable data in the
MDT. If this is not the case, the command error C0151 IDN for
command value data container not allowed is generated.
Note:
A maximum of 32 IDNs can be configured in S-0-0370.
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0371, Data container A: configuration list feedback value-1

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

S-0-0364, Data container A: feedback value 1 depending on the index
in S-0-0368, Data container A: addressing, high byte. Write accessing
S-0-0371 is only possible in communication phase 2.
are contained in the lists S-0-0187, List of configurable data in the AT.
If this is not the case, the command error C0152 IDN for actual value
data container not allowed is generated.
Note:
IndraDrive
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0372, Drive Halt acceleration bipolar

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter you have to set with which maximum deceleration value
a drive is shut down in the case of
speed command value reset with ramp
Drive Halt
In addition, the value of this parameter takes effect as the maximum
acceleration or deceleration during the spindle positioning process
(C0900 Position spindle command).
Note:
The unit of this parameter is determined by "S-0-0160,

Acceleration data scaling type".

See also Functional Description "Best Possible Deceleration"
Version
Attribute
GEN-02VRS
Cycl. tra.: no
Comment
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
10000000
MPD:
10000000
MPH:
10000000
IndraDrive
S-0-0375, List of diagnostic numbers

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The drive enters every change of parameter S-0-0390, Diagnostic

message number in this list. The list is organized as a ring buffer; it can
contain up to 50 diagnostic message numbers. When the list is read, the
st
last diagnostic message number displayed is displayed in the 1 element
of the parameter.
See also Functional Description "Diagnostic System"
Function: Parameter
Editability:
no
Data l.:
4Byte var.
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0378, Absolute encoder range of motor encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter indicates the maximum extent of the travel range that can
be selected so that an absolute motor encoder can be evaluated in
absolute form.
If the encoder position exceeds this maximum travel range, bit 6 in the
position feedback type parameter (S-0-0277) is set to zero. The actual
position value displayed is no longer unequivocal and the reference of the
motor encoder is cleared. The reference status of the position encoders
connected to the drive is displayed in parameter S-0-0403, Position
feedback value status.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
S-0-0379, Absolute encoder range of optional encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
be selected so that an absolute external (optional) encoder can be
evaluated in absolute form.
position feedback type parameter (S-0-0117) is set to zero. The actual
external encoder is cleared. The reference status of the position encoders
connected to the drive is displayed in parameter S-0-0403, Position
feedback value status.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
S-0-0380, DC bus voltage

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used to display the DC bus voltage currently measured.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0382, DC bus power

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the DC bus power currently demanded by the motor.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Watt
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0383, Motor temperature

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter indicates the measured value of the end winding

temperature of the motor, if the temperature sensor incorporated in the
motor allows analog temperature evaluation!
Note:
In the case of MHD, MKD, MKE and LSF motors, the values
indicated by S-0-0383 do not allow, due to the temperature
sensor characteristic (switching performance), drawing a
conclusion regarding the actual motor temperature!
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
S-0-0208
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0384, Amplifier temperature

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Display parameter for the measured temperature of the controller power

output stage (heat sink temperature).
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
S-0-0208
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0386, Active position feedback value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The value of parameter S-0-0386, Active position feedback value

always displays the current position of the encoder that was set in the
presently active operating mode.
According to the operating mode that was set, the active actual position
value therefore either corresponds to parameter S-0-0051, Position
feedback 1 value or to parameter S-0-0053, Position feedback 2 value.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0390, Diagnostic message number

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The diagnostic message number shown on the display is stored in this

parameter. This enables the control unit to generate its own diagnostic
messages by means of this number (e.g. in languages in which the
diagnostic message texts have not been stored in the drive).
Example:
Diagnostic message (in parameter S-0-0095):
"F8022 Enc. 1 error: sign. amplitude (can be cleared in ph.2)"
Diagnostic message number (in parameter S-0-0390):
"F8022(hex)"
In the case of multi-axis firmware, the parameter is available once per
axis.
See also Functional Description "Coded Diagnostic Drive Messages"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0391, Monitoring window feedback 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The value of this parameter defines the maximum allowed deviation of the
actual position values of motor encoder and external encoder (S-0-0051,
Position feedback 1 value, S-0-0053, Position feedback 2 value).
If this value is exceeded, the error F2036 Excessive position feedback
difference is generated. The monitor is only active when both encoders
were homed. The monitor can be switched off by writing the value "0" to
this parameter.
Version
Attribute
GEN-02VRS
Validity ch.: P2-3
Comment
See also Functional Description "Monitoring the Measuring Systems"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0
MPD:
0,0
MPH:
0,0
S-0-0393, Command value mode

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is used as control word for positioning and has the
following structure:
Bit
1/0
Mode
00: positive direction
Only positive direction of rotation is allowed for
jogging and positioning (rel./absolute). (See also
F2059 Incorrect command value direction when
positioning)
01: negative direction
Only negative direction of rotation is allowed for
jogging and positioning (rel./absolute). (See also
F2059 Incorrect command value direction when
positioning)
10: shortest distance
Both positive and negative directions of rotation are
allowed for jogging and positioning (rel./absolute).
Note:
If, when a positioning mode is activated, the current
travel direction or direction of rotation is opposed to
the direction (positive / negative) parameterized in
S-0-0393, Command value mode, the error F2059 is
not generated. In this case the axis decelerates with
the parameterized deceleration.
2
command value reference when operating mode
activated
0: reference for relative positioning is current actual
position
1: reference for relative positioning is the content of
S-0-0430, Effective target position (residual path
processing!)
Fig. 2-54: Structure of parameter S-0-0393
Parameter Used for "Modulo
Axes"
Comment
Up to firmware
MP*02V22 the
mode for relative
positioning was
not taken into
account
This parameter defines the sense of rotation of a "modulo axis" in the

case of drive-controlled positioning processes.
"Modulo axes" are, for example, circular tables, spindles etc that, due to
their mechanical structure, do not have any travel range limits and can
turn "endlessly". After one axis revolution the actual position value of the
"modulo axis" is repeated referring to the home point. Due to this
IndraDrive
mechanical property it is necessary to determine a mode for positioning

processes, because a target position can be reached in both senses of
rotation or over a longer or shorter distance.
Note:
Residual Path Processing

The following sections describe some special cases regarding residual

path processing:
If residual path processing is active, the drive, after the operating

mode has been activated, travels the residual path without repeated
command value acceptance when S-0-0430 is valid and the axis has
been homed.
Note:
When the control voltage is switched off, the content of

S-0-0430 is automatically saved and restored when the drive
is switched on again.
If drive-internal positioning is aborted by jogging or stopping the

positioning process (S-0-0346: bit 1, 2 = 11), the new positioning
command value, too, is only accepted at the next toggling of bit 0 in
S-0-0346.
A possibly existing residual path from the previous positioning
process is cleared! When jogging and stopping the positioning
process, the current values of S-0-0259, Positioning Velocity and
S-0-0260, Positioning Acceleration or S-0-0359, Positioning
Deceleration are active.
Residual path processing in the case of repeated activation of the

operating mode is only carried out when bit 2 = 1 and the has
remained homed since the last positioning.
See also Functional Description "Operating Modes - Drive Controlled

Positioning"
See also Functional Description "Operating Modes Drive-Internal
Interpolation"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0/7
MPD:
0/7
MPH:
0/7
IndraDrive
S-0-0398, IDN list of configurable data in signal status word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains the IDNs of those parameters that can be

entered (configured) in S-0-0026, Configuration list signal status word.
S-0-0026 is a list with a maximum of 16 parameter IDNs, one bit of each
is to be mapped to S-0-0144, Signal status word. The assignment with
regard to which bit of the respective parameter is mapped to S-0-0144 is
made in S-0-0328, Assign list signal status word.
See also Functional Description "Digital Inputs/Outputs"
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0399, IDN list of configurable data in the signal control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains the IDNs of those parameters that can be

entered (configured) in S-0-0027, Configuration list signal control
word.
S-0-0027 is a list with a maximum of 16 parameter IDNs, one bit of each
is to be written via S-0-0145, Signal control word.
The assignment with regard to which bit of the respective parameter is to
be written in S-0-0027 is made in S-0-0329, Assign list signal control
word.
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0400, Home switch

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The switch status of the home switch connected to the controller is

mapped in this parameter.
Bit
Comment
home switch
0: not activated (0 V)
1: activated (24 V)
Fig. 2-55: S-0-0012, Relevant bits of S-0-0400, Home switch
Note:
By means of this parameter the switch status of the home
switch can be assigned to a real-time status bit, for
example.
To evaluate the home switch, S-0-0400 must be assigned
to the digital input in P-0-0300, Digital I/Os, assignment
list provided for this purpose, P-0-0301, Digital I/Os, bit
numbers must be set accordingly!

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0401, Probe 1
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the switch status of the probe 1 input signal.
IndraDrive
Prerequisite:
and be executed.
Bit
Comment
probe input signal

0: 0 V
1: 24 V
Fig. 2-56: Relevant bits of S-0-0401, Probe 1
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0402, Probe 2
Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
This parameter displays the switch status of the probe 2 input signal.
Prerequisite:
and be executed.
Bit
probe input signal

0: 0 V
1: 24 V
Fig. 2-57: Relevant bits of S-0-0402, Probe 2
Comment
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0403, Position feedback value status

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter displays the status messages of the actual position values
of the connected encoders. In addition, the position status of the encoder
selected by bit 3 of S-0-0147, Homing parameter is displayed in bit 0.
When the drive reacts to the commands S-0-0148, C0600 Drivecontrolled homing procedure command or P-0-0012, C0300
Command Set absolute measuring, bit 0 is reset (value "0") at the start
of these commands and set again (value "1") after successful completion
of the respective command reaction.
In the case of devices with SERCOS interface, the status message of the
actual position values can be allocated to a real-time status bit and
continuously transmitted to the NC in the drive status (see parameter
S-0-0305, Allocation of real-time status bit 1).
Bit
Comment
status of reference encoder pos. feedb. value

(encoder 1 or 2) is
0: relative
1: homed
1
status of motor encoder S-0-0051, Pos. feedback 1
value is
0: relative
1: homed
2
status of external encoder S-0-0053, Pos. feedback
2 value is
0: relative
1: homed
Fig. 2-58: Relevant bits of 0-0403, Position feedback value status

IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0404, Position command value status

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
When the position command value is switched to axis reference, the

master sets the position command value status to "homed". This signals
to the drive that the master, as of this point of time, refers all position
command values to the axis zero point. The master simultaneously enters
the new position command value in the cyclic data.
Bit
status of position command value

0: relative
1: homed (referring to axis zero point)
Fig. 2-59:
Comment
Relevant bits of S-0-0404, Position command value status
See also Functional Descriptions "Establishing Position Data Reference

for Relative Measuring Systems", "Establishing the Position Data
Reference (Drive-Controlled Homing)" and "Drive Functions - Establishing
the Position Data Reference"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0405, Probe 1 enable

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With this parameter the measurement with probe 1 is enabled (activated).

The enable mode (single measurement or continuous measurement) is
determined in S-0-0169, Probe control parameter.
The probe enable can be carried out by a real-time control bit of the
master control word, for example.
Bit
Comment
probe enable
0: no
1: yes
Fig. 2-60: Relevant bits of S-0-0405, Probe 1 enable
Function: Parameter
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0406, Probe 2 enable

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
With this parameter the measurement with probe 2 is enabled (activated).

The enable mode (single measurement or continuous measurement) is
determined in S-0-0169, Probe control parameter. The probe enable
can be carried out by a real-time control bit of the master control word, for
example.
IndraDrive
Bit
Comment
probe enable
0: no
1: yes
Fig. 2-61: Relevant bits of S-0-0406, Probe 2 enable
Function: Parameter
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0407, Homing enable

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
For NC-controlled homing the master-side homing enable is one of the

requirements for starting the search for the reference point on the drive
side. Via this parameter the homing enable can be assigned to a real-time
control bit. The drive only evaluates the homing enable with active
command "C4300 NC-controlled homing procedure"!
Bit
Homing enable set on master side?

0: no
1: yes
Fig. 2-62:
Comment
Relevant bits of S-0-0407, Homing enable
See also Functional Descriptions "Establishing Position Data Reference

for Relative Measuring Systems", "Establishing the Position Data
Reference (Drive-Controlled Homing)" and "Drive Functions - Establishing
the Position Data Reference"
Function: Parameter
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0408, Reference marker pulse registered

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
For Non-Distance-Coded
Encoders
In this parameter the drive signals the detection of the reference point
(reference mark) only in the case of NC-controlled homing, if S-0-0407,
Homing enable is present on the master side and a reference mark of
the encoder was detected. At the same time the drive stores the nonhomed actual position value of the detected mark in S-0-0173, Marker
position A (motor encoder) or S-0-0174, Marker position B (external
encoder).
For Distance-Coded Encoders
In this parameter the drive, in the case of NC-controlled homing, signals

the detection of both reference marks of the distance-coded encoder,
independent of S-0-0407, Homing enable. The drive stores the nonhomed actual position values of the two detected reference marks in S
00173, Marker position A (first detected reference mark) and S0
0174, Marker position B (second detected reference mark).
Bit
reference mark(s) detected?

0: no
1: yes
Comment
Fig. 2-63:
Relevant bits of S-0-0408, Reference marker pulse registered
Note:
The parameter is only valid during the active command

"C4300 NC-controlled homing procedure". In the case of drivecontrolled homing (C0600), this message is not generated!

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0409, Probe 1 positive latched

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the measured value acquisitions that were

caused by positive edges of the probe 1 input signal.
Prerequisite:
The command S-0-0170, Probing cycle procedure command must
be active.
Bit 0 must be set in S-0-0169, Probe control parameter.
Probe 1 enable (S-0-0405) must be present.
The respective measured value is stored in S-0-0130, Probe value 1
positive edge. If "single measurement" has been set for the enable mode
of probe 1 in S-0-0169, Probe control parameter, bit 0 of S-0-0409
changes from "0" to "1" when a measured value is acquired.
If "continuous measurement" has been set, the number of previous
measured value acquisitions since the activation of the command is
displayed in S-0-0409 in binary form. Bit 0 toggles in the case of each
new measured value acquisition. The drive clears the count when:
the control unit clears the command S-0-0170, Probing cycle
procedure command or
sets S-0-0405, Probe 1 enable from "1" to "0".
Note:
The measured value acquisitions can be directly recognized

by the control unit by assignment to the real-time status bits!
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0410, Probe 1 negative latched

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

caused by negative edges of the probe 1 input signal.
Prerequisite:
be active.
negative edge. If "single measurement" has been set for the enable
mode of probe 1 in S-0-0169, Probe control parameter, bit 0 of
S-0-0410 changes from "0" to "1" when a measured value is acquired.
Note:

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0411, Probe 2 positive latched

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):

caused by positive edges of the probe 2 input signal.
Prerequisite:
be active.
positive edge.
If "single measurement" has been set for the enable mode of probe 1 in
S-0-0169, Probe control parameter, bit 0 of S-0-0411 changes from "0"
to "1" when a measured value is acquired.
Note:

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0412, Probe 2 negative latched

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):

caused by negative edges of the probe 2 input signal.
Prerequisite:
be active.
negative edge.
If "single measurement" has been set for the enable mode of probe 1 in
S-0-0169, Probe control parameter, bit 0 of S-0-0412 changes from "0"
to "1" when a measured value is acquired.
Note:

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0413, Bit number allocation of real-time control bit 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

write, at each case, one bit of a parameter in the drive. The IDN of the
parameter that contains the bit to be written by the real-time control bit 1
is entered in S-0-0301, Allocation of real-time control bit 1, the bit
number is entered in this parameter.
The real time control bits are part of the master control word (S-0-0134)
and are cyclically ("in real time") sent to the drive, i.e. in the clock of the
SERCOS communication one bit of the assigned parameter can be
written.
Status Bits"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 15
MPD:
0 / 15
MPH:
0 / 15
S-0-0414, Bit number allocation of real-time control bit 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

write, at each case, one bit of a parameter in the drive. The IDN of the
parameter that contains the bit to be written by the real-time control bit 2
is entered in S-0-0303, Allocation of real-time control bit 2, the bit
number is entered in this parameter.
The real time control bits are part of the master control word (S-0-0134)
and are cyclically ("in real time") sent to the drive, i.e. in the clock of the
SERCOS communication one bit of the assigned parameter can be
written.
Status Bits"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 15
MPD:
0 / 15
MPH:
0 / 15
S-0-0415, Bit number allocation of real-time status bit 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

parameter bit for direct access by a control unit.
Via S-0-0415, Bit number allocation of real-time status bit 1 it is
possible to select the bit number of the desired bit of a parameter.
Note:
The respective IDN of the parameter is entered in parameter

S-0-0305.

Status Bits"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 15
MPD:
0 / 15
MPH:
0 / 15
IndraDrive
S-0-0416, Bit number allocation of real-time status bit 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

parameter bit for direct access by a control unit.
Via S-0-0416, Bit number allocation of real-time status bit 2 it is
possible to select the bit number of the desired bit of a parameter.
Note:
The respective IDN of the parameter is entered in parameter

S-0-0307.

Status Bits"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 15
MPD:
0 / 15
MPH:
0 / 15
S-0-0417, Positioning velocity threshold in modulo mode

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By this parameter it is possible to determine a threshold value for the

actual velocity in the case of drive-internal interpolation and drivecontrolled positioning.
If the actual velocity is above the threshold value, the drive moves to a
target position without reversing even if the specification in S-0-0393,
Command value mode should cause reversing.
Prerequisite:
Note:

By entering the value "0" the velocity threshold is deactivated,

i.e. drive always moves to the target position as determined in
S-0-0393!
Version
Attribute
GEN-02VRS
Default value: 0
Comment

Interpolation"
Positioning"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
200000
MPD:
200000
MPH:
200000
S-0-0418, Target position window in modulo mode

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter allows determining a symmetrical position range relative

to the current position (target position window). Within the symmetrical
position range it is always possible to move to a target position over the
shortest distance even if only one direction of movement has been
determined for positioning in S-0-0393, Command value mode.
Prerequisite:
Note:

By entering the value "0" the target position window is

deactivated, i.e. drive always moves to the target position as
determined in S-0-0393!

Interpolation"
Positioning"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
S-0-0419, Positioning command acknowledge

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the "Drive-controlled positioning" mode the parameter is used to

acknowledge the positioning command value acceptance.
The acceptance is acknowledged at the time a new value of S-0-0282,
Positioning command value is accepted in S-0-0430, Effective target
position which is the time of acceptance in the internal position
command value generator.
If bit 5 = 0 in parameter S-0-0346, Positioning control word, the
acknowledge only takes place after the drive moved to the previous
preset positioning value and the message "target position reached" (cf.
S-0-0437, bit 0) was set.
Positioning"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0426, Signal select probe 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter it is possible to select the parameter the current value of

which is to be stored when switching probe 1.
The IDNs of the parameters that can be selected are listed in S-0-0428,
Probe, IDN list signal selection. It is only possible to select these
parameters!
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0427, Signal select probe 2

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
In this parameter it is possible to select the parameter the current value of

which is to be stored when switching probe 2.
The IDNs of the parameters that can be selected are listed in S-0-0428,
Probe, IDN list signal selection. It is only possible to select these
parameters!
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0428, Probe, IDN list signal selection

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains a list of IDNs of those parameters the current

status value ("measured value") of which can be recorded upon the
switch signal of a probe. The measured value is stored in a parameter
and is therefore available for the control unit of the machine or installation.
IDN
Signal
S-0-0000
no signal
S-0-0051
actual position value 1 (motor encoder)
S-0-0053
actual position value 2 (external encoder)
P-0-0052
actual position value 3 (measuring encoder)
P-0-0227
cam shaft profile, access angle
P-0-0753
position actual value in actual value cycle
P-0-0775
resulting master axis position
P-0-0776
effective master axis position
P-0-0778
synchronous position command value
Fig. 2-64: IDN list with signal selection
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0430, Effective target position

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the operating modes
positioning block mode
it is possible to read the current target position (absolute position) via this
parameter.
In the case of "Drive-controlled positioning", depending on the modalities
defined in S-0-0346, Positioning control word, the value in S-0-0430,
after an edge change of the positioning command value acceptance bit,
corresponds to
the value of S-0-0282, Positioning command value, if this value had
been defined as the absolute target position.
the sum of the previous value of S-0-0430 and S-0-0282, if the new
target position is referring to the previous target position ( S-0-0346,
bit 4 = 0).
the sum of the actual position value S-0-0051 and S-0-0282 at the
time of toggling, if the target position is referring to the current actual
position value ( S-0-0346, bit 4 = 1).
Note:
If residual path processing is possible when activating the

"Drive-controlled positioning" operating mode again, e.g. after
the control voltage is switched on again in the case of axes
with absolute measuring system, the effective target position
still is contained in S-0-0430 ("non-volatile parameter")!
See also Functional Description "Operating Modes - Drive Controlled

Positioning"
Function: Parameter
Editability:
Memory: RETAIN_KUNDE
DEC_MV
Unit:
0078
S-0-0076
Cycl. tra.: AT
Extr. val. ch.:
no
Data l.:
4Byte
Validity ch.:
no
Format:
no
Decim. pl.: S-0-0077 / S-0-
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
S-0-0437, Positioning status word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter contains status bits of the positioning generator that are
generated in the operating modes with internal interpolator (target position
generator). Those operating modes are, for example, positioning block
mode, drive-internal interpolation and drive-controlled positioning.
Note:
If the condition for the message has been fulfilled, the

respective bit changes from 0 to 1!
Bit
Function
target position reached (S-0-0342) S-0-0430 = P-0-0434

Note: Is only generated with active operating mode!
(| S-0-0258, Target position S-0-0386, Active pos. feedb. val. |
< S-0-0057), for operating mode drive-internal interpolation
Is also generated with inactive operating mode!
IN_TARGET POSITION (S-0-0338) =
(|S-0-0430 - S-0-0386, Active pos. feedb. val. | < S-0-0057) &&
IN_POSITION (S-0-0336) &&
Nact = 0 (S-0-0331)
Is also generated with inactive operating mode!
interpolator halted (S-0-0343)
constant interpolation velocity
drive accelerates
drive decelerates
(reserved)
jog mode active (see S-0-0346, bits 1 and 2)
positioning velocity > nlimit (S-0-0315)
target position outside of travel range (S-0-0323)
(reserved)
3
4
5
6
7 11
12
13
14
15

Positioning"
Interpolation"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
S-0-0446, Ramp reference velocity for acceleration data

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the case of the scaling type "ramp time" for the acceleration data
S-0-0160, Acceleration data scaling type, the value of this parameter
and the ramp reference time are used as definition values for the
reference velocity ramp. The value of S-0-0446 is scaled according to the
settings for the scaling of the velocity data S-0-0044, Velocity data
scaling type.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
30000000
MPD:
30000000
MPH:
30000000

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
command value 2.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
command value 3.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
command value 4.
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
command value 5.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
command value 6.
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
command value 7.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
command value 8.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0460, Position switch point 1 "Off"

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter determines the switch-off position for a "virtual" positiondependent switch (cf. adjusting the switch-off position by mechanical
switch cams). If the actual position value is greater than the switch-off
position, the respective bit of S-0-0059, Position switch flag parameter
is "0". Otherwise it is "1" if the actual position value hasnt fallen below the
value of S-0-0060, Position switch point 1 "On".
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Data container A: configuration list feedback value2.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Data container A: configuration list feedback value3.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Data container A: configuration list feedback value 4.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0490, Data container A: configuration list command value 2

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

MDT. If this is not the case, the command error C0151 IDN for
command value data container not allowed is generated.
Note:
IndraDrive
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

in S-0-0368, Data container A: addressing, low byte. Write accessing S0-0491 is only possible in communication phase 2. In the command S-00127, C0100 Communication phase 3 transition check a check is run
to find out whether the IDNs contained in S-0-0491 are contained in the
lists S-0-0188, List of configurable data in the MDT.
If this is not the case, the command error C0151 IDN for command
value data container not allowed is generated.
Note:
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

MDT.
Note:
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

MDT.
IndraDrive
Note:
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

MDT.
Note:
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

MDT.
Note:
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

MDT.
IndraDrive
Note:
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
S-0-0500, Data container A: configuration list feedback value 2

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:
IndraDrive
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
Product Specific Parameters P-0-0001 P-0-0905 3-1
IndraDrive
Product Specific Parameters P-0-0001 P-0-0905
P-0-0001, Switching frequency of the power output stage

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The switching frequency of the output stage can be set. Basically, the
following values can be selected:
4000 Hz
8000 Hz
12000 Hz
16000 Hz
The actually possible input values for the switching frequency of the
output stage depend on the performance setting in P-0-0556, Control
word of axis controller (see that parameter).
The cycle time of the current control results from the combination of the
switching frequency of the output stage and the performance setting in
P-0-0556, Control word of axis controller (see that parameter). In
general: the higher the switching frequency selected, the shorter the cycle
time.
See also Functional Description "Current Controller"
Note:
The higher the clock frequency selected, the lower the

continuous output current of the controller!
P-0-0001 - Attribute
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Hz
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
4000 / 8000
4000
MPD:
4000 / 8000
4000
MPH:
4000 / 16000
4000
3-2 Product Specific Parameters P-0-0001 P-0-0905
IndraDrive
P-0-0004, Velocity loop smoothing time constant

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The time constant that can be activated in this parameter takes effect in
the velocity controller and is suited for suppressing quantization effects
and limiting the bandwidth of the velocity control loop.
The limit frequency results from the smoothing time constant by means of
the following relationship:
fg =
Fig. 3-1:
1
2 T
Bandwidth
By inputting the minimum input value the filter is switched off.

See also Functional Description "Velocity Control Mode"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
125 / 65500
800
MPD:
125 / 65500
800
MPH:
125 / 65500
800
IndraDrive
P-0-0008, Activation E-Stop function

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used for activating the E-Stop input and selecting a
reaction for the shutdown of the drive.
Bit
Comment
activation of E-Stop
0: inactive
1: active
1
error class in the case of interpretation as an error
(bit 2 = 0)
0: best possible deceleration (P-0-0119)
1: velocity command value set to zero
2
interpretation
0: as non-fatal error
1: fatal warning
Fig. 3-2: P-0-0008, Activation E-Stop-Function
Note:
The input is always "0-active", i.e. 0 V on the input means it is

active!
P-0-0223, E-Stop input must have been assigned to a digital
input via the P-0-0300 and P-0-0301 parameters.
See also Functional Description "E-Stop Function"

See also Functional Description "Activation and Polarity of the E-Stop
Input"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/7
MPD:
0/7
MPH:
0/7
IndraDrive
P-0-0009, Error number

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When the drive diagnoses a class 1 diagnostics error, a bit is set in

parameter S-0-0011, Class 1 diagnostics. Bit 13 for "Error in class 1
diagnostics" is then set in the drive status word.
In order to allow a more detailed diagnosis
the diagnostic number appears on the display and is stored in
parameter S-0-0390, Diagnostic message number,
the plain text diagnosis is stored in parameter S-0-0095, Diagnostic
message
and the respective error number is stored in parameter P-0-0009,
Error number.
When there isnt any error present, the value of parameter P-0-0009,
Error number equals 0.
Example for a diagnosis:
S-0-0390:
F8022 (hex)
P-0-0009:
8022 (decimal)
S-0-0095:
2)
F8022 Enc. 1: enc. signals incorr. (can be cleared in ph.
See also Functional Description "Error Memory (Power Section and

Control Section)"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0010, Excessive position command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the "cyclic position control" mode (S-0-003235 = 0x0003,

0x0004, 0x000B or 0x000C) the NC sets position command values in
equal time intervals (S-0-0001, NC Cycle time (TNcyc)). In the drive the
difference of two successive position command values is monitored with
regard to exceeding the S-0-0091, Bipolar velocity limit value.
In case the value is exceeded the F2037 Excessive position command
difference error is activated and the "excessive position command value"
Xcmd(k) that activated the error is stored the P-0-0010, Excessive
position command value parameter.
Value Input"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0011, Last valid position command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the "cyclic position control" mode (S-0-003235 = 0x0003,

0x0004, 0x000B or 0x000C) the NC sets position command values in
equal time intervals (S-0-0001, NC Cycle time (TNcyc)). In the drive the
difference of two successive position command values is monitored with
regard to exceeding the S-0-0091, Bipolar velocity limit value.
In case the value is exceeded the F2037 Excessive position command
difference error is activated and the "last valid position command value"
Xcmd(k-1) is stored the P-0-0011, Last valid position command value
parameter.
Value Input"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0012, C0300 Command Set absolute measuring

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
When commissioning an absolute measuring system, the actual position

value of this system at first displays the value of P-0-0019, Initial
position value if the "Set absolute measuring" command has not yet
been executed. But if another absolute value encoder that has been
homed has been connected, the value of this encoder is displayed.
By means of the "Set absolute measuring" command the actual position
value can be set to a desired new value at any reference position. After
the "Set absolute measuring" command has been completed, the actual
position value of the respective encoder has a new reference system. The
value of the respective bit in the S-0-0403, Position feedback value
status parameter then is 1.
Note:
The command only acts on the connected absolute measuring

system that has been selected in P-0-0612, Control word for
setting absolute measuring.
By means of a backup of all required data of the absolute measuring

system in the feedback data memory or parameter data memory, all
information will be available every time the machine is switched off and on
again. The actual position value retains its reference to the machine zero
point.
Reference (Set Absolute Measuring)"
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0013, List of all IDNs not corresponding to default value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains a list of the IDNs of those parameters the data of
which has changed with regard to the default value.
See also the functional description: "Parameters, Basics"
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0014, C1400 Command Get marker position

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The P-0-0014, C1400 Command Get marker position command is used

to check whether the reference marks of an incremental measuring
system are recognized correctly. If an incremental measuring system is
available and the command has been activated, the actual position value
of the measuring system is stored in the S-0-0173, Marker position A
parameter, once the reference mark has been detected, and the
command is signalized to have been completed. If there are 2 measuring
systems available, bit 3 in S-0-0147, Homing parameter decides on the
measuring system that will be used.
See also Functional Description "Detecting Marker Position"
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0018, Number of pole pairs/pole pair distance

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The following settings can be made depending on bit 9 of parameter

P-0-4014, Type of construction of motor:
number of pole pairs in the case of rotary motors
pole pair distance/pole pair length in the case of linear motors
Note:
commissioning.
loading the motor parameters with the IndraWorks D
commissioning tool.

Measuring Systems"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
P-0-4014
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / var.
MPD:
1 / var.
MPH:
1 / var.
P-0-0019, Initial position value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the case of a non-homed drive (S-0-0403 = 0x0), the actual position

value of the motor encoder (S-0-0051) and, if available, the actual
position value of the optional encoder (S-0-0053) is set to the value of
P-0-0019 during the initialization process (transition command
communication phase 3 to 4).
Note:
The default value of P-0-0019 is zero.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-0020, Oscilloscope: operating mode

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of parameter P-0-0020, Oscilloscope: operating mode it is

possible to activate special functions, such as device oscilloscope for
multi-axis devices.
Note:
The parameter can only be changed when all oscilloscope

functions of a device have been deactivated (see also
P-0-0028, Oscilloscope: control word).
Bit
Comment
device oscilloscope
0: axis oscilloscope (one separate oscilloscope for
each axis of a device)
1: device oscilloscope (one common oscilloscope for all
axes of a device)
Fig. 3-3: P-0-0020, Oscilloscope: operating mode
See also Functional Description "Oscilloscope Function"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0021, Oscilloscope: list of measured values 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The measured values of channel 1 of the oscilloscope function are stored

in chronological order in parameter P-0-0021, Oscilloscope: list of
measured values 1. The oldest measured value is the first element of
the list of measured values.
The recorded signal is the one identified by means of the IDN entered in
P-0-0023, Oscilloscope: signal selection 1.
Note:
Attribute, unit etc. are automatically adjusting to this selected

signal.
Function: Parameter
Editability:
no
Data l.:
4Byte var.
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:

signal.
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte var.
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0023, Oscilloscope: signal selection 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The IDN entered in P-0-0023, Oscilloscope: signal selection 1 defines

the signal that is to be recorded by channel 1.
Only such IDNs are allowed that are contained in the list P-0-0149,
Oscilloscope: signal selection list.
Note:
The measuring channel is deactivated with the input "0" or

"S-0-0000".
When the recording is over, the recorded measured values are contained
in parameter P-0-0021, Oscilloscope: list of measured values 1.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:
IndraDrive

"S-0-0000".
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0025, Oscilloscope: trigger mask

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For trigger signals with the display format "Bin" and "Hex", it is possible by
means of parameter P-0-0025, Oscilloscope: trigger mask to put an
additional trigger mask over the trigger signal and trigger threshold before
the comparison. On all other display formats of the trigger signal the
parameter doesnt have any effect.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0xFFFFFFFF
MPD:
--- / ---
0xFFFFFFFF
MPH:
--- / ---
0xFFFFFFFF
IndraDrive
P-0-0026, Oscilloscope: trigger signal selection

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-0026, Oscilloscope: trigger signal selection

determines for the trigger unit with which signal from P-0-0149,
Oscilloscope: signal selection list the trigger level (P-0-0027) is to be
compared.
Note:
Selecting a trigger signal (cf. P-0-0026) also determines the

unit and format for P-0-0027, Oscilloscope: trigger level.
At the start of the recording (P-0-0036, Bit2 1) the trigger error bit
(P-0-0037, bit7) is then set in the status word.
The parameter can only be changed when the oscilloscope has been
deactivated (see also P-0-0028, Oscilloscope: control word).
Note:
When S-0-0000 is preset as IDN, the trigger function is not

active.

.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0027, Oscilloscope: trigger level

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-0027, Oscilloscope: trigger level is the comparative

value for the trigger function.
Depending on the selected trigger edge (P-0-0030), the bit for "internal
trigger" (P-0-0037, bit 2) is set when the trigger condition has been
reached.
Before that bit 8 and bit 9 in the status word (P-0-0029) indicate whether
the value of the selected trigger source is above or below the trigger level
or whether the value corresponds to the trigger level.
Note:
IndraDrive
The parameter can only be changed when the recording has

been started (see also P-0-0028, Oscilloscope: control
word). Depending on the IDN selected in P-0-0026,
Oscilloscope: trigger signal selection, attribute and unit are
adjusting to the selected signal.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0028, Oscilloscope: control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-0028, Oscilloscope: control word contains (except

for the operating mode) all settings for controlling the oscilloscope. These
settings contain the selection for trigger offset measurement and the
activation (start/stop) of the oscilloscope.
Bit
Comment
start of recording
0: recording is stopped
1: recording is started
1
kind of trigger
0: internal trigger (without offset measurement)
1: external trigger (with offset measurement)
Fig. 3-4: P-0-0028, Oscilloscope: control word
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0029, Oscilloscope: status word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-0029, Oscilloscope: status word displays the

current status of the oscilloscope function.
Bit
Comment
start of recording
0: Recording by P-0-0028, bit 0 stopped or completed.
1: Recording by P-0-0028, Bit 0 started. Change of
some oscilloscope parameters locked.
1
trigger start
0: trigger function completed
1: Trigger function started. Internal trigger not yet
released. Comparison continues to run.
2
internal trigger
0: Internal trigger not yet released.
1: Internal trigger released. Comparison successfully
completed.
3
trigger function completed
1: When triggering via external trigger signal,
(P-0-0028, bit1 = 1) an external trigger signal was
detected. When triggering via internal source only, this
bit is set together with bit 2.
4
delay function completed
0: delay function still active
1: Delay function completed. New measured values can
be read. Bit 0 is cleared.
7
trigger error
0: trigger function correctly intialized at start of
recording (P-0-0028, bit0 )
1: Trigger function not correctly intialized at start of
recording (P-0-0028, bit0 ), e.g. incorrect trigger
source (P-0-0026). Trigger function threrefore cannot
be executed.
8/9
status trigger signal
(comparison only takes place with active trigger
function and until internal trigger bit2 has been
reached)
00: no comparison
01: trigger signal > trigger threshold (P-0-0027)
10: trigger signal < trigger threshold (P-0-0027)
11: trigger signal = trigger threshold (P-0-0027)
Fig. 3-5: P-0-0029, Oscilloscope: status word
See also Parameter Description "P-0-0028, Oscilloscope: control word

IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0030, Oscilloscope: trigger edge

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-0030, Oscilloscope: trigger edge determines the

edge at which the "internal trigger" (P-0-0029, bit 2) is triggered. In
addition, it is possible to check the equality of trigger level and trigger
source. Combinations of several conditions (e.g. ) are possible.
The parameter can also be changed when the recording has been started
(see also P-0-0028, Oscilloscope: control word). This however can
cause the "internal trigger" to be triggered accidentally.
Bit
Comment
trigger edge positive

1: internal trigger is triggered at positive edge
1
trigger edge negative
1: internal trigger is triggered at negative edge
2
trigger equal
1: internal trigger is triggered when trigger level and
value of trigger source are equal
Fig. 3-6: P-0-0030, Oscilloscope: trigger edge
See also the functional description: "Oscilloscope Function"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1/4
MPD:
1/4
MPH:
1/4
IndraDrive
P-0-0031, Oscilloscope: time resolution

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The time resolution of the oscilloscope function (i.e. the sampling rate)
can be defined by parameter P-0-0031, Oscilloscope: time resolution.
As a maximum (= highest sampling rate) the signals can be recorded in
the position loop clock (Advanced: 250 s, Basic: 500 s, Low
Performance: 1 ms).
The following applies to the parameterization of P-0-0031:
The input range of P-0-0031 therefore depends on the hardware and

firmware that are used (or the performance set in P-0-0556).
When new values are entered they are automatically replaced by

multiples of the minimum value.
Note:
Parameter P-0-0031 can only be changed when the

oscilloscope has been deactivated (see also P-0-0028,
Oscilloscope: control word).
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
250 / 8000000
1000
MPD:
250 / 8000000
1000
MPH:
250 / 8000000
1000
P-0-0032, Oscilloscope: size of memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The size of memory defines the number of measured values to be

recorded per measurement. A maximum of 8192 measured values can
be recorded per channel. By means of the size of memory and the time
resolution (P-0-0031, Oscilloscope: time resolution) you can determine
the recording time.
Note:
The minimum recording duration is one position clock!
In general, the following applies:
recording time = time resolution size of memory [s]
IndraDrive
With the size of memory the master can adjust the size of the lists of
measured values to its requirements (e.g. available memory). The
parameter can only be changed when the oscilloscope has been
deactivated (see also P-0-0028, Oscilloscope: control word).
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 8192
4096
MPD:
1 / 8192
4096
MPH:
1 / 8192
4096
P-0-0033, Oscilloscope: number of measured values after trigger

event
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-0033, Oscilloscope: number of measured values

after trigger event determines the number of measured values that will
still be recorded after the trigger event (P-0-0029, bit 3 = 1) has occurred
(delay function).
After these measured values have been recorded, the bit "delay function
completed" (P-0-0029, bit 4) is set in P-0-0029, Oscilloscope: status
word. The entire recording then is completed and the lists of measured
values can be read.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 8192
MPD:
0 / 8192
MPH:
0 / 8192
IndraDrive
P-0-0034, Position command additional actual value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used as the start value for synchronization in a

synchronization mode with outer position control loop.
It contains the difference between P-0-0753, Position actual value in
actual value cycle and the synchronous position command value
generated from the master axis position.
In the case of modulo scaling the parameterized actual value cycle is
used as modulo range for P-0-0034.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0035, Oscilloscope: control offset

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With the selection "trigger offset measurement" (P-0-0028, bit 1 = 1), the
parameter P-0-0035, Oscilloscope: control offset contains the number
of measured values that were recorded between the occurrence of the
"internal trigger" (P-0-0029, bit 2) and the occurrence of the "external
trigger for trigger offset measurement" (P-0-0036, bit 0). The parameter
indicates the offset between these two trigger sources and can be used
for synchronizing the lists of measured values of several drives via the
master.
See also Parameter Description "P-0-0028, Oscilloscope: control word
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0036, Oscilloscope: external trigger signal

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-0036, Oscilloscope: external trigger signal is a

real-time control bit parameter and can be parameterized both in the realtime channel of the interface and as hardware input.
Bit
Comment
external trigger signal

0: external trigger signal = Low
1: external trigger signal = High
Fig. 3-7: P-0-0036, Oscilloscope: external trigger signal
See also Parameter Description "P-0-0028, Oscilloscope: control word"

Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0037, Oscilloscope: internal trigger signal

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-0037, Oscilloscope: internal trigger signal contains

the status of the internal trigger. It is a real-time status bit capable
parameter and can be parameterized both in the real-time channel of the
interface and as hardware output.
IndraDrive
Bit
Comment
internal trigger
0: Internal trigger not yet triggered. Comparison still
active.
1: Internal trigger triggered. Comparison successfully
completed.
Fig. 3-8: P-0-0037: Oscilloscope: internal trigger signal
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0038, Torque-generating current, command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Display parameter for the torque component or force-generating

component of the current command value.
The velocity loop generates the torque or force command value that is
afterwards converted to the torque-generating current command value via
P-0-0051, Torque/force constant. The value is therefore updated in the
velocity loop cycle time (250 s/125 s controller performance).
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
A eff
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0039, Flux-generating current, command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Display parameter for the current command value component that

generates the magnetic flux in the motor. The flux-generating current is
output of the flux loop that is processed in the position loop cycle time.
In the case of asynchronous motors the flux-generating current nominally
corresponds to P-0-4004, Magnetizing current. Differing from this value,
the flux-generating current command value is reduced, if:
P-0-0532, Premagnetization factor of less than 100% was selected
and the motor is in no-load operation,
the motor is operated in the field weakening range.
Synchronous motors do not require flux-generating current. The field
weakening operation is an exception. In this case the controller generates
a negative flux-generating current in order to weaken the permanent field!
Function: Parameter
Editability:
P4
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
A eff
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
var. / var.
---
MPD:
var. / var.
---
MPH:
var. / var.
---
P-0-0040, Velocity feedforward evaluation

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By means of the velocity feedforward that can be freely set via P-0-0040,
Velocity feedforward evaluation, it is possible to set the lag error to a
desired percentage value at constant velocity. The minimum (ideally = 0)
is at 100%. The degree of feedforward can be set in the range of
0%...120%.
Note:
Activating the lagless operation (cf. S-0-0032, S-0-0033,

S-0-0034, S-0-0035) causes a feedforward value determined
from the position command value (= velocity command value)
to be added to the velocity command value at the position
controller output.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 120,00
100,00
MPD:
0,00 / 120,00
100,00
MPH:
0,00 / 120,00
100,00
P-0-0041, Position command average value filter time constant

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter allows filtering the position command values with a

moving average filter. This allows smoothing the position command value
profile and reducing the acceleration and jerk. The effective filter order
(1..64) is displayed in P-0-0042, Current position command average
value filter order.
The setting of the filter order is different with regard to the active operating
mode:
Cyclic position control
The filter order can be freely set by means of P-0-0041, Position
command average value filter time constant in the range of 1...64.
Note:
The filtering is done in the NC clock. This allows filter times of

up to 64*NC clock.
Interpolation operating modes (e.g. drive-internal interpolation)

The filter order is calculated from the parameterized acceleration (e.g.
S-0-0260) and the jerk (e.g. S-0-0193) that are relevant for the
respective operating mode.
Note:
Remarks on the Filter Properties
The filtering is done in the position controller clock. This

allows filter times of up to 64*position controller clock.
In the case of this filter type and with constant input value, the output is
always:
Y =
X
M
This means that the filter output, with constant input value, increases in a
linear way and has reached its final value at the filter output after the time
t = M TA .
Note:
This filter type therefore does not show the typical "creep
behavior" (filter output increases and decreases according to
an e-function!) of the usual VZ1 and VZ2 filters.
See also the functional description: "Position Control with Cyclic

Command Value Input"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / var.
MPD:
0 / var.
MPH:
0 / var.
P-0-0042, Current position command average value filter order

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter displays the active (current) filter order of the position
command value filter designed as a moving average filter (cf. P-0-0041).
The setting of the filter order is different with regard to the active operating
mode:
Cyclic position control
The filter order can be freely set by means of P-0-0041, Position
command average value filter time constant in the range of 1...64.
Interpolation operating modes (e.g. drive-internal interpolation)
The filter order is calculated from the parameterized acceleration (e.g.
S-0-0260) and the jerk (e.g. S-0-0193) that are relevant for the
respective operating mode.
Note:
For remarks on the filter properties please see the description

of parameter P-0-0041, Position command average value
filter time constant.
See also the functional description: "Position Control with Cyclic

Command Value Input"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0043, Torque-generating current, actual value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Display parameter for the torque-generating component of the measured

actual current value. The value is updated with the current loop cycle
time.
Note:
The phase currents of the three-phase AC motor are

measured. The resulting torque-generating content of the total
current is calculated internally and displayed by means of this
parameter.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
A eff
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0044, Flux-generating current, actual value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Display parameter for the content of the measured actual current value
that generates the magnetic flux in the motor. The value is updated with
current loop cycle time.
Note:
The phase currents of the three-phase AC motor are

measured. The resulting flux-generating content of the total
current is calculated internally and displayed by means of this
parameter.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
A eff
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0045, Control word of current controller

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter allows influencing the behavior of the current loop.

Bit
Comment
field weakening
0: not active
1: active if velocity would require more than
maximum possible controller output voltage
2
magnetization of asynchronous motors
(operating principle of P-0-0532)
0: depending on load
1: independent of load (controlled)
6
manual command value input for fluxgenerating current
0: not enabled
1: enabled
8/9
open-loop, enable velocity search mode
X0: search mode switched off
01: search mode after drive enable ("AF")
11: search mode after "AF", bidirectional
12
open-loop, enable stall protection loop
0: switched off
1: enabled
13
open-loop, selection of U/f characteristic
0: linear
1: square
14/15 kind of motor control
00: current control with motor encoder
01: U/f control
10: current control without motor encoder
11: combination not allowed
Fig. 3-9:
Control word of current controller
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0046, Status word of current controller

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays states that affect the correct behavior of the
current loop.
Bit
Comment
Internal drive enable active?

0: no
1: yes
1
Absolute value of actual current > 1.2* allowed
output current?
0: no
1: yes
2
Overvoltage in DC bus?
0: no
1: yes
3
Voltage limitation in current loop active?
0: no
1: yes
4
Closed-loop Integrator output flux-generating
component in pos. limitation?
0: no
1: yes
5
Closed-loop Integrator output flux-generating
component in neg. limitation?
0: no
1: yes
6
Closed-loop Integrator output torque/forcegenerating component in pos. limit.?
0: no
1: yes
7
Closed-loop Integrator output torque/forcegenerating component in neg. limit.?
0: no
1: yes
12
Open-loop stall protect. loop active?
0: not active
1: active
13
Open-loop current limitation loop active?
0: not active
1: active
14
Open-loop search mode active?
0: not active
1: active
Fig. 3-10: Relevant bits of the current loop status word
The current loop status word can be configured in the AT. This allows
assigning the status messages to a digital output or evaluating them by
the higher-level control unit.
IndraDrive
Bit 11: Closed-Loop

The monitor of the integrator of the flux-generating component has
detected an error (F8023 Error mechanical link of encoder or motor
connection)
0 = no , 1 = yes
Note: the bit is present for at least 8 ms
Bit 20: Field weakening of synchronous motors
The voltage loop component for the flux-generating voltage is active
0 = no , 1 = yes
The torque/force-dependent reduction of torque-generating voltage is
active
0 = no , 1 = yes
Voltage loop gains have been reduced in speed-dependent form
0 = no , 1 = yes
Bit 23: Synchronous motor with reluctance torque
Feedforward of flux-generating current is more negative than output of
voltage loop component for torque-generating voltage
0 = no , 1 = yes
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0047, Position command value control

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the "position control" mode the control unit by means of S-0-0047 and
in the clock of its interpolation cycle time writes the cyclic position
command values to the drive.
If required, these position command values coming directly from the
control unit can be read via P-0-0047, Position command value control!
IndraDrive
Note:
The interpolation cycle time of the control unit (cf. S-0-0001)

can be a multiple of the communication cycle time (cf.
S-0-0002) so that P-0-0047 is also updated on the same time
base!

Value Input"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0048, Effective velocity command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to display the velocity command

value at the summing point of the velocity controller.
Note:
At the summing point the actual velocity value is subtracted

from the effective velocity command value. The result of this
calculation (control difference) is the input of the speed
controller.
See also the functional description: "Velocity Loop"

See also the functional description: "Synchronization Modes"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0049, Effective torque/force command value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter allows displaying the torque/force command value after

passing all torque/force limitations.
By multiplication with the torque/force constant (P-0-0051) this value is
converted to the effective current command value and transmitted to the
current controller.
See also the functional description: "Velocity Loop"
See also the functional description: "Torque/Force Control"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0051, Torque/force constant

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The torque/force constant indicates the relation of the motor torque/force

and the associated torque-generating current of the motor, if the motor is
not in the field weakening range.
If the motor is in the field weakening range, the actually effective
torque/force constant is reduced depending on the speed/velocity. The
value in this parameter, however, remains unchanged (relation to
operation without field weakening).
Note:
commissioning.
loading the motor parameters with the IndraWorks D
commissioning tool.
IndraDrive
Unit for
Decimal places for

rotary
rotary
linear
Nm/Aeff
Fig. 3-11:
linear
N/Aeff
2
2
Unit and decimal places depending on P-0-4014

Measuring Systems"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
P-0-4014
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,01 / 21474836,47
1,00
MPD:
0,01 / 21474836,47
1,00
MPH:
0,01 / 21474836,47
1,00
P-0-0052, Actual position value of measuring encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter display the current position of the measuring encoder at

the measuring gear output. Initialization takes place depending on the
type of measuring encoder.
For all measuring encoders the actual position values of which have not
been homed (P-0-0331, Status of measuring encoder; bit 0 = 0), the
fact is applying that the internal actual position value of the measuring
encoder is set to zero when progressing to phase 4. The parameter
P-0-0052 is generated by adding the internal actual position value of the
measuring encoder to the actual position value offset of the measuring
encoder (P-0-0087).
See also Functional Description "Measuring Encoder"
See also Functional Description "Synchronization Modes"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Incr
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0053, Master axis position

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The master axis position

is determined in the drive by evaluating the master axis encoder
(operation with real master axis) or
cyclically input by the control unit in equidistant intervals (virtual master
axis).
In the following operating modes this parameter is used for command
value input for the drive:
velocity synchronization
phase synchronization
electronic cam shaft
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Incr
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0054, Additive master axis position

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to add an additive master axis

position to P-0-0053, Master axis position or P-0-0052, Actual position
value of measuring encoder.
A change of P-0-0054 is traveled within one NC cycle in the case of a
synchronous operating mode with virtual master axis. In the case of
synchronous operating modes with real master axis, this takes place
within one controller period (basic performance: 500 us; advanced
performance: 250 us).
IndraDrive
Note:
The minimum/maximum value of P-0-0054, Additive master

axis position corresponds to the master axis cycle
20
(P-0-0750 * 2 ).
Exception:
When the parameter P-0-0750, Master axis revolutions per
master axis cycle equals zero, the resulting maximum value
31
for parameter P-0-0054 is (2 1) increments and the
31
minimum value is 2 increments.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Incr
Comb. check.: no
Input min/max:
Default value:
MPB:
var. / var.
MPD:
var. / var.
MPH:
var. / var.
P-0-0055, Return distance

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the case of error it is possible to set the "return" error reaction,

depending on the setting of the "Best possible deceleration" parameter.
The drive generates a position command value profile for the return
distance, in consideration of the adjustable return velocity and return
acceleration and complying with the position limit values. The return
distance is entered in parameter P-0-0055. A positive return distance will
cause positive motion with reference to the selected coordinate system.
The P-0-0055, Return distance parameter can be transmitted in the cyclic
telegram (MDT).
See also Functional Description "Return Motion"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
P-0-0056, Return velocity

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop

velocity is entered in parameter P-0-0056.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
100000
MPD:
100000
MPH:
100000
P-0-0057, Return acceleration

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop

acceleration is entered in parameter P-0-0057.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
1000000
MPD:
1000000
MPH:
1000000
IndraDrive
P-0-0058, Return jerk

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop

acceleration and complying with the position limit values. In addition, the
position command values can be smoothed by a position command value
average filter. The return jerk is entered in parameter P-0-0058. It affects
the effect of the position command value average filter.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1000000
MPD:
1000000
MPH:
1000000
P-0-0059, Additive position command value, controller

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter an additional position command value can be

added, directly at the input of the position loop, to the position command
value generated by command value adjustment. The value is neither
limited nor changed. This is why the user has to make sure that absolute
value, characteristic and the derived values are within their allowed
ranges of values!
Note:
The actually effective position command value (addition of

position command value from command value adjustment of
current operating mode and "additive position command value,
controller") is displayed in parameter P-0-0434, Position
command value of controller.
This parameter is used, for example, by the drive firmware in order to set
command values from the firmware-internal command value generator
without limitation and deformation (noise generator for control loop
analysis). It can also be used by the control master for adding
feedforward values, for example!
Value Input"
IndraDrive
Function: Parameter
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-0060, Filter time constant additional pos. Command

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When the parameter P-0-0155, Synchronization mode has been set, the
dynamic synchronization is switched off after absolute synchronization or
relative synchronization has been reached for the first time.
Changes of S-0-0048, Position command value additional are smoothed
st
by a 1 order filter. The time constant of the filter is set with this
parameter.
See also Functional Description "Dynamic
Synchronous Position Control Modes"
Synchronization
with
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
ms
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 655,35
0,00
MPD:
0,00 / 655,35
0,00
MPH:
0,00 / 655,35
0,00
P-0-0061, Angle offset begin of profile

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The access to the cam shaft profile is offset in negative direction by this
angle compared to the master axis position.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 4
Deg
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0000 / 359,9999
0,0000
MPD:
0,0000 / 359,9999
0,0000
MPH:
0,0000 / 359,9999
0,0000
P-0-0063, Torque-generating voltage, actual value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Display parameter for the torque-generating component of the voltage

output by the current loop. The value is updated with the current loop
cycle time.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
V eff
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0064, Flux-generating voltage, actual value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Display parameter for the flux-generating component of the voltage output

by the current loop. The value is updated with the current loop cycle time.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
V eff
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0065, Absolute voltage value, actual value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the absolute value of the voltage output by the
current loop which consists of the voltage components Ud and Uq.
Note:
The displayed voltage value corresponds to the measured

value available at the motor terminals (conductor reference)
and is updated with the current loop cycle time!
See also Functional Description "Motor Control"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
V eff
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0071, C3100 Recalculate actual value cycle

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of command C1300 it is possible to recalculate the actual value

cycle in phase 4 depending on parameter P-0-0155, Synchronization
mode, bit 4. After the command has been completed, it is necessary to
start the command "C0300 Command Set absolute measuring"
(P-0-0012) in order to initialize the actual position values.
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0072, Cam shaft profile1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Contains a table with the tab() data points for the cam shaft profile. The
number of data points can be 8, 16, 32, 64, 128, 256, 512 and 1024
values. The values are always mapped to one master axis revolution
(360).
The distance between the data points d results from the number of
elements:
e.g.: 1024 data points
d = 360 / 1024 = 0.35
The first element in the table is the data point for = 0. The last element
in the table is the data point for = 360 - d.
Linear cam shaft profile
percent %
100
256
512
768
1023
262144
524288
786432
1048575-x
90
180
270
360-0,35
index
cam shaft
increments
degrees
the index of the cam shaft profile

results from the internal master axis
position
master axis
Fig. 3-12:
master axis position
internal master axis

Conversion
position in format
to internal
master axis position. 2^20 -> 360
Limitation to
one master axis
revolution
Example of a linear cam shaft profile
The actual values of the cam shaft profile are percentage values.
They can be between -799.999999% and 799.999999%.
A value of 100% results in a position that corresponds to the active cam
shaft distance (P-0-0093 or P-0-0073). The position of the slave axis is
determined by means of the positions determined in this way.
IndraDrive
See also Functional Description for the operating mode "Electronic Cam
Shaft with Real/Virtual Master Axis"
Version
Attribute
Comment
GEN-02VRS
GEN-02VRS
Memory: PARAM_SP
Validity ch.: P3-4
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: FIX_IDN_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 6
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-799,999999 / 799,999999
---
MPD:
-799,999999 / 799,999999
---
MPH:
-799,999999 / 799,999999
---
P-0-0073, Cam shaft distance 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The cam shaft distance 2 is used when bit 5 = 1 was set in parameter
P-0-0088, Control word for synchronous operation modes. If the
difference between the new cam shaft value and the old cam shaft value
is negative, the profile of the cam shaft is multiplied with cam shaft
distance 2 (application: clocked pull roll).
See also Functional Description of the operating mode "Electronic Cam
Shaft with Real/Virtual Master Axis"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Comb. check.: no
Input min/max:
Default value:
MPB:
360,0000
MPD:
360,0000
MPH:
360,0000
P-0-0074, Encoder type 1 (motor encoder)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In this parameter the controller is told which encoder type is to be

evaluated as a motor encoder.
IndraDrive
Allowed motor encoders for ADVANCED, BASIC UNIVERSAL doubleaxis and BASIC UNIVERSAL single-axis devices:
P-00074
Motor encoder used
Connected
2)
to :
operation without encoder ("open-loop" oper.)
--
motor encoder of MHD, 2AD, ADF motors or

GDS/GDM encoder
EN1
incremental encoder with sine signals

(5 V supply, signal specification Heidenhaincompatible)
EN2
motor encoder of MKD, MKE motors
EN1
motor encoder of MSK motors, (motor type code

field "encoder" = S1 or M1), encoder with
1)
Hiperface interface
EN1
incremental encoder with square-wave signals

EN2
motor encoder of MSK motors

(motor type code field "encoder" = S2 or M2)
ENS
encoder with EnDat2.1 interface from Heidenhain

(5 V supply)
EN2
10
resolver encoder (transfer ratio 0.5) without data

memory
EN1
12
combined encoder:
(5 V supply, signal spec. Heidenhain-compatible)
and
"Hall sensor box SHL01.1"
(5 V supply, signal spec. BRC-compatible)
13
14
15
16
(in preparation) combined encoder:

and
"Hall sensor box SHL0x.x"
combined encoder:
and
"Hall sensor box SHL01.1"
(in preparation) combined encoder:
and
"Hall sensor box SHL0x.x"
1)
EN2
EN1
EN2
ENS
EN2
EN1
EN2
ENS
ENS
It is only possible to use the Hiperface encoders released by Bosch Rexroth,

see "FAQHyperfaceGeberAnIndraDriveVx"
2)
Designation of the required interface options of the control section of the
controller
Fig. 3-13: Assignment of motor encoder to value of P-0-0074
Note:
IndraDrive
In the case of BASIC UNIVERSAL single-axis devices, if the

motor encoder is connected (P-0-0077) at the control section
interface
"option 1", only the encoders listed under BASIC SERCOS
/ BASIC PROFIBUS / BASIC ANALOG can be used!
"option 2", the encoders listed under BASIC SERCOS /
BASIC PROFIBUS / BASIC ANALOG cannot be used!
Allowed motor encoders for BASIC SERCOS / BASIC PROFIBUS /

BASIC ANALOG devices:
P-0-0074
Motor encoder used
Connected
2)
to :
operation without encoder ("open-loop" oper.)
--
motor encoder of MSK motors, (motor type

code field "encoder" = S1 or M1), encoder
1)
with Hiperface interface
EN1

EN2
16

ENS
1)
It is only possible to use the Hiperface encoders released by Bosch Rexroth, see
"FAQHyperfaceGeberAnIndraDriveVx"
Designation of the required interface options of the control section of the controller
2)
Fig. 3-14: Assignment of motor encoder to value of P-0-0074
Encoder Input
Check the interface equipment via the circuit board identification

parameters P-0-1506 (option 1), P-0-1507 (option 2), P-0-1508 (option 3),
P-0-1512 (option 4) or by means of the type designation of the control
section (P-0-1520, Control section type)!
Note: The encoder input for the motor encoder (including combined
encoder) is determined in P-0-0077, Assignment motor
encoder->optional slot!
Motor Dependence
Note:
For BRC housing motors (MHD, MKD, MKE, MSK) the
correct value is automatically written to this parameter!
For rotary and linear kit motors and for third-party motors,
this parameter must be set manually!
Attention for Motor Encoders
with Square-Wave Signals!
Do not use incremental encoders with square-wave signals as motor

encoders! Bad drive characteristics are to be expected!
Measuring Systems"
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 16
MPD:
0 / 16
MPH:
0 / 16
P-0-0075, Encoder type 2 (optional encoder)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop

evaluated as an optional (external) encoder.
Allowed optional encoders for ADVANCED, BASIC UNIVERSAL doubleaxis and BASIC UNIVERSAL single-axis devices:
P-0-0075
Motor encoder used
Connected
2)
to :
no encoder
--
GDS/GDM encoder by Bosch Rexroth
EN1

EN2
resolver encoder (transfer ratio 0.5) with data

memory
EN1
encoder with Hiperface interface
incremental encoder with square-wave

signals
EN2

ENS
encoder with EnDat2.1 interface from

Heidenhain (5 V supply)
EN2
10
resolver encoder (transfer ratio 0.5) without

data memory
EN1
1)
ENS
1)
2)
Fig. 3-15: Assignment of ext. encoder to value of P-0-0075
Note:
In the case of BASIC UNIVERSAL single-axis devices, if the

external encoder (P-0-0078) is connected at the control
section interface
"option 1", only the encoders listed under BASIC SERCOS
/ BASIC PROFIBUS / BASIC ANALOG can be used!
"option 2", the encoders listed under BASIC SERCOS /
BASIC PROFIBUS / BASIC ANALOG cannot be used!
IndraDrive
Allowed optional encoders for BASIC SERCOS / BASIC PROFIBUS /

P-0-0075
Motor encoder used
Connected
2)
to :
no encoder
encoder with Hiperface interface
--

ENS
16

ENS
1)
ENS
1)
2)
Fig. 3-16:
Encoder Input
Assignment of ext. encoder to value of P-0-0075

Note: The encoder input for the external encoder is determined in
P-0-0078, Assignment optional encoder ->optional slot!
Measuring Systems"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 16
MPD:
0 / 16
MPH:
0 / 16
IndraDrive
P-0-0076, Encoder type 3 (measuring encoder)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

evaluated as a measuring encoder.
Allowed measuring encoders for ADVANCED, BASIC UNIVERSAL
double-axis and BASIC UNIVERSAL single-axis devices:
P-00076
Motor encoder used
Connec
2)
ted to :
no encoder
--
GDS/GDM encoders by Bosch Rexroth
EN1

EN2
encoder with Hiperface interface motor encoder of

MSK motors (encoder option S1, M1)
ENS

EN2

ENS
encoder with EnDat2.1 interface from Heidenhain

(5 V supply)
EN2
16

ENS
1)
1)
2)
Fig. 3-17: Assignment of measuring encoder to value of P-0-0076
Note:
For BASIC UNIVERSAL single-axis devices only the

measuring encoders listed under BASIC SERCOS / BASIC
PROFIBUS / BASIC ANALOG can be used when the option 1
has been selected for connecting the measuring encoder
(P-0-0079)!
Allowed measuring encoders for BASIC SERCOS / BASIC PROFIBUS /

P-00076
0
Connected
2)
to :
Motor encoder used

no encoder
-1)
encoder with Hiperface interface motor encoder

of MSK motors (encoder option S1, M1)
ENS

ENS
16

ENS
1)
2)
Fig. 3-18: Assignment of measuring encoder to value of P-0-0076
Encoder Input
IndraDrive

Note:
The encoder input for the measuring encoder is determined in

P-0-0079, Assignment measuring encoder ->optional slot!
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 16
MPD:
0 / 16
MPH:
0 / 16
P-0-0077, Assignment motor encoder->optional slot

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter determines which interface is destined for the motor

encoder connection.
ADVANCED
P-0-0077
Interface for the motor encoder connection
none
X4 (option 1)
X8 (option 2)
3
X10 (option 3)
Fig. 3-19: Determining the interface for the motor encoder
BASIC UNIVERSAL double-axis

P-0-0077
none -> for both axes
X4.1 (option 1) only for axis 1
4
Fig. 3-20:

Determining the interface for the motor encoder
BASIC UNIVERSAL single-axis

P-0-0077
X8 (option 1)
X4 (option 2)
IndraDrive
Fig. 3-21:
BASIC SERCOS / BASIC PROFIBUS / BASIC ANALOG

P-0-0077
0
Fig. 3-22:
X8 (option 1)
Interface Equipment
Note:
In parameter P-0-0074, Encoder type 1 (motor encoder)
the controller is told which encoder type is to be evaluated
as motor encoder. The appropriate encoder input can be
taken from the documentation of the control section
("Project Planning Manual")!
Check the interface equipment via the circuit board
identification parameters "P-0-1506" (option 1), "P-0-1507"
(option 2), "P-0-1508" (option 3), "P-0-1512" (option 4) or
by means of the type designation of the control section!
Motor Dependence
Note:
In the case of motors with encoder data memory (MHD,
MKD, MKE, MSK), this parameter is automatically set
correctly!
In the case of motors without encoder data memory (2AD,
ADF, rotary and linear kit motors), this parameter must be
set manually!
The combined encoder (for linear BRC kit motors) can only
be used with ADVANCED or BASIC UNIVERSAL doubleaxis devices! The following values are required for
P-0-0077:
"1" for ADVANCED devices.
Connect the incremental measuring system to X4 (option 1 =
"EN2"), the Hall sensor box to X8 (option 2 = "EN1").
"1" for axis1 and "2" for axis2 for BASIC UNIVERSAL double-axis
devices.
Connect the incremental measuring system to X4.1 (option 1 =
"EN2"), the Hall sensor box for axis1 to X8.1 (option 3 = "EN1") or
the incremental measuring system to X4.2 (option 2 = "EN2"), the
Hall sensor box for axis2 to X8.2 (option 4 = "EN1").
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/1
MPD:
0/4
MPH:
0/3
IndraDrive
P-0-0078, Assignment optional encoder ->optional slot

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter determines which interface is destined for the optional

(external) encoder.
ADVANCED
P-0-0078
Interface for connection of ext. encoder
none
X4 (option 1)
X8 (option 2)
3
X10 (option 3)
Fig. 3-23: Determining the interface for the external encoder

P-0-0078
none -> for both axes

Determining the interface for the external encoder
Fig. 3-24:

P-0-0078
0
1
Fig. 3-25:

X8 (option 1)
X4 (option 2)
Determining the interface for the external encoder

P-0-0078
0
X8 (option 1)
Interface Equipment
Note:
In parameter P-0-0075, Encoder type 2 (optional
encoder) the controller is told which encoder type is to be
evaluated as external encoder. The appropriate encoder
input can be taken from the documentation of the control
section ("Project Planning Manual")!
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/1
MPD:
0/4
MPH:
0/3
P-0-0079, Assignment measuring encoder ->optional slot

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter determines which interface is destined for the measuring

encoder.
ADVANCED
P-0-0079
Interface for the measuring encoder

connection
none
X4 (option 1)
X8 (option 2)
3
X10 (option 3)

P-0-0079

connection
none
X4.1 (option 1)
X4.2 (option 2)
X8.1 (option 3)
4
Fig. 3-28:
X8.2 (option 4)
Determining the interface for the measuring encoder

P-0-0079
0
1
Fig. 3-29:

connection
X8 (option 1)
X4 (option 2)
Determining the interface for the measuring encoder

P-0-0079

connection
0
X8 (option 1)
Fig. 3-30: Determining the interface for the measuring encoder
IndraDrive
Note:
In parameter P-0-0079 the controller is told which encoder
type is to be evaluated as measuring encoder. The
appropriate encoder input can be taken from the
documentation of the control section ("Project Planning
Manual").
Measuring Systems"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/1
MPD:
0/4
MPH:
0/3
P-0-0081, Parallel output 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
divers optional card
Funct. package(s):
The parameter P-0-0081, Parallel output 1 maps the outputs of the addon card for digital I/Os (MD1). By means of this parameter it is possible to
address the outputs of this module.
See also Functional Description "Digital Inputs/Outputs""
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0082, Parallel input 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The parameter P-0-0082, Parallel input 1 maps the inputs of the add-on
card for digital I/Os (MD1). By means of this parameter it is possible to
read the inputs of this module.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0083, Gear ratio fine adjust

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The gear ratio of the electronic gear is changed by this percentage.

The values can be between 799,999999% and 799,999999%.
gear ratio (GR) = gear ratio * (1 + P-0-0083)
Example:
P-0-0083 = 100% -> GR = GR * 2
P-0-0083 = 100% -> GR = GR * 0
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 6
Comb. check.: no
Input min/max:
Default value:
MPB:
-799,999999 / 799,999999
0,000000
MPD:
-799,999999 / 799,999999
0,000000
MPH:
-799,999999 / 799,999999
0,000000
IndraDrive
P-0-0085, Dynamic angle offset

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With this parameter it is possible to offset the effective master axis

position according to the following equation:
effective _ int ernal = int ernal

Vint ernal
master axis velocity
Kv factor
* dyn. angle offset
Example:
Assumption: electronic gear 1:1 and fine adjust = 0
master axis velocity = 1000 rpm
dynamic angle offset = 100%
position loop Kv-factor (S-0-0104) = 1


1000 rpm * 2 20 incr / rev

*1
1 * 1000 / min
+ 2 20 incr
master axis positon
In this example the internal master axis position is offset by 2^20 incr.
The figure below illustrates the offset position command value and actual
position value with P-0-0085 = 100%:
x
xcmd, offset
xcmd
xact, offset
xact
MA
Fig. 3-31: Offset position command value and actual position value with
P-0-0085 = 100%
Note:
This function is only available in the "cam shaft" mode.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 600
MPD:
0 / 600
MPH:
0 / 600
P-0-0087, Actual position value offset of measuring encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The evaluation of the measuring encoder results in an actual position

values of the measuring encoder. The value is within a range defined by
parameter P-0-0765, Modulo factor measuring encoder.
With parameter P-0-0087, Actual position value offset of measuring
encoder an offset can be added to the actual position.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Incr
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
var. / var.
MPD:
var. / var.
MPH:
var. / var.
IndraDrive
P-0-0088, Control word for synchronous operation modes

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Settings for the "cam shaft" mode are made by means of this parameter.
Bit
0/1
Comment
preselection
0 0: cam shaft 1 (P-0-0072)
0 1: cam shaft 2 (P-0-0092)
1 0: cam shaft 3 (P-0-0780)
1 1: cam shaft 4 (P-0-0781)
3
cam shaft distance switching
0: distance switching at distance switch angle/cam
shaft profile switching
1: distance switching immediately
4
gear switching
0: change becomes immediately effective
1: change is made at distance switching/cam shaft
profile switching
5
special case: clocked pull roll
0: clocked pull roll deactivated
1: clocked pull roll activated
6
reference for distance 1 and gear switching
0: reference for bits 3 and 4 is distance switching
1: reference for bits 3 and 4 is cam shaft profile
switching
8
interpolation cam shaft 1
0: linear interpolation
1: cubic spline interpolation
9
10
11
Fig. 3-32: P-0-0088, Control word for synchronous operation modes
Bit 0/1: The cam shaft profile is selected with bit 0 and bit 1. The
profile values are to be taken from this cam shaft profile. When the
operating mode is active, the drive only accepts the preselection,
when the profile access angle exceeds P-0-0094, Cam shaft switch
angle. The active cam shaft profile can be taken from bit 0 and bit 1
of P-0-0089, Status word for synchronous operating modes.
Bit 2: reserved for future firmware versions
IndraDrive
Bit 3: Selecting whether new values for cam shaft distance (P-0-0093)
take effect immediately or only when the cam shaft distance switch
angle is passed or when the cam shaft profile is switched.
Bit 4: Selecting whether new values for the electronic gear
(P-0-0156/P-0-0157) take effect immediately or only when the cam
shaft distance switch angle is passed or when the cam shaft profile is
switched.
Bit 5: With bit 5 = 1 it is possible to change between cam shaft
distance 1 (P-0-0093) and cam shaft distance 2 (P-0-0073), depending
on the gradient of the cam shaft. If the gradient of the cam shaft profile
is positive, cam shaft distance 1 (P-0-0093) is active, with negative
gradient cam shaft distance 2 (P-0-0073) is active.
Bit 6: Determines the reference point for delayed acceptance of
changes (cam shaft distance switch angle or cam shaft profile
switching).
The examples below explain the interaction of the bits:
Example
Bit6
Bit3
Bit4
Significance
A new electronic gear (P-0-0156/P-0-0157) takes
immediate effect. A new P-0-0093, Cam shaft distance is
only accepted when P-0-0144, Cam shaft distance switch
angle is exceeded in positive or negative direction.
A change of P-0-0093, Cam shaft distance is immediately
accepted and so is a change of the electronic gear.
See also Functional Description for the operating mode "Electronic Cam
Shaft with Virtual Master Axis"
Bits 8, 9, 10, 11: Via these bits the user can select whether linear fine
interpolation or cubic spline interpolation is to take place between the
profile values of a cam shaft (see P-0-0072, P-0-0092, P-0-0780 and
P-0-0781).
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 0xffff
MPD:
0 / 0xffff
MPH:
0 / 0xffff
IndraDrive
P-0-0089, Status word for synchronous operating modes

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Bit
Comment
0/1
feedback
0 0: cam shaft 1 active (P-0-0072)
position status of actual position value in actual value

cycle
0: not homed
1: homed
status cam shaft distance switching

0: current cam sh. dist. val. not active
1: current cam sh. dist. val. active
synchronous operating mode in synchronization

0: slave axis is not synchronized
1: slave axis is synchronized
Fig. 3-33: P-0-0089, Status word for synchronous operating modes
Bit 0/1: With the bits 0/1 of this parameter the drive signals from which
cam shaft profile the profiles are taken.
Bit 2/3: reserved for future firmware versions
Bit 4: Bit 4 displays the position status of P-0-0753, Position actual
value in actual value cycle. If the position status equals zero,
absolute synchronization can take place.
Bit 5: When a new cam shaft distance 1 is parameterized in P-0-0093,
bit 5 is cleared. When the new value is accepted as active cam shaft
distance, bit 5 is set to "1".
Bit 6/7: reserved for future firmware versions
Bit 8: For IndraDrive there are 8 parameters in which it is possible to

select operating modes:
S-0-0032, Primary mode of operation
IndraDrive
The parameters are polled in this order to find out whether a synchronous
operating mode has been set. If a synchronous operating mode is
detected, it is the first synchronous operating mode. If the active operating
mode is not a synchronous operating mode, bit 8 is referring to the first
synchronous operating mode. The first synchronous operating mode
keeps running in the background.
If a synchronous operating mode is active, bits 8 and 9 are referring to the
active synchronous operating mode.
Active operating mode:
Velocity synchronization
| dX synch + dX additive dX act | < S-0-0183
Bit 8 = 1, if
with
dX act: S-0-0040, Velocity feedback value

dX synch:
synchronous velocity command value, generated from

current master axis speed
dX additive:
S-0-0037, Additive velocity command value
Phase synchronization or cam shaft

Bit 8 = 1, if
| X synch + X additive X act | < S-0-0228
with
X act:
actual position value S-0-0051 or S-0-0053
X synch: synchronous position command value, generated from current

X additive:
additive position command value, S-0-
0048
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 0xffff
---
MPD:
0 / 0xffff
---
MPH:
0 / 0xffff
---
P-0-0090, Travel range limit parameter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter defines the signal behavior of the travel range limit switch
inputs and the behavior of the drive with regard to exceeded travel
ranges.
IndraDrive
Bit
Comment
signal behavior travel range limit switch inputs

0: not inverted,
24 V => travel range is exceeded
1: inverted,
0 V => travel range is exceeded
activation of travel range limit switch

0: no
1: yes
handling when travel rangeexceeded

0: as error (acc. to error reaction)
1: as fatal warning (shutdown)

Fig. 3-34: Relevant bits of P-0-0090, Travel range limit parameter
See also Functional Description "Position Limitation/Travel Range Limit

Switch"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/7
MPD:
0/7
MPH:
0/7
P-0-0092, Cam shaft profile 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
(360).
elements:
d = 360 / 1024 = 0.35
IndraDrive

percent %
100
256
512
768
1023
262144
524288
786432
1048575-x
90
180
270
index
cam shaft
increments
degr.
360-0,35
the index of the cam shaft profile

results from the internal master
axis position
master axis
Fig. 3-35:
master axis
position
Conversion
to internal
master axis pos.
Limitation to
one master axis
revolution
internal master
axis position in format
2^20 -> 360
Example of a linear cam shaft profile
They can be between 799.999999% and 799.999999%.
Master Axis"
Version
Attribute
GEN-02VRS
GEN-02VRS
Memory: PARAM_SP
Validity ch.: P3-4
Comment
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: FIX_IDN_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 6
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-799,999999 / 799,999999
---
MPD:
-799,999999 / 799,999999
---
MPH:
-799,999999 / 799,999999
---
IndraDrive
P-0-0093, Cam shaft distance

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter determines the cam shaft distance with which the profile
of the cam shaft is multiplied.
Master Axis"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Comb. check.: no
Input min/max:
Default value:
MPB:
360,0000
MPD:
360,0000
MPH:
360,0000
P-0-0094, Cam shaft switch angle

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When the master axis position exceeds this angle in position or in

negative direction, switching to that cam shaft profile takes place which
was preselected by parameter P-0-0088, Control word for synchronous
operation modes.
The parameter P-0-0089, Status word for synchronous operating
modes then is set to the activated cam shaft profile. When the drive is
initialized for the first time, the cam shaft set in P-0-0088 is activated. In
this case, too, the parameter P-0-0089 is set.
Master Axis"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 4
Deg
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0000 / 360,0000
0,0000
MPD:
0,0000 / 360,0000
0,0000
MPH:
0,0000 / 360,0000
0,0000
IndraDrive
P-0-0095, Absolute encoder monitoring window for motor encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
When switching on a drive with an absolute motor encoder, a check is run

to determine whether the current actual position value differs from the
actual position value at the time of the last switch off. If the difference
exceeds the value determined in this parameter, the F2074 Actual pos.
value 1 outside absolute encoder window error message is output.
When switching the drive off, the current encoder data of the absolute
motor encoder are saved in P-0-0177, Absolute encoder buffer of
motor encoder.
Note:
The monitor can be switched off by writing the value "0" to this
parameter.

Version
Attribute
Comment
GEN-02VRS
GEN-02VRS
Editability: P2
Validity ch.: P2-3
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1,0000
MPD:
1,0000
MPH:
1,0000
P-0-0096, Absolute encoder monitoring window for opt. encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
When switching on a drive with an absolute optional (external) encoder, a

check is run to determine whether the current actual position value differs
from the actual position value at the time of the last switch off. If the
difference exceeds the value determined in this parameter, the F2075
Actual pos. value 2 outside absolute encoder window error message
is output.
When switching the drive off, the current encoder data of the absolute
encoder are saved in P-0-0178, Absolute encoder buffer of optional
encoder.
Note:
parameter.
IndraDrive

Version
Attribute
Comment
GEN-02VRS
GEN-02VRS
Validity ch.: P2-3
Editability: P2
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1,0000
MPD:
1,0000
MPH:
1,0000
P-0-0097, Absolute encoder monitoring window for measuring

encoder
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When switching on a drive with an absolute measuring encoder, a check

is run to determine whether the current actual position value of the
encoder differs from the actual position value at the time of the last switch
off.
If the difference exceeds the value determined in this parameter, the error
message F2076 Actual pos. value 3 outside absolute encoder
window is output. When switching the drive off, the current encoder data
of the absolute encoder are saved in P-0-0178, Absolute encoder buffer
of optional encoder.
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Incr
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 2147483647
100
MPD:
0 / 2147483647
100
MPH:
0 / 2147483647
100
IndraDrive
P-0-0098, Max. model deviation

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
If an operating mode with drive-internal position control has been

activated in the drive, the position control loop is monitored. To do this, an
"actual position model value" is calculated and compared to the real
actual position value (cf. S-0-0051 and S-0-0053).
For determining the "actual position model value" you have to
distinguish between two cases:
Position control (or interpolation) with lag distance
In these cases the real actual position value is corrected by
the systematic lag error ( 1/kv) and
a value that is possibly contained in S-0-0037, Additive velocity
command value and the "actual position model value" is
generated from the corrected value.
Lagless position control (or interpolation)
In these cases the real actual position value is corrected by
a value that is possibly contained in S-0-0037, Additive velocity
command value and the "actual position model value" is
generated from the corrected value.
In both cases the generated "actual position model value" is compared
with the real actual position value (cf. S-0-0051 and S-0-0053) and the
maximum deviation between the calculated actual position model value
and the real actual position value is stored in the P-0-0098, Max. model
deviation parameter.
Note:
To help parameterizing S-0-0159, Monitoring window, the

user can read the parameter. To do this it is advisable to reset
the parameter to "0" before starting a "test run"!

Value Input"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-0099, Position command smoothing time constant

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The position command smoothing time constant determines the

maximum jerk possible in the case of operating modes with position
control.
The maximum jerk is calculated from:
nd
2 derivation of the position command values

max. jerk =
P-0-0099, Pos. command smoothing time constant
Fig. 3-36: Maximum jerk
Note:
The P-0-0099, Position command smoothing time

constant parameter is only effective with the linear fine
interpolator having been activated (P-0-0187 = 0). The filter is
deactivated by writing the value 0 to this parameter.
See also Functional Description "Command Value Processing in Position

Control"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 655,35
0,00
MPD:
0,00 / 655,35
0,00
MPH:
0,00 / 655,35
0,00
P-0-0100, Position command value extension

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The parameter P-0-0100, Position command value extension extends

the parameter S-0-0047 by 16 bits to 48 bits. This increases the
resolution by 4 decimal places.
See also Parameter Description "S-0-0047, Position command value"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0101, Configuration for starting lockout selector

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
optional safty technologie card
Funct. package(s):
In parameter P-0-0101, Configuration for starting lockout selector it is

possible to configure the selection of the activation circuit of the starting
lockout.
Bit
Comment
0: N/C-N/O combination
1: N/C-N/C combination
Fig. 3-37: P-0-0101, Configuration for starting lockout selector
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0102, Oper. hours power section at last activat. of start. lockout

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Parameter P-0-0102, Oper. hours power section at last activat. of

start. lockout displays the operating hours of the power section since the
last time the starting lockout function was deselected.
Function: Parameter
no
Data l.:
4Byte
Memory: ON_BOARD_SP Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
no
Decim. pl.: 1
Editability:
Extr. val. ch.:
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0,0
MPD:
--- / ---
0,0
MPH:
--- / ---
0,0
P-0-0103, Time interval of forced dynamization

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
P-0-0103, Time interval of forced dynamization is used to set the time

interval for the life counter. This defines the time interval in which the
starting lockout has to be activated with active drive controller.
Setting drive enable starts the life counter which runs as long as the drive
is in control. When drive enable is reset, the life counter is stopped and
the current value is stored.
Note:
The life counter is only reset when the starting lockout is

selected again; the value is maintained even after the drive
controller was switched off.
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1,0 / 604800,0
28800,0
MPD:
1,0 / 604800,0
28800,0
MPH:
1,0 / 604800,0
28800,0
IndraDrive
P-0-0104, Change history time interval of forced dynamization

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
A history of the time intervals set by the user in P-0-0103, Time interval
of forced dynamization is stored in parameter P-0-0104, Change
history time interval of forced dynamization.
The last six values are displayed. In addition, the count of the operating
hours counter of the power section, at which the change took place, is
stored.
Function: Parameter
no
Data l.:
4Byte var.
no
Format:
DEC_OV
Unit:
no
Decim. pl.: 1
Editability:
Extr. val. ch.:
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0105, Time stamp for list of diagnostic message numbers

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains a list of the points of time at which the diagnostic
drive message was changed. At each change of S-0-0390, Diagnostic
message number the respective point of time (value from P-0-0190,
Operating hours control section) is recorded. The last point of time at
which the diagnostic message was changed is entered in the first line of
the list, all entries already existing are moved down by one line. The list is
full after 50 entries, each other entry causes the oldest value to get lost.
The list from P-0-0105 corresponds with S-0-0375, List of diagnostic
numbers. These parameters in the same line contain the diagnostic
message number corresponding to the respective point of time.
Note:
The numbers of the diagnostic error messages and the

respective points of time of the error events are only accepted
in S-0-0375 and P-0-0105 by clearing the error message!
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte var.
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0108, Master drive polarity

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to invert the polarity of the

master axis position. Thereby an inverting electronic gear is realized.
Bit

Comment
Fig. 3-38: P-0-0108, Master drive polarity
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
0/1
MPD:
0/1
MPH:
0/1
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Torque/force limit value that acts on the sum of all torque/force command
values:
command values from the acceleration feedforwards (S-0-0348,
P-0-1126)
command values from the velocity controller (P-0-0049)
The parameter acts in a bipolar way, i.e. positive and negative command
values are limited to the entered value. The parameter cannot be
cyclically written and is therefore used to absolutely determine the
maximum allowed drive torque or the maximum allowed drive force (see
also block diagram on "Torque/force limit").
Note:
The effective limit value is displayed in P-0-0444, Actual

value peak torque limit. This value can be lower than
P-0-0109 if, for example, the value of S-0-0092 is lower than
the one of P-0-0109 or if a load-dependent current limitation by
motor or controller is active.
Function: Parameter
Editability:
P234
Data l.:
1Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
4000
MPD:
4000
MPH:
4000
IndraDrive
P-0-0114, Undervoltage threshold

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With this parameter it is possible to determine and activate an individual

undervoltage threshold, differing from the standard value, for the DC bus
voltage.
Standard value (default):
P-0-0114 = 0,
i.e. the undervoltage threshold is 75% of the mains voltage crest value
that was detected when the drive was switched on.
Individual: P-0-0114 > 0,
i.e. the entered value is the active undervoltage threshold in volt.
Effects of this parameter on supply units (SU) "HMV...", converters (CV)
"HCS..." and inverters (IV) "HM...":
SU:
No effect, for these devices the undervoltage threshold used as
module bus message criterion ("DC bus ok" or "DC bus not ok") has
been fixed to "standard".
CV:
The integrated, active supply uses the setting in P-0-0114 as module
bus message criterion ("DC bus ok" or "DC bus not ok").
IV and CV in IV operation:
When P-0-0114 = 0:
Undervoltage is detected depending on
the module bus message for the voltage status of the DC bus ("DC
bus ok" or "DC bus not ok").
When P-0-0114 > 0:
The module bus message ("DC bus ok"
or "DC bus not ok") is ignored, the drive detects undervoltage
depending on the value in P-0-0118.
See also Functional Description "Power Supply"
Note:
The mains voltage crest value detected when the drive was
switched on...
is displayed in P-0-0815, Nominal mains voltage crest
value in the case of converters.
cannot be displayed for supply units!
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 500
MPD:
0 / 500
MPH:
0 / 500
IndraDrive
P-0-0115, Device control: status word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to read the drive status (

device control) independent of the master communication that is used.
Bit
Comment
BB relay
1: control BB relay
1
ready signal
1: drive ready
3
status of command value processing
0: drive ignores command value input
1: drive follows (ext.) command value input
4
Drive Halt acknowledgment
1: Drive Halt is active and axis is in standstill
5
command change bit
0: no change in command status
1: change in command status
7
operating mode initialized
1: primary mode of operation or secondary
operating mode active and initialization completed,
otherwise 0
8/9/10 actual operating mode
000: primary mode of operation is active
001: secondary operation mode 1 is active
111: secondary operation mode 7 is active
13
drive error
0: no error
1: drive error
14/15 ready for operation
00: control section/power section not ready for
operation (e.g. error is present)
01: control section ready for operation
10: control section and power section ready for
operation
11: drive with torque
Fig. 3-39: Device control: status word

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0116, Device control: control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter indicates whether the master communication has

activated the drive.
Bit
Comment
8/9/11
command operating mode
bit 11 available
as of MPx03

001: secondary oper. mode 1
13
Drive Halt
0: Drive Halt active. The drive was decelerated
while maintaining the maximum acceleration
(S-0-0138), if bits 14 and 15 were "1" at 1->0.
1: Drive Halt inactive
14
drive enable
0: Drive enable inactive.
The drive torque was switched off without delay, if
drive was active at 1->0.
1: drive enable active
15
Drive ON
0: Drive ON inactive. Drive was decelerated in the
best possible way, if bit 14 was "1" at 1->0.
1: drive On active
Fig. 3-40:
Relevant bits of P-0-0116
The control bits contained in parameter P-0-0116 are also contained in

the control words depending on the master communication (cf. S-0-0134,
P-0-4077, P-0-4068 and P-0-4028) and can therefore be written via the
control words.
Note:
As of version MPx03VRS the secondary operating modes 4-7

can only be used via SERCOS interface. This is why bit 11
only takes effect in P-0-0116 in conjunction with S-0-0134!
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0117, Activation of NC reaction on error

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
If this parameter is parameterized with "1", the control unit has the
possibility, during 30 seconds, to shut down the drive in the case of error.
For this period the drive keeps following the predefined command values.
It then reacts with the P-0-0119, Best possible deceleration that has
been set.
Note:
This function only works for non-fatal errors!
Bit
Comment
NC reaction
0: not possible
1: possible
Fig. 3-41: P-0-0117, Activation of NC reaction on error
See also Functional Description "NC Reaction on Error"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0118, Power supply, configuration

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In parameter P-0-0118 settings with regard to error messages and error

reactions are made for drives that are interconnected via the DC bus and
the module bus ("drive system"). In addition, the handling of DC bus
undervoltage is determined.
Note:
The DC bus voltage (power bus) for the "drive system" in

operation is not switched off in the case of non-fatal drive
errors!
IndraDrive
Parameter Structure
Bit
package reaction (power off on error)

0: no reaction ("package reaction")
1: reaction ("package reaction"): "best possible
deceleration" (see P-0-0119), diagnostic message E8058
Exception: In the case of braking resistor overload,
power is always switched off!
signaling of own drive errors
This bit determines whether a drive signals its own errors
via the module bus in the drive system.
0: no signaling,
no "package reaction" triggered in the case of error
("passive axis"), power on of supply unit is possible
independent of drive status
1: signaling,
"package reaction" triggered in the case of error ("active
axis"), power on of supply unit only with readiness for
operation ("Bb")
behavior in the case of undervoltage in DC bus
These bits determine how the drive reacts to
undervoltage in the DC bus:
000: non-fatal error (F2026)
"best possible deceleration" (cf. P-0-0119)
100: non-fatal warning (E2026)
no error reaction of the drive
automatic clearing
of F2026 Undervoltage in power section
0: no, error has to be cleared (cf. S-0-0099)
1: yes, error is cleared by switching drive enable off and
on (cf. P-0-0116, bit 15)
power off in the case of fatal errors (F8xxx)
This bit determines whether the drive initiates power off
via the module bus in the case of fatal errors.
0: no signaling via the module bus
1: Signaling via the module bus,
causes power off and activation of DC bus short circuit, if
available!
5-3
15
Comment
reserved
Fig. 3-42:
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0119, Best possible deceleration

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter determines the way the drive is shut down in case
non-fatal errors occur
interface errors occur
the communication phase is reset
the drive enable is disabled
P-0-0119
Kind of reaction
Velocity command value reset

The motor is decelerated considering the torque limit value.
The maximum braking time to be expected under the most
unfavorable operating conditions is input in S-0-0273, Maximum
drive off delay time. After S-0-0273 is over:
- in the case of servo drives ("servo brake" function, P-0-0525), the
holding brake is activated and the drive enable is internally
switched off after S-0-0207, Drive off delay time.
- in the case of main spindle drives ("main spindle brake" function,
P-0-0525), the drive enable is internally switched off and the
holding brake is activated, if the velocity has fallen below 10 r.p.m.
Torque disable
- in the case of servo drives ("servo brake" function, P-0-0525) the
holding brake is immediately activated.
- in the case of main spindle drives ("main spindle brake" function,
P-0-0525) the holding brake remains released.
Velocity command value reset with command value ramp and
filter
The ramp, i.e. the maximum acceleration, is set via P-0-1211,
Deceleration ramp 1, P-0-1202, Final speed ramp 1, P-0-1213,
Deceleration ramp 2. The jerk filter is set via P-0-1222, Velocity
command filter.
Return motion
The drive generates a position command value profile, in order to
move by the desired travel distance, if an error occurs. If an error
occurs, a relative is positioning block activated that is defined by
the parameters P-0-0055, Return distance, P-0-0056, Return
velocity, P-0-0057, Return acceleration and P-0-0058, Return
jerk.
Fig. 3-43: Setting the way the drive is shut down with the above criteria
At the earliest, the drive can be enabled again after the error reaction has
been completed.
See also Functional Description "Best Possible Deceleration"
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/3
MPD:
0/3
MPH:
0/3
P-0-0121, Gear 1 motor-side (motor encoder)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In specific cases a mechanical gear can be used between motor encoder

and motor.
The gear ratio is defined as follows:
P - 0 - 0122 gear 1 encoder - side

P - 0 - 0121 gear 1 motor - side
Fig. 3-44: Gear ratio motor encoder gear (gear 1)
Example:
5 motor revolutions result in 2 motor encoder revolutions
P-0-0121 : 5
P-0-0122 : 2

Measuring Systems"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Rev
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 65535
MPD:
1 / 65535
MPH:
1 / 65535
IndraDrive
P-0-0122, Gear 1 encoder-side (motor encoder)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In specific cases a mechanical gear can be used between motor encoder

and motor.

P - 0 - 0121 gear 1 motor - side
Fig. 3-45: Gear ratio motor encoder gear (gear 1)
Example:
5 motor revolutions result in 2 motor encoder revolutions
P-0-0121 : 5
P-0-0122 : 2

Measuring Systems"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Rev
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 65535
MPD:
1 / 65535
MPH:
1 / 65535
P-0-0123, Feed constant 2 (optional encoder)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is only active if "feed constant 2" has been activated in
parameter P-0-0185, Control word of encoder 2 (optional encoder). The
value of this parameter is the length of the distance that is covered in
linear form per revolution of a rotary position sensor (e.g. measuring
wheel).
Note:
The unit depends on bit 4 of S-0-0076, Position data scaling

type".
S-0-0076 bit 4 = 0 -> mm/rev

S-0-0076 bit 4 = 1 -> inch/rev
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1,00000
MPD:
1,00000
MPH:
1,00000
P-0-0124, Gear 2 load-side (optional encoder)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
If necessary, a mechanical gear can be used between load and optional

encoder.

P - 0 - 0124 gear 2 load - side
Fig. 3-46: Gear ratio of gear 2 (optional encoder)
Example:
2 load revolutions result in 5 encoder revolutions
P-0-0124 : 2
P-0-0125 : 5
See also Functional Description "Mechanical Axis System and Measuring

Systems"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Rev
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 65535
MPD:
1 / 65535
MPH:
1 / 65535
IndraDrive
P-0-0125, Gear 2 encoder-side (optional encoder)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
If necessary, a mechanical gear can be used between load and optional

encoder.

P - 0 - 0124 gear 2 load - side
Fig. 3-47: Gear ratio of gear 2 (optional encoder)
Example:
P-0-0124 : 2
P-0-0125 : 5
See also Functional Description "Mechanical Axis System and Measuring

Systems"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Rev
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 65535
MPD:
1 / 65535
MPH:
1 / 65535
P-0-0127, Input revolutions of measuring gear

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
If necessary, a mechanical gear can be used between load and

measuring encoder.
P - 0 - 0127, Input revolutions of measuring gear

P - 0 - 0128, Output revolutions of measuring gear
Gear ratio gear 3 (measuring encoder)
Example:
P-0-0128: 2
P-0-0127: 5
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Rev
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 4294967295
MPD:
1 / 4294967295
MPH:
1 / 4294967295
P-0-0128, Output revolutions of measuring gear

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
If necessary, a mechanical gear can be used between load and

measuring encoder.
P - 0 - 0127 Input revolutions of measuring gear

P - 0 - 0128 Output revolutions of measuring gear
Gear ratio gear 3 (measuring encoder)
Example:
P-0-0128: 2
P-0-0127: 5
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Rev
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 4294967295
MPD:
1 / 4294967295
MPH:
1 / 4294967295
IndraDrive
P-0-0129, Internal position data format

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter displays

resolution refers
to
(increments/revolution) in
distance (increments/pole
linear motors.
Note:
the internal position resolution. The position

one
revolution
of
the
motor
shaft
the case of rotary motors and to the pole pair
pair distance) of the primary part in the case of
The value of P-0-0129 depends on S-0-0278, Maximum

travel range. The higher the value selected for S-0-0278 the
lower the value of P-0-0129 becomes!
Example:
P-0-0129 = 1048576
The result is an internal position resolution of:
360degrees/1048576 = 0.34mdegrees (in the case of rotary motors).
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0130, Position switch signal selection list

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter represents the list of reference signals. The following

signals are made available:
S-0-0000, Dummy parameter = position switch switched off
P-0-0434, Position command value of controller
P-0-0775, Resulting master axis position
P-0-0776, Effective master axis position
P-0-0778, Synchronous position command value
It isnt possible to make any input in this parameter, it represents the
possible input for the following parameter P-0-0131.
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0131, Position switch signal selection

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter one of the following signals contained in parameter

P-0-0130 is selected:
It is only allowed to enter signals from the above list (P-0-0130), otherwise
the drive reacts with an error message. When the position switch is not
used, it makes sense to switch it off by selecting "S-0-0000" in order to
avoid unnecessary calculating time of the axis processor.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0132, Position switch switch-on threshold

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The position switch allows realizing 8 independent position switch points.

Each position switch point is characterized by a switch-on threshold, a
switch-off threshold and a lead time, as well as the result, the cam status.
The 8 switch-on thresholds are entered in this parameter. The input unit
and limit is taken over by the selected reference signal.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0133, Position switch switch-off thresholds

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

The 8 switch-off thresholds have to be entered in this parameter. The
input unit and limit is taken over by the selected reference signal.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0134, Position switch lead times

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

The 8 lead times have to be entered in this parameter.
By setting a lead time the delay of an external switch element that is
controlled by a position switch bit can be compensated. To do this, a
theoretical correction value for the respective switch-on and switch-off
thresholds is calculated from the programmed lead time and the current
drive velocity. The position switch bit switches by the lead time before
reaching the corresponding threshold.
Note:
When using a lead time, the velocity of the drive in the (time)
range between theoretical and actual switch-on and switch-off
threshold should be constant.
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0135, Position switch status word

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

switch-off threshold and a lead time, as well as the result, the cam status
(status word).
This parameter represents the result; when the position is within the
range defined by switch-on threshold and switch-off threshold, the
corresponding bit is set in the status word. This parameter can only be
read, it is impossible to make any input.
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0139, Analog output 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter indicates the voltage value that is output via the analog
output 1 of the drive controller.
See also Functional Description "Analog Outputs"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 10,000
0,000
MPD:
0,000 / 5,000
0,000
MPH:
0,000 / 5,000
0,000
P-0-0140, Analog output 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 10,000
0,000
MPD:
0,000 / 5,000
0,000
MPH:
0,000 / 5,000
0,000
IndraDrive
P-0-0141, Thermal drive load

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The P-0-0141, Thermal drive load parameter is used to check the

thermal load of the amplifier, 0% of the chip overtemperature
corresponding to 0 Kelvin, 100% corresponding to the maximum chip
overtemperature. Given the correct dimensioning of the drive, the thermal
load should not exceed the value of 80% for the intended processing
cycles.
The typical period of time for the temperature rise of the controller output
stage to its final temperature is approx. 10 minutes. To check the thermal
load of a drive at the time of commissioning without having to run
processing cycles, it is possible to preset the controller load to 80%. This
can be done by writing any value to the P-0-0141, Thermal drive load
parameter.
Note:
Due to the switching losses of the inverter, P-0-0141 will
always display a value > 0 at drive enable, even if the
output current P-0-0440, Actual output current value
(absolute value) equals zero.
The basic load value depends on P-0-0001, Switching
frequency of the power output stage.
At a work load of approx. 97% the amplifier current limit
takes effect. This is displayed by the E8057 Amplifier
overload, current limit active warning.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 100,0
---
MPD:
0,0 / 100,0
---
MPH:
0,0 / 100,0
---
IndraDrive
P-0-0142, Synchronization acceleration

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter contains the value of the acceleration or deceleration with

which the synchronous velocity is reached during dynamic
synchronization (velocity adjustment).
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
100000
MPD:
100000
MPH:
100000
P-0-0143, Synchronization velocity

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter contains the value of the velocity with which, during
dynamic synchronization, the distance (phase offset) to absolute
synchronization is traveled (position adjustment).
Only takes effect in the synchronous operating modes
phase synchronization and
cam shaft!
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
100000
MPD:
100000
MPH:
100000
IndraDrive
P-0-0144, Cam shaft distance switch angle

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
A new value for P-0-0093, Cam shaft distance only becomes active
when the current profile access angle passes the cam shaft distance
switch angle. The profile access angle is generated from the following
parameters:
P-0-0053, Master axis position
P-0-0085, Dynamic angle offset
P-0-0108, Master drive polarity
P-0-0156, Electric gear input revolutions
P-0-0157, Electric gear output revolutions
P-0-0158, Angle offset change rate
Only takes effect in the "cam shaft" mode!
Master Axis"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 4
Deg
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0000 / 360,0000
0,0000
MPD:
0,0000 / 360,0000
0,0000
MPH:
0,0000 / 360,0000
0,0000
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:

signal.
Function: Parameter
Editability:
no
Data l.:
4Byte var.
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:

signal.
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte var.
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:

"S-0-0000".
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

Note:

"S-0-0000".
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0149, Oscilloscope: signal selection list

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-0149 contains all parameters that are suitable as

trigger signal (P-0-0026) or measuring signal (P-0-0023, P-0-0024,
P-0-0147, P-0-0148).
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0150, Oscilloscope: number of valid measured values

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When the oscilloscope feature has been activated, the signal to be

recorded is continuously transmitted to a measured values memory.
When the trigger event occurs, the recording is stopped and the list of
measured values can be read. The oldest measured value is the first
element of this list, the latest measured value is the last element.
If the trigger event occurs before this measured value memory is
completely filled, a number of measured values at the beginning of the list
is invalid. The number of valid measured values before the trigger event is
made available in the P-0-0150, Oscilloscope: number of valid
measured values parameter.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0151, Synchronization init window for modulo format

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the second step of dynamic synchronization (position adjustment) a

distance is determined that has to be traveled for transition to absolute
synchronization. If the position difference is greater than the
"synchronization window for modulo format" (P-0-0151), the direction of
synchronization is determined by parameter P-0-0154, Synchronization
direction. If the position difference is smaller than the value of parameter
P-0-0151, synchronization takes place over the shortest distance.
See also Functional Description for the operating mode "Phase
Synchronization with Real/Virtual Master Axis"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
100000
MPD:
100000
MPH:
100000
P-0-0152, Synchronization completed

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the case of the NC-controlled or drive-controlled change of operating

modes, the parameter P-0-0152, Synchronization completed confirms
that the drive is controlled by the cyclic position command value again.
In the case of the operating modes "phase synchronization" and "cam
shaft", bit 0 is set to "1" after the first synchronization when the distance
up to absolute or relative synchronization was traveled. Once bit 0 has
been set it depends on parameter P-0-0155 (bit 0) whether it is cleared, in
case parameter S-0-0048, Additive position command value, until the
position difference resulting from it was traveled. If bit 0 is set to "1" in
parameter P-0-0155, Synchronization mode, bit 0 remains set to "1".
Master Axis"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0153, Optimum distance home switch-reference mark

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
During the "Drive-controlled homing procedure" command the distance

between the home switch edge and the reference mark is monitored with
the home switch and the reference mark evaluation having been
activated. The optimum distance provided for reference marks with equal
distances is half the reference mark distance. The optimum distance has
to be entered in the P-0-0153, Optimum distance home switchreference mark parameter in accordance with the table below.
Encoder
type
P-0-0153
Function
rotary
The distance home switch-reference mark is

monitored. The optimum distance is calculated
internally and is 1/2 encoder revolution in the
case of HSF (MHD, 2AD, ADF motors) or incr.
rotary encoders, respectively 1/2 encoder
revolution / S-0-0116, Feedback 1 Resolution in
the case of resolvers (MKD, MKE motors).
rotary

monitored. Half the reference mark distance has
to be entered in P-0-0153, Optimum distance
home switch-reference mark.
linear
The distance home switch-reference mark is not

monitored. The linear encoder does not possess
reference marks with a constant distance
between them. Make sure the actual distance
between home switch and reference mark is big
enough to ensure that the home switch edge is
reliably detected considering the maximum
homing velocity and the cycle time of the home
switch input inquiry.
linear

monitored. Half the reference mark distance has
to be entered in P-0-0153, Optimum distance
home switch-reference mark.
Fig. 3-48: Distance monitoring home switch-reference mark

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
P-0-0154, Synchronization direction

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the second step of dynamic synchronization (position adjustment) a

distance is determined that has to be traveled for transition to absolute
synchronization.
In the case of modulo axes, the drive can move in positive or negative
direction. The synchronization direction determines in which direction the
drive is to move.
P-0-0154
Function
0
shortest distance
1
positive direction
2
negative direction
Fig. 3-49: Synchronization Direction
If the shortest distance to absolute synchronization, however, is smaller

than P-0-0151, Synchronization init window for modulo format, the
shortest distance is traveled and the preset synchronization direction is
ignored.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0/2
MPD:
0/2
MPH:
0/2
IndraDrive
P-0-0155, Synchronization mode

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
After activating one of the operating modes "phase synchronization" or

"cam shaft", the drive automatically carries out dynamic synchronization.
When doing this, the drive generates command values (P-0-0434) taking
the synchronization acceleration (P-0-0142) and synchronization velocity
(P-0-0143) into account, until absolute or relative synchronization has
been reached.
Bit
processing of S-0-0048
0: trapezoidal velocity profile
1: P-0-0060, Filter time constant active
relative synchronization
0: absolute synchronization
1: relative synchronization
synchronization range
00: modulo range slave axis (load revolution)
01: command value cycle slave axis
10: part of command value cycle
generation of actual value cycle
0: actual value cycle depends on P-0-0752
1: actual value cycle = command value cycle
synchronization in velocity synchronization
0: only when operating mode activated
1: always active
3/2
Fig. 3-50:
Notes on Parameterization
Bit 0 :
Comment
P-0-0155, Synchronization mode
Trapezoidal velocity profile (bit 0 = 0)

Means that at every change of S-0-0048, Additive position
command value a distance is determined and traveled taking the
synchronization acceleration and synchronization velocity into
account
Filter time constant active (bit 0 = 1)
When absolute or relative synchronization has been reached,
parameters P-0-0142 and P-0-0143 become ineffective.
The following changes of S-0-0048, Additive position command
st
value are then smoothed by a 1 order filter. The time constant of
the filter is set with parameter P-0-0060, Filter time constant
additional pos. command.
Note:
In phase 4 (operating mode) the change of 10 in

bit 0 is without effect!
IndraDrive
Bit 1 : Absolute synchronization (bit 1 = 0)

An absolute position with regard to the master axis is always
established.
See also Functional Description "Dynamic Synchronization in the
"Phase Synchronization" or "Cam Shaft" Mode""
Relative synchronization (bit 1 = 1)
Only velocity adjustment is carried out.
Bit 2/3: It is possible to set synchronization in the modulo range, in the
command value cycle or in a division of the command value
cycle. The distance to be traveled is then limited to this range.
The actual position value used for calculating the distance must
be unequivocal in the range in which synchronization is to take
place. The actual value cycle therefore has to be determined in
such a way that it is a multiple of the synchronization range.
Bit 4:
With bit 4 = 0 the actual value cycle, in which there is P-0-0753,

Position actual value in actual value cycle, is generated
depending on P-0-0752, Load revolutions per actual value
cycle slave axis.
The actual value cycle is set equal to the command value cycle
when bit 4 = 1.
Bit 5:
Synchronization when operating mode is activated (Bit 5 = 0)

If velocity adjustment is to be carried out only once in the velocity
synchronization mode, bit 5 has to be set to "0". All following
velocity changes are carried out with max. acceleration.
Synchronization always active (bit 5 = 1)
In the "velocity synchronization" mode, every change in velocity is
limited to the P-0-0142, Synchronization acceleration. The
velocity change can be caused by changing the master axis
speed (P-0-0764), the master drive gear (P-0-0156, P-0-0157) or
the fine adjust (P-0-0083).
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0156, Master drive gear input revolutions

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Together with the parameter P-0-0157, Master drive gear output

revolutions, this parameter determines the master drive gear.
A master axis position transmitted to the drive (P-0-0053) is multiplied
with the electronic gear ratio before further processing and then limited to
the standardized range of 2^20. The gear ratio results from the division of
the value of P-0-0157 by the value of P-0-0157.
The master axis position and therefore this parameter only takes effect in
the following operating modes:
cam shaft
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 65535
MPD:
1 / 65535
MPH:
1 / 65535
P-0-0157, Master drive gear output revolutions

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Together with the parameter P-0-0156, Master drive gear input

revolutions, this parameter determines the master drive gear.
A master axis position transmitted to the drive (P-0-0053) is multiplied
with the electronic gear ratio before further processing and then limited to
the standardized range of 2^20. The gear ratio results from the division of
the value of P-0-0157 by the value of P-0-0157.
The master axis position and therefore this parameter only takes effect in
the following operating modes:
cam shaft
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 65535
MPD:
1 / 65535
MPH:
1 / 65535
P-0-0158, Angle offset change rate

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the "cam shaft" mode the parameter P-0-0061, Angle offset begin of
profile has an influence on the profile access angle.
If this angle offset is to be changed by a large range, it is necessary, with
a gradient in the active profile, to make a slow approach to the new value,
because every change implies a jump in position command value. A new
value for parameter P-0-0061 doesnt take immediate effect. Starting with
the current value, a ramp-like approximation of the new value is carried
out. The approximation is carried out along the shortest possible path.
The gradient of the ramp is set in parameter P-0-0158, Angle offset
change rate.
If the value "0" is preset for parameter P-0-0158, the angle offset is
carried out immediately in one step.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
Rpm
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 655,35
100,00
MPD:
0,00 / 655,35
100,00
MPH:
0,00 / 655,35
100,00
IndraDrive
P-0-0159, Slave drive feed travel

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Note:
Velocity Synchronization
The function and significance of this parameter depends on

the operating mode!
The parameter P-0-0159, Slave drive feed travel is used in the "velocity
synchronization" mode with linear velocity scaling for converting the rotary
master axis velocity to the linear slave axis velocity.
slave axis velocity = P - 0 - 0777 P - 0 - 0159

P-0-0777, Effective master axis velocity
slave axis velocity
Synchronous Operating Mode
with Outer Position Control
Loop
(Phase Synchronization, Cam
Shaft, Electr. Motion Profile)
in rpm
in mm/rev
in mm/min
With linear absolute scaling, the slave axis moves by the feed travel, per
output revolution of the master drive gear (including fine adjust),
parameterized in P-0-0159. This means that if the P-0-0776, Effective
master axis position changes by 2^20 increments, the slave axis moves
a distance corresponding to P-0-0159, Slave drive feed travel.
Observe the following restrictions:
In the "cam shaft" and "electr. motion profile" modes, P-0-0159 only
takes effect in the linear gear reduction component.
In the case of linear modulo scaling, for the synchronous operating
modes with outer position control loop, the parameter S-0-0103,
Modulo value assumes the task of parameter P-0-0159.
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
10,0000
MPD:
10,0000
MPH:
10,0000
IndraDrive
P-0-0162, C1800 Command Automatic control loop adjust

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By starting this command an automatic control loop setting is carried out

as soon as the drive is in control at the start of the command.
This can immediately trigger a motion, if drive enable
and drive start are set at the drive.
WARNING
The drive now automatically carries out motions within

the travel range defined before with the two limits.
It is also necessary to determine all presettings concerning the command,

such as P-0-0163, Damping factor for autom. controller adjust,
P-0-0164, Application for autom. controller adjust, S-0-0092, Bipolar
torque/force limit value and S-0-0259, Positioning velocity.
Note:
Errors that might possibly occur during the execution of the

command are signaled with the corresponding message.
C1801 Start requires drive enable
C1802 Motor feedback data not valid
C1803 Inertia detection failed
C1804 Automatic controller setting failed
C1805 Travel range invalid
C1806 Travel range exceeded
See also Functional Description "Automatic Setting of Axis Control"
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0163, Damping factor for autom. controller adjust

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By varying P-0-0163 the operator can influence the control loop dynamics
achieved by automatic control setting
Note:
P-0-0163 = 20: minimum dynamics

P-0-0163 = 0.5: maximum dynamics
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,5 / 10,0
2,5
MPD:
0,5 / 10,0
2,5
MPH:
0,5 / 10,0
2,5
IndraDrive
P-0-0164, Application for autom. controller adjust

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In order to take application-related control strategies into account for

automatic control loop setting, a selection list is made available to the
operator from which he can select the desired application. This allows, for
example, completely switching off the I-component, if required, etc.
The data below are referring to the speed loop.
P-0-0164
Application
Icomponent
Pcomponent
machine tool
good load stiffness
with
normal
nibbling machine
short response times
without,
Tn = 0ms
great
following-on cutting device

rel. non-dynamic control loop
setting
without,
Tn = 0ms
normal
roll feed
very high degree of load inertia
with
great
handling axis
oscillating systems
with
small
Fig. 3-51: Application-dependent speed loop setting
Note:
If required, Bosch Rexroth will extend the table.
The default value was set to machine tool.

Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/4
MPD:
0/4
MPH:
0/4
IndraDrive
P-0-0165, Selection for autom. controller adjust

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By selecting the corresponding bit it is possible to activate (bit = 1) or

deactivate (bit = 0) the respective function of the automatic control loop
setting.
The figure below illustrates the options.
Bit
0
1
2
3
4
5
6
7-13
14
reserved
set speed loop
set position loop
set feedforward
determine load inertia
reserved
determine max. accel.
reserved
Comment
0: oscillation
1:motion always in one direction
15
bit 15: determine travel range
0: input the limits
1: input the travel distance
Fig. 3-52: Selection parameter for automatic control loop setting
Example:
The default setting (P-0-0165 = 0000 0000 0001 0110) means:
load inertia is determined
speed loop is set
position loop is set
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
22
MPD:
--- / ---
22
MPH:
--- / ---
22
IndraDrive
P-0-0166, Lower limit for autom. control loop adjust

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The allowed range within which the axis may move during automatic
control loop setting with the command "P-0-0162" is defined via
a lower limit position "P-0-0166" and
an upper limit position "P-0-0167"
These two limits can either
be input directly (P-0-0165, bit 12 = 0)
or they are calculated internally due to a defined travel distance
"P-0-0169", taking the actual position at the start of command C1800
into account (P-0-0165, bit 12 = 1).
Note:
At the start of command "C1800" the defined travel range is

checked by the parameters P-0-0166 and P-0-0167.

See also Troubleshooting Guide for "C1805 Travel range invalid"
See also Troubleshooting Guide for "C1806 Travel range exceeded"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
P-0-0167, Upper limit for autom. control loop adjust

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
control loop setting with the command "P-0-0162" is defined via
an upper limit position "P-0-0167"
"P-0-0169", taking the actual position at the start of command C1800
Note:
At the start of command "C1800" the defined travel range is

checked by the parameters P-0-0166 and P-0-0167.

See also Troubleshooting Guide for "C1805 Travel range invalid"
See also Troubleshooting Guide for "C1806 Travel range exceeded"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
P-0-0168, Maximum acceleration to be parameterized

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The maximum acceleration determined during automatic control loop

setting is entered in this parameter, when the function has been selected
in P-0-0165, Selection for autom. controller adjust (P-0-0165, bit 6 =
1).
In first approximation the value is inversely proportional to the total inertia
(motor + load) of the drive and directly proportional to the peak torque of
the drive.
Note:
P-0-0168 is used as the suggestion value for the subsequent

determination of the positioning block accelerations.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
no
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0169, Travel distance for autom. controller adjust

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
control loop setting (P-0-0162) is defined via
an upper limit position "P-0-0167".
(P-0-0169), taking the actual position at the start of command C1800
P-0-0166 = start position - P-0-0169/2
P-0-0167 = start position + P-0-0169/2
Note:
IndraDrive
At the start of command C1800 the travel range defined by the

parameters P-0-0166 and P-0-0167 is checked.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-0176, Torque/Force command smoothing time constant

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
With the time constant entered in this parameter the command value set
in S-0-0080, Torque/Force command is filtered by means of a low-pass
filter in the torque control operating mode.
Note:
The P-0-0176, Torque/force command smoothing time

constant only takes effect in the torque control mode.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 1000
MPD:
0 / 1000
MPH:
0 / 1000
IndraDrive
P-0-0177, Absolute encoder buffer 1 (motor encoder)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
With an absolute motor encoder, current encoder data are saved when
the drive is switched off. The data that have been saved are displayed in
this parameter. They are used for repeated position initialization and
monitoring when the drive is switched on next time (see also P-0-0095,
Absolute encoder monitoring window for motor encoder).
The data that have been saved are represented in a list and customers
cannot interpret them. The data are used by the service and development
staff for specific diagnostic purposes.
See also Parameter Description "P-0-0095, Absolute encoder monitoring
window for motor encoder"
Function: Parameter
Editability:
HEX
Unit:
--
Cycl. tra.: no
Extr. val. ch.:
P2
Data l.:
4Byte var.
Validity ch.:
no
Format:
no
Decim. pl.: 0
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0178, Absolute encoder buffer 2 (optional encoder)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
With an absolute optional (external) encoder, current encoder data are

saved when the drive is switched off. The data that have been saved are
displayed in this parameter. They are used for repeated position
initialization and monitoring when the drive is switched on next time (see
also P-0-0096, Absolute encoder monitoring window for opt.
encoder).
window for motor encoder"
IndraDrive
Function: Parameter
Editability:
HEX
Unit:
--
Extr. val. ch.:
Cycl. tra.: no
P2
Data l.:
4Byte var.
Validity ch.:
no
Format:
no
Decim. pl.: 0
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0179, Absolute encoder buffer 3 (measuring encoder)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With an absolute measuring encoder, current encoder data are saved

when the drive is switched off. The data that have been saved are
displayed in this parameter. They are used for repeated position
initialization and position monitoring when the drive is switched on the
next time.
window for measuring encoder"
Function: Parameter
Editability:
HEX
Unit:
--
Cycl. tra.: no
Extr. val. ch.:
P2
Data l.:
4Byte var.
Validity ch.:
no
Format:
no
Decim. pl.: 0
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0180, Acceleration feedforward smoothing time constant

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter allows filtering the

double differentiated position command value (cyclic position control)
differentiated velocity command value (velocity control)
st
with a 1 order low pass in order to realize an acceleration feedforward

which avoids an unduly high excitation of the system even in the case of
poor position or velocity resolution. For the double differentiation can
cause a highly noisy feedforward value which in turn is added as an
additive torque command value.
P-0-0040
S-0-0348
x com
P-0-1126
n com
P-0-0180
+
Mcom
Fcom
DF0018v1.fh7
Fig. 3-53: Parameterizable filter cascade
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 10000
MPD:
0 / 10000
MPH:
0 / 10000
IndraDrive
P-0-0185, Control word of encoder 2 (optional encoder)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In this parameter it is possible to make basic settings with regard to

encoder 2 (optional encoder):
When it is used as encoder for high-speed spindles, the spindle
encoder monitor can be deactivated so that there isnt any error
message or error reaction triggered in case the position data reference
gets lost (possibly at high speed).
When it is used as position control encoder of a linear axis and the
distance measurement takes place in rotary form, the encoder-related
feed constant P-0-0123, Feed constant 2 (optional encoder) has to
be activated.
Bit
feed constant 2
0: not activated
1: activated
Comment
spindle encoder monitor

0: not activated
1: activated
Fig. 3-54: Relevant bits of P-0-0185 Control word of encoder 2 (optional
encoder)
Note:
It is only possible to activate one of the two possibilities that

P-0-0185 provides or none of the two!
Note:
If encoder 2 is used as a control encoder, the control loop can

be closed by means of it. All operating modes with external
encoder are possible. The actual position value is contained in
S-0-0053, Position feedback 2 value.

See also Functional Description "Measuring Wheel Mode/Hybrid Position
Control"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0187, Position command processing mode

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
For jerkfree motion in the "Position control" mode the position command
values sent via the command value channel are fine interpolated.
By means of parameter P-0-0187, Position command processing mode it
is possible to select the following types of interpolation:
linear fine interpolation
P-0-0187 = 0
cubic approximation
P-0-0187 = 1
cubic fine interpolation according to contour
P-0-0187 = 2
IndraDrive
angle/
t/TNC
linear fine interpolation

cubic approximation
cubic fine interpolation according to contour
angle difference
per position controller clock
0,4
0,3
0,2
0,1
t/TNC
DK0005v1.fh7
Fig. 3-55:
Differences between the types of interpolation
Linear Fine Interpolation
P-0-0187 = 0
The cyclically transmitted position command values (cf. S-0-0047) are

interpreted as being connected straightly.
Note:
In the case of this type of interpolation, the cyclically set

position command value only takes effect one command value
cycle after it was set at the position controller input. The
subsequent position command value filter (cf. P-0-0099) only
takes effect in the case of linear interpolation!
IndraDrive
Cubic Approximation
P-0-0187 = 1

connected by a jerk-optimized polynominal. This can cause slight path
deviations because the main purpose of this type of interpolation is jerk
limitation.
Note:
In the case of the cubic approximation the maximum value of

the NC cycle time (parameter S-0-0001) is 20 ms.
Cubic Fine Interpolation Acc. to Contour
P-0-0187 = 2

interconnected by a polynominal according to contour. In this case it is
impossible to generate a jerk-optimized path because the main purpose is
interpolation according to contour. This means the fine-interpolated
position command value curve runs exactly through the cyclically
transmitted position command values.
Note:
We recommend using the cubic fine interpolator if the lack of

jerk optimization does not cause any problems. That is why
the mode "cubic fine interpolation according to contour" has
been set by default.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/2
MPD:
0/2
MPH:
0/2
P-0-0190, Operating hours control section

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the operating time of the drives control section.
By means of this parameter it is possible to display the total duty cycle of
the control electronics since the delivery of the device. If a class 1
diagnostics error occurs, the content of this parameter at this point of time
is stored at the first place in the P-0-0193, Error memory operating
hours of control section parameter.
Note:
The value is displayed in seconds and is stored on the control

section!
See also Functional Description "Operating Hours Counter"
IndraDrive
Function: Parameter
P234
Data l.:
4Byte
Memory: RETAIN_GERAET
DEC_OV
Validity ch.:
P2->P3
Format:
Unit:
no
Decim. pl.: 1
Editability:
Extr. val. ch.:
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0191, Operating hours power section

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the operating hours of the power section since
the delivery of the device. These operating hours are the time during
which the drive has been operated with drive enable switched on.
Note:
The value is displayed in seconds and is stored on the power

section!
See also Functional Description "Operating Hours Counter"
Function: Parameter
P2
Data l.:
4Byte
DEC_OV
Validity ch.:
P2->P3
Format:
Unit:
no
Decim. pl.: 1
Cycl. tra.: no
Editability:
Extr. val. ch.:
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0192, Error memory of diagnostic numbers

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

the plain text of diagnosis is stored in parameter S-0-0095, Diagnostic
message,
the respective error number is stored in parameter P-0-0009, Error
number.
The diagnostic number that belongs to the error and is displayed in
S-0-0390, Diagnostic message number is also stored in the P-0-0192,
Diagnostic numbers of error memory parameter. In the form of a stack,
this parameter contains, in chronological order, the diagnostic numbers of
the last 50 errors occurred. The last error occurred is entered at the top.
The count of the P-0-0190, Operating hours control section parameter
at the time the error is detected is stored in the P-0-0193, Error memory
operating hours of control section parameter in the same order.
Note:
The parameter is stored on the control section.

Control Section)"
Function: Parameter
P234
Data l.:
4Byte var.
P2->P3
Format:
HEX
Unit:
no
Decim. pl.: 0
--
Cycl. tra.: no
Editability:
Extr. val. ch.:
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0193, Error memory operating hours of control section

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

the plain text of diagnosis is stored in parameter S-0-0095, Diagnostic
message,
the respective error number is stored in parameter P-0-0009, Error
number.
The count of the P-0-0190, Operating hours control section parameter
at the time the error is detected is stored in the P-0-0193, Error memory
operating hours of control section parameter. In the form of a stack,
this parameter contains, in chronological order, the hours-run meter
counts of the last 50 errors occurred. The count of the last error occurred
is entered at the top.
The diagnostic number belonging to the error in accordance with
S-0-0390, Diagnostic message number is stored in the P-0-0192,
Diagnostic numbers of error memory parameter in the same order.
Note:
The parameter is stored on the control section.

Control Section)"
Function: Parameter
P234
Data l.:
4Byte var.
P2->P3
Format:
DEC_OV
Unit:
no
Decim. pl.: 1
Cycl. tra.: no
Editability:
Extr. val. ch.:
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0194, Error memory power section

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

the plain text diagnosis is stored in parameter S-0-0095, Diagnostic
message
and the respective error number is stored in parameter P-0-0009,
Error number.
The diagnostic number that belongs to the error and is displayed in
S-0-0390, Diagnostic message number is also stored in the parameter
P-0-0192, Error memory of diagnostic numbers. This parameter has a
stack structure and contains, in chronological order, the diagnostic
numbers of the last 50 errors that occurred. The last error that occurred is
entered at the top.
The count of parameter P-0-0190, Operating hours control section at
the time the error is detected is stored in parameter P-0-0193, Error
memory operating hours of control section in the same order.
If the error concerns the power section it is additionally stored in the
parameter P-0-0194, Error memory of power section. The last
13 errors that occurred and the respective count of the operating hours
counter are stored in this parameter.
Note:
The parameter is stored on the power section.

Control Section)"
Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: LT_SP
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 4294967295
---
MPD:
0 / 4294967295
---
MPH:
0 / 4294967295
---
IndraDrive
P-0-0195, IDN list of retain data (replacement of devices)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This list contains the IDNs of those parameters the values of which are
required for replacing devices without MultiMediaCard (MMC).
The parameter values of the IDNs listed in "P-0-0195"
may only be loaded after a defective controller was replaced and
had to be saved directly before the device was replaced!
Otherwise the current parameter values of target position, absolute
encoder, etc. are overwritten with old values which can cause incorrect
drive behavior!
Property damage caused by errors when

controlling motors and moving parts!
CAUTION
After having loaded the parameter values according

to IDN list of the retain data (P-0-0195), check the
actual position values and the current target position!
See also Functional Description "Notes on How to Replace the Devices"
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0196, Build date and time

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The build date and build time of the drive firmware can be read from this
parameter as a text.
See also Functional Description "System Overview"
Function: Parameter
Editability:
no
Data l.:
1Byte var.
Memory: no
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0200, Start position probe function 2 active

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
The lower limit value of the "expectation window" for probe 2 is set in this
parameter. The "expectation window" is limiting the position range of an
axis or shaft within which probe signal edges cause measured values to
be detected.
The "expectation window" has to be activated in P-0-0226, Probe,
extended control word.
Note:
The "expectation window" cannot be used with "time

measurement"!
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0201, End position probe function 2 active

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
The upper limit value of the "expectation window" for probe 2 is set in this
be detected.
Note:

measurement"!
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0202, Difference probe values 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the absolute value of the difference between

S-0-0130, Probe value 1 positive edge and S-0-0131, Probe value 1
negative edge. The value is always calculated again when a new probe
value 1, positive or negative, is detected.
When determining P-0-0202 you have to differentiate between axes with
finite and infinite travel range:
Axes with finite travel range (e.g. linear axes, absolute position data
format)
P-0-0202 = | S-0-0130 S-0-0131 |
Fig. 3-56: Calculating P-0-0202 for axes with finite travel range
Axes with infinite travel range (e.g. rotary axes, position data in modulo
format). In this case the value is limited to half the value of S-0-0103,
Modulo value. The calculation of P-0-0202 depends on the absolute
value of the probe value difference:
P-0-0202 = | S-0-0130 S-0-0131 |
Fig. 3-57: Calculating P-0-0202 for axes with infinite travel range if | S-0-0130
S-0-0131 | <= (S-0-0103 / 2)
P-0-0202 = || S-0-0130 S-0-0131 | S-0-0103 |

S-0-0131 | > (S-0-0103 / 2)
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0203, Difference probe values 2

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
This parameter displays the absolute value of the difference between

S-0-0132, Probe value 2 positive edge and S-0-0133, Probe value 2
negative edge. The value is always calculated again when a new probe
value 2, positive or negative, is detected.
When determining P-0-0203 you have to differentiate between axes with
finite and infinite travel range:
axes with finite travel range (e.g. linear axes, absolute position data
format)
P-0-0203 = | S-0-0132 S-0-0133 |
Fig. 3-59: Calculating P-0-0203 for axes with finite travel range
Axes with infinite travel range (e.g. rotary axes, position data in modulo
format). In this case the value is limited to half the value of S-0-0103,
Modulo value. The calculation of P-0-0203 depends on the absolute
value of the probe value difference:
P-0-0203 = | S-0-0132 S-0-0133 |
S-0-0133 | <= (S-0-0103 / 2)
P-0-0203 = || S-0-0132 S-0-0133 | S-0-0103 |

S-0-0133 | > (S-0-0103 / 2)
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0204, Start position probe function 1 active

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The lower limit value of the "expectation window" for probe 1 is set in this
be detected.
Note:

measurement"!
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0205, End position probe function 1 active

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The upper limit value of the "expectation window" for probe 1 is set in this
be detected.
Note:

measurement"!
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0206, Probe 1, max. number of marker failures

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The value entered in this parameter is a threshold for the registered

number of marker failures.
The number of successive times the expectation window is passed
through without marker event is added and displayed in P-0-0224, Probe
1, number of marker failures. When the value in P-0-0224 has reached
the value of P-0-0206, this is signaled in the respective bit of S-0-0179,
Probe status.
Note:
The display in S-0-0179 only takes place if the marker failure

monitor was activated in P-0-0226, Probe, extended control
word for probe 1!
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0207, Probe 2, max. number of marker failures

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
The value entered in this parameter is a threshold for the registered

number of marker failures.
The number of successive times the expectation window is passed
through without marker event is added and displayed in P-0-0225, Probe
2, number of marker failures. When the value in P-0-0225 has reached
the value of P-0-0207, this is signaled in the respective bit of S-0-0179,
Probe status.
Note:
The display in S-0-0179 only takes place if the marker failure

monitor was activated in P-0-0226, Probe, extended control
word for probe 2!
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
P-0-0210, Analog input 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The input voltage currently provided at the analog input 1 can be read and
displayed in Volt by means of this parameter.
The parameter content can be, for example,
directly processed in the drive PLC
cyclically transmitted to the control unit
or assigned to an internal drive parameter (assignment A or B)
Note:
The values are updated in the position controller clock.
See also Functional Description "Analog Interface"

See also Functional Description "Analog Inputs"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPB
Contained in 03VRS
MPB
Hardware
Funct. package(s):
displayed in volt by means of this parameter.
Note:
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0212, Analog input, list of assignable parameters

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This list parameter contains the IDNs of the parameters that can be
entered in P-0-0213, Analog input, assignment A, target parameter
and P-0-0236, Analog input, assignment B, target parameter. These
parameters are available for assigning an analog input value.
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0213, Analog input, assignment A, target parameter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In this parameter the IDN of that parameter is entered to which a value

corresponding to the voltage at the respective analog input is to be
written. The scaling is made via P-0-0214, Analog input, assignment A,
scaling per 10V full scale!
Note:
Only such IDNs can be entered in P-0-0213 that are contained

in P-0-0212, Analog input, list of assignable parameters.

Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0214, Analog input, assignment A, scaling per 10V full scale

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
By means of this parameter the analog input for assignment A (range of

values per 10 V) is scaled.
Unit, decimal places and data type are determined by the parameter
assigned in P-0-0213, Analog input, assignment A, target parameter.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0215, Analog input, assignment A, signal value at 0V

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In this parameter the reference of the analog input for assignment A

(value with a voltage of 0 V at the analog input) is defined. This allows
compensating a possible offset of the voltage at the analog input for
assignment A.
assigned in P-0-0213, Analog input, assignment A, target parameter.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0216, Analog input, assignment A, dead zone

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
By means of this parameter it is possible to define, for the analog input

voltage (assignment A), a range of values that is interpreted as voltage
value 0 V ("dead zone") by the drive controller.
The "dead zone" is a symmetrical range relative to 0 V. The value entered
in P-0-0216, Analog input, assignment A, dead zone is the positive and
negative limit value. All input voltage values the absolute value of which is
smaller than the value in P-0-0216 are treated by the controller like an
input voltage 0 V. This allows suppressing the noise level of the input
voltage signal!
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 10,000
0,000
MPD:
0,000 / 10,000
0,000
MPH:
0,000 / 10,000
0,000
P-0-0217, Analog input 1, time constant input filter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The analog input 1 can be read by the drive firmware via a digital lowpass filter. The limit frequency of this filter is set by this parameter, if
necessary the filter can also be deactivated.
flimit = 1000 / (2 * * Tinput.)
flimit:
Tinput.:
Fig. 3-62:
limit frequency in Hz
time constant of input filter in ms
Calculating the limit frequency of the analog input filter
Performance (P-0-0556)
standard (bit 2 = 0)
Input filter
inactive
active
high (bit 2 = 1)
inactive
active
Fig. 3-63: Settings of the analog input filter
Tinput in s
500 s
>500 s
250 s
>250 s
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
ms
Comb. check.: no
Input min/max:
Default value:
MPB:
0,250 / 60,000
0,250
MPD:
0,250 / 60,000
0,250
MPH:
0,250 / 60,000
0,250
P-0-0218, Analog input, control parameter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter is used

for controlling the command "analog input adjust"
for assigning the analog channels for "assignment analog
channel A" or "assignment analog channel B"
for selecting current input or voltage input
for selecting the measuring range
for selecting the kind of reaction in the case of wire break
Note:
It is possible to adjust both analog voltage and current inputs!
Bit
zero point/amplitude adjust

0: measuring voltage for "command value = 0"
determines signal value at 0 V or 0 mA
1: measuring voltage for "command value =
P-0-0219"
determines signal value for [1/10V] or [1/20mA]
channel selection for adjust
Via bit 1 the assignment that is to be adjusted is
selected.
0: Adjust of assignment A. Values for parameters
P-0-0214 and P-0-0215 are determined.
1: Adjust of assignment B. Values for parameters
P-0-0237 and P-0-0238 are determined.
assignment analog channel A, selection of analog
input
0000: no analog channel selected, assignment A is
not active (default value)
0001: analog channel 1
0010: analog channel 2 (only for control section
CSB01.1N-FC-...(BASIC OPENLOOP) or
CSB01.1NAN-...(BASIC ANALOG))0011: analog
channel 3
assignment analog channel B, selection of analog
input
7-4:
11-8
Comment
IndraDrive
12
0000: no analog channel selected, assignment B is

not active (default value)
0010: analog channel 2 (only for control section
CSB01.1N-FC-...(BASIC OPENLOOP) or CSB01.1NAN-...(BASIC ANALOG))
determining kind of signals that are to be
evaluated by analog inputs
0: voltage signals
1: current signals
13
settings for measuring range of analog inputs

0: 0..+-10V or 0..+20mA (standard)
1: +2..+10V or +4..+20mA (wire break detection
possible!)
14
determining kind of diagnostic message for wire

break when wire break detection is active
(bit 13 = 1)
0: warning E2270
1: error F2270
Fig. 3-64:
(only for control

section
CSB01.1N-FC...(BASIC
OPENLOOP))
(only for control
section
OPENLOOP))
(only for control
section
OPENLOOP))
With successive double execution of command P-0-0220, C2800 Analog

input adjust command it possible to automatically set
the scaling of voltage or current at the analog input
and the reference value at 0 V or 0 mA
Assigning a defined command value to an applied analog input voltage or
current by the value of P-0-0218.
Note:
The respective voltage or current for the command value

assigned by P-0-0218 must have been applied at the analog
input during the execution of the command!

Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0219, Analog input, maximum value for adjust

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter makes available a defined command value for

determining the values of
P-0-0214, Analog input, assignment A, scaling per 10V full scale or
P-0-0237, Analog input, assignment B, scaling per 10V full scale
By means of
P-0-0220, C2800 Analog input adjust command
it is possible to carry out a zero point and gain adjust for the respective
selected analog channel assignment (cf. P-0-0218).
By means of command C2800 the values for
P-0-0214, Analog input, assignment A, scaling per 10V full scale and
or
P-0-0237, Analog input, assignment B, scaling per 10V full scale and
P-0-0238, Analog input, assignment B, signal value at 0V
are automatically determined and stored.

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0220, C2800 Analog input adjust command

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
By means of this command, together with

it is possible to carry out a zero point and gain adjust for the respective
selected analog input (cf. P-0-0218).
Thereby the values for assignment A (cf. P-0-0218, bit 1 = 0):
P-0-0214, Analog input, assignment A, scaling per 10V full scale
or for assignment B (cf. P-0-0218, bit 1= 1):
are automatically determined and stored.
Function: Kommando
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0222, Travel range limit switch inputs

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter the signals of the travel range limit switch inputs are
displayed. It is used to diagnose the travel range limit switch inputs.
Bit
Comment
signal "limit switch +"

0: 0 V
1: +24 V
1
signal "limit switch -"
0: 0 V
1: +24 V
Fig. 3-65: Relevant bits of P-0-0222, Travel range limit inputs
Note:
When the travel range limit switches are activated, the

respective digital inputs at the control section must already
have been assigned to the respective bits of P-0-0222 via
P-0-0300 and P-0-0301. This was realized as the default
setting!
See also Functional Description "Position Limitation/Travel Range Limit

Switch"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0223, E-Stop input

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The status of the E-Stop input is mapped to this parameter. The

parameter can be used to check the E-Stop input or for visualization by a
commissioning program.
IndraDrive
Bit
status of E-Stop input
Comment
0: activated (0 V)
1: not activated (+24 V)
Fig. 3-66: Structure of parameter P-0-0223, E-Stop input
For regular operation of the drive 24 V must be provided at the hardware

input.
When activating the E-Stop function, bit 0 of this parameter must have
been assigned to a digital input.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0224, Probe 1, number of marker failures

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
It is possible to define an expectation window for probe 1; in order to be

evaluated the probe edges have to be within this window.
With active expectation window a "marker failure monitor" can be
activated in P-0-0226, Probe, extended control word which registers the
fact that the expectation window is passed through without marker event
and increments the content of P-0-0224, Probe 1, number of marker
failures.
The content of "P-0-0224" is set to "0" again if
a marker was detected within the expectation window,
values are written to P-0-0226, Probe, extended control word,
S-0-0170, Probing cycle procedure command is started or
probe enable is removed in S-0-0405, Probe 1 enable
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0225, Probe 2, number of marker failures

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
It is possible to define an expectation window for probe 2; in order to be

evaluated the probe edges have to be within this window.
With active expectation window a "marker failure monitor" can be
activated in P-0-0226, Probe, extended control word which registers the
fact that the expectation window is passed through without marker event
and increments the content of P-0-0225, Probe 2, number of marker
failures.
The content of "P-0-0225" is set to "0" again if
a marker was detected within the expectation window,
values are written to P-0-0226, Probe, extended control word,
S-0-0170, Probing cycle procedure command is started or
probe enable is removed in S-0-0406, Probe 2 enable
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0226, Probe, extended control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter it is possible to activate all manufacturer-specific

features of the probe function. The SERCOS-specific features of the
probe function are activated via parameter S-0-0169, Probe control
parameter.
Bit
Comment
activation of expectation window for probe 1

0: without expectation window
1: with expectation window
1
marker failure monitoring for probe 1
0: failure monitor switched off
1: failure monitor switched on
2
activation of time measurement for probe 1
0: measurement of selected signals
1: time measurement
4
activation of expectation window for probe 2
0: without expectation window
1: with expectation window
5
marker failure monitoring for probe 2
0: failure monitor switched off
1: failure monitor switched on
6
activation of time measurement for probe 2
0: measurement of selected signals
1: time measurement
Fig. 3-67: P-0-0226, Probe, extended control word
The following sections contain details with regard to the above-mentioned

bits!
Bit 0: Activation of Expectation
Window for Probe 1
Bit 1: Marker Failure Monitoring

for Probe 1
Via bit 0 it is possible to activate an expectation window for probe 1 within

which the selected edges have to occur in order to be detected. The
expectation window is defined with the parameters P-0-0204, Start
position probe function 1 active and P-0-0205, End position probe
function 1 active.
With bit 0 = 0 the expectation window is deactivated.
By setting bit 0 = 1 the expectation window is activated.
Bit 1 = 0 means that there is no marker failure monitoring carried out for
probe 1. This means that the parameter P-0-0224, Probe 1, number of
marker failures is not incremented by one if the selected signal passes
through the expectation window without a marker having occurred.
Bit 1 = 1 means that marker failure monitoring carried out. This means
that the parameter P-0-0224, Probe 1, number of marker failures is
incremented by one if the selected signal passes through the expectation
window without at least one marker having occurred.
Bit 2: Activation of Time

Measurement for Probe 1
If this bit has been set to "1", relative time measurement takes place when
a selected edge occurs. The signal selected in S-0-0426, Signal select
probe 1 is ignored.
Bit 4: Activation of Expectation

Window for Probe 2
Bit 5: Marker Failure Monitoring

for Probe 2
IndraDrive
Via bit 4 it is possible to activate an expectation window for probe 2 within

which the selected edges have to occur in order to be detected. The
expectation window is defined with the parameters P-0-0200, Start
position probe function 2 active and P-0-0201, End position probe
function 2 active.
With bit 4 = 0 the expectation window is deactivated.
By setting bit 4 = 1 the expectation window is activated.
Bit 5 = 0 means that there is no marker failure monitoring carried out for
probe 2. This means that the parameter P-0-0225, Probe 2, number of
marker failures is not incremented by one if the selected signal passes
through the expectation window without a marker having occurred.
Bit 5 = 1 means that marker failure monitoring carried out. This means
that the parameter P-0-0225, Probe 2, number of marker failures is
incremented by one if the selected signal passes through the expectation
window without at least one marker having occurred.
Bit 6: Activation of Time

Measurement for Probe 2
If this bit has been set to "1", relative time measurement takes place when
a selected edge occurs. The signal selected in S-0-0427, Signal select
probe 2 is ignored.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0227, Cam shaft profile, access angle

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With this parameter it is possible in the "cam shaft" mode to have the
calculated value of the access angle for the current cam shaft profile
displayed. The calculation of the table access angle is synchronized with
the resulting master axis position (P-0-0775).
The "cam shaft profile access angle" is generated from P-0-0776,
Effective master axis position minus P-0-0061, Angle offset begin of
profile plus component of P-0-0085, Dynamic angle offset.
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Note:

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Note:

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
Contained in 03VRS
MPB
Hardware
Funct. package(s):
fgrenz = 1000 / (2 * * TEing.)
fgrenz: limit frequency in Hz
TEing.:
Fig. 3-68: Calculating the limit frequency of the analog input filter
Input filter
Standard (bit 2 = 0)
inactive
active
High (bit 2 = 1)
inactive
active
Fig. 3-69: Setting the analog input filter
TEing. in s
500 s
>500 s
250 s
>250 s

Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
ms
Comb. check.: no
Input min/max:
Default value:
MPB:
0,250 / 60,000
0,250
MPD:
0,250 / 60,000
0,250
MPH:
0,250 / 60,000
0,250
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
flimit = 1000 / (2 * * Tinput)
flimit: limit frequency in Hz
Tinput:
Input filter
Tinput in s
inactive
active
high (bit 2 = 1)
inactive
active
500 s
>500 s
250 s
>250 s

Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
ms
Comb. check.: no
Input min/max:
Default value:
MPB:
0,250 / 60,000
0,250
MPD:
0,250 / 60,000
0,250
MPH:
0,250 / 60,000
0,250
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The analog input can be uploaded/downloaded by the drive firmware via a

digital low-pass filter. The limit frequency of this filter is set by this
parameter, if necessary the filter can also be deactivated.
fgrenz = 1000 / (2 * * TEing.)
flimit: limit frequency in Hz
Tinput:
Input filter
inactive
active
high (bit 2 = 1)
inactive
active
Tinput in s
500 s
>500 s
250 s
>250 s

Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
ms
Comb. check.: no
Input min/max:
Default value:
MPB:
0,250 / 60,000
0,250
MPD:
0,250 / 60,000
0,250
MPH:
0,250 / 60,000
0,250
IndraDrive
P-0-0236, Analog input, assignment B, target parameter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In this parameter the IDN of that parameter is entered to which a value

corresponding to the voltage at the respective analog input is to be
written. The scaling is made via P-0-0237, Analog input, assignment A,
scaling per 10V full scale!
v
Note:
Only such IDNs can be entered in P-0-0213 that are contained

in P-0-0212, Analog input, list of assignable parameters.

Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
By means of this parameter the analog input for assignment B (range of

values per 10 V) is scaled.
assigned in P-0-0236, Analog input, assignment B, target parameter.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In this parameter the reference of the analog input for assignment B

(value with a voltage of 0 V at the analog input) is defined. This allows
compensating a possible offset of the voltage at the analog input.
assigned in P-0-0236, Analog input, assignment B, target parameter.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0239, Analog input, assignment B, dead zone

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
By means of this parameter it is possible to define a range of values for

the analog input voltage (assignment B). The controller interprets this
range of values as voltage value 0 V ("dead zone").
The "dead zone" is a symmetrical range relative to 0 V. The value entered
in P-0-0239, Analog input, assignment B, dead zone is the positive and
negative limit value. All input voltage values the absolute value of which is
smaller than the value in P-0-0239 are treated by the controller like input
voltage 0 V. This allows suppressing the noise level of the input voltage
signal!
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 10,000
0,000
MPD:
0,000 / 10,000
0,000
MPH:
0,000 / 10,000
0,000
P-0-0240, C1700 Command measuring wheel mode

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With P-0-0240, C1700 Command measuring wheel mode the hybrid

position control is activated. The drive switches position control from
control with one encoder to hybrid position control (using two encoders).
The command can only be started with status ready for operation. In
addition there have to be two encoders available and hybrid position
control mustnt have been activated yet. If one of these conditions has not
been fulfilled, an error message (command error) is generated. If the
command is not cleared, it remains active until the drive is switched off or
up to phase regression.
With hybrid position control, the position difference of motor and
measuring wheel encoder is added to the actual position value of the
motor encoder for compensating possibly occurring slip between drive
motor and material.
Note:
When the command is started, the position data reference of

both encoders to the axis is cleared.

Control"
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0241, Actual pos. smoothing time constant for hybrid pos. control
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For hybrid position control (e.g. measuring wheel mode) the actual
position value difference between encoder 2 (e.g. optional encoder) and
st
encoder 1 (e.g. motor encoder) is filtered via a 1 order low pass with the
time constant entered in this parameter.
Note:
The filter can be deactivated by writing the value "0" to this

parameter.

Control"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 655,35
0,00
MPD:
0,00 / 655,35
0,00
MPH:
0,00 / 655,35
0,00
P-0-0242, Current actual slip value in %

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the currently occurred deviation of the actual

position values of motor encoder (S-0-0051) and external encoder
(S-0-0053) in the case of hybrid position control.
It is referring to
one measuring wheel revolution, if "feed constant 2" is active in
parameter P-0-0185 (typical case: measuring wheel is measuring
linear infeed)
one revolution of the external encoder, if "feed constant 2" is not active
in parameter P-0-0185 (encoder is measuring rotary infeed).
v
Note:
During initialization the value "0" is written to this parameter.

The value of the parameter is also maintained after hybrid
position control has been completed.

Control"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0243, Maximum occurred actual slip value in %

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter stores the maximum slip value (%) that has occurred
between the actual position values of motor encoder and measuring
wheel encoder with active measuring wheel mode. The current slip value
is displayed in P-0-0242, Current actual slip value in %.
Note:
During initialization the value "0" is written to this parameter.

The last value of the parameter is also maintained after hybrid
position control has been completed. The value "0" can be
written to the parameter in order to activate maximum value
storage again.

Control"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0244, Monitoring window of slip in %

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The value of this parameter defines the maximum allowed deviation of the
actual position values of motor encoder (S-0-0051) and external encoder
(S-0-0053) in the case of hybrid position control, related to one measuring
wheel revolution (%).
When this value is exceeded the F2036 Excessive position feedback
difference error message is generated. The monitor is only active for
hybrid position control (measuring wheel mode).
Note:
parameter.

Control"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 2000,0
0,0
MPD:
0,0 / 2000,0
0,0
MPH:
0,0 / 2000,0
0,0
P-0-0300, Digital I/Os, assignment list

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Via parameter P-0-0300 drive signals are assigned to the digital

inputs/outputs of the control section by configuring the corresponding IDN
in the list parameter.
Note:
Selection Lists
Apart from the IDN, the bit number desired for the input or
output (cf. P-0-0301, Digital I/Os, bit numbers) and the
output direction (cf. P-0-0302, Digital I/Os, direction) have to
be defined!
The IDNs allowed for the configuration are contained in the following list
parameters:
output signals:
S-0-0398, IDN list of configurable data in signal status word
input signals:
S-0-0399, IDN list of configurable data in the signal control word
IndraDrive
Default Configurations
Note:
Notes on Parameterization for

Single-Axis Devices
(HCS, HMS,...)
The default configurations depending on the control section

are described in the chapter on the digital inputs/outputs in the
Functional Description!
For parameter setting of P-0-0300, take the following notes into account:
The assignment of the analog command value input to a parameter
IDN (e.g. S-0-0036, Velocity command value) takes place in
P-0-0213, Analog input, assignment A, target parameter or
P-0-0236, Analog input, assignment B, target parameter.
For the parallel interface, master-side control signals and command
values are input via the parallel interface (X15)!
Notes on Parameterization for

Double-Axis Devices
(HMD)
For the double-axis device (HMD01.1-..., control section CDB01.1-...) all

digital inputs/outputs of the control section can be used by each of the two
axes. Each of the two axes has the assignment parameters P-0-0300,
P-0-0301 and P-0-0302. Take the following aspects into account:
Digital inputs or inputs/outputs (IO...) used as digital input can be

used simultaneously by both axes, if the assignment parameters of
both axes have the same IDN (P-0-0300), bit number (P-0-0301) or
directional assignment (P-0-0302) in the respective line!
Digital inputs or inputs/outputs (IO...) used as digital input cannot be

used simultaneously by both axes, if the assignment parameters of
both axes have a different IDN (P-0-0300), bit number (P-0-0301) or
directional assignment (P-0-0302) in the respective line! The
respective line of P-0-0300 of one of the two axes has to contain
"S-0-0000" (no assignment)!
Digital outputs or inputs/outputs (IO...) used as digital output cannot

be used simultaneously by both axes! The respective line of P-0-0300
of one axis has to contain "S-0-0000" (no assignment), if the same
line of the other axis contains an assignment.
Function: Parameter
Editability:
P23
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0301, Digital I/Os, bit numbers

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used to configure the digital inputs/outputs of the

control section.
In P-0-0301, Digital I/Os, bit numbers the desired bit number which is to
be assigned to the digital input or output is indicated for each assigned
parameter (cf. P-0-0300, Digital I/Os, assignment list).
Note:
Apart from determining the bit number, the IDN desired for the
output or input has to be defined via P-0-0300, Digital I/Os,
assignment list.
See also Parameter Description "P-0-0300, Digital I/Os, assignment list"

Function: Parameter
Editability:
P23
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0302, Digital I/Os, direction

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used to configure the digital inputs/outputs of the

control section.
In parameter P-0-0302, Digital I/Os, direction the desired function
(direction) is indicated for each assigned parameter (cf. P-0-0300, Digital
I/Os, assignment list). This means that parameter P-0-0302 sets the
digital input or output.
"0" for "input" function
"1" for "output" function
Note:
Notes on Default Configuration
Apart from determining the "digital I/Os, direction", the desired

IDN and bit number for the output or input has to be defined
via P-0-0300, Digital I/Os, assignment list or P-0-0301,
Digital I/Os, bit numbers.
As regards the default configuration (= condition as supplied), observe the

following facts:
The inputs determined on the hardware side (Ex) are automatically
provided with the correct value for the direction in their default status!
The combined inputs/outputs (EAx) are configured as inputs in their
default status!
Other values than "0" or "1" are rejected when the list is checked and
reset to the default value!
See also Parameter Description "P-0-0300, Digital I/Os, assignment list"
See also Parameter Description "P-0-0301, Digital I/Os, bit numbers"
Function: Parameter
Editability:
P23
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0303, Digital I/Os, status display

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the current states of the digital inputs. This
means that the current signal level or switch status (only for MP*02VRS!)
is displayed.
The table below illustrates the different significance of the individual bits
depending on control section and firmware:
Bit
Control section
all
5...1
all
6
CSH01.1CCDB0
1.1C
or:
CSB01.1N-FC
7
CSH01.1C
CDB01.1C
CSB01.1N-FC
10...8
CSH01.1C
CDB01.1C
CSB01.1N-SE
CSB01.1N-PB
CSB01.1N-AN
CSB01.1N-FC
11
CSH01.1C
CDB01.1C
CSB01.1N-AN
15...12
CDB01.1C
2216
CDB01.1C
MP*02VRS
MP*03VRS
relay-1 activated
0: no
1: yes
status dig. input 1...5
0: low level
1: high level
status dig. input 6
0: low level
1: high level
or:
relay-2 activated
0: no
1: yes
status dig. input 7
0: low level
1: high level
or
relay-3 activated
0: no
1: yes
status dig. input/output 8...10
0: low level
1: high level
not assigned
in MP*03VRS status of
outputs is displayed in
P-0-0304
not assigned
P-0-0304
not assigned
P-0-0304
or
status dig. input 8...10
0: low level
1: high level
status dig. input/output 11
0: low level
1: high level
0: low level
1: high level
0: low level
1: high level
Fig. 3-74:
Comment
P-0-0304
P-0-0304
P-0-0303
Relevant bits of P-0-0303, Digital I/Os, inputs
Note:
IndraDrive
As of version MP*03VRS, the function of P-0-0303 was

changed in such a way that all status bits concerning the
outputs (relay or digital) are no longer contained in P-0-0303,
but displayed in P-0-0304!

See also Parameter Description "P-0-0304, Digital I/Os, outputs"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0304, Digital I/Os, outputs

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the states of the digital outputs and relay outputs.
This means that the current signal level or switch status is displayed; the
following cases have to be distinguished for inputs/outputs that can be
switched:
With configuration as output, the output signal status is displayed in
P-0-0304.
With configuration as input, the input signal status is displayed in
P-0-0303, Digital I/Os, inputs.
Note:
Configuration
direction.
takes
place
via
P-0-0302,
Digital
I/Os,
Bit
Control section
Comment
all
P-0-0303
5...1
6
all
CSH01.1C
CDB01.1C
CSB01.1N-SE
CSB01.1N-PB
CSB01.1N-AN
relay-1 activated?
0: no
1: yes
not assigned
not assigned
CSB01.1N-FC
7
CSH01.1C
CDB01.1C
CSB01.1N-SE
CSB01.1N-PB
CSB01.1N-AN
or
relay-2 activated
0: no
1: yes
not assigned
or
IndraDrive
CSB01.1N-FC
10...8
11
relay-3 activated
0: no
1: yes
status dig.
input/output 8...10
0: low level
1: high level
CSH01.1C
CDB01.1C
CSB01.1N-SE
CSB01.1N-PB
CSB01.1N-AN
CSB01.1N-FC
CSH01.1C
CDB01.1C
CSB01.1N-AN
not assigned
status dig.
input/output 11
0: low level
1: high level
status dig.
input/output 12...15
0: low level
1: CDB01.1C
15...12
CDB01.1C
Fig. 3-75:
P-0-0303
P-0-0303
P-0-0303
Relevant bits of P-0-0304, Digital I/Os, outputs

See also Parameter Description "P-0-0303, Digital I/Os, inputs"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0326, Multiplication of measuring encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-0326 displays the factor with which the signals of the
measuring encoder are multiplied in the drive.
The multiplication of the measuring encoder is resulting depending on the
parameters P-0-0765, Modulo factor measuring encoder and
P-0-0327, Encoder resolution of measuring encoder.
The internal encoder resolution for the measuring encoder is calculated
as follows:
P - 0 - 0327, Encoder resol. of meas. enc.* P - 0 - 0326, Multiplic. of meas. enc.

Internal encoder resolution for the measuring encoder
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0327, Encoder resolution of measuring encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The resolution of the measuring encoder is indicated in this parameter.

For rotary encoders the value means the number of division periods or
cycles per revolution of the encoder shaft (DP/rev).
Note:
At present, only rotary encoders can be evaluated as

measuring encoders!
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
TP/U
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0328, Type of position encoder for measuring encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With this parameter the essential properties of the measuring encoder are
defined.
Bit
Comment
type of encoder
0: rotary
1: not allowed
3
0: not inverted
1: inverted
7/6
absolute evaluation
x0: absolute evaluation impossible (bit 7 irrelevant)
01: absolute evaluation possible and allowed (encoder
is handled as absolute encoder)
11: absolute evaluation possible, but not allowed
Fig. 3-76: P-0-0328, Type of position encoder for measuring encoder
Note:
Only the bits mentioned here are supported by the software. In

the case of absolute measuring systems with data memory,
the bit 6 is automatically set.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0329, Smoothing of actual position value 3 of measuring encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter determines the time constant of the moving average filter
for smoothing P-0-0052, Actual position value of measuring encoder.
Time constants of 0, 2, 4 and 8 ms can be set. When "0" is input, there is
no smoothing.
A linear set-up time compensates the averaging delay.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 16
MPD:
0 / 16
MPH:
0 / 16
P-0-0330, Control word of measuring encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used to activate or deactivate the reference mark

evaluation.
Bit
Comment
reference mark evaluation

0: deactivated
1: activated
Fig. 3-77: Reference mark evaluation
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0331, Status of measuring encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays whether the actual position values in P-0-0052

have been homed.
Bit
Comment
status of measuring encoder

0: not homed
1: homed
Fig. 3-78: Status of measuring encoder
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0332, Actual velocity value of measuring encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the filtered measuring encoder velocity in rpm at

the measuring gear output.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
Rpm
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
0,0000
P-0-0334, Absolute encoder range of measuring encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
be selected so that an absolute measuring encoder can be evaluated in
absolute form.
position feedback type parameter (P-0-0328) is set to zero. The actual
measuring encoder is cleared. The reference status of the position
encoders connected to the drive is displayed in parameter P-0-0331,
Status of measuring encoder.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Rev
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0340, C3500 Command Determine encoder correction values

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By means of this command correction values are determined for an

encoder with sinusoidal or sinelike signals; these values are stored in a
table P-0-0342, Correction value table for encoder correction.
The encoder for which the correction values are to be determined is
selected in P-0-0341, Control word for encoder correction. When the
required number of measured values has been recorded and the
correction value table has been created, the controller automatically
completes the command! If encoder correction has been activated with
the drive in operation (P-0-0341), the signal shape errors of the encoder
tracks are compensated by adding a correction value. The correction
values are taken from the table values of parameter P-0-0342.
See also Functional Description "Encoder Correction"
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0341, Control word for encoder correction

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter defines

for which encoder correction values (P-0-0340, C3500 Command
Determine encoder correction values) are to be determined
for which encoder the "encoder correction" function is to be activated.
Note:
Only activate encoder correction for the encoder for which the
correction values (P-0-0342, Correction value table for
encoder correction) were recorded!
IndraDrive
Bit
Comment
1/0
encoder selection
00: no encoder
01: motor encoder
10: opt. encoder
11: measuring enc.
4
correction
0: deactivated
1: activated
Fig. 3-79: Relevant bits of P-0-0341
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0342, Correction value table for encoder correction

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This list parameter is used to store the correction values for "encoder
correction" by means of which it is possible to compensate signal shape
errors of sinusoidal or sinelike encoder signals.
This parameter contains 2048 values. If all entries are "0", the command
P-0-0340, C3500 Command Determine encoder correction values has
not yet been started. The values are angle correction values and cannot
be interpreted by the customer!
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Incr
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-32767 / 32767
---
MPD:
-32767 / 32767
---
MPH:
-32767 / 32767
---
IndraDrive
P-0-0343, Encoder 1, cosine signal

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The current, analog-digital converted value of the voltage applied at the

differential input of track A of the motor encoder is displayed in this
parameter.
The level of the voltage applied at the differential input (between A+ and
A-) can be calculated:
Kind of motor encoder
encoder with 1Vpp
signals
Respective values of
P-0-0074
Voltage between A+/A-
1; 2; 4; 6; 8; 14
UA+/A-= P-0-0343 *
0.0003 * 1V
UA+/A-= P-0-0343 *
0.0026 * 1V
resolver encoder
3; 10
Fig. 3-80: Calculating the current voltage level at the differential input of track A
of the motor encoder
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0344, Encoder 1, sine signal

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop

differential input of track B of the motor encoder is displayed in this
parameter.
The level of the voltage applied at the differential input (between B+ and
B-) can be calculated:
Kind of motor encoder
encoder with 1Vpp
signals
resolver encoder
P-0-0074
1; 2; 4; 6; 8; 14
3;
10 (with transfer ratio
0.5)
Voltage between B+/BUB+/B-= P-0-0344 *

0.0003 * 1V
UB+/B-= P-0-0344 *
0.0048 * 1V
Fig. 3-81:
IndraDrive
Calculating the current voltage level at the differential input of track B

of the motor encoder
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop

differential input of track A of the external encoder is displayed in this
parameter.
P-0-0075
Kind of encoder
encoder with 1Vpp

1; 2; 4; 8;
UA+/A-= P-0-0345 *
0.0003 * 1V
signals
Resolver encoder
3;
UA+/A-= P-0-0345 *
(with transfer ratio 0.5)
10
0.0048 * 1V
Fig. 3-82: Calculating the current voltage level at the differential input of track A
of the external encoder
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop

differential input of track B of the external encoder is displayed in this
parameter.
P-0-0075
Kind of encoder
Voltage between B+/B-
encoder with 1Vpp

1; 2; 4; 8;
UB+/B-= P-0-0346 *
0.0003 * 1V
signals
resolver encoder
3;
UB+/B-= P-0-0346 *
(with transfer ratio 0.5)
10
0.0048 * 1V
Fig. 3-83: Calculating the current voltage level at the differential input of track B
of the external encoder
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

differential input of track A of the measuring encoder is displayed in this
parameter.
Kind of measuring
encoder
P-0-0076
encoder with 1 Vpp signals 1; 2; 4; 6; 8;
UA+/A-= P-0-0347 *
0.0003 * 1V
Calculating the current voltage level at the differential input of track A
of the measuring encoder
Fig. 3-84:
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

differential input of track B of the measuring encoder is displayed in this
parameter.
Kind of measuring
encoder
P-0-0076
Voltage between B+/B-
encoder with 1Vpp

1; 2; 4; 6; 8;
UB+/B-= P-0-0348 *
0.0003 * 1V
signals
Fig. 3-85: Calculating the current voltage level at the differential input of track B
of the measuring encoder
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0391, Actual position value difference encoder1 - encoder2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter indicates the difference of the actual position values of

encoder 1 and encoder 2. The value is updated every 2 msec.
P-0-0391 = S-0-0051 - S-0-0053
P-0-0391:
actual position value difference encoder1 - encoder2
S-0-0051:
actual position value encoder 1
S-0-0053:
actual position value encoder 2
Fig. 3-86: Definition of actual position value difference P-0-0391
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-0393, IDN groups: control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter determines which IDN group is output in P-0-0394, IDN

groups: list.
P-0-0393
P-0-0394
IDN groups:
control word
IDN groups:
list
0000H
no selection
0001H
All parameters with scaling-dependent attributes (arent

changed any more in phase 4).
0002H
All parameters the attributes of which can still change in phase

4.
0010H
All parameters with position scaling (S-0-0076).
0011H
All parameters with speed scaling (S-0-0044).
0012H
All parameters with acceleration scaling (S-0-0160).
0013H
All parameters with torque scaling (S-0-0086).
In the case of new control units it is aimed at relieving the non-cyclical

data channel of unnecessary or iterative requests. This primarily implies
repeated collection of the attributes. This is also done if the attributes
cannot change online in the drive. As there are attributes that are
changing online (due to scaling-dependence of the parameter or free
assignment of signals as, for example, in the case of the oscilloscope), it
is necessary to give the control unit a possibility to recognize the different
characteristics of the attributes. Up to now SERCOS hasnt provided any
procedure for this purpose. An aggravating fact is that the existing
parameters are depending on the firmware version.
An online procedure was therefore realized with which the control unit can
read via an IDN list which parameters are pertaining to the individual
attribute variants.
Note:
The current enabling of functional packages is taken into

account for determination by means of the list.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0394, IDN groups: list

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains the IDN group selected in parameter P-0-0393,

IDN groups: control word.
See also Parameter Description "P-0-0393, IDN groups: control word"
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0395, Average value filter for display: signal selection

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter determines for which signals the average value filter for
display is used cyclically in the position cycle time.
It is only possible to select signals from parameter P-0-0396, Average
value filter for display: signal selection list. The function is inactive
when "S-0-0000" is selected as signal. The two filters are independent of
each other and can be separately active or inactive. The parameter is the
IDN list type and has exactly 2 values (IDNs) for the two filters.
Note:
Attention: for oscilloscope etc. it is necessary to observe

orders of parameterization. If first the signal for the average
value filter for display is set and then the same signal is
selected as measuring signal in the oscilloscope, the filtered
value is recorded in the oscilloscope. If the order is inverse,
the non-filtered value is recorded. If the signal for the average
value for display is changed or cleared, automatic switching
does not take place in the case of the oscilloscope function.
The has to be selected again as measuring signal.
See also Parameter Description "P-0-0396, Average value filter for

display: signal selection list"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0396, Average value filter for display: signal selection list

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter determines which signals are suitable for the average
value filter for display. In parameter P-0-0395, Average value filter for
display: signal selection it is only possible to select signals contained in
this list. The signal list is generated from the parameter data base.
The following parameters are contained in the signal list:
S-0-0040, Velocity feedback value
S-0-0084, Torque/force feedback value
S-0-0347, Velocity error
S-0-0380, DC bus voltage
S-0-0382, DC bus power
P-0-0038, Torque-generating current, command value
P-0-0039, Flux-generating current, command value
P-0-0043, Torque-generating current, actual value
P-0-0044, Flux-generating current, actual value
P-0-0048, Effective velocity command value
P-0-0049, Effective torque/force command value
P-0-0141, Thermal drive load
P-0-0440, Actual output current value (absolute value)
P-0-4046, Effective peak current
See also Parameter Description "P-0-0395, Average value filter for
display: signal selection"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0397, Average value filter for display: time constant

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter determines the time constant of the low pass. With "0" the
filter function is inactive in spite of signal input. The data is always
integrated in a 0.5 ms clock (max. position clock time).
The parameter is an array of the type data without sign and has exactly 2
values (time constants) for the two filters.
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 2000,0
---
MPD:
0,0 / 2000,0
---
MPH:
0,0 / 2000,0
---
IndraDrive
P-0-0400, Axis correction external correction value

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
Via this parameter the control master can cyclically send a position
correction value to the drive and thereby, on the control side, correct
errors in the actual position value of the drive. The control-side correction
is activated when P-0-0400 has been included in the master data
telegram. The values for P-0-0400 must have position scaling according
to S-0-0076, Position data scaling type.
The control-side correction is contained in the "servo" expansion package
and is only available after functional package has been enabled.
See also Functional Description "Axis Error Correction" and Parameter
Description "S-0-0076, Position data scaling type"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-0401, Axis correction active correction value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter displays the currently effective correction value for the
actual position value.
Note:
The actual position value system to be corrected is selected

via the respective bit of P-0-0413, Axis correction control
word.
See also Functional Description "Axis Error Correction" and Parameter

Description "S-0-0076, Position data scaling type"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0402, Axis correction reference temperature

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
The reference temperature for the position-dependent and the positionindependent, temperature-related axis error correction is entered in this
parameter.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
S-0-0208
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
200
MPD:
200
MPH:
200
P-0-0403, Axis correction reference position for temp. corr.

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
The reference position for the position-dependent, temperature-related

axis error correction is entered in this parameter.
For determining the value of P-0-0403 see Functional Description "Axis
Error Correction"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-0404, Axis correction actual temperature pos.-dependent

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
Via this parameter the actual temperature of the axis can be transmitted
to the controller. This value acts on the position-dependent, temperaturerelated axis error correction.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
S-0-0208
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
200
MPD:
200
MPH:
200
P-0-0405, Axis correction actual temperature pos.-independent

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
Via this parameter the actual temperature of the axis can be transmitted
to the controller. This value acts on the position-independent,
temperature-related axis error correction.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
S-0-0208
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
200
MPD:
200
MPH:
200
P-0-0406, Axis correction temperature factor pos.-dependent

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
The position-dependent temperature correction factor is entered in this

parameter. The value is scaled with 1/Kelvin (1/K).
The position-dependent temperature correction is used to compensate for
the temperature-dependent linear expansion of the mechanical transfer
elements of a servo axis or the measuring system. The function becomes
active when the correction factor is unequal "0", it is contained in the
"servo" expansion package.
Error Correction"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 6
1/ K
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000000 / 10,000000
0,000000
MPD:
0,000000 / 10,000000
0,000000
MPH:
0,000000 / 10,000000
0,000000
IndraDrive
P-0-0407, Axis correction temperature factor pos.-independent

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
The position-independent temperature correction factor is entered in this

parameter. The value is scaled with the quotient position data scaling 10K
(S-0-0076/10K).
The position-independent temperature correction is used to compensate
for purely temperature-dependent linear expansion of tools, workpieces
and slides. The function becomes active when the correction factor is
unequal "0".
Error Correction"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-0408, Axis correction start position

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
The start position of the correction range for the precision axis error
correction is determined in this parameter. The correction range is
between P-0-0408 and P-0-0409, Axis correction end position.
Note:

word.
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-0409, Axis correction end position

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
The end position of the correction range for the precision axis error
correction is displayed in this parameter. The correction range is between
P-0-0408, Axis correction start position and P-0-0409.
Note:

word.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0410, Axis correction support point distance

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
The support point distance for the correction range of the precision axis
error correction is determined by means of this parameter. The correction
values entered in P-0-0411 or P-0-0412, Axis correction, correction
table positive/negative are referring to the support points of the
correction range.
Note:
With the value "0" in P-0-0410 the precision axis error

correction is deactivated, if the value is greater than "0" it is
activated!
The correction range is between P-0-0408, Axis correction start

position and P-0-0409, Axis correction end position and has a number
of support points corresponding to the maximum number of lines from
P-0-0411 or P-0-0412. The value of P-0-0410 is the distance between the
neighboring support points.
Version
Attribute
GEN-02VRS
GEN-02VRS
MPB Default value: 1
Comment
MPH Default value: 1
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-0411, Axis correction, correction table positive

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
For precision axis error correction the position correction values for the
support points of the correction range are entered in the table lines of this
list parameter. The correction values for P-0-0411 have to be determined
with positive direction of motion because they only take effect with
positive direction of motion.
The first and last of the table lines used have to written with the value "0"
because otherwise an abrupt change of the actual position value occurs
at the start and end position of the correction range!
Table line
index
P-0-0411 (positive direction)
0
1
2
3
4
5
....
498
499
0 (corr. value at start position P-0-0408)

corr. value at support point 2
....
0 (corr. value at end position P-0-0409)
Fig. 3-87:
Assignment of support point correction values to table line index of

correction tables P-0-0411 when using 500 support points
Note:
The number of correction values can be 6...500, otherwise the

error "datum not correct" is signaled when this parameter is
written!
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-0412, Axis correction, correction table negative

Contained in 02VRS:
MPH
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
For precision axis error correction the position correction values for the
support points of the correction range are entered in the table lines of this
list parameter. The correction values for P-0-0412 have to be determined
with negative direction of motion because they only take effect in the drive
with negative direction of motion.
The first and last of the table lines used have to written with the value "0"
because otherwise an abrupt change of the actual position value occurs
at the start and end position of the correction range!
Table line index
P-0-0412 (negative direction)
0
1
2
3
4
5
....
498
499
0 (corr. value at start position P-0-0408)

....
0 (corr. value at end position P-0-0409)
Fig. 3-88:
Assignment of support point correction values to table line index of

correction tables P-0-0412 when using 500 support points
Note:
The number of correction values can be 6...500, otherwise the

error "datum not correct" is signaled when this parameter is
written!
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-0413, Axis correction control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By means of axis error correction it is possible to correct systematic

errors of the mechanical system and the measuring systems in the actual
position value system. The actual position value system to be corrected is
selected in this parameter.
Bit
Comment
actual position value correction of motor encoder

0: no
1: yes
1
actual position value correction of external encoder
0: no
1: yes
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0414, Analog Output 3

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
Comb. check.: no
Input min/max:
Default value:
MPB:
-10,000 / 10,000
0,000
MPD:
-10,000 / 10,000
0,000
MPH:
-10,000 / 10,000
0,000
P-0-0415, Analog Output 4

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
Comb. check.: no
Input min/max:
Default value:
MPB:
-10,000 / 10,000
0,000
MPD:
-10,000 / 10,000
0,000
MPH:
-10,000 / 10,000
0,000
IndraDrive
P-0-0418, Analog output, assignment A, signal value at 0V

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In this parameter the reference of the analog output of assignment A

(value with an output of 0 V) is defined. The unit is determined by the
parameter assigned in P-0-0420, Analog output, assignment A, signal
selection.
When assigning parameters with the "binary" display attribute, the number
of the bit to be output at the analog output is defined in this parameter.
When the respective bit has not been set, the output voltage is 0 V, when
the bit has been set, 1 V is output.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0419, Analog output, assignment B, signal value at 0V

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In this parameter the reference of the analog output of assignment B

(value with an output of 0 V) is defined. The unit is determined by the
parameter assigned in P-0-0423, Analog output, assignment B, signal
selection.
When assigning parameters with the "binary" display attribute, the number
of the bit to be output at the analog output 1 is defined in this parameter.
When the respective bit has not been set, the output voltage is 0 V, when
the bit has been set, 1 V is output.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0420, Analog output, assignment A, signal selection

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
By means of this parameter it is possible to assign a parameter IDN to the

analog outputs 1 and 3 of the drive controller. The current parameter
value is output as voltage at the analog output, if the mode of the analog
output in P-0-0427, Control parameter of analog output has been set to
output of assignment A. The output voltage can be made visible with an
oscilloscope, for example.
It is only possible to assign those IDNs that have been entered in the
P-0-0426, Analog output IDN list of assignable parameters list.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0422, Analog output, assignment A, scaling [1/V]

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter is used to scale the voltage output by analog output 1 and
3. The unit is determined by the parameter assigned in P-0-0420, Analog
output, assignment A, signal selection. When assigning parameters
with the "binary" display attribute, the parameter is not active.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0423, Analog output, assignment B, signal selection

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
By means of this parameter it is possible to assign a parameter IDN to the

analog outputs 2 and 4 of the drive controller. The current parameter
value is output as voltage at the analog output, if the mode of the analog
output in P-0-0427, Control parameter of analog output has been set to
output of assignment B. The output voltage can be made visible with an
oscilloscope, for example.
It is only possible to assign those IDNs that have been entered in the
P-0-0426, Analog output IDN list of assignable parameters list.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0425, Analog output, assignment B, scaling [1/V]

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter is used to scale the voltage output by analog output 2 and
4. The unit is determined by the parameter assigned in P-0-0423, Analog
output, assignment B, signal selection. When assigning parameters
with the "binary" display attribute, the parameter is not active.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0426, Analog output IDN list of assignable parameters

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter contains a list of all parameter IDNs that can be assigned
via
P-0-0420, Analog output, assignment A, signal selection and
P-0-0423, Analog output, assignment B, signal selection
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0427, Control parameter of analog output

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This control parameter determines the signal source and conditions for
the analog outputs.
Bit
assignment A, limitation
0: overflow
1: limitation
analog output 1, signal source
0: direct output of voltage signals via P-0-0139
1: output of parameter values via "analog output:
assignment A"
assignment A"
assignment B, limitation
0: overflow
1: limitation
assignment B"
10
12
Comment

assignment B"
Fig. 3-90: Relevant bits of P-0-0427, Control parameter of analog output
Note:
For the double-axis device (HMD01.1-...) the analog outputs

are used by both axes, the parameters (IDNs) assigned to the
respective analog output are identical for both axes:
For each analog output, IDN assignment (P-0-0420,
P-0-0423) therefore is only possible by one of the two axes!
Assignment is existent when analog output 1...4, mode was
set to "1". "0" means "no assignment" but direct output of
the parameter assigned to the analog output.)
If there is no IDN assignment by both axes is existent on
the respective analog output, the parameter directly
assigned to the analog output can be written by both axes.
The value last written is active, unless the parameter
directly assigned is cyclically written for one of both axes!
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is used to display the position command value effective at

the position loop input. Depending on the active operating mode, this
position command value can be
the filtered position command value generated by the drive (e.g. in the
case of interpolation modes)
the position command value cyclically set by a control unit and fineinterpolated and filtered in the drive (see also "Cyclic Position
Control").
Note:
The internal position command value P-0-0434, Position

command value controller is generated in the position loop
clock (cf. P-0-0556)!
See also Functional Description "Operating Modes - Cyclic Position

Control"
See also Functional Description "Operating Modes - Positioning Block
Mode"
See also Functional Description "Operating Modes Drive-Internal
Interpolation"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0435, Control word of position controller

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
In this parameter it is possible to activate additional functions of the

position loop.
Bit
Comment
quadrant error correction

0: inactive
1: active
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
0/1
MPD:
0/1
MPH:
0/1
P-0-0436, Reference radius for quadrant error correction

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
In this parameter the radius of a circular path, that is used as reference

for quadrant error correction, is determined.
This radius is used for calculating the path velocity and should correspond
to a radius, characteristic for the machine, for circularly interpolating
machining.
See also Functional Description "Quadrant Error Correction"
Version
Attribute
GEN-02VRS
GEN-02VRS
Editability: P2
Validity ch.: P2-3
Comment
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1000000
MPD:
1000000
MPH:
1000000
P-0-0437, Velocity time range for quadrant error correction

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
In this parameter the absolute value of the velocity time range of the
velocity pulse is entered that, with active quadrant error correction, is
added to the velocity command value in case the direction of movement is
changed.
Note:
The value "0" deactivates the quadrant error correction!
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
yes
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-0438, Table of path velocities for quadrant error correction

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
This parameter corresponds to P-0-0439, Table of velocity pulse for

quadrant error correction.
In the lines of this list parameter a maximum of 20 path velocities can be
entered in ascending order. A velocity pulse amplitude for quadrant error
correction can be assigned in P-0-0439 to each entered path velocity.
IndraDrive
Version
Attribute
Comment
GEN-02VRS
Memory: PARAM_SP
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-0439, Table of velocity pulse for quadrant error correction

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Servo(compensation)
This parameter corresponds to P-0-0438, Table of path velocities for

quadrant error correction.
In the lines of this list parameter a maximum of 20 velocity pulse
amplitudes can be entered in ascending order. The values are assigned
to the path velocities of the corresponding lines of P-0-0438.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
yes
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-0440, Actual output current value (absolute value)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Display parameter for the measured actual current value which is the rms
value of the motor phase current.
The phase currents are scanned in the current controller cycle, converted
as a current vector and the rms value is calculated from these data. This
parameter displays the value averaged during 2 ms and is used as the
input value for the overload models of amplifier and motor.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
A eff
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0441, Overload warning

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Parameter for determining a threshold value for thermal controller work

load.
If the value displayed in P-0-0141, Thermal drive load exceeds the
determined threshold, the warning E2061 Amplifier overload
prewarning is generated.
The unit of the threshold value corresponds to the one of P-0-0141 (%).
Note:
When 100% is entered, E2061 Amplifier overload

prewarning is not displayed. Instead, the warning E8057
Amplifier overload, current limit active is already generated
with approx. 97% of the thermal work load.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 100
80
MPD:
0 / 100
80
MPH:
0 / 100
80
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Display parameter for the effective positive torque limit value. The value
displayed is the lowest value of
work load-dependent limits by motor and controller
motordepending limits.
Note:
P-0-0442 displays the positive torque/force limit value (with
regard to load torque/load force) effective at a stationary
(constant) velocity. For acceleration processes a higher
limit value can be effective, if the lower value of P-0-0109
and S-0-0092 is greater than S-0-0082 and the
acceleration feedforward has been activated.
Parameter P-0-0444, Actual value peak torque limit
shows the maximum allowed drive torque or the maximum
allowed drive force (stationary load torque + acceleration
torque) effective for acceleration processes.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Display parameter for the effective negative torque limit value. The value
displayed is the lowest value of
Note:
P-0-0443 displays the negative torque/force limit value
(with regard to load torque/load force) effective at a
stationary (constant) velocity. For acceleration processes a
higher limit value can be effective, if the lower value of
P-0-0109 and S-0-0092 is greater than S-0-0083 and the
acceleration feedforward has been activated.
Parameter P-0-0444, Actual value peak torque limit
shows the maximum allowed drive torque or the maximum
allowed drive force (stationary load torque + acceleration
torque) effective for acceleration processes.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Display parameter for the maximum drive torque or the maximum drive
force. The value is the limit value for positive and negative torque/force
command values.
The value displayed is the lower value of
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0445, Status word torque/current limit

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains the status information for the torque/current

limitation.
Bit
Comment
positive torque command value limited?

0: no: P-0-0442 = S-0-0082
1: yes: P-0-0442 < S-0-0082
1
negative torque command value limited?
0: no: P-0-0443 = S-0-0083
1: yes: |P-0-0443| < |S-0-0083|
4
amplifier overload warning (E2061)?
0: no: P-0-0141 < P-0-0441
1: yes: P-0-0141 >= P-0-0441
7
torque/force limitation equal zero (E2056)? (P-00442=0 or P-0-0443=0 or P-0-0444 =0 ?)
0: no
1: yes
8
amplifier overload (E8057), peak current limitation
active?
0: no
1: yes
9
motor overload (E8055), peak current limitation
active?
0: no
1: yes
14
E2051 Motor overtemp. prewarning active?
0: no
1: yes
15
F2019 Motor overtemperature shutdown or
F2021 Motor temperature monitor defective?
0: no
1: yes
Fig. 3-92: P-0-0445, Status word torque/current limit
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0451, Actual acceleration torque/force value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The acceleration torque is determined from the total inertia (determined

using the automatic control loop setting) and the value in S-0-0164,
Acceleration feedback value 1. The acceleration torque is displayed in
P-0-0451, Actual acceleration torque/force value.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0452, Actual process torque/force value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The current process torque is determined from the current total torque in
parameter S-0-0084, Torque/force feedback value and the determined
P-0-0451, Actual acceleration torque/force value. The process torque
is displayed in P-0-0452, Actual process torque/force value.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0453, Integral-action component velocity loop

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The integral-action component of the velocity loop is displayed in

parameter P-0-0453.
Function: Parameter
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-0454, Velocity feedforward actual value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter displays the present velocity feedforward value.

In the case of lagless operating modes, the velocity feedforward is
calculated in the position loop from the position command values and
depending on P-0-0040, Velocity feedforward evaluation is added to
the velocity command value.
The parameter depends on S-0-0044, Velocity data scaling type.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0455, Acceleration feedforward actual value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter displays the present acceleration feedforward value.

The acceleration feedforward is generated as follows:
1. For lagless, position-controlled operating modes the feedforward
value is calculated from the position command values, depending on
S-0-0348, Acceleration feedforward gain.
2. In velocity control the feedforward value is calculated from the velocity
command values, depending on P-0-1126, Velocity control loop:
acceleration feedforward.
The parameter depends on "S-0-0086, Torque/force data scaling type".
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0460, Module group, control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the information that is transmitted by a device

(inverter or converter) to the module bus. Due to the hierarchical structure
of the module bus, only the most significant information takes effect!
Note:
This parameter only displays the control information that the

respective controller is transmitting via the module bus. The
bits of this parameter cannot be externally written!
Bit
Comment
All module bus nodes without error?

0: no
1: yes
1
Ready for power output ("DC bus ok")?
0: no
1: yes
2
Prewarning supply overload?
0: no
1: yes
3
DC bus voltage error, mains failure ("DC bus not ok")?
0: no
1: yes
4
Inverter error?
0: no
1: yes
5
Supply error?
0: no
1: yes
6
Clear supply error?
0: not active
1: active
8
Module bus communication error?
0: no
1: yes
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0461, Module group, status word

Contained in 02VRS:
MPB
MPD
MPH
IndraDrive
Contained in 03VRS
MPB
MPD
Hardware
--
Funct. package(s):
MPH
This parameter displays the currently active information of the module

bus.
Bit
Comment
All module bus nodes without error?

0: no
1: yes
1
Ready for power output ("DC bus ok")?
0: no
1: yes
2
Prewarning supply overload?
0: no
1: yes
3
DC bus voltage error, mains failure ("DC bus not ok")?
0: no
1: yes
4
Inverter error?
0: no
1: yes
5
Supply error?
0: no
1: yes
6
Clear supply error?
0: not active
1: active
8
Module bus communication error?
0: no
1: yes
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0477, Logbook axis number

Contained in 02VRS:
MPD
Contained in 03VRS
MPD
Hardware
--
Funct. package(s):
This parameter displays the logic axis number of the last entry in
P-0-0478, Logbook event.
0 = logic axis "0" (left axis)
1 = logic axis "1" (right axis)
0xFFFF = both axes
Note:
Users cannot utilize this parameter! It is write-protected and

cannot be changed!
Function: Parameter
P234
Data l.:
2Byte var.
no
Format:
HEX
Unit:
no
Decim. pl.: 0
--
Editability:
Extr. val. ch.:
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0478, Logbook event

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays a code which allows the drive development staff
to diagnose drive-internal states. The entries in this parameter are
realized automatically by the controller subject to internal states. The entry
time is retained in P-0-0479, Logbook time stamp.
Note:
The value displayed in this parameter can only be interpreted

with internal knowledge of the firmware! Therefore, the user
cannot utilize this parameter! It is write-protected and cannot
be changed!
Function: Parameter
P234
Data l.:
4Byte var.
P2->P3
Format:
HEX
Unit:
no
Decim. pl.: 0
--
Cycl. tra.: no
Editability:
Extr. val. ch.:
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0479, Logbook time stamp

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the time of the last entry in P-0-0478, Logbook
event. At the respective point of time, the value of P-0-0190, Operating
hours control section is retained in parameter P-0-0478.
Note:
Therefore, users cannot utilize this parameter! It is writeprotected and cannot be changed!
Function: Parameter
P234
Data l.:
4Byte var.
P2->P3
Format:
DEC_OV
Unit:
no
Decim. pl.: 1
Editability:
Extr. val. ch.:
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0480, Patch function 1, source pointer

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter allows selecting a controller-internal memory cell. This

memory cell can be read or written by means of the patch function 1.
Note:
The patch function allows the development staff to diagnose

internal signal states and data; customers cannot use this
function! Therefore, only the development staff know the
values of this parameter (memory addresses)!
See also Functional Description "Patch Function"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0481, Patch function 1, attribute

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter the access to and output of the controllerinternal memory address selected in P-0-0480, Patch function 1, source
pointer are configured.
Bit
0/1/2
type of source data
Comment
0: INT4
1: INT2
2: INT1
3: FLOAT8
4: FLOAT4
4/5/6
output format of source data
0: BIN
1: DEZ m VZ
2: DEZ o VZ
3: HEX
4: FLOAT
5: BOOL
Fig. 3-95: Relevant bits of parameter P-0-0481
Note:

function!
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
48
MPD:
--- / ---
48
MPH:
--- / ---
48
IndraDrive
P-0-0482, Patch function 1, bit mask

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter defines a bit mask that acts on the output of the value of
the controller-internal memory cell selected by P-0-0480, Patch function
1, source pointer. This parameter acts subject to P-0-0481, Patch
function 1, attribute. It is only active in certain configuration
constellations.
Note:

firmware-internal signal states and data; customers cannot
use this function!
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0xFFFFFFFF
MPD:
--- / ---
0xFFFFFFFF
MPH:
--- / ---
0xFFFFFFFF
P-0-0483, Patch function 1, exponent

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter defines an exponent that acts on the output of the value
of the controller-internal memory cell selected by P-0-0480, Patch
function 1, source pointer. This parameter acts subject to P-0-0481,
Patch function 1, attribute. It is only active in certain configuration
constellations.
Note:

function!
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-32 / 32
MPD:
-32 / 32
MPH:
-32 / 32
P-0-0485, Patch function 1, display

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to read or write a value to the

content of a controller-internal memory cell. Further specifications and
configurations are made in the other parameters relevant to the patch
function (for details please see the Functional Description).
Note:

use this function! As unqualified writing to this parameter can
interfere with the drive function, this parameter is writeprotected!
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 10000
MPD:
0 / 10000
MPH:
0 / 10000
IndraDrive
P-0-0486, Patch function 2, source pointer

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter allows selecting a controller-internal memory cell. This

memory cell can be read or written by means of the patch function 2.
Note:

function! Therefore, only the development staff know the
values of this parameter (memory addresses)!
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0487, Patch function 2, attribute

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter the access to and output of the controllerinternal memory address selected in P-0-0486, Patch function 2, source
pointer are configured.
Bit
0/1/2
type of source data

0: INT4
1: INT2
2: INT1
3: FLOAT8
4: FLOAT4
4/5/6
output format of source data
0: BIN
1: DEZ m VZ
2: DEZ o VZ
3: HEX
4: FLOAT
5: BOOL
Fig. 3-96: Relevant bits of parameter P-0-0487
Comment
Note:
IndraDrive

function!
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
48
MPD:
--- / ---
48
MPH:
--- / ---
48
P-0-0488, Patch function 2, bit mask

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter defines a bit mask that acts on the output of the value of
the controller-internal memory cell selected by P-0-0486, Patch function
2, source pointer. This parameter acts subject to P-0-0487, Patch
function 2, attribute. It is only active in certain configuration
constellations.
Note:

function!
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0xFFFFFFFF
MPD:
--- / ---
0xFFFFFFFF
MPH:
--- / ---
0xFFFFFFFF
IndraDrive
P-0-0489, Patch function 2, exponent

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter defines an exponent that acts on the output of the value
of the controller-internal memory cell selected by P-0-0486, Patch
function 2, source pointer. This parameter acts subject to P-0-0487,
Patch function 2, attribute. It is only active in certain configuration
constellations.
Note:

use this function!
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-32 / 32
MPD:
-32 / 32
MPH:
-32 / 32
P-0-0491, Patch function 2, display

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to read or write a value to the

content of a controller-internal memory cell. Further specifications and
configurations are made in the other parameters relevant to the patch
function.
Note:

use this function! As unqualified writing to this parameter can
interfere with the drive function, this parameter is writeprotected!
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 10000
MPD:
0 / 10000
MPH:
0 / 10000
P-0-0506, Amplitude for angle acquisition

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter presets the start value for the amplitude of the test signal
for the automatic commutation offset determination methods with current.
See also Parameter Description "P-0-0522, Control word for commutation
setting"
The value for this parameter is stored. It can be changed for adjustment
purposes.
This parameter takes effect for commutation setting by means of
saturation method and sine-wave method:
When the saturation method is activated, this parameter is a voltage
value, unit "V".
When the sine-wave method is activated, this parameter is a
torque/force value with unit "%". The reference value 100% is the
motor torque at standstill of the motor according to the data in
S-0-0086, Torque/force data scaling type.
See also Parameter Description "S-0-0086, Torque/Force data scaling
type"
Note:
The value for this parameter can be automatically generated

by the controller. By the start value "0" further values are
iteratively generated for P-0-0506 and P-0-0507, Test
frequency for angle acquisition until the commutation offset
determination is successfully completed.
After the iteration the values are stored and used for every
further commutation offset determination.

setting"
See also Functional Description "Commutation Setting"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 1000
MPD:
0 / 1000
MPH:
0 / 1000
P-0-0507, Test frequency for angle acquisition

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter sets the start frequency of the test signal for the automatic
commutation offset determination.
The value for this parameter is stored. It can be changed for adjustment
purposes.
Note:
The value for this parameter can be automatically generated

by the controller. By the start value "0" further values are
iteratively generated for P-0-0506 and P-0-0506, Voltage
amplitude for angle acquisition until the commutation offset
determination is successfully completed.
After the iteration the values are stored and used for every
further commutation offset determination.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Hz
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 1000
500
MPD:
0 / 1000
500
MPH:
0 / 1000
500
IndraDrive
P-0-0508, Commutation offset

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the case of synchronous motors that are delivered with fixed,

mechanical configuration of the rotor and the absolute encoder system
(MHD, MKD, MKE) this value is determined once at the factory and stored
in the motor encoder (P-0-3008, Commutation offset, encoder
memory).
During the initialization, after switching on and detecting the encoder
memory, the parameter value is automatically loaded to the controller
(P-0-3008 -> P-0-0508) and at drive enable the motor is immediately
ready for operation!
In the case of synchronous kit motors with absolute measuring system,
the value is determined once on the axis side and stored in the controller
(in P-0-0508 and, if available on the motor encoder side, in P-0-3008,
too). After switching on the motor is immediately ready for operation at
drive enable!
In the case of synchronous kit motors with incremental measuring system
the commutation offset must be determined again each time the drive is
switched on again. After drive enable a procedure for determining the
correct value for the effective commutation offset (P-0-0521) is
automatically started. It is only after the procedure has been successfully
completed that the motor can produce force! You can select the
saturation method or the sine-wave method as the procedure for
commutation setting (see also "method of commutation setting" in
P-0-0522, Control word for commutation setting). It is preferable to
use the saturation method because it runs without motion!
During the subsequent homing procedure of the incremental measuring
system a commutation offset fine adjustment is carried out. To do this the
value of P-0-0521 converted to the home point is compared to P-0-0508
and corrected, if necessary. The motor then runs with the optimum
commutation offset from P-0-3008 / P-0-0508 determined during the initial
commissioning procedure. The commutation fine adjust is deactivated,
when the value "0" is entered in P-0-0508.
The values of P-0-0521 and P-0-0508 are generally different, because
P-0-0521 is related to the position of the motor encoder at the time the
drive is switched on and P-0-0508 is related to the home point of the axis!
Note:
P-0-0508 can only be written in communication phase "P2". It can only be
indirectly written for the purpose of optimization via P-0-0521, Effective
commutation offset in the initial commissioning mode with active drive!
The value for P-0-0508 must always be determined again if:
the mechanical arrangement of the measuring system is
changed in the case of rotary motors or
the primary and secondary part are mechanically changed
in the case of kit motors.
This parameter is irrelevant for asynchronous motors.

setting"
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 1024
MPD:
0 / 1024
MPH:
0 / 1024
P-0-0510, Rotor inertia

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The following settings can be made depending on bit 9 of parameter

P-0-4014, Type of construction of motor:
rotor inertia (without load inertia) in the case of rotary motors
primary part mass (without load mass) in the case of linear motors
Note:
commissioning.
commissioning tool.
Unit for
Decimal places for

rotary
rotary
kgm
Fig. 3-97:
linear
linear
kg
5
5
Unit and decimal places of P-0-0510, depending on P-0-4014

Measuring Systems"
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
P-0-4014
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00000 / 500,00000
0,00000
MPD:
0,00000 / 500,00000
0,00000
MPH:
0,00000 / 500,00000
0,00000
P-0-0512, Temperature sensor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The controller monitors the motor temperature by means of temperature

sensors installed in the motor. The controller can directly evaluate
standard temperature sensors because the characteristics of the sensors
are stored in the firmware.
Note:
In the case of motors with encoder data memory (MHD,
MKD, MKE), this parameter is automatically set correctly
when the motor parameters are loaded!
In the case of motors without encoder data memory (2AD,
ADF, LSP, MSS, 1MS), the parameter must be set to the
correct value! When you use the DriveTop commissioning
tool, the value is automatically set correctly!
The temperature sensors that can be directly evaluated by the controller
are characterized by an identification number:
1: SNM150-DK, by Thermik, (PTC with switching performance, threecore circuitry) incorporated in MHD, MKD, MBS, MBT and LSF motors
2: K227, by Siemens (NTC, analog characteristic), incorporated in
2AD, ADF and 1MB motors
3: KTY84, by Siemens (PTC, analog characteristic)
4: SNM150-DK, by Thermik, (PTC with switching performance, threecore circuitry) incorporated in MKE motors
5: temperature sensor for Bosch SF motors (NTC)
In addition, it is also possible to evaluate less ordinary temperature
sensors, but the customer must enter the characteristics of those sensors
in a list parameter. Please select the following setting:
100: unknown temperature sensor
IndraDrive
The characteristic of the unknown temperature sensor must be entered in

the list parameter P-0-0513, Temperature sensor characteristic.
If a (third-party) motor is operated that does not have a built-in
temperature sensor, the following setting has to be selected:
0: no monitoring of the motor temperature
Note:
In the case of overload, the controller cannot protect motors

without temperature sensor against thermal damage!
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
0 / var.
MPD:
0 / var.
MPH:
--- / ---
P-0-0513, Temperature sensor characteristic

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
If a temperature sensor is to be evaluated the characteristic of which has

not been stored in the firmware, the characteristic has to be entered in
this parameter in the form of a value table.
The values must be strictly and monotonously increasing or decreasing,
i.e. in the table the values assigned to an increasing temperature must
either be always higher than all preceding values or always lower than all
preceding values.
Line no. of P-0-0513
IndraDrive
Temperature in
Celsius [C]
Resistance value in
Ohm []
1
-20
2
-10
3
0
4
10
5
20
6
30
7
40
8
50
9
60
10
70
11
80
12
90
13
100
14
110
15
120
16
130
17
140
18
150
19
160
20
170
21
180
22
190
23
200
24
210
25
220
26
230
27
240
28
250
Fig. 3-98: List for temperature sensor characteristic
See also parameter "P-0-0512, Temperature sensor"

Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Ohm
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 4294967295
---
MPD:
0 / 4294967295
---
MPH:
0 / 4294967295
---
IndraDrive
P-0-0517, Commutation: required harmonics component

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is used as threshold for determining a minimum

harmonics component of the current for commutation determination by
means of the saturation method. If the percentage-based harmonics
component of the current related to the fundamental wave during
automatic commutation determination is smaller than the value entered in
P-0-0517, this results in an incorrect result value for P-0-0521, Effective
commutation offset which can cause positive feedback of the motor
(F8078 Speed loop error). The drive therefore aborts the command with
the command error F8013 or C1218 Automatic commutation: current
too low.
Note:
In most cases the default value of 4% does not have to be

changed. Only in exceptional cases is it necessary to correct
this threshold value iteratively during commissioning:
If error F8013 or C1218 Automatic commutation: current
too low occurs and if similar values (+/- approx. 30) are
determined for P-0-0521, Effective commutation offset
with repeated commutation setting for different motor
positions (drive remains in "Ab"), reduce P-0-0517 until
error message no longer occurs; finally check correct
functioning of commutation setting several times!
If error F8078 Speed loop error occurs although
commutation determination hasnt signaled any error,
increase value in parameter P-0-0517, Commutation:
required harmonics component!
Version
Attribute
GEN-02VRS
Memory: --
Comment
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1,0 / 10,0
4,0
MPD:
1,0 / 10,0
4,0
MPH:
1,0 / 10,0
4,0
IndraDrive
P-0-0520, Error threshold for encoder monitoring

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The mechanical link between motor encoder and rotor is monitored. If a

malfunction is detected, e.g. breakage of encoder shaft, the error
message F8023 is output. The parameter P-0-0520 is used for
parameterizing the monitoring threshold.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
30 / 1000
1000
MPD:
30 / 1000
1000
MPH:
30 / 1000
1000
P-0-0521, Effective commutation offset

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the case of synchronous motors, the value of the commutation offset

that is currently active in the drive is displayed in this parameter. This
value refers to the actual position value of the motor encoder at the time
the drive is switched on.
In the initial commissioning mode (to be set in P-0-0522, Commutation
setting control word) this value can be written with immediate effect and
can be used for optimization.
Note:
Optimization is carried out by measuring the drive force with

constant force command value and variation of the
automatically determined value of P-0-0521. The value with
which the highest force was reached is the optimum value!
Based on the automatically determined value, the value of
P-0-0521 should be changed by a maximum of +/-256!
During the initial commissioning of synchronous motors with incremental

measuring system the value of P-0-0521 converted to the home point is
taken over to P-0-0508, Commutation offset when executing S-0-0148,
C0600 Drive-controlled homing procedure command.
IndraDrive
During the initial commissioning of synchronous motors with absolute

measuring system the value of P-0-0521 is directly taken over to
P-0-0508 when the command P-0-0524, C1200 Commutation offset
setting command is executed.
If an encoder data memory is available the commutation offset is also
stored in P-0-3008, Commutation offset, encoder memory.
Function: Parameter
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 1024
MPD:
0 / 1024
MPH:
0 / 1024
P-0-0522, Control word for commutation setting

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By this parameter it is possible to select the method by means of which

the commutation offset is determined when starting P-0-0524, C1200
Commutation offset setting command.
In addition, the controller is told via P-0-0522 whether the initial
commissioning of a synchronous motor is to be carried out. This causes
the values stored in P-0-0508, Commutation offset / P-0-3008,
Commutation offset, encoder memory to be overwritten.
In the case of motors with absolute measuring system, the result is

directly taken over to P-0-0508 when determining the commutation
offset (command P-0-0524). In addition the value can be optimized by
changing P-0-0521, Effective commutation offset, because it is
directly copied to P-0-0508.
In the case of motors with incremental measuring system, the result

is not taken over directly to P-0-0508 when determining the
commutation offset by means of the P-0-0524 command (only
possible with current!) and with active "initial commissioning" mode. It
is only by the subsequent homing of the measuring system that the
value of P-0-0521 converted to the home point is written to P-0-0508.
If an encoder data memory is available the commutation offset is also

stored in P-0-3008, Commutation offset, encoder memory.
IndraDrive
Bit
Comment
1/0
method of commutation setting

00: locked
01: currentless (without drive enable), manual distance
measurement for linear motors
10: with current (with drive enable), automatically
determined for all SY motor models by "saturation
method"
11: with current (with drive enable), automatically
determined for all SY motor models by "sine-wave
method"
4
"search direction" for sine-wave method
0: increase of amplitude with priority
1: increase of frequency with priority
5
moving back to start position with sine-wave method
0: automatically moving back
1: no moving back
6
reserved
7
setting of test signal for sine-wave method
0: fixed duration
1: fixed number of signal periods
8
releasing holding brake with active sine-wave
method
0: no, brake remains applied
1: yes, brake is released
15
initial commissioning mode
0: inactive
1: active
Fig. 3-99: Relevant bits of P-0-0522, Commutation setting control word
The sine-wave method with motion can only be used for freely moving
axes! A possibly available holding brake has to be released during the
commutation setting!
WARNING
Vertical axes without weight compensation

moving down when holding brake is
automatically released by activating sine-wave
method!
The sine-wave method can only be used for

equilibrated axes!
Note:
If the "sine wave method" with current was selected, it is

possible, with values of P-0-0507, Test frequency for angle
acquisition >approx. 50, to considerably reduce the duration
for the commutation setting by setting bit 7 to "fixed number of
signal periods"! Using this setting is only recommended for
synchronous motors with relative measuring system in
conjunction with home-point-related commutation offset value,
because the quality of the determined commutation setting
can be poor!
Note:
This parameter is stored!
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0523, Commutation setting measured value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
If the commutation setting is to be carried out in a currentless way (can be

set in "P-0-0522, Control word for commutation setting") in the case of
synchronous linear motors with absolute measuring system, the defined
distance (see Functional Description for synchronous linear motors) must
be entered in this parameter.
Note:
The currentless commutation setting only makes sense in the

case of synchronous linear motors with absolute measuring
system, because the distance measurement is only carried out
once during the initial commissioning. The determined value is
stored and in connection with the absolute measuring system
it automatically causes the current and magnetic field to be
correctly coordinated in the motor at each new start of the
machine axis.
See also Functional Description "Rexroth Kit Motors"
Function: Parameter
Editability:
P4
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
mm
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-214748364,7 / 214748364,7
0,0
MPD:
-214748364,7 / 214748364,7
0,0
MPH:
-214748364,7 / 214748364,7
0,0
IndraDrive
P-0-0524, C1200 Commutation offset setting command

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By means of parameter P-0-0524 it is possible to activate the command

for setting the commutation offset.
After starting the command the drive automatically determines the value
for the commutation offset of the synchronous motor and stores it in
P-0-0521, Effective commutation offset. With the initial commissioning
mode activated (see P-0-0522, Commutation setting control word) and
absolute motor encoder the value is also stored in P-0-0508,
Commutation offset. If an encoder memory is available the commutation
offset is also stored in P-0-3008, Commutation offset, encoder
memory.
The correct value for the commutation offset causes the appropriate
assignment of the current flow in the motor to the permanent magnetic
field so that the maximum force is caused by the flowing current.
Note:
This command is only required for synchronous motors that are

delivered without fixed, mechanical assignment of the rotor or
movable part of the motor to the encoder system (e.g.
synchronous kit motors).
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0525, Holding brake control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By this parameter the controller is informed of the type of motor holding

brake and the way it is controlled:
self-releasing or self-holding brake
main drive brake or servo brake
automatic brake check when switching drive enable on and off
enabling the "release holding brake" command
IndraDrive
Bit
type of holding brake

0: self-holding, applied at 0 V
1: electrically holding, applied at 24 V
operating principle
0: servo brake, brake is activated after max. braking
time
1: main drive brake, brake is only activated when
nact< 10 rpm
holding brake available?
0: no
1: yes (possibly external holding brake, if no motorinternal brake available!)
automatic check of holding brake
0: no
1: yes, when switching drive enable ("AF") on and
off
abrasion of brake (when executing "brake
check" command)
0: no
1: yes
command "release holding brake" allowed
0: no
1: yes
activate time interval of holding brake check?
0: no
1: yes
Comment
for MPx02,
no longer as of
MPx03!
as of MPx03!
Note:
For Rexroth motors with encoder data memory, MHD,
MKD, MKE and MSK, bit 0 and bit 2 are automatically set!
For motors without encoder data memory, bit 0 and bit 2,
depending on whether a holding brake is available, have to
be manually set to the appropriate value!
For motors without integrated holding brake, an external
holding brake can be controlled by the controller (set bit 2
to "1"). Set bit 0 according to type of holding brake!
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0528, Flux control loop proportional gain

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For asynchronous motors, the gain of the flux loop is entered in this
parameter.
In the case of asynchronous motors, the rotor flux is the product of motor
magnetizing inductance and magnetizing current. The rotor flux, however,
only occurs with a delay via the rotor time constant. The task of the flux
loop is to generate the rotor flux command value as quickly as possible by
the corresponding overshoot of the magnetizing current. The flux-loop
was realized as a P-loop with command value feedforward as is illustrated
in the figure below. The controller output is divided by the current
magnetizing inductance, the result is the id command value for the current
loop. The double nominal magnetizing current is considered to be the limit
value for the id command value.
2 * P-0-4004
flux loop
rotor flux cmd value
ooo
rotor flux act. value
P-0-0528
id cmd value
to current loop
magnetizing
inductance
-2 * P-0-4004
Fig. 3-101: Flux loop
For dynamic applications the flux loop gain can be determined from the
motor data according to the following estimate formula.
P 0 0528 = 0.4 *
LH
P 0 4041
= 0 .4 *
LS + LR
P 0 4039 + P 0 4040
Fig. 3-102: Formula for determination of flux loop proportional gain
For less dynamic applications or if the id command value P-0-0039 has

the tendency to oscillate, this value can be reduced. Basically it is also
possible to run without flux loop, in this case make the setting
P-0-0528 = 0.
See also Functional Description "Field-Oriented Closed-Loop Current
Control"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 100,00
1,00
MPD:
0,00 / 100,00
1,00
IndraDrive
MPH:
0,00 / 100,00
1,00
P-0-0529, Scaling of stall current limit

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The stall current limit is the limit for the torque-generating current of
asynchronous motors.
With higher currents the torque at the shaft is reduced. In practical
application this limit is only important in the upper field weakening range
when the magnetizing current has very low values. The determining
elements of the stall current limit are the inductances of the equivalent
circuit diagram (P-0-4039, P-0-4040, P-0-4041) and the active rotor flux
that is generated in the stationary case from the magnetizing current id.
iq ,lim =
1 Psird
P 0 4041
*
* id
P 0 4039 + P 0 4040
LH
iq.lim: stall current limit for torque-generating current

leakage factor of the asynchronous motor
Fig. 3-103: Stall current limit of an asynchronous machine
With the value set in P-0-0529 it is possible to change the stall current
limit relatively. With the setting P-0-0529 = 100% it is exactly the limit
value defined above that takes effect, lower values are reducing the stall
current limit accordingly. For Bosch Rexroth motors the parameter value
is stored in the "DriveBase". For third-party motors it is recommended to
make the input via the motor type plate P-0-4032. The command
P-0-4033, C3200 Command Calculate data for asynchronous motor
also calculates the value for P-0-0529.
Values"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
10 / 150
100
MPD:
10 / 150
100
MPH:
10 / 150
100
IndraDrive
P-0-0530, Slip increase

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is only used for asynchronous motors. In the

asynchronous motor the rotor resistance and therefore the rotor time
constant change as the temperature changes. For calculating the loaddependent slip value required for the torque output the rotor time constant
is taken into account. The rotor time constant that changes depending on
the temperature is compensated by the temperature-dependent slip
increase.
The value for the slip increase (referring to 100K temperature difference)
is motor-specific and determined individually for each asynchronous
motor type.
Note:
In the case of 2AD, ADF and 1MB (1MS), by loading the
motor parameters with the DriveTop commissioning tool.
In the case of other motors manual input.
Values"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
1/100K
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1,00 / 2,00
1,50
MPD:
1,00 / 2,00
1,50
MPH:
1,00 / 2,00
1,50
IndraDrive
P-0-0532, Premagnetization factor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With this parameter it is possible to reduce the magnetizing current of an

asynchronous motor and therefore the rotor flux. The factor is referring to
P-0-4004, Magnetizing current.
The magnetizing current is reduced depending on the setting of the
respective bit in P-0-0045, Control word of current controller
depending on work load (default) - or independent of work load.
Reducing Magnetizing Current
Depending on Work Load
In no-load operation, the magnetizing current (P-0-4004) can be reduced

to the percentage indicated in P-0-0532. Possible values are between
50% and 100%. Under load the magnetizing current increases
proportionally to the required torque or to the torque-generating current.
When the torque-generating current has reached the 2-fold value of
P-0-4004, the full magnetizing current (value of P-0-4004) is flowing,
independent of the value of the premagnetization factor P-0-0532. The
motor reaches the maximum possible torque!
flux-generating / magnetizing current
id / P-0-4004
1.0
P-0-0532
e.g. 50%
1.0
2.0 |iq| / P-0-4004
absolute value of torque-generating current

id:
flux-generating current (P-0-0039)
iq:
torque-generating current (P-0-0038)
Fig. 3-104: Load-depending operating principle of the premagnetization factor
Reducing Magnetizing Current

Independent of Work Load
The magnetizing current of an asynchronous motor can also be reduced

or increased permanently, i.e. independent of the currently effective load.
Values between 50% and 150% can be set.
With values lower than 100% the torque output at the motor shaft is
delayed compared to the command value. The torque of the motor
available at maximum allowed or possible current can be reduced, too!
With values higher than 100% the maximum available torque can also
be reduced, because the torque-generating current component of the
total current is lower due to the increased magnetizing current. With
increased magnetizing current, saturation effects can occur in the
IndraDrive
magnetic circuit of the motor, the torque-increasing effect does not

appear in this case!
In the case of previously known changes of load, parameter P-0-0532
can be entered in the MDT for cyclic input in order that the control
master can precontrol the possibly reduced magnetization of the motor
in an appropriate way. Short-time overmagnetization with values
greater than 100% can be useful for peak loads.
Note:
In the case of 2AD, ADF and rotary kit motors, by loading
the motor parameters with the DriveTop commissioning
tool (default value P-0-0532 = 50%!).
In the case of other motors: default value or manual input.
Notes on Application
Spindle Drives
Servo Drives
Due to the reduction of the magnetizing current there is less motor

temperature rise and noise generation resulting in no-load operation; a
setting smaller than 100% in P-0-0532 is therefore recommended for
spindle drives.
Closed-loop:
50% (operating principle "depending on load")
Open-loop:
70% (operating principle "independent of load")
For servo drives with asynchronous motors it is recommended to set

100%, because with lower values the torque at the shaft is only available
with a delay compared to the command value!
Note:
After having set P-0-0532 check whether the machining,

acceleration and deceleration processes have the desired
result!

Measuring Systems"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
var. / var.
100
MPD:
var. / var.
100
MPH:
var. / var.
100
IndraDrive
P-0-0533, Voltage loop proportional gain

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter the proportional gain of the voltage loop is

entered. The voltage loop is used to control the motor voltage in the fieldweakening range.
Note:
In the case of MAD and MAF with encoder data memory
automatically during initial commissioning.
commissioning tool.
See also Functional Description "Third-Party Motors at IndraDrive

Controllers"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
A/V
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 4294967,295
0,500
MPD:
0,000 / 4294967,295
0,500
MPH:
0,000 / 4294967,295
0,500
IndraDrive
P-0-0534, Voltage loop integral action time

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter the integral action time of the voltage loop is
entered. The voltage loop is used to control the motor voltage in the fieldweakening range.
Note:
commissioning tool.
Values"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 429496729,5
600,0
MPD:
0,0 / 429496729,5
600,0
MPH:
0,0 / 429496729,5
600,0
IndraDrive
P-0-0535, Motor voltage at no load

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
As a matter of principle, this parameter only takes effect in field

weakening operation. It defines a voltage that is indicated in percent of
the maximum converter output voltage. In addition, its function depends
on the selected type of motor construction:
1) Asynchronous motor:
The parameter defines the voltage at no load of the motor in field
weakening operation. By means of this voltage the command value of the
rotor flux is pre-controlled.
2) Synchronous motor:
The parameter defines the command value of the e.m.f. voltage for
acceleration or deceleration processes in the field weakening range. By
reducing this value more torque can possibly be generated in these
cases.
Note:
commissioning tool.
In the case of other motors: Default value or manual input,
set a maximum of 80% because of the required control
margin!
Values"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 100,0
80,0
MPD:
0,0 / 100,0
80,0
MPH:
0,0 / 100,0
80,0
IndraDrive
P-0-0536, Maximum motor voltage

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter defines the command voltage of the voltage loop. It is

indicated in percent of the maximum converter output voltage.
Note:
commissioning tool.
In the case of other motors: Default value or manual input,
set a maximum of 90% because of the required control
margin!
Controllers"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
50,0 / 100,0
90,0
MPD:
50,0 / 100,0
90,0
MPH:
50,0 / 100,0
90,0
IndraDrive
P-0-0539, Holding brake status word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the current status of the holding brake.

Bit
Comment
output voltage for motor holding brake

0: 0V
1: 24V
1
status of holding brake check
0: carried out without success
brake check negative, brake not released or not
enough holding torque or brake check required, as
interval since last check is greater than value of
P-0-0550, Time interval brake check
1: carried out successfully
brake release and holding torque checked and
without error
as of
2
status of "brake release" check
MPx03VRS
0: brake not releases or
brake release not checked or
release check required, as interval since last check is
greater than value of P-0-0550, Time interval brake
check
1: brake has been released, further brake check not
yet required
as of
3
status of "holding torque" check
MPx03VRS
0: holding torque too low or
holding torque not checked or
holding torque check required, as interval since last
check is greater than value of P-0-0550, Time interval
brake check
1: holding torque is sufficient, further brake check not
yet required
Fig. 3-105: Relevant bits of P-0-0539, Holding brake status word
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0540, Torque of holding brake

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The nominal torque of the holding brake has to be entered in this

parameter. With motor holding brake monitor active, the brake is checked
with regard to this value unless this was differently set in the parameters
P-0-0545, Test torque for releasing motor holding brake and
P-0-0547, Nominal load of holding system (P-0-0547, Test torque
with holding brake applied for MPx02).
In the case of motors with holding brake and encoder data memory
(MHD, MKD, MKE), the correct value is automatically written to parameter
P-0-0540. In the case of motors without encoder data memory, the value
has to be entered manually.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
Nm
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 429496729,5
0,0
MPD:
0,0 / 429496729,5
0,0
MPH:
0,0 / 429496729,5
0,0
P-0-0541, C2100 Brake check command

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
With this command it is possible to check the motor holding brake. To do

this, drive enable is required. The motor holding brake is first released
and the motor is activated with half the brake torque. If the motor does not
move, the F2069 Error when releasing the motor holding brake error
message is output and the command is terminated.
If the motor moves (2 dgr), the brake is correctly released. The holding
torque is now checked. To do this the brake is applied by the controller
and the holding torque of the brake is generated by the motor. If the rotor
does not move, the brake has the respective holding torque. If the rotor
moves (>2 dgr), the brake check command is either terminated or the
drive tries to reestablish the brake torque, depending on bit 4 in P-0-0525,
Holding brake control word.
For reestablishing the brake torque the rotor is moved by +/-520 dgr
("abrasion" of the brake). The holding brake is cyclically applied and
released. After that the controller again checks the holding torque of the
brake and then terminates the command.
IndraDrive
If the brake does not reach its holding torque at the end of the command,
the C2103 Brake torque too low message is output. The result of the
brake check is also displayed by a bit of P-0-0539, Holding brake status
word.
Property damage caused by drive-controlled

axis movements during brake check!
CAUTION
Before starting the command, please move the axis to

a noncritical position!
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0542, C2000 Command Release motor holding brake

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to release the motor holding

brake when the drive enable has been switched off. At the start of the
command the motor holding brake is released, when the command is
terminated the brake is applied again.
If drive enable is set with the command being active, the holding brake
remains released, when drive enable is switched off, the brake is
automatically applied.
Note:
The command has to be activated via bit 5 in P-0-0525,

Holding brake control word.
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0543, C3800 Command Apply motor holding brake

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By means of this parameter it is possible to apply the motor holding brake

in communication phase 4.
When the command is started, the motor holding brake is applied. When
the command is completed, the brake is released if drive enable was set.
If drive enable is switched off while the command is active, the holding
brake remains applied even when the command is cleared. If drive enable
is set when the command has been set, the brake is nevertheless
released.
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0544, C3900 Command Abrasion of brake

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
With this command a motor holding brake that no longer reaches its
holding torque can be abraded. To do this, drive enable is required.
During the execution of the command the motor is moved and the brake
is applied
Property damage caused by drive-controlled

axis movements during brake check!
CAUTION
Before starting the command, move the axis to a

noncritical position!
IndraDrive
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0545, Test torque for releasing motor holding brake

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
With the command C2100 Brake check command or with the automatic
brake check when drive enable is switched on, the releasing of the motor
holding brake is checked in the first step.
Parameter P-0-0545 presets the torque with which the drive is to move in
any case with the motor holding brake released. When the holding brake
test is carried out and the torque preset in parameter P-0-0545 takes
effect, but there is no motion observed, an error message is output. When
the parameter has been set to "0", the test is carried out with the value in
parameter P-0-0540, Torque of motor holding brake.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0094
Extr. val. ch.:
yes
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0
MPD:
0,0
MPH:
0,0
IndraDrive
P-0-0546, Starting torque for releasing motor holding brake

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The first step of the C2100 Brake check command checks the release of
the motor holding brake.
If the weight load is not sufficient for the motor to move, a torque is
preset. The torque that causes motion is displayed in this parameter. The
parameter is updated for each brake test.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0547, Nominal load of holding system
Parameter Name for MPx02
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
P-0-0547, Test torque with holding brake applied

For monitoring the holding brake (C2100 Brake check command or
automatically, as determined in P-0-0525) the motor generates test torque
in order to check the releasing of the brake or its holding torque.
When the holding torque of the brake is checked, the motor mustnt move
when the test torque is applied. A possibly existing static axis load (e.g.
weight) is recognized and taken into account.
When parameter P-0-0547 has been set to "0", the test is carried out with
the value in parameter P-0-0540, Torque of motor holding brake.
Note:
For vertical axes the weight load should not exceed 50% of the
nominal holding force of the holding system!
Note:
Observe the respective regulations of the concerned

Occupational
Safety
and
Health
Authority
("Berufsgenossenschaft") with regard to dimensioning and
testing of axis holding systems!
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0094
Extr. val. ch.:
yes
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0
MPD:
0,0
MPH:
0,0
P-0-0549, Oper. hours control section at last successful brake check

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter displays the point of time of the operating hours counter
of the control section at which the last successful holding system check
was carried out.
Note:
The operating hours counter of the control section runs while

control voltage is applied to the controller!
Function: Parameter
no
Data l.:
4Byte
DEC_OV
Validity ch.:
no
Format:
Unit:
no
Decim. pl.: 1
Cycl. tra.: no
Editability:
Extr. val. ch.:
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0,0
MPD:
--- / ---
0,0
MPH:
--- / ---
0,0
IndraDrive
P-0-0550, Time interval brake check

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
If the holding brake check time interval was activated in P-0-0525,

Holding brake control word, the value of P-0-0550 is used for
monitoring the time interval to the last successful, drive-side brake check:
If the time interval to the last successful brake check approaches the
value of P-0-0550 up to 15 min, the warning E3115 Prewarning, end
of brake check time interval is output.
If the interval exceeds the value of P-0-0550, the error message
F3115 Error, brake check time interval exceeded is generated.
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1,0 / 604800,0
28800,0
MPD:
1,0 / 604800,0
28800,0
MPH:
1,0 / 604800,0
28800,0
IndraDrive
P-0-0555, Status word of axis controller

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays velocity messages and limits that have been
reached.
Bit
Comment
bit 0 = 1, if nact = ncmd (S-0-0330)

0
bit 1 = 1, if nact < nx (S-0-0332)
1
bit 2 = 1, if nact = 0 (S-0-0331)
2
bit 3 = 1, if ncmd > nlimit (S-0-0335)
3
bit 4 = 1, if Mact > Mx (S-0-0333)
4
bit 5 = 1, if Mact > Mlimit (S-0-0334)
5
bit 11 = 1, if positive torque limitation active
11
bit 12 = 1, if negative torque limitation active
12
bit 14 = 1, if actual position value in Inpos window
14
(S-0-0336)
bit 15 = 1, if actual position value in Inpos coarse
15
window (S-0-0341)
Fig. 3-106: Message bits of the velocity control loop
Bit 11/Bit 12
These bits become "1" if the output variable of the velocity controller is
limited by S-0-0082, Torque/force limit value positive or S-0-0083,
Torque/force limit value negative or S-0-0092, Bipolar torque/force
limit value.
For explanations on the other relevant bits of this parameter see the
indicated parameters (IDNs see figure).
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0556, Control word of axis controller

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used for configuring functions specific to axis control

and setting the control performance.
Bit
Comment
fine interpolator
If required, fine interpolation of the velocity command
value can be activated.
0: on
1: off (default configuration!)
As of MP*02V18
and MP*03V06
the fine
interpolator is
switched off by
default!
velocity control loop monitoring

If required, the monitoring function can be switched
off; but this is not recommended and should only be
done in case of an emergency.
0: on (default configuration!)
1: off
1)
2
performance level selection (Advanced)
If required, this bit can influence the performance, i.e.
the clock rates, of Advanced control sections with
MPH firmware:
0: standard or Economy performance
(according to parameterization of bit 5)
1: Advanced performance if bit5 =0
3
execution mode for S-0-0262, C07_x Load defaults
procedure command
Determines whether execution of C07_x Load
defaults procedure command takes place at the
same time as error (i.e. command C0500 Reset
class 1 diagnostics) F2008 RL The motor type has
changed is cleared
0: yes
1: no
4
torque/force limitation warning E8260
If required, the display of the warning in the case of
active torque/force limitation can be deactivated.
0: E8260 is displayed (active)
1: E8260 is not displayed (masked)
1)
Only valid as of
5
performance level selection (Economy)
If required, this bit can influence the performance, i.e. MP*03VRS!
the clock rates, of Advanced or Basic control sections
with MPH or MPB firmware:
0: Advanced or standard performance
(according to parameterization of bit 2)
1: Economy performance if bit2 =0
15
acceleration monitoring of position command
value
0: on
1: off
1)
Bit 2=1 and bit 5=1 is an invalid parameter setting!
IndraDrive
Performance Setting
As described above, the performance of the control loops is preset in

parameter P-0-0556; the following bit combinations are possible for bits 2
and 5:
00: standard performance for MPH and MPB
01: Advanced performance for MPH or standard performance for MPB
10: Economy performance for MPH and MPB
11: not allowed or reserved!
Note:
For the MPD firmware scaling the performance via bit 2 and 5
is impossible at present! Only standard performance is
available for this firmware!
See also Functional Description "System Overview - Performance Data Overview"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
32769
MPD:
--- / ---
32769
MPH:
--- / ---
32769
P-0-0565, C3600 Command Motor data identification

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When this command is executed, the motor parameters of the motor

connected to the controller are optimized and the motor control
parameters are calculated from these data.
Note:
The most precise results of motor data identification are

obtained when P-0-0001, Switching frequency of the power
output stage is set to the smallest value when starting C3600!
See also Functional Description "Automatic Setting of Motor Control

Parameters"
IndraDrive
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0566, C4600 Command Calculate motor control parameters

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
When this command is executed, the required motor control parameters

are calculated from the motor parameters.
See also Functional Description "Determining the Motor and Motor
Control Parameters"
Function: Kommando
Editability:
P23
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0568, Voltage boost

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to increase the voltage at the

base point of the U/f characteristic (in the case of standstill or very low
speed of an asynchronous motor). The voltage required at the base point
is determined on the basis of the motor data and provided by the
controller.
Due to long motor lines, for example, starting problems can sometimes
occur for motors. In this case it is possible to improve the starting
behavior by means of this parameter by a value higher than 0V.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
V eff
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 50,00
0,00
MPD:
0,00 / 50,00
0,00
MPH:
0,00 / 50,00
0,00
P-0-0569, Maximum stator frequency change

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The maximum change of velocity with which the drive can follow the
command values is determined by the motor and the sampling time of the
stall protection loop. The limit value can be set with this parameter.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
Hz/s
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,01 / 3000,00
200,00
MPD:
0,01 / 3000,00
200,00
MPH:
0,01 / 3000,00
200,00
P-0-0570, Stall protection loop proportional gain

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter presets the P-gain of the stall protection loop.

The enable signal of the stall protection loop is controlled via bit 12 in
P-0-0045, Control word of current controller.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 500,00
100,00
MPD:
0,00 / 500,00
100,00
MPH:
0,00 / 500,00
100,00
IndraDrive
P-0-0571, Stall protection loop integral action time

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to set the integral action time of

the stall protection loop.
The enable signal of the stall protection loop is controlled via a bit in
P-0-0045, Control word of current controller.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 6500,0
1,0
MPD:
0,0 / 6500,0
1,0
MPH:
0,0 / 6500,0
1,0
P-0-0572, Slip compensation factor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to trim the slip compensation

feedforward. With the setting 0.00% the feedforward is switched off
completely.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 320,00
100,00
MPD:
0,00 / 320,00
100,00
MPH:
0,00 / 320,00
100,00
IndraDrive
P-0-0573, IxR boost factor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to trim the feedforward of the

IxR boost. With the setting 0.00% the feedforward is switched off
completely.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 320,00
100,00
MPD:
0,00 / 320,00
100,00
MPH:
0,00 / 320,00
100,00
P-0-0574, Oscillation damping factor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to trim the oscillation damping

feedforward. With the setting 0.00% the feedforward is switched off
completely.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-320,00 / 320,00
100,00
MPD:
-320,00 / 320,00
100,00
MPH:
-320,00 / 320,00
100,00
IndraDrive
P-0-0575, Search mode: search current factor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Via P-0-0045, Control word of current controller the search mode function
can be selected. During the search process a search current is generated
in the still turning machine that is to be searched.
Search current = magnetizing current * P-0-0575 / 100%
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1,00 / 320,00
60,00
MPD:
1,00 / 320,00
60,00
MPH:
1,00 / 320,00
60,00
P-0-0576, Search mode: finding point slip factor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The search mode function is selected via P-0-0045, Control word of

current controller. As soon as the machine has been found the rated slip
is added to the speed at the "finding point". 100% are corresponding to
the rated slip of the machine.
With clockwise rotating field:
V = Vfinding point + (Vslip * P-0-0576 / 100%)
With anti-clockwise rotat. field: V = Vfinding point - (Vslip * P-0-0576 / 100%)
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-320,00 / 320,00
100,00
MPD:
-320,00 / 320,00
100,00
MPH:
-320,00 / 320,00
100,00
IndraDrive
P-0-0577, Square characteristic: lowering factor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The square characteristic is selected via P-0-0045, Control word of

current controller. The degree of lowering in the basic range of setting is
trimmed with this parameter.
The value of 100% corresponds to the original square curve. When the
percentage value becomes lower, this lowering factor is reduced until the
setting 0% has been reached which corresponds to the linear
characteristic.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 100,00
50,00
MPD:
0,00 / 100,00
50,00
MPH:
0,00 / 100,00
50,00
P-0-0590, Motor model frequency loop proportional gain

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter only takes effect in conjunction with field-oriented current

control without encoder. Together with P-0-0591, Motor model
frequency loop integral action time, parameter P-0-0590 is used to
parameterize the "frequency loop".
By means of the differences between motor model and measured
currents, the frequency loop determines the current rotational frequency
of the motor shaft. The output of the frequency loop supplies parameter
S-0-0040, Velocity feedback value and is transmitted according to the
velocity loop.
Note:
Field-oriented current control without encoder is activated via

P-0-0045, Control word of current controller. If the
functional package "closed-loop" is active, "operation without
encoder" has to be set in P-0-0074, Encoder type 1 (motor
encoder)!
Observe the following for the setting of P-0-0590:

The value of P-0-0590 depends on the motor type to be controlled.
During initial commissioning, this value is automatically calculated by
executing P-0-0565, C3600 Command Motor data identification
(with "current control without motor encoder" having been set).
The calculated value should only be changed by especially trained
service staff!
IndraDrive
See also Functional Description "Field-Oriented Current Control"

Parameters"
See also Parameter Description P-0-0591 and P-0-0592
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 2
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 655,35
10,00
MPD:
0,00 / 655,35
10,00
MPH:
0,00 / 655,35
10,00
P-0-0591, Motor model frequency loop integral action time

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

control without encoder. Together with P-0-0590, Motor model
frequency loop proportional gain, parameter P-0-0591 is used to
parameterize the "frequency loop".
By means of the differences between motor model and measured
currents, the frequency loop determines the current rotational frequency
of the motor shaft. The output of the frequency loop supplies parameter
S-0-0040, Velocity feedback value and is transmitted according to the
velocity loop.
Note:

encoder)!

service staff!
Parameters"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 100,0
5,0
MPD:
0,0 / 100,0
5,0
MPH:
0,0 / 100,0
5,0
P-0-0592, Motor model adjust factor

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):

control without encoder.
The drive-internal motor model calculation carried out in the current loop
clock is corrected by means of the adjust factor entered in P-0-0592 so
that the motor currents determined by means of the motor model and the
rotor flux comply with the real values.
Note:

encoder)!

service staff!
Parameters"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 1,000
0,100
MPD:
0,000 / 1,000
0,100
MPH:
0,000 / 1,000
0,100
IndraDrive
P-0-0612, Control word for setting absolute measuring

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
By this parameter the parameter P-0-0012, C0300 Command Set

absolute measuring is specified and the absolute value encoder to be
homed is selected.
Bit
Comment
3/4
encoder selection
0 0: motor encoder
0 1: external encoder
1 0: measuring encoder
Fig. 3-108:

Reference (Set Absolute Measuring)"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0640, Cooling type
Explanation
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The motors of the MSK, MHD and MKD series can be operated in
different cooling types. Depending on the motor type, cooling can be
realized as
standard cooling (natural convection, non-ventilated),
surface ventilation
or liquid cooling.
Depending on the cooling type realized, the motor can carry different
continuous currents. The characteristic continuous current of the above
motors, however, is the one the motor can continuously carry with its
standard cooling type (natural convection). For the respective motor type
it is stored in the parameter P-0-2111, Motor current at standstill,
encoder memory and loaded, together with other motor parameters, to
the controller when the drive is switched on (P-0-2111 -> S-0-0111, Motor
current at standstill).
IndraDrive
Setting
This parameter has to be set to the realized cooling type. By the cooling
type factor assigned firmware-internally to the cooling type...
... the 100% reference of the motor work load is adjusted to the
realized cooling type.
... the thermal time constant of the motor effective in the firmwareinternal motor temperature model is determined by means of the value
of P-0-4035, Thermal time constant of motor (refers to standard
cooling).
Realized motor cooling P-0-0640, Cooling type
Cooling type factor
natural convection, nonventilated

0 (default)
1,0
surface ventilation
1
1,5
liquid cooling
2
1,9
Fig. 3-109: Cooling type factor depending on the value of P-0-0640
Note:
Adjusting the 100% Value to the

Realized Cooling Type
The default value for P-0-0640 is "0" which means that the
reference value has been set to the standard cooling type of
the motor. For motors other than MSK, MHD and MKD only
the value "0" is allowed!
In the case of percentage-based scaling for torque/force data (bits 0...2 of

S-0-0086, Torque/Force data scaling type), the reference value (100%)
for MSK, MHD and MKD motors can be adjusted, by this parameter, to
the cooling type that has been realized.
With the cooling type factor it is possible to calculate the reference value
(100% value), see parameter description S-0-0086, Torque/force data
scaling type.
Measuring Systems" and "Current and Torque Limitation (Closed-Loop)"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/2
MPD:
0/2
MPH:
0/2
P-0-0681, Assignment IDN -> parallel output 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
With this parameter it is possible to assign the value of a parameter to the

parallel output at the optional module HEA01. The lowest 8 bits of the
assigned parameter are output.
Note:
If an IDN is assigned to the parallel output at the HEA01, the

corresponding parameter P-0-0081, Parallel output 1 cannot
be written any more by the other axis of the double-axis
device.
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0682, Assignment parallel input 1 -> IDN

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
With this parameter the parallel input of the optional module HEA01 can
be assigned to the value of a parameter.
The input status of the HEA01 is written to the respective parameter in
right-aligned form with a width of 12 bits.
Note:
If the inputs of a HEA01 are assigned to a IDN by means of

the parameter P-0-0682, the operating data of this assigned
IDN is cyclically overwritten with the input value of the HEA01.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0690, Additive velocity command value, process loop

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In velocity-controlled and position-controlled operating modes (e.g. cyclic

position control) it is possible to cyclically add an additive velocity
command value.
Note:

summing point of the velocity loop is displayed in parameter
P-0-0048.
IndraDrive
Observe the following points when using P-0-0690:

In the velocity synchronization mode, P-0-0690 is taken into account
for generating the "In Synchronization" bit.
In the case of drive-internal command value generation (Drive Halt,
error reaction, ...), P-0-0690 is set to "0".
Apart from P-0-0690, it is also possible to add an additive velocity
command value via S-0-0037 or velocity feedforward.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-0691, Additive position command value, process loop

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the synchronization modes with outer position control loop (phase

synchronization, cam shaft, motion profile) it is possible to cyclically add
an additive position command value.
Note:
The position command value actually effective (addition of all

components that generate the position command value) at the
summing point of the position loop is displayed in parameter
P-0-0434.

additive position command values filtered by means of P-0-0060
P-0-0155, Synchronization mode, bit 0 =0:
The additive position command value added via P-0-0691 is
st
smoothed with a 1 order filter (cf. P-0-0060, Filter time constant
additional pos. Command).
P-0-0155, Synchronization mode, bit 0 =1:
The additive position command value added via P-0-0691 is added
in unfiltered form. The added S-0-0048, Additive position
command value is filtered with the filter (cf. P-0-0060, Filter time
constant additional pos. Command) instead.
The position command value added in P-0-0691 is taken into account
for the generation of the "In Synchronization" bit (bit 8, P-0-0089,
Status word for synchronous operating modes). The bit is set
when the following applies:
| Xsynch + S-0-0048 + P-0-0691 P-0-0753| < S-0-0228.
Parameter P-0-0691 is also taken into account for generating
P-0-0034, Position command additional actual value.
The following applies: P-0-0034 = P-0-0753 Xsynch P-0-0691.
IndraDrive
When "relative synchronization" has been set (bit 1, P-0-0155 = 1),

there is no synchronization motion (with the master axis having
stopped) when the synchronous operating mode is activated. Changes
in P-0-0691 that are made afterwards are processed in relative form.
See also Functional Description "Operating Modes Synchronization
Modes"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-0692, Additive master axis position, process loop

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the synchronization modes (velocity synchronization, phase

synchronization, cam shaft, motion profile) it is possible to cyclically add
an additive master axis position.
Note:
The master axis position actually effective (addition of all

master-axis-generating components) is displayed in parameter
P-0-0775.
The figure below illustrates the operating principle of P-0-0692 (grey):

filter
time
constant
P-0-0693
additive
master
axis pos.
P-0-0692
real master axis
encoder
P-0-0052
P-0-0053
virtual
master
axis pos.
command value processing

specific to operating mode
P-0-0775
master axis
evaluation
and
adjustment
electronic
gear
with
fine adjust
cam
shaft
profiles
adjustment
of position
format
dynam.
synchronization
internal
cmd
value
DF000170v01_en.FH7
Fig. 3-110: Operating principle of P-0-0692, Additive master axis position,

process loop (incl. P-0-0693, Filter time constant)
IndraDrive

st
The preset value of P-0-0692 is smoothed with a 1 order filter (cf.

P-0-0693).
Apart from P-0-0692, the following master axis positions are used for
generating the effective master axis position: P-0-0054, Additive
master axis position and P-0-0053, Master axis position or
P-0-0052, Actual position value of measuring encoder.
The maximum value (modulo value) of P-0-0692 is determined by the
master axis cycle. The master axis cycle is the product of P-0-0750,
Master axis revolutions per master axis cycle, with 2^20.
Approximation to a new value always takes place over the "shortest
distance" (cf. S-0-0393).
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 4294967295
MPD:
0 / 4294967295
MPH:
0 / 4294967295
P-0-0693, Filter time constant, add. master axis pos., process loop
Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the synchronization modes the time constant of the filter (PT1) can be
parameterized with parameter P-0-0693 to smooth the additive master
axis angle added via P-0-0692, Additive master axis position, process
loop.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 655,35
0,00
MPD:
0,00 / 655,35
0,00
MPH:
0,00 / 655,35
0,00
IndraDrive
P-0-0694, Gear ratio fine adjust, process loop

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the synchronization modes a factor that takes effect in the electronic

gear can be generated with parameter P-0-0694.
To generate the factor the preset value is divided by 100 and 1 is added.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 6
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
var. / var.
0,000000
MPD:
var. / var.
0,000000
MPH:
var. / var.
0,000000
IndraDrive
P-0-0695, Angle offset begin of profile, process loop

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the synchronization modes cam shaft and motion profile it is possible,

by means of parameter P-0-0695, to make an angle offset with regard to
the begin of profile. The master axis position after the electronic gear
thereby is reduced by the angle parameterized in P-0-0695.
The figure below illustrates the operating principle of P-0-0695 (grey):
filter
time
constant
P-0-0696
angle
offset
P-0-0695
real master axis
encoder
P-0-0052
P-0-0053
virtual
master
axis pos.
command value processing

specific to operating mode
P-0-0775
master axis
evaluation
and
adjustment
electronic
gear
with
fine adjust
cam
shaft
profiles
adjustment
of position
format
dynam.
synchronization
internal
cmd
value
DF000171v01_en.FH7
Fig. 3-111: Operating principle of P-0-0695, Angle offset begin of profile,

process loop (incl. P-0-0696, Filter time constant)

The range of values of P-0-0695 is from 0 to 360 degrees. 360
degrees (one master axis revolution) corresponds to a value of 2^20.
Approximation to a new value always takes place over the shortest
distance.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 4
Deg
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0000 / 359,9999
0,0000
MPD:
0,0000 / 359,9999
0,0000
MPH:
0,0000 / 359,9999
0,0000
IndraDrive
P-0-0696, Filter time constant, angle offset profile, process loop

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the synchronization modes the time constant of the filter (PT1) can be
parameterized with parameter P-0-0696 to smooth the angle offset for the
begin of profile defined via P-0-0695, Angle offset begin of profile,
process loop.
See also Functional Description "Operating Modes Synchronization
Modes"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 655,35
0,00
MPD:
0,00 / 655,35
0,00
MPH:
0,00 / 655,35
0,00
P-0-0750, Master axis revolutions per master axis cycle

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-0750 defines the modulo range for P-0-0053, Master
axis position plus P-0-0054, Additive master axis position. The
information on the range of the master axis cycle is given to the drive with
this parameter. Within this range, overflows of the master axis position
can be processed correctly.
The master axis cycle is defined on the control unit side. It contains the
number of master axis revolutions required in order to bring all drives, that
are to follow the master axis, back to a defined position with respect to
each other. The value of this parameter normally is set to the least
common multiple (LCM) of the input revolutions of the master drive gear
(P-0-0156) of the respective slave axes. If the value "0" is written to the
parameter, the user has to write S-0-0103 in such a way that 4096 master
axis revolutions on the load side of the master axis gear are
corresponding to the modulo range. Application flying saw: In the case of
absolute scaling, P-0-0750 also has to be written with "0" so that absolute
synchronization is possible within the maximum travel range S-0-0278.
This does not apply to the velocity synchronization mode.
See also Functional
Real/Virtual Master Axis
Description
"Velocity
Synchronization
with
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 2047
MPD:
0 / 2047
MPH:
0 / 2047
P-0-0751, Synchronization divisions per command cycle slave axis

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
A division of the command value cycle is defined with this parameter. The
number of divisions that are contained in the command value cycle is
indicated in parameter P-0-0751.
This means that the command value cycle is divided by the value of
parameter P-0-0751 in order to determine the division. The size of the
command value cycle is contained in parameter P-0-0754, Command
value cycle. The synchronization division can be selected for
synchronization in parameter P-0-0155, Synchronization mode. The
distance traveled during the synchronization process wont be longer than
the defined division. The position to which the slave axis synchronizes is
calculated by means of modulo division from the synchronous position
command value in the command value cycle. The synchronization division
can be smaller or greater than a load revolution of the drive.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 32767
MPD:
1 / 32767
MPH:
1 / 32767
IndraDrive
P-0-0752, Load revolutions per actual value cycle slave axis

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With modulo position scaling, the actual value cycle determines the
maximum range of actual position values at the slave axis. This
parameter indicates the number of modulo ranges S-0-0103 of which the
actual value cycle consists. The drive then generates an actual position
value that is within this range and that can be read from parameter P-00753, Position actual value in actual value cycle.
The actual value cycle is required if, in the case of phase synchronization
or cam shaft, synchronization is to be carried out in a range greater than
the modulo value S-0-0103. The synchronization range can then be the
command value cycle or a division of it. For synchronization, the actual
position value in the command value cycle or a division of it is deduced
from the actual position value in the actual value cycle by means of
modulo division. In order to always have unequivocal values, the actual
value cycle has to be an integer multiple of the command value cycle.
This has to be taken into account when determining the actual value
cycle.
If several electronic gear ratios are to be set at an axis (e.g. because of
different formats), there are several command value cycles resulting at
this axis. The actual value cycle then has to be set in such a way that it
corresponds to the least common multiple (LCM) of these command
value cycles.
If the electronic gear is not to be changed, the actual value cycle is set in
such a way that it complies with the command value cycle or a multiple of
it.
If synchronization is to be carried out only within the modulo range, the
number of load revolutions per actual value cycle of the slave axis can be
set to "1".
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 65535
MPD:
1 / 65535
MPH:
1 / 65535
IndraDrive
P-0-0753, Position actual value in actual value cycle

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With "phase synchronization" or "cam shaft and modulo position scaling",

this parameter indicates a current actual position value. This value is
within a range that is generated depending on bit 4 of parameter
P-0-0155, Synchronization mode. If this bit 4 = 0, the modulo range of
the actual value cycle is generated by multiplication of P-0-0752, Load
revolutions per actual value cycle slave axis with S-0-0103, Modulo
value. With bit 4 = 1 the actual value cycle corresponds to the value of
P-0-0754, Command value cycle. This actual position value is set by the
command "set absolute measuring" or by the "drive-controlled homing
procedure" for the actual position value that has been selected in the
synchronization mode that was set. If, for example, the operating mode
"phase synchronization with virtual master axis, encoder 1" has been set,
P-0-0753, Position actual value in actual value cycle will change by
analogy with actual position value 1. Its range, however, is limited to
S-0-0103, Modulo value. Homing of the actual position value 1 then
causes P-0-0753, Position actual value in actual value cycle to be set
to the same value as actual position value 1. The position status of the
actual position value in the actual value cycle can be taken from bit 4 of
parameter P-0-0089, Status word for synchronous operating modes.
When activating the operating mode for synchronization, the travel
distance for synchronization is determined with the actual position value in
the actual value cycle. The result is a limitation of the travel distance to
the synchronization range (command value cycle, division of the
command value cycle or modulo range) that has been set.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0754, Command value cycle

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The command value cycle defines the range that includes the
synchronous position command values of an axis that is operated in the
phase synchronization mode. The command value cycle is calculated by
the drive. For calculation the data of the following parameters are used:
P-0-0156, Master drive gear input revolutions
P-0-0157, Master drive gear output revolutions
P-0-0750, Master axis revolutions per master axis cycle
The following applies to rotary position scaling:
command value cycle = P - 0 - 0750
P - 0 - 0157
360
P - 0 - 0156
The following applies to linear position scaling:
command value cycle = P - 0 - 0750
P - 0 - 0157
P 0 0159
P - 0 - 0156
With cam shaft mode and P-0-0755, Gear reduction = 0 the following
applies additionally:
command value cycle =
command value cycle

P 0 0755
If one of the parameters of the master drive gear (P-0-0156, P-0-0157)

changes, the command value cycle changes, too.
The command value cycle can be selected in parameter P-0-0155,
Synchronization mode as a range for synchronization. With parameter
P-0-0751, Synchronization divisions per command cycle slave axis a
division of the command value cycle can be defined. This division can
also be selected for synchronization in P-0-0155, Synchronization
mode.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0755, Gear reduction

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used to set a movement that is phase synchronous with

the master axis, with the "cam shaft" mode being active. With an
endlessly turning axis, the forward movement is realized with the linear
component, the compensatory movements via the cam shaft.
Note:
With the value "0" in this parameter the parallel phasesynchronous movement is switched off.
The following parameters are used to calculate the additive synchronous

position command values XSynchAdd:
P-0-0755, Gear reduction
Depending on the type of position scaling, the following formulas are used
to calculate the additive synchronous position command values
XSynchAdd.
XSynchAdd =
P 0 0776 P 0 0061 S 0 0103

*
P 0 0755
2 20
Generating the additive synchronous position command value with modulo

scaling
Note:
When using the parallel phase-synchronous movement, it is

necessary to set modulo position scaling.
Note:
If P-0-0754, Command value cycle is to be generated

depending on P-0-0755, the first synchronous operating mode
(S-0-0032/33/34/35 etc.) with outer position control loop has to
be the cam shaft mode.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 32767
MPD:
0 / 32767
MPH:
0 / 32767
IndraDrive
P-0-0764, Master axis speed

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The master axis speed is the sum of the change of P-0-0053, Master
axis position and P-0-0054, Additive master axis position with a
synchronous operating mode with virtual master axis per NC cycle or with
a synchronous operating mode with real master axis per TgenCounter
cycle. The master axis speed is indicated in rpm.
"Velocity
Synchronization
with
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
Rpm
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0765, Modulo factor measuring encoder

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-0765, Modulo factor measuring encoder

determines the absolute range of the measuring encoder. The input is a
20
factor of 2 , the following applies:
20
modulo range of measuring encoder = modulo factor measuring enc. * 2
The measuring encoder is evaluated and displayed in this range. If the

20
modulo factor of the measuring encoder is * 2 smaller than the absolute
display range of the measuring encoder (automatically determined by the
selected encoder), bit 6 is set in parameter P-0-0328, Type of position
encoder for measuring encoder (absolute encoder evaluation is
possible).
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 2047
MPD:
0 / 2047
MPH:
0 / 2047

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The resulting master axis position is generated from the values of the
parameters P-0-0053, Master axis position and P-0-0054, Additive
master axis position.
The sum of the position from the two parameters is fine interpolated so
that in the drive the resulting master axis position is available again every
500 s for basic performance and every 250 s for advanced
performance.
"Velocity
Synchronization
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Incr
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
with
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The effective master axis position is the resulting master axis position
P-0-0775 after the master drive gear P-0-0157/P-0-0156 and the gear
ratio fine adjust P-0-0083.
"Velocity
Synchronization
with
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Incr
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0777, Effective master axis velocity

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The effective master axis velocity is the master axis speed P-0-0764 after
the master drive gear P-0-0157/P-0-0156 and the gear ratio fine adjust
P-0-0083.
"Velocity
Synchronization
with

Master Axis"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
Rpm
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The synchronous position command value is the synchronous position

command value of the slave axis derived from the master axis position
(P-0-0053) and the additive master axis position.
It is determined depending on the synchronous operating mode with outer
position control loop that has been set.
Phase synchronization:
P - 0 - 0778 = ( P - 0 - 0053 + P - 0 - 0054) *
S - 0 - 0103
P - 0 - 0157
* (1 + P 0 0083) *
P - 0 - 0156
2 20
P-0-0778:
Fig. 3-112: Generating the synchronous position command value with rotary
modulo scaling
P-0-0778= ( P-0-0053 + P-0-0054 )*
P-0-0157
360 deg rees
*( 1 + P 0 0083 )*
P-0-0156
220
P-0-0778:
Fig. 3-113: Generating the synchronous position command value with rotary
absolute scaling
P - 0 - 0778 = ( P - 0 - 0053 + P - 0 - 0054) *
P - 0 - 0157
P - 0 - 0159
* (1 + P 0 0083) *
P - 0 - 0156
2 20
P-0-0778:
Fig. 3-114: Generating the synchronous position command value with linear
scaling
Cam shaft:
P - 0 - 0778 = P - 0 - 0778 n -1 + (h * tab( L *
Ga
G
360
)
v + c) + L * a * (1 + F ) / U *
Ge
Ge
2 20
P-0-0778: synchronous position command value

+/- :
P-0-0108, Master drive polarity (P-0-0108=1 > -)
L :
master axis position (P-0-0053) + additive master axis position
(P-0-0054)
V :
angle offset begin of profile (P-0-0061)
c:
component of dynamic angle offset (P-0-0085)
h:
cam shaft distance (P-0-0093 or P-0-0073)
tab() :
cam shaft profiles (P-0-0072 or P-0-0092)
Ga :
master drive gear output revolutions (P-0-0157)
Ge :
master drive gear input revolutions (P-0-0156)
F:
fine adjust (P-0-0083)
U:
gear reduction (P-0-0755)
Fig. 3-115: Cyclic generation of the position command value for the slave drive
with rotary absolute scaling
IndraDrive
P - 0 - 0778 = P - 0 - 0778 n -1 + (h * tab(L *
Ga
G
S 0 103
v + c) + L * a * (1 + F ) / U *
)
Ge
Ge
2 20

+/- :
L :
(P-0-0054)
V :
c:
h:
tab() :
Ga :
Ge :
F:
U:
with rotary modulo scaling
P - 0 - 0778 = P - 0 - 0778 n -1 + (h * tab(L *
Ga
G
P 0 0159
v + c ) + L * a * (1 + F ) / U *
)
Ge
Ge
2 20

+/- :
L :
(P-0-0054)
V :
c:
h:
tab() :
Ga :
Ge :
F:
U:
with linear scaling

Master Axis"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0779, Synchronous velocity

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The synchronous velocity is the differentiated synchronous position

command value P-0-0778 per controller cycle.
Master Axis"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
(360).
elements:
d = 360 / 1024 = 0.35
percent %
100
256
512
768
262144
524288
786432
90
180
270
1023
1048575-x
360-0,35
index
cam shaft
increments
degrees
index of cam shaft profile results

from internal master axis position
master axis

conversion
position in format
to internal
limitation to
one master axis
revolution
Fig. 3-118: Example of a linear cam shaft profile
Master Axis"
IndraDrive
Version
Attribute
Comment
GEN-02VRS
GEN-02VRS
Memory: PARAM_SP
Validity ch.: P3-4
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: FIX_IDN_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 6
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-799,999999 / 799,999999
---
MPD:
-799,999999 / 799,999999
---
MPH:
-799,999999 / 799,999999
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
(360).
elements:
d = 360 / 1024 = 0.35
IndraDrive

percent %
100
256
512
768
262144
524288
786432
90
180
index
cam shaft
1023
1048575-x
270
increments
degrees
360-0,35
index of cam shaft profile results

from internal master axis position
master axis
conversion
position in format
to internal
limitation to
one master axis
revolution
Fig. 3-119: Example of a linear cam shaft profile
Master Axis"
Version
Attribute
GEN-02VRS
GEN-02VRS
Memory: PARAM_SP
Validity ch.: P3-4
Comment
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: FIX_IDN_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 6
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-799,999999 / 799,999999
---
MPD:
-799,999999 / 799,999999
---
MPH:
-799,999999 / 799,999999
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
This parameter contains a profile with data points representing the profile
of a cam shaft. The maximum number of data points is 1024 values,
2 values are possible as a minimum.
The profile is only used in the operating mode "electronic motion profile".
A motion step is determined by this profile, when the bits 0..3 in the mode
parameter of this step contain the value 5.
The master axis range for this profile is determined by the master axis
initial positions of the current and the following motion step. The master
axis initial positions of the current motion step are determined by the
st
position of the 1 profile element. The position of the last profile element
is determined by the master axis initial position of the following motion
step or, for the last motion step, by 360 degrees.
The fist profile value has to be 0.
The value that is traveled in this motion step in one profile sequence
results from the product of last profile value and the distance of the
motion step. Cubic spline interpolation is carried out between the data
rd
points. When determining the 3 order polynomial that is used between 2
data points, the previous and following function value is used apart from
the neighboring function values. The previous value is extrapolated at the
beginning of the profile, the following value at the end of the profile.
See also Functional Description of the operating mode "Electronic Motion
Profile with Real/Virtual Master Axis"
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: FIX_IDN_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 6
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-799,999999 / 799,999999
---
MPD:
-799,999999 / 799,999999
---
MPH:
-799,999999 / 799,999999
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
This parameter contains a table with data points representing the profile
2 values are possible as a minimum. The table is only used in the
operating mode "electronic motion profile".
A motion step is determined by this table, when the bits 0..3 in the mode
parameter of this step contain the value 6. The master axis range for this
table is determined by the master axis initial positions of the current and
the following motion step. The master axis initial positions of the current
st
motion step are determined by the position of the 1 table element. The
position of the last table element is determined by the master axis initial
position of the following motion step or, for the last motion step, by 360
degrees.
The fist table value has to be 0.
The value that is traveled in this motion step in one profile sequence
results from the product of last profile value and the distance of the
motion step. Cubic spline interpolation is carried out between the data
rd
points. When determining the 3 order polynomial that is used between 2
data points, the previous and following function value is used apart from
the neighboring function values. The previous value is extrapolated at the
beginning of the profile, the following value at the end of the profile.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: FIX_IDN_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 6
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-799,999999 / 799,999999
---
MPD:
-799,999999 / 799,999999
---
MPH:
-799,999999 / 799,999999
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
st
degrees.
The fist table value has to be 0. The value that is traveled in this motion
step in one profile sequence results from the product of last profile value
and the distance of the motion step. Cubic spline interpolation is carried
rd
out between the data points. When determining the 3 order polynomial
that is used between 2 data points, the previous and following function
value is used apart from the neighboring function values. The previous
value is extrapolated at the beginning of the profile, the following value at
the end of the profile.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: FIX_IDN_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 6
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-799,999999 / 799,999999
---
MPD:
-799,999999 / 799,999999
---
MPH:
-799,999999 / 799,999999
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
st
degrees.
The fist table value has to be 0. The value that is traveled in this motion
step in one profile sequence results from the product of last profile value
and the distance of the motion step. Cubic spline interpolation is carried
rd
out between the data points. When determining the 3 order polynomial
that is used between 2 data points, the previous and following function
value is used apart from the neighboring function values. The previous
value is extrapolated at the beginning of the profile, the following value at
the end of the profile.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: FIX_IDN_SP
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 6
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-799,999999 / 799,999999
---
MPD:
-799,999999 / 799,999999
---
MPH:
-799,999999 / 799,999999
---
IndraDrive
P-0-0786, Modulo value actual value cycle

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Parameter P-0-0786 is used to display the modulo value for the actual
value cycle. This parameter contains the value range for the content of
P-0-0753, Position actual value in actual value cycle.
See also Functional Description "Synchronous Operating Modes"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0,0000
MPD:
--- / ---
0,0000
MPH:
--- / ---
0,0000
P-0-0806, Current mains voltage crest value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter for HCS03 devices (converters) displays the current crest
value of the mains voltage.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0809, Properties of charging circuit

Contained in 02VRS:
MPB
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
This list parameter displays the data for the soft start charging circuit. The
parameter is stored in non-volatile form in the power section.
Element Name
Unit
Decimal
places
Length
in bytes
without
millifarad
ohm
or
ampere
watt
or
A or sec
2
2
2
2
kJoule
type of charging circuit

0.00 = no charging circuit
1.00 = resistance charge
2.00 = constant current source
2
maximum capacitance
3
resistance value
or
constant charging current
4
continuous power
or
continuous current or max.
charging time
5
max. energy
Fig. 3-120: Properties of charging circuit
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: LT_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 2
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 42949672,95
---
MPD:
0,00 / 42949672,95
---
MPH:
0,00 / 42949672,95
---
P-0-0810, Minimum mains crest value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For HCS converters, in this parameter it is possible to set an individual

minimum value for the crest value of the mains voltage. The value is only
effective, if it is greater than the minimum value of the mains connection
voltage range!
For HCS02
If the mains crest value, when the converter is switched on, is lower than
the value in P-0-0810, the diagnostic message E2814 Undervoltage in
mains is generated.
For HCS03
If the mains crest value, when the converter is switched on or is in

operation, is lower than the value in P-0-0810, the diagnostic message
E2814 Undervoltage in mains is generated.
IndraDrive
Note:
The mains voltage crest value detected when switching on, for
HCS devices is displayed in P-0-0815, Nominal mains
voltage crest value!
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 780
---
MPD:
0 / 780
---
MPH:
0 / 780
---
P-0-0815, Nominal mains voltage crest value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter for HCS converters displays the mains voltage crest value
that was measured when the mains voltage was switched in the first time.
From this value the standard value for the undervoltage threshold
(P-0-0114), the standard minimum value of the mains voltage crest value
(P-0-0810) and the standard switch-on threshold of a braking resistor
(P-0-0858) are derived.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0816, Amplifier temperature 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Indicates the current temperature of a second temperature sensor on the

power section. This sensor is available for HCS03.1 devices.
The parameter P-0-0816 is always available, even if there is no second
temperature sensor available. In this case the value "0" is displayed.
The corresponding warning and switch-off thresholds are E2040
Amplifier overtemperature 2 prewarning and F2040 Amplifier
overtemperature 2 shutdown.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
S-0-0208
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0833, Braking resistor threshold

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The braking resistor is only switched on via the firmware if this is required
for braking. This means that it is switched on whenever the DC bus
voltage is higher than the voltage threshold P-0-0833, Braking resistor
threshold.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0844, Braking resistor load

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter indicates the thermal energy in percent, in relation to its

maximum allowed energy content, currently stored in the braking resistor.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0858, Data of external braking resistor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For HCS converters the type data of an externally connected braking

resistor are entered in this list parameter.
The reference voltage for switching on the braking resistor that can be set
in element no. 4 can be activated via the respective bits of P-0-0860,
Control word of converter.
Element
No.
1
2
3
4
Name
Unit
nominal resistance
Ohm
continuous power
W
energy
kWs
reference switch-on V
voltage braking res.
5
not supported
Fig. 3-121: Data of the external braking resistor
Decimal
places
Length in
bytes
4
4
4
4
4
4
4
4
IndraDrive
Note:
If the value "0" was entered in one of the list elements 1-3,
the external braking resistor is not active!
The value in list element 4 has to be at least 130% of P-00815, Nominal mains voltage crest value and mustnt
exceed a maximum of 820V. If the value entered is too low,
the error F2825 Switch-on threshold braking resistor
too low is signaled upon its activation.
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0859, Data of internal braking resistor

Contained in 02VRS:
MPB
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
For converters the type data of the device-internal braking resistor are
displayed in this list parameter. The parameter is stored in non-volatile
form in the power section.
Element No.
Name
Unit
1
nominal resistance Ohm
2
Continuous power W
3
energy
kWs
Fig. 3-122: Data of the internal braking resistor
Decimal
places
Length in
bytes
4
4
4
4
4
4
Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: LT_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0860, Control word of power section

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter basic settings are made especially for converters. The
switching thresholds for the braking resistor are dynamic, they are
increased depending on the load. The values to be selected are referring
to 0 percent load of the braking resistor.
Bit
Comment
power supply
0: from mains voltage (converter, standard)
1: from DC bus (inverter)
8
braking resistor
0: internal (standard setting for HCS02)
1: external (standard setting for HCS03)
10/11 reference values for ON-OFF switching voltage
of braking resistor
00: ON=DC820V, OFF=DC800V (standard)
th
01: ON= 4 list element of P-0-0858, Data of
external braking resistor, max. DC 820V
OFF=DC20V below switch-on voltage
10: ON= P-0-0815, Nominal mains voltage crest
value + 30%
OFF= P-0-0815, Nominal mains voltage crest value
+ 30% -20V
Note:
Bit 0 determines whether the power supply of the converter

takes place via mains connection (converter operation,
default) or via DC bus (inverter operation). With regard to
module bus, the converter used in inverter operation behaves
like an inverter!
Note:
For HCS03 devices the setting of bit 8 is fixed to "1"!
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-0861, Status word of power section

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used for status display of the power supply. The
individual bits have the following significance:
Bit
drive ready for power output?

0: no
1: yes
soft start process completed (only converters)
0: no
1: yes
mains voltage available (only converters)
0: no
1: yes
power supply unit ready for power output
only converters, depending on P-0-0114)
0: no, device signals "DC bus not ok" via module bus
1: yes, device signals "DC bus ok" via module bus
error during soft start (only converters)
0: no
1: yes
soft start relay supplied with current (only
converters)
0: no
1: yes
error converter supply unit F28xx (only converters)
0: no
1: yes
braking resistor overload warning active?
0: no
1: yes
power supply unit ready for operation
(only converters, for control of "Bb" contact!)
0: no
1: yes
E2050 Device overtemp. Prewarning active?
0: no
1: yes
F2018 Device overtemperature shutdown or
F2022 Device temperature monitor defective active?
0: no
1: yes
E2040 Device overtemperature 2 prewarning active?
0: no
1: yes
F2040 Device overtemperature 2 shutdown or
F2022 Device temperature monitor defective (for
temperature measurement 2) active?
0: no
1: yes
12
13
14
15
Comment
Fig. 3-124: P-0-0861, Status word of power section
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0900, Encoder emulation signal selection list

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter contains the IDNs of those signals that can be configured
for signal emulation (cf. P-0-0902, bit 12) in P-0-0901, Encoder
emulation signal selection.
Dependencies
The signals to be emulated and supported by the drive are depending on

the firmware version and the enabled functional packages
the control section hardware or its configuration
and are listed in parameter P-0-0900, Encoder emulation signal
selection list.
Note:
Supported Signals
When the hardware or firmware configuration was changed,

first switch to the operating mode in order to make sure that
the list P-0-0900 is updated.
The firmware provides, as a maximum, the following signals for

emulation:
IDN
S-0-0051
S-0-0053
P-0-0052
P-0-0434
P-0-0775
P-0-0776
Fig. 3-125:
Signal designation/function
Comment
real encoder signals (encoder 1..3)

position feedback 1 value
position feedback 2 value
actual position value of measuring
encoder
internal position values
position command value of controller
resulting master axis position
Effective master axis position
P-0-0900, Encoder emulation signal selection list
See also Functional Description "Extended Drive Functions - Encoder

Emulation"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-0901, Encoder emulation signal selection

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter is used for configuring (controlling) the incremental and

SSI encoder emulation. The signal to be emulated can thereby be
determined.
Supported Emulation Signals
Signal Selection List
The signals to be emulated and supported by the drive can be taken from
parameter P-0-0900, Encoder emulation signal selection list.
Configuration
The configuration is made by entering the desired IDN from the list
parameter P-0-0900 in parameter P-0-0901, Encoder emulation signal
selection.
Note:
Via bit 12 of P-0-0902, pure emulation of the motor encoder

signal, if necessary, can be activated independent of the
setting in P-0-0901!
See also Parameter Description "P-0-0900, Encoder emulation signal

selection list"
See also Parameter Description "P-0-0902, Encoder emulation control
parameter"
See also Functional Description "Extended Drive Functions Encoder
Emulation"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-0902, Encoder emulation control parameter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter is used for configuring (controlling) the encoder

emulation.
Note:
Except for bit 7 changes in parameter P-0-0902 can only be

made in phases 2 and 3!
The are the following options:

selecting or activating the emulation type (SSI or incremental)
activating the dead time compensation for incremental encoder
emulation
parameterizing the zero pulse output for incremental encoder
emulation
activating a clock increase of the emulated signals
Bit
1-0:
activation of emulation
00: encoder emulation deactivated
01: incremental encoder emulation
10: absolute encoder emulation
dead time compensation
0: switched off
1: active
temporary stop
0: emulation active
1: emulation stopped
4:
7:
8-9:
Bit 7 is used to temporarily stop the emulator output.

When the control unit sets this bit, there arent any
more increments output. This is required when the
control unit abruptly changes the signal to be
emulated, but this jump is not to be emulated
because it might cause the error message F2053!
oversampling
00: 8-fold oversampling
Bits 8..9 are used to select the temporary clock
increase of the emulator signals, in order to increase
the resolution of the emulation signals and to reduce
signal jitter.
Increasing the clock increase reduces the
maximum output frequency
(oversampling of 8: 1MHz, of 16 500KHz
and of 32 250KHz!)
Comment
IndraDrive
12:
kind of emulation
0: signal emulation
1: motor encoder emulation
Bit 12, kind of emulation, defines whether it is the
signal defined via P-0-0901 that is emulated or
directly the signal of the motor encoder.
Fig. 3-126: P-0-0902, Encoder emulation control parameter

Emulation"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-0903, Encoder emulation resolution

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Parameter P-0-0903 is used for parameterizing the resolution
of the emulated incremental encoder (incremental)
or of the emulated SSI encoder (absolute).
Note:
Incremental Encoder Emulation
The units, limit values and reference values are depending on

the encoder emulation used, the motor type and the scaling
parameterized in S-0-0076!
When an incremental encoder is emulated, the number of lines of the

incremental encoder to be emulated has to be entered in P-0-0903,
Encoder emulation resolution.
The formats and units in this case are different:
rotary motor:
lines / revolution
linear motor:
mm or inch
Observe the following for parameterizing P-0-0903:

18
input range for incremental encoder emulation: 1 262144 (=2 )
The maximum signal frequency of the emulated signals mustn't

exceed the maximum allowed output frequency of 1 MHz. The
number of increments has to be accordingly adjusted to the velocity.
IndraDrive
Note:
By increasing the clock increase (cf. P-0-0902) the maximum

output frequency is reduced (oversampling of 8: 1MHz, with
16 500KHz and with 32 250KHz)!
See also Troubleshooting Guide for "F2053 Incr. encoder emulator: pulse
frequency too high"
Exemplary parameterization for incremental encoder with linear scaling:
How high can be the max. number of lines to be set for linear scaling (with
load reference), a velocity of max. 3000 rpm at a feed constant of 65 mm
and a gear ratio of 5?
Note: fmax = 1MHz, as only 8-fold clock increase!
With vload = 39000 mm/min = 650 mm/s = 0.65 m/s
follows that
P-0-0903max = vmax/fmax = 650 mm/s /1MHz = 0.00065mm
= 65m
SSI Emulation
When an absolute encoder is emulated in the SSI format, the desired bit
width of the SSI position to be output is entered in this parameter.
The formats and units in this case are different:
rotary motor:
bits/revolution
linear motor (linear scaling):
bits/mm or bits/inch
The input range for SSI emulation is: "8 bits ... 24 bits"
For SSI emulation there are always 24 bits transmitted, the resolution
of a motor revolution and therefore the travel range that can be
displayed in absolute form can be defined by means of input in
P-0-0903.
Exemplary parameterization for SSI emulation:

If P-0-0903 = 12 bits/revolution, this means that one motor revolution is
12
resolved with 12 bits (= 4096 increments) and a maximum of 2 (4096)
revolutions can be displayed in absolute form.
See also Functional Description "Extended Drive Functions - Encoder
Emulation"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Counts/Rev
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 16777216
4000
MPD:
0 / 16777216
4000
MPH:
0 / 16777216
4000
IndraDrive
P-0-0904, Encoder emulation zero pulse offset

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In the case of incremental encoder emulation, this parameter is used to

arbitrarily shift the position of the reference pulse (zero pulse) within the
parameterized zero pulse distance (P-0-0905).
Input is possible in each phase, also during operation. During an input

the drive, however, should be in standstill.
Input is made in lines of emulator resolution, the following distinction

is made with regard to formats and units:
-
rotary motor:
lines
linear motor (or linear scaling):
mm or inch
Note:
The position of the reference pulse mustnt be shifted by

values greater than the zero pulse distance set in P-0-0905.

Emulation"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Counts
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 16777216
MPD:
0 / 16777216
MPH:
0 / 16777216
P-0-0905, Encoder emulation zero pulse distance

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In the case of incremental encoder emulation, this parameter, depending

on the travel distance, defines the distance of two successive zero pulses.
The formats, units and maximum values in this case are different:
rotary motor:
lines
(max. value = 2^32 lines)
linear motor:
mm or inch
(max. value = S-0-0278)
IndraDrive

Parameter setting P-0-0905 = P-0-0903 (standard
One zero pulse is generated per revolution (or per mm)
case!):
Parameter setting P-0-0905 < P-0-0903 (cyclic zero pulse output):

Several zero pulses are generated per revolution (or per mm). (If a
zero pulse is demanded, for example, each time after 180 degrees,
the parameter setting has to be P-0-0905 = * P-0-0903.)
Note: For cyclical output you have to take into consideration that a
maximum of one zero pulse can be output per output
cycle (i.e. position loop clock).
Parameter
setting
P-0-0905
=
N
*
P-0-0903:
One zero pulse is generated within n revolutions (or per n mm). This
allows, for example, generating only one single zero pulse over the
entire travel range at the machine zero point!
Note:
Inputting "0" is not allowed.
Input is made in lines of the emulator resolution.

If one zero pulse per revolution is desired, which normally is the case,
P-0-0905 = P-0-0903 has to be set, i.e. the same value as in P-0-0903
has to be input in P-0-0905. It is also possible to output a zero pulse only
every x revolutions, in this case P-0-0905 = x * P-0-0903 is correct. Input
is only possible in phases 2 and 3.
Emulation"
Version
Attribute
GEN-02VRS
GEN-02VRS
MPB min: 0
Comment
MPH min: 0
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Counts
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 4294967295
4000
MPD:
1 / 4294967295
4000
MPH:
1 / 4294967295
4000
IndraDrive
Product Specific Parameters (P-0-1000 P-0-4095) 4-1
IndraDrive
Product Specific Parameters (P-0-1000 P-0-4095)
P-0-1000, Kind of encoder 1, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the case of motors with encoder data memory (MHD, MKD, MKE,
MSK) the characteristic value for the type and specific features of encoder
1 (motor encoder) can be read from this parameter.
The value that has been read allows identifying the encoder incorporated
in the motor:
Value of P-0-1000
Encoder type
Specific feature
0x0000
resolver
single-turn encoder
0x0010
resolver
multi-turn encoder
0x0004
HSF
single-turn encoder
0x0014
HSF
multi-turn encoder
0xc001
EnDat
single-turn encoder
0xe001
EnDat
multi-turn encoder
0x4001
EnDat
length
system
0x00x2
Hyperface
single-turn encoder
0x00x7
Hyperface
multi-turn encoder
Note:
measurement
This parameter is invalid for motors without encoder data

memory!
See also Functional Description "Rexroth Housing Motors with Encoder

Data Memory"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
4-2 Product Specific Parameters (P-0-1000 P-0-4095)
IndraDrive
P-0-1001, Encoder 1 resolution, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The value for the motor encoder resolution that is stored in the encoder
data memory is stored in this parameter.
In the case of motors with encoder data memory (MSK, MHD, MKD and
MKE motors), the value is copied to the effective parameter S-0-0116,
Feedback 1 Resolution when the controller is initialized (transition to
phase 4).
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1002, Absolute encoder offset 1, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is required for homing absolute motor encoders. The

value is the difference between the zero point of the motor encoder and
the machine zero point in the position data format of the motor encoder.
Note:
Customers cannot interpret the value!

Data Memory"
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1003, Pulse wire encoder offset 1, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The offset of the pulse wires in relation to the resolver (motor encoder) is
stored in this parameter. The offset is determined at the factory and
stored in the encoder memory. This parameter is only required with multiturn resolvers!
Note:

Data Memory"
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1004, Pulse wire encoder status 1, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter contains the information of the absolute position of the

resolver encoder (motor encoder).
The value is updated with every position initialization. It cannot be written
by the user. This parameter is only required with multi-turn resolvers!
Note:

Data Memory"
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the case of optional encoders with encoder data memory the

characteristic value for the type and specific features of encoder 2 can be
read from this parameter.
The encoder 2 can be identified by the value that has been read:
Value of P-0-1010
Encoder type
Specific feature
0x0000
resolver
single-turn encoder
0x0010
resolver
multi-turn encoder
0x0004
HSF
single-turn encoder
0x0014
HSF
multi-turn encoder
0x0003
DSF
single-turn encoder
0x0013
DSF
multi-turn encoder
0x4001
EnDat
absolute encoder lin.
0xc001
EnDat
single-turn encoder rot.
0xe001
EnDat
multi-turn encoder rot.
0x00x2
Hyperface
single-turn encoder
0x00x7
Hyperface
multi-turn encoder
Note:
This parameter is invalid for encoders without data memory!
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The value for the resolution of the optional encoder (encoder 2) that is
stored in the encoder data memory is stored in this parameter.
The value is copied to the effective parameter S-0-0117, Feedback 2
Resolution when the controller is initialized (transition to phase 4).
See also Functional Description "Basics on Measuring Encoder,
Resolution"
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is required for homing absolute optional encoders. The

value is the difference between the zero point of the optional encoder and
the machine zero point in the position data format of the encoder 2.
Note:
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1013, Pulse wire encoder offset 2, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The offset of the pulse wires in relation to the optional encoder (resolver)
is stored in this parameter. The offset is determined at the factory and
stored in the encoder memory. This parameter is only required with multiturn resolvers!
Note:
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1014, Pulse wire encoder status 2, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter contains the information of the absolute position of the

optional encoder (resolver encoder).
The value is updated with every position initialization. It cannot be written
by the user and is only required with multi-turn resolvers!
Note:
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the case of measuring encoders with encoder data memory the

characteristic value for the type and specific features of encoder 3 can be
read from this parameter.
The encoder 3 (measuring encoder) can be identified by the value that
has been read:
Value of P-0-1020
Encoder type
Specific feature
0x0000
0x0010
0x0004
0x0014
0x0003
0x0013
0x4001
0xc001
0xe001
0x0002
0x0007
0x0012
0x0022
0x0027
0x0032
0x0037
Fig. 4-1:
resolver
single-turn encoder
resolver
multi-turn encoder
HSF
single-turn encoder
HSF
multi-turn encoder
DSF
single-turn encoder
DSF
multi-turn encoder
EnDat
absolute encoder lin.
EnDat
single-turn encoder rot.
EnDat
multi-turn encoder rot.
SCS60/70
single-turn encoder
SCM60/70
multi-turn encoder
SNS50/60
single-turn encoder
SCS-Kit 101
single-turn encoder
SCM-Kit 101
multi-turn encoder
BRC-Single
single-turn encoder
BRC-Multi
multi-turn encoder
Assignment value of P-0-1020, encoder type and feature
Note:
This parameter is invalid for encoders without data memory!
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The value for the resolution of the measuring encoder (encoder 3) that is
stored in the encoder data memory is stored in this parameter.
The value is copied to the effective parameter P-0-0327, Encoder
resolution of measuring encoder when the controller is initialized
(transition to phase 4).
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-1022, Absolute encoder offset 3, encoder memory

is required for homing an absolute measuring encoder. The value is the
difference between the zero point of the optional encoder and the
machine zero point in the position data format of the encoder 3
(measuring encoder).
Note:
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1119, Velocity mix factor feedback 1 & 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The "velocity mix factor" parameter determines the ratio of the actual
velocity values between the motor encoder and the optional encoder.
The input is percentage-based; the following applies:
0%:
The speed controller works solely with the velocity of encoder 1.
100%: The speed controller works solely with the velocity of encoder 2
(optional encoder).
If no optional encoder is available, the parameter is set to 0%.
Note:
If encoder 2 (optional encoder) is used as the only control

encoder, the value is to be set to 100%.
See also Functional Description "Velocity Mixing"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 100,0
0,0
MPD:
0,0 / 100,0
0,0
MPH:
0,0 / 100,0
0,0
P-0-1120, Velocity control loop filter: filter type
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
IndraDrive
This parameter allows activating and selecting up to 4 different filters

nd
(2 order).
P-0-1120 [0]
P-0-1120 [1]
filter 1
P-0-1120 [2]
filter 2
P-0-1120 [3]
filter 3
filter 4
Fig. 4-2: Parameterizable filter cascade
The following filter types can be selected:

0:
filter switched off
1:
low pass activated

P-0-1121, Velocity control loop filter: limit frequency of low
pass
2:
band-stop filter activated

P-0-1122, Velocity control loop filter: bandwidth of band-stop
filter
P-0-1123, Velocity control loop filter: center frequency of bandstop filter
Depending on P-0-1120 the parameters P-0-1121, P-0-1122 and

P-0-1123, according to the activated filter type, are used for
parameterizing the selected filter type.
Note:
All above filter parameters (P-0-1120, P-0-1121, P-0-1122 and

P-0-1123) are list parameters with 4 elements each (element1
for filter1, element2 for filter2, ...).
The content of P-0-1120, Velocity control loop filter: filter type consists
of 4 elements:
P-0-1120[0]
filter type for filter1
P-0-1120[1]
P-0-1120[2]
P-0-1120[3]
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/8
---
MPD:
0/8
---
MPH:
0/8
---
IndraDrive
P-0-1121, Velocity control loop filter: limit frequency of low pass

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is used to parameterize the corner frequency of the 4

filters that can be selectively activated via P-0-1120. The input value is in
Hz, i.e. the actual frequency (f=1/T) is input at which it is intended to
obtain an attenuation of 3dB (attenuation of the amplitude to 0.707 of the
input amplitude!).
A
dB
P-0-1121 limit frequency of low pass

0,1
100
10
0
-3
f
fg
-20
0,1
-40
0,01
Sv5053f1.fh7
Fig. 4-3: Low-pass characteristics
The content of P-0-1121, Velocity control loop filter: limit frequency of

low pass consists of 4 elements:
P-0-1121[0]
limit frequency for low-pass filter1
P-0-1121[1]
P-0-1121[2]
P-0-1121[3]
Note:
A list element in P-0-1121 is only relevant, however, if the

respective list element in P-0-1120 has been set to "1" (filter
type = low pass).
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Hz
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
4,0 / 4000,0
---
MPD:
4,0 / 4000,0
---
MPH:
4,0 / 4000,0
---
IndraDrive
P-0-1122, Velocity control loop filter: bandwidth of band-stop filter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is used to parameterize the bandwidth of the 4 band-stop

filters that can be selectively activated via P-0-1120 [n] = 2. The input
value is in Hz, i.e. the actual frequency (f=1/T) is input. Notes on how to
parameterize the band-stop filter are contained in the Functional
Description.
P-0-1122
bandwidth
attenuation in dB
frequency f
0
-3
P-0-1123 center frequency

Sv5052f1.fh7
Fig. 4-4:
Amplitude characteristic of a band-stop filter depending on the

bandwidth (qualitative)
The content of P-0-1122, Velocity control loop filter: bandwidth of

band-stop filter consists of 4 elements:
P-0-1122[0]
bandwidth for band-stop filter1
P-0-1122[1]
P-0-1122[2]
P-0-1122[3]
Note:

type = band-stop filter).
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Hz
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
10,0 / 1000,0
---
MPD:
10,0 / 1000,0
---
MPH:
10,0 / 1000,0
---
IndraDrive
P-0-1123, Vel. cont. loop filter: center frequency of band-stop filter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is used to parameterize the center frequency of the 4

band-stop filters that can be selectively activated via P-0-1120 [n] = 2. The
input value is in Hz, i.e. the actual frequency (f=1/T) is input. Notes on
how to parameterize the band-stop filter are contained in the Functional
Description.
P-0-1122
bandwidth
attenuation in dB
frequency f
0
-3
P-0-1123 center frequency

Sv5052f1.fh7
Fig. 4-5:
Amplitude characteristic of a band-stop filter depending on the

bandwidth (qualitative)
The content of P-0-1123, Vel. cont. loop filter: center frequency of

band-stop filter consists of 4 elements:
P-0-1123[0]
center frequency for band-stop filter1
P-0-1123[1]
P-0-1123[2]
P-0-1123[3]
Note:

type = band-stop filter).
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Hz
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
4,0 / 4000,0
---
MPD:
4,0 / 4000,0
---
MPH:
4,0 / 4000,0
---
IndraDrive
P-0-1125, Velocity control loop: average value filter clock

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter allows filtering the velocity control loop deviation with a
moving average filter. In the case of this filter type and with constant input
value, the output is always:
Y =
X
M
This means that the filter output, with constant input value, increases in a
linear way and has reached its final value at the filter output after the time
t = M TA .
Note:
This filter type therefore does not show the typical "creep
behavior" (filter output increases and decreases according to
an e-function!) of the usual VZ1 and VZ2 filters.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 16
MPD:
1 / 16
MPH:
1 / 16
P-0-1126, Velocity control loop: acceleration feedforward

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is used for activating and setting a variable acceleration

feedforward in the "velocity control" mode.
Operating Principle
The differentiated velocity command value (= acceleration command

value) is multiplied with the value of P-0-1126, Velocity control loop:
acceleration feedforward in order to add (feedforward) a corresponding
additive torque command value.
IndraDrive
The feedforward value (= additive torque/force command value) can be

smoothed by a subsequent low-pass filter (cf. P-0-0180).
Note:
This kind of feedforward can, for example, be used to

minimize the command value deviation in the acceleration
phase.
Note:
Acceleration feedforward is activated by entering a value

greater than "0" in P-0-1126, Velocity control loop:
acceleration
feedforward!
(P-0-1126 = 0 switched off)!
Input Values
For optimum parameterization of acceleration feedforward the following

has to be entered in P-0-1126, Velocity control loop: acceleration
feedforward:
total mass (motor + load) in kg (linear motor),
total mass inertia (motor + load), referring to the motor output shaft, in
kgm^2 (rotary motor).
Note:
Depending on the respective mechanical system, the input

value of P-0-1126, Velocity control loop: acceleration
feedforward has to be adjusted on site.
rotary motor:
mN*m / rad/s^2
linear motor:
mN / mm/s^2
g*m^2
kg.

See also Functional Description "Position Loop (with Respective
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
P-0-4014
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0000 / 214748,3647
0,0000
MPD:
0,0000 / 214748,3647
0,0000
MPH:
0,0000 / 214748,3647
0,0000
IndraDrive
P-0-1150, Command value generator output

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the output value of the command value

generator. The output value is displayed in the format of the assigned
parameter.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1151, Command value generator, list of possible target

parameters
Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This list parameter contains the IDNs of the parameters that can be
entered in P-0-1152, Command value generator, target parameter
assignment. These parameters are available for assigning the command
value generator command value.
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1152, Command value generator, target parameter assignment

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter the IDN of that parameter is entered to which the result
of the command value generator is to be written.
By selecting the target parameter the display (unit and scaling) of the
parameters
P-0-1150, Command value generator, command value
P-0-1154, Command value generator, offset
P-0-1155, Command value generator, amplitude
switches to that of the target parameter.
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-1153, Command value generator, control word

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used for configuring the integrated command value

generator and provides the following possible settings.
Structure of the control parameter:

Bit
3-0
signal selection
(selection of signal shape of command value
generator)
0001: noise signal
0010: sine signal
0011: square-wave signal
0100: reserved
enabling
0: Disabled: The command value generator is
stopped and the command value zero is output.
1: Enabled: The command value generator is
enabled and command value output to the target
parameter takes place.
periodic signal
0: one-time sequence
1: periodic signal generation
Note: The setting of the periodic time for noise
signal is fixed to 4095 cycles!
switch-off delay
For generating signals free of mean values the
switch-off of signal generation can be delayed until a
complete signal period is output.
0: enable signal switched off immediately
1: switch-off delayed until period complete
amplitude of noise generator
The noise signal can be generated with constant
amplitude (square-wave pulses with different
periodic time) or with continuous amplitude.
0: amplitude as square-wave signal
1: amplitude as factor
Fig. 4-6:
Comment
P-0-1153, Command value generator, control word
See also Functional Description "Drive-Integrated Command Value

Generator"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-1154, Command value generator, offset

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used for setting the direct component (offset) for the
selected signal (sine, square-wave, noise). The display, i.e. unit and
scaling of the parameter, are set according to the assigned parameter.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 4
--
Comb. check.: no
Input min/max:
Default value:
MPB:
-214748,3647 / 214748,3647
0,0000
MPD:
-214748,3647 / 214748,3647
0,0000
MPH:
-214748,3647 / 214748,3647
0,0000
P-0-1155, Command value generator, amplitude

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used for setting the amplitude (double crest value,
peak-to-peak value). The range of values of the selected signal shape
(sine, square-wave, noise) is between half the plus/minus amplitude. The
display, i.e. unit and scaling of the parameter, are set according to the
assigned parameter.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 4
--
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0001 / 214748,3647
10,0000
MPD:
0,0001 / 214748,3647
10,0000
MPH:
0,0001 / 214748,3647
10,0000
IndraDrive
P-0-1156, Command value generator, duration 1

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used for setting the square-wave signal. For the
duration P-0-1156, Command value generator, duration 1 the
command value generator output P-0-1150, Command value generator,
command value is set to half the positive amplitude P-0-1155,
Command value generator, amplitude plus offset P-0-1154, Command
value generator, offset. When the duration 1 is over, the output of the
command value generator is set to half the negative amplitude P-0-1155,
Command value generator, amplitude plus offset P-0-1154, Command
value generator, offset. Duration 2 starts as of this point of time.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 4294967,295
0,000
MPD:
0,000 / 4294967,295
0,000
MPH:
0,000 / 4294967,295
0,000
P-0-1157, Command value generator, duration 2

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used for setting the square-wave signal for command
value generator.
When duration 1 is over, duration 2 starts. For this duration P-0-1157,
Command value generator, duration 2 the command value generator
output P-0-1150, Command value generator, command value is set to
half the negative amplitude P-0-1155, Command value generator,
amplitude plus offset P-0-1154, Command value generator, offset.
When duration 2 is over, the output signal is set to the offset P-0-1154,
Command value generator, offset until the periodic time has been
reached.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 4294967,295
0,000
MPD:
0,000 / 4294967,295
0,000
MPH:
0,000 / 4294967,295
0,000
IndraDrive
P-0-1158, Command value generator, periodic time

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used for setting the square-wave signal and the sine
signal for command value generator. When the periodic time is over, the
signal output is repeated.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
Comb. check.: no
Input min/max:
Default value:
MPB:
0,001 / 4294967,295
10,000
MPD:
0,001 / 4294967,295
10,000
MPH:
0,001 / 4294967,295
10,000
P-0-1200, Control word of velocity control mode

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For the velocity control mode it is possible to select different command

values via this control word and to influence the behavior of the ramp
generator.
Note:
The control word can be cyclically written, the assignment of

individual bits from signal control word or digital inputs is
possible, too.
The following functions can be controlled by means of the control word:

Command value selection:
If one of the bits 0...4 has been set in P-0-1200, it is not the velocity
command value S-0-0036 that is used, but a list element from the
command value memory P-0-1206. Each bit in P-0-1200 selects exactly
one element of the command value memory. If more than one bit of the
group of bits 0...4 has been set, the least significant bit determines the
command value selection. This means that bit 0 has the highest priority.
Run-up stop:
The run-up stop function interrupts an acceleration process of the ramp
generator, i.e. the output of the ramp generator is frozen. The ramp
generator can continue carrying out deceleration processes, i.e. slowing
down the drive is always possible. The run-up stop function can be carried
out in three ways, either via external selection by the user (bit 5 = 1) or
controlled by the warning command value limit active (bit 6 = 1) or torque
limit active (bit 7 = 1).
IndraDrive
Bit
Comment
0-4
selection of velocity command value from

command value memory P-0-1206
00000: command value S-0-0036 active
xxxx1: command value P-0-1206 element 1 active
xxx10: command value P-0-1206 element 2 active
xx100: command value P-0-1206 element 3 active
x1000: command value P-0-1206 element 4 active
10000: command value P-0-1206 element 5 active
5-7
run-up stop
000: deactivated
xx1: unconditionally active
010: if command value limitation active
100: if torque limitation active
110: if command value limitation or torque limitation
active
Fig. 4-7:
P-0-1200, Control word of velocity control mode
Note:
All control functions of P-0-1200 only take effect in the

"velocity control" mode.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 0x3FF
MPD:
0 / 0x3FF
MPH:
0 / 0x3FF
P-0-1201, Ramp 1 pitch

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The acceleration entered in P-0-1201, Ramp 1 pitch takes effect in the

"velocity control" mode during acceleration.
With the acceleration entered in this parameter, the acceleration takes
place from the last effective command value to the new preset command
value as long as the velocity at the ramp output is smaller than the value
entered in P-0-1202, Final speed ramp 1.
Influence of P-0-1209
If the function "speed masking in command value channel" is used

(P-0-1207, P-0-1208, P-0-1209), the content of P-0-1201 is multiplied with
the content of P-0-1209 and this influences the effective acceleration.
Note:
If the value in parameter P-0-1201, Ramp 1 pitch = 0, the

ramp 1 is not active.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-1202, Final speed ramp 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter P-0-1202, Final speed ramp 1 takes effect in the "velocity
control" mode during acceleration and deceleration.
When exceeding (acceleration) or falling below (deceleration) the velocity
indicated in P-0-1202, Final speed ramp 1, the pitch of the drive-internal
speed command value ramp changes as follows:
from the value indicated in P-0-1201, Ramp 1 pitch to the value
indicated in P-0-1203, Ramp 2 pitch (acceleration)
or from the value indicated in P-0-1211, Deceleration ramp 1 to the
value indicated in P-0-1213, Deceleration ramp 2 (deceleration).
See also Functional Description "Velocity Command Value Reset with
Filter and Ramp (Quick Stop)"
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
P-0-1203, Ramp 2 pitch

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The acceleration entered in P-0-1203, Ramp 2 pitch takes effect in the

"velocity control" mode during acceleration.
With the acceleration entered in this parameter, the acceleration takes
place from the last effective command value to the new preset command
value as soon as the velocity at the ramp output is greater than the value
entered in P-0-1202, Final speed ramp 1.

the content of P-0-1209 and this influences the effective acceleration.
Note:
If the value in parameter P-0-1203, Ramp 2 pitch = 0, the

ramp 2 is not active.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-1206, Memory of velocity command values

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Five velocity command values are stored in this list parameter. In contrast
to S-0-0036 this parameter cannot be cyclically written. It is used as a
fixed command value memory the individual values of which can be
selected via the control word P-0-1200 (switch function). The range of
values and unit of the parameter elements in P-0-1206 correspond to
those of the velocity command value S-0-0036.
IndraDrive
For selecting the command values there is the following assignment:

P-0-1206
Selection by P-0-1200
Priority
element 1
element 2
element 3
element 4
element 5
bit 0 = 1
bit 1 = 1
bit 2 = 1
bit 3 = 1
bit 4 = 1
1
2
3
4
5
If more than one bit has been set, the priority indicated in the right column
applies (1 = highest priority).
Note:
The function for selecting the fixed command values P-0-1206

only takes effect in the "velocity control" mode.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
yes
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-1207, Lower limit of velocity masking window

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The list parameter "P-0-1207", in conjunction with the parameter

"P-0-1208" (upper limit of velocity masking window), defines four velocity
ranges (velocity windows).
The ranges apply to positive and negative velocities, the definitions of the
ranges are mirrored with regard to speed zero.
Note:
The function "velocity masking window" is only effective in
the "velocity control" mode.
The parameter "P-0-1210, Status word of velocity control
mode" contains information on the status of the current
command value with regard to a velocity masking window.
Version
Attribute
GEN-02VRS
GEN-02VRS
Memory: PARAM_SP
Validity ch.: no
Comment
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-1208, Upper limit of velocity masking window

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The list parameter "P-0-1208", in conjunction with the parameter

"P-0-1207" (lower limit of velocity masking window), defines four velocity
ranges (velocity windows).
The ranges apply to positive and negative velocities, the definitions of the
ranges are mirrored with regard to speed zero.
Note:
The function "velocity masking window" is only effective in
the "velocity control" mode.
The parameter "P-0-1210, Status word of velocity control
mode" contains information on the status of the current
command value with regard to a velocity masking window.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-1209, Acceleration factors for velocity masking window

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The list parameter P-0-1209 contains the acceleration factors that take
effect in the velocity ranges defined with P-0-1207 and P-0-1208.
The ramp generator passes the range of the velocity window (P-0-1207
and P-0-1208). But the acceleration factors indicated in P-0-1209 have a
multiplying effect on the acceleration and deceleration values or, in the
case of alternative scaling of the acceleration, on the ramp times of the
ramp generator (P-0-1201, P-0-1203, P-0-1211 and P-0-1213).
The effect of P-0-1209 is as follows:
With P-0-1209 = 1.000 the ramp generator behaves in a neutral way.
With P-0-1209 > 1.000 the acceleration increases accordingly within

the velocity window.
Note:
The units of P-0-1201, P-0-1203, P-0-1211 and P-0-1213

depend on the scaling (cf. S-0-0160).
Note:
The acceleration factors (P-0-1209) only take effect in the
"velocity control" mode. They are neither active during the
command "Drive Halt".
The status word of the "velocity control" mode P-0-1210
contains information on the current status of the command
value or the ramp output with regard to a velocity masking
window.
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 2
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1,00 / 100,00
---
MPD:
1,00 / 100,00
---
MPH:
1,00 / 100,00
---
IndraDrive
P-0-1210, Status word of velocity control mode

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For the velocity control mode the parameter P-0-1210 contains

information on the current status of the ramp generator and the current
command value.
Note:
The parameter P-0-1210 can be configured in the cyclic actual

value channel (e.g. AT with SERCOS) in S-0-0144, Signal
status word and assigned to the digital outputs.
Bit
command value reached

the output of the ramp generator and the jerk filter
corresponds exactly to the provided velocity command
value
run-up stop active
The run-up stop function has been activated either
directly or via cmd value limitation or torque limitation.
The ramp generator keeps the output frozen, as long as
there isnt any cmd value provided that is higher than
the current ramp output. The jerk filter is not influenced.
acceleration active
the ramp generator is in the acceleration status
deceleration active
the ramp generator is in the deceleration status
cmd value within masking window
Command value input hits a velocity masking window,
the active command value is therefore influenced.
V ramp within masking window
The ramp generator is in acceleration or deceleration
status. An acceleration factor from P-0-1209 is active,
because the current value is within a velocity masking
window.
2
3
4
Comment
Fig. Fehler! Es wurde kein Formatvorlagenname vergeben.-8: P-0-1210,

Status word of velocity control mode
Note:
All status displays of P-0-1210 are only active in the
"velocity control" mode.
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1211, Deceleration ramp 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The deceleration entered in P-0-1211, Deceleration ramp 1 only takes

effect in the "velocity control" mode.
With the deceleration entered in this parameter, the deceleration takes
place from the last effective velocity command value to the new velocity
command value as soon as the velocity at the ramp output is smaller than
the value in P-0-1202, Final speed ramp 1.
If the function "speed masking in command value channel" is effective

the content of P-0-1209 and this influences the effective deceleration.
Note:
If the value in parameter P-0-1211, Deceleration ramp 1 = 0,

the deceleration ramp 1 is not active.

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
P-0-1213, Deceleration ramp 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The deceleration entered in P-0-1213, Deceleration ramp 2 takes effect

in the "velocity control" mode during the deceleration process.
With the deceleration entered in this parameter, the deceleration takes
place from the last effective velocity command value to the new velocity
command value as long as the velocity at the ramp output is greater than
the value in P-0-1202, Final speed ramp 1.

the content of P-0-1209 and this influences the effective deceleration.
Note:
If the value in parameter P-0-1213, Deceleration ramp 2 = 0,

the deceleration ramp 2 is not active.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
IndraDrive
P-0-1214, Motor potentiometer, control parameter

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the "velocity control" mode this parameter is used to control or

configure functionalities (e.g. motor potentiometer).
Bit
Comment
enable
0: disabled, S-0-0036 or memory of fixed command
values active
1: motor potentiometer is active
1/2
initial value after drive enable
00: start with command value 0
01: drive moves to old command value again
10: actual velocity value S-0-0040 is maintained
11: not allowed
3
acceleration for ramp command value
0: constant: velocity increased or reduced in linear
form with activation time of ramp inputs (ramp+,
ramp-)
1: linear change: velocity increased or reduced in
square form with activation time of ramp inputs
(ramp+, ramp-)
4
evaluation mode of ramp inputs
0: continuously: acceleration as long as a ramp
input (ramp+, ramp-) is activated
1: edge-controlled: velocity increased by step size in
the case of 0->1 edge at a ramp input (ramp+, ramp)
Fig. 4-9:
Relevant bits of P-0-1214, Motor potentiometer, control parameter
Note:
In contrast to P-0-1200, parameter P-0-1214 is stored in the

drive in non-volatile form!
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-1215, Motor potentiometer, acceleration

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In conjunction with the motor potentiometer available in the "velocity

control" mode, this parameter is used for the following purposes:
For linear velocity change:
Definition of the velocity change by which the ramp velocity changes
when setting P-0-1214, bit8 ("ramp+")
P-0-1218 = activation time * [P-0-1215]
For square velocity change:
Definition of the acceleration change by which the ramp velocity
changes within 2 s when setting P-0-1214, bit8 ("ramp+")
acceleration = activation time * ( [P-0-1215] / 2 s)
Note:
With the input activated the velocity is increased in linear or

square form (see P-0-1214, Motor potentiometer, control
parameter) until the effective positive velocity limit value, i.e.
minimum value (S-0-0091, S-0-0038), has been reached.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
100000
MPD:
100000
MPH:
100000
IndraDrive
P-0-1216, Motor potentiometer, deceleration

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In conjunction with the motor potentiometer available in the "velocity

control" mode, this parameter is used for the following purposes:
For linear velocity change:
definition of the velocity change by which the ramp velocity changes
when setting P-0-1214, bit9 ("ramp-")
P-0-1218 = activation time * [P-0-1216]
For square velocity change:
definition of the acceleration change by which the ramp velocity
changes within 2s when setting P-0-1214, bit9 ("ramp-")
deceleration = activation time * ([P-0-1216] / 2s)
Note:
With the input activated the velocity is reduced in linear or

square form (see P-0-1214, Motor potentiometer, control
parameter) until the effective negative velocity limit value, i.e.
minimum value (S-0-0091, S-0-0039), has been reached.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
100000
MPD:
100000
MPH:
100000
IndraDrive
P-0-1217, Motor potentiometer, step size

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter takes effect when bit 4 "change by constant velocity step"
is one in P-0-1214, Motor potentiometer, control parameter.
P-0-1218, Motor potentiometer, command value, i.e. the velocity
command value, is increased by the velocity value with every positive
edge at the ramp input ramp+ until the positive velocity limit value
S-0-0038 has been reached. With every negative edge at the ramp input
ramp- it is reduced by the velocity value until the negative velocity limit
value S-0-0039 has been reached.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
MPD:
MPH:
P-0-1218, Motor potentiometer, command value

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Parameter P-0-1218, Motor potentiometer, command value is used to

display the velocity command value generated by the motor
potentiometer. This value is then processed in the ramp generator and
transmitted to P-0-0048, Effective velocity command value.
Note:
The value of parameter P-0-1218 is stored in case the control

voltage fails so that it is possible to reuse the value.
IndraDrive
Function: Parameter
Editability:
DEC_MV
Unit:
0046
S-0-0044
Cycl. tra.: AT
Extr. val. ch.:
no
Data l.:
4Byte
Validity ch.:
P3->P4
Format:
no
Decim. pl.: S-0-0045 / S-0-
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1222, Velocity command filter

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used to round acceleration jumps in the velocity

command value characteristics in order to have a smooth initialization or
deceleration of the drive in velocity control.
With the time constant entered in parameter P-0-1222, Velocity
command filter the velocity command value (cf. S-0-0036) created in the
"velocity control" mode by the ramp function (P-0-1201, P-0-1202,
P-0-1203, P-0-1211, P-0-1213) is filtered (average filter).
The effective velocity command value (cf. P-0-0048) at the controller input
results from the sum of
the ramp-shaped and filtered value in S-0-0036, Velocity command
value and
the direct value in S-0-0037, Additive velocity command value.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 16
MPD:
0 / 16
MPH:
0 / 16
IndraDrive
P-0-1350, PLC control word

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
16-bit control parameter for controlling the drive-integrated PLC. With a

positive edge the bits activate the corresponding process. By the onlinewrite function short edges are taken into account, too. While one action is
running, other start edges of this action arent taken into account. When
several edges have been activated, they are processed one after the
other from MSB to LSB.
The end of the actions can be identified in P-0-1351, PLC status word.
Bit No.
Significance
#0
RUN: The PLC is put into the status RUN.

Only works if a project was loaded.
The status goes to RUN.
#1
STOP: The PLC is stopped and goes to the status STOP. After
their current run the tasks arent started any more.
Attention:
Running tasks are, after their cycle time if necessary, aborted
by force. The PLC, however, immediately signals STOP.
#2
not used
#3
not used
#4
RESET hot: The PLC is reset without initializing the retain

variables. The status goes to STOP.
#5
RESET cold: The PLC is reset and the retain variables are
initialized.
The status goes to STOP.
#6
RESET hard: All data of the PLC are cleared. The boot project
thereby is cleared, too.
#7
Reload boot project: The boot project in loaded.

The PLC remains in STOP.
#8-#15
not used
Fig. 4-10:
PLC control word
See also Functional Description "IndraMotion MLD-S (Drive-Integrated

PLC)"
See also Application Manual "Rexroth IndraMotion MLD-S"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-1351, PLC status word

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter can only be read.

16-bit status parameter of the drive-integrated PLC.
Bit
RUN
The PLC is in the status RUN.
Breakpoint
The PLC is at a breakpoint (with !RUN).
not used
1
2
3
4
7
8
9-15
Comment
Runtime error
The PLC has a runtime error (e.g. watchdog,
division by 0 etc.)
Project loaded
A project was loaded (in RAM).
not used
Indicates whether the PLC is presently having
temporary control
not used
Fig. 4-11:
as of MPx03VRS
PLC status word

PLC)"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1352, PLC user program administration data

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
Several system files of the PLC are stored in this parameter.

The parameter is administrated by the system and mustnt be changed by
the user.
PLC)"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1353, PLC user program area 0

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
The PLC boot project is stored in these parameters.

The parameters are administrated by the system and mustnt be changed
by the user.
PLC)"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: SPS_IDN_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

by the user.
PLC)"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: SPS_IDN_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

by the user.
PLC)"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: SPS_IDN_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

by the user.
PLC)"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: SPS_IDN_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

the user.
PLC)"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: SPS_IDN_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

the user.
PLC)"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: SPS_IDN_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1360, PLC program identifier

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
List parameter with 2 unsigned longs.

Element
Significance
#0
Date: Compile time of the program (time_t). If there hasnt

been any program loaded, "0" is contained here. After
Reset hard the old data is still contained here.
#1
PID: unequivocal program identifier

If there hasnt been any program loaded, "0" is contained
here.
Fig. 4-12:
PLC program identifier
Function: Parameter
Editability:
no
Data l.:
4Byte var.
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1361, PLC program name

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter contains the file name of the current project. The name is
assigned to the project during compilation from the project name in
Codesys.
After Reset HARD the old name is still contained here.
Function: Parameter
Editability:
no
Data l.:
1Byte var.
Memory: no
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1362, PLC boot projec tinfo

Contained in 02VRS:
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is only used for diagnostic purposes and contains

information regarding the PLC boot project; the information is
automatically generated and entered by the drive when
the drive is started or
when the boot project is loaded with IndraLogic.
Reading the parameter allows clearly identifying the present PLC boot
project.
Note:
Maximum and actual length of the list parameter always is 322

elements with 4 Bytes each!
Element
Significance of content
0:
time stamp of PLC boot project in time_t format (seconds

since 1970-01-01) 0 = no project existing
1:
project ID
The project ID in the case of a new loaded boot project is
only filled after switching on again or when the boot project is
activated. Directly after loading the project ID first contains
"0".
The length is always constant and the space for strings is completely filled
with 0-characters (1).
2..17:
project name (file name)
18..33:
project designation
IndraDrive
34..49:
project version
50..65:
author
66..321:
Data writing (multiple-line) - max. 1024 characters incl.

0-character.
Note:
If no project is existing, all elements contain "0".
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1363, PLC project info

Contained in 02VRS:
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is only used for diagnostic purposes and contains

information regarding the PLC project currently loaded in the memory; the
information is automatically generated and entered by the drive when
the drive is started or
when the boot project is loaded with IndraLogic.
Reading the parameter allows clearly identifying the currently loaded PLC
project.
Note:
Maximum and actual length of the list parameter always is 322

elements with 4 Bytes each! The space for strings is
completely filled with 0-characters.
Element
Significance of content
0:
time stamp of PLC boot project in time_t format (seconds

since 1970-01-01) 0 = no project existing
1:
project ID
The project ID in the case of a new loaded boot project is
only filled after switching on again or when the boot project is
activated. Directly after loading the project ID first contains
"0".
The length is always constant and the space for strings is completely filled
with 0-characters (1).
2..17:
18..33:
project designation
34..49:
project version
50..65:
author
66..321:
Data writing (multiple-line) - max. 1024 characters incl.

0-character.
Note:
project name (file name)
If no project is existing, all elements contain "0".
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte var.
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1367, PLC configuration

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
Parameter for configuring the basic behavior of the integrated PLC (LDC).
Bit
1,0
start behavior of PLC

00: Default start behavior:
The PLC starts in boot 2.9, if it was in RUN at the
time the drive was switched off. Otherwise it remains
in STOP.
01: Start when booting:
The PLC starts in boot 2.9, independent of the last
status (goes to RUN).
10: Stop:
The PLC remains in the status STOP.
11: Start in phase 4:
The PLC starts automatically during transition to P4.
3,2
4
Comment
Attention: The PLC no longer starts automatically

during phase progression, if a new program is
loaded before, start/stop or a reset is carried out.
reserved
permanent control
0: PLC has no control
1: PLC has permanent control over the drive. (ON,
HALT, operating mode selection)
Fig. 4-13: P-0-0328, Type of position encoder for measuring encoder
See also Functional Description "Rexroth IndraMotion MLD-S"
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-1368, PLC Global Register GL2

Contained in 02VRS:
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is a list register with 8192 elements (4 bytes each) and
used for data exchange of the integrated PLC with the drive or a higherlevel external PLC or control unit.
The display format for this parameter can be individually adjusted with the
list element 18 of P-0-1386, PLC display format Global Register.
Note:
The data length of P-0-1368 is 4 bytes and cannot be

changed. The content of P-0-1368 is not backed up in case
control voltage fails. For non-volatile data use P-0-1389!
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1369, PLC internally reserved

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
For internal use only.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1370, PLC Global Register G0

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is a register with individual values for data exchange of

the PLC with the drive or a higher-level PLC or control unit. The display
format for this parameter can be individually adjusted with P-0-1386, PLC
display format Global Register. The content of this parameter is
buffered in case the control voltage fails.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

the PLC with the drive or a higher-level PLC or control unit.
The display format for this parameter can be individually adjusted with
P-0-1386, PLC display format Global Register. The content of this
parameter is buffered in case the control voltage fails.
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-1386, PLC display format Global Register

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This list parameter with 17 elements is used to set the display format for
the following parameters:
The global registers G0...G15 (cf. P-0-1370...P-0-1385); the first list
element of P-0-1386 influences P-0-1370, the second list element
influences P-0-1371 etc.
The global list registers GL1 and GL2 (cf. P-0-1389 and P-0-1368); the
list elements 17 and 18 of P-0-1386 are defining the display format for
both lists.
Each element of the list basically has the following structure and
significance.
IndraDrive
Bit
Comment
3-0
data length
0: 4 bytes
1: 2 bytes
7-4
display format
0: BIN
1: signed DEC
2: unsigned DEC
3: HEX
4: FLOAT
11-8: number of decimal places
0 to 7
Fig. 4-14: P-0-1386, PLC display format Global Register
Note:
The data length of P-0-1389 is 4 bytes and cannot be

changed.
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1387, PLC Global text register GT0

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
Freely usable text parameter with a maximum of 255 characters plus

terminating 0-character. It is used for data exchange of the integrated
PLC with the drive or a higher-level PLC or control unit.
Note:
The content of this parameter is not backed up in case control

voltage fails.

IndraDrive
Function: Parameter
Editability:
P234
Data l.:
1Byte var.
Memory: no
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1388, PLC Global text register GT1

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
Freely usable text parameter with a maximum of 255 characters plus

terminating 0-character. It is used for data exchange of the integrated
PLC with the drive or a higher-level PLC or control unit.
Note:
The content of this parameter is not backed up in case control

voltage fails.

Function: Parameter
Editability:
P234
Data l.:
1Byte var.
Memory: no
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1389, PLC Global Register GL1

Contained in 02VRS:
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is a list register with 1024 elements (4 bytes each) and
used for data exchange of the integrated PLC with the drive or a higherlevel external PLC or control unit.
The display format for this parameter can be individually adjusted with the
list element 17 of P-0-1386, PLC display format Global Register.
IndraDrive
Note:
The data length of P-0-1389 is fixed to 4 bytes and cannot be

changed. The content of P-0-1389 is backed up in case
control voltage fails.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: FIX_IDN_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1390, PLC input %IW0

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
Parameter for the PLC input image. The parameter contains the process
image of a PLC input (input process image). It contains 16 bits and is
assigned in the corresponding DriveTop dialog (e.g. "X31/32"). At the
beginning of the task the PLC reads the values from this parameter to the
input process image.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1410, PLC output %QW0

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
The parameter contains the process image of a PLC output (output

process image). It contains 16 bits and is assigned in the corresponding
DriveTop dialog (e.g. "X31/32"). At the end of the task the PLC writes the
values from the output process image to this parameter.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1450, PLC Positioning command value

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is used to internally input a positioning command value for

drive-controlled positioning via the IndraMotion MLD-S.
Note:
Operating Principle
The parameter can only be written via the IndraMotion MLD-S.

Externally, that is via the master communication, it can only be
read!
Regarding its function, the parameter P-0-1450, PLC Positioning

command value corresponds to parameter S-0-0282, Positioning
command value the operating principle of which is explained in the
Functional Description.
Positioning"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1451, PLC Positioning velocity

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is used to internally input a positioning velocity for drivecontrolled positioning via the IndraMotion MLD-S.
Note:
Operating Principle

read!

velocity corresponds to parameter S-0-0259, Positioning velocity the
operating principle of which is explained in the Functional Description.
Positioning"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1452, PLC Positioning acceleration

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is used to internally input a positioning acceleration for

Note:
Operating Principle

read!

acceleration corresponds to parameter S-0-0260, Positioning
acceleration the operating principle of which is explained in the
Positioning"
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
no
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1453, PLC Positioning deceleration

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is used to internally input a positioning deceleration for

Note:
Operating Principle

read!

deceleration corresponds to parameter S-0-0359, Positioning
deceleration the operating principle of which is explained in the
Positioning"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
no
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1454, PLC Positioning command value acceptance

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is used to internally control the positioning process (e.g.

starting the positioning) for drive-controlled positioning via the IndraMotion
MLD-S.
Note:
Operating Principle

read!

command value acceptance corresponds to parameter S-0-0259,
Positioning control word the operating principle of which is explained in
the Functional Description.
See also Functional Description "Master Communication - Exemplary
Configurations - Drive-Controlled Positioning"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1455, PLC positioning command value acknowledge

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is used to internally analyze a positioning process for

Operating Principle
Regarding its function, the parameter P-0-1455, PLC positioning

command value acknowledge corresponds to parameter S-0-0419,
Positioning command acknowledge the operating principle of which is
explained in detail in the Functional Description.
Positioning"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1460, PLC Velocity command value

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is used to internally input a velocity command value in

velocity control via the IndraMotion MLD-S.
Note:
Operating Principle

read!
Regarding its function, the parameter P-0-1460, PLC Velocity command

value corresponds to parameter S-0-0036, Velocity command value the
operating principle of which is explained in the Functional Description.
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1461, PLC Ramp 2 pitch

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is used to internally determine a ramp in velocity control

via the IndraMotion MLD-S.
Note:
Operating Principle

read!
Regarding its function, the parameter P-0-1461, PLC Ramp 2 pitch

corresponds to parameter P-0-1203, Ramp 2 pitch the operating
principle of which is explained in detail in the Functional Description.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
no
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1463, PLC Deceleration ramp 2

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is used to internally determine a deceleration in velocity

control via the IndraMotion MLD-S.
Note:
Operating Principle

read!
Regarding its function, the parameter P-0-1463, PLC Deceleration ramp

2 corresponds to parameter P-0-1213, Deceleration ramp 2 the
operating principle of which is explained in detail in the Functional
Description.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
no
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1465, PLC Torque/force command value

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is used to internally input a torque/force command value

in torque control via the IndraMotion MLD-S.
Note:
Operating Principle

read!
Regarding its function, the parameter P-0-1465, PLC Torque/force

command value corresponds to parameter S-0-0080, Torque/force
command value the operating principle of which is explained in the
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0094
Extr. val. ch.:
no
Decim. pl.: S-0-0093 / S-0-
S-0-0086
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-1499, PLC retain data on-board

Contained in 02VRS:
MPH
Contained in 03VRS
MPB
MPH
Hardware
--
Funct. package(s):
motion logic
This parameter is for internal use only.
Function: Parameter
Editability:
HEX
Unit:
--
Cycl. tra.: no
Extr. val. ch.:
no
Data l.:
2Byte var.
Validity ch.:
no
Format:
no
Decim. pl.: 0
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1506, Circuit board code optional module 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains identification data for the circuit board of the
optional module 1 (control section). It is stored on a memory chip on the
circuit board and data are written to it once when the circuit board is
assembled.
The parameter contains a list. The following data are included in the
elements of the list:
Element no.
Function
0
circuit board designation (1)
1
2
component number
3
serial number
4
circuit board type and version
5
release/revision index
6
writing cycles
Fig. 4-15: Elements of parameter P-0-1506
By means of circuit board code parameters the controller firmware

identifies all circuit boards incorporated in the control section and in the
basic device and thus generates the type designation of the control
section (P-0-1520, Control section type) and the basic device
(S-0-0140, Controller type). The type designation of the control section
also implies firmware dependencies.
See also Functional Description "Circuit Board Code"
Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: I2C_OPM_SP
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPD
MPH
Contained in 03VRS
MPD
MPH
Hardware
--
Funct. package(s):
assembled.
Element no.
Function
0
1
2
component number
3
serial number
4
5
6
writing cycles

Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: I2C_OPM_SP
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive

Contained in 02VRS:
MPD
MPH
Contained in 03VRS
MPD
MPH
Hardware
--
Funct. package(s):
assembled.
Element no.
Function
0
1
2
component number
3
serial number
4
5
6
writing cycles

Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: I2C_OPM_SP
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1509, Circuit board code master communication

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains identification data for the master communication

circuit board (control section). It is stored on a memory chip on the circuit
board and data are written to it once when the circuit board is assembled.
Element no.
Function
0
1
2
component number
3
serial number
4
5
6
writing cycles

Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: I2C_OPM_SP
Validity ch.:
P2->P3
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1510, Circuit board code power section

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains identification data for the power section circuit
board (basic device). It is stored on a memory chip on the circuit board
and data are written to it once when the circuit board is assembled.
Element no.
Function
0
1
2
component number
3
serial number
4
5
6
writing cycles

Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: LT_SP
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1511, Circuit board code control section

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains identification data for the basic circuit board of
the control section. It is stored on a memory chip on the circuit board and
data are written to it once when the circuit board is assembled.
Element no.
Function
0
1
2
component number
3
serial number
4
5
6
writing cycles

Function: Parameter
P2
Data l.:
4Byte var.
no
Format:
HEX
Unit:
no
Decim. pl.: 0
--
Cycl. tra.: no
Editability:
Extr. val. ch.:
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1513, Circuit board code optional module 1 for safety technology

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
optional module 1 for safety technology (control section). It is stored on a
memory chip on the circuit board and data are written to it once when the
circuit board is assembled.
Element no.
Function
0
1
2
component number
3
serial number
4
5
6
writing cycles

section P-0-1520, Control section type and the basic device S-0-0140,
Controller type. The type designation of the control section also implies
firmware dependencies.
Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: I2C_OPM_SP
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1514, Circuit board code optional module 2 for safety technology

Contained in 02VRS:
MPD
Contained in 03VRS
MPD
Hardware
--
Funct. package(s):
optional module 2 for safety technology (control section). It is stored on a
memory chip on the circuit board and data are written to it once when the
circuit board is assembled.
Element no.
Function
0
1
2
component number
3
serial number
4
5
6
writing cycles

section "P-0-1520, Control section type" and the basic device "S-0-0140,
Controller type". The type designation of the control section also implies
firmware dependencies.
Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: I2C_OPM_SP
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1518, Module code of control section

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains identification data for the control section. It is

stored on a memory chip on the control section and data are written to it
once when the circuit board is assembled.
Element number
Function
0
1
2
3
component number
4
serial number
5
6
7
writing cycles
The type designation of the control section also implies firmware

dependencies.
Function: Parameter
P2
Data l.:
4Byte var.
no
Format:
HEX
Unit:
no
Decim. pl.: 0
--
Cycl. tra.: no
Editability:
Extr. val. ch.:
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1519, Module code of power section

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains identification data for the power section. It is

stored on a memory chip on the power section and data are written to it
once when the circuit board is assembled.
Element number
Function
basic module designation (1)
part number
serial number
power section firmware code
writing cycles

dependencies.
Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: LT_SP
Validity ch.:
P2->P3
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-1520, Control section type

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the type designation of the control section. By

means of circuit board code parameters the controller firmware identifies
all circuit boards incorporated in the control section and thus generates
the type designation.
dependencies.
Function: Parameter
Editability:
no
Data l.:
1Byte var.
Memory: no
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-2002, Oper. hours of contr. sect. at change of functional packages

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used in conjunction with the enabling of functional

packages.
In parameter P-0-2002 the count of the operating hours counter of the
control section, at the time of a change in the functional package selection
in P-0-2003, Selection of functional packages, is stored.
Note:
The value is stored on the control section and therefore gets

lost when the device is replaced. Parameter P-0-2002 cannot
be changed but only be read.
See also Functional Description "Enabling of Functional Packages"

See also Functional Description "Functional Packages"
Function: Parameter
no
Data l.:
4Byte
no
Format:
DEC_OV
Unit:
no
Decim. pl.: 1
Cycl. tra.: no
Editability:
Extr. val. ch.:
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-2003, Selection of functional packages

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
It is possible that functional packages are enabled that may only be used
alternatively among each other. In this case it is necessary to determine,
by means of this parameter, which packages will finally become active
The applying assignment is the same as for P-0-2004.
When switching from phase 2 to phase 3, the parameters are marked as
being invalid if enabled functional packages have been selected that may
only be active alternatively. Changes of this parameter only take effect at
the next restart of the drive.
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-2004, Active functional packages

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains the active functional packages.

When booting the functional packages selected in P-0-2003 are activated
and then the respective bits are set or cleared in P-0-2004. This allows
recognizing at any time which functional packages are actually active.
Note:
This parameter can neither be written nor stored. It is for

display only.

IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-2100, Velocity loop proportional gain, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The parameter contains the initial value (default) for the proportional gain
of the velocity controller.
This value is stored in the encoder data memory. During the basic load
(loading controller parameters) the content of P-0-2100 parameter is
copied to the S-0-0100 parameter.
Note:
S-0-0100 and P-0-2100 have different units and a different

number of decimal places!

See also Parameter Description "S-0-0100, Velocity controller
proportional gain"
Function: Parameter
Editability:
P2
Data l.:
P-0-3100
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
P-0-3100
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 4294967295
---
MPD:
0 / 4294967295
---
MPH:
0 / 4294967295
---
IndraDrive
P-0-2101, Velocity loop integral-action time, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The parameter contains the initial value (default) for the integral-action
time of the integrator in the velocity controller.
(loading controller parameters) the content of the P-0-2101 parameter is
See also Parameter Description "S-0-0101, Velocity loop integral-action
time"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 429496729,5
---
MPD:
0,0 / 429496729,5
---
MPH:
0,0 / 429496729,5
---
P-0-2104, Position loop Kv-factor, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The parameter contains the initial value (default) for the proportional gain
of the position controller.
(loading controller parameters) the content of the P-0-2104 parameter is
See also Parameter Description "S-0-0104, Position loop Kv-factor"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 2
1000/min
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 42949672,95
---
MPD:
0,00 / 42949672,95
---
MPH:
0,00 / 42949672,95
---
IndraDrive
P-0-2106, Current loop proportional gain 1, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter contains the appropriate value for S-0-0106, Current

loop proportional gain 1 for operating the connected motor, at a PWM
switching frequency of 4000 Hz.
This value is stored in the encoder data memory, e.g. in the case of the
motor types MSK, MHD, MKD, MKE and possibly MAD and MAF. During
the load defaults procedure (load controller parameters) the parameter
P-0-2106 is converted to parameter S-0-0106, depending on the current
setting in P-0-0001, Switching frequency of the power output stage
and the parameterized performance setting in P-0-0556, Control word of
axis controller.
Note:
You mustnt change the values for the current controller that
have been set at the factory.
See Parameter Description "P-0-0001, Switching frequency of the power

output stage"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 2
V/A
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 500,00
---
MPD:
0,00 / 500,00
---
MPH:
0,00 / 500,00
---
P-0-2107, Current loop integral-action time 1, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The parameter contains the appropriate value for the integral-action time
of the integrator in the current controller for the connected motor.
This value is stored in the encoder data memory. During the load defaults
procedure (loading controller parameters) the P-0-2107 parameter is
Note:
You mustnt change the values for the current controller that
have been set at the factory.
See also Parameter Description "S-0-0107"
IndraDrive
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 429496729,5
---
MPD:
0,0 / 429496729,5
---
MPH:
0,0 / 429496729,5
---
P-0-2109, Motor peak current, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value available in the encoder data memory for the maximum current that
can temporarily flow in the motor without the motor being destroyed.
In the case of MHD, MKD and MKE motors the value is copied to the
effective S-0-0109, Motor peak current parameter when the controller is
switched on.
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
P-0-3100
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
P-0-3100
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 500,000
---
MPD:
0,000 / 500,000
---
MPH:
0,000 / 500,000
---
IndraDrive
P-0-2111, Motor current at standstill, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value available in the encoder data memory for the current that can
continuously flow in the motor without the motor being destroyed.
effective S-0-0111, Motor current at standstill parameter when the
controller is switched on.
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
P-0-3100
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
P-0-3100
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 500,000
---
MPD:
0,000 / 500,000
---
MPH:
0,000 / 500,000
---
P-0-2113, Maximum velocity of motor, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value available in the encoder data memory for the maximum possible
motor speed.
effective S-0-0113, Maximum motor speed (nmax) parameter when the
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
Rpm
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0001 / 250000,0000
---
MPD:
0,0001 / 250000,0000
---
MPH:
0,0001 / 250000,0000
---
IndraDrive
P-0-2141, Motor type, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Text for the motor type stored in the encoder data memory. During the
"load defaults procedure" (loading controller parameters) the content of
this parameter is copied to the S-0-0141 parameter. This is only possible
with BRC housing motors with encoder data memory like MHD, MKD and
MKE, for example!
The "F2008 RL The motor type has changed." diagnostic message is
based on the comparison of S-0-0141 and P-0-2141.
Examples:
MKD 071B-061-KP1-BN
MKE 096B-047-GG0-KN
Function: Parameter
Editability:
P2
Data l.:
1Byte var.
Memory: FEEDB_I2C
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-2204, Motor shutdown temperature, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Value available in the encoder data memory for the maximum allowed
operating temperature of the motor.
In the case of MSK, MHD, MKD, MKE and, if required, MAD and MAF
motors, the value is copied to the effective parameter S-0-0204, Motor
shutdown temperature when the controller is switched on.
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-2206, Drive On delay time, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value available in the encoder data memory for the release delay of the
motor holding brake.
In the case of MSK and, if required, MAD and MAF motors, the value is
copied to the effective parameter S-0-0206, Drive on delay time when the
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-2207, Drive Off delay time, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value available in the encoder data memory for the clamping delay of the
motor holding brake.
In the case of MSK and, if required, MAD and MAF motors, the value is
copied to the effective parameter S-0-0207, Drive off delay time when
the controller is switched on.
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-2216, Parameter set switching, group selection

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
main spindle
This parameter determines which parameter groups are included in

parameter set switching.
Bit
Comment
control loop group

0: cannot be switched
1: can be switched
1
application group
1: can be switched
2
load gear group
1: can be switched
3
motor group
1: can be switched
Fig. 4-25: P-0-2216, Parameter set switching, group selection
Note:
It is possible to select none, several or all parameter groups.
Note:
The parameters which are combined in the respective group

are described in chapter "Parameter Set Switching" of the
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 31
MPD:
0 / 31
MPH:
0 / 15
IndraDrive
P-0-2217, Parameter set switching, preselection range

Contained in 02VRS:
Contained in 03VRS
MPH
Hardware
--
Funct. package(s):
main spindle
This parameter determines how many switchable parameter sets are

available in the drive firmware.
Parameter set
No.
0
1
2
value
in
P-0-2217
3
4
5
6
7
Fig. 4-26:
Preselecting parameter sets for parameter set switching
Note:
It is possible to select none, several or all parameter groups.
Note:
The parameters which are combined in the respective group

are described in chapter "Parameter Set Switching" of the
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/7
MPD:
0/7
MPH:
0/7
IndraDrive
P-0-3000, Module code of motor, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter contains the identification data for motors with encoder
data memory. For MSK and, if required, MAD and MAF motors the
parameter is stored in the encoder data memory and is written once when
the motor is manufactured.
Note:
In case the encoder is replaced, the elements 3 and 4 of

P-0-3000 are cleared (i.e. the content is "0") for motors with
encoder data memory. This signals that the parameter
contents are no longer corresponding to the condition as
supplied.
The list parameter contains the following elements:

Element no.
Function
0
module designation (1)
1
2
3
part number
4
serial number
5
module firmware code
6
7
writing cycles
The firmware of the controller identifies the following parameters from the
module firmware code:
P-0-3100, Version of data structure in encoder memory
P-0-4014, Type of construction of motor
Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: FEEDB_I2C
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3001, Encoder type 1 (motor encoder), encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Value for the encoder type of the motor encoder stored in the encoder
data memory. The content of this parameter is copied to the effective
parameter P-0-0074, Encoder type 1 (motor encoder) when the
controller is switched on. This is only possible with BRC housing motors
with encoder data memory of the type MSK and possibly MAD and MAF!
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3002, Number of pole pairs/pole pair distance, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value for the number of pole pairs or the pole pair distance of the motor
stored in the encoder data memory. The content of this parameter is
copied to the effective parameter P-0-0018, Number of pole pairs/pole
pair distance when the controller is switched on. This is only possible
with BRC housing motors with encoder data memory like MHD, MKD and
MKE, for example!
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Polpaare
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 2000
---
MPD:
1 / 2000
---
MPH:
1 / 2000
---
IndraDrive
P-0-3003, Rotor inertia, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value for the rotor inertia of the motor stored in the encoder data memory.
The content of this parameter is copied to the effective parameter
P-0-0510, Rotor inertia when the controller is switched on. This is only
possible with BRC housing motors with encoder data memory like MHD,
MKD and MKE, for example!
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 5
kgm2
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00000 / 1,00000
---
MPD:
0,00000 / 1,00000
---
MPH:
0,00000 / 1,00000
---
P-0-3004, Speed controller smoothing time constant, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The parameter contains the initial value (default) for the smoothing time
constant of the actual speed value and the speed command value.
This value is stored in the encoder data memory. During the load defaults
procedure (loading controller parameters) the P-0-3004 parameter is
copied to the P-0-0004 parameter.
See also Parameter Description "P-0-0004, Velocity loop smoothing time
constant"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
250 / 65500
---
MPD:
250 / 65500
---
MPH:
250 / 65500
---
IndraDrive
P-0-3005, Torque/force constant, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value for the torque/force constant of the motor stored in the encoder
data memory. The content of this parameter is copied to the effective
parameter P-0-0051, Torque/force constant when the controller is
switched on. This is only possible with BRC housing motors with encoder
data memory like MHD, MKD and MKE, for example!
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
P-0-3100
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
P-0-3100
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 1000,00
---
MPD:
0,00 / 1000,00
---
MPH:
0,00 / 1000,00
---
P-0-3006, Rated motor speed, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value stored in the encoder data memory for the rated speed of an
asynchronous motor.
For MAD and MAF motors with encoder data memory the value is copied
to the effective parameter P-0-4036, Rated motor speed when the
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
Rpm
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0000 / 429496,7295
---
MPD:
0,0000 / 429496,7295
---
MPH:
0,0000 / 429496,7295
---
IndraDrive
P-0-3007, Stator resistance, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value for the stator resistance of the motor stored in the encoder data
memory. The content of this parameter is copied to the effective
parameter P-0-4048, Stator resistance when the controller is switched
on. This is only possible with BRC housing motors with encoder data
memory like MHD, MKD and MKE, for example!
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
Ohm
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 4294967,295
---
MPD:
0,000 / 4294967,295
---
MPH:
0,000 / 4294967,295
---
P-0-3008, Commutation offset, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value for the commutation offset of the synchronous motor stored in the
encoder data memory. The content of this parameter is copied to the
effective parameter P-0-0508, Commutation offset when the controller is
switched on. This is only possible with BRC housing motors with encoder
data memory like MHD, MKD and MKE, for example!
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 1024
---
MPD:
0 / 1024
---
MPH:
0 / 1024
---
IndraDrive
P-0-3009, Holding brake control word, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Bit information on the motor holding brake stored in the encoder data
memory.
In the case of MSK and, if required, MAD and MAF motors, the bits are
written to the bits 0 and 2 of the effective parameter P-0-0525, Holding
brake control word when the controller is switched on. All other bits of
P-0-0525 can be freely written.
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3010, Torque of motor holding brake, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value for the nominal torque of the motor holding brake stored in the
encoder data memory. The content of this parameter is copied to the
effective parameter P-0-0540, Torque of motor holding brake when the
controller is switched on. This is only possible with BRC housing motors
with encoder data memory like MHD, MKD and MKE, for example!
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
Nm
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3011, Holding brake current, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value for the current of the motor holding brake stored in the encoder
data memory.
As the monitoring of the holding brake current is not available in the
IndraDrive controllers, the value is not copied to an effective parameter.
The parameter is exclusively used for writing the value to the encoder
memory of BRC housing motors with encoder data memory, such as
MSK, MHD, MKD, MKE and, if required, MAD and MAF!
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3012, Temperature sensor, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Characteristic value, stored in the encoder data memory, for the

temperature sensor incorporated in the motor winding. This parameter is
part of the motor-specific parameters and is automatically entered in the
effective P-0-0512, Temperature sensor parameter when the motor
parameters are loaded.
The value that has been read allows identifying the encoder incorporated
in the motor.
See also Parameter Description "P-0-0512, Temperature sensor"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3014, Magnetizing current, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Value for the magnetizing current in the rated point of the motor stored in
the encoder data memory.
In the case of MAD and MAF motors the value is copied to the effective
parameter P-0-4004, Magnetizing current when the controller is
switched on.
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
A eff
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3015, Flux-generating current, limit value, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Limit value for the flux-generating current stored in the encoder data
parameter P-0-4005, Flux-generating current, limit value when the
controller is switched on. This is only possible with synchronous BRC
motors with encoder data memory, such MSK, but bot with MHD, MKD
and MKE!
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
A eff
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3016, Direct-axis inductance of motor, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value available in the encoder data memory for the direct-axis inductance
of a synchronous motor. When the controller is switched on, the value, in
the case of MSK motors, is copied to the effective parameter P-0-4016,
Direct-axis inductance of motor.
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
mH
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3017, Quadrature-axis inductance of motor, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value available in the encoder data memory for the quadrature-axis

inductance of a synchronous motor.
When the controller is switched on, the value, in the case of MSK motors,
is copied to the effective parameter P-0-4017, Quadrature-axis
inductance of motor.
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
mH
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3018, Charact. quadr.-axis induct. of motor, induct., enc. Memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
List of inductance values of the characteristic of the motor quadratureaxis inductance stored in the encoder data memory.
When the controller is switched on, the content of the parameter, in the
case of MSK motors, is copied to the effective parameter P-0-4002,
Charact. of quadrature-axis induct. of motor, inductances.
See also Parameter Description "P-0-4002, Charact. of quadrature-axis
induct. of motor, inductances"
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3019, Charact. quadr.-axis induct. of motor, currents, enc. Memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
List of current values of the characteristic of the motor quadrature-axis

inductance stored in the encoder data memory.
Charact. of quadrature-axis inductance of motor, currents.
See also Parameter Description "P-0-4003, Charact. of quadrature-axis
inductance of motor, currents"
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3020, Thermal time constant of winding, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value available in the encoder data memory for the thermal time constant
of the motor winding.
Thermal time constant of winding.
See also Parameter Description "P-0-4034, Thermal time constant of
winding"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3021, Thermal time constant of motor, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value for the thermal time constant of the motor stored in the encoder
data memory.
Thermal time constant of motor.
See also Parameter Description "P-0-4035, Thermal time constant of
motor"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
min
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3022, Thermal short-time overload of winding, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value for the temporary thermal overload of the winding stored in the
encoder data memory.
Thermal short-time overload of winding.
See also Parameter Description "P-0-4037, Thermal short-time overload
of winding"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3023, Current limit value of demagnetization, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Factor for the current limit value for synchronous motors stored in the
encoder data memory; if the limit value is exceeded, the magnets run the
risk of being demagnetized.
Current limit value of demagnetization.
See also Parameter Description "P-0-4013, Current limit value of
demagnetization"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3028, Flux loop proportional gain, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter contains the initial value (default) for P-0-0528, Flux
control loop proportional gain.
In the case of MAD and MAF motors, this value is stored in the encoder
data memory, if they have such a memory. During the load defaults
procedure (loading controller parameters) the parameter P-0-3028 is
copied to parameter P-0-0528.
See also Parameter Description "P-0-0528, Flux control loop proportional
gain"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 2
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3029, Scaling of stall current limit, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter contains the initial value (default) for P-0-0529, Scaling of
stall current limit.
See also Parameter Description "P-0-0529, Scaling of stall current limit"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3032, Premagnetization factor, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter contains the initial value (default) for P-0-0532,

Premagnetization factor.
copied to parameter P-0-0532
See also Parameter Description "P-0-0532, Premagnetization factor"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3033, Voltage loop proportional gain, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter contains the initial value (default) for P-0-0533, Voltage
loop proportional gain.
See also Parameter Description "P-0-0533, Voltage loop proportional
gain"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
A/V
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3034, Voltage loop intergral action time, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter contains the initial value (default) for P-0-0534, Voltage
loop integral action time.
See also Parameter Description "P-0-0534, Voltage loop integral action
time"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3035, Motor voltage at no load, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter contains the initial value (default) for P-0-0535, Motor
voltage at no load.
See also Parameter Description "P-0-0535, Motor voltage at no load"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3036, Maximum motor voltage, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The parameter contains the initial value (default) for P-0-0536, Maximum
motor voltage.
See also Parameter Description "P-0-0536, Maximum motor voltage"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3039, Stator leakage inductance, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Value for the stator leakage inductance of an asynchronous motor stored

in the encoder data memory.
In the case of MAD and MAF motors with encoder data memory, the
value is copied to the effective parameter P-0-4039, Stator leakage
inductance when the controller is switched on.
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
mH
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3040, Rotor leakage inductance, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Value for the rotor leakage inductance of an asynchronous motor stored

in the encoder data memory.
value is copied to the effective parameter P-0-4040, Rotor leakage
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
mH
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3041, Motor magnetizing inductance, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Value stored in the encoder data memory for the magnetizing inductance
of an asynchronous motor.
value is copied to the effective parameter P-0-4041, Motor magnetizing
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
mH
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3042, Characteristic of motor magnetizing inductance, encoder

mem.
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
List of values stored in the encoder data memory. These values are
describing the characteristic of the magnetizing inductance of an
asynchronous motor.
value is copied to the effective parameter P-0-4042, Characteristic of
motor magnetizing inductance when the controller is switched on.
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3043, Rotor time constant, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Value stored in the encoder data memory for the rotor time constant of an
asynchronous motor.
In the case of MAD and MAF motors the value is copied to the effective
parameter P-0-4043, Rotor time constant when the controller is
switched on.
Function: Parameter
Editability:
P2
Data l.:
4Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3050, Motor inductance, encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Value for the winding inductance of the motor stored in the encoder data
parameter P-0-4047, Motor inductance when the controller is switched
on. This is only possible with BRC housing motors with encoder data
memory like MHD, MKD and MKE, for example!
Data Memory"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: FEEDB_I2C
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 2
mH
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,00 / 42949672,95
---
MPD:
0,00 / 42949672,95
---
MPH:
0,00 / 42949672,95
---
P-0-3100, Version of data structure in encoder memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
There are differences in the data structure in the encoder memory of the
BRC housing motors. The following types are distinguished:
P-0-3100
Note:
Motor types
MHD, MKD, MKE
SF
MSK
MSK, MAD, MAF

Selecting the data structure version in P-0-3100, however, is
only required when the motor encoder data memory is written
at the factory. The parameter therefore is irrelevant for the
user!
By means of this parameter it is possible to set according to which version

of data structure the encoder memory parameters are stored. The version
of data structure basically decides on the data format and in addition on
the storage address in the encoder memory for each individual
parameter.
IndraDrive
Note:
You have to take into account that parameter P-0-0077,

Assignment motor encoder->optional slot and, if
necessary, also the parameters P-0-0078, Assignment
optional encoder ->optional slot and P-0-0079,
Assignment measuring encoder ->optional slot already
have to be set before this parameter is written.
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3200, Safety technology firmware code

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter contains the version designation of the safety technology

firmware.
See also Functional Description "Integrated Safety Functions"
Function: Parameter
Editability:
no
Data l.:
1Byte var.
Memory: no
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3201, Change counter of safety technology memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter is incremented at every change of the safety technology

memory; i.e. each time the command P-0-3204, C3000 Synchronize and
store safety technology IDN command and the command S-0-0262,
C07_x Load defaults procedure command (with P-0-4090, Index for
C07 Load defaults procedure = 165 hex) are triggered.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3202, Operating hours at last change of memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter reflects the time of the last change of the safety
technology memory. It is part of the safety technology memory.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3203, Memory image of safety technology memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter produces a hexadecimal list that contains an image of the

last states of the safety technology memory. By means of an external
program it is possible to trace back the last two states.
Function: Parameter
Editability:
no
Data l.:
4Byte var.
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3204, C3000 Synchronize and store safety technology IDN

command
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Note:
As of firmware version FWA-MP*03VRS, the command C3000

Synchronize and store safety technology IDN can only be
executed in phase 4.
This command sets the safety technology parameters on channel 2 valid

and stores them there with the default data.
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3205, Safety technology device identifier

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The safety technology device identifier contains a text that unequivocally

describes the function of the axis and the application for which it is used.
This allows clearly assigning the parameter file of parameter backup to an
application.
Note:
During the safety acceptance test, the safety technology

device identifier has to be written with due carefulness and
documented in the acceptance test protocol. The parameter is
stored in the safety memory and thereby is part of the
P-0-3208, Backup of safety techn. data channel 2.
After the control section hardware was replaced it is made sure by means
of an appropriate sequence that the safety data of channel 1 and
channel 2 are loaded. After the loading of the safety memory the service
engineer checks by means of the safety technology device identifier
whether this parameter matches the safety documentation. If this is the
case, he documents this fact and it is not necessary to carry out the
safety acceptance test again.
See also Functional Description "Drive Functions Integrated Safety
Technology"
Function: Parameter
Editability:
P234
Data l.:
1Byte var.
Memory: no
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3206, Safety technology password

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Via parameter P-0-3206, Safety technology password the safety

technology can be activated. The safety technology password is used to
lock the write access to all parameters relevant to safety technology. The
ex works password entered in P-0-3206, Safety technology password is
"INDRASAVE".
IndraDrive
The safety technology password
Allowed Characters and Length
must at least have 3 characters and mustnt have more than

10 characters and
may only contain the characters "a-z", "A-Z" and the numbers "0-9"
Password States
The "safety technology password" function can have three different

states:
no safety techn. password activated

safety technology not active,
safety techn. param. can be written,
content P-0-3206: "INDRASAVE"
P-0-3207,
password level =0
input string:
INDRASAVE_SI-Passwort_SI-Passwort
P-0-3207,
password level =1
default status after

switching on with
inactive
safety technology
"S-0-0262, C07_x Load defaults

procedure command" with
"P-0-4090, Index for C07
Load defaults procedure" = 165hex
safety technology password activated and unlocked

safety technology active, safety tech. param. can be written
input any string
OR
execute command "P-0-3204, C3000
Synchronize and store safety
technology IDN command"
OR
switch control voltage off
P-0-3207,
password level =2
s. tech. passw. activated and locked

safety technology active,
safety techn. param. write-protected
input:
safety technology password
default status after

switching on with
active
safety technology
_: blank
DP3206v1.EPS
Fig. 4-28:
Possible password states
Function: Parameter
Editability:
P234
Data l.:
1Byte var.
Memory: no
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3207, Safety technology password level

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The parameter P-0-3207, Safety technology password level displays

the current status of the safety technology password (P-0-3206).
The "safety technology password" function can have three different
states:
Level
Status safety technology password
no safety tech. password activated,

safety tech. parameters can be written
1
s. tech. passw. activated a. unlocked,
safety tech. parameters can be written
2
s. tech. passw. activated and locked,
s. tech. parameters write-protected
Fig. 4-29: Safety technology password states
Status safety technology

safety technology inactive
safety technology active
safety technology active
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3208, Backup of safety techn. data channel 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
By means of this parameter it is possible to replace the control section

hardware without afterwards having to carry out safety commissioning.
This is possible when the user has made sure by means of the parameter
P-0-3205, Safety technology device identifier that he has loaded the
parameter belonging to the application. The user has to document the
replacement procedure.
The parameter consists of a variable list with hex values which is a binary
image of the safety technology memory. Together with other parameters
this parameter P-0-3208, Backup of safety techn. data channel 2 can
be read and written back as part of a parameter file. Writing this
parameter (variable list with hex values) back is only possible with
deactivated safety technology.
IndraDrive
The saved parameter file can be loaded to the new hardware in different
ways.
If the "DriveTop" commissioning tool is used, the respective file is
selected, with inactive safety technology, in the parameter mode via
the menu items "File->Load" and the loading process is started.
If an MMC is used, the message "New MMC", "there" appears at the
display of the new hardware when phase progression is carried out for
the first time. The user has to acknowledge this message in order to
continue working at the drive with this MMC. When the safety
technology card has been plugged, there then is a repeated query via
the display "load new", "safety ?". The user is requested to actively
confirm again the loading of the P-0-3208, Backup of safety techn.
data channel 2 stored on the MMC.
With inactive safety technology the parameter P-0-3208, Backup of
safety techn. data channel 2 is transmitted to channel 2 of the safety
technology in the transition command phase 3 to 4. Then a checksum
check is and subsequent initialization are carried out on channel 2. If the
sequence is faulty, the message F3152 Incorrect backup of safety
technology data is generated. For controlling whether the safety
technology parameters are belonging to the application, an ASCII
parameter is made available which contains an application description.
This parameter is backed up in the safety memory and has to be
unequivocally written and documented.
After the safety technology memory has been loaded it is necessary to
control and document that the loaded data are matching the safety
documentation. If this is the case, it is not necessary to carry out the
safety acceptance test again. When an MMC is used, the parameter
P-0-3205, Safety technology device identifier can be read via the
display.
Function: Parameter
Editability:
P23
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3209, Safety technology commissioning identifier

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The purpose of the "DriveTop" commissioning tool is to facilitate the

commissioning for the user in the form of adjusted dialogs. The
parameter defines the status of commissioning via the tool. This
parameter ensures that the commissioning tool is running synchronously
to the drive.
Function: Parameter
Editability:
P234
Data l.:
1Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3210, Safety technology control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter makes available binary control signals for static influence
on the safety technology functions.
Note:
This parameter is a 2-byte list parameter. Element 2 is the

copy of element 1. The default setting is 0x12, 0x12.
IndraDrive
Bit
special mode standstill

0: safety related operational stop ("SBH")
1: safety related standstill ("SH")
diagnostic output
0: control of a PLC (I/O 10n = output)
1: control of a safety door (I/O 10n: internal relay; select
only if bit 2 = 1)
safety diagnosis and acknowledgment, I/O10, I/O10n,
I/O20
0: slave
1: master
dynamization of safety function selection, I/O30
0: slave
1: master (for external dynamization all axes of the safety
related protective zone have to be slaves)
safety technology operating mode transitions
0: NC-controlled (reduction of transition time by control unit
is possible, P-0-3212, bit 11)
1: drive-controlled (except for transitions to special mode
motion 1...4)
safety related homing procedure evaluation of home
switch for channel 2
0: dynamic evaluation (edge)
1: static evaluation; configure reference input channel2
(P-0-3211)!
kind of dynamization of safety function selection
0: common dynamization
1: separate dynamization for channel 1 and 2 (dynamization
signal for channel 1 is required, P-0-3212, bit 10)
diagnostic output channel 2 (I/O10n) only takes effect if
bit 2 = 0
0: active
1: not active (avoids mutual influence of axes in the case of
bus wiring of optional safety technology module)
edge evaluation home switch
0: positive1: negative
safety related stopping process
0: with safety related monitored deceleration time
1: with safety related monitored deceleration time and
braking ramp
scaling of safety parameters
0: according to setting of scaling system
1: fixed format related to motor
10
11
13
14
Fig. 4-30:
Comment
as of
MPx03
as of
MPx03
P-0-3210, Safety technology control word
Function: Parameter
Editability:
P23
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3211, Safety technology I/O control word, channel 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter makes available a list for the function linking of the
individual I/Os of the optional safety technology module (at connector
X41) with defined safety technology control signals.
Bit
0
1
2
3
4
5
6
not used
operating mode switch ("BA")
drive interlock ("ASP")
enabling control ("ZT")
home switch ("REF")
safety switch 1 ("S1")
Fig. 4-31:
Comment
P-0-3211, Safety technology I/O control word, channel 2
List elements 0...3 correspond to input signals I1n, I2n, I3n, I4n of optional
safety technology module
List elements 4...7 are copy of values 0...3 for the purpose of double input
Function: Parameter
Editability:
P23
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3212, Safety technology signal control word, channel 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter makes available binary control signals for online control of
the safety technology functions via digital hardware inputs or the master
communication (e.g. SERCOS) of the drive. For this purpose the desired
control bits from P-0-3212 have to be configured accordingly in the
respective interfaces.
Bit
0
1
2
3
4
9

Comment
diagnostic input channel 1 (I10)

(feedback from relay of protective device)
10
dynamization input for channel 1
(substitute for I/O30 in the case of separate
dynamization of safety function selection, P-0-3210,
bit 7=1)
11
NC-Ready
(for NC-controlled safety technology operating mode
transitions, P-0-3210, bit 4=0, the control unit can
reduce transition times P-0-3220/P-0-3225, selected
monitoring functions then are immediately active!)
Fig. 4-32: P-0-3112, Safety technology signal control word, channel 1

See also Functional Description "SERCOS Master Communication"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3213, Safety technology status

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter makes available binary status signals for online

monitoring of the safety technology states. By means of this status word
the individual status signals can be optionally programmed to existing
real-time bits of the master communication or hardware I/Os or I/O
extensions.
Bit
0
1
2
normal operation ("NO")

safety related drive interlock ("ASP")
safety related stopping process active (safety
related standstill or safety related operational stop,
according to configuration
safety related motion ("SBB1")
status safety related position (1 = safely homed)
disconnection on error by controller module
disconnection on error by optional safety technology
module
parameter mode active
safety technology deactivated
3
4
5
6
7
8
9
10
15
Fig. 4-33:
Comment
P-0-3213, Safety technology status

Technology"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3214, Safety technology signal status word, channel 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter makes available binary status signals of the safety

technology functions of channel 1. By means of this status word the
individual status signals can be optionally programmed to existing realtime bits of the master communication or hardware I/Os or I/O
extensions.
Bit
Comment
0
safety technology status output controller
Safety technology signal status word, channel 1
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3215, Selected safety technology mode

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter makes available a hexadecimal value that displays the

selected safety technology operating status.
Valu
e
0x0
0x1
0x2
normal operation ("NO")

special mode standstill (safety related standstill
("SH") / safety related operational stop ("SBH"))
special mode safety related motion 1 ("SBB1")
0x3
0x4
0x5
0x6
Fig. 4-35:
Comment
Coding of selected safety technology operating states
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3216, Active safety technology signals

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter displays the current status of the signals applied via
P-0-3212.
Bit
home switch ("REF")

diagnostic input channel 1 (I10)
(feedback from relay of protective device)
dynamization input for channel 1
(substitute for I/O30 in the case of separate
dynamization of safety function selection, P-0-3210,
bit 7=1)
NC-Ready
(for NC-controlled safety technology operating
mode transitions, P-0-3210, bit 4=0, the control unit
can reduce transition times P-0-3220/P-0-3225,
selected monitoring functions then are immediately
active!)
9
10
11
Fig. 4-36:
Comment
P-0-3216, Active safety technology signals
See also Parameter Description "P-0-3212, Safety technology signal

control word, channel 1"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3217, I/O status channel 2 (optional safety technology module)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter displays the current status of the inputs/outputs of the

safety technology module.
Bit
Comment
Input I1n
0
Input I2n
1
Input I3n
2
Input I4n
3
IO 10
4
IO 20
5
IO 30
6
Statusbit
7
Fig. Fehler! Es wurde kein Formatvorlagenname vergeben.-37: P-0-3217, I/O
status channel 2 (optional safety technology module)
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3218, C3700 Manually unlocking the safety door

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter is used to start the command C3700 Manually unlocking

the safety door which allows manually unlocking the safety door in the
case of an encoder error.
See also Troubleshooting Guide for "C3700 Manually unlocking the safety
door"
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3219, Diagnostic safety technology message

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Parameter P-0-3219, Diagnostic safety technology message displays

detailed error codes of channels 1 and 2 for some safety technology
errors (cf. F3xxx and F7xxx).
Note:
The error codes contained are used for extended diagnosis

and can give information on the error location and the exact
cause!
The example below (content of P-0-3219 in the case of error F3130)

illustrates the structure:
E-code
Channel
1
(P3219
[0])
E-code
Channel
2
(P3219
[1])
23
Safety technology error

channel 1
Safety technology error

channel 2
not all input signals of

channel 1 are LOW
26
short circuit between

input I1n and 24V
during dynamization
input I2n and 24V
during dynamization
input I3n and 24V
during dynamization
input I4n and 24V
during dynamization
28
29
35
Fig. 4-38:
Diagnostic safety technology message
See also Functional and Application Description "Integrated Safety

Technology"
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3220, Tolerance time transition from normal operation

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In the case of transitions from normal operation to a safety function, this

parameter defines the maximum time available after which the command
value system of the drive has to be adjusted to the new safety function.
Technology"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,1 / 120,0
---
MPD:
0,1 / 120,0
---
MPH:
0,1 / 120,0
---
P-0-3221, Max. tolerance time for different channel states

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter defines the maximum allowed time during which the
input/selection signals (safety technology states) of both monitoring
channels may differ from each other. If this time is exceeded, the error
message F3141 Plausibility error of selection is generated.
See also Troubleshooting Guide for "F3141 Plausibility error of selection"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,1 / 2,0
---
MPD:
0,1 / 2,0
---
MPH:
0,1 / 2,0
---
IndraDrive
P-0-3222, Max. activation time of enabling control

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The content of this parameter defines the maximum allowed duration for
the activation of the enabling control. At the latest when the duration
entered in P-0-3222 is over, the enabling control has to be disabled, i.e.
the special mode motion is temporary.
The time monitoring detects invalid manipulation of the enabling control
and when the maximum activation time of enabling control is exceeded,
the error F3142 Activation time of enabling control exceeded is
generated.
See also Troubleshooting Guide for "F3142 Activation time of enabling
control exceeded"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0 / 3600,0
---
MPD:
0,0 / 3600,0
---
MPH:
0,0 / 3600,0
---
P-0-3223, Time interval for dynamization of safety function selection

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter defines the cycle time in which dynamization takes place.
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1,0 / 3600,0
---
MPD:
1,0 / 3600,0
---
MPH:
1,0 / 3600,0
---
IndraDrive
P-0-3224, Duration of dynamization pulse of safety function selection

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter defines the maximum duration of the dynamization pulse

which is provided at the dynamization input I/O30 or, in the case of
separate dynamization (P-0-3210, Safety technology control word,
bit 7), additionally at the dynamization input for channel 1 (P-0-3212,
Safety technology signal control word, channel 1, bit 10).
Note:
An externally generated dynamization signal can also be

shorter, but it mustnt fall below the allowed minimum pulse
width of 30 ms!
If the "duration of dynamization pulse of safety function selection" is

exceeded or too short, the error message F3135 Dynamization pulse
width incorrect is generated.
The "duration of dynamization pulse of safety function selection" has an

effect on the reaction time, because during the dynamization of safety
function selection the evaluation of the selection signals inevitably has to
be suspended. This is why the duration shouldnt be too long.
See also Functional
Dynamization"
Description
"Integrated
Safety
Technology:
See also Troubleshooting Guide for "F3135 Dynamization pulse width

incorrect"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,1 / 1,0
---
MPD:
0,1 / 1,0
---
MPH:
0,1 / 1,0
---
IndraDrive
P-0-3225, Tolerance time transition from safety rel. oper.

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In the case of transitions from a safety function to a different safety

function, this parameter defines the maximum time available after which
the command value system of the drive has to be adjusted to the new
safety function.
Technology"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,1 / 120,0
---
MPD:
0,1 / 120,0
---
MPH:
0,1 / 120,0
---
P-0-3228, C4000 Homing procedure command channel 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Command parameter for establishing safety related reference on safety

technology channel 2.
Channel 2 waits for a parameterized reference event which is triggered,
for example, by a travel motion of the drive during the command C0600
Drive-controlled homing procedure command. After the reference
event was detected and P-0-3280, Actual position value, channel 2 was
homed without error, the drive sets the status "safely homed" in
parameter P-0-3213, Safety technology status, bit 7=1.
The selection as to whether a static or a dynamic reference signal is used
and whether the positive or negative edge is to be evaluated for the
dynamic signal, has to be set in parameter P-0-3210, Safety technology
control word, bits 5 and 11.
Note:
The command does not trigger an automatic drive motion.
See also Functional Description "Integrated Safety Functions: Safety

Related Homing Procedure"
IndraDrive
Function: Kommando
Editability:
P4
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3229, Tolerance window for safety related homing procedure

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The parameter defines the maximum allowed deviation of the actual

position values of channel 1 and 2 during the execution of the command
C4000 Homing procedure command channel 2. When the command
has been successfully carried out, the parameter P-0-3280, Actual
position value, channel 2 is synchronized to the actual position value of
nd
channel 1 with a 2 offset.
See also Troubleshooting Guide for "C4000 Homing procedure command
channel 2"
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-3230, Monitoring window for safety related operational stop

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter defines the maximum allowed travel distance related to

the actual position at the time "safety related operational stop" is
activated.
When the monitoring window is exceeded, the error F7030 Pos. window
for safety rel. operational stop exceeded is generated.
See also Troubleshooting Guide for "F7030 Pos. window for safety rel.
operational stop exceeded"
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-3231, Safety related reference position channel 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter determines the position value for channel 2 which takes
effect as actual position value after the execution of command C4000
Homing procedure command channel 2, when the parameterized
reference event of channel was detected.
Note:
By means of parameter P-0-3231 a specific position reference

system for channel 2 can be established.
See also Functional Description "Integrated Safety Functions: Safety

Related Homing Procedure"
See also Troubleshooting Guide for "C4000 Homing procedure command
channel 2"
Version
Attribute
GEN-02VRS
GEN-02VRS
format: DEC_0V
validity check: P2-3
Comment
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-3232, Monitoring window for safety related direction of motion

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The parameter is used as monitoring window in conjunction with safety

related direction of motion.
As a maximum, the drive can be moved by the distance parameterized in
P-0-3232 in the direction not allowed. When the drive leaves the
monitoring window in the direction not allowed, the error F7031 Incorrect
direction of motion is generated.
See also Troubleshooting Guide for "F7031 Incorrect direction of motion"
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-3233, Velocity threshold for safety related stopping process

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter defines a velocity threshold for the "special mode

standstill" or for drive interlock.
If the velocity values do not fall below this threshold within the "tolerance
time transition" when changing to the "special mode standstill" or after
drive interlock, the error message F7050 Time for stopping process
exceeded is generated. In addition, this threshold is used for monitoring
the velocity command values in safety related operational stop (exception:
torque control). In the case of error, the message F7030 Pos. window
for safety rel. operational stop exceeded is generated.
IndraDrive

See also Troubleshooting Guide for "F7030 Pos. window for safety rel.
operational stop exceeded"
See also Troubleshooting Guide for "F7050 Time for stopping process
exceeded"
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-3234, Safety related maximum speed

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter defines a velocity limit which always takes effect when
safety technology is active and which is effective both in normal operation
and in special modes (safety related motion, safety related operational
stop).
If the threshold defined in P-0-3234 is exceeded by the drive, the error
message F7020 Safety related maximum velocity exceeded is
generated and the drive is shutdown with velocity command value reset.
Note:
The monitoring function cannot be deactivated, but in

applications in which it is not required it can be made
ineffective by setting an accordingly high value.
See also Functional Description "Integrated Safety Functions""

See also Troubleshooting Guide for "F7020 Safety related maximum
velocity exceeded"
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-3235, Safety related end position, positive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter defines the positive safety related end position. The
monitor is activated by setting the control bit in "P-0-3210, Safety
technology control word", bit 9 and takes effect in normal operation and
safety related operation.
If this threshold is exceeded by the drive, the error message "F7021
Safety related end position exceeded" is generated.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-3236, Safety related end position, negative

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter defines the negative safety related end position.

The monitor is activated by setting the control bit in "P-0-3210, Safety
technology control word", bit 9 and takes effect in normal operation and
safety related operation. If this threshold is exceeded by the drive, the
error message "F7021 Safety related end position exceeded" is
generated.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-3237, Safety technology absolute offset

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
With safety technology this parameter is required for homing distancecoded motor encoders. It is the offset between the zero point of the motor
st
encoder (position of the 1 reference mark of the motor encoder) and the
axis zero point.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-3240, Control word for safety related motion 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
on the safety related motion functions. By setting the respective bit the
associated monitor in the motion process is activated.
Bit
Comment
safety related speed

0
safety related acceleration
1
safety rel. direction of rotation positive ("SDpos")
2
safety rel. direction of rotation negative ("Sdneg")
3
safety rel. increment
4
safety related position ("SL")
5
copy of bit 0-7 (for the purpose of double input)
15-8
Control word for safety related motion 1
Note:
Bit 0 (safety related speed) is always active.
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
257
MPD:
--- / ---
257
MPH:
--- / ---
257
P-0-3241, Safety related limited absolute position 1, positive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The parameter P-0-3241, together with P-0-3242, Safety related limited

absolute position 1, negative, defines a safety related travel range
(= safety related limited absolute position) for the "special mode safety
related motion 1".
If the function "safety related limited absolute position" has been activated
in "special mode safety related motion 1" (P-0-3240, Control word for
safety related motion 1, bit 5 = 1), the error message F7011 Safety rel.
position limit val., exc. in pos. dir. is generated when this positive
position limit is exceeded.
Note:
Before the safety function "safety related limited absolute

position" selected, the "safety related homing procedure" has
to be carried out.

See also Troubleshooting Guide for "F7011 Safety rel. position limit val.,
exc. in pos. dir."
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-3242, Safety related limited absolute position 1, negative

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):

absolute position 1, positive, defines a safety related travel range
related motion 1".
position limit val., exc. in neg. dir. is generated when this negative
Note:

to be carried out.

exc. in neg. dir."
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-3243, Safety related limited increment 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter defines a relative position window for the "special mode
safety related motion 1" which is defined with the start of the "special
mode motion 1". For the duration of the "special mode motion 1" the drive
can be freely moved within this position window. If the function "safety
related limited increment" has been activated in motion process 1
(P-0-3240, Control word for safety related motion 1, bit 4 = 1), the
error message F7010 Safety related limited increment exceeded is
generated in the "special mode safety related motion 1" when this position
window is exceeded.
See also Troubleshooting Guide for "F7010 Safety related limited
increment exceeded"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-3244, Safety related reduced speed 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter defines a velocity threshold (bipolar) for the safety

function "safety related reduced speed" which is always active in the
"special mode safety related motion 1".
When the threshold is exceeded, the error message F7013 Velocity
threshold exceeded is generated.
See also Troubleshooting Guide for "F7013 Velocity threshold exceeded"
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-3245, Safety related deceleration/acceleration ramp 1

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
With this parameter the limit acceleration (positive and negative) that is
monitored can be defined for the safety related motion 1 mode.
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Bit
Comment

0
1
2
3
4
5
15-8
Note:
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
257
MPD:
--- / ---
257
MPH:
--- / ---
257
P-0-3251, Safety related limited absolute position 2, positive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):

absolute position 2, negative, defines a safety related travel range
related motion 2".
position limit val., exc. in pos. dir. is generated when this positive
Note:

to be carried out.

exc. in pos. dir."
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-3252, Safety related limited absolute position 2, negative

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):

absolute position 2, positive, defines a safety related travel range
related motion 2".
position limit val., exc. in neg. dir. is generated when this negative
Note:

to be carried out.

exc. in neg. dir."
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
can be freely moved within this position window.
If the function "safety related limited increment" has been activated in
motion process 2 (P-0-3250, Control word for safety related motion 3,
bit 4 = 1), the error message F7010 Safety related limited increment
exceeded is generated in the "special mode safety related motion 2"
when this position window is exceeded.
increment exceeded"
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):

Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Bit
0
1
2

safety related direction of rotation positive
("SD pos")
safety related direction of rotation negative
("SD neg")
safety related limited increment ("SM")
copy of bits 0-7 (for the purpose of double input)
3
4
5
8-15
Comment
Fig. 4-41:
Note:
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
257
MPD:
--- / ---
257
MPH:
--- / ---
257

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
increment exceeded"
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):

Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Bit
Comment

0
1
2
3
4
5
15-8
Note:
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
257
MPD:
--- / ---
257
MPH:
--- / ---
257

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
IndraDrive

increment exceeded"
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):

Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-3280, Actual position value, channel 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The actual position value of channel 2 shows the current position of the
motor encoder at optional slot 1. After the drive is switched on, the actual
position value is initialized, i.e. set to an initial value, by the S-0-0128,
C0200 Communication phase 4 transition check command during the
If the motor encoder is an absolute measuring system, the value in
P-0-3280, Actual position value, channel 2 displays
the position related to the machine zero point, if "set absolute
measuring" was executed.
first of all the current absolute position of the motor encoder during
If the motor encoder is an incremental measuring system, the value in
P-0-3280, Actual position value, channel 2 displays
first of all the actual position value that has not been homed.
the position related to the machine zero point, if the command
was executed after drive enable and if, at the same time, the motor
parameter.
IndraDrive
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
no
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3281, Actual velocity value, channel 2

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The actual velocity value, channel 2 represents the current velocity

evaluated on channel 2 of the encoder plugged into optional slot 1.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_MV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3282, Safety related monitored deceleration

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
During the NC-controlled transition from normal operation or special

mode motion to safety related standstill/operational stop, the drive
monitors whether it can reach standstill within the remaining tolerance
time for transition by controlling the compliance with the deceleration
ramp defined in P-0-3282. This makes sure that the drive, during the
transition time, is at any time able to reach standstill within the scope of
the possible deceleration.
Note:
Monitoring takes place via two channels and in the case of

error the message F7051 Safety related deceleration
exceeded is generated!
See also Troubleshooting Guide for "F7051 Safety related deceleration

exceeded"
Function: Parameter
Editability:
P234
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-3290, PROFIsafe: F_Destination_Address

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
card
optional master communication cardoptional safty technologie
Funct. package(s):
In this parameter the target address (F_Destination_Address) of the

safety related communication connection has to be entered. The values
"0" and "65535" are not allowed. The target always is the drive. The data
of this parameter has to be identical to the one configured in the control
unit. When a connection is existing, the target address configured in the
control unit can be read as element 12 of P-0-3292.
IndraDrive
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-3291, PROFIsafe: F_Source_Address

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
card
Funct. package(s):
In this parameter the source address (F_Source_Address) of the safety

related communication connection has to be entered. The values "0" and
"65535" are not allowed. The source always is the control unit. The data
of this parameter has to be identical to the one configured in the control
unit. When a connection is existing, the source address configured in the
control unit can be read as element 11 of P-0-3292.
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3292, PROFIsafe: F_Parameters

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
card
Funct. package(s):
When Profibus connection is existing, this parameter displays the parameters of

the safety related connection configured in the control unit.
Element
Valid values
Significance
14
lenght of Set_Prm data
command (F_Parameter / F_Device)
2 or 5
slot of F_module, 2 means first axis, 5 is second

axis for double-axis devices
0 or 1
specifier
1 to 3
F_SIL, this is the SIL level demanded by the control

unit.
2 or 4
length of checksum (CRC2) in bytes
F_Block_ID, always has to be set to 0
F_Par_Version, is always 0
10
Reserved bits, 0 must always be displayed in this

case.
11
1 to 65534
F_Source_Add, this value is compared to that of

P-0-3291.
12
1 to 65534
F_Dest_Add, this value is compared to that of

P-0-3290.
13
10 to 2000
F_WD_Time, monitoring time in ms for the

PROFIsafe connection. It should approximately be
the fourfold Target Rotation Time.
14
0 to 65535
F_Par_CRC, checksum over the parameter data

(CRC1)
F_Check_SeqNr, when the value is 1, the current

number (Seq_Nr) is used for checksum (CRC2)
calculation.
F_Check_iPar, is not supported
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-3900, Command values for control section adjust

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
List parameter for reading the voltage values to be preset that are
required for the amplification adjust of the analog channels.
Note:
This parameter is only relevant for the production process of

the control section. It is irrelevant for the application side!
Function: Parameter
P2
Data l.:
4Byte var.
P2->P3
Format:
DEC_OV
Unit:
no
Decim. pl.: 3
--
Editability:
Extr. val. ch.:
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 4294967,295
---
MPD:
0,000 / 4294967,295
---
MPH:
0,000 / 4294967,295
---
P-0-3901, Adjust values of control section

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
List parameter with the adjust values for the analog channels of the
control section.
Note:
During the production process the adjust values for the analog
channels are individually determined for each control section.
They are irrelevant for the application side and cannot be
changed!
Function: Parameter
P2
Data l.:
4Byte var.
P2->P3
Format:
DEC_MV
Unit:
no
Decim. pl.: 3
--
Cycl. tra.: no
Editability:
Extr. val. ch.:
Comb. check.: no
Input min/max:
Default value:
MPB:
-2147483,647 / 2147483,647
---
MPD:
-2147483,647 / 2147483,647
---
MPH:
-2147483,647 / 2147483,647
---
IndraDrive
P-0-3902, Command values for power section adjust

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
List parameter for reading the values to be preset for the amplification
adjust of the current and voltage measurement.
Note:
This parameter is only relevant for the production process of

the power section. It is irrelevant for the application side!
Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: LT_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 4294967,295
---
MPD:
0,000 / 4294967,295
---
MPH:
0,000 / 4294967,295
---
P-0-3903, Adjust values of power section

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
List parameter with the adjust values for the current and voltage
measurement of the power section.
Note:
During the production process the adjust values are

individually determined for each power section. The values are
displayed by this parameter, changes are not required and not
allowed (write-protected parameter)!
Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: LT_SP
Validity ch.:
P2->P3
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-2147483,647 / 2147483,647
---
MPD:
-2147483,647 / 2147483,647
---
MPH:
-2147483,647 / 2147483,647
---
IndraDrive
P-0-3904, Adjust values analog I/O interface

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
List parameter with the adjust values for the analog channels of the addon card for analog I/Os (MA1).
Note:
During the production process the adjust values for the analog
channels are individually determined for each I/O module. The
values are displayed via this parameter. Changes are not
allowed (write-protected parameter)!
Function: Parameter
Editability:
P2
Data l.:
4Byte var.
Memory: I2C_OPM_SP
Validity ch.:
P2->P3
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4002, Charact. of quadrature-axis induct. of motor, inductances

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter, together with parameter P-0-4003, Charact. of

quadrature-axis inductance of motor, currents, describes the
characteristic of the motor quadrature-axis inductance Lq depending on
the torque-generating current Iq. Both parameters are lists; those
elements of these lists that are at the same list position are forming a pair
of values.
The values in parameter P-0-4002 are factors that are referring to the
parameter P-0-4017, Quadrature-axis inductance of motor. The
inductance values Lq of the characteristic are resulting by multiplication
with this parameter.
The parameter always has to contain 4 list elements. The values of these
elements have to be monotonously decreasing.
IndraDrive
Note:
The parameter is exclusively used if the bit "synchronous motor with
reluctance torque" or "adjustment of current loop to saturation of
quadrature-axis inductance of motor" was set in parameter P-0-4014,
In the case of Bosch Rexroth MBS high speed motors by
loading the motor parameters with the "DriveTop"
commissioning tool.
In the case of MSK motors, the value is loaded from the
data memory of the motor encoder when the control
voltage of the drive is switched on.
In the case of all other Rexroth motors, the use of the
parameter is prevented by the setting of parameter
P-0-4014 either made automatically in the firmware or by
the "DriveTop" commissioning tool.
Version
Attribute
GEN-02VRS
GEN-02VRS
Validity ch.: P2-3
Comment
Editability: P2
Function: Parameter
Editability:
P23
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 30,000
---
MPD:
0,000 / 30,000
---
MPH:
0,000 / 30,000
---
IndraDrive
P-0-4003, Charact. of quadrature-axis inductance of motor, currents

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter, together with parameter P-0-4002, Charact. of

quadrature-axis inductance of motor, currents, describes the
characteristic of the motor quadrature-axis inductance Lq depending on
the torque-generating current Iq. Both parameters are lists; those
elements of these lists that are at the same list position are forming a pair
of values.
The values in parameter P-0-4003 are factors that are referring to the
parameter S-0-0111, Motor current at standstill. The current values Iq
of the characteristic are resulting by multiplication with this parameter.
The parameter always has to contain 4 list elements. The values of these
elements have to be monotonously increasing.
Note:
The parameter is exclusively used if the bit "synchronous motor with
reluctance torque" was set in parameter P-0-4014, Type of construction
of motor.
In the case of Bosch Rexroth MBS high speed motors by
commissioning tool.
In the case of all other Rexroth motors, the use of the
parameter is prevented by the setting of parameter
P-0-4014 either made automatically in the firmware or by
the "DriveTop" commissioning tool.
Version
Attribute
GEN-02VRS
GEN-02VRS
Editability: P2
Comment
Validity ch.: P2-3
Function: Parameter
Editability:
P23
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 30,000
---
MPD:
0,000 / 30,000
---
MPH:
0,000 / 30,000
---
IndraDrive
P-0-4004, Magnetizing current

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In the case of asynchronous motors, the nominal magnetizing current

defined by Bosch Rexroth is entered in this parameter. The actually
flowing magnetizing current in the base speed range results by
multiplication of the value of P-0-4004 with P-0-0532, Premagnetization
factor. In the field weakening range the magnetizing current, with
increasing speed, is reduced by the flux loop based on the value of this
product.
Note:
In the case of Rexroth motors of the 2AD, ADF lines and in
the case of linear and rotary kit motors, by loading the
motor parameters with the "DriveTop" commissioning tool.
In the case of other asynchronous motors: manual input
according to manufacturers specification.
In the case of synchronous motors, the parameter is not
used and automatically set to Aeff = 0.

Measuring Systems"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
A eff
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / var.
1,000
MPD:
0,000 / var.
1,000
MPH:
0,000 / var.
1,000
IndraDrive
P-0-4005, Flux-generating current, limit value

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In this parameter a negative limit value for the flux-generating current can
be entered.
This limit value is available for field weakening operation of synchronous
motors and therefore exclusively takes effect for synchronous motors for
which field weakening operation was allowed (see parameter P-0-0045,
Control word of current controller).
Note:
In the case of Rexroth motors of the MHD, MKD, MKE and
MSK lines, automatically at initial commissioning.
In the case of linear and rotary synchronous kit motors by
commissioning tool.
In the case of other synchronous motors: manual input
according to manufacturers specification.
In the case of asynchronous motors, this parameter is
automatically set to Aeff = 0.
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
A eff
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
var. / 0,000
0,000
MPD:
var. / 0,000
0,000
MPH:
var. / 0,000
0,000
IndraDrive
P-0-4006, Positioning block target position

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
In the operating mode "positioning block mode" this parameter is used to

define the target positions of the max. 64 positioning blocks individually
and in different form (list parameter with 64 elements).
Note:
The significance and internal interpretation of the entered

value depends on P-0-4019, Positioning block mode!

Version
Attribute
Comment
GEN-02VRS
Cycl. tra.: no
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0078
Extr. val. ch.:
yes
Decim. pl.: S-0-0077 / S-0-
S-0-0076
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-4007, Positioning block velocity

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop

define the travel velocities of the max. 64 positioning blocks individually
and in different form (list parameter with 64 elements).
Version
Attribute
GEN-02VRS
GEN-02VRS
Cycl. tra.: no
Comment
Extr. val. ch.: yes
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
0046
Extr. val. ch.:
no
Decim. pl.: S-0-0045 / S-0-
S-0-0044
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-4008, Positioning block acceleration

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop

define the positioning accelerations of the max. 64 positioning blocks
individually and in different form (list parameter with 64 elements).
Note:
In conjunction with the corresponding jerk value entered in

P-0-4009 the positioning acceleration entered in P-0-4008
defines the parameter content of P-0-0042, Current position
command average value filter order.

Version
Attribute
GEN-02VRS
Cycl. tra.: no
Comment
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
IndraDrive
P-0-4009, Positioning block jerk

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop

define the positioning jerk values of the max. 64 positioning blocks
Note:

P-0-4009 the positioning acceleration entered in P-0-4008

Version
Attribute
Comment
GEN-02VRS
Cycl. tra.: no
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-4010, Load inertia

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The value of this parameter is determined by the controller during the

command P-0-0162, C1800 Command Automatic control loop adjust.
Depending on bit 9 of parameter P-0-4014, Type of construction of
motor this parameter has a different significance:
load inertia (without rotor inertia) for rotary motor
load mass (without primary part mass) for linear motor
Knowledge of the load inertia or load mass is important for optimizing the
velocity control loop.
IndraDrive
Unit for
Decimal places for

rotary
rotary
linear
kgm
Fig. 4-43:
linear
kg
6
6
Unit and decimal places of P-0-4010, depending on P-0-4014
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
P-0-4014
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0,000000
MPD:
--- / ---
0,000000
MPH:
--- / ---
0,000000
P-0-4013, Current limit value of demagnetization

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter contains a percentage value which is referring to

parameter S-0-0109, Motor peak current for synchronous motors. If you
multiply this percentage value with the value of S-0-0109, the result is the
current limit value. If the current limit value is exceeded, the magnets of
the synchronous motor risk being permanently demagnetized.
In case the limit value is exceeded, the power output stage of the
controller is temporarily locked to protect the motor, until the current has
fallen below the limit value again. While the power output stage is locked
the warning E8028 Overcurrent in power section is generated.
Note:
In the case of MSK, MHD, MKD, MKE, automatically when
the control voltage of the drive is switched on.
In the case of synchronous motors without encoder
memory, by loading the motor parameters by means of the
commissioning tool "DriveTop" or default value (from
firmware).
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
100 / 150
120
MPD:
100 / 150
120
MPH:
100 / 150
120
P-0-4014, Type of construction of motor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By this parameter the controller is told control-relevant features of the

connected motor, such as
functional principle
type of construction
encoder data memory
Bit
Comment
functional principle
0: synchronous
1: asynchronous
9
type of construction
0: rotary
1: linear
10
encoder data memory
0: not available
1: available
11
type of construction for synchronous motors
0: without reluctance torque
1: with reluctance torque
12
adjustment of current loop to saturation of
quadrature-axis inductance of motor
0: no
1: yes
13
P-0-0640, Cooling type taken into account
0: P-0-0640 is inactive
1: P-0-0640 is active and has to be adjusted to the
realized motor cooling!
Fig. 4-44: P-0-4014, Type of construction of motor
Units, Decimal Places
For some parameters it is necessary that the drive firmware adjusts the
units and decimal places to the type of construction of the motor (rotary or
linear). In this case the respective units and decimal places are indicated
directly for the concerning parameter.
IndraDrive
Motors with Encoder Data

Memory
In the case of Rexroth motors with encoder data memory (e.g. MHD,
MKD, MKE), the bits of this parameter are automatically set correctly!
This is done during the booting process (after switching on the controller)
and with every transition to phase 4 (status ready for operation) by
copying the P-0-3006, Kind of motor, encoder memory parameter
stored in the motor encoder to this parameter.
Motors without Encoder Data

Memory
In the case of Rexroth motors without encoder data memory (e.g. 2AD,
ADF, MSS, 1MS, LSP, MTS), the bits of this parameter are automatically
set correctly when the motor parameters are loaded from the data base of
the commissioning tool "DriveTop" (as of 15VRS).
When the motor parameters of motors without encoder data memory (e.g.
2AD, ADF, MSS, 1MS, LSP, MST) are loaded via an NC, the mentioned
bits of P-0-4014, Type of construction of motor have to be set to the
appropriate value on the user side!
Third-Party Motors
In case the characteristic of the quadrature-axis inductance of the motor

is indicated for synchronous third-party motors (there are manufacturerside data for P-0-4002, Charact. of quadrature-axis induct. of motor,
inductances and P-0-4003, Charact. of quadrature-axis inductance of
motor, currents available), bit 11 and bit 12 might possibly be
advantageously used:
If the motor has reluctance torque and does not output the expected
torque or the expected power, bit 11 should be set to "1" as an
experiment. If there is no improvement, reset the bit.
If during velocity loop setting or optimization the drive is subject to
oscillation due to a lack of bandwidth in the current control loop, as an
experiment set bit 12 to "1". If there is no improvement, reset the bit.
See also Functional Description "General Information on the Operation of
Motors with IndraDrive"
Version
Attribute
GEN-02VRS
GEN-02VRS
Editability: P2
Comment
Validity ch.: P2-3
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-4016, Direct-axis inductance of motor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For synchronous motors, the direct-axis inductance of the motor is

entered in this parameter. The direct-axis inductance is the inductance of
the d-axis in the field-oriented d-q coordinate system and is also called
Ld. Observe that for the direct-axis inductance of the motor a value is
expected that was determined from the inductances of the 3-phase motor
model by space vector transformation.
Note:
for Rexroth motors of the MHD, MKD, MKE and MSK lines
automatically at initial commissioning
for linear and rotary synchronous kit motors by loading the
motor parameters with the "DriveTop" commissioning tool
for other synchronous motors manual input according to
manufacturers specification (see completed form for the
output data of synchronous motors!)
The parameter is not used for asynchronous motors.
Controllers"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
mH
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 4294967,295
1,000
MPD:
0,000 / 4294967,295
1,000
MPH:
0,000 / 4294967,295
1,000
IndraDrive
P-0-4017, Quadrature-axis inductance of motor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For synchronous motors, the quadrature-axis inductance of the motor is

entered in this parameter. The quadrature-axis inductance is the
inductance of the q-axis in the field-oriented d-q coordinate system and is
also called Lq.
Observe that for the quadrature-axis inductance of the motor a value is
expected that was determined from the inductances of the 3-phase motor
model by space vector transformation.
Note:
for Rexroth motors of the MHD, MKD, MKE and MSK lines
automatically at initial commissioning
for linear and rotary synchronous kit motors by loading the
motor parameters with the "DriveTop" commissioning tool
for other synchronous motors manual input according to
manufacturers specification (see completed form for the
output data of synchronous motors!)
The parameter is not used for asynchronous motors.
Controllers"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
mH
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 4294967,295
1,000
MPD:
0,000 / 4294967,295
1,000
MPH:
0,000 / 4294967,295
1,000
IndraDrive
P-0-4019, Positioning block mode

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop

define the positioning block mode. It is possible to define the mode for
each of the max. 64 available positioning blocks individually and in
different form.
The table below illustrates the operating principle (function) of the
individual bits in P-0-4019:
Bit
Comment
1
2
3
4
5
6
7
8
0 = abs. 1= rel.
infinite travel in positive direction
infinite travel in negative direction
sequential block without halt mode 1
sequential block without halt mode 2
sequential block with halt
sequential block at switch signal
residual path processing for relative travel blocks
Fig. 4-45:
P-0-4019, Positioning block mode
Note:
Bit 0 of P-0-4019 is not relevant for IndraDrive. Bit 1 controls

whether the positioning block is absolute or relative. For
reasons of compatibility with EcoDrive, "old parameter
settings" are still accepted!

Version
Attribute
GEN-02VRS
Cycl. tra.: no
Comment
Function: Parameter
Editability:
P234
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-4021, Baud rate RS-232/485

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to set several baud rates

(transmission rates) for the serial interface. The required setting depends
on the communication partner.
Baud rate [baud]
Setting in P-0-4021
9600
19200
38400
57600
115200
6
settings 4 and 5 are reserved
Fig. 4-46: Baud rate setting
The preset value is 9600 baud (default value).
All bus nodes must be set to the same baud rate.
CAUTION
See also Functional Description "Serial Communication"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/6
MPD:
0/6
MPH:
0/6
IndraDrive
P-0-4022, Drive address of serial interface

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to set the address for the serial
interface. This can be done via the control panel, the serial interface or
the master communication interface.
Note:
The effective address can be directly taken from P-0-4022 or

from the list P-0-4031, Overview of device addresses!
With the setting "P-0-4022 = "256" (default value), the address set in
P-0-4025, Drive address of master communication is used for the
serial communication.
See also Parameter Description "P-0-4031, Overview of device
addresses"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 99
256
MPD:
1 / 99
256
MPH:
1 / 99
256
P-0-4023, C0400 Communication phase 2 transition

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
Transition command from operating mode or from phase 3 (P3) to the

parameterization mode or phase 2 (P2). The command can only be
executed when the drive enable has been disabled.
IndraDrive
Function: Kommando
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4025, Drive address of master communication

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to set the address for the master
communication (e.g. SERCOS, Profibus...). This can be done via the
control panel, the serial interface or the master communication interface
itself.
Note:
The currently effective address can be directly taken from

parameter S-0-0096, Slave arrangement (SLKN) or
P-0-4031, Overview of device addresses!
The following has to be observed for parameterization:

The entered address does not take immediate effect, but only at the
next change of communication phases from "phase 0" to "phase 1";
this is why it might possibly be required to run up the drive again.
With the setting "P-0-4022 = "256" (default value), the address set in
P-0-4025, Drive address of master communication is used for the
serial communication.
See also Parameter Description
"P-0-4031, Overview of device addresses"
"S-0-0096, Slave arrangement (SLKN)"
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 99
---
MPD:
1 / 99
---
MPH:
1 / 99
---
IndraDrive
P-0-4026, Positioning block selection

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Selected positioning block 0 to 63

Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 63
MPD:
0 / 63
MPH:
0 / 63
P-0-4027, Transmission length SERCOS interface

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The length of the optic fiber connected to X20 (Tx) is entered in this
parameter.
Depending on the entered optic fiber length the required transmitting
power of the light source is automatically set. The controller classifies the
entered length in one of four ranges.
Ranges of length for the connected optic fiber:
up to 15 m
15 m ... 30 m
30 m ... 45 m
more than 45 m and glass fiber
interface"
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
20
MPD:
--- / ---
20
MPH:
--- / ---
20
IndraDrive
P-0-4028, Device control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used to control the drive in the following cases:

for devices with analog or parallel master communication
When the drive is switched to the "easy startup mode" via the control
panel.
Note:
Bit
In the case of master communication via field bus or

SERCOS, P-0-4077, Field bus: control word and S-0-0134,
Master control word are used accordingly for controlling the
drive!
Comment
8/9
command operating mode

13
Drive Halt
1-0 change: deceleration of drive while maintaining
the max. acceleration (S-0-0138) (only possible
when bits 14 and 15 = 1)
14
drive enable
1-0 change: torque disable without delay
(independent of bit 15 or 13)
15
Drive ON
1-0 change: best possible deceleration (only
possible if bit 14 = 1)
Fig. 4-47: Relevant bits of P-0-4028, Device control word
Note:
When the "easy startup mode" is activated, P-0-4028, Device

control word is automatically activated independent of the
master communication; this allows activating drive enable
(P-0-4028, bit15) via E2 (X31,4)!

See also Functional Description "Operating Modes"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-4029, Diagnostic report SCSB module

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Parameter for reading master communication settings and states (with

SERCOS interface).
Note:
This parameter is only relevant for the development staff! It is

irrelevant for the application side!
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4031, Overview of device addresses

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used to display the following addresses in clearly

structured and holistic form which is particularly important for multi-axis
devices:
effective drive address of master communication that was set via
parameter P-0-4025
effective drive address of serial interface that was set via parameter
P-0-4022
Note:
Especially for multi-axis devices (e.g. HMD01.1) the parameter

P-0-4031 provides a clear overview as regards the axis
addresses effective in the device.
As an example of a double-axis device, the figure below illustrates the

basic structure and the relationship to the other address parameters
(S-0-0096, P-0-4022 and P-0-4025):
IndraDrive
device
axis 1
P-0-4025
P-0-4031
high byte
ind
ex
low byte
S-0-0096
S-0-0096
high byte
P-0-4022
MC address
(axis 1)
RS232 address
(axis 1)
MC address
(axis 2)
RS232 address
(axis 2)
low byte
P-0-4022
P-0-4025
axis 2
MC address: master communication address

Fig. 4-48: Structure and function of P-0-4031, Overview of device addresses
Example HMD
In the following example the parameter settings below were made:

axis 1: (P-0-4022 = 5, P-0-4025 = 5)
axis 2: (P-0-4022 = 8, P-0-4025 = 4)
The resulting parameter content for P-0-4031 is the following:
High word
Low word
(log. axis number)
Effective address of
master communication
Effective address of
serial interface
0
1
0x0005
0x0004
0x0005
0x0008
List index
Fig. 4-49:
Structure of P-0-4031 (example double-axis module)
Note:
Parameter S-0-0096 would then accordingly contain 0x0504

(axis 1) or 0x0405 (axis 2)!
See also Parameter Description "S-0-0096, Slave arrangement (SLKN)"
Function: Parameter
Editability:
no
Data l.:
4Byte var.
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-4032, Motor type plate data

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For asynchronous third-party motors it is possible via C3200 Command

Calculate motor data to calculate the values for motor parameters from
the type plate data and then the values of the motor control parameters.
The activation of C3200 first requires manual input of the motor data from
the type plate of the asynchronous motor in the list parameter P-0-4032,
Motor type plate data.
Note:
Structure of the List Parameter
When a Rexroth motor is used, the content of P-0-4032 and

the command C3200 are irrelevant as for these motors all
parameters required for operation are stored in the data base
for motor data (DriveBase).
The individual list elements have the following significance.

List
element Characteristic value
of motor
Default
value
Unit
Definition
rms value of the
electric current in the
motor feed wire (motor
phase) at rated load
rms value of the phaseto-phase voltage
between the motor
terminal pins at rated
load
frequency of the
feeding, sinusoidal
electric voltage
speed of motor output
shaft at rated load
power factor at rated
load
mechanical power that
can be continuously
delivered at rated load
rated current
4,000
Aeff
rated voltage
380,000
Veff
rated frequency
50,000
Hz
rated speed
925,000
1/min
SRZHUIDFWRUFRV
0,760
rated power
1,500
kW
Fig. 4-50: List elements P-0-4032
Note:
"Rated load" means load of the motor output shaft with rated
torque when feeding the motor with rated voltage and rated
frequency. The rated load point mustnt be in the field
weakening range!
The power at the output shaft is the rated power!
Observe the following for parameterizing or inputting the elements:

All data in P-0-4032 have to describe the same working point of the
motor. This working point mustnt be in the field weakening range and
should describe the S1 operation (continuous power of the motor).
All list elements are 32-bit values and have 3 decimal places.
The list parameter has a fixed length with 6 elements.
Writing data to the parameter is only possible in phase 2 or 3.
IndraDrive
The data in P-0-4032 do not have a direct influence on motor control:

It is only by starting the command C3200 via P-0-4033 that all motor
data (equivalent circuit diagram) and motor control parameters are
calculated.
Parameters"
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 250000,000
---
MPD:
0,000 / 250000,000
---
MPH:
0,000 / 250000,000
---
P-0-4033, C3200 Command Calculate motor data

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For asynchronous third-party motors it is possible via C3200 Command

Calculate motor data to calculate the values for motor parameters from
the type plate data and then the values of the motor control parameters.
The activation of C3200 first requires manual input of the motor data from
the type plate of the asynchronous motor in the list parameter P-0-4032,
Motor type plate data.
Note:
When a Rexroth motor is used, the content of P-0-4032 and

the command C3200 are irrelevant as for these motors all
parameters required for operation are stored in the data base
for motor data (DriveBase).

Parameters"
Function: Kommando
Editability:
P23
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-4034, Thermal time constant of winding

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The value for the thermal time constant of the motor winding is entered in
this parameter. This is done
for Rexroth motors with encoder data memory, when the control
voltage of the drive is switched on
manually or via the motor data base of DriveTop for Rexroth motors
without encoder data memory
manually for third-party motors
The thermal time constant of the motor winding is the time after which the
motor winding has reached 63% of its final temperature, when it is
carrying constant current.
Note:
For Rexroth motors with cooling type to be selected (MSK,

MHD, MKD, MKE), the value of P-0-4034 is independent of the
actually realized cooling type and the corresponding setting in
P-0-0640, Cooling type!
Note:
The motor temperature model calculates with a time constant

for the temperature rise of the motor winding (P-0-4034) and a
time constant for the temperature rise of the motor housing
(P-0-04035)!
See also Functional Description "Current and Torque Limitation (ClosedLoop)"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,1 / 3276,7
2,0
MPD:
0,1 / 3276,7
2,0
MPH:
0,1 / 3276,7
2,0
IndraDrive
P-0-4035, Thermal time constant of motor

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The value for the thermal time constant of the motor is entered in this
parameter. This is done
The thermal time constant of the motor is the time after which the motor
housing, in the case of standard cooling (see below), has reached 63% of
its final temperature, when the motor winding is carrying constant current.
For Rexroth motors with cooling type to be selected (MSK, MHD, MKD,
MKE), the time constant of the motor effective in the firmware-internal
motor temperature model is automatically converted to the selected
cooling type! The user-side setting of P-0-0640, Cooling type has to
correspond to the realized cooling type!
Note:
Standard cooling type of Rexroth motors:

"non-ventilated" for MSK, MHD, MKD, MKE motors
(P-0-0640 = "0")
"ventilated" for 2AD, MAD motors (P-0-0640 = "0")
"liquid-cooled" for ADF, MAF, MBT, MBS, LSF, MLF
motors (P-0-0640 = "0")
For third-party motors the time constant of the motor has to be
entered with regard to the cooling type used in P-0-4035
(P-0-0640 = "0")!
Note:

(P-0-04035)!
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
min
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,1 / 3276,7
3276,7
MPD:
0,1 / 3276,7
3276,7
MPH:
0,1 / 3276,7
3276,7
IndraDrive
P-0-4036, Rated motor speed

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter defines the speed that begins above the field weakening
range. Voltage reference value is DC bus voltage DC540V (uncontrolled
supply at 3xAC400V 5%).
Note:
for Rexroth motors of the MAD and MAF lines, if an
encoder data memory is available, automatically at initial
commissioning
for linear and rotary asynchronous kit motors by loading the
motor parameters with the "IndraWorks D" commissioning
tool
for other asynchronous motors manual input according to
manufacturer's specification (see completed form for the
output data of asynchronous motors!)
The parameter is not used for synchronous motors.
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 4
Rpm
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,0000 / 429496,7295
1000,0000
MPD:
0,0000 / 429496,7295
1000,0000
MPH:
0,0000 / 429496,7295
1000,0000
IndraDrive
P-0-4037, Thermal short-time overload of winding

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The value for the thermal time short-time overload factor of the motor
winding is entered in this parameter.
This is done
The thermal time short-time overload factor of the motor winding acts in a
multiplicative way on S-0-0111, Motor current at standstill. It indicates
to which value the motor current is limited with the thermal time constant
of the motor winding, unless any other thermal limitation by the thermal
time constant of the motor (housing!) takes effect.
Note:
For Rexroth motors the value of S-0-0111 always refers to the

standard cooling type of the motor! For motors with cooling
type to be selected (MSK, MHD, MKD, MKE), this is always
the non-ventilated case! See also Parameter Description of
P-0-0640!
Note:

(P-0-04035)!
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 1
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1,0 / 4,5
2,2
MPD:
1,0 / 4,5
2,2
MPH:
1,0 / 4,5
2,2
IndraDrive
P-0-4039, Stator leakage inductance

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is only used for operating asynchronous motors and takes
effect for current control of the motor.
For Rexroth motors this value is stored in the DriveBase.
For third-party motors this parameter is calculated via the command
C3200 Command Calculate data for asynchronous motor that is
started with P-0-4033.
Technical background:
The stator leakage inductance Ls,Sigma is a part of the equivalent circuit
diagram that is used for describing an asynchronous machine. The
equivalent circuit diagram is the basis for motor control of the
asynchronous motor. The indicated values are referring to one winding
phase, the approach always implying a start connection. This does not
indicate how the windings in the motor are actually wired.
Rs
Ls, Sigma
Us
Lr, Sigma
LH
Rr
Rs:
stator resistor
Ls,Sigma:
stator leakage inductance
LH
magnetizing inductance
Lr,Sigma
rotor leakage inductance
Rr
rotor resistor
Equivalent circuit diagram of the asynchronous machine
Fig. 4-51:

Values"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
mH
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,001 / 4294967,295
5,000
MPD:
0,001 / 4294967,295
5,000
MPH:
0,001 / 4294967,295
5,000
IndraDrive
P-0-4040, Rotor leakage inductance

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For Rexroth motors this value is stored in the DriveBase.
For third-party motors this parameter is calculated via the command
C3200 Command Calculate data for asynchronous motor that is
started with P-0-4033.
Technical background:
The rotor leakage inductance Lr,Sigma is a part of the equivalent circuit
asynchronous motor.
The indicated values are referring to one winding phase, the approach
always implying a star connection. This does not indicate how the
windings in the motor are actually wired.
Rs
Ls, Sigma
Us
Lr, Sigma
LH
Rr
Rs:
stator resistor
Ls,Sigma:
LH
Lr,Sigma
Rr
rotor resistor
Fig. 4-52: Equivalent circuit diagram of the asynchronous machine
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
mH
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,001 / 4294967,295
5,000
MPD:
0,001 / 4294967,295
5,000
MPH:
0,001 / 4294967,295
5,000
IndraDrive
P-0-4041, Motor magnetizing inductance

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
For Rexroth motors this value is stored in the DriveBase. For third-party
motors this parameter is calculated via the command C3200 Command
Calculate data for asynchronous motor that is started with P-0-4033.
The motor magnetizing inductance LH is a part of the equivalent circuit
asynchronous motor. The indicated values are referring to one winding
phase, the approach always implying a start connection. This does not
indicate how the windings in the motor are actually wired.
Rs
Ls, Sigma
Us
Rs:
Ls,Sigma:
LH
Lr,Sigma
Rr
Lr, Sigma
LH
Rr
stator resistor
rotor resistor
Fig. 4-53: Equivalent circuit diagram of the asynchronous machine

Values"
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
mH
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,010 / 4294967,295
50,000
MPD:
0,010 / 4294967,295
50,000
MPH:
0,010 / 4294967,295
50,000
IndraDrive
P-0-4042, Characteristic of motor magnetizing inductance

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This list parameter is only used for operating asynchronous motors and
takes effect for current control of the motor.
For Rexroth motors the characteristic values are made available by
the manufacturer, either by means of a data sheet or the
commissioning tool.
For third-party motors the characteristic in the majority of cases is
unknown. Via the command C3200 Command Calculate motor data
that is started with P-0-4033 the list is neutrally assigned.
Via the command C3600 Command Motor data identification that is
started with P-0-0565 the characteristic of the asynchronous motor is
determined and entered in this list.
The magnetizing inductance of an asynchronous motor normally already
shows saturation behavior in operation under rated conditions. The
inductance value of the motor magnetizing inductance depends on the
currently flowing magnetizing current and increases as the current is
reduced.
Value factor "fLh(n)"
List element no.
of P-0-4042
(value range 0.5....2.0)
(Lh(n) = fLh(n)*(P-0-4041))
Reference value
1
fLh(No.1) >= fLh(No.2)
0% of P-0-4004 (0.0)
2
20% of P-0-4004 (0.2)
3
40% of P-0-4004 (0.4)
4
60% of P-0-4004 (0.6)
5
80% of P-0-4004 (0.8)
6
100% of P-0-4004 (1.0)
1.0
7
fLh(No.7) <= fLh(No.6)
120% of P-0-4004 (1.2)
8
140% of P-0-4004 (1.4)
9
160% of P-0-4004 (1.6)
P-0-4041:
motor magnetizing inductance
P-0-4004:
magnetizing current
Fig. 4-54: Characteristic of magnetizing inductance Lh in factors "fLh" referring
to P-0-4041 depending on the flowing magnetizing current (%-value
of P-0-4004)
2.0
IndraDrive
valid value range

element 0
example: LH characteristic in P-0-4042
element 1
element 2
1.5
element 3
element 5 = nominal point
element 4
1.0
element 6
element 7
element 8
valid value range
0.5
0
0
0.2
0.4
0.6
0.8
Fig. 4-55:
1.0
1.2
1.4
1.6
Id / P-0-4004
Illustration of the Lh characteristic P-0-4042

Values"
Function: Parameter
Editability:
P23
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,500 / 2,000
---
MPD:
0,500 / 2,000
---
MPH:
0,500 / 2,000
---
P-0-4043, Rotor time constant

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is only active for asynchronous motors. It has a

considerable influence on the torque generation of the motor, as it
decisively determines the so-called "slip" in the case of load.
Note:
"Slip" is the difference of the rotational frequency of the electric

rotary field in the stator divided by the number of pole pairs of
the motor and the mechanical rotational frequency of the rotor.
The value for P-0-4043 is motor-specific and for asynchronous Rexroth

motors is made available via the "DriveTop" commissioning tool or via the
Intranet output of the manufacturer-side data base DriveBase!
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,100 / 10000,000
100,000
MPD:
0,100 / 10000,000
100,000
MPH:
0,100 / 10000,000
100,000
P-0-4045, Maximum possible continuous current

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter indicates how much current the controller can

continuously provide in the present load situation. At the same time, this
current is the current to which the continuous current limitation would
reduce, if the load situation would continue.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
A eff
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4046, Effective peak current

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter displays the maximum current that the controller can
temporarily supply to the motor in the active load condition. This is the
rms value of the total current, i.e. torque-generating and magnetic-fieldgenerating components are contained!
This parameter is calculated and preset by the drive controller when
progressing to the operating mode. The dynamic current limit reduces this
value in accordance with the work load of the amplifier or the motor.
IndraDrive
This limit value is determined considering the following parameters:

IDN
Name
Unit
S-0-0109
motor peak current
A eff
S-0-0110
amplifier peak current
A eff
P-0-4058
amplifier type data
P-0-4004
magnetizing current
A eff
Fig. 4-56: Effective peak current, dependencies
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 3
A eff
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4048, Stator resistance

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter indicates the winding resistance of the motor between two
terminal pins.
Note:
commissioning.
commissioning tool.
Measuring Systems"
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 3
Ohm
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0,000 / 4294967,295
0,000
MPD:
0,000 / 4294967,295
0,000
MPH:
0,000 / 4294967,295
0,000
IndraDrive
P-0-4050, Answer delay RS-232/485

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
The RS-485 interface (also in bus mode) works in the semi-duplex mode.
The same pair of lines is used for both directions. The data direction must
be changed during the data exchange. In order to give the connected
devices (PS or PLC) sufficient time for switching between sending and
receiving on their side, the answer time of the drive can be set by means
of this parameter.
P-0-4050 defines the minimum time in ms that has to pass after the last
character of a telegram has been received via the serial interface, before
the first reaction character may be sent. To operate RS-232 this
parameter is not required.
The required answer delay depends on the master/PC that is used. In the
condition as supplied the value for the answer delay is set to a value with
which most of the PCs can normally work without any problem.
Note:
When communication problems occur (e.g. "TIMEOUT"

message in DriveTop), the value for the answer delay has to
be increased step by step until the problems do not occur any
longer. For reasons of safety the limit value established in this
way should be given a factor of 1.5 and be entered as the
answer delay.
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1 / 200
MPD:
1 / 200
MPH:
1 / 200
P-0-4051, Positioning block acknowledgment

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Acknowledgment of the accepted positioning block

IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4052, Positioning block, last accepted

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Last accepted positioning block (retain data). In the case of sequential

block chains, this is the first block with which the sequential block chain
was started.
Function: Parameter
Editability:
DEC_MV
Unit:
--
Cycl. tra.: AT
Extr. val. ch.:
no
Data l.:
2Byte
Validity ch.:
no
Format:
no
Decim. pl.: 0
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4053, Positioning block, last active

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Last accepted positioning block (retain data). For sequential block chains
this is the last active block of the sequential block chain. For individual
blocks P-0-4052 and P-0-4053 are always equal.
IndraDrive
Function: Parameter
Editability:
DEC_MV
Unit:
--
Cycl. tra.: AT
Extr. val. ch.:
no
Data l.:
2Byte
Validity ch.:
no
Format:
no
Decim. pl.: 0
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4057, Positioning block, input linked blocks

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
Parameter P-0-4057 is an image of the sequential block inputs.

Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-4058, Amplifier type data

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
In order to enable the determination of the amplifier work load, the

physical properties of the amplifier must be known to the firmware.
Characteristic data:
thermal insulation data
continuous amplifier power
thermal capacities
IndraDrive
Function: Parameter
Editability:
P23
Data l.:
4Byte var.
Memory: LT_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
Extr. val. ch.:
no
Decim. pl.: 4
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
-214748,3647 / 214748,3647
---
MPD:
-214748,3647 / 214748,3647
---
MPH:
-214748,3647 / 214748,3647
---
P-0-4059, Electric type data of power section

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This list parameter contains electric type data that are describing the
power section.
Note:
The type data are individually determined for each power

section and are entered one time in the production process.
The type data are displayed via this parameter. Changes are
not required and not allowed (write-protected parameter)!
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: LT_SP
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4060, Positioning block control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
This parameter is used as control word for positioning block mode and
has the following structure:
IndraDrive
Bit
Comment
acceptance of the positioning block selected in

P-0-4026 bya 01 edge
(Is only relevant for parallel interface and field bus I/O
mode!)
1
0: traveling with the velocity of the current positioning
block
1: limitation of the velocity to "S-0-0259, Positioning
velocity"
Bit 0 is only relevant in positioning block mode!
Positioning block control word
0
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
0/3
MPD:
0/3
MPH:
0/3
P-0-4061, Positioning block status word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop
The parameter contains the status bits that are only valid for the
positioning block mode. All other generally valid status bits for positioning
are contained in parameter S-0-0437, Positioning status word!
The bits in P-0-4061 have the following significance:
Bit 4:
Bit 4 "end position reached" is set when a positioning block was
completed. For sequential block chains the bit is set when the end of
the sequential block chain has been reached.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-4063, Positioning block deceleration

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
closed loop

define the positioning decelerations of the max. 64 positioning blocks
Note:

P-0-4009 the positioning deceleration entered in P-0-4063

Version
Attribute
GEN-02VRS
Cycl. tra.: no
Comment
Function: Parameter
Editability:
P234
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_MV
Unit:
0162
Extr. val. ch.:
yes
Decim. pl.: S-0-0161 / S-0-
S-0-0160
Comb. check.: no
Input min/max:
Default value:
MPB:
---
MPD:
---
MPH:
---
P-0-4064, Password level

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter allows the user and the service staff reading the current
password protection. All passwords mentioned in the table are entered via
S-0-0267, Password.
Value of P-0-4064
customer password
active
available,
deactivated
control password
active
master password
parameters acc. to
S-0-0279
administration parameters
all other parameters
deactivated
active
X
X
0
0
X
0
0
X
0
0
X
0
0
0
0
active or
X = write-protected
0 = not write-protected
Fig. 4-58: Table for password protection
IndraDrive
Note:
"Administration parameters" are motor parameters, hardware

identification parameters, encoder parameters, error
memories, etc.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4065, Non-volatile memory active

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains information on the active, non-volatile memory.

The parameter values and, in the case of control voltage failure, the retain
data are stored in the active memory.
Meaning of the value:
1: MultiMediaCard (MMC) is the active, non-volatile memory
2: internal, non-volatile memory is active
Function: Parameter
no
Data l.:
2Byte
no
Format:
HEX
Unit:
no
Decim. pl.: 0
--
Cycl. tra.: no
Editability:
Extr. val. ch.:
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-4066, MMC identification number (CID)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is relevant for the manufacturers identification of the

MultiMediaCard that has been plugged.
Note:
This parameter is only used for service purposes and is

Function: Parameter
no
Data l.:
2Byte var.
no
Format:
HEX
Unit:
no
Decim. pl.: 0
--
Cycl. tra.: no
Editability:
Extr. val. ch.:
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4067, Project identification

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used by IndraWorks in order to unequivocally identify

the axis within an IndraWorks project. The parameter should not be
modified by the user. In the case of multi-axis firmware, the parameter is
available once per axis.
Function: Parameter
Editability:
P234
Data l.:
1Byte var.
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-4068, Field bus: control word IO

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The parameter P-0-4068, Field bus: control word IO is used as control

word for the profile type "I/O mode with configurable real-time data"
(P-0-4084, Field bus: profile type = 0xFF8x).
When changing from phase 2 to 3, the control word is always set at the
first place in P-0-4081, Field bus: config. list of cyclic command value
data ch.
Note:
The field bus control word cannot be configured and is

preconfigured with the required control bits for the IO mode.
Bit
0
Comment
1)
drive enable (P-0-0116, bit15)

0->1: drive enable
1->0: best possible deceleration according to
P-0-0119
1
Drive Halt (P-0-0116, bit13)
0->1: drive start
1->0: Drive Halt, i.e. the drive is immediately shut
down (speed command value set to zero!)
2
going to zero (S-0-0148)
0->1: start homing command "C6"
1->0: complete homing command "C6"
3
Strobe (P-0-4060, bit0)
0->1: accept travel block
4
positioning with limited velocity (P-0-4060, bit1)
1: limited velocity with "positioning velocity"
(S-0-0259) as limit
5
clear error (S-0-0099)
0->1: start error clearing command "C5"
1->0: complete command "C5"
7/6
positioning/jogging (S-0-0346 bit 2, S-0-0346 bit 1)
positioning activated by:
00: positioning active, start at change of bit 0,
01: infinite travel in positive direction (jog+)
10: infinite travel in negative direction (jog-)11:
stopping the axis (positioning stop)
13-8 travel block select
"positioning block selection" (P-0-4026, bit0..5)
Fig. 4-59: P-0-4068, Field bus: control word IO
1)
Independent of P-0-4068, bit 14 of P-0-0116 is automatically set

internally as soon as field bus communication is active!
Note:
P-0-4068 doesnt allow phase switching via a bit, this is why in

I/O mode phase switching has to be done by starting the
transition commands (C0100, C0200, C0400) via the
parameter channel.
See also Functional Description "Profile Types - I/O Mode"
IndraDrive
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-4069, Field bus: module diagnosis

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Parameter for reading master communication settings and states (with

field buses).
Note:
This parameter is only relevant for the development staff! It is

See also Functional Description "PROFIBUS-DP"
Function: Parameter
Editability:
no
Data l.:
2Byte var.
Memory: no
Validity ch.:
no
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4071, Field bus: length of cyclic command value data channel

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter indicates the number of bytes of the process data channel
parameterized in P-0-4081, Field bus: config. list of cyclic command
value data ch.
This length does not contain the length parameterized in P-0-4083, Field
bus: length of parameter channel of a possibly available parameter
channel. The graduation takes place in word boundaries, i.e. possible
values are 2, 4, 6, ... 32.
IndraDrive
Note:
For communication via Interbus it is obligatory, due to the bus

structure (shift register), that P-0-0071 = P-0-4082.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Byte
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 32
MPD:
0 / 32
MPH:
0 / 32
P-0-4072, C2900 Command Firmware update from MMC

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
With this command, firmware is copied from the MultiMediaCard plugged

in in the controller to the controller and to possibly available firmwarecarrying additional components.
The command can be started via the control panel.
See also Functional Description "MultiMediaCard (MMC)"
Function: Kommando
Editability:
P2
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-4073, Field bus: diagnostic message

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter contains the status of the field bus status machine in plain
text. The diagnostic messages depends on the field bus used and is
according to the designations used in the standard.
Display texts for PROFIBUS master communication:
Text
Significance
"OFFLINE":
"Power-On":
initialization value of the diagnostic message

A PROFIBUS card has been recognized as
master communication and the hardware is
checked.
"Baud-Search":
The hardware is okay; the PROFIBUS is
monitored in order to recognize the baud rate
used.
"Wait-Prm":
The baud rate has been found, the drive waits for
a parameterization telegram of the master that
contains its IDN (contained in the device data
sheet).
"Wait-Cfg":
The IndraDrive device has received a valid
parameterization telegram and now waits for the
configuration telegram in which the master tells
the drive for which modules it is waiting for
input/output configuration.
"Data-Exch WD+":
The drive received a valid configuration, it
exchanges real-time data with the master and the
communication is monitored by a watchdog.
"Data-Exch WD-":
The drive received a valid configuration, it
exchanges real-time data with the master without
the communication being monitored by a
watchdog.
Fig. 4-60: Plain text and significance of the entries in parameter P-0-4073
Note:
The states "Data-Exch WD+" and "Data-Exch WD-" are

additionally signaled by H30 being lit!
Function: Parameter
Editability:
no
Data l.:
1Byte var.
Memory: no
Validity ch.:
no
Format:
ASCII
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-4074, Field bus: data format

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Parameter P-0-4074, Field bus: data format describes the arrangement

of 32-bit-values in the telegram (process data channel).
32-bit values (bus)
P-0-4074 = 0
16-bit low
P-0-4074 = 1
16-bit high
16-bit high
16-bit low
P-0-4074, Field bus: data format
Function: Parameter
Editability:
P23
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
BIN
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/1
MPD:
0/1
MPH:
0/1
P-0-4075, Field bus: watchdog

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In this parameter the watchdog time transmitted by the master in the

parameterization telegram is stored in ms. If the master communication is
interrupted for more than this time, a communication error is generated.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
ms
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-4076, Field bus: cycle time (Tcyc)

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The content of P-0-4076, Field bus: cycle time (Tcyc) defines the time
intervals in which the cyclic real-time data (command values and actual
values) are processed in the field bus drive.
The allowed input values in P-0-4076 are depending on the position loop
clock:
minimum field bus cycle time:
time intervals of the allowed inputs: Tposition
Tposition
With the position loop clock in the different firmware variants:
CSH01.1C with MPH firmware:
Tposition = 250s
CSB01.1x with MPB firmware:
Tposition = 500s
CDB01.1C with MPD firmware:
Tposition = 500s
The following input values are resulting for a basic control section, for
example:
500 s, 1 ms, 2ms, to 65ms in steps of 500s
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
us
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
1000 / 65000
2000
MPD:
1000 / 65000
2000
MPH:
500 / 65000
2000
P-0-4077, Field bus: control word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter is used as field bus control word for all BRC profiles such
as "freely configurable mode" (0xFFFE).
Note:
The significance and function of the control bits cannot be

configured and is defined by the profile selection!
IndraDrive
Bit
command value acceptance

upon a change (S-0-0346, bit 0)
- a positioning block is activated or
- the command position is accepted
operating mode setting
0->1: change to operating mode
1->0: change to parameter mode
going to zero (S-0-0148)

0->1: start homing command "C6"
1->0: complete homing command "C6"
absolute / relative (S-0-0346, bit 3)
(only effective when using S-0-0282, Positioning command
value)
0: positioning command value (S-0-0282) is processed as
absolute target position in the drive
1: positioning command value (S-0-0282) is processed as
relative travel distance in the drive
immediate block change (S-0-0346, bit5)

(only effective when using S-0-0282, Positioning command
value)
0: positioning command value (S-0-0282) is only accepted
after the last active target position was reached
1: positioning command value (S-0-0282) is immediately
accepted upon toggling of command value acceptance
5
clear error (S-0-0099)
0->1: start error clearing command "C5"
1->0: complete command "C5"
7/6 positioning / jogging
(S-0-0346 bit 2 + S-0-0346 bit 1)
positioning activated by:
00: positioning active, start at change of bit 0
01: infinite travel in positive direction (jog+)
10: infinite travel in negative direction (jog-)11: stopping the
axis (positioning stop)
9/8 command operating mode (for SERCOS: S-0-0134,
bit 89)
01: secondary oper. mode 1 (e.g. jogging)
12 IPOSYNC
interpolator clock: interpolator clock (only in cycl. pos.
control):
toggles when new command values transmitted
13 Drive Halt (P-0-0116, bit13)
0->1: drive start
1->0: Drive Halt, i.e. the drive is immediately shut down
(speed command value set to zero!)
14 drive enable (P-0-0116, bit14)
Independent of P-0-4077, bit 14 of P-0-0116 is automatically
set internally as soon as field bus communication is active!
15 drive ON (P-0-0116, bit15)
0->1: drive enable
1->0: best possible deceleration according to P-0-0119
Fig. 4-61:
P-0-4077, Field bus: control word
Comment
Note:
IndraDrive
The parameter mustnt be parameterized simultaneously with

P-0-4068, Field bus: control word IO in P-0-4081, Field
bus: config. list of cyclic command value data ch..
See also Functional Description "Profile Types - Rexroth Profile Types"
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: MDT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-4078, Field bus: status word

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
In the case of field bus drives that are operated in the freely configurable
profile type (P-0-4084 = 0xFFFE), the parameter P-0-4078, Field bus:
status word is used as status word for feedback of the drive status to the
field bus master.
Note:
The configuration of P-0-4078, Field bus: status word cannot

be changed, i.e. the bit assignment is fixed and cannot be
parameterized.
Bit
0/1
operating mode acknowledgment

10: phase 4 (operating mode)
01: phase 3
00: phase 2 (parameter mode)
in reference (status of reference encoder)
(S-0-0403, bit 0) actual position value (encoder 1 or
2) is
0: relative
1: homed
in standstill (S-0-0331, bit 0)
1: actual velocity | < standstill window |S-0-0040| <
S-0-0124
command value reached for ...
... velocity control:
1: command speed reached (S-0-0330, bit 0)
... cyclic position control:
1: in position (S-0-0336, bit 0)
... drive-internal interpolation:
1: |(S-0-0258) - (S-0-0051/53)| S-0-0057 (S-0-0437,
bit 1)
... drive-controlled positioning:
1: |(S-0-0430) - (S-0-0051/53)| S-0-0057 and "in
Comment
IndraDrive
position"
(S-0-0336, bit 0) and "Nact = 0" (S-0-0331, bit 0);
(S-0-0437, bit 2)
... positioning block mode:
1: "end position reached" (P-0-4061, bit 4)
... other operating modes:
1: "target position reached" (S-0-0342, bit 0)
5
command change bit
1: if command status has changed
0: if command status has not changed
6
operating mode error
1: error in transition command
0: no error in transition command
7
status of command value processing
1: drive does not follow command value input
(e.g.: when Drive Halt is active)
0: drive follows command value input (e.g. AF not
active)
8/9
actual operating mode (P-0-0116, bit 8...9)
10
command value acknowledgment
By toggling the bit (S-0-0419, bit 0) the drive
acknowledges the acceptance of the "positioning
command value" (S-0-0282).
11
class 3 diagnostics message (cf. S-0-0013)
The bit is set if a class 3 diagnostics message is
present.
12
class 2 diagnostics message (cf. S-0-0012)
The bit is set if a class 2 diagnostics warning is
present.
13
class 1 diagnostics drive error (cf. S-0-0011)
The bit is set if a class 1 diagnostics error is present
(drive interlock).
14/15 ready for operation (P-0-0116, bit 14/15)
00: not ready for power on
01: ready for power on
10: control and power sections ready for operation
and torque-free
11: in operation, with torque
Fig. 4-62: P-0-4078, Field bus: status word
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
IndraDrive
P-0-4079, Field bus: baud rate

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The baud rate used by the field bus is automatically determined and
entered in this parameter.
Function: Parameter
Editability:
no
Data l.:
4Byte
Memory: PARAM_SP
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 2
kBaud
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
0,00
MPD:
--- / ---
0,00
MPH:
--- / ---
0,00
P-0-4080, Field bus: config. list of cyclic actual value data ch.
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
With this parameter the process input data channel (slave-master, i.e.
"AT") is configured independent of the field bus used.
Only such operating data can be entered in parameter P-0-4080 that are
listed in parameter S-0-0187, List of configurable data in the AT.
Otherwise the transition command error C0156 Field bus: IDN for cycl.
actual val. not configurable is generated. The field-bus-specific
configuration of the real-time data channel for the direction slave-master
is generated from parameter P-0-4080. By reading the field-bus-specific
object or by reading P-0-4080, the master can get to know the position of
the individual real-time data (parameters or objects) at the field bus.
Changes in parameter P-0-4080 only take effect after the drive has
progressed to the operating mode.
Note:
In the case of "I/O mode with configurable real-time data"

(0xFF82) in P-0-4084, Field bus: profile type, the parameter
S-0-0144, Signal status word during phase switch from
phase 2 to 3 is always set as status word at the first place in
P-0-4080, Field bus: config. list of cyclic actual value data
ch. The parameter at this place is overwritten.
IndraDrive
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4081, Field bus: config. list of cyclic command value data ch.
Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
With this parameter the process output data channel (master-slave, i.e.
"MDT") is configured independent of the field bus used.
Only such operating data can be entered in parameter P-0-4081 that are
listed in parameter S-0-0188, List of configurable data in the MDT.
Otherwise the transition command error C0154 Field bus: IDN for cycl.
command val. not configurable is generated. The field-bus-specific
configuration of the real-time data channel for the direction master-slave
is generated from parameter P-0-4081. By reading the field-bus-specific
object or by reading P-0-4081, the master can get to know the position of
the individual real-time data (parameters or objects) at the field bus.
Changes in parameter P-0-4081 only take effect after the drive has
progressed to the operating mode.
Note:
In the case of "I/O mode with configurable real-time data"

(0xFF82) in P-0-4084, Field bus: profile type, the parameter
P-0-4068, Field bus: control word IO during phase switch
from phase 2 to 3 is always set as status word at the first
place in P-0-4081, Field bus: config. list of cyclic command
value data ch.. The parameter at this place is overwritten.
Function: Parameter
Editability:
P2
Data l.:
2Byte var.
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
IDN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-4082, Field bus: length of cyclic actual value data channel

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
This parameter indicates the number of bytes of the process data channel
parameterized in P-0-4080, Field bus: config. list of cyclic actual value
data ch..
This length does not contain the length parameterized in P-0-4083, Field
bus: length of parameter channel of a possibly available parameter
channel. The graduation takes place in word boundaries, i.e. possible
values are 2, 4, 6, ... 32.
Note:
For communication via Interbus it is obligatory, due to the bus

structure (shift register), that P-0-0071 = P-0-4082.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Byte
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 32
MPD:
0 / 32
MPH:
0 / 32
P-0-4083, Field bus: length of parameter channel

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
Apart from the transmission of real-time data (also called process data),
communication via a field bus also requires the transmission of
parameters that are not linked to a real-time cycle. In the case of
PROFIBUS, for which not all control units are supporting acyclic access,
these data can be exchanged via a parameter channel.
The parameter channel is set by the corresponding selection of the I/O
modules in the configuration software of the PROFIBUS. The names of
the parameter channel modules are starting with "ParamCh" followed by
the length in words, e.g. "0 Words (Off)" or "5 Words". The length that
was set is displayed in parameter P-0-4083 in bytes after the drive has
reached the status "Data-Exch".
Note:
The modules "ParamCh 0 Words (Off)" and "ParamCh 5

Words" are recommended. The parameter channel module
must always be at the first slot.
IndraDrive
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
Byte
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0 / 16
MPD:
0 / 16
MPH:
0 / 16
P-0-4084, Field bus: profile type

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The setting of P-0-4084, Field bus: profile type influences

the profile-dependent interpretation of the control and status words
the preselection of the primary mode of operation set in the drive
the configuration of the real-time data channel (unless freely
configurable).
The following settings are possible:
0xFF82:
I/O mode (with configurable real-time data)
0xFFFE:
freely configurable mode (without profile!)
Changes in parameter P-0-4084, Field bus: profile type only take effect
after switching to the operating mode (phase 4).
Function: Parameter
Editability:
P2
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P2->P3
Format:
HEX
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: yes

Input min/max:
Default value:
MPB:
--- / ---
0xFF82
MPD:
--- / ---
0xFF82
MPH:
--- / ---
0xFF82
IndraDrive
P-0-4085, C4700 Command Activate easy startup mode

Contained in 02VRS:
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter is used for activating the easy startup mode via the serial
interface. With the start of this command the drive switches master
communication (SERCOS or Profibus) off. The drive automatically
switches to the parameter mode, makes the parameter setting for the
"easy startup mode" and switches to the operating mode. The parameter
setting is stored in volatile form. The easy startup mode can only be
deactivated by switching control voltage off and on.
Function: Kommando
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4086, Master communication status

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter contains important status information regarding the

current status of master communication or device control. Independent
thereof some control information for handling the communication phase
switch, as well as for enabling the hardware inputs for drive enable and
Drive Halt, is controlled.
Note:
Users cannot write this parameter, it is only used for

diagnostic purposes.
IndraDrive
Bit
Comment
communication phase switching

0: not allowed, i.e. executing the transition command
does not cause the communication phase to be
switched
1: allowed, i.e. executing the transition command
causes the communication phase to be switched
1
source of master control
0: drive enable/Drive Halt via hardware inputs not
allowed
1: drive enable/Drive Halt via hardware inputs at
basic device allowed
2
phase progression after control voltage ON
0: no phase progression after control voltage ON
1: phase progression after control voltage ON
3
master communication synchronizes the drive
0: no
1: yes, master communication synchronizes the
drive
8
easy startup mode active
(as of
MP*03VRS!)
0: normal operation
1: easy startup mode active
Fig. 4-63:
P-0-4086, Master communication status
See also Functional Description "Initial Start in "Easy Startup" Mode"

Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: AT
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-4087, Baud rate SERCOS interface

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
Funct. package(s):
The baud rate setting of the SERCOS interface is displayed in this

parameter. The drives automatically recognize the baud rate preset by the
master and set their baud rates accordingly.
Function: Parameter
Editability:
no
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
Mbaud
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
MPD:
--- / ---
MPH:
--- / ---
P-0-4090, Index for C07 Load defaults procedure

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
This parameter determines the loading action that is to be executed with

the next S-0-0262, C07_x Load defaults procedure command.
Value of
P-0-4090
0 (default)
165
Action
Display
Name of diagnostic message
C07_0
C07_0 Load defaults procedure com. (load
loading motor-specific
controller param.)
control loop parameter
values
C07_1
C07_1 Load defaults procedure com. (load
loading basic parameter
basic parameters)
values for the drive
parameters
C07_2
C07_2 Load def. proc. com. (load def. pr. for
loading default values for
safety techn.)
the safety technology
parameters
Fig. 4-64: Values for P-0-4090
Note:
Diagnostic
message
number
C0700
C0750
C0720
After the command S-0-0262, C07_x Load defaults

procedure command has been completed, parameter
P-0-4090 is always reset to its default value.
IndraDrive
Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
DEC_OV
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4091, C2500 Copy IDN from optional memory to internal memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this command the parameter values are copied from the
MultiMediaCard (MMC) to the internal, non-volatile memory (flash).
Note:
If the "flash" is the active, non-volatile memory, the parameter

values from the MMC also become active in the drive after this
command, i.e. they are loaded to the internal, volatile memory.
Function: Kommando
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
IndraDrive
P-0-4092, C2600 Copy IDN from internal memory to optional memory

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this command the parameter values are copied from the
internal, non-volatile memory (flash) to the MultiMediaCard (MMC).
Note:
If the MMC is the active, non-volatile memory, the parameter

values from the "flash" also become active in the drive after
this command, i.e. they are loaded to the internal, volatile
memory.
Function: Kommando
Editability:
P234
Data l.:
2Byte
Memory: no
Validity ch.:
no
Format:
BIN
Unit:
Extr. val. ch.:
no
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
--- / ---
---
MPD:
--- / ---
---
MPH:
--- / ---
---
P-0-4095, RS-232/485 Parity

Contained in 02VRS:
MPB
MPD
MPH
Contained in 03VRS
MPB
MPD
MPH
Hardware
--
Funct. package(s):
By means of this parameter it is possible to set several parities for the

communication via the serial interface.
Parity
Setting in P-0-4095
none
odd
even
2
Fig. 4-65: Coding of the parity in P-0-4095
The initial setting is no parity (default value).

Function: Parameter
Editability:
P234
Data l.:
2Byte
Memory: PARAM_SP
Validity ch.:
P3->P4
Format:
DEC_OV
Unit:
Extr. val. ch.:
yes
Decim. pl.: 0
--
Cycl. tra.: no
Comb. check.: no
Input min/max:
Default value:
MPB:
0/2
MPD:
0/2
MPH:
0/2
Index 5-1
IndraDrive
Index
A
Absolute encoder buffer 1 (motor encoder) 3-109
Absolute encoder buffer 2 (optional encoder) 3-109
Absolute encoder buffer 3 (measuring encoder) 3-110
Absolute encoder monitoring window for measuring encoder 3-62
Absolute encoder monitoring window for motor encoder 3-61
Absolute encoder monitoring window for opt. encoder 3-61
Absolute encoder offset 1, encoder memory 4-2
Absolute encoder range of measuring encoder 3-162
Absolute encoder range of motor encoder 2-182
Absolute encoder range of optional encoder 2-183
Absolute offset 1 2-117
Absolute offset 2 2-118
Absolute voltage value, actual value 3-38
Acceleration data scaling exponent 2-109
Acceleration data scaling factor 2-108
Acceleration data scaling type 2-107
Acceleration factors for velocity masking window 4-27
Acceleration feedback value 1 2-109
Acceleration feedback value 2 2-126
Acceleration feedforward actual value 3-201
Acceleration feedforward gain 2-174
Acceleration feedforward smoothing time constant 3-111
Activation E-Stop function 3-3
Activation of NC reaction on error 3-73
Active functional packages 4-84
Active position feedback value 2-185
Active safety technology signals 4-126
Actual acceleration torque/force value 3-199
Actual output current value (absolute value) 3-194
Actual pos. smoothing time constant for hybrid pos. control 3-149
Actual position value difference encoder1 - encoder2 3-169
Actual position value of measuring encoder 3-31
Actual position value offset of measuring encoder 3-53
Actual position value, channel 2 4-152
Actual process torque/force value 3-199
Actual value peak torque limit 3-197
Actual value torque limit negative (stationary) 3-196
Actual value torque limit positive (stationary) 3-195
Actual velocity value of measuring encoder 3-162
Actual velocity value, channel 2 4-153
Additive master axis position 3-32
Additive master axis position, process loop 3-258
Additive position command value 2-34
Additive position command value, controller 3-35
Additive position command value, process loop 3-257
Additive torque/force command value 2-51
Additive velocity command value 2-26
Additive velocity command value, process loop 3-256
Adjust values analog I/O interface 4-159
Adjust values of control section 4-157
Adjust values of power section 4-158
Allocation of real-time control bit 1 2-157
Allocation of real-time control bit 2 2-158
Allocation of real-time status bit 1 2-159
Allocation of real-time status bit 2 2-160
Amplifier nominal current 2-75
Amplifier peak current 2-73
Amplifier temperature 2-185
Amplifier temperature 2 3-284
Amplifier type data 4-195
Amplitude for angle acquisition 3-212
Analog input 1 3-127
5-2 Index
IndraDrive
Analog input 1, time constant input filter 3-131

Analog input, assignment A, dead zone 3-131
Analog input, assignment A, scaling per 10V full scale 3-130
Analog input, assignment A, signal value at 0V 3-130
Analog input, assignment A, target parameter 3-129
Analog input, assignment B, dead zone 3-147
Analog input, assignment B, scaling per 10V full scale 3-146
Analog input, assignment B, signal value at 0V 3-147
Analog input, assignment B, target parameter 3-146
Analog input, control parameter 3-132
Analog input, list of assignable parameters 3-129
Analog input, maximum value for adjust 3-134
Analog output 1 3-85
Analog output 2 3-85
Analog Output 3 3-184
Analog Output 4 3-184
Analog output IDN list of assignable parameters 3-188
Analog output, assignment A, scaling [1/V] 3-186
Analog output, assignment A, signal selection 3-186
Analog output, assignment A, signal value at 0V 3-185
Analog output, assignment B, scaling [1/V] 3-188
Analog output, assignment B, signal selection 3-187
Analog output, assignment B, signal value at 0V 3-185
Angle offset begin of profile 3-36
Angle offset begin of profile, process loop 3-261
Angle offset change rate 3-99
Answer delay RS-232/485 4-193
Application for autom. controller adjust 3-103
Application type 2-92
Assign list signal control word 2-163
Assign list signal status word 2-163
Assignment IDN -> parallel output 1 3-255
Assignment measuring encoder ->optional slot 3-49
Assignment motor encoder->optional slot 3-46
Assignment optional encoder ->optional slot 3-48
Assignment parallel input 1 -> IDN 3-256
AT Transmission starting time (T1) 2-4
Average value filter for display
signal selection 3-171
signal selection list 3-172
time constant 3-173
Axis correction active correction value 3-174

Axis correction actual temperature pos.-dependent 3-176
Axis correction actual temperature pos.-independent 3-176
Axis correction control word 3-183
Axis correction end position 3-179
Axis correction external correction value 3-174
Axis correction reference position for temp. corr. 3-175
Axis correction reference temperature 3-175
Axis correction start position 3-178
Axis correction support point distance 3-180
Axis correction temperature factor pos.-dependent 3-177
Axis correction temperature factor pos.-independent 3-178
Axis correction, correction table negative 3-182
Axis correction, correction table positive 3-181
B
Backup of safety techn. data channel 2 4-118
Baud rate RS-232/485 4-173
Baud rate SERCOS interface 4-216
Best possible deceleration 3-75
Bipolar acceleration limit value 2-89
Bipolar torque/force limit value 2-60
Index 5-3
IndraDrive
Bipolar velocity limit value 2-59

Bit number allocation of real-time control bit 1 2-201
Bit number allocation of real-time control bit 2 2-201
Bit number allocation of real-time status bit 1 2-202
Bit number allocation of real-time status bit 2 2-203
Braking resistor load 3-285
Braking resistor threshold 3-284
Build date and time 3-121
C
C0100 Communication phase 3 transition check 2-83
C0200 Communication phase 4 transition check 2-84
C0300 Command Set absolute measuring 3-6
C0400 Communication phase 2 transition 4-174
C0500 Reset class 1 diagnostics 2-66
C0600 Drive-controlled homing procedure command 2-97
C07_x Load defaults procedure command 2-139
C0900 Position spindle command 2-101
C1200 Commutation offset setting command 3-224
C1300 Positive stop drive procedure command 2-98
C1400 Command Get marker position 3-7
C1500 Cancel reference point procedure command 2-124
C1600 Parking axis command 2-90
C1700 Command measuring wheel mode 3-148
C1800 Command Automatic control loop adjust 3-101
C2000 Command Release motor holding brake 3-237
C2100 Brake check command 3-236
C2200 Backup working memory procedure command 2-141
C2300 Load working memory procedure command 2-140
C2400 Selectively backup working memory procedure command 2-154
C2500 Copy IDN from optional memory to internal memory 4-217
C2600 Copy IDN from internal memory to optional memory 4-218
C2800 Analog input adjust command 3-135
C2900 Command Firmware update from MMC 4-203
C3000 Synchronize and store safety technology IDN command 4-115
C3100 Recalculate actual value cycle 3-38
C3200 Command Calculate motor data 4-181
C3300 Set coordinate system procedure command 2-127
C3400 Shift coordinate system procedure command 2-128
C3500 Command Determine encoder correction values 3-163
C3600 Command Motor data identification 3-245
C3700 Manually unlocking the safety door 4-128
C3800 Command Apply motor holding brake 3-238
C3900 Command Abrasion of brake 3-238
C4000 Homing procedure command channel 2 4-133
C4100 Switch parameter set command 2-132
C4200 Drive-controlled oscillation command 2-124
C4300 NC-controlled homing procedure command 2-94
C4400 Calculate displacement procedure command 2-113
C4500 Displacement to referenced system procedure command 2-114
C4600 Command Calculate motor control parameters 3-246
C4700 Command Activate easy startup mode 4-214
Cam shaft distance 3-60
Cam shaft distance 2 3-40
Cam shaft distance switch angle 3-88
Cam shaft profile 2 3-58
Cam shaft profile, access angle 3-140
Cam shaft profile1 3-39
Cam shaft switch angle 3-60
Change counter of safety technology memory 4-114
Change history time interval of forced dynamization 3-67
Charact. of quadrature-axis induct. of motor, inductances 4-159
Charact. of quadrature-axis inductance of motor, currents 4-161
5-4 Index
IndraDrive
Charact. quadr.-axis induct. of motor, currents, enc. Memory 4-103

Charact. quadr.-axis induct. of motor, induct., enc. Memory 4-103
Characteristic of motor magnetizing inductance 4-189
Characteristic of motor magnetizing inductance, encoder mem. 4-111
Circuit board code control section 4-78
Circuit board code master communication 4-76
Circuit board code optional module 1 4-73
Circuit board code optional module 1 for safety technology 4-79
Circuit board code optional module 2 for safety technology 4-80
Circuit board code power section 4-77
Class 1 diagnostics 2-7
Coarse position window 2-139
Command value cycle 3-266
Command value generator output 4-16
Command value generator, amplitude 4-19
Command value generator, control word 4-18
Command value generator, duration 1 4-20
Command value generator, duration 2 4-20
Command value generator, list of possible target parameters 4-16
Command value generator, offset 4-19
Command value generator, periodic time 4-21
Command value generator, target parameter assignment 4-17
Command value mode 2-187
Command value proceeding time (TMTSG) 2-59
Command value valid time (T3) 2-6
Command values for control section adjust 4-157
Command values for power section adjust 4-158
Commutation
required harmonics component 3-219
Commutation offset 3-214

Commutation offset, encoder memory 4-98
Commutation setting measured value 3-223
Config. list of the master data telegram 2-17
Configuration for starting lockout selector 3-65
Configuration list of AT 2-13
Configuration list signal control word 2-19
Configuration list signal status word 2-18
Control parameter of analog output 3-189
Control section type 4-83
Control word for commutation setting 3-221
Control word for encoder correction 3-163
Control word for safety related motion 1 4-139
Control word for setting absolute measuring 3-254
Control word for synchronous operation modes 3-54
Control word of axis controller 3-244
Control word of current controller 3-26
Control word of encoder 2 (optional encoder) 3-112
Control word of measuring encoder 3-160
Control word of position controller 3-191
Control word of power section 3-287
Control word of velocity control mode 4-21
Controller type 2-91
Cooling type 3-254
Coordinate offset value 2-144
Correction value table for encoder correction 3-164
Current actual slip value in % 3-149
Current coordinate offset 2-148
Current limit value of demagnetization 4-167
Current limit value of demagnetization, encoder memory 4-105
Current loop integral action time 1 2-71
Current loop integral-action time 1, encoder memory 4-87
Current loop proportional gain 1 2-70
Current loop proportional gain 1, encoder memory 4-87
Index 5-5
IndraDrive
Current mains voltage crest value 3-281

Current parameter set 2-135
Current position command average value filter order 3-24
D
Damping factor for autom. controller adjust 3-102
Data container A
addressing 2-179
command value 1 2-176
configuration list command value 2 2-218
configuration list command value-1 2-180
configuration list feedback value 2 2-223
configuration list feedback value-1 2-180
feedback value 1 2-178
list index command values 2-177
list index feedback values 2-178
Data of external braking resistor 3-285

Data of internal braking resistor 3-286
DC bus power 2-184
DC bus voltage 2-183
Deceleration ramp 1 4-29
Deceleration ramp 2 4-30
Device control
control word 3-72
status word 3-71
Device control word 4-177

Diagnostic message 2-62
Diagnostic message number 2-186
Diagnostic report SCSB module 4-178
Diagnostic safety technology message 4-129
Difference probe values 1 3-123
Difference probe values 2 3-124
Digital I/Os, assignment list 3-151
Digital I/Os, bit numbers 3-153
Digital I/Os, direction 3-154
Digital I/Os, outputs 3-156
Digital I/Os, status display 3-155
Direct-axis inductance of motor 4-170
Direct-axis inductance of motor, encoder memory 4-102
Distance-coded reference offset A 2-110
Distance-coded reference offset B 2-110
Drive address of master communication 4-175
Drive address of serial interface 4-174
Drive Halt acceleration bipolar 2-181
5-6 Index
IndraDrive
Drive off delay time 2-130

Drive Off delay time, encoder memory 4-91
Drive on delay time 2-129
Drive On delay time, encoder memory 4-91
Drive status word 2-88
Dummy parameter 2-1
Duration of dynamization pulse of safety function selection 4-132
Dynamic angle offset 3-52
E
Effective commutation offset 3-220
Effective master axis position 3-270
Effective master axis velocity 3-270
Effective peak current 4-191
Effective target position 2-208
Effective torque/force command value 3-30
Effective velocity command value 3-29
Electric type data of power section 4-196
Encoder 1 resolution, encoder memory 4-2
Encoder 1, cosine signal 3-165
Encoder 1, sine signal 3-165
Encoder emulation control parameter 3-291
Encoder emulation resolution 3-292
Encoder emulation signal selection 3-290
Encoder emulation signal selection list 3-289
Encoder emulation zero pulse distance 3-294
Encoder emulation zero pulse offset 3-294
Encoder resolution of measuring encoder 3-158
Encoder type 1 (motor encoder) 3-40
Encoder type 1 (motor encoder), encoder memory 4-95
Encoder type 2 (optional encoder) 3-43
Encoder type 3 (measuring encoder) 3-45
End position probe function 1 active 3-125
End position probe function 2 active 3-122
Error memory of diagnostic numbers 3-117
Error memory operating hours of control section 3-118
Error memory power section 3-119
Error number 3-4
Error threshold for encoder monitoring 3-220
E-Stop input 3-136
Excessive position command value 3-5
F
Feed constant 2-80
Feed constant 2 (optional encoder) 3-77
Feedback 1 Resolution 2-77
Feedback 2 Resolution 2-78
Feedback acquisition starting time (T4) 2-5
Feedrate override 2-72
Field bus
baud rate 4-210
config. list of cyclic actual value data ch. 4-210
config. list of cyclic command value data ch. 4-211
control word 4-206
control word IO 4-201
cycle time (Tcyc) 4-206
data format 4-205
diagnostic message 4-204
length of cyclic actual value data channel 4-212
length of cyclic command value data channel 4-202
length of parameter channel 4-212
module diagnosis 4-202
Index 5-7
IndraDrive
profile type 4-213

status word 4-208
watchdog 4-205
Filter time constant additional pos. Command 3-36

Filter time constant, add. master axis pos., process loop 3-259
Filter time constant, angle offset profile, process loop 3-262
Final speed ramp 1 4-23
firmware variants 1-4
Flux control loop proportional gain 3-226
Flux loop proportional gain, encoder memory 4-106
Flux-generating current, actual value 3-25
Flux-generating current, command value 3-22
Flux-generating current, limit value 4-163
Flux-generating current, limit value, encoder memory 4-101
Flux-generating voltage, actual value 3-37
Following distance 2-123
Friction compensation 2-104
G
Gear 1 encoder-side (motor encoder) 3-77
Gear 1 motor-side (motor encoder) 3-76
Gear 2 encoder-side (optional encoder) 3-79
Gear 2 load-side (optional encoder) 3-78
Gear ratio fine adjust 3-51
Gear ratio fine adjust, process loop 3-260
Gear reduction 3-267
H
Holding brake control word 3-224
Holding brake control word, encoder memory 4-99
Holding brake current, encoder memory 4-100
Holding brake status word 3-235
Home switch 2-190
Home switch offset 2-156
Homing acceleration 2-29
Homing enable 2-195
Homing parameter 2-95
Homing velocity 2-29
I
I/O status channel 2 (optional safety technology module) 4-127
IDN groups
control word 3-170
list 3-171
IDN list of checksum parameter 2-162

IDN list of configurable data in signal status word 2-189
IDN list of configurable data in the signal control word 2-189
IDN list of invalid operating data for communication phase 2 2-15
IDN list of invalid operating data for communication phase 3 2-16
IDN list of operating data for communication phase 2 2-14
IDN list of operating data for communication phase 3 2-15
IDN list of retain data (replacement of devices) 3-120
IDN-list of all operation data 2-14
IDN-list of all procedure commands 2-17
IDN-list of backup operation data 2-125
IDN-list of parameter set 2-133
IDN-list of password-protected operation data 2-147
Index for C07 Load defaults procedure 4-216
Initial coordinate value 2-127
Initial position value 3-8
Input revolutions of load gear 2-78
Input revolutions of measuring gear 3-79
Integral-action component velocity loop 3-200
Interface status 2-11
Internal position data format 3-81
IxR boost factor 3-249
5-8 Index
IndraDrive
J
Jerk limit bipolar 2-175
K
Kind of encoder 1, encoder memory 4-1
L
Language selection 2-141
Last valid position command value 3-5
lead time 3-84
Length of master data telegram 2-7
Length of the configurable data record in the AT 2-121
Length of the configurable data record in the MDT 2-122
Linear position data scaling exponent 2-48
Linear position data scaling factor 2-48
List of all IDNs not corresponding to default value 3-7
List of all operating modes 2-153
List of configurable data in the AT 2-122
List of configurable data in the MDT 2-123
List of diagnostic numbers 2-182
Load inertia 4-166
Load revolutions per actual value cycle slave axis 3-264
Logbook axis number 3-204
Logbook event 3-204
Logbook time stamp 3-205
Lower limit for autom. control loop adjust 3-105
Lower limit of velocity masking window 4-25
M
Magnetizing current 4-162
Magnetizing current, encoder memory 4-101
Manufacturer version 2-21
Marker position A 2-115
Marker position B 2-115
Mask class 2 diagnostics 2-64
Mask class 3 diagnostics 2-65
Master axis position 3-32
Master axis revolutions per master axis cycle 3-262
Master axis speed 3-268
Master communication status 4-214
Master control word 2-87
Master drive gear input revolutions 3-98
Master drive gear output revolutions 3-98
Master drive polarity 3-68
Max. activation time of enabling control 4-131
Max. model deviation 3-63
Max. tolerance time for different channel states 4-130
Maximum acceleration to be parameterized 3-107
Maximum drive off delay time 2-143
Maximum motor speed 2-75
Maximum motor voltage 3-234
Maximum motor voltage, encoder memory 4-109
Maximum occurred actual slip value in % 3-150
Maximum possible continuous current 4-191
Maximum stator frequency change 3-247
Maximum travel range 2-146
Maximum velocity of motor, encoder memory 4-89
MDT error counter 2-20
MDT Transmit starting time (T2) 2-58
Memory image of safety technology memory 4-115
Memory of velocity command values 4-24
Message In position 2-167
Message In target position 2-169
Index 5-9
IndraDrive
Message n command > n limit 2-167

Message n_actual = n_command 2-164
Message nactual < nx 2-165
Message P >= Px 2-168
Message T >= Tlimit 2-166
Message T >= Tx 2-166
Minimum AT transmit starting time (T1min) 2-3
Minimum feedback acquisition time (T4min) 2-4
Minimum mains crest value 3-282
MMC identification number (CID) 4-200
Module code of control section 4-81
Module code of motor, encoder memory 4-94
Module code of power section 4-82
Module group, control word 3-202
Module group, status word 3-202
Modulo factor measuring encoder 3-268
Modulo value 2-68
Modulo value actual value cycle 3-281
Monitoring window 2-106
Monitoring window feedback 2 2-186
Monitoring window for safety related direction of motion 4-136
Monitoring window for safety related operational stop 4-135
Monitoring window of slip in % 3-151
Motor current at standstill 2-74
Motor current at standstill, encoder memory 4-89
motor holding brake
type 3-224
Motor inductance, encoder memory 4-112

Motor magnetizing inductance 4-188
Motor magnetizing inductance, encoder memory 4-110
Motor model adjust factor 3-253
Motor model frequency loop integral action time 3-252
Motor model frequency loop proportional gain 3-251
Motor peak current 2-73
Motor peak current, encoder memory 4-88
Motor potentiometer, acceleration 4-32
Motor potentiometer, command value 4-34
Motor potentiometer, control parameter 4-31
Motor potentiometer, deceleration 4-33
Motor potentiometer, step size 4-34
Motor shutdown temperature 2-129
Motor shutdown temperature, encoder memory 4-90
Motor temperature 2-184
Motor type 2-91
Motor type plate data 4-180
Motor type, encoder memory 4-90
Motor voltage at no load 3-233
Motor voltage at no load, encoder memory 4-108
Motor warning temperature 2-128
MST error counter 2-20
Multiplication 1 2-135
Multiplication 2 2-136
Multiplication of measuring encoder 3-157
N
NC cycle time (TNcyc) 2-1
Negative position limit value 2-36
Negative velocity limit value 2-28
Nominal load of holding system 3-240
Nominal mains voltage crest value 3-283
Non-volatile memory active 4-199
Number of pole pairs/pole pair distance 3-8
Number of pole pairs/pole pair distance, encoder memory 4-95
O
Offset parameter 1 2-116
Offset parameter 2 2-117
Oper. hours control section at last successful brake check 3-241
5-10 Index
IndraDrive
Oper. hours of contr. sect. at change of functional packages 4-83

Oper. hours power section at last activat. of start. lockout 3-66
Operating hours at last change of memory 4-114
Operating hours control section 3-115
Operating hours power section 3-116
Optimum distance home switch-reference mark 3-94
Oscillation cycle time 2-132
Oscillation damping factor 3-249
Oscillation offset speed 2-131
Oscillation speed 2-131
Oscilloscope
control offset 3-19
control word 3-14
external trigger signal 3-20
internal trigger signal 3-20
list of measured values 1 3-10
number of measured values after trigger event 3-18
number of valid measured values 3-92
operating mode 3-9
signal selection 1 3-11
signal selection list 3-91
size of memory 3-17
status word 3-15
time resolution 3-17
trigger edge 3-16
trigger level 3-13
trigger mask 3-12
trigger signal selection 3-13
Output revolutions of load gear 2-79

Output revolutions of measuring gear 3-80
Overload warning 3-194
Overview of device addresses 4-178
P
Parallel input 1 3-51
Parallel output 1 3-50
Parameter checksum 2-162
Parameter set switching, group selection 4-92
Parameter set switching, preselection range 4-93
Password 2-142
Password level 4-198
Patch function 1, attribute 3-206
Patch function 1, bit mask 3-207
Patch function 1, display 3-208
Patch function 1, exponent 3-207
Patch function 1, source pointer 3-205
Patch function 2, attribute 3-209
Patch function 2, bit mask 3-210
Patch function 2, display 3-211
Patch function 2, exponent 3-211
Patch function 2, source pointer 3-209
PLC boot projec tinfo 4-42
PLC configuration 4-44
PLC control word 4-36
PLC Deceleration ramp 2 4-71
PLC display format Global Register 4-54
PLC Global Register G0 4-46
Index 5-11
IndraDrive

PLC Global Register GL1 4-56
PLC Global Register GL2 4-45
PLC Global text register GT0 4-55
PLC Global text register GT1 4-56
PLC input %IW0 4-57
PLC input %IW1 4-58
PLC input %IW2 4-58
PLC input %IW3 4-59
PLC input %IW4 4-59
PLC input %IW5 4-60
PLC input %IW6 4-60
PLC input %IW7 4-61
PLC internally reserved 4-46
PLC output %QW0 4-61
PLC Positioning acceleration 4-67
PLC Positioning command value 4-65
PLC Positioning command value acceptance 4-68
PLC positioning command value acknowledge 4-69
PLC Positioning deceleration 4-67
PLC Positioning velocity 4-66
PLC program identifier 4-41
PLC program name 4-42
PLC project info 4-43
PLC Ramp 2 pitch 4-70
PLC retain data on-board 4-72
PLC status word 4-37
PLC Torque/force command value 4-71
PLC user program administration data 4-38
PLC user program area 0 4-38
PLC Velocity command value 4-69
Position actual value in actual value cycle 3-265
Position command additional actual value 3-19
Position command average value filter time constant 3-23
Position command processing mode 3-113
Position command smoothing time constant 3-64
Position command value 2-33
Position command value control 3-28
Position command value extension 3-64
Position command value of controller 3-190
Position command value status 2-193
Position data scaling type 2-46
Position feedback 1 type 2-145
Position feedback 1 value 2-37
Position feedback 2 type 2-76
Position feedback 2 value 2-39
Position feedback value status 2-192
Position loop Kv-factor 2-69
Position loop Kv-factor, encoder memory 4-86
Position of data record in MDT 2-6
Position polarities 2-41
5-12 Index
IndraDrive
position switch
lead time 3-84
Position switch flag parameter 2-45

Position switch lead times 3-84
Position switch point 1 2-46, 2-214
Position switch signal selection 3-82
Position switch signal selection list 3-81
Position switch status word 3-84
Position switch switch-off thresholds 3-83
Position switch switch-on threshold 3-83
Position synchronization window 2-134
Position window 2-43
Positioning acceleration 2-138
Positioning block acceleration 4-165
Positioning block acknowledgment 4-193
Positioning block control word 4-196
Positioning block deceleration 4-198
Positioning block jerk 4-166
Positioning block mode 4-172
Positioning block selection 4-176
Positioning block status word 4-197
Positioning block target position 4-164
Positioning block velocity 4-164
Positioning block, input linked blocks 4-195
Positioning block, last accepted 4-194
Positioning block, last active 4-194
Positioning command acknowledge 2-205
Positioning command value 2-147
Positioning control word 2-171
Positioning deceleration 2-176
Positioning Jerk 2-126
Positioning status word 2-209
Positioning velocity 2-137
Positioning velocity > nLimit 2-161
Positioning velocity threshold in modulo mode 2-203
Positive position limit value 2-35
Positive velocity limit value 2-27
Power supply, configuration 3-73
Power threshold Px 2-105
Premagnetization factor 3-229
Premagnetization factor, encoder memory 4-107
Preselect parameter set command 2-133
Primary mode of operation 2-22
Probe 1 2-190
Probe 1 enable 2-194
Probe 1 negative latched 2-198
Probe 1 positive latched 2-197
Probe 1, max. number of marker failures 3-126
Probe 1, number of marker failures 3-137
Probe 2 2-191
Probe 2 enable 2-194
Probe 2 negative latched 2-200
Probe 2 positive latched 2-199
Probe 2, max. number of marker failures 3-127
Probe 2, number of marker failures 3-138
Probe control parameter 2-111
probe function 2-111
Probe status 2-119
Probe value 1 negative edge 2-85
Probe value 1 positive edge 2-84
Probe value 2 negative edge 2-86
Probe value 2 positive edge 2-86
Probe, extended control word 3-139
Probe, IDN list signal selection 2-207
Probing cycle procedure command 2-112
PROFIsafe
F_Destination_Address 4-154
F_Parameters 4-156
F_Source_Address 4-155
Project identification 4-200
Index 5-13
IndraDrive
Properties of charging circuit 3-282

Pulse wire encoder offset 1, encoder memory
Pulse wire encoder offset 2, encoder memory
Pulse wire encoder status 1, encoder memory
Pulse wire encoder status 2, encoder memory
4-3
4-6
4-3
4-6
Q
Quadrature-axis inductance of motor 4-171
Quadrature-axis inductance of motor, encoder memory 4-102
R
Ramp 1 pitch 4-22
Ramp 2 pitch 4-24
Ramp reference velocity for acceleration data 2-210
Rated motor speed 4-184
Rated motor speed, encoder memory 4-97
Receive to receive recovery time (TMTSY) 2-58
Reference cam shift 2-155
Reference distance 1 2-38
Reference distance 2 2-40
Reference marker pulse registered 2-196
Reference offset 1 2-99
Reference offset 2 2-100
Reference radius for quadrant error correction 3-191
Resulting master axis position 3-269
Return acceleration 3-34
Return distance 3-33
Return jerk 3-35
Return velocity 3-34
Reversal clearance 2-44
Rotational position resolution 2-49
Rotor inertia 3-215
Rotor inertia, encoder memory 4-96
Rotor leakage inductance 4-187
Rotor leakage inductance, encoder memory 4-110
Rotor time constant 4-190
Rotor time constant, encoder memory 4-111
RS-232/485 Parity 4-218
S
Safety related deceleration/acceleration ramp 1 4-143
Safety related end position, negative 4-138
Safety related end position, positive 4-138
Safety related limited absolute position 1, negative 4-141
Safety related limited absolute position 1, positive 4-140
Safety related limited absolute position 2, negative 4-145
Safety related limited absolute position 2, positive 4-144
Safety related limited increment 1 4-141
Safety related maximum speed 4-137
Safety related monitored deceleration 4-154
Safety related reduced speed 1 4-142
Safety related reference position channel 2 4-135
Safety technology absolute offset 4-139
Safety technology commissioning identifier 4-120
Safety technology control word 4-120
Safety technology device identifier 4-116
Safety technology firmware code 4-113
Safety technology I/O control word, channel 2 4-122
5-14 Index
IndraDrive
Safety technology password 4-116

Safety technology password level 4-118
Safety technology signal control word, channel 1 4-123
Safety technology signal status word, channel 1 4-125
Safety technology status 4-124
Scaling of stall current limit 3-227
Scaling of stall current limit, encoder memory 4-106
Search mode
finding point slip factor 3-250
search current factor 3-250
Secondary operation mode 1 2-23

Selected IDN list of operation data to backup 2-143
Selected safety technology mode 4-125
Selection for autom. controller adjust 3-104
Selection of functional packages 4-84
SERCOS cycle time (TScyc) 2-2
Sercos interface version 2-92
Signal control word 2-94
Signal select probe 1 2-206
Signal select probe 2 2-206
Signal status word 2-93
Slave arrangement (SLKN) 2-63
Slave drive feed travel 3-100
Slip compensation factor 3-248
Slip increase 3-228
Smoothing of actual position value 3 of measuring encoder 3-160
Speed controller smoothing time constant, encoder memory 4-96
Spindle angle position 2-102
Spindle position parameter 2-102
Spindle positioning speed 2-134
Spindle relative offset 2-120
Square characteristic
lowering factor 3-251
Stall protection loop integral action time 3-248

Stall protection loop proportional gain 3-247
Standstill window 2-81
Start position probe function 1 active 3-125
Start position probe function 2 active 3-121
Starting torque for releasing motor holding brake 3-240
Stator leakage inductance 4-186
Stator leakage inductance, encoder memory 4-109
Stator resistance 4-192
Stator resistance, encoder memory 4-98
Status 2-170, 2-171
Status n_feedback = 0 2-165
Status of measuring encoder 3-161
Status word for synchronous operating modes 3-56
Status word of axis controller 3-243
Status word of current controller 3-27
Status word of power section 3-288
Status word of velocity control mode 4-28
Status word torque/current limit 3-198
Storage mode 2-142
Switching frequency of the power output stage 3-1
Synchronization acceleration 3-87
Synchronization completed 3-93
Synchronization direction 3-95
Synchronization divisions per command cycle slave axis 3-263
Synchronization init window for modulo format 3-92
Synchronization mode 3-96
Synchronization velocity 3-87
Synchronous position command value 3-271
Synchronous velocity 3-273
Index 5-15
IndraDrive
T
Table of path velocities for quadrant error correction 3-192
Table of velocity pulse for quadrant error correction 3-193
Target position 2-137
Target position outside of travel range 2-161
Target position window in modulo mode 2-204
Telegram type parameter 2-12
Temperature data scaling type 2-130
Temperature sensor 3-216
Temperature sensor characteristic 3-217
Temperature sensor, encoder memory 4-100
Test frequency for angle acquisition 3-213
Test torque for releasing motor holding brake 3-239
Thermal drive load 3-86
Thermal short-time overload of winding 4-185
Thermal short-time overload of winding, encoder memory 4-105
Thermal time constant of motor 4-183
Thermal time constant of motor, encoder memory 4-104
Thermal time constant of winding 4-182
Thermal time constant of winding, encoder memory 4-104
Time interval brake check 3-242
Time interval for dynamization of safety function selection 4-131
Time interval of forced dynamization 3-66
Time stamp for list of diagnostic message numbers 3-67
Tolerance time transition from normal operation 4-130
Tolerance time transition from safety rel. oper. 4-133
Tolerance window for safety related homing procedure 4-134
Torque of holding brake 3-236
Torque of motor holding brake, encoder memory 4-99
Torque threshold Tx 2-82
Torque/Force command smoothing time constant 3-108
Torque/force command value 2-50
Torque/force constant 3-30
Torque/force constant, encoder memory 4-97
Torque/force data scaling exponent 2-61
Torque/force data scaling factor 2-61
Torque/force data scaling type 2-56
Torque/force feedback value 2-54
Torque/force limit value negative 2-53
Torque/force limit value positive 2-52
Torque/force peak limit 3-69
Torque/force polarity parameter 2-55
Torque-generating current, actual value 3-25
Torque-generating current, command value 3-21
Torque-generating voltage, actual value 3-37
Transmission length SERCOS interface 4-176
Transmit to transmit recovery time (TATAT) 2-57
Transmit/receive transition time (TATMT) 2-3
Travel distance for autom. controller adjust 3-107
Travel range limit parameter 3-57
Travel range limit switch inputs 3-136
Type of construction of motor 4-168
Type of position encoder for measuring encoder 3-159
U
Undervoltage threshold 3-70
Upper limit for autom. control loop adjust 3-106
Upper limit of velocity masking window 4-26
V
Vel. cont. loop filter
center frequency of band-stop filter 4-13
Velocity command filter 4-35

Velocity command value 2-26
Velocity control loop
acceleration feedforward 4-14
average value filter clock 4-14
5-16 Index
IndraDrive
Velocity control loop filter

bandwidth of band-stop filter 4-12
filter type 4-9
limit frequency of low pass 4-11
Velocity data scaling exponent 2-32

Velocity data scaling factor 2-32
Velocity data scaling type 2-31
Velocity error 2-173
Velocity feedback value 2-28
Velocity feedback value 2 2-104
Velocity feedforward actual value 3-200
Velocity feedforward evaluation 3-22
Velocity loop integral action time 2-67
Velocity loop integral-action time, encoder memory 4-86
Velocity loop proportional gain 2-66
Velocity loop proportional gain, encoder memory 4-85
Velocity loop smoothing time constant 3-2
Velocity mix factor feedback 1 & 2 4-9
Velocity polarity parameter 2-30
Velocity synchronization window 2-120
Velocity threshold for safety related stopping process 4-136
Velocity threshold nx 2-82
Velocity time range for quadrant error correction 3-192
Velocity window 2-105
Version of data structure in encoder memory 4-112
Voltage boost 3-246
Voltage loop integral action time 3-232
Voltage loop intergral action time, encoder memory 4-108
Voltage loop proportional gain 3-231
Voltage loop proportional gain, encoder memory 4-107
Service & Support 6-1
IndraDrive
Service & Support
6.1
Helpdesk
Unser Kundendienst-Helpdesk im Hauptwerk Lohr

am Main steht Ihnen mit Rat und Tat zur Seite.
Sie erreichen uns
telefonisch - by phone:
ber Service Call Entry Center
- via Service Call Entry Center
Our service helpdesk at our headquarters in Lohr am

Main, Germany can assist you in all kinds of inquiries.
Contact us
49 (0) 9352 40 50 60
Mo-Fr 07:00-18:00
Mo-Fr 7:00 am - 6:00 pm
+49 (0) 9352 40 49 41
per Fax - by fax:
per e-Mail - by e-mail: service.svc@boschrexroth.de
6.2 Service-Hotline
Auerhalb der Helpdesk-Zeiten ist der Service
direkt ansprechbar unter
oder - or
After helpdesk hours,

department directly at
contact
our
service
+49 (0) 171 333 88 26

+49 (0) 172 660 04 06
6.3 Internet
Unter www.boschrexroth.com finden Sie
ergnzende Hinweise zu Service, Reparatur und
Training sowie die aktuellen Adressen *) unserer
auf den folgenden Seiten aufgefhrten Vertriebsund Servicebros.
Verkaufsniederlassungen
sales agencies
Niederlassungen mit Kundendienst
offices providing service
Auerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mit

unserem fr Sie nchstgelegenen Ansprechpartner auf.
*) Die Angaben in der vorliegenden Dokumentation knnen

seit Drucklegung berholt sein.
6.4
At www.boschrexroth.com you may find

additional notes about service, repairs and training
in the Internet, as well as the actual addresses *)
of our sales- and service facilities figuring on the
following pages.
Please contact our sales / service office in your area first.
*) Data in the present documentation may have become

obsolete since printing.
Vor der Kontaktaufnahme... - Before contacting us...
Wir knnen Ihnen schnell und effizient helfen wenn

Sie folgende Informationen bereithalten:
For quick and efficient help, please have the

following information ready:
1. detaillierte Beschreibung der Strung und der

Umstnde.
1. Detailed description
circumstances.
2. Angaben
auf
dem
Typenschild
der
betreffenden
Produkte,
insbesondere
Typenschlssel und Seriennummern.
2. Information on the type plate of the affected

products, especially type codes and serial
numbers.
3. Tel.-/Faxnummern und e-Mail-Adresse, unter

denen Sie fr Rckfragen zu erreichen sind.
3. Your phone/fax numbers and e-mail address,

so we can contact you in case of questions.
of
the
failure
and
6-2 Service & Support
6.5
IndraDrive
Kundenbetreuungsstellen - Sales & Service Facilities
Deutschland Germany
vom Ausland:
from abroad:
(0) nach Landeskennziffer weglassen!

dont dial (0) after country code!
Vertriebsgebiet Mitte
Germany Centre
SERVICE
SERVICE
SERVICE
Rexroth Indramat GmbH

Bgm.-Dr.-Nebel-Str. 2 / Postf. 1357
97816 Lohr am Main / 97803 Lohr
CALL ENTRY CENTER

MO FR
von 07:00 - 18:00 Uhr
HOTLINE
MO FR
von 17:00 - 07:00 Uhr
from 5 pm - 7 am
+ SA / SO
Tel.: +49 (0)172 660 04 06
oder / or
Tel.: +49 (0)171 333 88 26
ERSATZTEILE / SPARES
verlngerte Ansprechzeit
- extended office time nur an Werktagen
- only on working days -
Kompetenz-Zentrum Europa
Tel.:
Fax:
+49 (0)9352 40-0

+49 (0)9352 40-4885
from 7 am 6 pm
Tel. +49 (0) 9352 40 50 60
service.svc@boschrexroth.de
von 07:00 - 18:00 Uhr

- from 7 am - 6 pm Tel. +49 (0) 9352 40 42 22
Vertriebsgebiet Sd
Germany South
Vertriebsgebiet West
Germany West
Gebiet Sdwest
Germany South-West
Bosch Rexroth AG
Landshuter Allee 8-10
80637 Mnchen
Bosch Rexroth AG
Regionalzentrum West
Borsigstrasse 15
40880 Ratingen
Bosch Rexroth AG
Service-Regionalzentrum Sd-West
Siemensstr.1
70736 Fellbach
Tel.: +49 (0)89 127 14-0

Fax: +49 (0)89 127 14-490
Tel.:
Fax:
Tel.: +49 (0)711 510460

Fax: +49 (0)711 51046248
Vertriebsgebiet Nord
Germany North
Vertriebsgebiet Mitte
Germany Centre
Vertriebsgebiet Ost
Germany East
Vertriebsgebiet Ost
Germany East
Bosch Rexroth AG
Walsroder Str. 93
30853 Langenhagen
Bosch Rexroth AG
Regionalzentrum Mitte
Waldecker Strae 13
64546 Mrfelden-Walldorf
Bosch Rexroth AG
Beckerstrae 31
09120 Chemnitz
Bosch Rexroth AG
Regionalzentrum Ost
Walter-Khn-Str. 4d
04356 Leipzig
Tel.: +49 (0) 61 05 702-3

Fax: +49 (0) 61 05 702-444
Tel.:
Fax:
Tel.:
Fax:
Tel.:
Service:
Fax:
Service:
+49 (0) 511 72 66 57-0

+49 (0) 511 72 66 57-256
+49 (0) 511 72 66 57-93
+49 (0) 511 72 66 57-783
+49 (0)2102 409-0

+49 (0)2102 409-406
+49 (0)2102 409-430
+49 (0)371 35 55-0

+49 (0)371 35 55-333
+49 (0)341 25 61-0

+49 (0)341 25 61-111
IndraDrive
Europa (West) - Europe (West)

vom Ausland: (0) nach Landeskennziffer weglassen,
from abroad: dont dial (0) after country code,
Italien: 0 nach Landeskennziffer mitwhlen

Italy: dial 0 after country code
Austria - sterreich
Austria sterreich
Belgium - Belgien
Denmark - Dnemark
Bosch Rexroth GmbH

Electric Drives & Controls
Stachegasse 13
1120 Wien
Tel.:
+43 (0)1 985 25 40
Fax:
+43 (0)1 985 25 40-93
Bosch Rexroth GmbH

Industriepark 18
4061 Pasching
Tel.:
+43 (0)7221 605-0
Fax:
+43 (0)7221 605-21
Bosch Rexroth NV/SA

Henri Genessestraat 1
1070 Bruxelles
BEC A/S
Zinkvej 6
8900 Randers
Tel: +32 (0) 2 582 31 80

Fax: +32 (0) 2 582 43 10
info@boschrexroth.be
service@boschrexroth.be
Tel.:
Fax:
Great Britain Grobritannien
Finland - Finnland
France - Frankreich
France - Frankreich
Bosch Rexroth Ltd.

Broadway Lane, South Cerney
Cirencester, Glos GL7 5UH
Bosch Rexroth Oy
Ansatie 6
017 40 Vantaa
Tel.:
+44 (0)1285 863000
Fax:
+44 (0)1285 863030
sales@boschrexroth.co.uk
service@boschrexroth.co.uk
Tel.:
Fax:
Bosch Rexroth SAS

Avenue de la Trentaine
(BP. 74)
77503 Chelles Cedex
Tel.:
+33 (0)164 72-70 00
Fax:
+33 (0)164 72-63 00
Hotline: +33 (0)608 33 43 28
Bosch Rexroth SAS

ZI de Thibaud, 20 bd. Thibaud
(BP. 1751)
31084 Toulouse
Tel.: +33 (0)5 61 43 61 87
Fax: +33 (0)5 61 43 94 12
France Frankreich
Italy - Italien
Italy - Italien
Italy - Italien
Bosch Rexroth SAS

91, Bd. Irne Joliot-Curie
69634 Vnissieux Cedex
Tel.: +33 (0)4 78 78 53 65
Fax: +33 (0)4 78 78 53 62
Bosch Rexroth S.p.A.

Via G. Di Vittorio, 1
20063 Cernusco S/N.MI
Hotline: +39 02 92 365 563
Tel.:
+39 02 92 365 1
Service: +39 02 92 365 326
Fax:
+39 02 92 365 500
Service: +39 02 92 365 503

Via Paolo Veronesi, 250
10148 Torino

Via Mascia, 1
80053 Castellamare di Stabia NA
Tel.:
Fax:
Tel.:
Fax:
Italy - Italien
Italy - Italien
Netherlands - Niederlande/Holland
Netherlands Niederlande/Holland

Via del Progresso, 16 (Zona Ind.)
35020 Padova

Via Isonzo, 61
40033 Casalecchio di Reno (Bo)
Bosch Rexroth B.V.

Kruisbroeksestraat 1
(P.O. Box 32)
5281 RV Boxtel
Tel.:
Fax:
Tel.:
Fax:
Bosch Rexroth Services B.V.

Technical Services
Kruisbroeksestraat 1
(P.O. Box 32)
5281 RV Boxtel
Tel.:
+31 (0) 411 65 16 40
+31 (0) 411 65 17 27
Fax:
+31 (0) 411 67 78 14
+31 (0) 411 68 28 60
services@boschrexroth.nl
+39 049 8 70 13 70
+39 049 8 70 13 77
+358 (0)9 84 91-11

+358 (0)9 84 91-13 60
+39 051 29 86 430

+39 051 29 86 490
+39 011 224 88 11

+39 011 224 88 30
+45 (0)87 11 90 60
+45 (0)87 11 90 61
+39 081 8 71 57 00
+39 081 8 71 68 85
Tel.:
+31 (0) 411 65 19 51
Fax:
+31 (0) 411 65 14 83
www.boschrexroth.nl
Norway - Norwegen
Spain - Spanien
Spain Spanien
Sweden - Schweden
Bosch Rexroth AS
Berghagan 1
or: Box 3007
1405 Ski-Langhus
1402 Ski
Bosch Rexroth S.A.

Centro Industrial Santiga
Obradors s/n
08130 Santa Perpetua de Mogoda
Barcelona
Tel.:
+34 9 37 47 94 00
Fax:
+34 9 37 47 94 01
Goimendi S.A.
Parque Empresarial Zuatzu
C/ Francisco Grandmontagne no.2
20018 San Sebastian
Bosch Rexroth AB
- Varuvgen 7
(Service: Konsumentvgen 4, lfsj)
125 81 Stockholm
Tel.:
+34 9 43 31 84 21
- service: +34 9 43 31 84 56
Fax:
+34 9 43 31 84 27
- service: +34 9 43 31 84 60
sat.indramat@goimendi.es
Tel.:
Fax:
Sweden - Schweden
Switzerland East - Schweiz Ost
Switzerland West - Schweiz West
Bosch Rexroth AB
Ekvndan 7
254 67 Helsingborg
Tel.:
+46 (0) 42 38 88 -50
Fax:
+46 (0) 42 38 88 -74
Bosch Rexroth Schweiz AG

Hemrietstrasse 2
8863 Buttikon
Tel.
+41 (0) 55 46 46 111
Fax
+41 (0) 55 46 46 222
Bosch Rexroth Suisse SA

Av. Gnral Guisan 26
1800 Vevey 1
Tel.:
+47 (0) 64 86 41 00
Fax:
+47 (0) 64 86 90 62
Hotline: +47 (0)64 86 94 82

jul.ruud@rexroth.no
Tel.:
Fax:
+41 (0)21 632 84 20

+41 (0)21 632 84 21
+46 (0)8 727 92 00

+46 (0)8 647 32 77
IndraDrive
Europa (Ost) - Europe (East)

vom Ausland: (0) nach Landeskennziffer weglassen
from abroad: dont dial (0) after country code
Czech Republic - Tschechien
Czech Republic - Tschechien
Hungary - Ungarn
Poland Polen
Bosch -Rexroth, spol.s.r.o.

Hviezdoslavova 5
627 00 Brno
Tel.:
+420 (0)5 48 126 358
Fax:
+420 (0)5 48 126 112
DEL a.s.
Strojrensk 38
591 01 Zdar nad Szavou
Tel.:
+420 566 64 3144
Fax:
+420 566 62 1657
Bosch Rexroth Kft.

Angol utca 34
1149 Budapest
Tel.:
+36 (1) 422 3200
Fax:
+36 (1) 422 3201
Bosch Rexroth Sp.zo.o.

ul. Staszica 1
05-800 Pruszkw
Tel.:
+48 22 738 18 00
service: +48 22 738 18 46
Fax:
+48 22 758 87 35
service: +48 22 738 18 42
Poland Polen
Romania - Rumnien
Romania - Rumnien
Russia - Russland

Biuro Poznan
ul. Dabrowskiego 81/85
60-529 Poznan
Tel.:
+48 061 847 64 62 /-63
Fax:
+48 061 847 64 02
East Electric S.R.L.

Bdul Basarabia no.250, sector 3
73429 Bucuresti
Tel./Fax:: +40 (0)21 255 35 07
+40 (0)21 255 77 13
Fax:
+40 (0)21 725 61 21
eastel@rdsnet.ro

Str. Drobety nr. 4-10, app. 14
70258 Bucuresti, Sector 2
Tel.:
+40 (0)1 210 48 25
+40 (0)1 210 29 50
Fax:
+40 (0)1 210 29 52
Bosch Rexroth OOO

Wjatskaja ul. 27/15
127015 Moskau
Tel.:
+7-095-785 74 78
+7-095 785 74 79
Fax:
+7 095 785 74 77
laura.kanina@boschrexroth.ru
Russia - Russland
Turkey - Trkei
Turkey - Trkei
Slowenia - Slowenien
ELMIS
10, Internationalnaya
246640 Gomel, Belarus
Tel.:
+375/ 232 53 42 70
+375/ 232 53 21 69
Fax:
+375/ 232 53 37 69
elmis_ltd@yahoo.com
Bosch Rexroth Otomasyon

San & Tic. A..S.
Fevzi Cakmak Cad No. 3
34630 Sefaky Istanbul
Servo Kontrol Ltd. Sti.

Perpa Ticaret Merkezi B Blok
Kat: 11 No: 1609
80270 Okmeydani-Istanbul
DOMEL
Otoki 21
64 228 Zelezniki
Tel.:
+90 212 413 34 00
Fax:
+90 212 413 34 17
www.boschrexroth.com.tr
Tel:
+90 212 320 30 80
Fax:
+90 212 320 30 81
remzi.sali@servokontrol.com
www.servokontrol.com
Tel.:
+386 5 5117 152
Fax:
+386 5 5117 225
brane.ozebek@domel.si
IndraDrive
Africa, Asia, Australia incl. Pacific Rim

Australia - Australien
Australia - Australien
China
China
AIMS - Australian Industrial

Machinery Services Pty. Ltd.
28 Westside Drive
Laverton North Vic 3026
Melbourne
Bosch Rexroth Pty. Ltd.

No. 7, Endeavour Way
Braeside Victoria, 31 95
Melbourne
Shanghai Bosch Rexroth

Hydraulics & Automation Ltd.
Waigaoqiao, Free Trade Zone
No.122, Fu Te Dong Yi Road
Shanghai 200131 - P.R.China
Shanghai Bosch Rexroth

Hydraulics & Automation Ltd.
4/f, Marine Tower
No.1, Pudong Avenue
Shanghai 200120 - P.R.China
Tel.:
+61 3 93 14 3321
Fax:
+61 3 93 14 3329
Hotlines: +61 3 93 14 3321
+61 4 19 369 195
enquires@aimservices.com.au
Tel.:
+61 3 95 80 39 33
Fax:
+61 3 95 80 17 33
mel@rexroth.com.au
Tel.:
Fax:
Tel:
Fax:
China
China
China
China
Bosch Rexroth China Ltd.

15/F China World Trade Center
1, Jianguomenwai Avenue
Beijing 100004, P.R.China
Bosch Rexroth China Ltd.

Guangzhou Repres. Office
Room 1014-1016, Metro Plaza,
Tian He District, 183 Tian He Bei Rd
Guangzhou 510075, P.R.China
Bosch Rexroth (China) Ltd.

A-5F., 123 Lian Shan Street
Sha He Kou District
Dalian 116 023, P.R.China
Melchers GmbH
BRC-SE, Tightening & Press-fit
13 Floor Est Ocean Centre
No.588 Yanan Rd. East
65 Yanan Rd. West
Shanghai 200001
Tel.: +86 10 65 05 03 80
Fax: +86 10 65 05 03 79
Tel.:
Tel.:
Fax:
Tel.:
Fax:
+86 20 8755-0030
+86 20 8755-0011
+86 20 8755-2387
Fax:
+86 21 58 66 30 30
+86 21 58 66 55 23
+86 21 68 86 15 88
+86 21 58 40 65 77
richard.yang_sh@boschrexroth.com.cn
gf.zhu_sh@boschrexroth.com.cn
+86 411 46 78 930

+86 411 46 78 932
+86 21 6352 8848

+86 21 6351 3138
Hongkong
India - Indien
India - Indien
India - Indien
Bosch Rexroth (China) Ltd.

6th Floor,
Yeung Yiu Chung No.6 Ind Bldg.
19 Cheung Shun Street
Cheung Sha Wan,
Kowloon, Hongkong
Bosch Rexroth (India) Ltd.

Plot. No.96, Phase III
Peenya Industrial Area
Bangalore 560058

Advance House, II Floor
Ark Industrial Compound
Narol Naka, Makwana Road
Andheri (East), Mumbai - 400 059

S-10, Green Park Extension
New Delhi 110016
Tel.:
Fax:
Tel.:
Fax:
Tel.: +91 22 28 56 32 90
+91 22 28 56 33 18
Fax: +91 22 28 56 32 93
Tel.:
mohanvelu.t@boschrexroth.co.in
singh.op@boschrexroth.co.in
koul.rp@boschrexroth.co.in
Indonesia - Indonesien
Japan
Japan
Korea
PT. Bosch Rexroth

Building # 202, Cilandak
Commercial Estate
Jl. Cilandak KKO, Jakarta 12560
Bosch Rexroth Automation Corp.

Service Center Japan
Yutakagaoka 1810, Meito-ku,
NAGOYA 465-0035, Japan
Bosch Rexroth Automation Corp.

2F, I.R. Building
Nakamachidai 4-26-44, Tsuzuki-ku
YOKOHAMA 224-0041, Japan
Bosch Rexroth-Korea Ltd.

Electric Drives and Controls
Bongwoo Bldg. 7FL, 31-7, 1Ga
Jangchoong-dong, Jung-gu
Seoul, 100-391
Tel.: +62 21 7891169 (5 lines)

Fax: +62 21 7891170 - 71
rudy.karimun@boschrexroth.co.id
Tel.: +81 52 777 88 41

+81 52 777 88 53
+81 52 777 88 79
Fax: +81 52 777 89 01
Tel.: +81 45 942 72 10

Fax: +81 45 942 03 41
Tel.:
Fax:
Korea
Malaysia
Singapore - Singapur
South Africa - Sdafrika
Bosch Rexroth-Korea Ltd.

1515-14 Dadae-Dong, Saha-gu
Pusan Metropolitan City, 604-050
Bosch Rexroth Sdn.Bhd.

11, Jalan U8/82, Seksyen U8
40150 Shah Alam
Selangor, Malaysia
Bosch Rexroth Pte Ltd

15D Tuas Road
Singapore 638520
TECTRA Automation (Pty) Ltd.

71 Watt Street, Meadowdale
Edenvale 1609
Tel.:
+82 51 26 00 741
Fax:
+82 51 26 00 747
eunkyong.kim@boschrexroth.co.kr
Tel.:
+60 3 78 44 80 00
Fax:
+60 3 78 45 48 00
hockhwa@hotmail.com
rexroth1@tm.net.my
Tel.:
+65 68 61 87 33
Fax:
+65 68 61 18 25
sanjay.nemade
@boschrexroth.com.sg
Tel.:
+27 11 971 94 00
Fax:
+27 11 971 94 40
Hotline: +27 82 903 29 23
georgv@tectra.co.za
Taiwan
Taiwan
Thailand
Bosch Rexroth Co., Ltd.

Taichung Branch
1F., No. 29, Fu-Ann 5th Street,
Xi-Tun Area, Taichung City
Taiwan, R.O.C.
Bosch Rexroth Co., Ltd.

Tainan Branch
No. 17, Alley 24, Lane 737
Chung Cheng N.Rd. Yungkang
Tainan Hsien, Taiwan, R.O.C.
NC Advance Technology Co. Ltd.

59/76 Moo 9
Ramintra road 34
Tharang, Bangkhen,
Bangkok 10230
Tel :
+886 - 4 -23580400
Fax:
+886 - 4 -23580402
jim.lin@boschrexroth.com.tw
david.lai@boschrexroth.com.tw
Tel :
+886 - 6 253 6565
Fax:
+886 - 6 253 4754
charlie.chen@boschrexroth.com.tw
Tel.:
+852 22 62 51 00
+852 27 41 33 44
alexis.siu@boschrexroth.com.hk
+91 80 51 17 0-211...-218
+91 80 83 94 345
+91 80 83 97 374
+66 2 943 70 62
+66 2 943 71 21
Fax:
+66 2 509 23 62
Hotline
+66 1 984 61 52
sonkawin@hotmail.com
Fax:
+91 11 26 56 65 25
+91 11 26 56 65 27
+91 11 26 56 68 87
+82 234 061 813

+82 222 641 295
IndraDrive
Nordamerika North America

USA
Headquarters - Hauptniederlassung
USA Central Region - Mitte
USA Southeast Region - Sdwest
Bosch Rexroth Corporation

Central Region Technical Center
1701 Harmon Road
Auburn Hills, MI 48326

Southeastern Technical Center
3625 Swiftwater Park Drive
Suwanee, Georgia 30124
Tel.:
+1 847 6 45 36 00
Fax:
+1 847 6 45 62 01
servicebrc@boschrexroth-us.com
repairbrc@boschrexroth-us.com
Tel.:
Fax:
Tel.:
Fax:
USA East Region Ost
USA Northeast Region Nordost
USA West Region West

Charlotte Regional Sales Office
14001 South Lakes Drive
Charlotte, North Carolina 28273

Northeastern Technical Center
99 Rainbow Road
East Granby, Connecticut 06026

7901 Stoneridge Drive, Suite 220
Pleasant Hill, California 94588
Tel.:
Tel.:
Fax:
Tel.:
Fax:

5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707
+1 704 5 83 97 62
+1 704 5 83 14 86
+1 248 3 93 33 30
+1 248 3 93 29 06
+1 860 8 44 83 77
+1 860 8 44 85 95
USA SERVICE-HOTLINE
- 7 days x 24hrs -
+1-800-REX-ROTH
+1 770 9 32 32 00
+1 770 9 32 19 03
+1 800 739 7684
+1 925 227 10 84
+1 925 227 10 81
Canada East - Kanada Ost
Canada West - Kanada West
Mexico
Mexico
Bosch Rexroth Canada Corporation

Burlington Division
3426 Mainway Drive
Burlington, Ontario
Canada L7M 1A8
Bosch Rexroth Canada Corporation

5345 Goring St.
Burnaby, British Columbia
Canada V7J 1R1
Bosch Rexroth Mexico S.A. de C.V.

Calle Neptuno 72
Unidad Ind. Vallejo
07700 Mexico, D.F.
Bosch Rexroth S.A. de C.V.

Calle Argentina No 3913
Fracc. las Torres
64930 Monterrey, N.L.
Tel.:
+1 905 335 5511
Fax:
+1 905 335 4184
Hotline: +1 905 335 5511
michael.moro@boschrexroth.ca
Tel.
+1 604 205 5777
Fax
+1 604 205 6944
Hotline: +1 604 205 5777
david.gunby@boschrexroth.ca
Tel.:
Fax:
Tel.:
+52 55 57 54 17 11
+52 55 57 54 50 73
mariofelipe.hernandez@boschrexroth.com.mx
Fax:
+52 81 83 65 22 53
+52 81 83 65 89 11
+52 81 83 49 80 91
+52 81 83 65 52 80
mario.quiroga@boschrexroth.com.mx
Sdamerika South America

Argentina - Argentinien
Argentina - Argentinien
Brazil - Brasilien
Brazil - Brasilien
Bosch Rexroth S.A.I.C.

"The Drive & Control Company"
Rosario 2302
B1606DLD Carapachay
Provincia de Buenos Aires
NAKASE
Servicio Tecnico CNC
Calle 49, No. 5764/66
B1653AOX Villa Balester
Provincia de Buenos Aires
Bosch Rexroth Ltda.

Av. Tgula, 888
Ponte Alta, Atibaia SP
CEP 12942-440
Bosch Rexroth Ltda.

R. Dr.Humberto Pinheiro Vieira, 100
Distrito Industrial [Caixa Postal 1273]
89220-390 Joinville - SC
Tel.:
Tel.:
+54 11 4768 36 43
Fax:
+54 11 4768 24 13
Hotline: +54 11 155 307 6781
nakase@usa.net
nakase@nakase.com
gerencia@nakase.com (Service)
Tel.:
Tel./Fax: +55 47 473 58 33

Mobil:
+55 47 9974 6645
prochnow@zaz.com.br
+54 11 4756 01 40
+54 11 4756 02 40
+54 11 4756 03 40
+54 11 4756 04 40
Fax:
+54 11 4756 01 36
+54 11 4721 91 53
victor.jabif@boschrexroth.com.ar
+55 11 4414 56 92
+55 11 4414 56 84
Fax sales: +55 11 4414 57 07
Fax serv.: +55 11 4414 56 86
alexandre.wittwer@rexroth.com.br
Columbia - Kolumbien
Reflutec de Colombia Ltda.
Calle 37 No. 22-31
Santaf de Bogot, D.C.
Colombia
Tel.:
+57 1 368 82 67
+57 1 368 02 59
Fax:
+57 1 268 97 37
reflutec@neutel.com.co
reflutec@007mundo.com
Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Phone +49 (0)93 52-40-50 60
Fax
+49 (0)93 52-40-49 41
service.svc@boschrexroth.de
www.boschrexroth.com
R911297317
Printed in Germany

Parameter Description BOSCH REXROTH SERVO DRIVE

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Parameter Description BOSCH REXROTH SERVO DRIVE

Uploaded by

Copyright:

Available Formats

Industrial

Linear Motion and

Rexroth IndraControl VCP 20

About this Documentation

This documentation serves:

2005 Bosch Rexroth AG

This document has been printed on chlorine-free bleached paper.

Document Structure ................................................................................................................. 1-1

S-0-0000, Dummy parameter .................................................................................................. 2-1

S-0-0038, Positive velocity limit value ................................................................................... 2-27

S-0-0100, Velocity loop proportional gain.............................................................................. 2-66

S-0-0155, Friction compensation ......................................................................................... 2-104

S-0-0217, Preselect parameter set command ..................................................................... 2-133

S-0-0333, Message T >= Tx............................................................................................... 2-166

S-0-0411, Probe 2 positive latched...................................................................................... 2-199

Product Specific Parameters P-0-0001 P-0-0905

P-0-0001, Switching frequency of the power output stage ...................................................... 3-1

P-0-0056, Return velocity ...................................................................................................... 3-34

P-0-0118, Power supply, configuration.................................................................................. 3-73

P-0-0177, Absolute encoder buffer 1 (motor encoder) ........................................................ 3-109

P-0-0239, Analog input, assignment B, dead zone ............................................................. 3-147

P-0-0412, Axis correction, correction table negative ........................................................... 3-182

P-0-0508, Commutation offset............................................................................................. 3-214

P-0-0592, Motor model adjust factor ................................................................................... 3-253

P-0-0903, Encoder emulation resolution ............................................................................. 3-292

Product Specific Parameters (P-0-1000 P-0-4095)

P-0-1000, Kind of encoder 1, encoder memory....................................................................... 4-1

P-0-1215, Motor potentiometer, acceleration ........................................................................ 4-32

P-0-1395, PLC input %IW5.................................................................................................... 4-60

P-0-2206, Drive On delay time, encoder memory ................................................................. 4-91

P-0-3205, Safety technology device identifier ..................................................................... 4-116

P-0-3265, Safety related deceleration/acceleration ramp 3 ................................................ 4-149

P-0-4040, Rotor leakage inductance ................................................................................... 4-187

Service & Support

Helpdesk ........................................................................................................................................ 6-1

Internet ........................................................................................................................................... 6-1

Vor der Kontaktaufnahme... - Before contacting us....................................................................... 6-1

Kundenbetreuungsstellen - Sales & Service Facilities .................................................................. 6-2

General Information 1-1

1-2 General Information

General Information 1-3

1-4 General Information

The first two letters of the firmware designation identify the

Standard Parameters 2-1

S-0-0000, Dummy parameter

"open loop" and "closed loop"

filling up S-0-0370, Configuration list for MDT data container with

Extr. val. ch.:

Cycl. tra.: AT & MDT

S-0-0001, NC cycle time (TNcyc)

"open loop" and "closed loop"

SERCOS cycle time

See also Functional Description "Master communication SERCOS

2-2 Standard Parameters

Extr. val. ch.:

S-0-0002, SERCOS cycle time (TScyc)

optional master communication card

"open loop" and "closed loop"

time intervals of the allowed inputs: Tposition

CSB01.1x with MPB firmware:

CDB01.1C with MPD firmware:

In the case of SERCOS interface, the SERCOS cycle time has

See also Functional Description

Extr. val. ch.: