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VRAMP (Ramp time for external speed demand) ................................................................................... 29
ACCEL (Acceleration in NC mode) ......................................................................................................... 29
VMAX (Maximum speed in NC Mode) .................................................................................................... 30
V
(Loop gain setting) .............................................................................................................................. 30
0
A (Acceleration ramp time) ...................................................................................................................... 31
D (Deceleration / braking distance) ......................................................................................................... 31
PT1 (Timing of the controller) .................................................................................................................. 32
CTRL (Deceleration characteristics) ....................................................................................................... 32
5.6
Synchronous controller .................................................................................................................................... 33
SYNCMODE (Operation mode synchronous run) ................................................................................... 33
SYNCWIN (synchronization monitoring range) ....................................................................................... 34
SYNC (Control parameters) .................................................................................................................... 34
5.7
Output signal adaption ..................................................................................................................................... 35
MIN (Deadband compensation) .............................................................................................................. 35
MAX (Output scaling) .............................................................................................................................. 35
TRIGGER (Response threshold for the MIN parameter) ........................................................................ 35
OFFSET (Zero correction) ...................................................................................................................... 36
SIGNAL:U (Type and polarity of the output signal) ................................................................................. 36
5.8
Drift compensation / high accurate positioning ................................................................................................ 37
DC:AV (Activation value) ......................................................................................................................... 38
DC:DV (Deactivation value) .................................................................................................................... 38
DC:CR (Integrator limitation) ................................................................................................................... 38
DC:I (Integration time) ............................................................................................................................. 38
5.9
Special commands .......................................................................................................................................... 39
SELPLUS (additionally transmitted bus signals) ..................................................................................... 39
ETC_LOOP (Transfer rate) ..................................................................................................................... 39
DIAG (Query of the switch-off causes) .................................................................................................... 39
AINMODE (Input scaling mode) .............................................................................................................. 40
AIN (Analogue input scaling) ................................................................................................................... 40
5.10
PROCESS DATA (Monitoring)......................................................................................................................... 42
5.11
Status information ............................................................................................................................................ 42
6
Common device functions ....................................................................................................................................... 43
6.1
Failure monitoring ............................................................................................................................................ 43
6.2
Troubleshooting ............................................................................................................................................... 43
6.3
Remote control mode ...................................................................................................................................... 45
7
EtherCAT IO interface ............................................................................................................................................. 46
7.1
ETHERCAT CoE ............................................................................................................................................. 46
7.2
EtherCAT installation ....................................................................................................................................... 46
7.3
EtherCAT access handling .............................................................................................................................. 46
7.4
EtherCAT device profiles (ESI) ........................................................................................................................ 47
7.5
Standard Objects ............................................................................................................................................. 48
8
Profinet IO RT interface ........................................................................................................................................... 49
8.1
PROFINET IO function .................................................................................................................................... 49
8.2
Profinet Installation guideline ........................................................................................................................... 49
8.3
PROFINET address assignment ...................................................................................................................... 49
8.4
Device data file (GSDML) ................................................................................................................................ 50
9
Profibus DP interface ............................................................................................................................................... 50
9.1
Profibus function .............................................................................................................................................. 50
9.2
Installation guideline ........................................................................................................................................ 50
9.3
Device data file (GSD) ..................................................................................................................................... 50
10
Process data ............................................................................................................................................................ 51
10.1
Data sent to the device .................................................................................................................................... 51
Description of the bus signals ................................................................................................................. 52
Page 3 of 70
POS-124-U
24.01.2022
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