931M-931W CAN Communication v2-0 en

L-force Drives
.4&
KHB 13.0003-EN
.4&
Communication Manual
Servo Drives 930
931M/W
CANopen
This documentation is valid for 931M/W servo inverters.
Document history
Material No.
Version
2.0
.4&
Description
02/2007
TD11
First edition
0Fig. 0Tab. 0
Tip!
Current documentation and software updates concerning Lenze products can be found on
the Internet in the Services & Downloads area under
http://www.Lenze.com
Important note:
Software is provided to the user as is. All risks regarding the quality of the software and any results obtained from its use
remain with the user. The user should take appropriate security precautions against possible maloperation.
We do not accept any responsibility for direct or indirect damage caused, e.g. loss of profit, loss of orders or adverse
commercial effects of any kind.
All trade names listed in this documentation are trademarks of their respective owners.
2007 Lenze GmbH & Co KG Kleinantriebe, Hans-Lenze-Strae 1, D-32699 Extertal
No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze GmbH &
Co KG Kleinantriebe.
All information given in this documentation has been selected carefully and complies with the hardware and software described.
Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur.
Necessary corrections will be included in subsequent editions.
KHB 13.0003-EN 2.0
Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2
About this Communication Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1
Persons responsible for safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2
General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
2.3
Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
3.1
Communication data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
4.1
CAN bus wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
4.2
Connection of CAN bus slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
4.3
Connection of CAN bus master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
CANopen communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
5.1
About CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1
Structure of the CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.2
Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.3
Node address (node ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.4
User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
15
16
16
17
5.2
Parameter data transfer (SDO transfer) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1
Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2
Reading parameters (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3
Writing parameters (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
18
22
23
5.3
Process data transfer (PDO transfer) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1
5.3.2
Available process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3
Objects for PDO parameterisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.4
Description of the objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.5
Example of a process data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.6
Activation of the PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
24
25
25
25
40
42
43
5.4
Sync telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.1
5.4.2
Synchronisation of the process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.3
44
44
44
45
5.5
Network management (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1
Communication phases of the CAN network (NMT) . . . . . . . . . . . . . . . .
5.5.2
46
46
47
KHB 13.0003-EN
2.0
Contents
5.6
Emergency telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1
5.6.2
49
49
51
5.7
Heartbeat telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.1
5.7.2
53
53
55
5.8
Boot-up telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.1
56
56
5.9
Node Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.1
57
58
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
59
6.1
Activation of CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
59
6.2
Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1
Parameterising of a process data object (TPDO and RPDO) . . . . . . . . . . .
6.2.2
Parameterising of the speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.3
Running through the state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
60
60
63
64
6.3
Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.1
Parameterising of the homing run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.2
Running through the state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
66
66
68
Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
71
7.1
Loading and saving of parameter sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.2
71
71
73
7.2
Conversion factors (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.2
74
74
74
7.3
Power stage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2
75
75
75
7.4
Motor adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.2
76
76
77
7.5
Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.2
78
78
79
7.6
Position controller (position control function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.6.2
80
80
81
KHB 13.0003-EN 2.0
Contents
7.7
Digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.7.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.7.2
85
85
85
7.8
Device information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.8.1
88
88
7.9
Manufacturer-specific information parameters . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.9.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.9.2
90
90
90
7.10 Manufacturer-specific driving records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.10.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.10.2 Description of the objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
92
92
92
Device control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95
8.1
State diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.2
State diagram of the drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.3
States of the drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.4
State transitions of the drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.5
Control word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.6
Controller state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.7
Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95
95
96
98
99
100
103
104
Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
106
9.1
Setting of the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2
106
106
106
9.2
Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.2
108
108
108
9.3
Homing
9.3.1
9.3.2
9.3.3
.............................................................
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control of the homing run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
109
109
110
111
9.4
Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2
9.4.3
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
112
112
113
114
9.5
Torque control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.2
116
116
117
KHB 13.0003-EN
2.0
10
11
Contents
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
118
10.1 Index table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
118
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
153
KHB 13.0003-EN 2.0
Preface
Introduction
Preface
1.1
Introduction
The competitive situation in the mechanical and system engineering sector requires new
means to optimise the production costs. This is why modular machine and system
engineering is becoming increasingly more important, since individual solutions can now
be set up easily and cost-effectively from a single modular system.
Lenze fieldbus systems in industrial applications
For an optimal communication between the single modules of a system, fieldbus systems
are increasingly used for process automation. Lenze offers the following communication
modules for the standard fieldbus systems:
PROFIBUS-DP
CANopen
Decision support
The decision for a fieldbus system depends on many different factors. The following
overviews will help you to find the solution for your application.
PROFIBUS-DP
For bigger machines with bus lengths of more than 100 metres, INTERBUS or PROFIBUS-DP
(PROFIBUS-Decentralised Periphery) are frequently used. The PROFIBUS-DP is always used
together with a master control (PLC) here the PROFIBUS master transmits e.g. the
setpoints to the single PROFIBUS stations (e. g. Lenze controllers).
When using the data transfer rate of 1.5 Mbps typical for the PROFIBUS-DP,the sensors and
actuators receive the process data. Due to the data transmission mode and the telegram
overhead, a bus cycle time results at 1.5 Mbps, which is sufficient to control e. g. conveyors.
If, for technical reasons, the process data must be transmitted faster to the sensors and
actuators, the PROFIBUS can also be operated with a data transmission rate of maximally
12 Mbps.
CANopen
CANopen is a communication protocol specified to the CiA (CAN in Automation) user
group. Lenze can provide communication modules for controls with CANopen masters.
These modules are compatible with the specification DS 301 V4.01.
KHB 13.0003-EN
2.0
Preface
1.2
About this Communication Manual
About this Communication Manual
Target group
This manual is directed at all persons who carry out the dimensioning, installation,
commissioning and settings of the 931 series drive controllers.
Together with the catalogue, it provides the project planning basis for the manufacturer
of plants and machinery.
Contents
The CAN manual supplements the software manual and mounting instructions which are
included in the scope of supply:
The features and functions are described in detail.
It provides detailed information on the possible applications.
Parameter setting is explained with the help of examples.
In case of doubt, the supplied mounting instructions are always valid.
How to find information
The table of contents and the index help you to find all information about a certain
topic.
Descriptions and data on other Lenze products can be found in the corresponding
catalogues, operating instructions and manuals.
You can request Lenze documents from your responsible Lenze sales partner or
download it as a PDF file from the Internet.
KHB 13.0003-EN 2.0
Safety instructions
Persons responsible for safety
Safety instructions
2.1
Persons responsible for safety
Operator
An operator is any natural or legal person who uses the drive system or on behalf of whom
the drive system is used.
The operator or his safety officer is obliged
to ensure the compliance with all relevant regulations, instructions and legislation.
to ensure that only qualified personnel work on and with the drive system.
to ensure that the personnel have the Operating Instructions available for all work.
to ensure that all unqualified personnel are prohibited from working on and with
the drive system.
Qualified personnel
Qualified personnel are persons who - due to their education, experience, instructions, and
knowledge about relevant standards and regulations, rules for the prevention of
accidents, and operating conditions - are authorised by the person responsible for the
safety of the plant to perform the required actions and who are able to recognise potential
hazards.
(Definition for skilled personnel to VDE 105 or IEC 364)
KHB 13.0003-EN
2.0
Safety instructions
2.2
General safety instructions
10
General safety instructions
These safety instructions are not claimed to be complete. In case of questions and
problems, please contact your Lenze representative.
At the time of delivery, the drive controller meets the state of the art and basically
ensures safe operation.
The information given in this manual refers to the specified hardware and software
versions of the modules.
The drive controller is a source of danger if

unqualified personnel work with and on the drive controller.
the drive controller is used inappropriately.
The procedural notes and circuit details given in this manual are suggestions and
their transferability to the respective application has to be checked.
Ensure by appropriate measures that there is no risk of injury or death to persons or

risk of damage to property in the event of a drive controller failure.
Operate the drive system only when it is in a proper state.
Retrofittings, modifications or redesigns of the drive controller are basically

prohibited. Lenze must be contacted in all cases.
KHB 13.0003-EN 2.0
Safety instructions
Definition of notes used
2.3
Definition of notes used

The following pictographs and signal words are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of safety instructions:
Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph and signal word
Meaning
Danger!
Danger of personal injury through dangerous electrical voltage.

Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.
Danger!
Danger of personal injury through a general source of danger.

Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.
Stop!
Danger of property damage.

Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Application notes
Pictograph and signal word
KHB 13.0003-EN
2.0
Meaning
Note!
Important note to ensure troublefree operation
Tip!
Useful tip for simple handling

Reference to another documentation
11
Technical data
Technical data
3.1
Communication data
Communication data
Communication
Communication profile
DS 301, DSP 402
Network topology
without repeater: line / with repeaters: line or tree
CAN devices
Slave
Number of CAN devices
128
Baud rate (in kbits/s)
10, 20, 50, 100, 125, 250, 500, 800, 1000
Max. cable length per bus 1200 m (depending on baud rate and cable type)
segment
Bus connection
12
M12
KHB 13.0003-EN 2.0
Electrical installation
CAN bus wiring
A1
A2
An
CAN_SHLD
CAN_H
CAN_GND
CAN_L
CAN_L
CAN_GND
CAN_H
CAN_L
X4.2
CAN_L
CAN_GND
CAN_H
CAN_SHLD
X4.1
CAN_SHLD
CAN bus wiring
CAN_SHLD
4.1
CAN_H
CAN_GND
120 W
120
120 W
6
1 2
7 8
4 5
CAN_SHLD
CAN-GND
CAN_H
CAN_L
931m_050
Fig. 1
Basic wiring of CANopen with Sub-D connector to the master

A1 Node 1 - master (e.g. PLC)
A2 Node 2 - slave (e.g. 931M/W controller)
An Node n - slave, n = max. 128
Stop!
Connect a 120 terminating resistor to the first and last bus device.
If the last bus device is a 931M/W controller, use the fluxx software to activate the
terminating resistor.
Specification of the transmission cable
Please observe our recommendations for signal cables.
Bus cable specification
KHB 13.0003-EN
Cable resistance
135 - 165 /km, (f = 3 - 20 MHz)
Capacitance per unit length
30 nF/km
Loop resistance
< 110 /km
Wire diameter
> 0.64 mm
Wire cross-section
> 0.34 mm2
Wires
double twisted, insulated and shielded
2.0
13
4.2
Connection of CAN bus slave
Connection of CAN bus slave
X4.1 / X4.2
Input contact
pattern
4.3
Output contact Pin

pattern
Signal
Explanation
CAN_SHLD
CAN_Shield
Reserved
CAN_GND
CAN_Ground
CAN_H
CAN_HIGH (high is dominant)
CAN_L
CAN_LOW (low is dominant)
Connection of CAN bus master

Below, you can find the assignment of a 9-pole Sub-D socket used by most CAN masters for
the connection of fieldbus devices.
CAN bus connection to a 9-pole Sub-D socket
View
1
2
14
Explanation
Reserved
CAN_L
CAN_LOW (low is dominant)
CAN_GND
CAN_Ground
Reserved
(CAN_SHLD)
Optional CAN_Shield
(GND)
Optional ground
CAN_H
CAN_HIGH (high is dominant)
Reserved
(CAN_V+)
Optional external voltage supply of CAN
Tab. 1
Signal
Pin
CAN Sub-D socket
KHB 13.0003-EN 2.0
CANopen communication
About CANopen
Structure of the CAN data telegram
5.1
About CANopen
The CANopen protocol is a standardised layer 7 protocol for the CAN bus. This layer is based
on the CAN application layer (CAL), which has been developed as a universal protocol.
In practice, however, it became clear that applications with CAL were too complex for the
user. CANopen is a uniform, easy-to-use structure which has been developed to provide a
connection for CAN devices from different manufacturers.
5.1.1
Structure of the CAN data telegram

Control field
Start
RTR bit
Identifier
1 bit
Fig. 2
11 bits
1 bit
2 bits
CRC delimit.
ACK delimit.
CRC sequence
ACK slot
End
Data User data (0 ... 8 bytes)

length z Network management
z Process data
4 bits
z Parameter data
15 bits
1 bit
1 bit
1 bit
7 bits
Basic structure of the CAN telegram
Note!
To the user, only the identifier, the data length and the user data are relevant.
All other data of the CAN telegram is automatically processed by the system.
KHB 13.0003-EN
2.0
15
5.1.2
Identifier
About CANopen
Identifier
The principle of the CAN communication is based on a message-oriented data exchange

between a sender and many receivers. All nodes can send and receive
quasi-simultaneously.
The identifier in the CAN telegram - also called COB-ID (Communication Object Identifier)
- is used to control which node is to receive a sent message. In addition to the addressing,
the identifier contains information on the priority of the message and on the type of the
user data.
Except for the network management and the sync telegram, the identifier contains the
node address of the controller:
Identifier (COB-ID) = basic identifier + adjustable node address (node ID)
The identifier assignment is specified in the CANopen protocol.
The basic identifier ex works is preset to the following values:
Direction
Object
from the drive
PDO2
(process data channel 2)
PDO3
to the drive
SDO
(parameter data channel)
PDO1
Basic identifier
X
TPDO1
RPDO1
TPDO2
RPDO2
TPDO3
RPDO3
X
X
X
X
X
X
X
RPDO4
SYNC
080
Emergency
080
Heartbeat/boot-up
700
NMT
5.1.3
hex
580
600
180
200
280
300
380
400
500
000
Node address (node ID)

Each node of the CAN network must be assigned with a node address (also called node ID)
within the valid address range for unambiguous identification.
16
A node address may not be assigned more than once within a network.
KHB 13.0003-EN 2.0
About CANopen
User data
5.1.4
User data
The master and the drive controller communicate with each other by exchanging data
telegrams via the CAN bus.
The user data range of the CAN telegram contains network management data, parameter
data or process data:
KHB 13.0003-EN
Network management data (NMT data)

Network service: E.g. all CAN nodes can be influenced at the same time.
Process data (PDO, process data objects)

Process data is transferred via the process data channel.
Process data can be used to control the drive controller.
The master can directly access the process data. The data is, for instance, directly
assigned to the I/O area of the master. It is necessary that the control and the drive
controller can exchange data within a very short time interval. For this purpose,
small amounts of data can be transferred cyclically.
Process data is not stored in the drive controller.
Process data is transferred between the master and the drive controllers to ensure
a continuous exchange of current input and output data.
Examples for process data are, for instance, setpoints and actual values.
Parameter data (SDO, service data objects)

Parameters are set, for instance, for the initial system set-up during
commissioning or when the material is changed on a production machine.
Parameter data is transferred by means of so-called SDOs via the parameter data
channel. The transfer is acknowledged by the receiver, i.e. the sender gets a
feedback about the transfer being successful or not.
The parameter data channel enables the access to all CANopen indexes.
In general, the transfer of parameters is not time-critical.
Examples for parameter data are, for instance, operating parameters, diagnostic
information and motor data.
2.0
17
5.2
Parameter data transfer (SDO transfer)
5.2.1
Telegram structure

Telegram structure
The telegram for parameter data has the following structure:

11 bits
4 bits
User data (up to 8 bytes)

1st byte
Identifier
Data
length
2nd byte
3rd byte
4th byte
Command
Index
Index
Subindex
code
low byte high byte
5th byte
6th byte
7th byte
8th byte
Data 1
Data 2
Data 3
Data 4
Error code
The following subchapters explain in detail the different parts of the telegram.
Identifier
11 bits
4 bits
Identifier
Data
length

Command
Index
Index
Subindex
code
low byte high byte
Data 1
Data 2
Data 3
Data 4
With the exception of the network management and the sync telegram, the identifier
contains the node address of the drive:
Identifier (COB ID) = basic identifier + adjustable node address (node ID)
The identifier assignment is specified in the CANopen protocol.
The ex works default setting of the basic identifier is:
Object
Direction
From the drive
To the drive
Hex
580
600
SDO (parameter data channel)
18
Basic identifier
KHB 13.0003-EN 2.0

Telegram structure
Command code
11 bits
4 bits

1st byte
Identifier
Data
length
2nd byte
3rd byte
4th byte
Command
Index
Index
Subindex
code
low byte high byte
5th byte
6th byte
7th byte
8th byte
Data 1
Data 2
Data 3
Data 4
Error code
The command code contains the services for writing and reading parameters and the
information on the length of the user data.
Structure of the command code:
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
MSB
LSB
Write command code
Write command / write request
Response to write command / write
response
Length
CS
0
Length
Read command code
CS
Read command / read request
Response to read command / read

response
Error command code

Error response
CS
1
Length
Comment
CS: command
specifier
User data length
is coded in bits 2
and 3:
z 00 = 4 bytes
z 01 = 3 bytes
z 10 = 2 bytes
z 11 = 1 byte
The command code specifies whether a value is to be read or written. The command code
also determines the data length (1 byte, 2 bytes, 4 bytes).
4-byte data
(5th ... 8th
byte)
2-byte data
(5th and 6th
byte)
1-byte data
(5th byte)
Write command code

Write command / write request
(Send parameters to the drive)
hex
hex
hex
23
2B
2F
Response to write command / write response

(Response of the drive controller to the write request
(acknowledgement))
60
60
60
Read command / read request

(Request to read a parameter from the drive controller)
40
40
40
Response to read command / read response

(Response to the read request with the actual value)
43
4B
4F
80
80
80
Read command code
Error command code

Error response
(The drive controller signals a communication error)
KHB 13.0003-EN
2.0
19

Telegram structure
Index low byte / index high byte

11 bits
4 bits

1st byte
Identifier
Data
length
2nd byte
3rd byte
4th byte
Command
Index
Index
Subindex
code
low byte high byte
5th byte
6th byte
7th byte
8th byte
Data 1
Data 2
Data 3
Data 4
The object to be addressed is contained in bytes 2 and 3 of the telegram.
The value for the index is split up into low byte and high byte and entered in the
left-justified Intel format.
Subindex
11 bits
4 bits
Identifier
Data
length

1st byte
2nd byte
3rd byte
4th byte
Command
Index
Index
Subindex
code
low byte high byte
5th byte
6th byte
7th byte
8th byte
Data 1
Data 2
Data 3
Data 4
If an object (e.g. controller parameter) consists of several sub-objects, the

sub-objects are addressed via subindexes. The number of the corresponding
subindex is entered in byte 4 of the telegram. (See following tables for sub-objects).
If an object has no sub-objects, the value 0 is entered in byte 4 of the telegram.

(See following sub-object tables).
Data (data 1 ... data 4)

11 bits
4 bits

1st byte
Identifier
Data
length
2nd byte
3rd byte
4th byte
Command
Index
Index
Subindex
code
low byte high byte
5th byte
6th byte
7th byte
8th byte
Data 1
Data 2
Data 3
Data 4
For the data of the parameter up to 4 bytes (data 1 ... data 4) are available.
The data is represented in the left-justified Intel format with data 1 as the LSB and data 4
as the MSB.
20
KHB 13.0003-EN 2.0

Telegram structure
Error code (F0 ... F3)

11 bits
4 bits

1st byte
Identifier
Data
length
2nd byte
3rd byte
4th byte
5th byte
6th byte
7th byte
8th byte
F0
F1
F2
F3
Command
Index
Index
Subindex
code
low byte high byte
Error code
Byte 1:
Code 80h in the command code byte indicates that an error has occurred.
Bytes 2, 3 and 4:
These bytes contain the index (bytes 2 and 3) and the subindex (byte 4) at which an
error occurred.
Bytes 5 to 8:
The data bytes 5 to 8 contain the error code. The error code is represented opposite
to the direction of reading.
Example:
The representation of the error code 06 04 00 41h in bytes 5 to 8
Reading direction of the error code
41
00
04
06
5th byte
6th byte
7th byte
8th byte
High byte
Low byte
Low word
Low byte
High word
High byte
The below table lists the meanings of the error numbers:

Error code
F3
F2
F1
Explanation
F0
06 01 00 00 Object access not supported

06 01 00 01 Read access to object which can only be written
06 01 00 02 Write access to object which can only be read
06 02 00 00
Object addressed not listed in object directory
06 04 00 41 Object must not be mapped to PDO

06 04 00 42 Number and length of objects to be transferred exceed PDO length.
06 07 00 10 Protocol error: Unsuitable service parameter length
06 07 00 12 Protocol error: Service parameter length too long
06 07 00 13 Protocol error: Service parameter length not long enough
06 09 00 11 Subindex not available
06 09 00 30 Data exceed object value range
06 09 00 31 Data too high for object
06 09 00 32 Data too low for object
08 00 00 20 Data cannot be transferred / stored.1)
08 00 00 21 Data cannot be transferred / stored due to local control
08 00 00 22 Data cannot be transferred / stored due to current controller status.2)
1)
2)
KHB 13.0003-EN
2.0
According to DS301, data is returned in case of faulty access to store_parameters / restore_parameters.

May be due to wrong operating mode or if the number of objects to be mapped is written when PDO is activated.
21
5.2.2
Reading parameters (example)

Reading parameters (example)
Problem
The operating mode (object 6060_00) of the controller with node address 1 is to be read
via the parameter channel.
Telegram to the drive controller
Value
Info
Identifier
= Basic identifier + node address

= 600 + 1 = 601h
z
z
Basic identifier for parameter channel = 600h

Node address = 1
Data length
= 05
Command code
= 40h
Read request command (request to read a

parameter)
Index
= 6060h
Operating mode index
Subindex
=0
Subindex = 0
Data 1
= 00h
Read request only
11 bits
4 bits
Identifier
Data
length
601h
05h
User data
Command
Index
Index
Subindex
code
low byte high byte
40h
60h
60h
00h
Data 1
Data 2
Data 3
Data 4
00h
Telegram from the drive controller
22
Value
Info
Identifier

= 580 + 1 = 581h
z
z

Node address = 1
Data length
= 05
Command code
= 43h
Read response command (response to the read

request with the actual value)
Index
= 6060h
Subindex
=0
Subindex = 0
Data 1
= 03h
Assumption: The operating mode is set to 03h (speed).
11 bits
4 bits
Identifier
Data
length
581h
05h
User data
Command
Index
Index
Subindex
code
low byte high byte
43h
60h
60h
00h
Data 1
Data 2
Data 3
Data 4
03h
KHB 13.0003-EN 2.0

Writing parameters (example)
5.2.3
Writing parameters (example)

Problem
The operating mode (object 6060_00) of the controller with node address 1 is to be set to
03 (speed) via the SDO (parameter data channel).
Telegram to the drive controller
Value
Info
Identifier

= 600 + 1 = 601h
z
z

Node address = 1
Data length
= 05
Command code
= 23h
Write request command (send parameter to the

drive)
Index
= 6060h
Subindex
=0
Subindex = 0
Data 1
= 03h
Assumption: The operating mode is set to 03h (speed).
11 bits
4 bits
Identifier
Data
length
601h
05h
User data
Command
Index
Index
Subindex
code
low byte high byte
23h
60h
60h
00h
Data 1
Data 2
Data 3
Data 4
03h
Telegram from the drive controller (acknowledgement for faultless execution)
KHB 13.0003-EN
Value
Info
Identifier

= 580 + 1 = 581h
z
z

Node address = 1
Data length
= 05
Command code
= 60h
Write response command (acknowledgement from

the drive controller)
Index
= 6060h
Subindex
=0
Subindex = 0
Data 1
= 00h
Acknowledgement only
11 bits
4 bits
Identifier
Data
length
581h
05h
2.0
User data
Command
Index
Index
Subindex
code
low byte high byte
60h
60h
60h
00h
Data 1
Data 2
Data 3
Data 4
00h
23
5.3
Process data transfer (PDO transfer)
Process data objects (PDOs) can be used, for instance, for the fast event-controlled transfer
of data. The PDO transfers one or several parameters specified in advance. Unlike with an
SDO, the transfer of a PDO is not acknowledged. After the PDO activation, all receivers
must therefore always be able to process any arriving PDOs. This usually means a
considerable software load on the master. However, this disadvantage is compensated by
the advantage that the master does not need to cyclically poll the parameters transferred
by a PDO, which results in a significant reduction of the CAN bus load.
Example:
The master wants to know when the drive controller has completed the positioning from
A to B.
When SDOs are used for this purpose, the master continuously (e.g. every millisecond) has
to poll the status word object, i.e. the load on the bus is high.
When a PDO is used, right from the start of the application the drive controller is
parameterised in such a way that it transmits a PDO containing the status word object as
soon as the status word object changes.
Instead of polling continuously, the master automatically receives a corresponding
message as soon as the event has occurred.
The following types of process data telegram are distinguished
24
Process data telegrams to the drive controller: Receive PDO (RPDOx)
Process data telegrams from the drive controller: Transmit PDO (TPDOx)
KHB 13.0003-EN 2.0

Telegram structure
5.3.1
Telegram structure
The telegram for process data has the following structure:
5.3.2
11 bits
4 bits
Identifier
Data
length

1st byte
2nd byte
3rd byte
4th byte
5th byte
6th byte
7th byte
8th byte
Data 0
Data 1
Data 2
Data 3
Data 4
Data 5
Data 6
Data 7
Available process data objects

The drive controller is equipped with three transmit and four receive PDOs.
Almost all objects of the object directory can be entered in (mapped to) the PDOs, i.e. the
PDO contains for instance the actual speed value or actual position value as data. The drive
controller must know in advance which data is to be transferred because the PDO only
contains user data and no information about the type of the parameter.
In this way almost all kinds of data telegrams can be defined. The settings required are
described in the following chapters.
5.3.3
Objects for PDO parameterisation

Three transmit PDOs (TPDO) and four receive PDOs (RPDO) are available in the controller.
The objects of the PDOs are identical.
KHB 13.0003-EN
2.0
25

1. Transmit PDO
Index
1800h
Name
Possible settings
Characteristics
Lenze
Description
Selection
Transmit PDO1
communication
parameters
0 number_of_entries
00h
{1h}
05h
REC
UINT8
RO
Maximally supported
subindices.
05h
1 COB-ID_used_by_
PDO
80000181h
Six subindices are supported.
80000181h
{1h}
800001FFh
UINT32
RW
Identifier of transmit PDO1,

(180h + node address).
For processing, bit 31 must
be set (parameterisation of
mapping).
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29
The extended identifier

(bit 29) is not supported.
Every bit in this range must
be set to 0.
30
Set to zero.
31
PDO active
1
2 transmission_type
FFh
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW
Setting the transmission

mode.
3 inhibit_time
Function is deactivated.
n = 1 ... F0
When a value n is entered,

the PDO is accepted every
n-th sync.
n = FE
Cyclic transmission mode.
n = FF
Event-controlled
transmission mode.
{100 s}
65535
UINT16
RW
Setting the minimum delay

time between two PDOs. The
time can only be changed
when the PDO is not active
(subindex 1, bit 31 = 1).
4 CMS_priority_
group_tpdo1
{1}
5 event_timer
{1 ms}
255
UINT8
RW
65535
UINT16
RW
Setting the maximum delay

time between two PDOs.
0
26
KHB 13.0003-EN 2.0

Index
Name
1A00h
Transmit PDO1
mapping
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_
mapped_objects
Selection
00h
{1h}
REC
UINT32
RW
Maximally supported
subindices.
04h
1 first_mapped_
object
04h
Five subindices are

supported.
60410010h
{1h}
UINT32
RW
COB-ID entry of first mapped

object.
2 second_mapped_
object
UINT32
RW
COB-ID entry of second

mapped object.
...
4 fourth_mapped_
object
KHB 13.0003-EN
2.0
UINT32
RW
COB-ID entry of fourth

mapped object.
27

2. Transmit PDO
Index
1801h
Name
Possible settings
Characteristics
Lenze
Description
Selection
Transmit PDO2
communication
parameters
0 number_of_entries
00h
{1h}
05h
REC
UINT8
RO
Maximally supported
subindices.
05h
1 COB-ID_used_by_
PDO
80000281h
80000281h
{1h}
800002FFh
UINT32
RW

mapping).
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

be set to 0.
30
Set to zero.
31
PDO active
1
2 transmission_type
FFh
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
3 inhibit_time
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
{100 s}
65535
UINT16
RW

4 CMS_priority_
group_tpdo2
{1}
5 event_timer
{1 ms}
255
UINT8
RW
65535
UINT16
RW

0
28
KHB 13.0003-EN 2.0

Index
Name
1A01h
Transmit PDO2
mapping
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_
mapped_objects
Selection
00h
{1h}
04h
REC
1 first_mapped_
object
60410010h
2 second_mapped_
object
60610008h
Five subindices are

supported.
{1h}
UINT32
RW

object.
{1h}
UINT32
RW

mapped object.
3 third_mapped_
object
4 fourth_mapped_
object
2.0
RW
Maximally supported
subindices.
04h
KHB 13.0003-EN
UINT32
UINT32
RW
COB-ID entry of third

mapped object.
UINT32
RW

mapped object.
29

3. Transmit PDO
Index
1802h
Name
Possible settings
Characteristics
Lenze
Description
Selection
Transmit PDO3
communication
parameters
0 number_of_entries
00h
{1h}
05h
REC
UINT8
RO
Maximally supported
subindices.
05h
1 COB-ID_used_by_
PDO
80000381h
80000381h
{1h}
800003FFh
UINT32
RW

mapping).
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

be set to 0.
30
Set to zero.
31
PDO active
1
2 transmission_type
FFh
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
3 inhibit_time
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
{100 s}
65535
UINT16
RW

4 CMS_priority_
group_tpdo3
{1}
5 event_timer
{1 ms}
255
UINT8
RW
65535
UINT16
RW

0
30
KHB 13.0003-EN 2.0

Index
Name
1A02h
Transmit PDO3
mapping
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_
mapped_objects
Selection
00h
{1h}
04h
REC
1 first_mapped_
object
60410010h
2 second_mapped_
object
60640020h
Five subindices are

supported.
{1h}
UINT32
RW

object.
{1h}
UINT32
RW

mapped object.
3 third_mapped_
object
4 fourth_mapped_
object
2.0
RW
Maximally supported
subindices.
04h
KHB 13.0003-EN
UINT32
UINT32
RW

mapped object.
UINT32
RW

mapped object.
31

1. Receive PDO
Index
1400h
Name
Possible settings
Characteristics
Lenze
Description
Selection
Receive PDO1
communication
parameters
0 number_of_entries
00h
{1h}
02h
REC
UINT8
RO
Maximally supported
subindices.
02h
1 COB-ID_used_by_
PDO
80000201h
Three subindices are

supported.
80000201h
{1h}
800002FFh
UINT32
RW
Identifier of receive PDO1

(200h + node address)
mapping).
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

be set to 0.
30
Set to zero.
31
PDO active
1
2 transmission_type
FFh
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
32
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
KHB 13.0003-EN 2.0

Index
Name
1600h
Receive PDO1
mapping
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_
mapped_objects
Selection
00h
{1h}
REC
UINT32
RW
Maximally supported
subindices.
04h
1 first_mapped_
object
04h
Five subindices are

supported.
60400010h
{1h}
UINT32
RW

object.
2 second_mapped_
object
UINT32
RW

mapped object.
...
4 fourth_mapped_
object
KHB 13.0003-EN
2.0
UINT32
RW

mapped object.
33

2. Receive PDO
Index
1401h
Name
Possible settings
Characteristics
Lenze
Description
Selection
Receive PDO2
communication
parameters
0 number_of_entries
00h
{1h}
02h
REC
UINT8
RO
Maximally supported
subindices.
02h
1 COB-ID_used_by_
PDO
80000301h

supported.
80000301h
{1h}
800003FFh
UINT32
RW

mapping).
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

be set to 0.
30
Set to zero.
31
PDO active
1
2 transmission_type
FFh
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
34
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
KHB 13.0003-EN 2.0

Index
Name
1601h
Receive PDO2
mapping
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_
mapped_objects
Selection
00h
{1h}
04h
REC
1 first_mapped_
object
60400010h
2 second_mapped_
object
60600008h
Five subindices are

supported.
{1h}
UINT32
RW

object.
{1h}
UINT32
RW

mapped object.
3 third_mapped_
object
4 fourth_mapped_
object
2.0
RW
Maximally supported
subindices.
04h
KHB 13.0003-EN
UINT32
UINT32
RW

mapped object.
UINT32
RW

mapped object.
35

3. Receive PDO
Index
1402h
Name
Possible settings
Characteristics
Lenze
Description
Selection
Receive PDO3
communication
parameters
0 number_of_entries
00h
{1h}
02h
REC
UINT8
RO
Maximally supported
subindices.
02h
1 COB-ID_used_by_
PDO
80000401h

supported.
80000401h
{1h}
800004FFh
UINT32
RW

mapping).
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

be set to 0.
30
Set to zero.
31
PDO active
1
2 transmission_type
FFh
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
36
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
KHB 13.0003-EN 2.0

Index
Name
1602h
Receive PDO3
mapping
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_
mapped_objects
Selection
00h
{1h}
04h
REC
1 first_mapped_
object
60400010h
2 second_mapped_
object
607A0020h
Five subindices are

supported.
{1h}
UINT32
RW

object.
{1h}
UINT32
RW

mapped object.
3 third_mapped_
object
4 fourth_mapped_
object
2.0
RW
Maximally supported
subindices.
04h
KHB 13.0003-EN
UINT32
UINT32
RW

mapped object.
UINT32
RW

mapped object.
37

4. Receive PDO
Index
1403h
Name
Possible settings
Characteristics
Lenze
Description
Selection
Receive PDO4
communication
parameters
0 number_of_entries
00h
{1h}
02h
REC
UINT8
RO
Maximally supported
subindices.
02h
1 COB-ID_used_by_
PDO
80000501h

supported.
80000501h
{1h}
800004FFh
UINT32
RW

mapping).
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

be set to 0.
30
Set to zero.
31
PDO active
1
2 transmission_type
FFh
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
38
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
KHB 13.0003-EN 2.0

Index
Name
1603h
Receive PDO4
mapping
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_
mapped_objects
Selection
00h
{1h}
04h
REC
1 first_mapped_
object
60400010h
2 second_mapped_
object
60FF0020h
Five subindices are

supported.
{1h}
UINT32
RW

object.
{1h}
UINT32
RW

mapped object.
3 third_mapped_
object
4 fourth_mapped_
object
2.0
RW
Maximally supported
subindices.
04h
KHB 13.0003-EN
UINT32
UINT32
RW

mapped object.
UINT32
RW

mapped object.
39
5.3.4
Description of the objects

Identifier of the PDO (COB_ID_used_by_PDO)

Enter the identifier to be used to transmit or receive the PDO in the object
COB_ID-used_by_PDO. If bit 31 is set, the PDO is deactivated. This is the default setting for
all PDOs.
The COB ID can only be changed if the PDO is deactivated, i.e. if bit 31 is set. For changing
the COB ID, you therefore have to keep to the following sequence:
Read out the COB ID
Write the read COB ID + 80000000h
Write the new COB ID + 80000000h
Write the new COB ID, the PDO is active again.
Transmission mode (transmission_type and inhibit_time)

For each PDO, the event leading to a message being sent (transmit PDO) or evaluated
(receive PDO) can be defined:
Value
Meaning
Permitted for
00h - F0h
Sync telegram
TPDO
RPDO
The numerical value indicates how many sync telegrams are ignored between two
transmissions before the PDO is
- sent (TPDO) or
- evaluated (RPDO).
FEh
Cyclic
The TPDO is cyclically updated and sent by the controller. The time interval is
determined by the event_time object.
RPDOs, however, are only evaluated immediately after the receipt.
FFh
Event-controlled with cyclic overlay
TPDO
(RPDO)
TPDO
The TPDO is sent, if, at least 1 bit of the PDO data has changed or if the time of the
event_timer object is over. When 0 ms is selected, the timer is deactivated and a
PDO is only sent when a new event occurs.
inhibit_time can be used to determine the minimum time interval in 100 s steps
between the transmission of two PDOs.
The use of all other values is not permitted.

Number of objects to be transferred (number_of_mapped_objects)
This object indicates how many objects are to be mapped into the corresponding PDO. The
following restrictions have to be taken into account:
40
It is not possible to map more than 4 objects per PDO
A PDO can have a maximum of 64 bits (8 bytes).
KHB 13.0003-EN 2.0

Objects to be transferred (first_mapped_object ... fourth_mapped_object)

For every object to be contained in the PDO, the drive controller must know the
corresponding index, subindex and length. The specified length must be identical to the
length specified in the object dictionary. It is not possible to map parts of an object.
The mapping information has the following format:
Index
Subindex
Length
16 bits
8 bits
8 bits
Index: Main index of the object to be mapped (hex)
Subindex: Subindex of the object to be mapped (hex)
Length: Length of object - 8, 16 or 32 bits (hex)
In order to simplify the mapping, the following procedure is given:

1. The number of the mapped objects is set to 0.
2. The first_mapped_object ... fourth_mapped_object parameters can be written (the
total length of all objects is not relevant at this time).
3. The number of the mapped objects is set to a value between 1 ... 4. The length of all
these objects must not exceed 64 bits.
KHB 13.0003-EN
2.0
41
5.3.5
Example of a process data telegram

Example of a process data telegram
The following objects are to be transferred together in a PDO:
Status word, index 6041_00h
Modes_of_operation_display, index 6061_00h (operating mode)
The first transmit PDO (TPDO 1) is to be used. 187h is to be used as PDO identifier.
1. Delete the number of objects.
Description
Name
Value
To enable the change of the object mapping, the number of

objects has to be set to zero.
number_of_mapped_objects
2. Parameterise the objects which are to be mapped.

Description
Name
Value
Index = 6041h, subindex = 00h, length = 10h (UINT16)
first_mapped_object
60410010h
Index = 6061h, subindex = 00h, length = 08h (INT8)
second_mapped_object
60610008h
Description
Name
Value
The PDO has to contain 2 objects
number_of_mapped_objects
2h
Description
Name
Value
The PDO is to be sent when data is changed.
transmission_type
FFh
The PDO is to be sent not more often than every 10 ms

(100 100 s).
inhibit_time
64h
Name
Value
Read out the identifier:
cob_id_used_by_pdo
00000181h
Set bit 31 (deactivate PDO):
cob_id_used_by_pdo
80000181h
Write new identifier:
cob_id_used_by_pdo
80000187h
Activate PDO by deleting bit 31:
cob_id_used_by_pdo
00000187h
The objects listed above have to be composed to form a 32-bit

value each:
3. Parameterise the number of objects.
4. Parameterise the transmission mode.
5. Parameterise the identifier.

Description
The PDO has to be sent with the identifier 187h. If the PDO is
active, it first has to be deactivated.
Note!
The parameterisation of the PDO can only be changed if the network state
(NMT) is not operational.
42
KHB 13.0003-EN 2.0

Activation of the PDOs
5.3.6
Activation of the PDOs

The following criteria must be met to enable the drive controller to send or receive PDOs:
The number_of_mapped_objects object must be non-zero.
Bit 31 of the cob_id_used_for_pdos object must be deleted.
The communication state of the controller must be operational (see chapter 5.5,
network management).
The following criterion must be met to enable the parameterisation of PDOs:
KHB 13.0003-EN
2.0
The communication state of the drive controller must not be operational.
43
5.4
Sync telegram
Sync telegram
Telegram structure
It is possible to synchronise several controllers of a plant with each other. For this, the
master usually periodically sends synchronisation messages. All controllers connected
receive these messages and use them for PDO processing.
5.4.1
Telegram structure
11 bits
4 bits
Identifier
Data
length
The identifier on which the drive controller receives the sync telegram is permanently set
to 080h. The data length is 0.
5.4.2
Synchronisation of the process data

The sync telegram is the trigger point for data acceptance in the drive controller and it
starts the sending process of the drive controller. Cyclic process data processing requires
an appropriate generation of the sync telegram.
PDO1-TX
1.
PDO1-RX
2.
3.
4.
epm-t111
Fig. 3
Synchronisation of cyclic process data by means of a sync telegram (without consideration of

asynchronous data)
c
Sync telegram
Transmission sequence
1. After the sync telegram has been received, the cyclic process data are send from the
drive controllers to the master. The data is read by the master as process input data.
2. When the sending process is completed, the process output data (of the master) is
received by the drive controllers.
3. The data is accepted by the drive controllers with the next sync telegram.
4. All other telegrams (e.g. for parameters or event-controlled process data) are
accepted asynchronously by the drive controllers after the transmission has been
completed.
44
KHB 13.0003-EN 2.0
Sync telegram
5.4.3
Index
1005h
Name
0 COB-ID_sync_
message
Possible settings
Lenze
Selection
00000080h
00000080h
0 communication_
cycle_period
Description
{1h}
0 synchronous_
window_length
2.0
UINT32
RW
Value
0 - 10
11-bit identifier.
11 - 28
29

be set to 0.
30
Controller does not generate

sync telegrams.
Controller generates sync

telegrams.
As you choose
{1 s}
VAR
UINT32
RO
Setting the cycle time of

synchronisation messages.
No synchronisation message
sending.
{1 s}
VAR
UINT32
RO
Setting the time slot in

which the sync telegrams are
sent.
0
KHB 13.0003-EN
VAR
Bit No.
0
1007h
80000080h
The identifier of the

synchronisation object is 80h.
Determining whether the
controller is to receive or
send synchronisation
messages.
31
1006h
Characteristics
45
5.5
Network management (NMT)

Communication phases of the CAN network (NMT)
Via the network management, the master can carry out state changes for the entire CAN
network. For this purpose, the identifier with the highest priority (000h) is reserved.
5.5.1
Communication phases of the CAN network (NMT)

Regarding communication, the drive distinguishes between the following states:
46
State
Explanation
Initialisation
Initialisation starts when the controller is switched on. In this phase, the
controller does not take part in the bus data transfer.
It is also possible in every NMT state to restart the entire initialisation or parts
of it by transferring special telegrams (see State transitions). In this case, all
parameters already set are overwritten with their standard values.
After initialisation has been completed, the controller is automatically set to the
state pre-operational.
Pre-operational
(before being ready for
operation)
The controller can receive parameter data.

Process data is ignored.
Operational
(ready for operation)
The controller can receive parameter data and process data.
Stopped
Only network management telegrams can be received.
KHB 13.0003-EN 2.0

Telegram structure
5.5.2
Telegram structure
11 bits
Identifier
4 bits
Data
length
User data (2 bytes)

1st byte
2nd byte
CS
NI
3rd byte
4th byte
5th byte
6th byte
7th byte
8th byte
Via the NMT, commands can be sent to one or all drive controllers. Each command consists
of two bytes. The first byte contains the command code (command specifier, CS) and the
second byte contains the node address (node ID, NI) of the addressed drive controller. Via
the node address zero, all nodes of the network can be addressed simultaneously. It is thus,
for instance, possible to reset all drive controllers simultaneously. The drive controllers do
not acknowledge the NMT commands. The successful execution can only be inferred
indirectly e.g. from the switch-on message after a reset.
The NMT states of the CANopen nodes are defined in a state diagram. Via the CS byte in the
NMT message state changes can be initiated. These changes are mainly orientated
towards the target state.
In the NI parameter, the node address of the drive controller has to be specified. If all nodes
of the network are to be addressed (broadcast), the parameter must be set to zero.
Note!
Communication via process data is only possible with a state change to
operational!
Example:
For changing the state of all nodes on the bus from pre-operational to
operational via the CAN master, the following identifier and user data must
be set in the telegram:
Identifier: 00 (broadcast telegram)
User data: 0100 (hex)
KHB 13.0003-EN
2.0
47
Telegram structure
State transitions
(1)
Initialisation
(2)
(14)
(11)
Pre-Operational
(7)
(4)
(13)
(3)
(12)
(10)
(5)
Stopped
(6)
(9)
(8)
Operational
E82ZAFU004
Fig. 4
Network management state transitions
State
transition
Command
(hex)
Network state after

change
Effect on process and parameter data after state change

At power-on the initialisation is started automatically.
During the initialisation, the drive controller does not take part in the data
transfer.
After the initialisation is completed, a boot-up message with an own
identifier is sent from the drive controller to the master and the drive
controller automatically changes to the pre-operational state.
(1)
Initialisation
(2)
Pre-operational
In this phase, the master decides how the drive controller/s is/are to
participate in the communication.
From this moment on, the master changes the states for the entire network. A target address, which is part of the command, specifies the
receiver/s.
(3), (6)
01 xx
Operational
(4), (7)
80 xx
Pre-operational
(5), (8)
02 xx
Stopped
(9)
(10)
82 xx
(11)
Initialisation
(12)
(13)
(14)
xx = node ID
48
Network management telegrams, sync, emergency and parameter data

(SDO) are active (corresponds to enter pre-operational state)
Only network management telegrams can be received.
Initialisation of all parameters in the communication module with the
stored values (corresponds to reset node)
Initialisation of communication-relevant parameters (CIA DS 301) in the
communication module with the stored values (corresponds to reset
communication)
81 xx
xx = 00hex
Network management telegrams, sync, emergency, process data (PDO)

and parameter data (SDO) are active (corresponds to start remote node)
Optional:
Event-controlled and time-controlled process data (PDO) are sent once in
the case of a change.
With this assignment, all devices connected are addressed by the telegram. The
state can be changed for all devices at the same time.
If a node address is specified, only the state of the addressed device will be
changed.
KHB 13.0003-EN 2.0
Emergency telegram
Telegram structure
5.6
Emergency telegram
The controller monitors the functioning of its main components, e. g. voltage supply and
power stage. In addition, the motor (temperature, phase-angle encoder) and the limit
switches are checked continuously. Incorrect parameter settings can also lead to error
messages (division by zero, etc.).
5.6.1
Telegram structure
11 bits
4 bits
Identifier
Data
length
Error code
1001h
1st byte
2nd byte
3rd byte
4th byte
5th byte
6th byte
7th byte
8th byte
E0
E1
R0
00
00
00
00
00
The drive controller sends an emergency telegram if an error occurs. The identifier of this
message is composed of the identifier 80h and the node address of the drive controller
concerned.
The emergency telegram consists of eight bytes. The first and second byte contain the
error_code. In the third byte there is an additional error code (object 1001h). The fourth to
eighth byte are always set to zero.
The following error codes may appear:
Error cause
KHB 13.0003-EN
Display
2nd byte 1st byte

E1
E0
3rd byte
4th ... 8th

byte
R0
Stack overflow
E01 0
61
80
00 ... 00
DC-bus undervoltage
E02 0
32
20
00 ... 00
Motor overtemperature
E03 0
43
10
00 ... 00
Power electronics overtemperature
E04 0
42
10
00 ... 00
DC-bus overtemperature
E04 1
42
80
00 ... 00
Failure of internal voltage 1
E05 0
51
14
00 ... 00
Failure of internal voltage 2
E05 1
51
15
00 ... 00
Driver supply failure
E05 2
51
16
00 ... 00
Digital I/O undervoltage
E05 3
54
10
00 ... 00
Digital I/O overcurrent
E05 4
54
10
00 ... 00
Short circuit in power stage
E06 0
21
10
00 ... 00
Overvoltage
E07 0
32
10
00 ... 00
Resolver phase-angle encoder error
E08 0
73
80
00 ... 00
Incremental encoder track signal (Z0) error
E08 2
73
82
00 ... 00
Incremental encoder track signal (Z1) error
E08 3
73
83
00 ... 00
Digital incremental encoder track signal error
E08 4
73
84
00 ... 00
Incremental encoder track signal Hall encoder signal

error
E08 5
73
85
00 ... 00
Homing: Start error
E11 0
8A
80
00 ... 00
Homing error
E11 1
8A
81
00 ... 00
Homing: Zero-pulse error
E11 2
8A
82
00 ... 00
CAN bus: Double node number
E12 0
81
80
00 ... 00
CAN communication error: BUS OFF
E12 1
81
20
00 ... 00
CAN communication error during sending
E12 2
81
81
00 ... 00
2.0
49
Emergency telegram
Telegram structure
Error cause
50
Display
2nd byte 1st byte

E1
E0
3rd byte
4th ... 8th

byte
R0
CAN communication error during receiving
E12 3
81
82
00 ... 00
Division by 0
E15 0
61
85
00 ... 00
Overrange (overflow/underflow)
E15 1
61
86
00 ... 00
Faulty program execution
E16 0
61
81
00 ... 00
Interrupt
E16 1
61
82
00 ... 00
Initialisation error
E16 2
61
87
00 ... 00
Unexpected status
E16 3
61
83
00 ... 00
Following error limit value exceeded
E17 0
86
11
00 ... 00
Error 1 current measurement U
E21 1
52
80
00 ... 00
Error 1 current measurement V
E21 1
52
81
00 ... 00
Error 2 current measurement U
E21 2
52
82
00 ... 00
Error 2 current measurement V
E21 3
52
83
00 ... 00
Invalid controller type
E25 0
60
80
00 ... 00
Controller type is not supported
E25 1
60
81
00 ... 00
User parameter set is not available
E26 0
55
80
00 ... 00
Checksum error
E26 1
55
81
00 ... 00
Flash: Error during writing
E26 2
55
82
00 ... 00
Flash: Error during deleting
E26 3
55
83
00 ... 00
Flash: Internal flash error
E26 4
55
84
00 ... 00
Calibration data not available
E26 5
55
85
00 ... 00
Following error warning threshold
E27 0
86
11
00 ... 00
Internal conversion error
E30 0
63
80
00 ... 00
I2T motor
E31 0
23
12
00 ... 00
I2T servo controller
E31 1
23
11
00 ... 00
I2T PFC
E31 2
23
13
00 ... 00
I2T brake resistor
E31 3
23
14
00 ... 00
DC-bus charge time exceeded
E32 0
32
80
00 ... 00
Undervoltage for active PFC
E32 1
32
81
00 ... 00
Brake chopper overload
E32 5
32
82
00 ... 00
DC-bus discharge time exceeded
E32 6
32
83
00 ... 00
Following error - encoder emulation
E33 0
8A
83
00 ... 00
Synchronisation error (synchronisation)
E34 0
87
80
00 ... 00
Synchronisation error (synchronisation failure)
E34 1
87
81
00 ... 00
Parameter has been limited
E36 0
63
20
00 ... 00
Software limit switch reached
E40 0
86
12
00 ... 00
Positioning: Drive stops because following positioning

is not available
E42 0
86
80
00 ... 00
Positioning: Drive stops because reversal of direction of

rotation is not permitted
E42 1
86
81
00 ... 00
Positioning: Impermissible reversal of direction of

rotation after stop
E42 2
86
82
00 ... 00
Incorrect transmission protocol length
82
10
00 ... 00
Error no longer occurs
00
00
00 ... 00
KHB 13.0003-EN 2.0
Emergency telegram
5.6.2
Index
Name
Possible settings
Lenze
1001h
Characteristics
Selection
Description
0 error_register
VAR
UINT8
RO
MAP
Here, you can read the value

of the error_register
contained in the emergency
telegram.
1003h
Bit No.
Meaning
generic error
current
voltage
temperature
communication error
device profile-specific
reserved
manufacturer-specific
An error has occurred which

is not specified in detail
(flag is set with every error
message).
Communication error (CAN

overrun).
Manufacturer-specific error.
Pre_defined_error_
field
0 number_of_errors
00h
{1h}
FFh
UINT8
RW
Reading the number of error

messages saved.
00h
Deleting the history buffer

by writing the value 00h.
After an error, the error
must be acknowledged to
activate the power stage.
1 standard_error_
field_0
UINT32 RO
Reading the last error

message.
Bit
31 ... 24
23 ... 16
15 ... 8
7 ... 0
00
00
23
00
Motor deenergised due to

overcurrent
00
00
32
10
DC-bus voltage > 400 V
00
00
32
20
DC-bus voltage < 180 V
00
00
33
20
20 V > brake voltage > 28 V
00
00
42
10
Power stage
overtemperature
00
00
43
10
00
00
63
20
Driving program, system

parameters
00
00
71
21
Drive inhibited
00
00
90
00
Quick stop
00
00
FF
00
Homing
...
4 standard_error_
field_3
KHB 13.0003-EN
2.0
UINT32 RO
Reading the error message.
51
Index
Emergency telegram
Name
Possible settings
Lenze
1014h
1015h
0 COB-ID_emergency_ 00000081h
message
0 inhibit_time_emcy
Characteristics
Selection
Description
00000000h
{1h}
00000081h
VAR
UINT32 RW
Identifier emergency object,

080h + node address
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

be set to 0.
30
Reserved
31
Emergency object exists / is

used
Emergency object does not

exist / is not used
{1 s}
65535
VAR
UINT16 RW
Setting the inhibit time of

the emergency object. The
time must be a multiple of
100 s.
52
KHB 13.0003-EN 2.0
Heartbeat telegram
Telegram structure
5.7
Heartbeat telegram
The heartbeat telegram in implemented to monitor the communication between the drive
controller and the master. For this purpose, the controller cyclically sends messages to the
master. The master can check the cyclic transmission of these messages and initiate
corresponding measures if they are missing. The heartbeat telegram is sent with the
identifier 700h (1792d) + node address. It only contains 1 byte of user data and the NMT
state of the drive controller. The data length is 1.
In addition to the monitoring by the master, the bus system can be monitored by the drive
controller. For this purpose, the drive controller monitors the acknowledgement of the
heartbeat telegram. The absence of acknowledgements indicates that there is no other
active drive controller on the bus system or that the bus system is damaged by a cable
break.
The following response, which can be a warning, a quick stop or the immediate
disconnection of the power stage, can be defined in the error management.
5.7.1
Telegram structure
11 bits
4 bits
Identifier
Data
length
User data (1 byte)

1st byte
2nd byte
3rd byte
4th byte
5th byte
6th byte
7th byte
8th byte
Note!
If the heartbeat telegram is not acknowledged when the heartbeat method is
used, an error can occur (depending on the error management setting).
KHB 13.0003-EN
2.0
53
Heartbeat telegram
Telegram structure
COB-ID = 1792 + Node-ID
Heartbeat
Producer
request
1
s
60
7
Heartbeat
Producer
Time
Heartbeat
Consumer
indication
indication
indication
0
request
indication
1
s
60
indication
indication
indication
Heartbeat
Consumer
Time
indication
Heartbeat
Consumer
Time
Heartbeat Event
epm-t134
Fig. 5
Heartbeat telegram
r
s
Reserved
State of the Heartbeat Producer
Heartbeat consumer
The consumers monitor if the heartbeat message is received within the heartbeat
consumer time. The time must be longer than the corresponding heartbeat producer
time.
Heartbeat producer
The drive controller transmits a state telegram on the fieldbus and can thus be monitored
by other bus devices.
The settings are made under index 1017h.
The producer heartbeat is automatically started if a time > 0 is entered under index
1017h and the drive controller changes to the operational state.
When the cycle time has expired, the drive controller transmits the state telegram
on the fieldbus.
A reset changes the state to operational.
Device state (bits 1 ... 6) of the heartbeat producer:
54
Command (hex)
State
00
Boot-up
05
Operational
04
Stopped
7F
Pre-operational
KHB 13.0003-EN 2.0
Heartbeat telegram
5.7.2
Index
Name
1016h
Consumer_
heartbeat_time
Possible settings
Characteristics
Lenze
Description
0 number_of_entries
Selection
01h
{1h}
7Fh
VAR
UINT8
RO
Maximally supported
subindices.
01h
1 consumer_
heartbeat_time
1 subindex is supported.
{1 ms}
65535
VAR
UINT32
RW
Setting the time in which the

controller expects a message
from the master. The time
must be longer than the
corresponding index
producer_heartbeat_time.
0 means that the function
is deactivated.
Bit No.
1017h
0 producer_
heartbeat_time
0 - 15
Heartbeat time
16 - 23
Node address of the

controller.
24 - 31
Reserved, value 0.
{1 ms}
2.0
VAR
UINT16
RW
Time between two heartbeat

telegrams.
If the controller starts with a
time unequal zero, the
boot-up telegram is the first
heartbeat.
0
KHB 13.0003-EN
65536
55
5.8
Boot-up telegram
Heartbeat telegram
Boot-up telegram
After the supply voltage has been switched on or after a reset, the drive controller sends
the boot-up telegram indicating that the initialisation phase is completed. The controller
then is in the NMT state pre-operational.
5.8.1
Telegram structure
11 bits
4 bits
Identifier
Data
length
User data (1 byte)

1st byte
2nd byte
3rd byte
4th byte
5th byte
6th byte
7th byte
8th byte
The structure of the boot-up telegram is almost identical to the structure of the heartbeat
telegram.
The boot-up telegram is also sent with the identifier 700h + node address. The data length
is 1.
The only difference is that a zero is sent instead of the NMT state. For boot-up telegrams,
too, the sending device expects depending on the error management setting the
receipt of the telegram to be acknowledged by the other bus devices.
56
KHB 13.0003-EN 2.0
Node Guarding
5.9
Node Guarding
NMT-Master
request

Remote transmit request
Node
Time
Life
indication
response
60
7
Node
Guard
time
1)
1
t
confirm
NMT-Slave

request
Remote transmit request
0
confirm
indication
1
s
response
60
indication
indication
Node Guarding Event
Life Guarding Event

931m_051
Fig. 6
Node guarding telegram

1)
s
t
Controller
Controller status
Toggle bit
Description
The node guarding telegram monitors the connection between master and slave.
Under index 100Ch Guard time, you can enter a time, under index 100Dh Life time
factor, you can enter a factor. The multiplication of both indices results in the monitoring
time within which the master must send a node guarding telegram to the slave. If one of
the two indices is set to zero, the monitoring time is also zero, and thus deactivated. The
slave sends a telegram with its current status to the master.
With event-controlled process data transfer, node guarding ensures the cyclic monitoring
of the controller.
KHB 13.0003-EN
The master starts node guarding by sending the node guarding telegram.
Unless the slave (controller) receives a telegram within the monitoring time, the
node guarding event is activated. The controller switches to the status set under
6007h.
A reset is carried out by a status change to Operational.
2.0
57
5.9.1
Index
100Ch
Node Guarding
Name
0 guard_time
Possible settings
Characteristics
Lenze
Selection
Description
{1 ms}
65535
VAR
UINT16
RW
Setting the cyclic monitoring

time in which the master
queries the status of the
slaves.
0
100Dh
0 life_time_factor
{1}
255
VAR
UINT8
RW
The maximum time between

two queries of the master
results from the product of
guard_time and
life_time_factor.
0
6007h
58
0 abort_connection_
option_code
{1}
VAR
INT16
RW
MAP
Determining the event to be

activated when the master
fails.
0
No action
Malfunction: Control word = 0
Device control command: Disable

voltage
Device control command: Quick stop
KHB 13.0003-EN 2.0
Commissioning
Activation of CANopen
Commissioning
6.1
Activation of CANopen
The controllers are default set to CAN bus communication.
931m_100
In the CAN Bus field, three parameters must be set:
Node ID
For an unambiguous identification in the network, a node address must be assigned to

each node. Each node address may only be assigned once in the network. The node address
is used to address the device.
Baud rate
This parameter determines the baud rate in kBaud or kbits/s that is used on the CAN bus.
Please observe that high baud rates require a low maximum cable length.
Bus terminator
If the controller is the last node in a bus system, the terminating resistor must be activated.
When the physical connection to the master has been established, programming can be
started.
Note!
The controllers can either be parameterised and controlled via the serial
interface using the fluxx software or via the CAN bus.
In case of a CAN bus parameterisation and operation, the fluxx software
may be maximally operated in the operating mode Online Level 1. If a higher
operating mode is selected, the fluxx software will have the parameter
change rights. In this case, the operating status cannot be changed via the
CAN.
KHB 13.0003-EN
2.0
59
Commissioning
6.2
Speed control
Speed control
Parameterising of a process data object (TPDO and RPDO)
The purpose of this example is to show how a speed control can be commissioned via the
CAN bus.
1. Use/activation of the transmit PDO1 (transmission of actual speed and status word)
and of the receive PDO1 (setpoint speed)
2. Control of the network management
3. Parameterisation of the motor, current and speed controller
4. Definition of the operating mode (speed control)
5. Selection of a speed setpoint
6. Commissioning of the speed controller via the state machine
6.2.1

This example shows the adaptation and activation of a transmit PDO (TPDO) and a receive
PDO (RPDO). The TPDO transfers the actual speed and the status word. Via the RPDO a
higher-level control specifies the speed setpoint.
The following table lists and explains the different SDO accesses for parameterising the
TPDO. When the network state is operational, the PDO is set to the identifier 181h. The
actual speed and the status word are transferred with a cycle time of 10 ms.
60
KHB 13.0003-EN 2.0
Commissioning
Speed control
No. Description
Identifier Control Command

field
code
Data
length
Index
Low
byte
High
byte
Subindex Data 1 Data 2 Data 3 Data 4

For parameterising the PDO, the
network management is set to
Pre-operational (80h).
00
80
00
00
00
00
00
00
00
Deactivating the TPDO

The PDO is deactivated by
setting bit 31.
601
23
00
18
01
81
01
00
80
Deleting the number of objects

For changing the object
mapping, the number of objects
(number_of_mapped_objects)
must be set to zero.
601
2F
00
1A
00
00
00
00
00
Parameterising the first object

to be mapped
Here, the index of the object to
be mapped 1A00_01h (first_
mapped_object) and the length
of the corresponding variable
type must be indicated. The first
object to be mapped is the
actual speed (index 606C_00h)
with a length of 32 bits (20h).
601
23
00
1A
01
20
00
6C
60
Parameterising the second

object to be mapped
The second object to be mapped
(second_mapped_object) is the
status word (index 6041_00h)
601
23
00
1A
02
10
00
41
60
Defining the number of objects

In this example, 2 mapped
objects (actual speed and status
word) are to be transmitted
(number_of_mapped_objects).
601
2F
00
1A
00
02
00
00
00
Parameterising the transmission

mode
The PDO transmission is
event-controlled and depends
on the transmission cycle time,
i.e. maximally every 10 ms.
(Entry FFh in the transmission_
type).
601
2F
00
18
02
FF
00
00
00
Defining the transmission cycle

time
The transmission cycle time
(inhibit_time) is to be set to 10
ms (100 100 s).
601
2B
00
18
03
64
00
00
00
Activating the TPDO

The TPDO is activated by
resetting bit 31.
601
23
00
18
01
81
01
00
00
10

Operational (01h).
00
01
00
00
00
00
00
00
00
Tab. 2
KHB 13.0003-EN
2.0
Example parameterisation of a transmit PDO
61
Commissioning
Speed control
No. Description

field
code
Data
length
Index
Low
byte
High
byte

Pre-operational (80h).
00
80
00
00
00
00
00
00
00
Deactivating the RPDO

The RPDO is deactivated by
setting bit 31.
601
23
00
14
01
01
02
00
80
Deleting the number of objects

For changing the object
mapping, the number of objects
(number_of_mapped_objects)
must be set to zero.
601
2F
00
16
00
00
00
00
00
Parameterising the first object

to be mapped
Here, the index of the object to
be mapped (first_mapped_
object) and the length of the
corresponding variable type
must be indicated. The first
object to be mapped is the
setpoint speed (index 60FF_00h)
601
23
00
16
01
20
00
FF
60
Defining the number of objects

In this example, one mapped
object (setpoint speed) is to be
transmitted (number_of_
mapped_objects).
601
2F
00
16
00
01
00
00
00
Parameterising the transmission

mode
The PDO transmission is
event-controlled and depends
on the transmission cycle time
(entry FFh in the transmission_
type).
601
2F
00
14
02
FF
00
00
00
Activating the RPDO

The PDO is activated by
resetting bit 31.
601
23
00
14
01
01
02
00
00

Operational (01h).
00
01
00
00
00
00
00
00
00
Tab. 3
62
Example parameterisation of a receive PDO
KHB 13.0003-EN 2.0
Commissioning
Speed control
Parameterising of the speed control
6.2.2
Parameterising of the speed control

Before starting a control mode, the controller parameters often have to be adapted to
ensure a dynamic and adequately damped operating behaviour. Before this, the controller
parameters have to be selected depending on the system and the corresponding process.
In the following, speed control is to be selected and then parameterised by means of a short
example. In addition to the control parameters (Kp, Tn), the limit values required for safe
operation (maximum speed, maximum acceleration, maximum deceleration and
maximum current) are determined.
No. Description

field
code
Data
length
Index
Low
byte
High
byte
Defining the operating mode

Speed control (03) is used as
operating mode (modes_of_
operation).
601
2F
60
60
00
03
00
00
00
Defining the maximum current

For limiting the current (max_
current) and the maximum
torque, the current is limited to
1.5 times the rated motor
current (1.5 times equals 1500
or 05DCh).
601
2B
73
60
00
DC
05
00
00
Speed controller setting (Kp)

A gain (velocity_control_gain) of
Kp = 2 (equals 200h) is selected.
601
2B
F9
60
01
00
02
00
00
Speed controller setting (Tn)

An adjustment time (velocity_
control_time) of Tn = 20000 s
(equals 4E20h) is selected.
601
2B
F9
60
02
20
4E
00
00
Differential component setting

(TV)
The differential time constant of
the speed controller (velocity_
control_differential_time) is set
to 8000 s (equals 1F40h).
601
2B
F9
60
03
40
1F
00
00
Defining the maximum

acceleration
The maximum acceleration
(profile_acceleration) is
20000 rev. 4096 incr./rev. 1/
min/s (equals 4E20000h).
601
23
83
60
00
00
00
E2
04
Defining the maximum

deceleration
The maximum deceleration
(profile_deceleration) is
20000 rev. 4096 incr./rev. 1/
min/s (equals 4E20000h).
601
23
84
60
00
00
00
E2
04
Tab. 4
KHB 13.0003-EN
2.0
Speed controller parameterisation
63
Commissioning
6.2.3
Running through the state machine
Speed control
After having defined all control parameters required, the drive can be commissioned via
the status machine. First, a speed setpoint is defined and sent once via SDOaccess and once
via the RPDO. Then, the status machine is traversed.
No. Description

field
code
Data
length
Index
Low
byte
High
byte
Selecting the speed setpoint via

SDO access
The speed setpoint (target_
velocity) is set to 1000 rpm.
601
23
FF
60
00
E8
03
00
00
Selecting the speed setpoint via

RPDO
The speed setpoint is set to
1000 rpm via the RPDO. For
speed selection, you can either
use the method described under
1 or 2.
201
E8
03
00
00
00
00
00
00
Status check (reading)
601
40
41
60
00
00
00
00
00
Control word: Error

acknowledgement
If an error has occurred, it can be
reset with the fault reset
command after the cause of the
error has been removed. If no
error has occurred, you can
directly continue with 6.
601
2B
40
60
00
08
80
00
00
601
40
41
60
00
00
00
00
00
Control word: Shut down

With the shut down command,
the status is changed to ready
to switch on.
601
2B
40
60
00
06
80
00
00
601
40
41
60
00
00
00
00
00
Control word: Switch on

With the switch on command,
the status is changed to
switched on.
601
2B
40
60
00
07
80
00
00
601
40
41
60
00
00
00
00
00
10
Control word: Enable operation

With the enable operation
command, the status is changed
to operation enable.
Now, the motor is energised and
the setpoint is approached.
601
2B
40
60
00
0F
80
00
00
11
601
40
41
60
00
00
00
00
00
12
Control operation
During the control operation,
further changes (e.g. setpoint)
can be made.
13
Control word: Disable voltage

With this command, the drive is
switched off and set to the
status switch on disabled.
601
2B
40
60
00
00
80
00
00
Tab. 5
64
Commissioning the speed control via the status machine
KHB 13.0003-EN 2.0
Commissioning
Speed control
Switched
on disabled
State
Ready to
switch on
Switched
on
Operation
Enable
d
ex
x
an
ier
ind inde
tif ngth mm
n
i
n
b
a
e
o
e
u
d
L
C
I
S
M
Controlword
Shut down
601h
2Bh 40h 60h 00h 06h 80h 00h 00h
Controlword
Switch on
601h
07h 40h 60h 00h 07h 80h 00h 00h
Controlword
Enable Operation
601h
0Fh 40h 60h 00h 0Fh 80h 00h 00h
Speed control during operation

(change of speed setpoint is possible)
Switched
on disabled
Controlword
Disable Voltage
601h
1Fh 40h 60h 00h 00h 80h 00h 00h
931m_052
Fig. 7
KHB 13.0003-EN
2.0
Representation of a state machine during speed control commissioning
65
Commissioning
6.3
Position control
Position control
Parameterising of the homing run
The following example describes the parameterisation and execution of homing. A

controller with node address 1 is used as communication device. In addition, the
commissioning of a position control will be explained.
Select the settings for the lower-level speed control as described in chapter 6.2.2. The
following explanation is based on these controller settings.
6.3.1

Before homing is started, the homing method, homing speed and accelerations have to be
defined. After this, the home position can be approached.
No. Description

field
code
Data
length
Index
Low
byte
High
byte
Selecting the operating mode

Homing
Homing (06) is used as
operation).
601
2F
60
60
00
06
00
00
00
Defining the homing method

Traversing to the negative limit
switch under consideration of
the zero pulse (value 1) is
selected as homing method.
Alternative setting: current
position (value 35).
601
2F
98
60
00
01
00
00
00
High homing speed setting

The search speed used while
searching for the limit switch
(speed_during_search_for_swit
ch) is set to 100 rpm.
601
2B
99
60
01
64
00
00
00
Low homing speed setting

The search speed used while
searching for the zero pulse
(speed_during_search_for_zero)
is set to 50 rpm.
601
2B
99
60
02
32
00
00
00
Tab. 6
Parameterisation of homing
The homing status can be seen from the status word. Bit 12 indicates whether homing has
been completed (homing_attained) or is still being carried out.
Unlike the other operating modes, this operating mode requires another step after the
status change to operation enabled when traversing the status machine. Then, homing is
started through bit 4 of the control word.
66
KHB 13.0003-EN 2.0
Commissioning
Position control
No. Description

field
code
Data
length
Index
Low
byte
High
byte

Every status change must be
carried out depending on the
basic status. After a status
change, you have to wait until
the status change is indicated in
the status word.
601
40
41
60
00
00
00
00
00

Ready_To_Switch_On.
601
2B
40
60
00
06
80
00
00

(for explanation see 1)
601
40
41
60
00
00
00
00
00

Switched_On.
601
2B
40
60
00
07
80
00
00

601
40
41
60
00
00
00
00
00

to Operation_Enable.
Now, the motor is energised.
But, homing is not started yet.
601
2B
40
60
00
0F
80
00
00

601
40
41
60
00
00
00
00
00

and homing start
With the enable operation and
homing start command, homing
is started.
601
2B
40
60
00
1F
80
00
00

The home position is
approached. Homing is
completed when bit 12 (homing
attained) is set in the status
word.
601
40
41
60
00
00
00
00
00
10

status Switch_On_Disabled.
601
2B
40
60
00
00
80
00
00
Tab. 7
KHB 13.0003-EN
2.0
Execution of homing by means of the status machine
67
Commissioning
6.3.2
Position control
After homing, the position control can be started. In addition to the definition of the target
position, the required control accuracy and the ramps and speed for the profile generator
must be defined.
No. Description

field
code
Data
length
Index
Low
byte
High
byte
Defining the operating mode

Position control (01) is used as
operation).
601
2F
60
60
00
01
00
00
00
Defining the profile speed

With the profile velocity, you
determine the speed at which
the drive traverses during
positioning (v = 100 rpm).
601
23
81
60
00
64
00
00
00
Profile acceleration setting

The profile_acceleration object
is used to define the
acceleration.
601
23
83
60
00
88
13
00
00
Profile deceleration setting

The profile_deceleration object
is used to define the
deceleration.
601
23
84
60
00
88
13
00
00
Position window setting

In the position window
(position_error_tolerance_wind
ow), you can define a range in
which the controller does not
intervene.
One revolution corresponds to
an entry of 65536. 1/100 rev.
(655) is used as entry.
601
23
FB
60
05
8F
02
00
00
Defining the position window

The target position
(target_position) is reached
when the actual position of the
position controller (position_
actual_value) is within a
window (position_window)
around the target position.
1/100 rev. is selected as value.
601
23
67
60
00
8F
02
00
00
Position controller setting (Kp)

A gain (position_control_gain)
of Kp = 0.02 (equals 0148h) is
selected.
601
2B
FB
60
01
48
01
00
00
Tab. 8
68
Parameterisation of the position control
KHB 13.0003-EN 2.0
Commissioning
Position control
As in all other operating modes, a position change is made by changing the status machine.
No. Description

field
code
Data
length
Index
Low
byte
High
byte
Selecting the position setpoint

via SDO access
The position setpoint (target_
position) is set to 1000 rev. (1
rev. = 4096 increments).
601
23
7A
60
00
00
10
00
00
601
40
41
60
00
00
00
00
00
Control word: Error

acknowledgement
If an error has occurred, it can be
reset with the fault reset
command after the cause of the
error has been removed. If no
error has occurred, you can
directly continue with 4.
601
2B
40
60
00
08
80
00
00
601
40
41
60
00
00
00
00
00

Ready_To_Switch_On.
601
2B
40
60
00
06
80
00
00
601
40
41
60
00
00
00
00
00

Switched_On.
601
2B
40
60
00
07
80
00
00
601
40
41
60
00
00
00
00
00

to Operation_Enable.
Now, the motor is energised.
The target is not approached
yet.
601
2B
40
60
00
0F
80
00
00
10
601
40
41
60
00
00
00
00
00
11

and new setpoint
With the enable operation and
new setpoint command, the
status is changed to
Operation_Enable. Now, the
motor is energised and the
setpoint is approached.
601
2B
40
60
00
1F
80
00
00
12
601
40
41
60
00
00
00
00
00
13
Control operation
During operation, further
changes (e.g. setpoint) can be
made.
14

status Switch_On_Disabled.
601
2B
40
60
00
00
80
00
00
Tab. 9
KHB 13.0003-EN
2.0
Commissioning the position control via the status machine
69
Commissioning
Position control
In Fig. 8, the state changes and the corresponding states are represented graphically. The
process of running through the state machine is independent of the selected operating
mode (torque, speed or position control).
Switched
on disabled
Ready to
switch on
State
Switched
on
Operation
Enable
d
r
ex
x
an
nd inde
ifie th
ini
nt eng omm
b
a
e
L
C
Id
Su
M
Controlword
Shut down
601h
2Bh 40h 60h 00h 06h 80h 00h 00h
Controlword
Switch on
601h
07h 40h 60h 00h 07h 80h 00h 00h
Controlword
Enable Operation
601h
0Fh 40h 60h 00h 0Fh 80h 00h 00h
Controlword
Enable Operation
601h
0Fh 40h 60h 00h 1Fh 80h 00h 00h
Oper. Enable +
new Setpoint
Execution of positioning process
Switched
on disabled
Controlword
Disable Voltage
601h
1Fh 40h 60h 00h 00h 80h 00h 00h
931m_053
Fig. 8
70
Representation of a state machine during position control commissioning
KHB 13.0003-EN 2.0
Parameter setting
Loading and saving of parameter sets

Overview
Parameter setting
Before the drive controller can perform the required task (torque or speed control or
positioning), several controller parameters have to be adapted to the motor used and to
the specific application. For this purpose you should keep to the sequence given in the
following chapters.
These chapters first explain the parameterisation and then the device control and the use
of the different operating modes.
7.1
7.1.1
Overview
The controller has three parameter sets:
Current parameter set

The current parameter set is stored in the volatile controller memory (RAM). It can be
written and read as you like by using the fluxx parameterisation program or via the
CAN bus. When the controller is switched on, the application parameter set is copied
to the current parameter set.
Default parameter set

The default controller parameter set is default set and cannot be changed. By writing
to the CANopen object 1011_01h (restore_all_default_parameters), the default
parameter set can be copied to the current parameter set. Copying is only possible
when the power stage is switched off.
Application parameter set

The current parameter set can be saved in the non-volatile flash memory. Saving is
activated by a write access to the CANopen object 1010_01h (save_all_parameters).
When the controller is switched on, the application parameter set is automatically
copied to the current parameter set.
The following chart shows the connections between the individual parameter sets.
Application
parameter set
Default
parameter set
Switch-on
of the
controller
CANopen
object 1011
CANopenobject 1010
Current
parameter set
931e_412
Fig. 9
KHB 13.0003-EN
2.0
Connections between the parameter sets
71
Parameter setting

Overview
You can choose between two different parameter set management variants:
1. The parameter set is created by using the fluxx parameterisation program and
transferred to the individual controllers. In this case, you only have to set the objects
which can only be accessed via CANopen via the CAN bus.
The disadvantage of this variant is that the parameterisation software is always
required when a new controller is commissioned or in case of repairs (whenexchanging
the controller). Therefore, this variant is only useful when only one controller is used.
2. This variant is based on the fact that in most application-specific parameter sets
only a few parameters differ from the default parameter set. Therefore, the current
parameter set can be recreated via the CAN bus after every switch on of the system.
For this, the higher-level control loads the default parameter set (call of CANopen
object 1011_01h restore_all_default_parameters) first. After this, only the objects
that are different are transferred. This takes less than 1 second per controller. Of
advantage is that this method can also be used for controllers which have not been
parameterised yet so that the commissioning of new systems and exchange of
individual controllers is easy without requiring the parameterisation software.
Note!
We recommend to use variant 2. Please observe that it is not possible to set all
parameters via the CAN. If other parameters have to be set, the first variant
must be used.
Stop!
Uncontrolled motor rotation
A wrong parameter set can lead to an uncontrolled rotation of the motor.
Possible consequences:
This can cause damage to material.
Protective measures:
Before switching on the power stage, please ensure that the controller really
contains the required parameter set.
72
KHB 13.0003-EN 2.0
Parameter setting

7.1.2
Index
Name
1010h
Possible settings
Characteristics
Lenze
Description
Selection
Store_parameters
0 largest_supported_
subindex
1 save_all_
parameters
00000001h
00000000h
{1h}
65766173h
UINT8
RO
UINT32
RW
Accepting the default

parameter set in the
application parameter set.
00000000h
65766173h
1011h
VAR
Default parameter set is not

accepted.
Save
Default parameter set is

accepted.
Restore_default_
parameters
1 restore_all_default_ 00000001h
parameters
00000000h
{1h}
Load
00000001h
2.0
VAR
UINT32
RW
Loading the default

parameter set, only possible
when the power stage is
deactivated.
The CAN communication
parameters (node No., baud
rate and operating mode)
remain unchanged.
64616F6Ch
KHB 13.0003-EN
64616F6Ch
Loading the default

parameter set.
Read access: Reset to default
values.
73
Parameter setting
7.2
Conversion factors (factor group)
7.2.1
Overview
Conversion factors (factor group)

Overview
Controllers are used in various applications, e.g. as direct drives, with downstream
gearbox, for line drives, etc.
To make parameter setting for all these applications easy, the factor group can be used to
parameterise the controller in a way that allows the user to enter and read all values, such
as, for instance, the speed, directly in the required units on the drive.
The controller uses the factor group to convert the entries into its internal units. I.e. the
factor group is used to define the mathematical relation (gearbox ratio and polarity)
between the physical units and the internal controller units.
7.2.2
Index
6091h

Name
Possible settings
Characteristics
Lenze
Description
Selection
Gear_ratio
0 number_of_
supported_entries
00h
{1h}
02h
VAR
UINT8
RO
Maximally supported
subindices.
02h
Two subindices are

supported.
1 motor_revolutions
{1}
1000
2 shaft_revolutions
{1}
1000
VAR
INT32
RW
RW
RW
Gearbox ratio
VAR
INT32
Gearbox ratio
607Eh
0 polarity
00h
00h
{04h}
40h, 80h, C0h
VAR
UINT8
Setting the sign of the

position and velocity values.
The direction of rotation can
be inverted by changing the
sign.
Often, it is useful to set both
flags to the same value.
Bit 6
Bit 7
40h
80h
multiply by 1
multiply by -1
multiply by 1
multiply by -1
position_polarity-flag
velocity_polarity-flag
Note!
If both the direction of rotation of the position controller and the direction of
rotation of the lower-level speed controller are inverted with a position
control, the signal will not be inverted due to the double inversion (first in the
position, then in the speed controller).
74
KHB 13.0003-EN 2.0
Parameter setting
Power stage parameters

Overview
7.3
Power stage parameters
7.3.1
Overview
The rectified mains voltage is smoothed by the DC-bus capacitors. The motor is fed from
the DC bus via the switchable semiconductor components. The power stage includes
several safety functions some of which can be parameterised:
Overvoltage / undervoltage monitoring
Overcurrent monitoring
Power stage monitoring
The implementation of the safety functions requires some basic information on the motor
to be controlled. The objects designed for this, are described below:
The power stage can be activated in different ways:
7.3.2
Power stage activation via the CAN bus (state machine)
Power stage activation via the fluxx software
Power stage activation via the digital input (start/stop)
Index
Name
Possible settings
Lenze
6079h
0 DC_link_circuit_
voltage
KHB 13.0003-EN
2.0
Characteristics
Selection
Description
{1 mV}
VAR
UINT32
RO
MAP
Reading the DC-bus voltage.
75
Parameter setting
7.4
Motor adaptation
7.4.1
Overview
Motor adaptation
Overview
Stop!
Uncontrolled motor rotation
When the phase sequence in the motor or phase-angle encoder cable is
reversed, a direct feedback may occur and the motor speed cannot be
controlled.
This can cause damage to material.
Before switching on the motor, ensure that the phase sequence in the motor
cable and the phase-angle encoder cable is correct.
The controller parameter set must be adapted to the connected motor and the cable set.
This concerns the following parameters:
Rated current: Depending on the motor
Overload capacity: Depending on the motor
Direction of rotation: Depending on the motor and the phase sequence in the motor
and phase-angle encoder cable
Offset angle: Depending on the motor and the phase sequence in the motor and
phase-angle encoder cable
The controllers are default set by Lenze. For more detailed information, please see the
Software Manual.
76
KHB 13.0003-EN 2.0
Parameter setting
Motor adaptation
7.4.2
Index
6075h
6073h
Name
Possible settings
Characteristics
Lenze
Description
Selection
0 motor_rated_
current
{1 mA}
0 max_current
{motor_rated_current/1000}
VAR
UINT32
RO
Reading the rated current for

Irat.
The default value depends on
the size of the drive.
VAR
UINT16
RW
Input value for Imax.

6076h
6072h
0 motor_rated_
torque
0 max_torque
{0.001 Nm}
VAR
UINT32
RO
Reading the rated torque.

1500
{motor_rated_torque/1000}
1500
VAR
UINT16
RW
Input value for Mmax.

Maximum setting: 1.5 times
the rated torque of the
controller.
6410h
Motor_data
1 resolver_offset
{1 inc}
4096
VAR
UINT16
RW
Setting the resolver offset.

2 number_of_pole_
pairs
{1}
13
VAR
UINT16
RW
Setting the pole pair number.

Bit No.
Meaning
0 ... 3
Pole pair number
Reversal of direction of resolver
3 braking _times
{1 ms}
VAR
UINT32
RW
Setting the disengagement

and engagement time of the
brake.
4 brake_voltage
Bit No.
Meaning
0 ... 15
Disengagement time
16 ... 31
Engagement time
001A0012
{1 V}
VAR
UINT32
RW
Setting the value range for

the brake voltage.
KHB 13.0003-EN
2.0
Bit No.
Meaning
0 ... 15
Minimum limit value (18 ... 22 V)
16 ... 31
Maximum limit value (26 ... 32 V)
77
Parameter setting
7.5
Speed controller
7.5.1
Overview
Speed controller
Overview
The controller parameter set must be adapted to your application. Especially the gain
strongly depends on the masses possibly connected to the motor. The data must be
optimally determined when commissioning the system with the fluxx software.
Stop!
Uncontrolled vibrations
Incorrect speed controller parameter settings can lead to strong vibrations.
Parts of the system can be destroyed.
Ensure that the speed controller parameter settings are correct, before
switching on the controller.
The speed controller settings are identical with the control parameters of the position
controller. This is why the object velocity_control_parameters_set is used for parameter
setting.
78
KHB 13.0003-EN 2.0
Parameter setting
Speed controller
7.5.2
Index
Name
Possible settings
Characteristics
60F9h
Velocity_control_
parameter_set
Lenze
Selection
Description
1 velocity_control_
gain
1920
0.01 128
2 velocity_control_
time
10000
3 velocity_control_
differential_time
6500
4 sampling_time
800
{128}
100 128
VAR
UINT16
RW
Setting the speed controller

gain.
fluxx software:
Kp = 1.5
Here:
15 128 = 1920
2000
{1 s}
65500
VAR
UINT16
RW
Setting the time constant Tn

of the speed controller.
fluxx software: Tn = 2 ms
Here: 2 ms = 2000 s
1
{1 s}
30000
VAR
UINT16
RW
Setting the time constant Tv

of the speed controller.
To increase the dynamic
performance for following
error or position control, the
speed setpoint changes are
differentiated and the result
is added to the PI speed
controller output. Here, the
time constant of the
differential component can
be set.
500
{1 s}
5000
VAR
UINT16
RW
Setting the sample time for

the speed and position
controller.
KHB 13.0003-EN
2.0
79
Parameter setting
7.6
Position controller (position control function)
7.6.1
Overview

Overview
This chapter describes all parameters that are required for the position controller. The
position setpoint (position_demand_value) of the driving profile generator is assigned to
the position controller input. In addition, the actual position value (position_actual_value)
is sent by the phase-angle encoder (resolver, incremental encoder, etc.). The behaviour of
the position controller can be influenced by parameters.
The following subfunctions are defined in this chapter:
1. Following error (Following_Error)
A following error is the difference between the actual position value
(position_actual_value) and the position setpoint (position_demand_value). If the
following error is for a certain time higher than the value indicated in the following error
window (following_error_window), bit 13 following_error is set in the status word object.
Fig. 10 shows the definition of the window function for the Following error message.
Symmetrically around the setpoint position (position_demand_value) xi, the range
between xi-x0 and xi+x0 is defined. The positions xt2 and xt3 are, for instance, not within
the window (following_error_window). If the drive leaves the window, bit 13
following_error is set in the status word.
xt3
xt2
xi - x 0
xi
xi + x 0
position x
931e_417
Fig. 10
Following error
2. Position reached (Position Reached)

This function is used to define a position window around the target position
(target_position). When the target position of the drive is reached - the drive is within the
tolerance window - bit 10 target_reached is set in the status word.
Fig. 11 shows the definition of the window function for the Position reached message.
Symmetrically around the target position (target_position) xi, the position range between
xi-x0 and xi+x0 is defined. The positions xt0 and xt1 are, for instance, within the position
window (position_window). When the drive is within this window, bit 10 target_reached
is set in the status word. As soon as the drive leaves the permissible range, bit 10 is reset
to zero.
80
KHB 13.0003-EN 2.0
Parameter setting

xt1
xt0
xi - x 0
xi
xi + x 0
position x
931e_419
Fig. 11
Position reached
The position limit values which must not be exceeded both by the position_actual_value
and the position_demand_value are the limit values for positioning. They are defined in
the software_position_limit object.
7.6.2

The controller parameter set must be adapted to your application. The position controller
data must be optimally determined when commissioning the system with the fluxx
software.
Stop!
Uncontrolled vibrations
Incorrect position controller parameter settings can lead to strong vibrations.
Parts of the system can be destroyed.
Ensure that the position controller parameter settings are correct, before
switching on the controller.
KHB 13.0003-EN
2.0
81
Parameter setting

Index
Name
60FBh
Position_control_
parameter_set
6063h
6064h
82
Possible settings
Characteristics
Lenze
Selection
Description
1 position_control_
gain
2 position_control_
end_time
10
{16384}
VAR
UINT16
RW
Setting the position

controller gain.
Kp = 1 (corresponds to
16384).
The position controller
compares the setpoint
position with the actual
position and - considering the
gain - calculates a correction
speed from the difference
that is sent to the speed
controller.
The position controller is also
used for following error
control.
0
{1 ms}
65535
VAR
UINT16
RW
Setting the position control

end time.
This is the time the motor
continues to be actively
energised after reaching the
target position to hold the
target position.
The input of 0 means that
the motor is permanently
energised.
0 position_actual_
value
-231
0 position_actual_
value
-231
{1 inc}
231-1
VAR
INT32
RO
MAP
Reading the actual position.

The phase-angle encoder
sends the actual position
value to the position
controller.
The unit can be set via the
factor group.
{position units}
231-1
VAR
INT32
RO
MAP
Reading the actual position.

controller.
KHB 13.0003-EN 2.0
Parameter setting

Index
6065h
6067h
Name
Possible settings
Characteristics
Lenze
Selection
0 following_error_
window
9102
00000000h
0 position_window
1820
Description
{1 inc}
7FFFFFFF
VAR
UINT32
RW
MAP
Symmetrical range around

the position setpoint.
If the actual position value is
not within this range, a
following error occurs and bit
13 is set in the status word.
Causes for the following
error:
z the drive is inhibited
z the positioning speed is
too high
z the acceleration values are
too high
z the value of the
following_error_window
index is too low
z the parameters of the
position controller are not
correct
-231
{1 inc}
231-1
VAR
UINT32
RW
MAP

the target position. The
target position is reached,
when the actual position
value is for a certain time in
this range.
KHB 13.0003-EN
2.0
83
Parameter setting

Index
Name
607Dh
Software_position_
limit
0 number_of_
supported_entries
Possible settings
Characteristics
Lenze
Description
Selection
00h
{1h}
VAR
UINT8
RO
Maximally supported
subindices.
02h
1 min_position_limit
02h
Two subindices are

supported.
{1 inc}
VAR
INT32
RW
Input value for the minimum

positioning limit.
The value refers relatively to
the home_position. Before
comparing the limit values
with the current
target_position, they have to
be converted:
corrected_min_position_limi
t = min_position_limit
- home_offset.
The calculation must be
repeated whenever the
home_offset or the
software_position_limit are
changed.
2 max_position_limit
{1 inc}
VAR
INT32
RW
Input value for the maximum

positioning limit.
The value refers relatively to
the home_position. Before
comparing the limit values
with the current
target_position, they have to
be converted:
corrected_max_position_limi
t = max_position_limit
- home_offset.
home_offset or the
software_position_limit are
changed.
84
KHB 13.0003-EN 2.0
Parameter setting
Digital inputs and outputs

Overview
7.7
7.7.1
Overview
All digital controller inputs can be read via the CAN bus and the digital outputs can be set
as you choose.
7.7.2
Index
60FDh
Name
Possible settings
Characteristics
Lenze
Description
0 digital_inputs
Selection
00000000h
{1}
FFFFFFFFh
VAR
UINT32
RO
MAP
Reading the digital inputs.
60FEh
Bit No.
Digital input
Neg. limit switch
High-active
Pos. limit switch
High-active
Reference switch
Interlock (no
controller or
power stage
enable)
4 ... 15
Reserved
16
Brake_on
17
DOUT0
18 ... 31
Reserved
High-active
Digital_outputs
0 number_of_
supported_entries
00h
{1h}
02h
2 digital_outputs_
mask
KHB 13.0003-EN
2.0
UINT8
RO
Maximally supported
subindices.
02h
1 digital_outputs_
data
VAR

supported.
00000000h
{1h}
Bit No.
Digital output
Brake
1 ... 15
Reserved
16
DOUT0
17
Neg. limit switch
18
Pos. limit switch
19
Reference switch
20
Quick stop
17 ... 31
Reserved
{1}
FFFFFFFFh
VAR
UINT32
RW
MAP
Activating or deactivating
special functionalities or
outputs.
With bit 0, you can, for
instance, activate or
deactivate the brake.
VAR
UINT32
RW
MAP
Defining a mask to ensure

that an output is not
activated when this is not
desired.
0
Output is not selected
Output is selected
85
Index
2005h
86
Parameter setting

Name
0 local_output_
function
Possible settings
Characteristics
Lenze
Selection
-128
Description
{1}
127
VAR
INT8
RW
Digital output can be

parameterised by the user.
Value
Function
-128 ... -17
Reserved
-16
Reference set
-15 ... -14
Reserved
-13
Stopover
Low
-12
Motor
deenergised
Low
-11
Controller error
Low
-10
Reserved
-9
Drive in standstill
-8
Reserved
-7
Homing active
-6 ... -5
Reserved
-4
Setpoint reached
-3
Traversing request
Low
is being processed
-2
Fault
-1
Warning
No function
Warning
High
Fault
High
Traversing request
High
is being processed
Setpoint reached
5 ... 6
Reserved
Homing active
Reserved
Drive in standstill
10
Reserved
11
Controller error
High
12
Motor
deenergised
13
Stopover
High
14 ... 15
Reserved
16
Reference set
17 ... 127
Reserved
Active
Low
Low
Low
Low
Low
High
High
High
High
KHB 13.0003-EN 2.0
Parameter setting

Index
2006h
Name
0 local_input_
function
KHB 13.0003-EN
2.0
Possible settings
Characteristics
Lenze
Selection
-128
Description
{1}
127
VAR
INT8
RW
Digital input can be

Value
Function
-128 ... -9
Reserved
-8
Start/stop
-7
Reserved
-6
Stopover
Low
-5
Synchronisation
Low
-4
Reserved
-3
Quick stop
Low
-2
Power stage off
Low
-1
Reference
Low
No function
Reference
High
Output stage off
High
Quick stop
High
Reserved
Synchronisation
High
Stopover
High
Reserved
Start/stop
9 ... 127
Reserved
Active
Low
High
87
Parameter setting
7.8
Device information
7.8.1
Device information
Index
Name
6410h
Motor_data
1 resolver_offset
Possible settings
Characteristics
Lenze
Selection
Description
{1 inc}
4096
VAR
UINT16
RW

2 number_of_pole_
pairs
{1}
13
VAR
UINT16
RW
Setting the pole pair number.

Bit No.
Meaning
0 ... 3
Pole pair number
3 braking _times
{1 ms}
VAR
UINT32
RW
Setting the disengagement

and engagement time of the
brake.
4 brake_voltage
Bit No.
Meaning
0 ... 15
Disengagement time
16 ... 31
Engagement time
001A0012
{1 V}
VAR
UINT32
RW

the brake voltage.
6510h
Bit No.
Meaning
0 ... 15
16 ... 31
Drive_data
0 number_of_
supported_entries
00h
{1h}
03h
VAR
UINT8
RO
Maximally supported
subindices.
03h
Four subindices are

supported.
1 identification
VAR
UINT32
RO
Reading the identification.

2 serial_number
VAR
UINT32
RO
Reading the serial number.

3 operating_minutes
VAR
UINT32
RO
Reading the operating

minutes.
88
KHB 13.0003-EN 2.0
Parameter setting
Device information
Index
Name
Possible settings
Lenze
1018h
Characteristics
Selection
0 identity_object
Description
ARR
UINT8
RO
RO
Not used.
1 vendor_id
UINT32
Manufacturers code
2 product_code
UINT32
RO
RO
Product code
03A30018h
3 revision_number
UINT32
Firmware version
4 serial_number
UINT32
RO
Serial number of hardware

1008h
0 manufacturer_
device_name
VAR
1009h
0 manufacturer_
hardware_version
VAR
100Ah
0 manufacturer_
software_version
VAR
KHB 13.0003-EN
2.0
STR
RO
Manufacturers controller
name.
STR
RO
Current hardware version.

STR
RO
Current software version.
89
Parameter setting
7.9
Manufacturer-specific information parameters
7.9.1
Overview

Overview
In this chapter, additional objects have been created which go beyond the objects in
DSP301 and DSP402. These objects are described in the following.
7.9.2
Index
200Fh

Name
Possible settings
Characteristics
Lenze
Description
0 remote_request
Selection
0
{1}
VAR
UINT8
RW
MAP
Requesting the control

authority.
Cannot be saved (when the
controller is restarted, the
control authority has to be
requested again).
2001h
2002h
2003h
2007h
2008h
Value
Meaning

authority via the CAN bus
Not requesting the control

0 actual_drive_
temperature
{1 C}
0 actual_device_
temperature
{1 C}
0 actual_brake_
voltage
{1 mV}
0 absolute_
resolver_position
VAR
INT16
RO
Reading the current motor

temperature.
VAR
INT8
RO
Reading the current

controller temperature.
VAR
UINT16
RO
MAP
Reading the current brake

voltage.
-1
{1 inc}
VAR
INT16
RW
Determining the absolute

resolver position within one
revolution.
Maximum_control _
difference
0 number_of_
supported_entries
00h
{1h}
02h
VAR
UINT8
RO
Maximally supported
subindices.
02h
90
Bit 15 of the control word

need not be set to 1.
The control authority can
still only be requested via bit
15 of the control word.

supported.
1 maximum_
positive_
control_difference
{1 rpm}
2 maximum_
negative_
control_difference
{1 rpm}
VAR
UINT16
RW
Set the setting to 0 to start

measurement.
VAR
UINT16
RW

measurement.
KHB 13.0003-EN 2.0
Parameter setting

Index
Name
Possible settings
Lenze
2009h
Characteristics
Selection
Description
0 local_warnings
VAR
UINT16
RO
MAP
Reading warnings.
200Ah
Bit No.
Meaning
Motor temperature > 130 C
Temperature of electronic components

> 70 C
Following error
5 ... 15
Reserved
0 local_errors
VAR
UINT16
RO
MAP
Reading error messages.
KHB 13.0003-EN
2.0
Bit No.
Meaning

> 78 C
Quick stop
Homing
Motor deenergised
Driving program
System parameter
10
Drive inhibited
11 ... 15
Reserved
91
Parameter setting
7.10
Manufacturer-specific driving records
7.10.1
Overview

Overview
The 931M/W controllers are equipped with 99 driving programs in which the user can
predefine and save the control mode, setpoints, driving profiles, etc. In this way, the
predefined setpoints and the complete driving profiles can be directly accepted as current
values with a simple SDO command (selection of the corresponding driving program in
object 2100).
Unlike the fluxx software and the Profibus interface, driving programs cannot be
automatically combined via the CANopen bus. The driving programs are only used to
accept predefined driving profiles dynamically and with a low bus load.
The individual objects of the driving programs are explained in the following. The
driving_program_number object is used to select the current driving program.
The parameters
driving_program_acceleration, driving_program_deceleration,
driving_program_velocity, driving_program_position and driving_program_torque are
used to define the driving profile. The setpoint selection depends on the control mode (see
modes_of_operation):
7.10.2
Index
2100h
92
for torque control, the setpoint corresponds to the driving_program_torque,
for speed control, the setpoint corresponds to the driving_program_velocity, and
for position control, the setpoint corresponds to the driving_program_position.

Name
0 driving_program_
number
Possible settings
Characteristics
Lenze
Selection
Description
{1}
99
VAR
UINT8
RW
MAP
Selecting the current driving

program.
Driving program
Meaning
Depending on the active

control mode, the setpoints
and profile values of the
objects 6071h, 607Ah, 6081h,
6083h, 6084h and 60FFh
apply.
1 ... 99

objects 2171h, 217Ah, 2183h,
2184h and 21FFh apply.
KHB 13.0003-EN 2.0
Parameter setting

Index
Name
2171h
Driving_program_
torque
Possible settings
Characteristics
Lenze
Description
0 number_of_
supported_entries
1 driving_program_
torque
Selection
00h
{1h}
FFh
VAR
UINT8
RO
Maximally supported
subindices.
0
-1500
{rated_torque/1000}
1500
VAR
INT16
RW
Setting the setpoint torques

(with torque control) for the
individual driving programs.
Important: Unlike the fluxx
software, with speed,
following error, or position
control, the torque is not
limited here. The value that is
saved is only used as torque
setpoint. The torque can only
be limited via the object
max_torque.
...
99 driving_program_
torque
217Ah
-1500
{rated_torque/1000}
1500
VAR
INT16
RW
RO
See subindex 1.
Driving_program_
position
0 number_of_
supported_entries
1 driving_program_
position
00h
{1h}
FFh
VAR
UINT8
Maximally supported
subindices.
0
-231
{1 inc}
231
VAR
INT32
RW
Setting the position setpoint

for the individual driving
programs.
...
99 driving_program_
position
2183h
-231
{1 inc}
231
VAR
INT32
RW
Setting the position setpoint

for the individual driving
programs.
Driving_program_
acceleration
0 number_of_
supported_entries
1 driving_program_
acceleration
00h
{1h}
FFh
VAR
UINT8
RO
Maximally supported
subindices.
0
{1 rpm/s}
218
VAR
INT32
RW
Setting the acceleration

ramp.
...
99 driving_program_
acceleration
KHB 13.0003-EN
2.0
{1 rpm/s}
218
VAR
INT32
RW

ramp.
93
Parameter setting

Index
Name
2184h
Driving_program_
deceleration
Possible settings
Characteristics
Lenze
Description
0 number_of_
supported_entries
1 driving_program_
deceleration
Selection
00h
{1h}
FFh
VAR
UINT8
RO
Maximally supported
subindices.
0
{1 rpm/s}
218
VAR
INT32
RW
Setting the deceleration

ramp.
...
99 driving_program_
deceleration
21FFh
{1 rpm/s}
218
VAR
INT32
RW

ramp.
Driving_program_
velocity
0 number_of_
supported_entries
1 driving_program_
velocity
00h
{1h}
FFh
VAR
UINT8
RO
Maximally supported
subindices.
0
-6000
{1 rpm}
6000
VAR
INT32
RW
Setting the speed used to

approach the positions of the
individual driving programs.
With speed control, the value
is used as speed setpoint.
Otherwise, the value is used
as profile velocity.
...
99 driving_program_
velocity
94
-6000
{1 rpm}
6000
VAR
INT32
RW
See subindex 1.
KHB 13.0003-EN 2.0
Device control
State diagram
Overview
Device control
8.1
State diagram
8.1.1
Overview
The following chapter describes how the drive controller is controlled under CANopen, i.e.
how, for instance, the power stage is switched on or how an error is acknowledged.
Stop!
Uncontrolled rotation of the motor
An incorrectly parameterised drive controller can cause uncontrolled rotation
of the motor.
This may result in property damage.
Before the initital switch-on of the power stage, ensure that the drive
controller is really parameterised with the correct parameters.
Under CANopen, the entire control of the drive controller is implemented using two
objects: The master can control the drive controller via the control word, and the state of
the drive controller can be read back via the status word object. To explain the control of
the drive controller, the following terms are used:
KHB 13.0003-EN
State
Depending on the power stage being switched on or an error having occurred, the drive
controller is in different states. The states defined under CANopen are described in this
chapter.
Example: Switch_On_Disabled
State transition
CANopen not only defines the states, but also how to get from one state to another (e.g.
for acknowledging an error). State transitions are initiated by the master by setting bits
in the control word or internally by the drive controller if, for instance, the controller
detects an error.
Command
To initiate state transitions, certain bit combinations must be set in the control word.
Such a combination is called a command.
Example: Enable operation
State diagram (state machine)

All states and state transitions together form the state diagram, i.e. the overview of all
states and the possible transitions.
2.0
95
Device control
8.1.2
State diagram of the drive controller
State diagram
13
Start
Fault_Reaction_Active
14
Not_Ready_To_Switch_On
Fault
15
Switch_On_Disabled
2
Ready_To_Switch_On
3
9
12
10
Switched_On
Operation_Enable
11
Quick_Stop_Active
931e_421
Fig. 12
Power disabled (power stage is inhibited)

Fault (error)
Power enabled (power stage is switched on)
Danger!
Hazardous electrical voltage
Power stage disabled means that the power transistors are no longer
controlled. A hazardous voltage can, however, still be applied to the motor.
Extreme danger when working on the motor.
Disconnect the motor from the mains before working on the motor.
After power-on, the controller is initialised and finally reaches the Switch_On_Disabled
status. In this status, the CAN communication is fully operational and the controller can be
parameterised (speed control can, for instance, be selected). The power stage is switched
off and the shaft can thus freely rotate.
96
KHB 13.0003-EN 2.0
Device control
State diagram
With status transitions 2, 3, 4, - basically corresponding to CAN controller enable - you

change to the Operation_Enable status. In this status, the power stage is switched on and
the motor is controlled according to the selected operating mode. Therefore, it is
absolutely necessary to ensure before that the controller parameters are correct and the
corresponding setpoint is zero.
Status transition 9 corresponds to controller inhibit.
If an error occurs, (no matter from which status) the status finally changes to Fault.
Depending on the severity of the error, certain actions, e.g. emergency braking, can be
carried out before the status change (Fault_Reaction_Active).
The execution of the indicated status transitions requires certain bit combinations to be
set in the control word. Bits 0 ... 3 of the control word are evaluated together to activate a
status transition. In the following, only the most important status transitions (2, 3, 4, 9 and
15) will be explained. A table of all states and status transitions can be found at the end of
this chapter.
In the first column of the following table, you can find the desired status transition and in
the second column the command required for the transition (usually a command by the
master). In the control word column, you can see, how the command is generated, i.e.
which bits are to be set in the control word.
Transition Command
Action
15
Shutdown and
controller enable
None
Switch on
Power stage is switched on
Enable operation
Control according to the selected

operating mode
Disable voltage
Power stage is disabled. Motor can be

freely rotated.
15
Fault reset and error

removed
0 ->
1
Error acknowledgement
Tab. 10
Important controller status transitions

X
KHB 13.0003-EN
Control word (bits)
2.0
not relevant
97
Device control
State diagram
States of the drive controller
Example: Switching on the power stage (controller must be parameterised)

1. The controller is in the Switch_On_Disabled status.
2. The controller is to change to Operation_Enable.
3. Transitions 2, 3 and 4 must be executed.
4. For requesting the parameterisation authority via the CAN bus, bit 15
remote_request must be set to 1. If this is not the case, another interface (e.g. serial
interface) has got the parameterisation authority and the status machine cannot be
enabled or influenced via the CAN bus.
5. Ensure that no other bits are set in the control word, because only bits 0 ... 3 are
important for the transitions.
Control word
Transition Old status

15
New status
Value
Switch_On_Disabled 1
8006h Ready_To_Switch_On 1)
Ready_To_Switch_
On
8007h Switched_On 1)
Switched_On
800Fh Operation_Enable 1)
1)
The master must wait until the status can be read in the status word.
Transitions 3 and 4 can be combined by setting the control word directly to 000Fh. The set
bit 3 is not relevant for status transition 2.
8.1.3
States of the drive controller

Status
Meaning
The controller makes a self-test. CAN communication is not active yet.
Switch_On_Disabled
The self-test has been completed. CAN communication is possible.
Ready_To_Switch_On
The controller is waiting for the switch-on command, depending on the

controller enable logic.
Switched_On 1)
The power stage is switched on.
Operation_Enable 1)
Voltage is applied and the motor is controlled according to the operating

mode.
Quick_Stop_Active 1)
The quick stop function is carried out (see: quick_stop_option_code). Voltage

is applied and the motor is controlled according to the quick stop function.
Fault_Reaction_Active 1)
An error has occurred. With critical errors, the status changes to Fault
immediately. Otherwise, the action selected in the
fault_reaction_option_code is activated. Voltage is applied and the motor is
controlled according to the Fault Reaction function.
Fault
An error has occurred. The motor is deenergised.
Tab. 11
1)
98
Controller states
The power stage is switched on
KHB 13.0003-EN 2.0
Device control
State diagram
State transitions of the drive controller
8.1.4
State transitions of the drive controller

The following table lists all states and their meaning. Please observe that bit 15 of the
control word remote_request must always be set to 1 to ensure the parameterisation
authority via the CAN bus.
Transition Command
Control word (bits)

15
Action
1
Switched on or reset
Internal transition
Start self-test.
Self-test successful
Internal transition
Activation of CAN communication.
Shutdown and
1
controller and power
stage enable
None
Switch on
Power stage is switched on.
Enable operation
Control according to the selected

operating mode.
Disable operation
Motor is decelerated and energised at

standstill.
Shutdown

freely rotated.
Quick stop
None
Shutdown

freely rotated.
Disable voltage

freely rotated.
10
Disable voltage

freely rotated.
11
Quick stop
Braking is activated.
12
Disable voltage or
braking completed

freely rotated.
13
Error occurred
Internal transition
With non-critical errors, response

according to fault_reaction_option_
code. With critical errors, transition 14.
14
Error handling
completed
Internal transition

freely rotated.
15
Fault reset and error

removed
Tab. 12
2.0
0 ->
1
Error acknowledgement (with rising

edge).
Status transitions of the controller

X
KHB 13.0003-EN
not relevant
99
Device control
8.1.5
Control word
State diagram
Control word
The control word is used to change the current controller status or activate a certain action
(e.g. start homing). The function of bits 4, 5, 6, 8 and 14 depends on the current operating
mode (modes_of_operation) of the controller.
Index
Name
Possible settings
Lenze
6040h
0 control word
0000h
Characteristics
Selection
Description
0000h
{1h}
FFFFh VAR
UINT16
RW
MAP
Changing the controller

status.
Activating an action (e.g.
homing).
100
Bit No.
Meaning
Switch on
Enable voltage
Quick stop
Enable operation
4 ... 6
Operation-mode specific
The bit function depends on

the operating mode.
Reset fault
With a zero/one transition,

the controller tries to
acknowledge the existing
errors. This is only successful,
when the cause of the error
has been removed.
Stop

the operating mode.
9 ... 10
Reserve
Reserved, set to 0.
11 ... 13

the operating mode.
14
Wait for sync

the operating mode.
15
Remote request
When this bit is set, remote

control of the controller via
the CAN bus is requested.
When this bit is not set, local
controller operation (e.g. via
the fluxx software) is
enabled.
Controlling the status

transitions. (These bits are
evaluated together).
KHB 13.0003-EN 2.0
Device control
State diagram
Control word
Bits 0 ... 3 are used for status transitions. The required commands are listed in the below
table. The Fault reset command is activated by a LOW-HIGH transition of bit 7.
Command
Bit 15
Bit 7
Bit 3
Bit 2
Bit 1
Bit 0
Shutdown
Switch on
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
0 -> 1
Tab. 13
Overview of all commands

X
not relevant
Note!
Since some status changes take a certain time, all status changes activated via
the control word must be read in the status word.
Another command may only be written via the control word when the new
status can be read in the status word.
KHB 13.0003-EN
2.0
101
Device control
State diagram
Control word
The remaining bits of the control word are explained below. Depending on the operating
mode (modes_of_operation), the meaning of some bits changes:
Operating
mode
Bit 4
Bit 5
Bit 6
Bit 8
Bit 14
change_set_
immediately
When this bit is not
set, processing of the
current driving
command, if any, is
completed before
processing of the new
driving command is
started when a new
driving command is
received. When this
bit is set, the current
positioning is
cancelled
immediately and the
new driving
command is started.
z relative
When this bit is set,
the controller refers
the target position
(target_position) of
the current driving
command to the
setpoint position
(position_demand_
value) of the position
controller.
z stop
the current
positioning is
stopped. The
controller brakes with
the profile_
deceleration. After
braking has been
completed, bit 10
target_reached is set
in the status word
(index 6041h).
Deleting the bit has
no effects.
z wait_for_sync
the positioning is
started with an active
edge at the
synchronisation
input.
Profile
position
mode
z new_set_point
A rising edge
indicates that a new
driving command is
to be accepted.
Profile
velocity
mode
reserved
reserved
reserved
z stop
the speed is reduced
to zero. The controller
brakes with the
profile_deceleration.
When the bit is
deleted, the
controller starts
accelerating again.
z wait_for_sync
the setpoint speed of
the current driving
program is
approached with an
active edge at the
synchronisation input
and the speed ramp is
started.
Profile
torque
mode
reserved
reserved
reserved
z stop
the torque is reduced
to zero by using the
torque_slope. When
the bit is deleted, the
controller starts
accelerating again.
z wait_for_sync
the setpoint torque of
the current driving
program is
approached with an
active edge at the
synchronisation input
and the acceleration
ramp is started.
Homing
mode
start_homing
_operation
A rising edge starts
the parameterised
homing process. A
falling edge cancels
the current homing
process.
reserved
reserved
z stop
the current homing
process is cancelled.
Deleting the bit has
no effects.
102
reserved
KHB 13.0003-EN 2.0
Device control
State diagram
Controller state
8.1.6
Controller state
Just as different status transitions can be activated by combining several bits of the control
word, it is possible to read the current controller status by combining different bits of the
status word .
The following table lists the possible states of the status diagram and the bit combinations
which are used to display the states in the status word.
Status
Bit 6
Bit 5
Bit 3
Bit 2
Bit 1
Bit 0
0040h
0020h
0008h
0004h
0002h
0001h
Switch_On_Disabled
Ready_to_Switch_On
Switched_On
Operation_Enable
Fault
Fault_Reaction_Active
Quick_Stop_Active
Tab. 14
Mask
Value
004Fh
0000h
004Fh
0040h
006Fh
0021h
006Fh
0023h
006Fh
0027h
004Fh
000Fh
004Fh
000Fh
006Fh
0007h
Controller status
X
not relevant
Example:
The above example shows which bits must be set in the control word to enable the
controller. Now, the new status is to be read from the status word:
Transition from Switch_On_Disabled to Operation_Enable:
1. Write status transition 2 to control word.
2. Wait until the status Ready_To_Switch_On is displayed in the status word.
Transition 2: Control word = 8006h, wait until (status word + 006Fh) = 0021h is
displayed 1)
3. Status transitions 3 and 4 can be combined and written to the control word.
4. Wait until the status Operation_Enable is displayed in the status word.
Transition 3 and 4: Control word = 800Fh, wait until (status word + 006Fh) = 0027h is
displayed 1)
The example is based on the assumption that no other bits are set in the control word (only
bits 0 ... 3 are required for the status transitions).
1)
KHB 13.0003-EN
2.0
Bits which are not set also must be evaluated for the status identification (see table). Therefore, the status word
must be masked accordingly.
103
Device control
8.1.7
Status word
Index
State diagram
Status word
Name
Possible settings
Lenze
6041h
0 status word
Characteristics
Selection
Description
0000h
{1h}
FFFFh VAR
UINT16
RO
MAP
Displaying the controller

status and various events.
104
Bit No.
Meaning
Ready to switch on
Switched on
Operation enable
Fault
Voltage disable
This bit is set when the

power stage transistors are
switched off.
Important! In case of a
defect, the motor may still
be energised.
Quick stop
When this bit is deleted, the

drive carries out a quick stop
according to the
quick_stop_option_code
index.
Switch on disabled
Warning
This bit is not defined and

must not be evaluated.
Stop active
This bit is set when the drive

decelerates along a ramp or
comes to standstill (speed =
0).
Remote
This bit indicates that the

power stage of the controller
can be enabled via the CAN
network. The bit is set when
the controller enable logic is
set accordingly via the
enable_logic object.
10
Target reached

the operating mode.
11
Internal limit active

controller power is derated
due to a thermal limit load.
12 ... 13
14
Wait for sync

the operating mode.
15
These bits are evaluated

together.
KHB 13.0003-EN 2.0
Device control
State diagram
Status word
Note!
The bits of the status word are not buffered. They represent the current
controller status.
In addition to the controller status, various events are displayed in the status word, i.e. each
bit is assigned with a certain event (e.g. following error).
Depending on the operating mode (modes_of_operation), the meaning of some bits
differs:
Operating
mode
Bit 10
Bit 12
Profile
position
mode
z target_reached
This bit is set when
the current target
position is reached
and the current
position (index
position_actual_
value) is within the
selected position
window (position_
window).
The bit is also set,
when the drive comes
to standstill when the
stop bit is set.
It is deleted when a
new target is
selected.
set_point_acknow
ledge
the controller has
identified the set bit
4 in the control word
(new_set_point).
It is deleted when bit
4 is reset to zero in
the control word
(new_set_point).
z following_error
the current actual
position (index
position_actual_
value) differs from
the setpoint position
(index position_
demand_value) and
the difference is not
within the selected
tolerance margin
(indices following_
error_window,
following_error_
time_out).
z waiting_for_sync
the drive waits for a
synchronisation edge.
set, the drive is
controlled
independently of a
deceleration_
active
the axis decelerates.
set, the drive is not
decelerated.
Profile
velocity
mode
z target_reached
the current actual
speed of the drive has
reached the speed
setpoint.
z speed_0
the current speed is
zero.
max_slippage_
error
the maximum
following error is
reached.
z waiting_for_sync
set, the drive is
controlled
independently of a
deceleration_
active
decelerated.
Profile
torque
mode
z target_reached
the current actual
torque of the drive
has reached the
torque setpoint.
z speed_0
the current speed is
zero.
z reserved
This bit is not
assigned and must
not be evaluated.
z waiting_for_sync
set, the drive is
controlled
independently of a
deceleration_
active
decelerated.
Homing
mode
z homing_attained
homing has been
completed
successfully.
z homing_error
an error has occurred
during homing.
z reserved
This bit is not
assigned and must
not be evaluated.
z reserved
This bit is not
assigned and must
not be evaluated.
KHB 13.0003-EN
reserved
2.0
Bit 13
Bit 14
Bit 15
z
105
Operating modes
Operating modes
9.1
Setting of the operating mode
9.1.1
Overview

Overview
Below the operating modes specified in detail under CANopen are listed:
9.1.2
Speed control (profile velocity mode)
Homing (homing mode)
Positioning (profile position mode)
Torque control (profile torque mode)
Note!
The object 6060h modes_of_operation can only be used to change the
operating mode and the object 6061h modes_of_operation_display can only
be used to read back the operating mode.
Since changing the operating mode can take some time, you have to wait until
the newly selected mode appears in the modes_of_operation_display object.
During this period it may happen that invalid operating modes are displayed
for a short time.
Index
6060h
106
Name
0 modes_of_
operation
Possible settings
Characteristics
Lenze
Selection
Description
{1}
VAR
INT8
RW
MAP
Selecting the operating

mode
0
Reserved
Position control with

positioning
Speed control with setpoint

ramp
Torque control with setpoint

ramp
Homing
KHB 13.0003-EN 2.0
Operating modes

Index
Name
Possible settings
Lenze
6061h
Characteristics
Selection
0 modes_of_
operation_display
KHB 13.0003-EN
2.0
Description
VAR
INT8
RO
MAP
Operating mode display.

If operation via CANopen is
not possible, an internal
operating mode is displayed.
0
Reserved

positioning
Speed control with setpoint

ramp
Torque control with setpoint

ramp
Homing
107
Operating modes
9.2
Speed control
9.2.1
Overview
Speed control
Overview
The speed-controlled operation (profile velocity mode) comprises the following

subfunctions:
Setpoint generation by ramp generator
Speed detection via angle encoder by differentiation
Speed control with appropriate input and output signals
Limitation of torque setpoint (torque_demand_value)
Monitoring of actual speed (velocity_actual_value) with window

function/threshold
The meaning of the parameters profile_acceleration, profile_deceleration and quick_stop

is described in chapter Positioning.
9.2.2
Index

Name
Possible settings
Lenze
606Ch
6080h
Selection
0 velocity_actual_
value
0 max_motor_speed
Characteristics
Description
{1 rpm}
VAR
INT32
RO
MAP
Reading the actual speed.

4000
{1 rpm}
32768
VAR
UINT16
RW
Setting the maximum speed.

The speed setpoint is limited
to this value.
60FFh
0 target_velocity
-231
{1 rpm}
231-1
VAR
INT32
RW
MAP
Setting the speed setpoint.
108
KHB 13.0003-EN 2.0
Operating modes
Homing
Overview
9.3
Homing
9.3.1
Overview
This chapter describes how the drive controller finds the start position (also called
reference position, home position or zero position). There are different methods to
determine this position. Sometimes the limit switches at the end of the positioning range
are used. In order to increase the reproducibility as much as possible, some methods also
integrate the zero pulse of the angle encoder used (resolver, incremental encoder etc.).
Homing
controlword
statusword
homing_method
position_demand_value
home_speeds
931m_054
Fig. 13
Homing
The user can specify the speed, acceleration and type of homing. The home_offset object
can be used to set the zero position of the drive to any position desired.
The value of the home_offset object is added to the value of the homing point (e.g. limit
switch position).
Two
homing
speeds
are
distinguished.
The
higher
search
speed
(speed_during_search_for_switch, 6099_01) is used to find the limit switch or the homing
switch. For an exact position determination of the corresponding switching edge, switch
over to crawl speed (speed_during_search_for_zero, 6099_02).
Note!
With CANopen, travelling to the zero position is usually not part of the homing
run. If the drive controller knows all parameters required (e.g. the position of
the zero pulse), no physical movement is executed.
KHB 13.0003-EN
2.0
109
Operating modes
9.3.2
Index
607Ch
Homing
Name
0 home_offset
Possible settings
Characteristics
Lenze
Selection
-231
Description
231-1
{1 inc}
VAR
INT32
RW
Shifting the zero position

compared to the home
position.
6098h
0 homing_method
35
35
Value
Direction
Target
Reference point for zero
negative
Limit
switch
Zero pulse
positive
Limit
switch
Zero pulse
positive
Referen Zero pulse

ce
switch
negative
Referen Zero pulse

ce
switch
positive
Referen Zero pulse

ce
switch
11
negative
Referen Zero pulse

ce
switch
17
negative
Limit
switch
Limit switch
18
positive
Limit
switch
Limit switch
20
negative/ Referen Reference switch

positive
ce
switch
22
negative
Referen Reference switch

ce
switch
23
positive
Referen Limit switch

ce
switch
27
negative

ce
switch
32
negative
Zero
pulse
Zero pulse
33
positive
Zero
pulse
Zero pulse
No run.
Current actual
position
35
110
{1}
VAR
INT8
RW
MAP
Selecting the variant for

homing.
Four homing signals are
distinguished:
z negative and positive
limit switch
z reference switch
z (periodic) zero pulse of
the phase-angle
encoder.
Homing to the limit stop is
only possible with the
fluxx software.
When defining a homing
method, the following
settings are selected:
z Reference source
(neg./pos. limit switch,
reference switch, neg. /
pos. limit stop)
z Direction and sequence
of homing
z The way, the zero pulse
of the phase-angle
encoder is evaluated.
KHB 13.0003-EN 2.0
Operating modes
Homing
Control of the homing run
Index
Name
6099h
Homing_speeds
Possible settings
Characteristics
Lenze
Description
0 number_of_
supported_entries
Selection
00h
{1h}
02h
UINT8
RO
Maximally supported
subindices.
02h
1 speed_during_
search_for_switch
100
2 speed_during_
search_for_zero
100
9.3.3
VAR

supported.
232-1
{1 rpm}
VAR
UINT32 RW
MAP
Homing speed for reaching

the limit switch.
Usually, the drive then
reverses and the stop
position is approached at a
lower speed.
0
232-1
{1 rpm}
VAR
UINT32 RW
MAP
Determining the lower

speed
Control of the homing run

The homing run is controlled by the control word and monitored by the status word.
Homing is started by setting bit 4 in the control word. The successful completion is
indicated by bit 12 being set in the status word object. Bit 13 being set in the status word
object indicates that an error has occurred during the homing run. The error cause can be
determined via the error_register and pre_defined error_field objects.
KHB 13.0003-EN
Control word
Status word
Bit 4
Meaning
Bit 13
Bit 12
Meaning
Homing is not active
Homing is not yet completed
0 -> 1
Start homing
Homing has been completed successfully
Homing is active
Homing has not been successful
1 -> 0
Interrupt homing
Forbidden state
2.0
111
Operating modes
9.4
Positioning
9.4.1
Overview
Positioning
Overview
The target position (target_position) is transferred to the trajectory generator which then
generates a position setpoint (position_demand_value) for the position controller. These
two function blocks can be set independently of each other.
Trajectory Generator
Parameters
target_position
(607Ah)
target_postion
(607Ah)
Trajectory
Generator
position_demand_value
Limit
Function
home_offset (607Ch)
Position
Control
Function
Multiplier
control_effort
position
position_factor,
polarity (607Eh)
931m_055
Fig. 14
112
Trajectory generator and position controller
KHB 13.0003-EN 2.0
Operating modes
Positioning
9.4.2
Index
607Ah
Name
0 target_position
Possible settings
Characteristics
Lenze
Selection
-231
Description
{1 inc}
231-1 VAR
INT32
RW
MAP
Target position input

(absolute or relative input,
see bit 6 of the control word).
The current speed,
acceleration and
deceleration settings and the
driving profile type must be
considered.
6081h
0 profile_velocity
3000
{1 rpm}
231-1
VAR
UINT32
RW
MAP
Positioning: Velocity at the

end of the acceleration ramp.
6083h
0 profile_acceleration 5000
{1 rpm/s}
VAR
UINT32
RW
MAP

required to reach the
profile_velocity.
6084h
6086h
0 profile_
deceleration
5000
0 motion_profile_
type
KHB 13.0003-EN
2.0
{1 rpm/s}
VAR
UINT32
RW
MAP
Setting the deceleration.

0
{1}
VAR
INT16
RW
MAP
Setting the positioning

profile.
0
Linear ramp
Sine2 ramp
113
Operating modes
9.4.3
Functional description
Positioning
There are two ways to transfer a target position to the drive controller:
Simple travel task
When the drive controller has reached a target position, it signals this to the master with
the target_reached bit (bit 10 in the status word object). In this operating mode, the drive
controller stops when it has reached the target.
Sequence of travel tasks
After the drive controller has reached a target, it immediately starts to approach the next
target.
Interruption of a running task by a new travel task
The running positioning task is interrupted immediately and the new travel task is started.
These three methods are controlled by the new_set_point and change_set_immediately
bits in the control word object and by the set_point_acknowledge bit in the status word
object. The relationship between these bits is an interrogation/ response relationship. This
makes it possible to prepare a new travel task while the old one is still running.
data_
valid
1
(1)
new_
set_
point
(4)
(2)
(5)
(7)
set_
point_
acknowledge
1
(3)
(6)
t
931e_406
Fig. 15
Transfer of a travel task between master and drive controller
First the positioning data (target position, travelling speed and acceleration) are
transferred to the drive controller. When the positioning data record is written completely
(1), the master can start the positioning by setting the new_set_point bit in the control
word to 1 (2).
After the drive controller has recognised the new data and transferred this data into its
buffer, the controller signals this to the master by setting the set_point_acknowledge bit
in the status word (3).
Then the master can start to write a new positioning data record to the drive controller (4)
and delete the new_set_point bit again (5). The drive controller signals that it is ready to
accept a new travel task (6) by setting the set_point_acknowledge bit to 0. Prior to this,
the master may not start a new positioning (7).
114
KHB 13.0003-EN 2.0
Operating modes
Positioning
In Fig. 16 a new positioning is only started if the last positioning has been completed
completely. For this purpose, the master evaluates the target_reached bit in the status
word object.
v
v2
v1
t0
t1
t2
t3
t
931e_407
Fig. 16
Simple travel task
If the new_set_point bit as well as the change_set_immediately bit of the control word are
set to 1, the master instructs the drive controller to start the new travel task
immediately.
A travel task already being processed in interrupted in this case as shown in Fig. 17.
For this purpose, the master transfers the next target to the drive controller after the
controller has signalled by deleting the set_point_acknowledge bit that it has read the
buffer and started the corresponding positioning. Here it is important that the new travel
task is transferred to the drive controller in time.
v
v2
v1
t0
t2
t1
t3
t
931e_408
Fig. 17
KHB 13.0003-EN
2.0
Sequence of travel tasks
115
Operating modes
9.5
Torque control
9.5.1
Overview
Torque control
Overview
This chapter describes the torque-controlled operation. In this operating mode, an

external target-torque setpoint can be specified for the drive controller. Thus, it is possible
to use the drive controller also for those path controls shifting the position controller as
well as the speed controller to an external computer.
motor_rated_torque
(6076h)
torque_actual_value
(6077h)
Limit Function
max_torque
(6072h)
DC_link_voltage
(6079h)
motor_rated_current
(6075h)
Torque Control
Limit Function
max_current
(6073h)
and
Power
Stage
Motor
target_torque
(6071h)
motor_data
(6410h)
931m_056
Fig. 18
Structure of torque-controlled operation
Ramp generators are not supported. If bit 8 of the control word is set to stop, the current
setpoint is set to zero. Correspondingly, the target torque setpoint is limited to
max_torque if bit 8 is deleted again.
All definitions in this document refer to rotary motor. If linear motor are used, all torque
objects must refer to a force. However, the objects do not appear twice and their names
should not be changed.
116
KHB 13.0003-EN 2.0
Operating modes
Torque control
9.5.2
Index
6071h
Name
0 target_torque
Possible settings
Characteristics
Lenze
Selection
-1500
Description
1500
VAR
INT16
RW
MAP
Input value for the torque

controller (torque control).
controller.
6072h
0 max_torque
1500
1500
VAR
UINT16
RW

controller.
6073h
0 max_current
{motor_rated_
current/1000}
VAR
UINT16
RW

The default value depends
on the size of the drive.
6076h
0 motor_rated_
torque
{0.001 Nm}
6077h
0 torque_actual_
value
6079h
0 DC_link_circuit_
voltage
{1 mV}
607Fh
0 max_profile_
velocity
VAR
UINT32
RO

VAR
INT16
RO
MAP
Reading the actual torque.

VAR
UINT32
RO
MAP
Reading the DC-bus voltage.

4000
{1 rpm}
4000
VAR
UINT32
RW
Setting the maximum speed

to be traversed in the current
profile.
6083h
{1 rpm/s}
VAR
UINT32
RW
MAP

profile_velocity.
6084h
0 profile_
deceleration
5000
{1 rpm/s}
6086h
0 motion_profile_
type
{1}
KHB 13.0003-EN
2.0
VAR
UINT32
RW
MAP

1
VAR
INT16
RW
MAP

profile.
0
Linear ramp
Sine2 ramp
117
10
Appendix
10
Appendix
10.1
Index table
Index table
The indexes are numerically sorted in ascending order to form a reference book.
How to read the index table:
Column
Abbreviation
Meaning
Index
XXXXh
Index XXXXh
01h
Subindex 1 of index XXXXh
02h
Subindex 2 of index XXXXh
Name
Object type
Data type
Access
Mapping
Name of the index

REC
Record
ARR
Array, composed type (field)
VAR
Variable
UINT8
Unsigned integer, 1 byte without sign
UINT16
Unsigned integer, 2 bytes without sign
UINT32
Unsigned integer, 4 bytes without sign
INT8
Integer, 1 byte with sign
INT16
Integer, 2 bytes with sign
INT32
Integer, 4 bytes with sign
STR
String
RO
Read only
RW
Read and write
WO
Write only
No PDO mapping
MAP
PDO mapping
Lenze
Selection
Description
118
Lenze setting, value at delivery

1
{%}
99 Min. value
{unit} max. value
Short, important explanations
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
Possible settings
Lenze
1000h
Characteristics
Selection
Description
0 device_type
VAR
UINT3
2
RO
Device identification in a
multi-axis system.
00020192h
1001h
0 error_register
931M/Wservo inverter
VAR
UINT8
RO
MAP
Here, you can read the

value of the error_register
contained in the
emergency telegram.
KHB 13.0003-EN
2.0
Bit No.
Meaning
generic error
current
voltage
temperature
communication error
device profile-specific
reserved
manufacturer-specific
An error has occurred

which is not specified in
detail (flag is set with
every error message).
Communication error
(CAN overrun).
Manufacturer-specific
error.
119
10
Appendix
Index table
Index
Name
1003h
Pre_defined_error_
field
Possible settings
Characteristics
Lenze
Description
0 number_of_errors
Selection
00h
{1h}
FFh
UINT8
RW
Reading the number of

error messages saved.
00h
Deleting the history buffer

by writing the value 00h.
After an error, the error
must be acknowledged to
activate the power stage.
1 standard_error_
field_0
UINT3
2
RO
Reading the last error

message.
Bit
31 ... 24
23 ... 16
15 ... 8
7 ... 0
00
00
23
00
Motor deenergised due to

overcurrent
00
00
32
10
00
00
32
20
00
00
33
20
20 V > brake
voltage > 28 V
00
00
42
10
Power stage
overtemperature
00
00
43
10
00
00
63
20
Driving program, system

parameters
00
00
71
21
Drive inhibited
00
00
90
00
Quick stop
00
00
FF
00
Homing
...
4 standard_error_
field_3
1005h
0 COB-ID_sync_
message
RO
Reading the error

message.
00000080h
00000080h
{1h}
80000080h
VAR
UINT3
2
RW
The identifier of the

synchronisation object is
80h.
Determining whether the
controller is to receive or
send synchronisation
messages.
Bit No.
Value
0 - 10
11-bit identifier.
11 - 28
29

Every bit in this range
must be set to 0.
30
Controller does not

generate sync telegrams.
Controller generates sync

telegrams.
As you choose
31
120
UINT3
2
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
Possible settings
Lenze
1006h
0 communication_
cycle_period
Characteristics
Selection
Description
{1 s}
VAR
0 synchronous_
window_length
{1 s}
VAR
UINT3
2
RO
Setting the time slot in

which the sync telegrams
are sent.
0 manufacturer_
device_name
VAR
0 manufacturer_
hardware_version
VAR
100Ah
0 manufacturer_
software_version
VAR
100Ch
0 guard_time
1009h
No synchronisation
message sending.
0
1008h
RO
Setting the cycle time of

synchronisation messages.
0
1007h
UINT3
2
STR
RO
Manufacturers controller
name.
STR
RO
Current hardware version.

STR
RO
Current software version.

0
{1 ms}
65535
VAR
UINT1
6
RW
Setting the cyclic

monitoring time in which
the master queries the
status of the slaves.
0
100Dh
0 life_time_factor
{1}
255
VAR
UINT8
RW
The maximum time

between two queries of
the master results from
the product of guard_time
and life_time_
factor.
0
1010h
Store_parameters
0 largest_supported_
subindex
1 save_all_
parameters
00000001h
00000000h
{1h}
65766173h
2.0
UINT8
RO
UINT3
2
RW
Accepting the default

parameter set in the
application parameter set.
00000000h
KHB 13.0003-EN
65766173h
VAR

not accepted.
Save

accepted.
121
10
Appendix
Index table
Index
Name
1011h
Restore_default_
parameters
1 restore_all_default
_parameters
Possible settings
Characteristics
Lenze
Selection
Description
00000001h
00000000h
{1h}
64616F6Ch
Load
1015h
0 inhibit_time_emcy
RW
Loading the default

parameter set.
00000001h
0 COB-ID_emergency
_message
UINT3
2
Loading the default

parameter set, only
possible when the power
stage is deactivated.
The CAN communication
parameters (node No.,
baud rate and operating
mode) remain unchanged.
64616F6Ch
1014h
VAR
00000081h
00000000h
Read access: Reset to

default values.
{1h}
00000081h
VAR
UINT3
2
RW
Identifier emergency
object,
080h + node address
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

must be set to 0.
30
Reserved
31
Emergency object exists /

is used
Emergency object does not

exist / is not used
{1 s}
65535
VAR
UINT1
6
RW
Setting the inhibit time of

the emergency object. The
time must be a multiple of
100 s.
122
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
1016h
Consumer_
heartbeat_time
Possible settings
Characteristics
Lenze
Description
0 number_of_entries
Selection
01h
{1h}
7Fh
VAR
UINT8
RO
Maximally supported
subindices.
01h
1 consumer_
heartbeat_time
1 subindex is supported.
{1 ms}
65535
VAR
UINT3
2
RW
Setting the time in which

the controller expects a
message from the master.
The time must be longer
than the corresponding
index
producer_heartbeat_time.
0 means that the
function is deactivated.
Bit No.
0 - 15
Heartbeat time
16 - 23
Node address of the

controller.
24 - 31
1017h
0 producer_
heartbeat_time
Reserved, value 0.
{1 ms}
VAR
UINT1
6
RW
Time between two

heartbeat telegrams.
If the controller starts with
a time unequal zero, the
boot-up telegram is the
first heartbeat.
0
1018h
65536
0 identity_object
ARR
UINT8
RO
RO
Not used.
1 vendor_id
UINT3
2
Manufacturers code
2 product_code
UINT3
2
RO
RO
Product code
03A30018h
3 revision_number
UINT3
2
Firmware version
4 serial_number
UINT3
2
RO
Serial number of hardware
KHB 13.0003-EN
2.0
123
10
Appendix
Index table
Index
Name
1400h
Receive PDO1
communication
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_entries
Selection
00h
{1h}
02h
REC
UINT8
RO
Maximally supported
subindices.
02h
1 COB-ID_used_by_
PDO
80000201h

supported.
80000201h
{1h}
800002FFh
UINT3
2
RW

be set (parameterisation
of mapping).
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

must be set to 0.
30
Set to zero.
31
PDO active
1
2 transmission_type
FFh
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
124
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
1401h
Receive PDO2
communication
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_entries
Selection
00h
{1h}
02h
REC
UINT8
RO
Maximally supported
subindices.
02h
1 COB-ID_used_by_
PDO
80000301h

supported.
80000301h
{1h}
800003FFh
UINT3
2
RW

of mapping).
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

must be set to 0.
30
Set to zero.
31
PDO active
1
2 transmission_type
FFh
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
KHB 13.0003-EN
2.0
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
125
10
Appendix
Index table
Index
Name
1402h
Receive PDO3
communication
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_entries
Selection
00h
{1h}
02h
REC
UINT8
RO
Maximally supported
subindices.
02h
1 COB-ID_used_by_
PDO
80000401h

supported.
80000401h
{1h}
800004FFh
UINT3
2
RW

of mapping).
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

must be set to 0.
30
Set to zero.
31
PDO active
1
2 transmission_type
FFh
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
126
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
1403h
Receive PDO4
communication
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_entries
Selection
00h
{1h}
02h
REC
UINT8
RO
Maximally supported
subindices.
02h
1 COB-ID_used_by_
PDO
80000501h

supported.
80000501h
{1h}
800004FFh
UINT3
2
RW

of mapping).
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

must be set to 0.
30
Set to zero.
31
PDO active
1
2 transmission_type
FFh
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
1600h
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
Receive PDO1
mapping
parameters
0 number_of_
mapped_objects
00h
{1h}
REC
UINT3
2
RW
Maximally supported
subindices.
04h
1 first_mapped_
object
04h
Five subindices are

supported.
60400010h
{1h}
UINT3
2
RW
COB-ID entry of first

mapped object.
2 second_mapped_
object
UINT3
2
RW

mapped object.
...
4 fourth_mapped_
object
KHB 13.0003-EN
2.0
UINT3
2
RW

mapped object.
127
10
Appendix
Index table
Index
Name
1601h
Receive PDO2
mapping
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_
mapped_objects
Selection
00h
{1h}
04h
1 first_mapped_
object
60400010h
RW
2 second_mapped_
object
60600008h
Five subindices are

supported.
{1h}
UINT3
2
RW

mapped object.
{1h}
UINT3
2
RW

mapped object.
3 third_mapped_
object
4 fourth_mapped_
object
UINT3
2
RW

mapped object.
UINT3
2
RW

mapped object.
Receive PDO3
mapping
parameters
0 number_of_
mapped_objects
00h
{1h}
04h
REC
UINT3
2
RW
Maximally supported
subindices.
04h
128
UINT3
2
Maximally supported
subindices.
04h
1602h
REC
1 first_mapped_
object
60400010h
2 second_mapped_
object
607A0020h
Five subindices are

supported.
{1h}
UINT3
2
RW

mapped object.
{1h}
UINT3
2
RW

mapped object.
3 third_mapped_
object
4 fourth_mapped_
object
UINT3
2
RW

mapped object.
UINT3
2
RW

mapped object.
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
1603h
Receive PDO4
mapping
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_
mapped_objects
Selection
00h
{1h}
04h
REC
1 first_mapped_
object
60400010h
2 second_mapped_
object
60FF0020h
Five subindices are

supported.
{1h}
UINT3
2
RW

mapped object.
{1h}
UINT3
2
RW

mapped object.
3 third_mapped_
object
4 fourth_mapped_
object
2.0
RW
Maximally supported
subindices.
04h
KHB 13.0003-EN
UINT3
2
UINT3
2
RW

mapped object.
UINT3
2
RW

mapped object.
129
10
Appendix
Index table
Index
Name
1800h
Transmit PDO1
communication
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_entries
Selection
00h
{1h}
05h
REC
UINT8
RO
Maximally supported
subindices.
05h
1 COB-ID_used_by_
PDO
2 transmission_type
80000181h
Six subindices are

supported.
80000181h
{1h}
800001FFh
UINT3
2
RW
Identifier of transmit
PDO1, (180h + node
address).
of mapping).
FFh
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

must be set to 0.
30
Set to zero.
31
PDO active
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
3 inhibit_time
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
{100 s}
65535
UINT1
6
RW
Setting the minimum

delay time between two
PDOs. The time can only be
changed when the PDO is
not active (subindex 1,
bit 31 = 1).
4 CMS_priority_
group_tpdo1
{1}
5 event_timer
{1 ms}
255
UINT8
RW
65535
UINT1
6
RW
Setting the maximum

PDOs.
0
130
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
1801h
Transmit PDO2
communication
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_entries
Selection
00h
{1h}
05h
REC
UINT8
RO
Maximally supported
subindices.
05h
1 COB-ID_used_by_
PDO
2 transmission_type
80000281h
Six subindices are

supported.
80000281h
{1h}
800002FFh
UINT3
2
RW
PDO2, (280h + node
address).
of mapping).
FFh
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

must be set to 0.
30
Set to zero.
31
PDO active
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
3 inhibit_time
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
{100 s}
65535
UINT1
6
RW
Setting the minimum

bit 31 = 1).
4 CMS_priority_
group_tpdo2
{1}
5 event_timer
{1 ms}
255
UINT8
RW
65535
UINT1
6
RW
Setting the maximum

PDOs.
0
KHB 13.0003-EN
2.0
131
10
Appendix
Index table
Index
Name
1802h
Transmit PDO3
communication
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_entries
Selection
00h
{1h}
05h
REC
UINT8
RO
Maximally supported
subindices.
05h
1 COB-ID_used_by_
PDO
2 transmission_type
80000381h
Six subindices are

supported.
80000381h
{1h}
800003FFh
UINT3
2
RW
PDO3, (380h + node
address).
of mapping).
FFh
Bit No.
Value
0 - 10
11-bit identifier
11 - 28
29

must be set to 0.
30
Set to zero.
31
PDO active
PDO inactive
{1}
F0h, FEh, FFh
UINT8
RW

mode.
3 inhibit_time
n = 1 ... F0

n-th sync.
n = FE
n = FF
Event-controlled
transmission mode.
{100 s}
65535
UINT1
6
RW
Setting the minimum

bit 31 = 1).
4 CMS_priority_
group_tpdo3
{1}
5 event_timer
{1 ms}
255
UINT8
RW
65535
UINT1
6
RW
Setting the maximum

PDOs.
0
132
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
1A00h
Transmit PDO1
mapping
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_
mapped_objects
Selection
00h
{1h}
04h
UINT3
2
RW
Maximally supported
subindices.
04h
1 first_mapped_
object
REC
Five subindices are

supported.
60410010h
{1h}
UINT3
2
RW

mapped object.
2 second_mapped_
object
UINT3
2
RW

mapped object.
...
4 fourth_mapped_
object
1A01h
UINT3
2
RW

mapped object.
Transmit PDO2
mapping
parameters
0 number_of_
mapped_objects
00h
{1h}
04h
REC
1 first_mapped_
object
60410010h
2 second_mapped_
object
60610008h
Five subindices are

supported.
{1h}
UINT3
2
RW

mapped object.
{1h}
UINT3
2
RW

mapped object.
3 third_mapped_
object
4 fourth_mapped_
object
2.0
RW
Maximally supported
subindices.
04h
KHB 13.0003-EN
UINT3
2
UINT3
2
RW

mapped object.
UINT3
2
RW

mapped object.
133
10
Appendix
Index table
Index
Name
1A02h
Transmit PDO3
mapping
parameters
Possible settings
Characteristics
Lenze
Description
0 number_of_
mapped_objects
Selection
00h
{1h}
04h
UINT3
2
RW
Maximally supported
subindices.
04h
2000h
REC
1 first_mapped_
object
60410010h
2 second_mapped_
object
60640020h
Five subindices are

supported.
{1h}
UINT3
2
RW

mapped object.
{1h}
UINT3
2
RW

mapped object.
3 third_mapped_
object
4 fourth_mapped_
object
UINT3
2
RW

mapped object.
UINT3
2
RW

mapped object.
Slave_clock
0 number_of_
supported_entries
00h
{1h}
02h
UINT8
RO
Maximally supported
subindices.
02h
1 COB-ID
VAR

supported.
00000000h
{1h}
FFFFFFFFh
VAR
UINT3
2
RW
Identifier of slave clock

2 interval
2001h
2002h
2003h
134
{0.1 ms }
Bit No.
Meaning
0 ... 15
Maximum time
16 ... 31
Minimum time
0 actual_drive_
temperature
{1 C}
0 actual_device_
temperature
{1 C}
0 actual_brake_
voltage
{1 mV}
VAR
UINT3
2
RW
VAR
INT16
RO
Reading the current motor

temperature.
VAR
INT8
RO
Reading the current

controller temperature.
VAR
UINT1
6
RO
MAP
Reading the current brake

voltage.
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
2004h
Start_stop_position
0 number_of_
supported_entries
Possible settings
Characteristics
Lenze
Description
Selection
00h
{1h}
02h
VAR
UINT8
RO
Maximally supported
subindices.
02h

supported.
1 start_position
VAR
INT32
RW
MAP
2 stop_position
VAR
INT32
RW
MAP
KHB 13.0003-EN
2.0
135
10
Index
2005h
136
Appendix
Index table
Name
0 local_output_
function
Possible settings
Characteristics
Lenze
Selection
-128
Description
{1}
127
VAR
INT8
RW
Digital output can be

Value
Function
-128 ... -17
Reserved
-16
Reference set
-15 ... -14
Reserved
-13
Stopover
Low
-12
Motor
deenergised
Low
-11
Controller error
Low
-10
Reserved
-9
Drive in standstill
-8
Reserved
-7
Homing active
-6 ... -5
Reserved
-4
Setpoint reached
Low
-3
Traversing
request is being
processed
Low
-2
Fault
-1
Warning
No function
Warning
High
Fault
High
Traversing
request is being
processed
High
Setpoint reached
High
5 ... 6
Reserved
Homing active
Reserved
Drive in standstill
10
Reserved
11
Controller error
High
12
Motor
deenergised
13
Stopover
High
14 ... 15
Reserved
16
Reference set
17 ... 127
Reserved
Active
Low
Low
Low
Low
High
High
High
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
2006h
2007h
Name
0 local_input_
function
0 absolute_
resolver_position
2008h
Possible settings
Characteristics
Lenze
Selection
-128
Description
{1}
127
VAR
INT8
RW
Digital input can be

Value
Function
Active
-128 ... -9
Reserved
-8
Start/stop
-7
Reserved
-6
Stopover
Low
-5
Synchronisation
Low
-4
Reserved
-3
Quick stop
Low
-2
Power stage off
Low
Low
Low
-1
Reference
No function
Reference
High
Output stage off
High
Quick stop
High
Reserved
Synchronisation
High
Stopover
High
Reserved
Start/stop
9 ... 127
Reserved
-1
High
{1 inc}
VAR
INT16
RW
Determining the absolute

resolver position within
one revolution.
Maximum_control _
difference
0 number_of_
supported_entries
00h
{1h}
UINT8
RO

supported.
1 maximum_
positive_
control_difference
{1 rpm}
2 maximum_
negative_
control_difference
{1 rpm}
2.0
VAR
Maximally supported
subindices.
02h
KHB 13.0003-EN
02h
VAR
UINT1
6
RW

measurement.
VAR
UINT1
6
RW

measurement.
137
10
Index
Appendix
Index table
Name
Possible settings
Lenze
2009h
Characteristics
Selection
Description
0 local_warnings
VAR
UINT1
6
RO
MAP
Reading warnings.
200Ah
Bit No.
Meaning

> 70 C
Following error
5 ... 15
Reserved
0 local_errors
VAR
UINT1
6
RO
MAP
Reading error messages.
200Bh
0 master_slave_ratio
200Ch
0 slave_offset
200Dh
0 sync_position
Bit No.
Meaning

> 78 C
Quick stop
Homing
Motor deenergised
Driving program
System parameter
10
Drive inhibited
11 ... 15
Reserved
{1 inc}
Bit No.
Meaning
0 ... 15
Slave increments
16 ... 31
Master increments
{1 master inc}
1000
VAR
UINT3
2
RW
VAR
INT32
RW
MAP
Setting the slave offset.

{1 inc}
VAR
INT32
RO
MAP
Reading the sync position.

200Eh
0 sync_velocity
{1 rpm}
VAR
INT32
RO
MAP
Reading the sync velocity.
138
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
Possible settings
Lenze
200Fh
0 remote_request
Characteristics
Selection
Description
{1}
VAR
UINT8
RW
MAP

authority.
Cannot be saved (when
the controller is restarted,
the control authority has
to be requested again).
207Ah
Value
Meaning

Not requesting the control

Bit 15 of the control word

need not be set to 1.
The control authority can
still only be requested via
bit 15 of the control word.
Manual_drive_
positions
0 number_of_
supported_entries
00h
{1h}
02h
VAR
UINT8
RO
Maximally supported
subindices.
02h

supported.
1 negative_manual_
drive_position
VAR
INT32
RW
MAP
2 positive_manual_
drive_position
VAR
INT32
RW
MAP
2081h
0 manual_drive_
velocity
{1 rpm}
VAR
INT32
RW
MAP
2083h
0 manual_drive_
acceleration
{1 rpm/s}
VAR
UINT3
2
RW
MAP
2084h
0 manual_drive_
deceleration
{1 rpm/s}
VAR
UINT3
2
RW
MAP
2100h
0 driving_program_
number
VAR
UINT8
RW
MAP
KHB 13.0003-EN
2.0
{1}
99
Selecting the current

driving program.
Driving program
Meaning

objects 6071h, 607Ah,
6081h, 6083h, 6084h and
60FFh apply.
1 ... 99

objects 2171h, 217Ah,
2183h, 2184h and 21FFh
apply.
139
10
Appendix
Index table
Index
Name
2171h
Driving_program_
torque
Possible settings
Characteristics
Lenze
Description
0 number_of_
supported_entries
1 driving_program_
torque
Selection
00h
{1h}
FFh
VAR
UINT8
RO
Maximally supported
subindices.
0
-1500
{rated_torque/1000}
1500
VAR
INT16
RW
Setting the setpoint

torques (with torque
control) for the individual
driving programs.
Important: Unlike the
fluxx software, with
speed, following error, or
position control, the
torque is not limited here.
The value that is saved is
only used as torque
setpoint. The torque can
only be limited via the
object max_torque.
...
99 driving_program_
torque
217Ah
-1500
{rated_torque/1000}
1500
VAR
INT16
RW
See subindex 1.
Driving_program_
position
0 number_of_
supported_entries
1 driving_program_
position
00h
{1h}
FFh
VAR
UINT8
RO
Maximally supported
subindices.
0
-231
{1 inc}
231
VAR
INT32
RW

setpoint for the individual
driving programs.
...
99 driving_program_
position
2183h
-231
{1 inc}
231
VAR
INT32
RW

setpoint for the individual
driving programs.
Driving_program_
acceleration
0 number_of_
supported_entries
1 driving_program_
acceleration
00h
{1h}
FFh
VAR
UINT8
RO
Maximally supported
subindices.
0
{1 rpm/s}
218
VAR
INT32
RW

ramp.
...
99 driving_program_
acceleration
140
{1 rpm/s}
218
VAR
INT32
RW

ramp.
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
2184h
Driving_program_
deceleration
Possible settings
Characteristics
Lenze
Description
0 number_of_
supported_entries
1 driving_program_
deceleration
Selection
00h
{1h}
FFh
VAR
UINT8
RO
Maximally supported
subindices.
0
218
{1 rpm/s}
VAR
INT32
RW

ramp.
...
99 driving_program_
deceleration
21FFh
218
{1 rpm/s}
VAR
INT32
RW

ramp.
Driving_program_
velocity
0 number_of_
supported_entries
1 driving_program_
velocity
00h
{1h}
FFh
VAR
UINT8
RO
Maximally supported
subindices.
0
-6000
{1 rpm}
6000
VAR
INT32
RW
Setting the speed used to

approach the positions of
the individual driving
programs.
With speed control, the
value is used as speed
setpoint. Otherwise, the
value is used as profile
velocity.
...
99 driving_program_
velocity
6007h
67FFh
0 abort_connection_
option_code
-6000
{1 rpm}
6000
VAR
INT32
RW
See subindex 1.
{1}
VAR
INT16
RW
MAP
Determining the event to

be activated when the
master fails.
0
No action
Malfunction: Control word = 0
Device control command: Disable

voltage
Device control command: Quick stop
0 single_device_type
VAR
UINT3
2
RO
Device identification in a
multi-axis system.
00020192h
KHB 13.0003-EN
2.0
931M/W servo inverter
141
10
Index
6040h
Appendix
Index table
Name
0 control word
Possible settings
Characteristics
Lenze
Selection
0000h
0000h
Description
{1h}
FFFFh
VAR
UINT1
6
RW
MAP
Changing the controller

status.
Activating an action (e.g.
homing).
142
Bit No.
Meaning
Switch on
Enable voltage
Quick stop
Enable operation
4 ... 6
The bit function depends

on the operating mode.
Reset fault
With a zero/one
transition, the controller
tries to acknowledge the
existing errors. This is only
successful, when the cause
of the error has been
removed.
Stop

9 ... 10
Reserve
Reserved, set to 0.
11 ... 13

14
Wait for sync

15
Remote request

remote control of the
controller via the CAN bus
is requested. When this bit
is not set, local controller
operation (e.g. via the
fluxx software) is
enabled.
Controlling the status

transitions. (These bits are
evaluated together).
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
Possible settings
Lenze
6041h
0 status word
Characteristics
Selection
Description
0000h
{1h}
FFFFh
VAR
UINT1
6
RO
MAP
Displaying the controller

status and various events.
6060h
0 modes_of_
operation
KHB 13.0003-EN
2.0
Bit No.
Meaning
Ready to switch on
Switched on
Operation enable
Fault
Voltage disable

power stage transistors
are switched off.
Important! In case of a
defect, the motor may still
be energised.
Quick stop
When this bit is deleted,

the drive carries out a
quick stop according to the
quick_stop_option_code
index.
Switch on disabled
Warning
This bit is not defined and

must not be evaluated.
Stop active

drive decelerates along a
ramp or comes to
standstill (speed = 0).
Remote

power stage of the
controller can be enabled
via the CAN network. The
bit is set when the
controller enable logic is
set accordingly via the
enable_logic object.
10
Target reached

11
Internal limit active

controller power is derated
due to a thermal limit
load.
12 ... 13
14
Wait for sync

15
{1}
These bits are evaluated

together.
VAR
INT8
RW
MAP
Selecting the operating

mode
0
Reserved

positioning
Speed control with

setpoint ramp
Torque control with

setpoint ramp
Homing
143
10
Index
Appendix
Index table
Name
Possible settings
Lenze
6061h
Characteristics
Selection
Description
0 modes_of_
operation_display
VAR
6064h
6065h
6067h
RO
MAP
Operating mode display.

If operation via CANopen
is not possible, an internal
operating mode is
displayed.
0
Reserved

positioning
Speed control with

setpoint ramp
Torque control with

setpoint ramp
6
6063h
INT8
0 position_actual_
value
-231
0 position_actual_
value
-231
Homing
{1 inc}
231-1
VAR
INT32
RO
MAP
Reading the actual

position.
controller.
The unit can be set via the
factor group.
{position units}
231-1
VAR
INT32
RO
MAP
Reading the actual

position.
controller.
0 following_error_
window
9102
0 position_window
1820
00000000h
{1 inc}
7FFFFFFF
VAR
UINT3
2
RW
MAP

the position setpoint.
If the actual position value
is not within this range, a
following error occurs and
bit 13 is set in the status
word.
Causes for the following
error:
z the drive is inhibited
z the positioning speed is
too high
z the acceleration values
are too high
z the value of the
following_error_windo
w index is too low
z the parameters of the
position controller are
not correct
-231
{1 inc}
231-1
VAR
UINT3
2
RW
MAP

the target position. The
target position is reached,
when the actual position
value is for a certain time
in this range.
144
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
Possible settings
Lenze
606Ch
0 velocity_actual_
value
6071h
0 target_torque
Characteristics
Selection
Description
{1 rpm}
VAR
INT32
RO
MAP
Reading the actual speed.

0
-1500
1500
VAR
INT16
RW
MAP
Input value for the torque

controller (torque control).
Maximum setting:
1.5 times the rated torque
of the controller.
6072h
0 max_torque
1500
1500
VAR
UINT1
6
RW

Maximum setting:
1.5 times the rated torque
of the controller.
6073h
0 max_current
{motor_rated_current/1000}
VAR
UINT1
6
RW

6075h
6076h
6077h
6079h
607Ah
0 motor_rated_
current
{1 mA}
0 motor_rated_
torque
{0.001 Nm}
0 torque_actual_
value
0 DC_link_circuit_
voltage
{1 mV}
0 target_position
VAR
UINT3
2
RO
Reading the rated current

for Irat.
VAR
UINT3
2
RO

VAR
INT16
RO
MAP
Reading the actual torque.

VAR
UINT3
2
RO
MAP
Reading the DC-bus

voltage.
0
-231
{1 inc}
231-1
VAR
INT32
RW
MAP
Target position input

(absolute or relative input,
see bit 6 of the control
word).
The current speed,
acceleration and
deceleration settings and
the driving profile type
must be considered.
607Ch
0 home_offset
-231
{1 inc}
231-1
VAR
INT32
RW
Shifting the zero position

compared to the home
position.
KHB 13.0003-EN
2.0
145
10
Appendix
Index table
Index
Name
607Dh
Software_position_
limit
Possible settings
Characteristics
Lenze
Description
0 number_of_
supported_entries
Selection
00h
{1h}
02h
VAR
UINT8
RO
Maximally supported
subindices.
02h
Two subindices are

supported.
1 min_position_limit
{1 inc}
VAR
INT32
RW
Input value for the

minimum positioning
limit.
The value refers relatively
to the home_position.
Before comparing the limit
values with the current
target_
position, they have to be
converted:
corrected_min_position_
limit = min_position_
limit - home_offset.
home_offset or the
software_position_limit
are changed.
2 max_position_limit
{1 inc}
VAR
INT32
RW
Input value for the

maximum positioning
limit.
The value refers relatively
to the home_position.
Before comparing the limit
values with the current
target_
position, they have to be
converted:
corrected_max_position_
limit = max_position_
limit - home_offset.
home_offset or the
software_position_limit
are changed.
607Eh
0 polarity
00h
00h
{04h}
40h, 80h, C0h
VAR
UINT8
RW
Setting the sign of the

position and velocity
values.
The direction of rotation
can be inverted by
changing the sign.
Often, it is useful to set
both flags to the same
value.
Bit 6
Bit 7
146
40h
80h
multiply by 1
multiply by -1
multiply by 1
multiply by -1
position_polarity-flag
velocity_polarity-flag
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
607Fh
Name
0 max_profile_
velocity
Possible settings
Characteristics
Lenze
Selection
4000
Description
{1 rpm}
4000
VAR
UINT3
2
RW
Setting the maximum

speed to be traversed in
the current profile.
6080h
0 max_motor_speed
4000
{1 rpm}
32768
VAR
UINT1
6
RW
Setting the maximum

speed.
The speed setpoint is
limited to this value.
6081h
0 profile_velocity
3000
{1 rpm}
231-1
VAR
UINT3
2
RW
MAP
Positioning: Velocity at the

end of the acceleration
ramp.
6083h
{1 rpm/s}
VAR
UINT3
2
RW
MAP

profile_velocity.
6084h
0 profile_deceleration 5000
{1 rpm/s}
6086h
0 motion_profile_
type
{1}
VAR
UINT3
2
RW
MAP
6091h
VAR
INT16
RW
MAP

profile.
0
Linear ramp
Sine2 ramp
Gear_ratio
0 number_of_
supported_entries
00h
{1h}
02h
UINT8
RO
Maximally supported
subindices.
02h
1 motor_revolutions
VAR
Two subindices are

supported.
{1}
1000
VAR
INT32
RW
RW
Gearbox ratio
2 shaft_revolutions
{1}
1000
VAR
INT32
Gearbox ratio
KHB 13.0003-EN
2.0
147
10
Index
6098h
Appendix
Index table
Name
0 homing_method
Possible settings
Characteristics
Lenze
Selection
35
Description
35
Value
Direction
Target
Reference point for zero
negative
Limit
switch
Zero pulse
positive
Limit
switch
Zero pulse
positive
Referen Zero pulse

ce
switch
negative
Referen Zero pulse

ce
switch
positive
Referen Zero pulse

ce
switch
11
negative
Referen Zero pulse

ce
switch
17
negative
Limit
switch
Limit switch
18
positive
Limit
switch
Limit switch
20
negative/ Referen Reference switch

positive
ce
switch
22
negative
Referen Reference switch

ce
switch
23
positive

ce
switch
27
negative

ce
switch
32
negative
Zero
pulse
Zero pulse
33
positive
Zero
pulse
Zero pulse
No run.
Current actual
position
35
148
{1}
VAR
INT8
RW
MAP
Selecting the variant for

homing.
Four homing signals are
distinguished:
z negative and positive
limit switch
z reference switch
z (periodic) zero pulse of
the phase-angle
encoder.
Homing to the limit stop is
only possible with the
fluxx software.
When defining a homing
method, the following
settings are selected:
z Reference source
(neg./pos. limit switch,
reference switch, neg. /
pos. limit stop)
z Direction and sequence
of homing
z The way, the zero pulse
of the phase-angle
encoder is evaluated.
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
6099h
Homing_speeds
Possible settings
Characteristics
Lenze
Description
0 number_of_
supported_entries
Selection
00h
{1h}
02h
UINT8
RO
Maximally supported
subindices.
02h
1 speed_during_
search_for_switch
100
2 speed_during_
search_for_zero
100
60F9h
VAR

supported.
{1 rpm}
232-1
VAR
UINT3
2
RW
MAP
Homing speed for reaching

the limit switch.
Usually, the drive then
reverses and the stop
position is approached at a
lower speed.
0
{1 rpm}
232-1
VAR
UINT3
2
RW
MAP
Determining the lower

speed
Velocity_control_
parameter_set
1 velocity_control_
gain
1920
2 velocity_control_
time
10000
3 velocity_control_
differential_time
6500
4 sampling_time
800
0.01 128
{128}
100 128
VAR
UINT1
6
RW
Setting the speed

controller gain.
fluxx software:
Kp = 1.5
Here:
15 128 = 1920
2000
{1 s}
65500
VAR
UINT1
6
RW
Setting the time constant

Tn of the speed controller.
fluxx software:
Tn = 2 ms
Here: 2 ms = 2000 s
1
{1 s}
30000
VAR
UINT1
6
RW
Setting the time constant

Tv of the speed controller.
To increase the dynamic
performance for following
error or position control,
the speed setpoint
changes are differentiated
and the result is added to
the PI speed controller
output. Here, the time
constant of the differential
component can be set.
500
{1 s}
5000
VAR
UINT1
6
RW
Setting the sample time

for the speed and position
controller.
KHB 13.0003-EN
2.0
149
10
Appendix
Index table
Index
Name
60FBh
Position_control_
parameter_set
60FDh
Possible settings
Characteristics
Lenze
Selection
Description
1 position_control_
gain
2 position_control_
end_time
10
0 digital_inputs
{16384}
VAR
UINT1
6
RW

controller gain.
Kp = 1 (corresponds to
16384).
The position controller
compares the setpoint
position with the actual
position and - considering
the gain - calculates a
correction speed from the
difference that is sent to
the speed controller.
The position controller is
also used for following
error control.
0
{1 ms}
65535
VAR
UINT1
6
RW

control end time.
This is the time the motor
continues to be actively
energised after reaching
the target position to hold
the target position.
The input of 0 means that
the motor is permanently
energised.
00000000h
{1}
FFFFFFFFh
VAR
UINT3
2
RO
MAP
Reading the digital inputs.
150
Bit No.
Digital input
Neg. limit switch
High-active
Pos. limit switch
High-active
Reference switch
Interlock (no
controller or power
stage enable)
4 ... 15
Reserved
16
Brake_on
17
DOUT0
18 ... 31
Reserved
High-active
KHB 13.0003-EN 2.0
Appendix
10
Index table
Index
Name
60FEh
Digital_outputs
Possible settings
Characteristics
Lenze
Description
0 number_of_
supported_entries
Selection
00h
{1h}
02h
2 digital_outputs_
mask
00000000h
{1h}
Bit No.
Digital output
Brake
1 ... 15
Reserved
16
DOUT0
17
Neg. limit switch
18
Pos. limit switch
19
Reference switch
20
Quick stop
17 ... 31
Reserved
{1}
FFFFFFFFh
VAR
UINT3
2
RW
MAP
Activating or deactivating
special functionalities or
outputs.
With bit 0, you can, for
instance, activate or
deactivate the brake.
VAR
UINT3
2
RW
MAP
Defining a mask to ensure

that an output is not
activated when this is not
desired.
Output is not selected
1
0 target_velocity
RO

supported.
0
60FFh
UINT8
Maximally supported
subindices.
02h
1 digital_outputs_
data
VAR
Output is selected
-231
{1 rpm}
231-1
VAR
INT32
RW
MAP
Setting the speed setpoint.
KHB 13.0003-EN
2.0
151
10
Appendix
Index table
Index
Name
6410h
Motor_data
1 resolver_offset
Possible settings
Characteristics
Lenze
Selection
Description
{1 inc}
4096
VAR
UINT1
6
RW

2 number_of_pole_
pairs
{1}
13
VAR
UINT1
6
RW
Setting the pole pair

number.
Bit No.
Meaning
0 ... 3
Pole pair number
3 braking _times
{1 ms}
VAR
UINT3
2
RW
Setting the
disengagement and
engagement time of the
brake.
4 brake_voltage
Bit No.
Meaning
0 ... 15
Disengagement time
16 ... 31
Engagement time
001A0012
{1 V}
VAR
UINT3
2
RW

the brake voltage.
6510h
Bit No.
Meaning
0 ... 15
16 ... 31
Drive_data
0 number_of_
supported_entries
00h
{1h}
03h
VAR
UINT8
RO
Maximally supported
subindices.
03h
Four subindices are

supported.
1 identification
VAR
UINT3
2
RO
Reading the identification.

2 serial_number
VAR
UINT3
2
RO
Reading the serial number.

3 operating_minutes
VAR
UINT3
2
RO
Reading the operating

minutes.
152
KHB 13.0003-EN 2.0
Index
11
Index
A
Activation of CANopen, 59
Actual position, 81
Approach new position, 114
Driving program
- acceleration, 92
- deceleration, 92
- position setpoint, 92
- positions, 92
- Program number, 92
- setpoint torque, 92
Boot-up telegram, 56
Driving records, 92
Cable specification, 13
E82ZAFPC00x, baud rate, 12
CAN bus wiring, 13
Electrical installation, 13
CAN data telegram, structure, 15
Emergency, 49
CAN network, communication phases, 46
Emergency telegram, 49
CANopen, Communication, 15
Error, Controller error , 49
COB-ID, 16
Error messages, 21 , 90
Command code, 19
Error register, 49
Commissioning, 59
Communication, CANopen, 15
Communication data, 12
Communication Object Identifier, 16
Communication phases, 46
Communication profile, 12
Control authority, 90
Control difference, 90
Factor group, 74
Fault, 98
Fault Reaction Active, 98
Following error, 80
- error window, 81
Following error window, 81
Control of the drive controller, 95
Control of the homing run, 111
Heartbeat consumer, 54
Controller temperature, 90
Heartbeat producer, 54
Conversion factors, 74
Heartbeat telegram, 53
Homing, 109
D
Definition of notes used, 11
Device control, 95
Identifier, 16
Device status of the heartbeat producer, 54
Installation, electrical, 13
Digital inputs, 85
Digital outputs, 85
- mask, 85
KHB 13.0003-EN
11
2.0
L
Loading and saving of parameter sets, 71
153
11
Index
M
Monitoring of communication, 56
Motor adaptation, 76
Motor data, 76
Motor parameters, rated current, 76
Process data transfer (PDO transfer), 24

Profile velocity mode, 108
Q
Quick Stop Active, 98
Motor temperature, 90
Rated current, motor, 76
Network management (NMT), 46
Rated motor current, 76
Network topology, 12
Reading parameters, 22
Node address, 16
Ready to Switch On, 98
Node Guarding, 57
Remote request, 90
Node ID, 16
Resolver position, 90
Not Ready to Switch On, 98

Notes, definition, 11
O
Offset of phase-angle encoder, 76
Operating mode, Setting of, 106
Operating modes, 106
Operation enable, 98
Operator, 9
P
Parameter data transfer (SDO transfer), 18
S
Safety instructions, 9
- Definition, 11
- General, 10
- Structure, 11
Scaling factors, 74
SDO, 17
Setting of the operating mode, 106
Software position limit, 81
Specification of the transmission cable, 13
Speed control, 60 , 108
Parameter setting, 71
Speed controller, 78
PDO, 24
Start positioning, 114
PDOs, available, 25
State diagram, 95
Peak current, motor, 76
State diagram of the drive controller, 96
Peak motor current, 76
Status
Personnel, qualified, 9
Phase sequence, 76
Phase-angle encoder offset, 76
Position control, 66
Position controller, 80
- gain, 81
- position control send time, 81
Position reached message, 80
Positioning, 112
- Handshake, 114
- Fault, 98
- Fault Reaction Active, 98
- Not Ready to Switch On, 98
- Operation Enable, 98
- Quick Stop Active, 98
- Ready to Switch On, 98
- Switch On Disabled, 98
- Switched On, 98
Status diagram, 96
Status machine , 96
Switch On Disabled, 98
Power stage parameters, 75
Switched On, 98
Process data objects, available, 25
Sync telegram, 44
154
KHB 13.0003-EN 2.0
Index
Target position window, 81
User data, 18 , 19 , 20 , 21 , 25
Target window, position window, 81

target_torque, 116
Technical data, 12
V
Preface, 7
Torque control, 116
Transmission cable, specification, 13
Warnings, 90
Transmission parameters for PDOs, 25
Writing parameters, 23
KHB 13.0003-EN
2.0
11
155
156
Notes
KHB 13.0003-EN 2.0
Notes
KHB 13.0003-EN
2.0
157

KHB 13.0003-EN
2.0
02/2007
TD11
Lenze GmbH & Co KG Kleinantriebe

Hans-Lenze-Strae 1
D-32699 Extertal
Germany

Service
Service
+49 (0) 51 54 82-0
E-Mail
Internet
Lenze@Lenze.de
www.Lenze.com
00 80 00 24 4 68 77 (24 h helpline)
+49 (0) 51 54 82-1112
10

931M-931W CAN Communication v2-0 en

Uploaded by

Document Information

Original Title

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

931M-931W CAN Communication v2-0 en

Uploaded by

Copyright:

Available Formats

L-force Drives

Servo Drives 930

This documentation is valid for 931M/W servo inverters.

KHB 13.0003-EN 2.0

About this Communication Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Persons responsible for safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CAN bus wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connection of CAN bus slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connection of CAN bus master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Parameter data transfer (SDO transfer) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Process data transfer (PDO transfer) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Network management (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Loading and saving of parameter sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Conversion factors (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power stage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position controller (position control function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

KHB 13.0003-EN 2.0

Digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Manufacturer-specific information parameters . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.10 Manufacturer-specific driving records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Setting of the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1 Index table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

KHB 13.0003-EN 2.0

About this Communication Manual

About this Communication Manual

The features and functions are described in detail.

It provides detailed information on the possible applications.

Parameter setting is explained with the help of examples.

In case of doubt, the supplied mounting instructions are always valid.

How to find information

KHB 13.0003-EN 2.0

Persons responsible for safety

Persons responsible for safety

General safety instructions

General safety instructions

The drive controller is a source of danger if

Ensure by appropriate measures that there is no risk of injury or death to persons or

Operate the drive system only when it is in a proper state.

Retrofittings, modifications or redesigns of the drive controller are basically

KHB 13.0003-EN 2.0

Definition of notes used

Definition of notes used

Pictograph and signal word

Danger of personal injury through dangerous electrical voltage.

Danger of personal injury through a general source of danger.

Danger of property damage.

Important note to ensure troublefree operation

Useful tip for simple handling

DS 301, DSP 402

without repeater: line / with repeaters: line or tree

Number of CAN devices

Baud rate (in kbits/s)

10, 20, 50, 100, 125, 250, 500, 800, 1000

KHB 13.0003-EN 2.0

CAN bus wiring

CAN bus wiring

Basic wiring of CANopen with Sub-D connector to the master

135 - 165 /km, (f = 3 - 20 MHz)

Capacitance per unit length

< 110 /km

> 0.34 mm2