Danfoss VLT 5000 User manual

VLT®5000
Rev. 2003-09-16
www.danfoss.com/drives
175R0305 MG50P302 *MG50P302*
XREF__BC
NOT LOADED ON RIP
Operating Instructions
Positioning Controller
VLT®5000 FLUX

Positioning Controller
MG.50.P3.02 - VLT is a registered Danfoss trademark 1
Table of contents
Safety regulations _______________________________________________________________ 3
Introduction____________________________________________________________________ 4
Hardware ........................................................................................................................................................................ 5
VLT control card terminals......................................................................................................................................... 5
Technical data............................................................................................................................................................. 5
Option card terminals.................................................................................................................................................. 5
Supply voltages........................................................................................................................................................... 6
Encoder monitor ......................................................................................................................................................... 7
Option card layout ...................................................................................................................................................... 8
Technical Data.............................................................................................................................................................. 10
Description of the electrical and field bus interface ___________________________________ 12
Electrical interface VLT ............................................................................................................................................... 12
Option card MK3A................................................................................................................................................... 14
Option card MK3C................................................................................................................................................... 15
Option card MK3B (secondary position feedback for absolute encoders when using VLT 5000 Flux)................... 15
Option card MK3D (primary position feedback)...................................................................................................... 16
Field bus interface......................................................................................................................................................... 17
Data layout................................................................................................................................................................ 17
Description of the available parameters_____________________________________________ 20
Special LCP functions................................................................................................................................................... 20
Description of parameters............................................................................................................................................. 21
An application example!_________________________________________________________ 35
Wiring diagram............................................................................................................................................................. 36
Basic set-up................................................................................................................................................................... 36
Parameter settings......................................................................................................................................................... 38
Troubleshooting _______________________________________________________________ 41
Frequently asked questions........................................................................................................................................... 41
Appendix _____________________________________________________________________ 44
Binary selection of reference positions using digital control........................................................................................ 44
Binary selection of reference positions using fieldbus control...................................................................................... 44
Glossary of key terms ................................................................................................................................................... 46
Index............................................................................................................................................................................. 48

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Positioning Controller for
VLT 5000 and VLT 5000Flux
Software Version 2.1X
Software Version number: See Parameter 779.

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The voltage of the frequency converter is dangerous whenever the equipment is
connected to mains. Incorrect installation of the motor or the frequency converter may
cause damage to the equipment, serious personal injury or death. Consequently, the
instructions in this manual, as well as national and local rules and safety regulations, must
be complied with.
Safety regulations
1. The VLT frequency converter must be disconnected from mains if repair work is to be carried out.
Check that the mains supply has been disconnected and that the necessary time has passed before
removing motor and mains plugs.
2. The [STOP/RESET] key on the control panel of the frequency converter does not disconnect the
equipment from mains and is thus not to be used as a safety switch.
3. Correct protective earthing of the equipment must be established, the user must be protected against
supply voltage, and the motor must be protected against overload in accordance with applicable national
and local regulations.
4. The earth leakage currents are higher than 3.5 mA.
5. Protection against motor overload is not included in the factory setting. If this function is desired, set
parameter 128 to data value ETR trip or data value ETR warning.
Note: The function is initialized at 1.16 x rated motor current and rated motor frequency.
For the North American market: The ETR functions provide class 20 motor overload protection in
accordance with NEC.
6. Do not remove the plugs for the motor and mains supply while the frequency converter is connected to
mains. Check that the mains supply has been disconnected and that the necessary time has passed
before removing motor and mains plugs.
7.Please note that the frequency converter has more voltage inputs than L1, L2 and L3, when load sharing
(linking of DC intermediate circuit) and external 24 V DC have been installed.
Check that all voltage inputs have been disconnected and that the necessary time has passed before
repair work is commenced.
Warning against unintended start
1. The motor can be brought to a stop by means of digital commands, bus commands, references or a
local stop, while the frequency converter is connected to mains.
If personal safety considerations make it necessary to ensure that no unintended start occurs, these
stop functions are not sufficient.
2. While parameters are being changed, the motor may start. Consequently, the stop key [STOP/RESET]
must always be activated, following which data can be modified.
3. A motor that has been stopped may start if faults occur in the electronics of the VLT frequency
converter, or if a temporary overload or a fault in the supply mains or the motor connection ceases.
Warning:
Touching the electrical parts may be fatal - even after the equipment has been disconnected from mains.
Also make sure that other voltage inputs have been disconnected, such as external 24 V DC, load sharing
(linkage of DC intermediate circuit), as well as the motor connection for kinetic back-up.
Using VLT 5001-5006 220 and 500 V units: wait at least 4 minutes
Using VLT 5008-5500 220 and 500 V units: wait at least 15 minutes
Using VLT 5001-5005 550-600 V units: wait at least 4 minutes
Using VLT 5006-5022 550-600 V units: wait at least 15 minutes
Using VLT 5027-5250 550-600 V units: wait at least 30 minutes

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Introduction
The Positioning Controller is an application option for the VLT 5000 and VLT 5000 Flux Series. It is
based on the SyncPos option card.
The positioning controller can be used in a wide range of applications where a frequency converter is
used for positioning. The controller holds information of up to 32 (64 in field bus mode) fixed positions.
Relative positions can be added to each other by triggering a new relative positioning command when
the controller is already executing a relative positioning command.
Full field bus support is now included meaning starting and stopping etc can be done via bus.
In field bus mode a “quickbus” mode is introduced to enable writing a target position directly. Hence an
unlimited number of positions can be reached.
Positions are defined either relative to a fixed home position (absolute positions) or relative to other
positions, or relative to a movable “touch probe” sensor.
An advanced mechanical brake controller is included. It is strongly advised to use this brake function
as suppose to the VLT mechanical brake handler.
If absolute encoders must be used for positioning feedback in conjunction with VLT 5000 Flux this is
now possible. Encoder input MK 3B can be programmed as option feedback input allowing the
feedback encoder input MK 3D to be used for VLT 5000 Flux.
The encoder(s) connected can now hardware wise be monitored for open or short-circuits.
Last but not least VLT manual run mode is introduced. It is selected via parameter 711.
This manual consists of the following parts:
Hardware
Description of the electrical interface
Description of the available parameters
An application example!
Troubleshooting
Appendix

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Hardware
VLT control card terminals
The terminals on the control card are allocated for positioning controller functions the following
parameter settings should therefore not be changed in positioning mode (set-up 1):
Digital inputs 16, 17, 18, 19, 27, 29, 32 and 33
Parameters 300–303 and 305–307 are set to ”No operation” (default setting), then the inputs are
ignored by the control card but used as inputs to the positioning controller.
Analogue inputs 53, 54 and 60
Parameters 308, 311 and 314 are set to ”No operation”, then the inputs are ignored by the control card
but used as inputs to the positioning controller.
Digital/analogue outputs 42 and 45 (VLT 5000)
Parameters 319 and 321 are set to:
OPTION 0 … 20 mA [91] analogue output
(default setting)
Digital outputs 26 and 46 - Analogue outputs 42 and 45(VLT 5000 Flux)
Parameters 319 and 321 are set to:
OPTION 0 … 20 mA [90] analogue output
(default setting)
Parameters 341 and 355 are set to:
OPTION digital [90] digital output
(default setting)
Technical data
Technical data on the control card terminals can be found in the VLT 5000 design guide.
Option card terminals
There are two encoder interfaces, which are covering the following functions:
• Primary Feedback encoder input
• Secondary encoder input
There are 8 digital inputs, 8 digital output and terminals for 5 V and 24 V supply. The functions and
technical data of the terminals are described in the following.
Terminal A1
A1 B1 B1 Z1 Z1
Incremental input A in inA B in inB Z in inZ
Absolute input Clk out outClk Data in inData Not used Not used
Fig. 1
Terminal A2
A2 B2 B1 Z2 Z2
Incremental input A in inA B in inB Z in inZ
Absolute input Clk out outClk Data in inData Not used Not used
Fig. 2

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Terminal description
There are 4 terminal blocks, 2 with 10 poles and 2 with 8 poles. (See figure below)
MK3A Digital Inputs MK3B Secondary feedback
I1 I2 I3 I4 I5 I6 I7 I8 24V
COM 5V COM A1 A1 B1 B1 Z1 Z1
MK3C Digital Outputs MK3D Primary feedback
O1 O2 O3 O4 O5 O6 O7 O8 24V COM 5V COM A2 A2 B2 B2 Z2 Z2
Supply voltages
The option card is supplied by the internal 24 V DC supply of VLT 5000, but as the available power is
limited it can be necessary to use an external 24 V DC supply.
The 24 V DC supply of VLT 5000 can supply a total of 420 mA including the load on the control card
(terminal 12, 13 and output 42 and 45 + 26 and 46 for VLT 5000 Flux).
The 5 V output on the option card is generated from the 24 V supply. The maximum power on the 5 V
side is 5 V * 280 mA = 1.4 W, this corresponds to app. 60 mA on the 24 V side.
When an external 24 V DC voltage source is used the internal 24 V supply from the control card must
be disconnected, this is done by opening switch 1.1 and 1.2
Each digital input on the option card takes 8 mA. Each digital output on the option card can supply up
to 0.7 A (external 24V-supply) depending on the load. The load from the 24 V supply (internal or
external) can be calculated as follows:
8 mA * number of digital inputs
+
Load on digital outputs
(mk3 C, O1 – O8)
+
load on 5 V supply
(mk3 B/D, 5 V/com)
+
Load on control card
(24 V supply, terminal 12/13 and
outputs, terminal 42/45, 26/46)

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Encoder monitor
Both encoder interfaces are equipped with a monitoring circuit that can detect open circuit as well as
short circuit of each encoder channel. Each encoder channel has a LED showing the status: Green
light means ok, no light means fault.
Zero channel monitoring can be switched off by means of switch 1.4, this is necessary when using
incremental encoders without Zero channel or absolute encoders. Switch 1.4 disables monitoring of
both Zero channels. If disabling of only one of the two Zero channels is required (e.g. when using
incremental Flux feedback encoder and absolute option feedback encoder) the unused Zero channel
input must be connected to 5V/common as shown below.
An encoder fault will only result in an ”Option error” 92 if encoder monitoring is activated via parameter
713.
Note: Monitoring of the secondary feedback encoder is disabled when switch 1.3 is ”OFF”.

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Encoder monitor secondary
input,
channel A, B and Z:
LED off = Short or open circuit
LED green = Ok.
Encoder monitor primary
input,
channel A, B and Z:
LED off = Short or open circuit
LED green = Ok.
Option card layout
Option card layout showing the position of connectors and dip switch.
SW 1.1: Connect(ON)/disconnect(OFF) 24 V from control card (see description of supply voltages).
SW 1.2: Connect(ON)/disconnect(OFF) 24 V common from control card.
SW 1.3: Connect(ON)/disconnect(OFF) termination resistor for secondary encoder.
Note: When OFF the secondary encoder monitor is disabled.
SW 1.4: Switch Z-channel encoder monitor ON/OFF for both encoder inputs.
Default setting of switch 1.1. - 1.4 is ON.
5V monitor:
LED off = no 5V
E
LED Green = 5V ok.
CPU monitor:
LED must flash at 1 Hz to
indicate a running CPU
s
y
stem

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Technical Data
Terminals:
Type..............................................................................................................Plugs with screw connections
Maximum cable size......................................................................................................1.3 mm2 (AWG 16)
Digital inputs, MK3A:
Terminal designations .......................................................................................................................I1 – I8
Voltage level............................................................................................0 – 24 V DC (PNP positive logic)
Voltage threshold logical “0”............................................................................................................5 V DC
Voltage threshold logical “1”..........................................................................................................10 V DC
Maximum voltage ..........................................................................................................................28 V DC
Input impedance..................................................................................................................................4 kΩ
Min. pulse duration (ON INT)...........................................................................................................1 msec
Galvanic isolation: All digital inputs are galvanically isolated by means of optocouplers,
but with the same common as the digital outputs.
Digital outputs, MK3C:
Terminal designations ...................................................................................................................O1 – O8
Voltage level............................................................................................................................0 – 24 V DC
Maximum load........................................................................................0.7A (with external power supply)
Update rate......................................................................................................................................1 msec
Galvanic isolation: All digital outputs are galvanically isolated by means of optocouplers,
but with the same common as the digital inputs.
External 24 V DC supply:
(see VLT 5000 manual)
Encoder input 1, MK3B (secondary):
Terminal designations .......................................................................................... A1, A1, B1, B1, Z1, Z1.
Incremental:
Signal level ...........................................................................................................................5 V differential
Signal type.....................................................................................................................Linedriver, RS 422
Input impedance.............................................................................................120 Ω(Dip switch 1.3 = ON)
...................................................................................................................> 24 kΩ(Dip switch 1.3 = OFF)
Maximum frequency......................................................................................220 kHz (at 50 % duty cycle)
Phase displacement between A and B..........................................................................................90° ±30°
Absolute:
Signal level ...........................................................................................................................5 V differential
Signal type.............................................................................................................................................SSI
Data coding ................................................................................................................................Gray code
Data length .........................................................................................................................................25 bit
Parity....................................................................................................................................................none
Clock frequency.................................................................................................................. 105 or 260 kHz
Protocol ...............................................................................................................................................Gray
Maximum positions per revolution.......................................................................................................8192
Maximum number of revolutions.........................................................................................................4096

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Encoder input 2, MK3D (primary)
Terminal designations ......................................................................................... A2, A2, B2, B2 , Z2, Z2
Incremental:
Signal level ...........................................................................................................................5 V differential
Signal type......................................................................................................................Linedriver, RS422
Input impedance................................................................................................................................120 Ω
Maximum frequency......................................................................................220 kHz (at 50 % duty cycle)
Phase displacement between A and B..........................................................................................90° ±30°
Absolute:
Signal level ...........................................................................................................................5 V differential
Signal type.............................................................................................................................................SSI
Protocol ......................................................................................................................................Gray code
Data length .........................................................................................................................................25 bit
Parity....................................................................................................................................................none
Clock frequency.................................................................................................................. 105 or 260 kHz
Maximum positions per revolution.......................................................................................................8192
Maximum number of revolutions.........................................................................................................4096
Encoder cable:
Cable type...Twisted pair and screened. Note: Please observe the prescriptions of the encoder supplier
Cable length.................................................................Observe the prescriptions of the encoder supplier.
Absolute encoder is tested ok up to 150 meter cable at 105 kHz clock and 100 m at 260 kHz clock.
(Tested with TR electronic encoder type CE-65 M 8192*4096 and appropriate cable prescribed by TR
electronic.)
Maximum allowed time delay between clock and data signal measured at the controller terminals...........
................................................................................................................................ 105 kHz clock = 9µsec
............................................................................................................................ 260 kHz clock = 3.5 µsec

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Description of the electrical and field bus interface
Electrical interface VLT
Terminal Designation Description
12 24V DC 24V power supply for switches etc. maximum load 200 mA
13 24V DC 24V power supply for switches etc. maximum load 200 mA
16 Reference index Bit 0
(LSB) Reference position index number bit 0 (least significant bit).
Not used in field bus mode.
17 Reference index Bit 1 Reference position index number bit 1.
Not used in field bus mode.
18 Reference index Bit 2 Reference position index number bit 2.
Not used in field bus mode.
19 Reference index Bit 3 Reference position index number bit 3.
Not used in field bus mode.
20 GND Ground for 24V is normally bridged with Terminal 39, but can be
set to “OFF” by means of Switch SW 4 on the control card.
27 Reset / ENABLE (error
clear) Errors are cleared on the rising edge (must be “0” min. 1 ms. to
guarantee edge detection). Not used in field bus mode.
To enable operation, this input must be maintained at “1” in
either digital control mode or field bus control mode.
29 Reference index Bit 4
(MSB) Reference position index number bit 4 (most significant bit).
Not used in field bus mode.
32 Go to HOME position While this input is high the drive executes the homing sequence.
While this input is high no position or jog operations are carried
out. Any homing sequence is interrupted by a low state on this
input.
Not used in field bus mode.
33 LATCH new reference
position index number Active on the rising edge (must be “0” min. 1 ms. to guarantee
edge detection):
Latches reference position index number specified on terminal
16, 17, 18, 19, 29 into memory. Digital output MK3C 4 – 8 is
changed to mirror the new reference index specified when using
digital input control.
Not used in field bus mode.

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Terminal Designation Description
01 COM; 240V AC/2A Common terminal for Relay 01-03.
02 Connect to electro
mechanical brake
NO
Normal Open
Relay 01-03 is open (brake activated) during power off, and
start-up of the VLT 5000. It is always open after a “Quick Stop”
procedure or in connection with an error situation. Relay 01-03
only closes in connection with motion procedures or if specified
in P715.
03 NC Normal Closed
04 COM; 50V AC/1A; 75V
DC/1A Common terminal for Relay 04-05.
05 Brake activated
NC
Normal Closed
Relay 04-05 is closed to indicate an activated electromechanical
brake. It is open to indicate a deactivated electromechanical
brake.
Not used in field bus control mode.
26 Touch probe position
locked in (VLT 5000
Flux only)
A high “1” signal is present when a rising edge has been
detected on digital input 1 (terminal MK3A) and a target position
is fixed in memory.
A low signal is present when no target position has yet been
determined.
Not used in field bus mode.
39 GND Ground for analogue inputs/outputs is normally bridged with
Terminal 20, but can be set to “OFF” by means of Switch SW 4
on the control card.
42 Touch probe position
locked in (VLT 5000
Process only)
A high “1” signal is present when a rising edge has been
detected on digital input 1 (terminal MK3A) and a target position
is fixed in memory.
A low signal is present when no target position has yet been
determined.
Not used in field bus mode.
45 Watchdog output in
(VLT 5000 Process
only)
This output toggles continually as long as the program is active.
46 Watchdog output in
(VLT 5000 Flux only) This output toggles continually as long as the program is active.
50 10V DC 17mA Power supply for manual JOG inputs (terminal 53 and 54)
53 ±10V-In
Manual jog positive
When high (above 5V), the drive will travel with jogging speed
(P723) and ramp (P724) in the positive direction.
When low (below 5V), the drive will ramp down and stop if no
other motion procedure is activated.
Jog positive has higher priority than Jog negative
Not used in field bus mode.

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Terminal Designation Description
54 ±10V-In
Manual jog negative
When high (above 5V), the drive will travel with jogging speed
(P723) and ramp (P724) in the negative direction. When low
(below 5V), the drive will ramp down and stop if no other motion
procedure is activated.
Not used in field bus mode.
60 ±20mA-In Not used
Option card MK3A
Terminal Designation Description
1 Touch probe switch
input Interrupt triggered on the rising edge. If this signal goes high
when no touch probe target position is currently locked (VLT 5000
Process: terminal 42 low, VLT 5000 Flux: terminal 26 low), a new
touch probe target position is calculated and locked in memory.
2 Positive HW limit
switch input Interrupt triggered on the falling edge. Triggers a HW limit error
and the drive is stopped according to P725.
3 Negative HW limit
switch input Interrupt triggered on the falling edge. Triggers a HW limit error
and the drive is stopped according to P725.
4 HOME reference
switch input Active high. Marks the HOME position in the application.
5 Go to the referenced
target position Active high. Upon activation the drive goes to the specified target
position. A low signal interrupts any positioning sequence.
Not used in field bus mode.
6 Reset home flag Active high. This input clears the home flag. This allows the user
to perform a second homing sequence.
Not used in field bus mode.
7 Reset touch probe
position Active high. This input clears the touch probe position flag. The
reset is necessary to carry out a touch probe positioning
command to a new target position.
Not used in field bus mode.
8 Quick stop Active low. This input activates the Quick Stop function. The drive
is stopped according to the setting of P725. After that the
electromechanical brake is always activated when the “Quick
stop” input is activated regardless of the P715 setting.
9 24V DC
10 COM

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Option card MK3C
1 Homing completed Active high. This output is always high if an absolute encoder is
specified in P713
2 Referenced position
reached Active high. This output is set when the target position is reached
according to the setting of P746.
3 Error occurred Active high. This output is set every time an error occurs. It is
cleared every time a successful error clear is carried out. This
output will remain high as long as the Power recovery function is
selected (P736) and active.
4 Reference index bit 0 Active high. Mirror of the currently locked-in reference index bit 0.
Not used in field bus mode.
5 Reference index bit 1 Active high. Mirror of the currently locked-in reference index bit 1.
Not used in field bus mode.
6 Reference index bit 2 Active high. Mirror of the currently locked-in reference index bit 2.
Not used in field bus mode.
7 Reference index bit 3 Active high. Mirror of the currently locked-in reference index bit 3.
Not used in field bus mode.
8 Reference index bit 4 Active high. Mirror of the currently locked-in reference index bit 4.
Not used in field bus mode.
9 24V DC
10 COM
Option card MK3B (secondary position feedback for absolute encoders when using VLT 5000 Flux)
1 5V DC Encoder supply
2 COM Encoder supply
Incremental encoder Absolute encoder
3 A1 A-track Clock out
4 /A1 A-track inverted Clock out inverted
5 B1 B-track Data in
6 /B1 B-track inverted Data in inverted
7 Z1 Zero-track Not used
8 /Z1 Zero-track inverted Not used

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Option card MK3D (primary position feedback)
1 5V DC Encoder supply
2 COM Encoder supply
Incremental encoder Absolute encoder
3 A1 A-track Clock out
4 /A1 A-track inverted Clock out inverted
5 B1 B-track Data in
6 /B1 B-track inverted Data in inverted
7 Z1 Zero-track Not used
8 /Z1 Zero-track inverted Not used
Fig.: Encoder connection for positioning applications

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Field bus interface
NOTE: This section is only relevant if the VLT is equipped with a Field bus interface (option) as well as
the Positioning controller.
The Positioning controller can be controlled via the digital/analogue inputs or via field bus. The control
source can be selected in parameter 749. There can only be one control source at a time meaning that
the digital/analogue inputs are inactive when Field bus is selected as control source and visa versa. The
only exceptions are listed in the digital interface section.
In field bus mode it is possible to specify only the target position and velocity. If the acceleration and
deceleration PCDs are left blank then the last used acceleration and deceleration chosen via an index is
used. This enables the use of PPO type 4
Data layout
Control and status signals are transferred via the so-called process data channel (PCD) of the various
field bus interfaces. The telegram structure and the available number of data words depends on the
Field bus used, please refer to the manual of the Field bus option in use for further details. The below
example is based on the layout of a PROFIBUS telegram, the so-called PPO:
Example using PROFIBUS PPO type 5:
Field bus control signals:
Field bus
[word.bit] Field bus mode Corresponding input
1.1 Quick bus go to target(↑) N\A
1.2 Reset error (↑) 27
1.3 Go to home / Stop positioning (↑) / Go to position (↓) 32
1.4 Read new trajectory index (↑)
33
1.5 Automatic (↑) / manual (↓) mode 5
1.6 Reset home status (↑)6
1.7 Reset touch probe position (↑)7
1.8 Quick stop (↓)8
1.9 Positive jog (↑) 53
1.10 Negative jog (↑)54

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Field bus
[word.bit] Field bus mode Corresponding input
1.11 Quick Bus Type Absolute (↑)N\A
1.12 Quick Bus Type Relative (↑)N\A
1.13 Quick Bus Type Touch Probe positive (↑) N\A
1.14 Quick Bus Type Touch Probe negative (↑) N\A
1.15 Teach in(via LCP or fieldbus) (↑) KEYPAD “JOG” &
“FWD\REW”
1.16 Change sign on Quick Bus Target Position (↑) N\A
2 Quick Bus Target Position(MSB) N\A
3 Quick Bus Target Position(LSB) N\A
4 Quick Bus Target Velocity N\A
5 Quick Bus Target Acceleration N\A
6 Quick Bus Target Deceleration N\A
7.1 Reference index bit 0 (LSB) (↑) 16
7.2 Reference index bit 1 (↑) 17
7.3 Reference index bit 2 (↑) 18
7.4 Reference index bit 3 (↑) 19
7.5 Reference index bit 4 (Digital MSB) (↑) 29
7.6 Reference index bit 5 (Fieldbus MSB) (↑) N\A

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Field bus status signals:
Field bus
[word.bit] Field bus mode Corresponding output / parameter
1.1 Homing done (↑)1
1.2 Referenced position reached (↑)2
1.3 Error occurred (↑)3
1.4 Electro-mechanical brake output (↑) 04
1.5 Touch probe position locked (↑) 42(26 Flux)
1.6 Watchdog output (toggling) 45(46 Flux)
1.7 Positive hardware limit (↑) N\A
1.8 Negative hardware limit(↑) N\A
2.1 Current index bit 0 (LSB) (↑)4
2.2 Current index bit 1 (↑) 5
2.3 Current index bit 2 (↑) 6
2.4 Current index bit 3 (↑)7
2.5 Current index bit 4 (Digital MSB) (↑)8
2.6 Current index bit 5 (Fieldbus MSB) (↑) N\A
3 Actual Position (MSB) 795 (MSB)
4 Actual Position (LSB) 795 (LSB)
5 Error Status 798