Jenny Science XENAX Xvi 48V8 User manual

Instruction Manual XENAX® Xvi 48V8
Translation of “Anleitung XENAX® Xvi 48V8”
Edition 4. February 2021
Compact Ethernet Servo Controller
Parameterization over Web browser
The integrated webserver allows a setup
and parameterization over web browser.
After an automatic self -check, the
connected LINAX® linear motor axis, the
ELAX® electric slide or the ROTAX® rotary
axis can instantly be set in motion by click
on the Quick Start Button.
This XENAX® Xvi 48V8 is setting new
standards in terms of intuitive handling.

2
General
The XENAX® Xvi 48V8 Ethernet servo
controller controls all series of the LINAX®
linear motor axes, the ELAX® electric slide
product family and the ROTAX® rotary axis.
It is also possible to control servo motors
series RAxx (ultra-compact rotary axes) and
RT-xx (round table with hollow shaft).
Customary rotary AC/DC/EC servo motors
for example from FAULHABER® or MAXON®
can also be operated by the XENAX® Xvi
48V8.
The logic supply (24V DC) and the
intermediate circuit voltage (24V –48V DC)
are separately connectable. This is how
“Safety Torque Off” is possible as a
standard.
Master-Slave function and Force
Calibration (compensation of the cogging
forces in iron core linear motors) are
further features of this compact XENAX®
Xvi 48V8 servo controller.
Alois Jenny
Jenny Science AG

3
Contents
1 Characteristics XENAX® Xvi 48V8 6
1.1 Electronics / Firmware 6
1.2 Performance / Options 6
1.3 Dimensions 7
2 Controllable Motor Types 8
2.1 Linear Motor Axes and Electric Slides 8
2.2 Servo Motors in our Product Line 8
2.3 Customary Servo Motors 9
3 Hardware and Installation 10
3.1 Environmental Conditions 10
3.2 Assembly and Installation 10
4 Electrical Connections 11
4.1 Plug Arrangement 11
4.2 Plug Pin Configuration 11
4.2.1 RS232 11
4.2.2 Motor Plug 3 Phase 12
4.2.3 Logic and Power Supply 12
4.2.4 Encoder and Hall Signals 13
4.2.5 Definition of Rotating Direction for Servo Motors 13
4.2.6 OPTIO Pulse/Dir, Second Encoder Channel 14
4.2.7 PLC I/O 15
4.3 Internal I/O Circuit 16
4.4 Output Configuration 16
5 Configuration Motor Type Jenny Science / Motor customer specific 17
6 RS232 Serial Interface 18
6.1 Baud Rate RS232 XENAX® 18
7 ETHERNET TCP/IP Interface 18
7.1 Test IP Connection with >IPCONFIG 19
7.2 Test Connection with >PING 19
7.3 Close Port 10001 19
8 ASCII Protocol 20
8.1 ASCII Protocol TCP/IP 21
8.2 Asynchronous Messages (Events) 21
9 WebMotion® 22
9.1 Start WebMotion® 23
9.1.1 Error „Upload XENAX® Settings“ 23
9.2 Quick Start (only with LINAX® and ELAX® linear motor axes) 24
9.3 Operation, Status Line 25
9.4 Move Axis by Click 26
9.4.1 Move Axis by Click for LINAX®/ELAX® Linear Motors 26

4
9.4.2 Move Axis by Click for ROTAX® Rotary Motor or Third Party Motors 28
9.5 Move Axis by Command Line 29
9.6 ASCII Command Set for XENAX® 29
9.6.1 Power / Reset 29
9.6.2 Basic Settings 30
9.6.3 Motor Settings 30
9.6.4 Controller Settings 30
9.6.5 Motion Settings 31
9.6.6 Reference LINAX® / ELAX® 32
9.6.7 Reference Gantry 32
9.6.8 Reference Rotary Motors 32
9.6.9 Move Commands 33
9.6.10 Index (programmed movements) 33
9.6.11 Program / Application 34
9.6.12 Force Control Forceteq® basic 34
9.6.13 Event 36
9.6.14 Input / Output 37
9.6.15 Correction Table 38
9.6.16 Limit Position ELAX® 39
9.6.17 System Information 40
9.6.18 Ethernet 41
9.6.19 Bus Module Information 41
9.6.20 Error Handling 41
9.6.21 System Monitoring 42
9.6.22 License 42
9.7 Move Axis by Forceteq® 43
9.8 Move Axis Motion Diagram 44
9.9 Index 46
9.10 Drive I_Force 47
9.11 Sector I_Force 47
9.12 Program 48
9.12.1 Program commands 49
9.13 I/O Functions 51
9.13.1 Selection of Input Functions 52
9.13.2 Selection Output Functions 54
9.13.3 Operation with Additional Holding Brake 54
9.14 Profile (Velocity) 55
9.15 Captured Pos 56
9.16 State Controller 57
9.16.1 F Setting 60
9.17 Motor 63
9.17.1 Motors LINAX® and ELAX® 63
9.17.2 Motor ROTAX® 64

5
9.17.3 Third Party Motors 65
9.17.4 Position Overflow 66
9.18 Reference 67
9.18.1 Reference LINAX® 67
9.18.2 Reference ELAX® 67
9.18.3 Reference ROTAX® und Third Party Motors 69
9.18.4 Reference to Mechanical Stop 70
9.18.5 Correction Table for LINAX® / ELAX® 71
9.19 Basic Settings 74
9.20 Version 75
9.21 Update Firmware / License 76
9.21.1 Display the actual license code 77
9.21.2 Subsequent license ordering 77
9.21.3 License activation 77
9.22 Save 79
9.23 Open 79
10 Master / Slave 80
10.1 Master/Slave Configuration 80
10.2 Programming example Pick&Place 81
10.3 Timing Master / Slave 81
11 Gantry Synchronized Mode 82
11.1 Activate Gantry Mode 82
11.2 ASCII Commands for Gantry Synchronized Mode 83
12 Forceteq® Force Measurement Technology 84
12.1 Forceteq® basic current based with self calibrated motor 84
12.2 Forceteq® basic via Realtime Bus 85
12.2.1 CANopen over Ethernet 85
12.2.2 Ethernet/IP 85
12.2.3 Profinet 85
12.3 Forceteq® basic via XENAX® 86
12.3.1 I_Force Calibration 86
12.3.2 I_Force Limitation 86
12.3.3 I_Force Monitoring 87
12.3.4 I_Force Control 88
12.3.5 Sector Offset for Touching Position 89
12.3.6 Application Example 90
13 Operating Status on 7-Segment Display 94
14 Error Handling 95
14.1 Error Codes 95
14.2 Notes for Error 50 99
14.3 Arbitrary Display on 7-Segment 100
14.3.1 Defective adapter for logic supply 100
14.3.2 Defective Firmware 101

6
1Characteristics XENAX® Xvi 48V8
1.1 Electronics / Firmware
Description
Data
Interfaces
Ethernet, TCP/IP, http web server
Puls/direction, Master Encoder, I/O
I2C Master/Slave, Start-up Key
RS232
Bus, multi-axis operation
EtherCAT (CoE), DS402
Ethernet POWERLINK, DS402
CANopen, DS 402
PROFINET (PROFIdrive)
EtherNet/IP, DS402
Ethernet Switch, TCP/IP
Operation Modes
Standard Servo (MODE 0)
Multi axis operation (Master/Slave, Gantry)
Electronic gear (MODE 1) optional
Pulse/Direction (MODE 2) optional
Status indication
7-Segment LED
Input digital
4 x 24V Pull down
Output digital
2 x 24V, 100mA Source or 400mA Sink
Input function
4 inputs to start a function or program
Output function
2 outputs to indicate a condition
Reference for rotary motors
free to define, incl. external sensor
Index
50 motion moves (accl. / speed / distance, position)
Profile
5 extended motion profiles with 7 profile segments each.
Number of application programs via input
4 program starts triggered by digital inputs.
Firmware update
Over TCP/IP, Flash-memory internal
Application and parameter update
Over TCP/IP, Flash-memory internal
1.2 Performance / Options
„LG“ logic supply
24VDC / max. 1.2 A
„PW“ power supply motor
12-48VDC
3- Phase Output frequency
0-599 Hz
Nominal current
0-8A
Peak current
18A
Continuous power / dissipation loss
Typical 48V / 3A / 150W / η≈85% / Pv = 22W
Temperature monitoring output stage
Shutdown at 80°C
Excess voltage –observation
> 60V
Under voltage –observation
< 10V
Ballast circuit
up to 80W
Fuse power
10AF
Motor temperature observation with LINAX®, ELAX®
and ROTAX®, sensor in coils
Shutdown at 80°C
PLC Input
4 Inputs, 24V
PLC Output
2 Outputs, 24V, Source 300mA

7
Options
EtherCAT (CoE)
DS402, Beckhoff®, OMRON®, TRIO® MC
POWERLINK (CoP)
DS402, B&R®
CANopen
DS402
EtherNet/IP
DS402, Allen-Bradley
PROFINET (PROFIdrive)
SIMATIC, SIMOTION, SINUMERIK
Start-up Key
ID number for Master Slave and application memory
Force Processes
Optional with license code.
Controllable Motor-Types
ELAX®, ROTAX® and third party motors enabled by default.
LINAX® optional with license code.
1.3 Dimensions
Dirt resistance
IP 20
Weight
Standard 720g, with bus module 760g
Case
Chrome steel
Ground plate
Chrome steel

8
2Controllable Motor Types
2.1 Linear Motor Axes and Electric Slides
LINAX® Linear Motors
3 phase synchronous linear motor with encoder
RS422 A/A*, B/B* und Z/Z* and distance-coded
reference marks.
Special feature:
Linear motor identification and temperature
monitoring over I2C bus.
ELAX® Electric Slides with Linear
Motor
ELAX® is the evolutionary step of the widespread
pneumatic slides. The great accomplishment is the
patented compact integration of the linear motor in
the slider case, resulting in a force/volume ratio
which has hitherto never been achieved.
Special feature:
Linear motor identification and temperature
monitoring over I2C bus.
2.2 Servo Motors in our Product Line
ROTAX® Rotary motor axes
Specifically designed for fast and precise assembly
and handling tasks. It can be equipped with standard
gripping tools. The hollow shaft feedthrough for
vacuum or compressed air enables a 360° rotation.
The XENAX® servo controller identifies the ROTAX®
rotary axis and configures the controller parameters
automatically.

9
Lafert, RAxx, RTxx
AC-Servo motors with encoder A/A*, B/B* and Z/Z*
and hall sensors e.g.
AEG B28 D4 0,4Nm, 6000 U/min.
Optionally available with brakes for vertical
applications.
2.3 Customary Servo Motors
Faulhaber®, Maxon®
AC / DC / EC brushless servo motors with incremental
encoder RS422 A/A*, B/B* and Z/Z* and hall sensors,
as well as DC brush-type servo motors with
incremental encoder.
For brushless AC/EC servo motors there are hall
signals and incremental encoder necessary.

10
3Hardware and Installation
3.1 Environmental Conditions
Storage and transport
No outdoor storage. Warehouses have to be well
ventilated and dry. Temperature from
-25°C up to +55°C
Temperature while operating
5°C -50°C environment,
(above 40°C, nominal current reduced to 6A)
Humidity while operating
10-90% non-condensing
Air conditioning
No external air conditioning needed; integrated heat
sink.
MTBF
> 120’000h for housing internal temperature of < 50°C
3.2 Assembly and Installation
Assembly with two screws on an electrically
conductive rear wall e.g. the back wall of a switch
cabinet.
For a series mounting the distance between the
devices has to be at least 10mm and the distance to
the floor has to be at least 40mm.
We recommend mounting the devices in vertical
orientation with the 7-segment display at the top to
ensure a good cooling air circulation.
It is recommended to install the XENAX® servo
controller in a control cabinet and to connect the
motor cable to the protective earth using the
EMC shield clamp (Art. No. 130.09.00).

11
4Electrical Connections
Note:
To disconnect or connect the electrical components
at the electrical connectors, the power supply must
be disconnected.
XENAX® Xvi 48V8
4.1 Plug Arrangement
Description
Plug Type
RS232
USB-B socket
Real time Ethernet (optional)
2 x RJ45 socket with status LED
CANopen (optional)
9 Pol socket D-Sub
Ethernet TCP/IP
RJ45 socket with status LED
MOTOR
3 pole plug Wago, pitch 3,5mm
POWER / LOGIK
4 pole plug Wago, pitch 3,5mm
ENCODER HALL
15 pole plug D-Sub High Density
PLC I/O
26 pole plug D-Sub High Density
START-UP / MASTER-SLAVE
2 x 4 pole plug USB-A
4.2 Plug Pin Configuration
4.2.1 RS232
USB-B Socket
The serial interface RS232 is led over a 4 pole USB-B
socket.
USB Socket
XENAX®
PC/SPS
1
N.C.
2
RX
TX
3
TX
RX
4
GND
GND
Pin 1
Pin 3
Pin 4
Pin 2

12
4.2.2 Motor Plug 3 Phase
Wago 3 Pole Plug
LINAX® / ELAX®
3 Phase
Servo motor
3 Phase
DC Motor
1
U (white)
U
DC +
2
V (brown)
V
DC -
3
W (green)
W
4.2.3 Logic and Power Supply
Wago 4 Pole Plug
1
0, GND
Adapter logic
2
24V DC
3
0, GND
Adapter power
4
12-48V DC
The typical POWER supply is 24V DC. For the stronger
LINAX® F40 / F60 axes with high masses (>2kg) or
high dynamics (>1.5m/s) a POWER supply of 48V is
applicable. The current consumption per axis can be
up to 8A and 18A peak per axis. Depending on mass
in motion, profile and power supply voltage.
For a fuse protection of the power supply it must be
considered that a short peak current of 8A can be
reached for the rotating field adjustment.
For a detailed calculation of the required power
supply in your application, please contact our support
https://www.jennyscience.ch/en/contact/support.
Important: The 0 volt connection of the logic supply
(pin 1) and the 0 volt connection of the power supply
(pin 3) have to be connected to the ground/chassis
star point of the switch cabinet.
Note:
In case of emission sensitivity it is recommended to
twist the supply cable for logic and power.

13
4.2.4 Encoder and Hall Signals
15 pole D-Sub socket
Signal
Description
1
GND
Together, for encoder and hall 0V supply, only 1 pin
2
5V Encoder
150 mA for encoder supply
3
Encoder A
Pull up 2,7kΩ to 5V, differential input 26LS32
4
Encoder A*
Middle level: pull up 2,7kΩ to 5V, Pull down 2,2kΩ,
differential input 26LS32, 330Ωinternal between Pin3/4
5
Encoder B
Pull up 2,7kΩ to 5V, differential input 26LS32
6
Encoder B*
Middle level: pull up 2,7kΩ to 5V, pull down 2,2kΩ,
differential input 26LS32, 330 Ωinternal between Pin5/6
7
Encoder Z
Pull up 2,7kΩ to 5V, differential input 26LS32
8
Encoder Z*
Middle level: pull up 2,7kΩ to 5V, pull down 2,2kΩ,
differential input 26LS32, 330 ΩE internal between Pin7/8
9
HALL 1
Pull up 2,7kΩ to 5V, differential input 26LS32
10
HALL 1*
Middle level: Pull up 2,7kΩ to 5V, pull down 2,2kΩ,
differential input 26LS32
11
HALL 2 / -TMP
Pull up 2,7kΩ to 5V, differential input 26LS32 / over
temperature signal motor
12
HALL 2*
Middle level: Pull up 2,7kΩ to 5V, Pull down 2,2kΩ, differential
input 26LS32
13
HALL 3 / I2C_SCL
Pull up 2,7kΩ auf 5V, differential input 26LS32 /
I2C clock signal
14
HALL 3*
Middle level: Pull up 2,7kΩ to 5V, pull down 2,2kΩ, differential
input 26LS32
15
5V Hall / I2C_SDA
5V, 150 mA / I2C data signal
4.2.5 Definition of Rotating Direction for Servo
Motors
Sight on front surface motor shaft, turn the shaft clockwise,
the meter has to count upwards
Switch encoder A/B
Switch +/- motor power
Switch rotating direction for DC brush type servo motors
Switch encoder A/B
Switch hall1 with hall3
Switch winding-phase 1 and phase 2
Switch rotating direction for 3phase brushless servo motors
Phase 1 to phase 2, 2 to 3 and 3 to 1
Hall 1 to hall2, 2 to 3 and 3 to 1
Switch phase connection for brushless servo motors without
change of rotating direction

14
4.2.6 OPTIO Pulse/Dir, Second Encoder Channel
The pulse/Dir and second encoder channel are
deactivated by default. Both options can be ordered.
PULSE/DIRECTION CONTROL
Enter settings in menu setup / basic settings:
PULSE / DIRECTION CONTROL, MODE 2, optional
Parameter MODE and INC PER PULSE
Signal
D-SUB
PLC Cable
Socket PLC I/O / Analog
GND internal
Pin 7
blue
GND
Pull up 2,7kΩ to 5V, differential input 26LS32
Pin 15
white-yellow
PULS
Pull up 2,7kΩ to 5V, differential input 26LS32
Pin 13
white-green
DIRECTION
Middle level: Pull up 2,7kΩ to 5V, pull down 2.2kΩ,
differential input 26LS32
Pin 12
red-blue
DIRECTION*
Middle level: Pull up 2,7kΩ to 5V, pull down 2.2kΩ,
differential input 26LS32
Pin 14
brown-green
PULS*
ENCODER 2
Electronic gear, MODE 1, optional
Parameter SYNCH RATIO 10 = 1:1
Signal
D-Sub
PLC Cable
Socket PLC I/O / Analog
GND intern
Pin 7
blue
GND
5V intern
Pin 8
red
5V (Power encoder)
Pull up 2,7kΩ to 5V, differential input 26LS32
Pin 15
white-yellow
A
Pull up 2,7kΩ to 5V, differential input 26LS32
Pin 13
white-green
B
Middle level: Pull up 2,7kΩ to 5V, pull down 2.2kΩ,
differential input 26LS32
Pin 12
red-blue
B*
Middle level: Pull up 2,7kΩ to 5V, pull down 2.2kΩ,
differential input 26LS32
Pin 14
brown-green
A*

15
4.2.7 PLC I/O
Output
Signal
D-Sub
PLC Cable
PLC I/O
Source PNP: 24V/100mA, Sink NPN: open collect. 24V/400mA
Pin 1
white
Output 1 (0/24V)
Source PNP: 24V/100mA, Sink NPN: open collect. 24V/400mA
Pin 2
brown
Output 2 (0/24V)
Input
24V Input, Ri 31k
Pin 3
green
Input 1
24V Input, Ri 31k
Pin 4
yellow
Input 2
24V Input, Ri 31k
Pin 5
grey
Input 3
24V Input, Ri 31k
Pin 6
pink
Input 4
Enabling Power Stage
Activate the function with DIP-switch
DIP switch OFF
HW power stage enabling with 24V on Pin 9
Pin 9
black
Enable PWR / Input
DIP switch ON
Input open or 0V = power stage blocked
Always enabling power stage, Pin 9 inactive
(Standard configuration)
Power Output
2A
Pin 10
violet
GND
24V / 200mA
Pin 12
red-blue
+ 24V Output
ON
OFF

16
4.3 Internal I/O Circuit
INPUT 1-4
OUTPUT 1-2
TYPE SOURCE
SOT
Bit-value
TYPE
SOA
Bit-value
ACTIVITY
Output
ON
Output
OFF
0,1
SOURCE
1
HIGH
24V*
open*
0
LOW
open
24V
4.4 Output Configuration
ACTIVITY
SOA (Set Output Activity) parameter 2 Bit
1 Bit-value per output
Output
2
1
SOA Bit
1
0
Bit-Wert
1
1
Decimal
3
*Default setting all outputs set to HIGH ACTIVE
>SOA 3
HIGH or LOW ACTIVITY programmable
INPUT 1-4
24V, Ri = 31kΩ

17
5Configuration Motor Type Jenny Science /
Motor customer specific
The XENAX® Servo Controller differentiates between
Jenny Science Motors LINAX® Lx, ELAX® Ex or ROTAX®
Rx, and linear motors from other manufacturers.
The setting is done on the hardware over a DIP
switch. The configuration is visible on the sticker with
the serial number. The Jenny Science motors are
automatically identified and parameterized.
Jenny Science Motors:
LINAX® Linear Motor Axis
ELAX® Linear Motor Slide
ROTAX® Rotary Axis
Motors from other manufacturers
Typically rotary servo motors
Motor Type
Bit 1
Bit 2
Bit 3
Bit 4
LINAX®/ ELAX® / ROTAX®
ON
ON
OFF
OFF
No JSC motor
OFF
OFF
ON
ON
A subsequent readjustment of motor type is possible
through the according setup of the DIP-switch. A
change in motor type should be updated on the
sticker with the serial number.
XENAX® Xvi 48V8
EtherCAT, Lx, Ex or Rx
SN Xvi-48V8.xxxx
JENNY SCIENCE AG
XENAX® Xvi 48V8
EtherCAT, No JSC motor
SN Xvi-48V8.xxxx
JENNY SCIENCE AG

18
6RS232 Serial Interface
6.1 Baud Rate RS232 XENAX®
The RS232 operates with the following parameters:
Baudrate
115'200 Baud
Data
8 Bit
Parity
kein
Stop
1 Bit
7ETHERNET TCP/IP Interface
The TCP/IP interface has two essential functions.
Firstly, HTML5-WebMotion can be accessed over the
Ethernet TCP/IP interface. Secondly, the Ethernet
TCP/IP interface is used to control the axis with all
available ASCII commands. The port 10001 I used for
ASCII commands.
IP-address of XENAX® is provided on the back side of
the controller. If this has been changed or the label is
not accessible, you can have the IP-address displayed
on the 7-segmet display. To do this, switch on the
logic supply and switch it off again while the dot in
the 7-segment display lights up. The next time you
switch it on, the IP-address is shown on the 7-
segment display.
Connection of XENAX® to laptop/PC over a normal
RJ45 network cable.
When connecting laptop/PC directly without a switch
to XENAX®, it may need a crossed RJ45 cable.
However, with newer network types a crossed RJ45
cable is not necessary anymore.
Display Ethernet Plug
Color
LED left
Color
LED right
Off
No connection
Off
No Activity
Orange
10Mbps
Orange
Half-duplex
Green
100Mbps
Green
Full-duplex

19
7.1 Test IP Connection with >IPCONFIG
IPCONFIG command in DOS window
Test TCP/IP address range.
IP address has to be in range of 192.168.2.xxx
If necessary adjust IP address in computer „network
environment“ to e.g. IP 192.168.2.200.
xxx = 001 –255
≠ IP Address XENAX®
7.2 Test Connection with >PING
PING command in DOS window
IP address is provided on the back side of XENAX®.
If no response, check direct connection with crossed
RJ45 cable.
7.3 Close Port 10001
If the port 10001 is not closed correctly it can stay
open. In this case, it is no longer possible to connect
to this port with a new TCP/IP connection
There are 3 options for closing the port again.
1. Disconnect the Ethernet cable directly on the
Xenax and the port will be closed automatically.
2. Open a second TCP/IP connection over the port
9999 and send a «ENPR» command. This will
close the port 10001.
3. Set a timeout with the command „WD“ and
specify the watch dog time in milliseconds. A
<CR> must now be sent over port 10001 with the
defined interval or the port will be closed
automatically.

20
8ASCII Protocol
Over Ethernet TCP/IP in the menu move axis / by
command line in WebMotion®
or via the serial interface e.g. with hyper terminal.
The simple ASCII protocol works with the echo
principle.
The sent characters come back as an echo and can be
checked immediately.
Thus, if existing, you get a parameter value and finally
the character prompt ">". If the command could not
be
accepted then, it has a “?” character in the string.
Description
Command
[Parameter]
Echo command accepted
Write parameters:
Power continues
PWC
<CR>
PWC <CR> <LF> >
Speed
SP
10-9’000’000
<CR>
SPxxxxxx<CR> <LF> >
Acceleration
AC
2'000-100'000’000
<CR>
ACxxxxxx<CR> <LF> >
Read parameters:
Tell Position
TP
<CR>
TP <CR> <LF> XXXXXXX<CR> <LF> >
Retrieve
e.g. AC?
SP?
<CR>
<CR>
AC? <CR> <LF> XXX <CR> <LF> >
SP? <CR> <LF> XXX <CR> <LF> >
Echo command not recognized or cannot be
completed in the current configuration
<command> <CR> <LF> ? <CR> <LF> >
Echo command cannot be accepted at this time
<command> <CR> <LF> #xx <CR> <LF> >
#-List
Nr.
Description
#01
Error in queue
#03
Drive is active
#05
Program is active
#13
EE1 in queue
#14
EE in queue
#15
Force Calibration active
#27
I Force Drift Compensation active
#34
Rotary reference active
#36
Gantry reference active
#38
Reference active
#40
Command at active bus module not allowed
#47
Fault Reaction active
#49
No JSC Motor detected
#65
Value of parameter not valid
#66
Command not completed correctly (>5s
between ASCII-signs)
Note for sequential commands:
Terminate a command with <CR> only,
no additional <LF>. Do not send a new
command until you have received the
prompt character „>“ before.