Keba ServoOne Series User manual

ServoOne
User Manual
SERCOS II and SERCOS III
ServoOne single-axis system
ServoOne multi-axis system
ServoOne junior

2
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
User Manual SERCOS II + III
ID no.: 1108.26B.3-00
Date: 04/2020
Subject to technical change without notice.
The German version is the original of this user manual.
Subject to technical change without notice.
The content of our user manual was compiled with the greatest care and attention
based on the latest information available to us.
We should point out that this document will not always be updated simultaneously
with the on-going technical development of our devices.
Information and specications may change.
For information on the latest version please visit www.keba-lti.com.
In this documentation the functionality of the following devices is described:
ServoOne single-axis system
ServoOne multi-axis system
ServoOne junior

3
Table of contents
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Table of contents
4 Installation and connection ........................................................ 15
4.1 SERCOS II .............................................................................................................. 15
4.1.1 Hardware SERCOS II............................................................................... 15
4.2 SERCOS III ............................................................................................................. 15
4.2.1 Hardware SERCOS III.............................................................................. 15
4.2.2 Installation and wiring ........................................................................... 16
4.2.3 Pin assignment of the RJ-45 socket........................................................ 16
4.2.4 Meaning of the LEDs ............................................................................. 17
4.3 Indication of the operating states via 7-segment display ...................................... 17
4.4 Hardware enable................................................................................................... 18
5 Commissioning and configuration ............................................. 19
5.1 SERCOSII - hardware settings .............................................................................. 19
5.1.1 Configuring basic settings ..................................................................... 19
5.1.2 Setting the transmit power for the SERCOS interface............................. 19
5.1.3 Setting the drive address via parameters ............................................... 19
5.1.4 Transfer rate for the SERCOS interface .................................................. 19
5.1.5 Diagnostic LEDs ..................................................................................... 20
5.1.6 Usage of the distortion indicator............................................................20
5.2 SERCOS III .............................................................................................................20
5.2.1 Configuring basic settings ..................................................................... 20
5.2.2 Setting the bus address on the slave...................................................... 21
6 Parameter configuration.............................................................23
6.1 Profile parameter (S-0-xxxx)..................................................................................23
6.1.1 Manufacturer-specific parameters (Pxxxx).............................................23
6.2 Structure of the SERCOS III parameters ................................................................ 23
6.2.1 Standard parameters (S-0-xxxx.x.x)........................................................23
6.2.2 Manufacturer-specific parameters Pxxxx............................................... 24
Table of contents
1 General information ....................................................................7
1.1 Target group ..........................................................................................................7
1.2 Prerequisites for the usage of the device ................................................................7
1.3 Reference documents ............................................................................................. 7
1.3.1 KEBA reference documents .....................................................................7
1.3.2 SERCOS documentation ..........................................................................8
1.4 Pictograms for useful information ...........................................................................8
1.5 Disclaimer ...............................................................................................................8
1.6 Transport, storage...................................................................................................8
1.7 Disposal ..................................................................................................................8
1.8 Support...................................................................................................................9
1.9 Normative references ..............................................................................................9
2 Safety........................................................................................ 11
2.2 Measures for safety............................................................................................... 11
2.3 General safety instructions and warnings.............................................................. 12
2.3.1 Safety instructions related to this documentation ................................. 12
2.4 Important information .......................................................................................... 12
3 Introduction to SERCOS interface .............................................. 13
3.1 Application and usage ......................................................................................... 13
3.2 Key features .......................................................................................................... 13
3.2.1 SERCOS II .............................................................................................. 13
3.2.2 SERCOS II and SERCOS III ...................................................................... 13
3.2.3 SERCOS III ............................................................................................. 13

4
Table of contents
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Table of contents
8 Scaling and weighting ............................................................... 43
8.1 Weighting of position data....................................................................................43
8.1.1 Weighting, translatory position data...................................................... 43
8.1.2 Weighting, rotary position data .............................................................43
8.1.3 Modulo weighting .................................................................................45
8.1.4 Position polarity ..................................................................................... 45
8.2 Weighting of speed data.......................................................................................46
8.2.1 Weighting, translatory speed data .........................................................46
8.2.2 Weighting, rotary speed data ................................................................46
8.2.3 Speed polarity........................................................................................ 47
8.3 Weighting of acceleration data .............................................................................48
8.3.1 Weighting, translatory acceleration data................................................48
8.3.2 Weighting, rotary acceleration data .......................................................48
8.4 Weighting of torque data and force data ..............................................................49
8.4.1 Percentage weighting of torque data and force data .............................49
8.4.2 Weighting of force data.........................................................................49
8.4.3 Weighting of torque data ......................................................................50
8.4.4 Torque polarity ......................................................................................50
8.5 Scaling with the aid of the scaling wizard ............................................................. 51
8.5.1 Scaling the position data........................................................................ 51
8.5.2 Scaling the speed data...........................................................................52
8.5.3 Scaling the torque data.......................................................................... 52
8.5.4 Scaling the acceleration data .................................................................53
9 Functionality ............................................................................. 55
9.1 Homing ................................................................................................................ 55
9.1.1 "Drive-controlled homing" command.................................................... 55
9.1.2 SERCOS encoder 1 / encoder 2 setting .................................................. 55
6.3 Operation modes ................................................................................................. 24
6.3.1 Torque control ....................................................................................... 26
6.3.2 Speed control ........................................................................................ 27
6.3.3 Position control with drive-controlled position profile generation ..........28
6.3.4 Position control without tracking error ..................................................30
6.3.5 External generation of the feed forward control signals......................... 31
6.4 Real-time bits........................................................................................................ 32
6.4.1 Configuration of real-time bits, SERCOS II.............................................. 32
6.4.2 Configuration of real-time bits, SERCOS III............................................. 33
6.5 Signal control word and signal status word ........................................................... 33
6.5.1 Signal control word (S-0-0145) .............................................................. 33
6.5.2 Signal status word (S-0-0144)................................................................ 33
6.6 Maximum speed (S-0-0091)..................................................................................34
7 Data transfer ............................................................................ 35
7.1 Communication phases ........................................................................................ 35
7.2 SERCOS II - cyclic data transmission ...................................................................... 35
7.3 SERCOS III - cyclic data transmission......................................................................35
7.3.1 Mapping the configurable real-time data...............................................35
7.3.2 Drive control word S-0-0134.0.0 ..........................................................36
7.3.3 Description of the bits 13-15 .................................................................36
7.3.4 Drive status word S-0-0135.0.0 .............................................................38
7.3.5 Drive state machine ...............................................................................39
7.3.6 Non-configurable real-time data............................................................40
7.4 Data transfer via the service channel (SVC)............................................................ 41
7.5 IP channel ............................................................................................................. 41
7.5.1 Parameter configuration ........................................................................ 41
7.5.2 SERCOS III IP address .............................................................................42

5
Table of contents
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Table of contents
9.1.3 Homing speed ...................................................................................... 55
9.1.4 Homing acceleration ............................................................................. 55
9.1.5 Homing method ................................................................................... 55
9.1.6 Reference distance 1 and 2 ................................................................... 55
9.1.7 Reference distance offset 1 and 2 ......................................................... 55
9.1.8 Homing cam, limit switches .................................................................. 55
9.2 Function selector, digital inputs and outputs......................................................... 56
9.3 Touch probe function............................................................................................ 56
9.4 Parking axis .......................................................................................................... 59
10 Error messages and diagnostics.................................................. 61
10.1 Standard parameters for error diagnostics............................................................. 61
10.1.1 Error messages in state class 1 (C1D)...................................................... 61
10.1.2 Warning messages in the state class 2 (C2D)..........................................62
10.1.3 Status messages (only SERCOS II) ...........................................................62
10.1.4 Interface diagnostics..............................................................................63
10.1.5 Telegram failure and error counter......................................................... 63
10.2 Diagnostics with the aid of the internal oscilloscope .............................................64
10.2.1 Standard parameters..............................................................................64
10.2.2 Additional diagnostic parameters .......................................................... 65
10.3 Internal error list....................................................................................................67
11 Appe ndix................................................................................... 69
11.1 Appendix A: Parameter list....................................................................................69
11.1.1 SERCOS III – standard parameters ..........................................................69
11.1.2 Manufacturer-specific parameters.......................................................... 73
12 Glossar y .................................................................................... 79
13 Glossary ................................................................................... 83

6
Table of contents
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Table of contents

7
General information
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
General information
1 General information
1.1 Target group
Dear user,
The user manual forms part of the product and contains important information on
operation and service. The user manual is aimed at all persons who undertake mounting,
installation, commissioning and servicing work on the product.
1.2 Prerequisites for the usage of the device
Prerequisites for the usage of the SERCOS automation bus
yThe documents related to the devices are legible and accessible.
yRead and understand the operation manual for your drive
system rst.
yYou are familiar with the SERCOS automation bus through training courses.
Following the documentation on the devices from
KEBA Industrial Automation Germany GmbH is a prerequisite for trouble-free operation
and therefore for any claims for defects.
NOTE:
This user manual applies to the ServoOne single-axis and multi-axis system
(referred to in the following as SO8) and the drive controller ServoOne
junior (SOj). This document does not replace the operation manuals for the
ServoOne and ServoOne junior.
1.3 Reference documents
1.3.1 KEBA reference documents
Document Contents ID no.
Format
ServoOne junior -
Operation Manual
Safety, mechanical installation, electrical installation, commissioning, diag-
nostics, specications, certication and applicable standards, technical data
1300.20B.x
PDF
ServoOne
Single-Axis System -
Operation Manual
Safety, mechanical installation, electrical installation, commissioning,
diagnostics,
specications, certication and applicable standards, technical data
1100.20B.x
PDF
ServoOne
Multi-Axis System
DC Axis Controller
Operation Manual
Safety, mechanical installation, electrical installation, commissioning, diag-
nostics, STO, operation with servocontroller as supply, planning, application
example, specications, certication and applicable standards,
technical data
1101.20B.x
PDF
ServoOne
Multi-Axis System
Supply Unit -
Operation Manual
Safety, mechanical installation, electrical installation, commissioning,
diagnostics,
specications, certication and applicable standards, technical data
1101.21B.x
PDF
ServoOne CANopen/
EtherCAT User Manual
Safety, commissioning, data transmission,
operation modes, homing, parameters,
technical data
1108.28B.x
ServoOne -
System Catalogue
Information, notes on ordering, specications and
technical data on: ServoOne junior, single and multi-axis system, supply units,
safety systems, communication, technology, function packages, accessories
and motors
1100.24B.x
PDF
ServoOne device help
Description of the software functionality of the ServoOne product ranges
Firmware versions:
- SO junior from V1.30-xx
- SO single-axis system from V3.25-xx
- SO multi-axis system from V3.25-xx
0842.26B.x
PDF and
HTML
DriveManager 5 PC user
software -
online programming help
DriveManager version 5.x. Graphic PC user software for initial commissioning
and serial commissioning, operation, diagnostics and project management.
0842.25B.x
context-
sensitive help
Application descriptions are also available. These are available in the download area on the
KEBA Industrial Automation Germany GmbH web site. .
Table 1.1 Documents on the ServoOne system

8
General information
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
General information
1.3.2 SERCOS documentation
The following table contains a selection of SERCOS documentation.
Title Version Publisher
General Overview and architecture (V1.1.1.1) (SERCOS International)
Generic Device prole (V1.1.0.6) (SERCOS International)
SERCOS Communication (V1.1.1.5) (SERCOS International)
Function specic prole drives (V1.1.2.11) (SERCOS International)
SERCOS Parameter (V1.1.1.0) (SERCOS International)
Table 1.2 Selection of documents, SERCOS documentation
1.4 Pictograms for useful information
The pictograms used in this document for useful information and actions to be taken
signify for the user the following:
Instructions and actions to be taken
NOTE:
Useful information or reference to other documents.
Digit ACTION TO BE TAKEN:
Action undertaken by the user or the system.
Table 1.3 Pictograms used for instructions and actions to be taken
1.5 Disclaimer
Following the documents on the devices from
KEBA Industrial Automation Germany GmbH is a prerequisite:
yFor safe operation.
yTo achieve stated performance features and product characteristics.
KEBA Industrial Automation Germany GmbH does not accept any liability for injuries,
damage or nancial losses that result from the failure to follow the documents.
1.6 Transport, storage
Follow the instructions on the transport, storage and correct usage of the devices stated
in the operation manual in "Technical data".
1.7 Disposal
Follow the applicable national regulations! If necessary, dispose of
individual parts, depending on their characteristics and existing national regulations,
e.g. as
yElectrical waste
yPlastic
yMetal
or engage a certied disposal organisation with scrapping.

9
General information
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
General information
1.8 Support
Address: KEBA Industrial Automation Germany GmbH
Gewerbestrasse 5-9
35633 Lahnau
If you have any questions about the project planning for your machine or the
commissioning of your device, our Helpline will provide you with quick, specic
assistance.
The Helpline is available by e-mail or telephone:
Service hours: Mo.-Fr.: 8a.m. - 5p.m. (CET)
E-mail: [email protected]
Telephone: +496441966-180
Internet: www.keba-lti.com
NOTE:
You will nd information on our services on our web site www.keba-lti.com in
"Support&Service".
1.9 Normative references
Sercosisdened inIEC61784,IEC61158andIEC61800-7.

10
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020

11
Safety
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Safety
2 Safety
2.1 Overview
Our devices are state-of-the-art and comply with recognised safety regulations,
nevertheless hazards can arise. In this chapter:
yWe provide information on residual risks and hazards that can emanate from
our devices on usage as intended.
yWe warn about the foreseeable misuse of our devices.
yWe refer to the necessary care and measures to be taken to prevent risks.
2.2 Measures for safety
NOTE:
Only install and place in operation your device taking into account the
documents for the related device family!
Our devices are designed for quick, safe commissioning. For your own safety and for the
safe function of your device, please be sure to observe the following points:
1. Follow safety instructions for the devices!
Follow safety instructions and warnings in the information products related to
the devices!
2. Electrical drives are dangerous due to:
yElectrical voltages > 230V/460V. Dangerous voltages may be present
10min. after the power is switched off. So check that electrical power is not
present!
yRotating parts.
yAutomatically starting drives.
yHot components and surfaces.
yElectrostatic discharge.
3. Protection against magnetic and electromagnetic elds during
installation and operation
Persons tted with heart pacemakers, metallic implants and hearing aids must
not be allowed access to the following areas:
yAreas in the immediate vicinity of electrical equipment!
yAreas in which electronics components and drive controllers are installed,
repaired and operated!
yAreas where motors are installed, repaired and operated!
Particular hazards emanate from motors with permanent magnets.
4. Your qualications
To prevent injury or damage, personnel may only work on the device if they
have electrical engineering qualications and knowledge of:
yNational health and safety regulations (BGV A34 in Germany).
yErection, installation, commissioning and operation of the device.
All work in other areas, such as transport, storage and disposal is only allowed
to be undertaken by trained personnel.
The warranty will be rendered void on failure to follow these instructions!
5. During installation observe the following:
yComply with connection conditions and technical data as per the
information
product and the rating plate!
yComply with standards and directives on electrical installation, such as
cable
cross-section, shielding, etc.!
yDo not touch electronic components and contacts!
Electrostatic discharge can harm people and destroy components!
yTake protection measures and use protective devices as per the applicable
regulations (e.g. EN60204 or EN61800-5-1)!
yTake "device earthing" protection measure!

12
Safety
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Safety
2.3 General safety instructions and warnings
Hazards may emanate from our devices. For this reason pay attention to:
yThe safety instructions and warnings in this document!
ySafety instructions and warnings in other documents, in particular the
operation manuals related to the device product ranges!
Generally applicable safety instructions and warnings for the users of devices from
KEBA Industrial Automation Germany GmbH :
DANGER! Risk of injury due to electrical power!
xCarelessness will result in serious injuries or death.
Follow safety instructions and warnings in this document and on the device.
WARNING! Risk of injury due to electrical power!
xCarelessness may result in serious injuries or death.
Follow safety instructions and warnings in this document and on the device.
CAUTION! Risk of injury or damage to the device due to incorrect operation!
xCarelessness may result in minor injuries or damage.
Follow safety instructions and warnings in this document and on the device.
WARNING! Risk of injury due to hot surfaces and components!
xCarelessness may result in serious burns.
Electronic components may become hot during operation!
Follow safety instructions and warnings in this document and on the device!
WARNING! Risk of injury or damage due to electrostatic discharge!
xElectrostatic discharge can destroy components and, in the worst case, cause injury
or death.
Do not touch electronic components and contacts!
Follow safety instructions and warnings in this document and on the device!
Pay attention to special safety instructions and warnings that are given here in the document before a specic
action and that warn the user about a specic hazard!
2.3.1 Safety instructions related to this documentation
The SERCOS automation bus is a communication system that is to be adapted at
the boundaries of the drive systems ServoOne single-axis and multi-axis system and
ServoOne junior to the situation in the installation.
CAUTION! The user may not be aware of changes to the parameters
in the eld bus system!
xThis situation can result in uncontrolled behaviour of the drive system!
Prior to system start, check parameters!
2.4 Important information
In the operation manuals for the drive product ranges you will nd detailed information
on the following areas:
yIntended use.
yImportant instructions on the installation of your device.
yResponsibilities of installers and organisations operating complete machines
or installations.
yRelevant laws, standards and directives applied.

13
Introduction to SERCOS interface
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Introduction to SERCOS interface
3 Introduction to SERCOS interface
3.1 Application and usage
SERCOS interface stands for SERial Realtime COmmunication System interface
and is a worldwide standardised (IEC61491 and EN61491) digital interface for the
communication between controllers, drives and other decentral peripherals. Due to
the real-time-critical transmission of reference values and actual values, numerically
controlled high-performance drive applications in mechanical engineering can be
realised.
Services for operation mode acquisition, setting parameters, conguration and
diagnostics are also available.
The real-time capability permits highly dynamic applications in drive technology with
NC cycle times from 125µs to 65ms (multiples of 125µs). The data to be transferred
are dened in the SERCOS driver in numerous preferred telegrams and parameters.
They are specially tailored to the high requirements of electrical drive systems. A freely
congurable telegram permits the optimal exploitation of system features by means of
additional reference values and actual value parameters, e.g. increasing the position
resolution to be transferred, usage of the inputs and outputs available in the drive in the
NC cycle, and much more.
3.2 Key features
3.2.1 SERCOS II
yData transfer via plastic optical bre cable (POF) or hard clad silica cable
(HCS) using F-SMA connectors
yTransfer rate: either 2, 4, 8 or 16 MBaud
yAutomatic baud rate detection
yAdjustable transmit power via DIP switches (only hardware variant 1),
otherwise via parameters. Setting via buttons and display in preparation
ySERCOS address can be set via parameters
3.2.2 SERCOS II and SERCOS III
yCyclic exchange of reference values and actual values with exactly equal
timing
ySERCOS cycle time from 125µs to 65ms (can be set to multiples of 125µs)
yMultiple axis synchronisation between the time the reference value becomes
effective and the time the actual values are measured on all drives in a ring
yComplete synchronisation of all drives connected to the controller
yTelegram contents can be congured as required
yMaximum number of items of data that can be congured in the MDT:
20 bytes
yMaximum number of items of data that can be congured in the AT: 20 bytes
yAdjustable parameter weighting and polarity for position, speed, acceleration
and torque
yAdditive speed and torque reference values
yFine, drive-internal interpolation (linear or cubic)
yEither controller-side (external) or drive-internal generation of the speed and
acceleration feed forward
yService channel for setting parameters and diagnostics
ySupport for touch probe 1 and 2
ySupport for spindle commands
ySupport for congurable real-time status bits and real-time control bits
ySupport for congurable signal status word and signal control word
3.2.3 SERCOS III
yThird generation of the Sercos interface series
yData transfer via Ethernet IEEE 802.3
ySERCOS address can be set via parameters
yNRT/IP channel available

14
Introduction to SERCOS interface
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Introduction to SERCOS interface

15
Installation and connection
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Installation and connection
4 Installation and connection
4.1 SERCOS II
4.1.1 Hardware SERCOS II
Figure 4.1 KEBA communication module SERCOS for ServoOne
The KEBA communication module Sercos for the ServoOne is designed as a
SERCOSII interface with plastic optical bre cable (POF) or hard clad silica cable (HCS)
with F-SMA connectors. Currently there exist two hardware versions; in future only
the version described in 2.2 will be manufactured. Hardware and software have, as
far as possible, been developed taking into account DIN/EN61491. The basis for the
SERCOSII implementation in the ServoOne is the document Specication SERCOS
Interface
(rev. 2.4 dated Feb. 2005).
Power is supplied to the communication module via the ServoOne Baud rates of 2, 4, 8
and 16Mbit/s are possible; the baud rate is detected automatically by the module. It is
therefore not necessary to set the baud rate.
4.2 SERCOS III
4.2.1 Hardware SERCOS III
Figure 4.2
ACHTUNG
WARNING
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
x
15
x
16
h
1
KEBA communication module SERCOS III for ServoOne
Power is supplied to the communication module via the ServoOne.The communication
module SERCOS III for the ServoOne is designed as an interface with two RJ45
sockets and as such permits a ring or line structure.
Hardware and software have, as far as possible, been developed taking into account
DIN/EN61491. The basis for the SERCOSIII implementation in the ServoOne is the
specication V1.1.1 from SERCOS International.

16
Installation and connection
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Installation and connection
4.2.2 Installation and wiring
For SERCOSIII, connection between the master and slave is made with the aid of
standard Ethernet cables with RJ45 connectors. The SERCOSIII option card has two
RJ45 sockets (X36, X37), as such a ring or line structure is possible.
Ethernet patch cables or crossover cables as per the CAT5e specication are suitable as
connection cables.
Figure 4.3
Linie
Master
P1 P2
ServoOne
P1 P2
ServoOne
P1 P2
ServoOne
P1 P2
Sercos III line structure
Figure 4.4
Master
P1 P2
Ring
ServoOne
P1 P2
ServoOne
P2 P1
ServoOne
P1 P2
SERCOS III ring structure
If possible, the ring structure should always be chosen, because here the master sends
the telegrams in both directions and as such redundant communication is possible.
I.e. if there is an interruption in the ring between two slaves or between a master and
a slave; this situation is detected and, within one bus cycle, the bus switched to a line
structure with two lines; the communication is therefore not interrupted.
This redundancy is not possible with a line structure.
The individual ports can be connected between the bus users as required, i.e. the port
for the input and the port for the output are not dened.
4.2.3 Pin assignment of the RJ-45 socket
The pin assignment of the RJ-45 socket is realised as follows:
PIN Colour Cable core pair Function
1 white/orange 2 TxData +
2 Orange 2 TxData -
3 white/green 3 RecvData +
4 blue 1 Unused
5 white/blue 1 Unused
6 green 3 RecvData -
7 white/brown 4 Unused
8 brown 4 Unused
Table 4.1 Pin assignment
Figure 4.5
1234 5678
24
1
3
Pair #
RJ-45 socket

17
Installation and connection
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Installation and connection
4.2.4 Meaning of the LEDs
RJ-45 socket LEDs
There are two LEDs on each RJ-45 socket. These have the following signicance.
LED Meaning
1 (green) Link LED:
xOff: No link No connection to another bus user
xOn: Link active There is a connection to another bus user
2 (orange) Activity LED:
xOff: No activity No data transfer
xFlashing: Activity Data transfer active
Table 4.2 Signicance of the LEDs on the RJ-45 socket
LED H1
Colour 1 Colour 2 State Description Comment
Green Green On CP4 no error
Green Off Flashing with
4 Hz Loopback Change from fast forward to loopback
Red Green Flashing with
4 Hz Communication error Dependent on S-0-1003 (ashes red to green)
Red Red On S III C1D
(Class 1 diagnostic).
See “Error messages in state class 1
(C1D)” on page 61
Orange Orange On CP0 . .CP3
Orange Off Flashing with
4 Hz Identication
(Bit 15 in the device controller) is used
for address assignment, conguration
errors or other identication purposes.
Off Off Off No SERCOS III
communication
CPx: Communication phase
Table 4.3 Signicance of LED H1
4.3 Indication of the operating states via
7-segment display
D1 D2 Meaning Parameter
System states
8. 8.
Device in reset state
0.
Self-initialisation on device startup (Start)
S.*) 1.
1) Not ready to switch on (no DC link voltage) (NotReadyToSwitchOn)
S.*) 2.
1) Switch on disabled (DC link in order, power stage not
ready) (SwitchOnDisabled)
3.
Ready to switch on (power stage ready) (ReadyToSwitchOn)
4.
Switched on (device is electrically live)2) (SwitchedOn)
5.
Drive ready (power applied to drive and drive ready for
reference value input) 2) (OperationEnable)
6.
Quick stop 2) (QuickStopActive)
7.
Fault reaction active 2) (FaultReactionActive)
E R
Fault (see below) (Fault)
If there is a fault, the following is displayed alternately
ER.
Indication for fault or fault that cannot be acknowledged
X Y
Fault number (decimal)
X Y
Fault location (decimal)
1) S. flashes if the function STO (Safe Torque Off) is active, indication extinguishes if function is inactive.
*) This is not a "safe indication" in the context of EN 61800-5-2.
2) The dot ashes when the power stage is active.
Table 4.4 Operating states via 7-segment display

18
Installation and connection
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Installation and connection
Example for the sequence of flashing:
 ER > 02 > 05 * ER > 02 > 05 ...
Fault: ER = "Malfunction"
Fault name: 02 = "Error in the parameter list"
Fault description: 05 = "Function for checking the actual parameter list"
Table 4.5 Example for the sequence of ashing
4.4 Hardware enable
The ServoOne has a control input for the hardware enable on the control terminal
ENPO. This input must be connected to 24V to operate the power stage.
The device also has the "STO (Safe Torque Off)" function (see Operation Manual or
Application Manual ServoOne), category 3, control terminal ISDSH. On these devices
the logic for this function must be implemented by the higher level controller as per the
application manual.
Note:
If the ENPO and ISDSH inputs are not connected, the device remains in state
1 = "Not Ready to Switch On" or 2 = "Switch On Disabled".
Only after correct connection can the state be left using a "Shutdown
command" via the bus.

19
Commissioning and conguration
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Commissioning and conguration
5 Commissioning and conguration
5.1 SERCOSII - hardware settings
5.1.1 Conguring basic settings
Setting the motion prole parameters
The basic drive settings must be congured as per the reference documents. Then the
following settings must be made with the aid of DriveManager so that it is possible to
change to operation via SERCOS.
So that the drive can be controlled and moved via SERCOS II, the two parameters
control location selector P-0159 MPRO_CTRL_SEL and reference value selector
P-0165 MPRO_REF_SEL must be set as per the gure below.
Prerequisites:
yThe drive is wired as per the operation manual and initial commissioning has
been undertaken.
NOTE:
You will nd more detailed information on the optimisation of the control
function and control circuits in the application manual for the device.
Figure 5.1 Basic settings, P-0159 and P-0165 with SERCOS II
5.1.2 Setting the transmit power for the SERCOS interface
The transmit power of the bre optic cable transmitter can be set using the parameter
P3004 Maximum transmission power. An entry of 0 corresponds to the lowest
power and the value 3 to the highest power. The following gures are indicative:
0: < 15 m
1: 15 ... 30 m
2: 30 ... 45 m
3: > 45 or HCS
0: <15 m 1: 15 .. 30 m 2: 30..45 m 3: >45 or HCS
5.1.3 Setting the drive address via parameters
The drive address is set in the parameter P3000 drive address. A drive address set or
changed in this parameter is only activated on the next change in the communication
phase from "0" to "1". The drive address is independent of the position of the drive in
the SERCOS ring.
Setting the drive address via buttons and display is in preparation.
5.1.4 Transfer rate for the SERCOS interface
The transfer rate specied by the master is detected automatically by the drive, set
correspondingly and indicated in parameter S-0-0376, baud rate SERCOS interface.
NOTE:
Baud rates of 2, 4, 8 and 16 MBaud are supported. The automatic baud rate
detection in the drive is implemented as per the SERCOS application note
AN15 dated 2002/08/22.

20
Commissioning and conguration
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Commissioning and conguration
5.1.5 Diagnostic LEDs
Hardware variant 1
LED Colour Meaning
H5
H4
H6 H7
H4 Red Distortion LED, interference on the BUS
H5 Green Status of the SERCOS communication
phase (ashing code)
H6 Green Receiver LED, receiving telegrams
H7 Green Transmitter LED, sending telegrams
Hardware variant 2
LED Colour Meaning
H5
H4
H4 Red Distortion LED, interference on the BUS
H5 Green Status of the SERCOS communication
phase (ashing code)
5.1.6 Usage of the distortion indicator
After the drive address has been set, it should be checked whether an adequate
optical signal level is present at each bus user, i.e. whether the receiver is underdriven
or overdriven. The optical level is checked using the Distortion LED on the front of the
ServoOne (LED H4). Normally the Distortion LED is off. To check the optical level, all
drives in the ring are checked in the signal ow direction, starting from the transmitter
output on the master (see gure in sub-section "Connection for the bre optic cable").
The distortion indicators are to be checked in the "direction of the light", i.e. the rst
drive in the ring is to be checked rst. If its distortion indicator is off, check the next
drive. This procedure is continued to the last drive and then undertaken on the master
(controller).
Note:
The distortion indicator must not illuminate or glow.
5.2 SERCOS III
5.2.1 Conguring basic settings
Setting the motion prole parameters
The basic drive settings must be congured as per the reference documents. Then the
following setting must be made with the aid of DriveManager so that it is possible to
change to operation via Sercos.
So that the drive can be controlled and moved via SERCOS III, the two parameters
control location selector P-159 MPRO_CTRL_SEL and reference value selector P-165
MPRO_REF_SEL must be set as per the gure below.
Figure 5.2 Basic settings, P-0159 and P-0165 with SERCOS III
Prerequisites:
yThe drive is wired as per the operation manual and initial commissioning has
been undertaken.
yIf electrical power is to be applied to the motor, the hardware enable (ENPO)
and the "STO (Safe Torque Off)" must also be connected correctly.
NOTE:
You will nd more detailed information on the optimisation of the control
function and control circuits in the application manual for the device.
NOTE:
For information on the topic of "Scaling", please read chapter 6.