Lust MASTERCONTROL MC6000 Series Operating and installation instructions

ANTRIEBSTECHNIK
MASTERCONTROL MC6000/MC7000
Servocontrollers from 2 to 64 A
Parameter Description
EN
D
RIVE
M
ANAGER
stop
return start
enter
SMART
CARD
CTRL
min-1

Parameter description
for servocontrollers of series
MASTERCONTROL MC6000
MASTERCONTROL MC7000
Valid as from software version: V2.60 (MC6000)
V3.55 (MC7000)
ID no.: 0792.26B.0-00
Date: March 1999
We reserve the right to make technical changes.

Table of contents • 3Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
Table of contents
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Key to symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Key to terms in the parameter table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
_CONF – Device configuration and I/O . . . . . . . . . . . . . . . . . 11
412-ANFIL – Filter time constant for analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
7-AUTO – Activate/deactivate Auto-Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
465-BRAKE - Actuation mode for motor brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
488-BUSYE - Activate/deactivate synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
486-BUTCD - Max. permissible cycle deviation relative to master . . . . . . . . . . . . . . . . . . . 13
487-BUTCS - Sampling time of status message relative to "BUTCY" . . . . . . . . . . . . . . . . . 13
411-BUTCY - Bus sampling time in microseconds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
409-BUTWD - Bus watchdog time in ms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
304-CFCMX - Effective value of maximum current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
303-CFCNM - Scaling current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
300-CFCON - Current control mode of servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
309-CFENC - Encoder type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
305-CFHSW - Hardware status word of system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
301-CFMOT - Motor type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
302-CFPNM - Performance class of power stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
306-CFSSW - Control structure status word of system . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
402-CLSEL - Control location selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
129-FIEC2 - Function selector for 2nd position measurement system . . . . . . . . . . . . . . . . 19
443-FIF0, 444-FIF1 - Function selector, fixed input 0, 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
439-FIS00, 440-FIS01 - Function selector, input IS00, IS01 . . . . . . . . . . . . . . . . . . . . . . . . 20
441-FISA0 - Function selector, analog input ISA0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
442-FISA1 - Function selector, analog input ISA1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
132-FLABU - FLASH parameter group (FLAGP) in Flash-EPROM . . . . . . . . . . . . . . . . . . . 27
131-FLAGP - Number of FLASH parameter group to be stored . . . . . . . . . . . . . . . . . . . . . 27
133-FLALL - Store all FLASH parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
449-FOA0 - Function selector for analog function of output OS00 . . . . . . . . . . . . . . . . . . . 28
445-FOS00 - Function selector, output OS00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
446-FOS01- Function selector, output OS01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
463-FOS02- Function selector, relay output OS02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
464-FOS03- Function selector, brake output OS03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
415-MPCN0F - Configuration for MOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
481-OA0MN - Lower window limit for analog output OS00 . . . . . . . . . . . . . . . . . . . . . . . . . 34
482-OA0MX - Upper window limit for analog output OS00 . . . . . . . . . . . . . . . . . . . . . . . . . 34
296-OPTN1 - Assignment of slot 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
293-OPTN2 - Assignment of slot 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
341-PMFS - Switching frequency of power stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
860-REF_R - Reference-reached window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
451-SETUP - Setup mode for speed controller on/off (only MC6000) . . . . . . . . . . . . . . . . . 37
134-RNERR - Error status of current operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
135-RNMOD - Number of current operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
136-RNTAB - Bit field of valid operation modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
401-SPD_0 - Standstill window (limit value for speed = 0 ) . . . . . . . . . . . . . . . . . . . . . . . . . 39
467-THTDC - Holding time (time between brake-on and control-off) . . . . . . . . . . . . . . . . . . 40

4• Table of contents Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
_ENCD – Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
331-ECLNC - Lines per revolution of encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
334-ECNPP - Number of pole pairs of encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
333-ECOFF - Encoder offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
17-ECSG - Controller gain for encoder simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
29-ECSIM - Mode of encoder simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
13-ECSLN - Lines per revolution in encoder simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
336-ECTF - Jitter filter time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
330-ECTS - Sampling time of speed recording . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
_OPT1 – Slot 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
452-DA0MN, 454-DA1MN - Lower limit value of value range for channel 0
or 1 of analog output (AH7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
453-DA0MX,466-DA1MX-Upperlimitvalueofvaluerangeforchannel0or1ofanalogoutput(AH7)
46
450-FODA0, 451-FODA1 - Function selector for DA module for channel 0 or 1 . . . . . . . . . 46
406-IBCNF - Configuration of reference transfer via InterBus-S . . . . . . . . . . . . . . . . . . . . . 47
407-IBCTR - InterBus-S control word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
408-IBSTA - InterBus-S status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
405-SUPI - Configuration of word length in SUPI chip (only InterBus-S) . . . . . . . . . . . . . . . 49
_MOT – Motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
317-MOCNM - Motor rated current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
310-MOFNM - Nominal pole flux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
326-MOI2T - i2 x t limit of motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
319-MOJNM - Moment of inertia of motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
312-MOL_M - Magnetizing inductance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
311-MOL_S - Stator inductance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
321-MOMC0 - Value 0 of continuous magnetizing characteristic . . . . . . . . . . . . . . . . . . . . .51
322-MOMC1 - Value 1 of continuous magnetizing characteristic . . . . . . . . . . . . . . . . . . . . .52
323-MOMC2 - Value 2 of continuous magnetizing characteristic . . . . . . . . . . . . . . . . . . . . .52
324-MOMC3 - Value 3 of continuous magnetizing characteristic . . . . . . . . . . . . . . . . . . . . .52
325-MOMC4 - Value 4 of continuous magnetizing characteristic . . . . . . . . . . . . . . . . . . . . .53
327-MOMMX - Motor maximum torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
318-MOMNM - Motor nominal torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
320-MONPP - Number of pole pairs of motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
314-MOR_R - Rotor resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
313-MOR_S - Stator resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
316-MOSMX - Maximum speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
315-MOSNM - Nominal speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
328-MOTYP - Motor type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
_TCON – Torque control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
365-TCAVM - Threshold value for actual torque monitoring . . . . . . . . . . . . . . . . . . . . . . . . 56
351-TCG - Torque controller gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
353-TCMMX - Torque limit of torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
352-TCTLG - Lag time of torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
350-TCTS - Sampling time of torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
60x-TCI1, TCI2 - Input pointer for torque controller (only MC6000) . . . . . . . . . . . . . . . . . . . 57
62x-TCIMX - Pointers for torque limit (only MC6000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58

Table of contents • 5Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
_SCON – Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
452-10PC - Setup mode: Number of overshoots with amplitude >10% in first overshoot range
(only MC6000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
454-1OVER - Setup mode: First overshoot range (only MC6000) . . . . . . . . . . . . . . . . . . . . 60
366-FCG - Flux control gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
367-FCQA - Factor A for calculation of reduced q-current in FSB . . . . . . . . . . . . . . . . . . . . 60
368-FCQB - Factor B for calculation of reduced q-current in FSB . . . . . . . . . . . . . . . . . . . . 61
364-FCTLG - Lag time of flux control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
128-FCTS - Sampling time of voltage and flux control circuit . . . . . . . . . . . . . . . . . . . . . . . 61
369-SCAVM - Threshold value for actual speed monitoring . . . . . . . . . . . . . . . . . . . . . . . . 62
362-SCG - Speed controller gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
375-SCGFA - Scaling of speed controller gain (0 to 1000 %) . . . . . . . . . . . . . . . . . . . . . . . 62
363-SCJ - Moment of inertia of system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
384-SCSMX - Speed limitation of speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
376-SCTF - Time constant of speed reference filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
360-SCTLG - Lag time of speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
361-SCTS - Sampling time of speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
453-STIME - Setup mode: Rise time (only MC6000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
64x-SCI1, 65x-SCI2 - Input pointer for speed controller (only MC6000) . . . . . . . . . . . . . . . 64
66x-SCIMX - Pointers for speed limit (only MC6000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
373-VCTF - Time constant of actual voltage filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
370-VCTLG - Lag time of voltage regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
371-VCTS - Sampling time of voltage regulator (only MC6000) . . . . . . . . . . . . . . . . . . . . . 66
372-VCVLM - Limitation of control deviation of voltage regulator . . . . . . . . . . . . . . . . . . . . 66
374-VCVRF - Voltage reserve in voltage control loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
_PCON – Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
307-ENEG - Activation of electronic gearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
120-PCALR- Active level of reference cam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
119-PCAZ - Activation of automatic machine zeroing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
381-PCG - Position controller gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
382-PCAMX - Acceleration limit value of position controller (only MC6000) . . . . . . . . . . . . 68
386-PCGFA - Adaptation factor for position controller gain (only MC6000) . . . . . . . . . . . . 69
703-PCI1, PCI2 - Pointers for inputs of position controller (only MC6000) . . . . . . . . . . . . . 69
118-PCRA - Acceleration for referencing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
113-PCRMD - Max. number of revolutions in referencing . . . . . . . . . . . . . . . . . . . . . . . . . . 70
112-PCRV - Referencing speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
380-PCTS - Sampling time of position controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
117-PCZS - Offset machine zero relative to reference point . . . . . . . . . . . . . . . . . . . . . . . . 70
308-PDMX - Max. position deviation (limit for tracking error) . . . . . . . . . . . . . . . . . . . . . . . . 71
121-RCDE - Increment size of register control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
122-RCEM - Max. adjustment distance for register control . . . . . . . . . . . . . . . . . . . . . . . . . 71
124-RCO - Offset between position of ref.cam and activation position . . . . . . . . . . . . . . . . 72
123-RCR - Ramp for register control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
388-VRDEN - Denominator of speed ratio for the electronic gearing . . . . . . . . . . . . . . . . . 72
387-VRNOM - Numerator of speed ratio for the electronic gearing . . . . . . . . . . . . . . . . . . . 72
_VFCON – (V/F mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
34-VFVHZ - Voltage frequency control setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
35-VFBST - Voltage frequency control boost setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

6• Table of contents Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
_SIO – Serial interface RS485 . . . . . . . . . . . . . . . . . . . . . . . . . 74
82-SADDR - LustBus device address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
81-SBAUD - LustBus transfer rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
416-SCTL1 - Control word of serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
83-SDMMY - LustBus dummy parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
85-SERR - LustBus error status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
84-SWDGT - LustBus watchdog time setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
80-SLOAD - LustBus handshake parameter for record transfer . . . . . . . . . . . . . . . . . . . . . 76
110-TRACK - Handshake parameter for download of transient memory . . . . . . . . . . . . . . . 76
107-UNIT - Available parameter units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77
108-STEXT - Handshake parameter for transfer of value substitution texts . . . . . . . . . . . . 77
_KPAD – KeyPad KP100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3-BARG - Parameter for bar graph display of KP100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
11-CASEL - Functional areas of SMARTCARD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
5-CTLFA - Multiplier for incremental value in CTRL menu of KP100 . . . . . . . . . . . . . . . . . . 78
2-DISP - Parameter for continuous actual value display of KP100 . . . . . . . . . . . . . . . . . . . 79
1-MODE - User level of KP100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
15-PLRDY - Activate control initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
6-PNUM - Activate/deactivate parameter number display of KP100 . . . . . . . . . . . . . . . . . .81
4-PROG - Special functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
100-PSW2 - Password for user level 2 of KP100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
101-PSW3 - Password for user level 3 of KP100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
102-PSW4 - Password for user level 4 of KP100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
103-PSW5 - Password for user level 5 of KP100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
104-PSW6 - Password for user level 6 of KP100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
105-PSWCT - Password for Control menu of KP100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
_SCTY – Device response in case of error . . . . . . . . . . . . . . 84
74-ERES - Reset MC errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
18-LOCKS - Disable drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
16-MKERR - Error simulation parameter to test error responses . . . . . . . . . . . . . . . . . . . . .87
_SYS – Diagnosis and digital scope . . . . . . . . . . . . . . . . . . . 88
20-DSM0, 22-DSM1, 24-DSM2, 26-DSM3 - Operation mode channel 0...3 of
digital scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
62-DSMSZ - Size of transient memory in bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
67-DSPRT - Pretrigger of digital oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
68-DSRUN - Start enable of digital oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
66-DSTCH - Trigger channel of digital oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
60-DSTIM - Time division of digital oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
29-DSTF - Filter time constant of digital scope (only MC6000) . . . . . . . . . . . . . . . . . . . . . . 91
64-DSTLV - Trigger threshold of digital oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91
65-DSTM - Trigger mode, digital oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
21-DSV0, 23-DSV1, 25-DSV2, 27-DSV3 - Index of channel 0...3 for
values table of digital scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
36-DSVTC - Index of trigger channel for values table of Trace tool . . . . . . . . . . . . . . . . . . . 93
19-EEPCC - Number of repairs to EEPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
31-PTR_H, 30-PTR_L - Data pointer to any memory locations . . . . . . . . . . . . . . . . . . . . . . 94
32-P-VAL - Editable memory location of data pointer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
111-VPROG - Capacity utilization of VECON program memory . . . . . . . . . . . . . . . . . . . . .94

Table of contents • 7Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
_REF – Reference structure . . . . . . . . . . . . . . . . . . . . . . . . . . 95
842-ACCR - Acceleration ramp for speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
852-DECR - Deceleration ramp for speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
335-EC2LN - Lines per revolution of optical encoder, encoder input 2 . . . . . . . . . . . . . . . . 96
856-JTIME - Smoothing time of sinusoidal ramp in ms . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
425-RA0, 426-RA1 - Analog reference channel 0 or 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
497-RCAN - Reference from CAN bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
390-RDDEN - Transmission ratio of rotation speed (denominator) . . . . . . . . . . . . . . . . . . . 97
389-RDNOM - Transmission ratio of rotation speed (numerator) . . . . . . . . . . . . . . . . . . . . 97
430-RDIG - Digital reference input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
434-REF1 ... 438-REF6 - Interim values of reference input . . . . . . . . . . . . . . . . . . . . . . . . . 98
448-RF3FA - Factor for reference channel 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
74x-RFIX1 ... 79x-RFIX6 - Fixed references 1 to 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
87x-RINC - Reference increments in MOP function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
80x-RLIM1 - Lower reference limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
81x-RLIM2 - Upper reference limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
82x-RNA0, 83xRNA1 - Scaling for analog reference input 0 or 1 . . . . . . . . . . . . . . . . . . . 101
431-ROPT1, 432-ROPT2 - Reference value of option slot 1 or 2 . . . . . . . . . . . . . . . . . . . 101
429-RPOT - Reference value of MOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
126-RSDIR - Level of directional signal for stepper motor mode . . . . . . . . . . . . . . . . . . . . 102
428-RSIO - Reference value from LustBus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
417-RSSL1 ... 420-RSSL4 - Reference selector 1 ... 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
125-RSTEP - Evaluation of stepper motor signals (2nd encoder input) . . . . . . . . . . . . . . 103
421-SADD1 ... 424-SADD4 - Offset for reference selector 1 ...4 . . . . . . . . . . . . . . . . . . . . 104
496-STOPR - Stop ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
_IO1 – Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
455-FIE00 ... 462-FIE07 - Function selector, external inputs IE00 ... IE07 . . . . . . . . . . . . 106
479-SIEXT - Status word of external inputs IE00...IE07 . . . . . . . . . . . . . . . . . . . . . . . . . . 106
_IO2 – Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
471-FOE00 ... 474-FOE03 - Function selector, external outputs OE00 ...OE03 . . . . . . . . 107
494-SCTL2 - Control word to set ext. outputs via SIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
480-SOEXT - Status word of external outputs OE00...OE03 . . . . . . . . . . . . . . . . . . . . . . . 108
_CAN – CAN bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
493-CAADR - CAN bus device address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
489-CABDR - CAN bus baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
492-CACNF - CAN bus configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
491-CACTR - CAN bus control word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
490-CASTA – CAN bus status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
_PMOD – Open-loop position control (option) . . . . . . . . . . 112
Calculation aids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
503-POABE - Resolution of acceleration (K13) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
556-POADP - Current tracking error in distance units . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
554-POAIP - Current actual position in distance units . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
545-POAPO - Current program set number of active positioning program . . . . . . . . . . . . 116
544-POAPR - Number of active positioning program . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
555-POASP - Current reference position in distance units . . . . . . . . . . . . . . . . . . . . . . . . 116

8• Table of contents Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
502-POAVE - Velocity resolution (K12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
506-POBEN - Acceleration mode in negative direction (K16) . . . . . . . . . . . . . . . . . . . . . .117
505-POBEP - Acceleration mode in positive direction (K15) . . . . . . . . . . . . . . . . . . . . . . . 117
510-POBLN - Maximum linear braking acceleration in negative direction (K20) . . . . . . . . 118
509-POBLP - Maximum linear braking acceleration in positive direction (K19) . . . . . . . . . 118
514-POBPN - Maximum sinusoidal braking acceleration in negative direction (K24) . . . . 119
513-POBPP - Maximum sinusoidal braking acceleration in positive direction (K23) . . . . . 119
551-POCMD - Direct command input in manual mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
515-POECO - External CAN outputs of PosMod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
515-POEGW - Quick jog rate (K25 ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
546-POENA - Enable positioning software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
552-POFNC - Position control function diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
540-POKAS - Configuration, update/sequence program stop (K07) . . . . . . . . . . . . . . . . . 122
542-POKHE - Configuration, hardware limit switches (assignment of inputs, K02) . . . . . . 122
538-POKLA - Configuration of local outputs (K05) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
536-POKPN - Configuration of program number (assignment of inputs, K02) . . . . . . . . . .123
537-POKTI - Configuration of table index (assignment of inputs, K03) . . . . . . . . . . . . . . . 124
541-POKTP - Configuration of jog mode (assignment of inputs, K08) . . . . . . . . . . . . . . . 124
539-POKVF - Configuration of feed hold (K06) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
508-POLAN - Maximum linear startup acceleration rate in negative direction (K18) . . . . . 125
507-POLAP - Maximum linear startup acceleration rate in positive direction (K17) . . . . . . 125
529-POMER - Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
517-PONKR - Zero correction (K27) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
533-POOPT - Optional parameter for PosMod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
553-POOVR - Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
512-POPAN - Maximum sinusoidal startup acceleration rate in negative direction (K22) . 127
511-POPAP - Maximum parabolic startup acceleration rate in positive direction (K21) . . . 127
535-POPKD - Coding of program number (K01, K02) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
532-POPLI - Program line counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
543-POPRT - Port configuration for input assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
534-POQPN - Source of program number (K00) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
523-PORPO - Reference cam polarity (K71) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
522-PORTY - Reference run type (K70) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
524-PORV1 - First referencing speed (K72) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
525-PORV2 - Second referencing speed (K73) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
526-PORV3 - Third referencing speed (K74) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
516-POSGW - Slow jog speed (K26) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
521-POSIG - Preceding sign direction (K32) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
531-POSTA - Positioning status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132
557-POSTI - Status information of positioning and sequence control . . . . . . . . . . . . . . . . 132
519-POSWN - Negative software limit switch (K29) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
518-POSWP - Positive software limit switch (K28) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
527-POTAB - Table values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
528-POVAR - Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
504-POVMX - Maximum velocity in velocity unit (K14) . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
501-POWGN - Travel resolution factor, denominator (K11) . . . . . . . . . . . . . . . . . . . . . . . . 134
500-POWGZ - Travel resolution factor, numerator (K10) . . . . . . . . . . . . . . . . . . . . . . . . . . 134
520-POWIN - Position window (K31) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .135
530-POZAH - Counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
_VAL – Actual value parameter . . . . . . . . . . . . . . . . . . . . . . 136
_VAL menu on MC6000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
_VAL menu on MC7000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
404-CNTL - Control word of system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

Table of contents • 9Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
106-CRIDX - Revision index as suffix to version number . . . . . . . . . . . . . . . . . . . . . . . . . 138
79-DPOS - Tracking error of position controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
70-DSCH0 ... 73-DSCH3 - Value of channel 0 ... 3 of digital oscilloscope . . . . . . . . . . . . 138
495-IOSTA - Status of inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
93-KOMP - Compatibility class of SmartCard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
403-STAT - Status word of system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
9-TAX - Current processor workload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
10-MAXTX - Maximum processor workload since power-up . . . . . . . . . . . . . . . . . . . . . . . 141
12-MIDTX - Average processor workload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
33-V-VAL - Display of data pointer memory location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

10• Introduction Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
Introduction
Key to symbols
Key to terms in the parameter table
Example:
Note:
Useful information, tip.
Attention!
Pay attention to the notice/follow the instructions given.
CAUTION - Do not change parameter!
Parameter only for development and service purposes
This parameter is intended only for service and development purposes, and should
be modified only by LUST staff.
Changing the setting may cause the drive to stop running altogether, or to perform
much less efficiently. Make a note of the previous setting if you do change it - other-
wise the factory setting will usually have to be restored with the SMARTCARD.
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
0 255 0 s R4W5 DRIVE USIGN8
Minimum Lowest possible setting
Maximum Highest possible setting
Factory set. Factory setting
Unit Physical unit of the parameter, e.g. seconds
MODE User level, e.g.
R4 = Display level 4 (Read)
W5 = Write level 5 (Write)
User levels in the DriveManager:
1 = Layman
2 = Beginner
3 = Advanced
4 = Expert
5 = LUST Service
6-15 = Non-editable
MODE indicates the user level as from which a parameter can be dis-
played and possibly changed.
SMARTCARD SMARTCARD area in which the parameter is stored. All the parameters
can be stored on the SmartCard and just one area, e.g. the DRIVE drive
parameters, loaded into the servocontroller.
Type Parameter data type; required for interface operation, e.g. over CAN
bus. For further information see data transfer protocol.

_CONF – Device configuration and I/O Subject area • 11Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
_CONF – Device configuration and I/O
412-ANFIL – Filter time constant for analog inputs
Source: Analog Filter Constant
Function: Time constant of the analog filter of the analog reference inputs ISA0, ISA1
7-AUTO – Activate/deactivate Auto-Start
Source: Auto-Start TEST
Function: When Auto-Start is active control is immediately active after power-up, provided a Start
command is received at the terminals.
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
See table 0 – R4W4 REFRC USIGN8
Settings: ANFIL on MC6000 ANFIL on MC7000
Setting Function Setting Function
00ms 00ms
1 1 ms 1 0.1 ms
2 2 ms 2 0.2 ms
3 4 ms 3 0.5 ms
48ms 41ms
5 16 ms 5 2 ms
64ms
Note:
For fault isolation increase time constant. Use if reference value is corrupted by
disturbances on the analog signal.
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
OFF ON OFF – R1W2 SYSTM USIGN8
Settings: No. Setting Function (Control starts ... )
0OFF positive edge triggered, e.g. input IS00
FIS00 = START (factory setting)
1ON status-controlled, e.g. FIF0 = START can be programmed,
then input IS00 is free for other function
Note:
No other input is required if one of the fixed inputs FIF0 or FIF1 = START is
programmed.

12• _CONF – Device configuration and I/O Subject area Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
465-BRAKE - Actuation mode for motor brake
Source: Brake mode
Function: Parameter only on MC7000.
Operation mode of holding brake, activation with function selector FOS03
1) Depending on the window for motor standstill, parameter SPD_0 (_CONF)
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
SPD_0 HOLD2 HOLD2 – R1W2 APPLI USIGN8
Settings: No. Setting Holding brake engages when ...
0 SPD_0 motor is stopped 1) and control is disabled.
1 ERR_1 an error occurs and the motor is stopped 1).
2ERR_2 an error occurs and the motor is stopped 1) or no
later than 400 ms after occurrence of the error.
3 ERR_3 an error occurs (immediate).
4 HOLD the start signal is removed
5HOLD1 the motor is stopped 1) or when an error occurs (immediate). When the holding time 467-THTDC
expires the control is shut off.
6HOLD2
the motor is stopped 1) or when an error occurs
and the motor is stopped or after no more than
400 ms. When the holding time 467-THTDC
expires the control is shut off.
Note:
On restart the holding brake is only released when the motor ready to start, i.e.
when the flux build-up phase in asynchronous machines is complete.
Attention!
With settings ERR_3 and /START the holding brake is always activated immediately,
regardless of the current motor speed. Braking at high speeds impairs the durability
of the brake, however. Depending on the external moment of inertia, this may result
in the brake sticking and so damage the motor ("breakdown braking"). This is
accepted as a reasonable risk in many safety devices.
The durability of the holding brake types in the form of the maximum permissible
braking energy (lifetime switching) is given in the MASTERDRIVE data specification
booklet and must always be taken into account in parameter setting (commission-
ing) !

_CONF – Device configuration and I/O Subject area • 13Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
488-BUSYE - Activate/deactivate synchronization
Source:
Function: Parameter for future application, currently without function.
With this parameter synchronization of the drive is activated.
0 = no synchronization)
486-BUTCD - Max. permissible cycle deviation relative to master
Source: Bus Time Cycle
Function: Parameter only for CAN bus.
Maximum permissible deviation of the internal cycle relative to the cycle of drive 1.
Scaling: 1 bit = 0.1 µs.
487-BUTCS - Sampling time of status message relative to "BUTCY"
Source: Bus Time Cycle to Status
Function: Parameter only for CAN bus.
Sampling time of status message relative to bus cycle time BUTCY
The status message is delivered: 1 = every cycle; 2 = every 2nd cycle; etc.
411-BUTCY - Bus sampling time in microseconds
Source: Bus Time Cycle
Function: Parameter only for CAN bus.
Sampling time of the CAN bus in microseconds.
Scaling: 1 bit = 1 µs.
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
OFF ON OFF – R3W3 SYSTM USIGN8
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
OFF ON OFF – R3W3 SYSTM USIGN16
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
1 255 10 – R3W3 SYSTM USIGN8
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
100 32000 1000 – R3W3 SYSTM USIGN16
Note:
This parameter only need be set if time-equidistant adoption of the reference value is
required.
Í487-BUTCS - Sampling time of status message relative to "BUTCY", Page 13

14• _CONF – Device configuration and I/O Subject area Parameter Description MC6000/7000
_ENCD
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Index
_VFCON
_PMOD
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Contents
Introduction
_SIO
_SCTY
_REF
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_IO1
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_CAN
_OPT1
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_CONF
_TCON
_SCON
_PCON
409-BUTWD - Bus watchdog time in ms
Source: Bus Time Watchdog
Function: Parameter only for CAN bus.
To monitor the bus activity (CAN bus or InterBus-S) a watchdog is provided.
With the parameter BUTWD the monitoring time in ms can be set. The value 0 deactivates
the watchdog.
304-CFCMX - Effective value of maximum current
Source: Configuration Current Maximum
Function: Maximum permissible effective value of the current (double overload for 10s). The value is
dependent on the device type, and is calculated automatically from the power stage identi-
fier.
Settings: CFCMX on MC6000 CFCMX on MC7000
303-CFCNM - Scaling current
Source: Configuration Current Nominal
Function: Device current dependent configuration parameter required for internal calculations and
derived automatically from the power stage identifier
.
Example: In MC6408 CFCNM = 25.76 A
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
02550 –R3W3SYSTMUSIGN8
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
Dependent on device type, see table A R4W7 ALL FLOAT32
Setting Device type Setting Device type
8A MC6404 4 A MC7402
16 A MC6408 8 A MC7404
24 A MC6412 16 A MC7408
32 A MC6416 24 A MC7412
64A MC6432 32 A MC7416
96A MC6464 64A MC7432
96A MC7464
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
Dependent on device type A R5W7 ALL FLOAT32

_CONF – Device configuration and I/O Subject area • 15Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
_SYS
_IO1
_IO2
_CAN
_OPT1
_MOT
_CONF
_TCON
_SCON
_PCON
300-CFCON - Current control mode of servo
Source: Configuration Control
Function: Choice of control mode (e.g. speed control)
For each control mode appropriate reference values are stored in the servocontroller (sepa-
rate structures for each control mode). As a result, when the control mode is switched the
reference values are also switched.
In the MC7000 as from software V3.0 the control modes are subdivided into operation
modes (parameter RNMOD)
.
309-CFENC - Encoder type
Source: Configuration Encoder
Function: Configuration of the encoder.
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
See table SCON – R4W4 SYSTM FLOAT32
Settings No. Setting Designation Operation mode
1 TCON Torque Control Closed-loop torque
control
2 SCON Speed Control Closed-loop speed
control
3 PCON Position Control Closed-loop position
control
Note:
If in torque control mode the torque (reference) is greater than the load torque, the
drive accelerates up to the speed/voltage limit. The speed limit can be set by way of
parameter SCSMX(_SCON).
Note:
In position control the position is given in revolution. A reference value of 1.00 corre-
sponds to the position rotated clockwise through 360°.
Accelerations and decelerations are always executed torque-controlled at the maxi-
mum value TCMMX.
CAUTION - Do not change parameter!
Parameter only for development and service purposes
1) The motor data sets supplied on floppy disk or SMARTCARD contain the correct
setting of CFENC for the encoder built into the motor.
2) With this parameter the encoder can also be set manually (MODE = 5).
3) In the normal setting "OFF" the resolvers Rx and G1 and G2 are automatically
detected. The parameters of G3, G4 and G5 must be set in CFENC.

16• _CONF – Device configuration and I/O Subject area Parameter Description MC6000/7000
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_VFCON
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Introduction
_SIO
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_CONF
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_SCON
_PCON
Note: Manual setting of encoder type:
lfor resolvers: Number of pole pairs ECNPP
lfor optical encoders: Parameter CFENC (LUST internal parameter).
305-CFHSW - Hardware status word of system
Source: Configuration Hardware State Word
Function: Hardware status word (set after power-up or on manual change)
CFHSW on MC6000
Example: 0C81 H = asynchronous machine with resolver connected, I/O expansion with 8 inputs and
4 outputs
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
See table OFF – R5W5 DRIVE USIGN8
Settings No. Setting Function Type (or similar) SSI
0 OFF Automatic detection active
1 R Resolvers (all types)
2 G1 Incremental encoder (sin/cos) ERN1381
3 G2 Single-turn absolute encoder (sin/cos) ECN1313 25 bits
4 G3 Multi-turn absolute encoder (sin/cos) EQN1325 25 bits
5G4 Single-turn absolute encoder (sin/cos),
attachment encoder with 1024 pulses ROC411 11 bits
6G5 Single-turn absolute encoder (sin/cos),
successor type for G2 ECN1313-2 13 bits
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
See table 0000H – R4W15 ALL USIGN16
Bit position Value of position Meaning of bit
0 0000 H No encoder parameterized
1 0001 H Resolver parameterized (R1, R2, R8)
2 0002 H Encoder with sinusoidal output parameterized (G1)
or no encoder detected
3 0004 H Encoder with square output parameterized
4 0008 H Single-turn absolute value generator with SSI interface (G2)
5 0010 H Multi-turn absolute value generator with SSI interface (G3)
6 0020 H Slot 1 (X6) occupied
7 0040 H Slot 2 (X7) occupied
8 0080 H Asynchronous motor parameterized
9 0100 H Synchronous motor parameterized
10 0200 H Reluctance motor parameterized

_CONF – Device configuration and I/O Subject area • 17Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
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Contents
Introduction
_SIO
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_REF
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_IO1
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_CONF
_TCON
_SCON
_PCON
CFHSW on MC7000
Example: 2C81 H = asynchronous machine with resolver connected, I/O expansion AH6, memory
upgrade for software version 3.0 and higher
301-CFMOT - Motor type
Source: Configuration Motor
Function: The parameter defines the motor type (synchronous/asynchronous).
Bit position Value of position Meaning of bit
0 0001 H Resolver parameterized (R1, R2, R8)
1 0002 H Encoder with sinusoidal output parameterized (G1)
2 0004 H Encoder with square output parameterized
3 0008 H Single-turn absolute value generator with SSI interface (G2, G5)
4 0010 H Multi-turn absolute value generator with SSI interface (G3)
5 0020 H Option slot 1 occupied (e.g. AH7)
6 0040 H Position communication slot occupied (e.g. Motion)
7 0080 H Asynchronous motor parameterized
8 0100 H Synchronous motor parameterized
9 0200 H Special motor parameterized
10 0400 H Module slot 1 occupied with 8 inputs (AH6)
11 0800 H Module slot 2 occupied with 4 outputs (AH6)
12 1000 H CAN bus interface (C11) occupied
13 2000 H Memory upgrade occupied (suitable for SW 3.0 and higher)
14 4000 H Motor PTC evaluation occupied
15 8000 H Driver for holding brake occupied (HB1)
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
See table MC6000: AS
MC7000 PS – R4W5 DRIVE USIGN8
Settings No. Setting Motor type
0 AS Asynchronous servomotor
1 PS Synchronous servomotor

18• _CONF – Device configuration and I/O Subject area Parameter Description MC6000/7000
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Index
_VFCON
_PMOD
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Contents
Introduction
_SIO
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_CAN
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_CONF
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_SCON
_PCON
302-CFPNM - Performance class of power stage
Source: Configuration Power Class Nominal
Function: Identifier of performance class of power stage (effective rated output current in Amperes)
306-CFSSW - Control structure status word of system
Source: Configuration Software State Word
Function: Software status word, indicates e.g. which control mode is selected.
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
Dependent on device type – R4W7 ALL USIGN8
Settings Setting Device type Setting Device type
4 A MC6404 2 A MC7402
8 A MC6408 4 A MC7404
12 A MC6412 8 A_N MC7408
(standard)
16 A MC6416 8 A MC7408R
(reduced)
32 A MC6432 12 A MC7412
64 A MC6464 16 A MC7416
32 A MC7432
64 A MC7464
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
0000H FFFFH 0000H A R4W15 ALL USIGN16
Settings: Bit position Value of position Meaning of bit
0 0001 H Torque control
1 0002 H Speed control
2 0004 H Position control
4 0010 H Electronic gearing (master)
5 0020 H Electronic gearing (slave)

_CONF – Device configuration and I/O Subject area • 19Parameter Description MC6000/7000
_ENCD
_VAL
Index
_VFCON
_PMOD
_KPAD
Contents
Introduction
_SIO
_SCTY
_REF
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_IO1
_IO2
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_CONF
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402-CLSEL - Control location selector
Source: Control Location Selector
Function: Control location selector (terminals, KeyPad, ...)
CLSEL designates the source for the control commands START and INV; reference values
may also originate from other control locations according to reference input.
CLSEL on MC6000
CLSEL on MC7000
129-FIEC2 - Function selector for 2nd position measurement system
Source: Function Selector Encoder Input 2
Function: Selection of function which uses the 2nd position measurement system (e.g. speed syn-
chronism, electronic gearing).
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
See table TERM – R4W4 REFRC USIGN8
No. Setting Designation Function
1TERM Terminal Control drive via terminal strip
(input configured as “Start“)
2 KPAD KeyPad Control drive via KeyPad
3 SIO Serial Input/Output Control drive via serial interface
(LustBus control word)
4 OPTN1 Option 1 Control drive via module in slot 1
(e.g. InterBus-S / CAN bus interface)
5 OPTN2 Option 2 Control drive via module in slot 2
(e.g. I/O module 1, PosMod1)
No. Setting Designation Function
1TERM Terminal Control drive via terminal strip
(input configured as “Start“)
2 KPAD KeyPad Control drive via KeyPad
3 SIO Serial Input/Output Control drive via serial interface
(LustBus control word)
4 OPTN1 Option 1 Control drive via module in slot 1
5 CAN CAN bus Control drive via CAN bus
6 POMOD PosMod1 Control drive via position control
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
See table 0 – R4W4 REF USIGN8

20• _CONF – Device configuration and I/O Subject area Parameter Description MC6000/7000
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Index
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Introduction
_SIO
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_CONF
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Í 300-CFCON - Current control mode of servo, Page 15
443-FIF0, 444-FIF1 - Function selector, fixed input 0, 1
Source: Function Selector Input Fixed 0, 1
Function: Function selector for fixed input 0 or 1. This input is simulated by software and is perma-
nently assigned the value = 1.
Examples: lSTART - Start drive without additional input (Auto-Start\)
lINV - Always invert reference
lGEAR - Always engage electronic gearing
ÍFunctions for inputs on MC6000, Page 21
ÍFunctions for inputs on MC7000, Page 22
ÍStructure of reference input, Page 24
ÍNotes on function selectors for inputs, Page 23
439-FIS00, 440-FIS01 - Function selector, input IS00, IS01
Source: Function Selector Input Standard 00, 01
Function: Function selector for input IS00 or IS01. Defines which function the input executes.
Only digital functions possible.
Examples: lSTART – Start drive with preset reference value
l/STOP – Quick-stop drive (brakes to speed = 0 and stop)
Settings: No. Setting Function
0 OFF 2nd position measurement system is not evaluated.
1 SNOM Speed synchronism active
2 PNOM Electronic gearing active
3 PACT Currently not supported.
Note:
The selected function requires correct setting of the control mode!
SNOM => CFCON = SCON
PNOM => CFCON = PCON
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
See table 0 –R4W4REF USIGN8
Values: Minimum Maximum Factory set. Unit MODE SMARTCARD Type
OFF EGEAR START – R1W2 REFRC USIGN8