Siko AG06 User manual

055/18
AG06
Actuator with CANopen interface
User manual

AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 2 of 114
Table of contents
1General Information .................................................................................................. 6
1.1 Documentation ........................................................................................................6
2Block Diagram ........................................................................................................... 6
3Display and Control Keys............................................................................................ 7
3.1 General ...................................................................................................................7
3.2 LCD display..............................................................................................................7
3.3 LED displays ............................................................................................................7
4Functional Description ............................................................................................... 8
4.1 Control of the drive ..................................................................................................8
4.1.1 Value input ..........................................................................................................8
4.1.2 Value selection .....................................................................................................8
4.1.3 Operating modes...................................................................................................8
4.1.3.1 Positioning mode ..............................................................................................8
4.1.3.1.1 Loop positioning............................................................................................9
4.1.3.2 Inching operation............................................................................................10
4.1.3.2.1 Inching mode 1 ...........................................................................................10
4.1.3.2.2 Inching mode2 ............................................................................................10
4.1.3.3 Rotational speed mode.....................................................................................10
4.1.4 Current limiting ..................................................................................................11
4.2 Manual control (stand-alone operation).....................................................................12
4.2.1 Start inching mode 2...........................................................................................12
4.2.2 Specifying the set point and starting the travel order...............................................12
4.2.2.1 Example: Starting positioning order to position 500 .............................................12
4.2.2.2 Example: Starting positioning order to position -500............................................12
4.3 Menu selection.......................................................................................................14
4.3.1 Changeable parameters ........................................................................................15
4.3.1.1 Bus parameters ...............................................................................................15
4.3.1.2 Positioning.....................................................................................................16
4.3.1.3 Actuator.........................................................................................................17
4.3.1.4 Limiting values ...............................................................................................17
4.3.1.5 Visualization...................................................................................................18
4.3.1.6 Options..........................................................................................................19
4.3.1.7 Controller parameters.......................................................................................21
4.3.2 Readable parameters ...........................................................................................21
4.3.3 Error memory......................................................................................................22
5Calibration.............................................................................................................. 22
6External gear........................................................................................................... 23
7Warnings / Errors..................................................................................................... 23
7.1 Warnings...............................................................................................................23

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7.2 Errors....................................................................................................................24
7.2.1 Error codes.........................................................................................................24
7.3 Input errors ...........................................................................................................25
8Parameter description.............................................................................................. 25
9Communication via CAN bus ..................................................................................... 33
9.1 General remarks......................................................................................................33
9.1.1 Interface ...........................................................................................................33
9.2 System Status Word ................................................................................................34
9.2.1 Meaning of the bits.............................................................................................34
9.3 CANopen protocol...................................................................................................36
9.3.1 Telegram setup ...................................................................................................36
9.3.2 Network management (NMT).................................................................................37
9.3.2.1 State Diagramm...............................................................................................37
9.3.2.2 NMT Status 'INITIALISATION' .............................................................................37
9.3.2.3 NMT Status 'PRE-OPERATIONAL'..........................................................................37
9.3.2.4 NMT Status 'OPERATIONAL' ................................................................................38
9.3.2.5 NMT Status 'STOPPED' .......................................................................................38
9.3.2.6 Switching between communication states ...........................................................38
9.3.3 SYNC-Objekt .......................................................................................................38
9.3.4 Process Data Objects (PDOs) .................................................................................39
9.3.5 Transmit-PDOs ....................................................................................................39
9.3.5.1 1st Transmit PDO (TPDO1)..................................................................................39
9.3.5.2 3rd Transmit PDO (TPDO3)..................................................................................39
9.3.5.3 4th Transmit PDO (TPDO4) .................................................................................40
9.3.5.4 Transfer types of the Transmit PDOs ...................................................................40
9.3.6 Receive-PDOs......................................................................................................41
9.3.6.1 1st Receive PDO (RPDO1)...................................................................................41
9.3.6.2 3rd Receive PDO (RPDO3)...................................................................................41
9.3.6.3 4th Receive PDO (RPDO4)...................................................................................42
9.3.6.4 Transfer types of the Receive PDOs.....................................................................42
9.3.7 Service Data Objects (SDOs)..................................................................................43
9.3.7.1 Error code ......................................................................................................44
9.3.8 Example: Parameterization ...................................................................................44
9.3.8.1 Example: Read parameter..................................................................................44
9.3.8.2 Example: Write parameter .................................................................................45
9.3.9 Emergency Object (EMCY).....................................................................................46
9.3.9.1 Error Code ......................................................................................................46
9.3.10 Heartbeat protocol ..............................................................................................48
9.3.11 Node Guarding....................................................................................................49
9.4 State Machine ........................................................................................................50
9.5 Status word ...........................................................................................................52
9.6 Control word..........................................................................................................54
9.7 Flowchart of the Profile Position Mode (positioning mode)...........................................56

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9.8 Flowchart of the Profile Velocity Mode operation mode (velocity mode) .........................57
9.9 Examples...............................................................................................................58
9.9.1 Example of the Profile Position Mode (positioning mode) .........................................58
9.9.2 Example of the Profile Velocity Mode (velocity mode)...............................................58
9.10 Overview of CANopen identifiers ...............................................................................59
9.11 Setting the CAN baud rate .......................................................................................59
9.12 EDS file.................................................................................................................60
9.13 Directory of objects ................................................................................................60
9.13.1 Overview of objects .............................................................................................60
9.13.2 Description of objects..........................................................................................63
9.13.2.1 1000h: Device Type ..........................................................................................63
9.13.2.2 1001h: Error Register........................................................................................64
9.13.2.3 1002h: Manufacturer Status Register...................................................................64
9.13.2.4 1003h: Pre-defined Error Field............................................................................65
9.13.2.5 1005h: COB-ID Sync Message .............................................................................65
9.13.2.6 1008h: Manufacturer Device Name ......................................................................66
9.13.2.7 100Ah: Manufacturer Software Version ................................................................66
9.13.2.8 100Ch: Guard Time ...........................................................................................67
9.13.2.9 100Dh: Life Time Factor ....................................................................................67
9.13.2.10 1011h: Restore Default Parameters .....................................................................67
9.13.2.11 1014h: COB-ID Emergency Message.....................................................................69
9.13.2.12 1017h: Producer Heartbeat Time.........................................................................70
9.13.2.13 1018h: Identity Object......................................................................................70
9.13.2.14 1200h: Server SDO Parameter .............................................................................72
9.13.2.15 1400h: 1st Receive PDO Parameter.......................................................................73
9.13.2.16 1401h: 2nd Receive PDO Parameter ......................................................................75
9.13.2.17 1402h: 3rd Receive PDO Parameter.......................................................................76
9.13.2.18 1403h: 4th Receive PDO Parameter ......................................................................78
9.13.2.19 1600h: 1st Receive PDO Mapping Parameter ..........................................................80
9.13.2.20 1601h: 2nd Receive PDO Mapping Parameter .........................................................80
9.13.2.21 1602h: 3rd Receive PDO Mapping Parameter ..........................................................81
9.13.2.22 1603h: 4th Receive PDO Mapping Parameter..........................................................82
9.13.2.23 1800h: 1st Transmit PDO Parameter .....................................................................83
9.13.2.24 1801h: 2nd Transmit PDO Parameter.....................................................................85
9.13.2.25 1802h: 3rd Transmit PDO Parameter .....................................................................86
9.13.2.26 1803h: 4th Transmit PDO Parameter .....................................................................88
9.13.2.27 1A00h: 1st Transmit PDO Mapping Parameter ........................................................91
9.13.2.28 1A01h: 2nd Transmit PDO Mapping Parameter........................................................91
9.13.2.29 1A02h: 3rd Transmit PDO Mapping Parameter ........................................................92
9.13.2.30 1A03h: 4th Transmit PDO Mapping Parameter ........................................................93
9.13.2.31 2001h: Manufacturer Offset ...............................................................................94
9.13.2.32 2100h: CAN baud rate .......................................................................................94
9.13.2.33 2101h: Node-ID ...............................................................................................95
9.13.2.34 2102h: Gear reduction ......................................................................................95

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9.13.2.35 2400h: Display and Operation Parameter Set ........................................................95
9.13.2.36 2410h: Motor Parameter Set ..............................................................................99
9.13.2.37 2412h: Spindle Pitch ...................................................................................... 102
9.13.2.38 2413h: Pos Type............................................................................................. 102
9.13.2.39 2415h: Delta Jog............................................................................................ 103
9.13.2.40 2416h: Stop Mode Inching Mode 2.................................................................... 103
9.13.2.41 2417h: Inpos Mode......................................................................................... 103
9.13.2.42 2418h: Loop Length ....................................................................................... 104
9.13.2.43 2419h: Contouring Error Limit.......................................................................... 104
9.13.2.44 241Ah: Contouring Error.................................................................................. 104
9.13.2.45 241Bh: Power Supply Voltage........................................................................... 105
9.13.2.46 241Ch: Output Stage Temperature..................................................................... 105
9.13.2.47 241Eh: Motor Current...................................................................................... 106
9.13.2.48 2421h: Motor Current Limit.............................................................................. 106
9.13.2.49 2423h: Battery Voltage ................................................................................... 106
9.13.2.50 2450h: Inching 2 Offset .................................................................................. 107
9.13.2.51 2451h: Type of acceleration Inching mode 2 ...................................................... 107
9.13.2.52 2500h: Production Date .................................................................................. 107
9.13.2.53 2501h: Display Software Version....................................................................... 108
9.13.2.54 6040h: Control word ....................................................................................... 108
9.13.2.55 6041h: Status word ........................................................................................ 109
9.13.2.56 6060h: Modes of Operation.............................................................................. 109
9.13.2.57 6061h: Modes of Operation Display ................................................................... 110
9.13.2.58 6064h: Position Actual Value ........................................................................... 110
9.13.2.59 6067h: Position Window.................................................................................. 111
9.13.2.60 606Ch: Velocity Actual Value............................................................................ 111
9.13.2.61 607Ah: Target Position ................................................................................... 111
9.13.2.62 607Ch: Calibration Value ................................................................................. 112
9.13.2.63 607Dh: Software Position Limit ........................................................................ 112
9.13.2.64 607Eh: Polarity .............................................................................................. 113
9.13.2.65 6091h: Gear Ratio .......................................................................................... 113
9.13.2.66 60FFh: Target Velocity .................................................................................... 114

General Information
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1General Information
This user manual is valid with firmware version PC 2.04 or higher!
1.1 Documentation
The following documents are associated with this document:
The data sheet describes the technical data, the dimensions, the pin assignment, the
accessories and the order key.
The installation instructions describe the mechanical and electrical installation with all
safety-relevant conditions and the associated technical specifications.
The User manual for actuator commissioning and integration into a fieldbus system.
You can also download these documents at http://www.siko-global.com/p/ag06.
2Block Diagram
Fig. 1: Block diagram
Inverse-
polarity
protection
Mains
adapter
Control
Output stage
Motor
Encoder
Gear
Bus electronics
+UB
control
CAN
+UB
output
stage
Inverse-
polarity
protection
Verpol-
schutz
Battery

Display and Control Keys
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3Display and Control Keys
3.1 General
The actuator has a two-line display with special characters and three control keys. The keys
serve for actuator parameterization and control. Two LEDs (1, 2) inform about the actuator's
operating state.
Fig. 2: Control elements
3.2 LCD display
With supply voltage applied to the control, the actual value is displayed in the first line and
the set point value with factory settings in the second line.
The value displayed in the 2nd line can be adjusted via parameters.
3.3 LED displays
LED
Colour
State
Description
LED1
green
on
Actuator is within the programmed position window.
Supply voltage of the output stage is applied.
blinking
Actuator is within the programmed position window.
Supply voltage of the output stage is missing.
off
Actuator is outside the programmed position window.
red
on
Actuator is outside the programmed position window.
Supply voltage of the output stage is applied.
blinking
Actuator is outside the programmed position window.
Supply voltage of the output stage is missing.
off
Actuator is within the programmed position window.
LED2
orange
blinking 2.5 Hz
NMT state: 'PRE-OPERATIONAL'
on
NMT state: 'OPERATIONAL'
blinking pulse-
duty factor 1:5
off
NMT state: 'STOPPED'
Table 1: LED displays
LED2
LED1
LCD display
Keys

Functional Description
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4Functional Description
4.1 Control of the drive
The drive can be controlled manually (stand-alone) and completely parameterized via the
keys. In bus operation you can disable drive control via the keys.
4.1.1 Value input
Enter values via the key and the key. Confirm entered values by pressing the key.
- Decimal place selection key
- Value input key
With value input via the keys, the display range is limited to -19999 …
99999. When entering values beyond this range via CAN interface, ""
will be displayed when you select the parameter.
4.1.2 Value selection
For some parameters you can select values from a list. Direct value input is not possible.
You can select a value from the list via the key. Confirm the value by pressing the key.
4.1.3 Operating modes
The following operating modes are distinguished: positioning mode and speed mode. In the
positioning mode there is the additional option of travelling in the inching mode.
4.1.3.1 Positioning mode
In the positioning mode, positioning to the specified set point is executed by means of a
ramp function (see Fig. 3), calculated on the basis of the actual position as well as the
programmed controller parameters P (proportional factor), I (integral factor), D (differential
factor), acceleration and speed.
Upon activation of the travel order, the actuator accelerates to the specified speed with the
acceleration programmed. The value of deceleration to the set point is defined by the
parameter 'a-Pos' as well.
If the actual position is within the programmed window, this will be signalled by LED1, in the
system status word and in the CAN status word. You can define the behaviour of the actuator
upon reaching the programmed window.
Changing controller parameters during a positioning process does not influence the current
positioning operation.

Functional Description
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Fig. 3: Ramp travel, direct positioning mode
4.1.3.1.1 Loop positioning
If the actuator is operated on a spindle or an additional gear, the spindle or external gear
backlash can be compensated by means of loop positioning. In this case, travelling to the
target value is always from the same direction. This direction of approach can be defined.
Example:
The direction from which every target position shall be driven to is positive.
Case 1 new position is greater than actual position:
Direct travel to the target position
Case 2 new position is smaller than actual position:
The actuator drives beyond the target position by the loop length; afterwards, the set
point is approached in positive direction.
Fig. 4: Positioning Loop+
Start position
Target position
Time
Speed
Speed
(Parameter no. 5)
Acceleration = deceleration
(Parameter no. 4)
Positioning: loop +
Set point
Positioning in positive
direction
Positioning in negative
direction
Loop length
-
+

Functional Description
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4.1.3.2 Inching operation
Inching operation is enabled in the 'positioning mode' only. You can program via parameters
acceleration as well as speed in the inching mode.
There is no compensation for spindle play (loop positioning) in this
operating mode.
4.1.3.2.1 Inching mode 1
The drive travels once from the current actual position by the position 'Delta Tipp' depending
on the mathematical sign of the value entered.
'Delta Tipp' <0: negative travel direction
'Delta Tipp' >0: positive travel direction
If the 'Spindle pitch' parameter is programmed to zero, then the travelling
way occurs by increments. If 'Spindle pitch' is unequal zero, then the
information of the 'Delta Tipp' parameter refers to the travel distance in
1/100 mm.
Reaching of the target position will be signalled accordingly.
The following conditions must be met for enabling the start of inching modes 1 and 2:
The actuator must not be switched to error
No active travel job
Supply voltage of the output stage is applied
If the actual position is outside the programmed limiting values, then
travelling from this position in the respective direction is possible by means
of inching mode 1 or 2!
4.1.3.2.2 Inching mode2
The actuator travels from the current position as long as the relevant command is active. You
can influence the inching speed via two parameters and it will be calculated in the actuator
as illustrated in the example below:
v - Tipp (Parameter no. 9) = 10 rpm (can only be changed in the idle state)
Offset inching 2 (Parameter no. 30) = 85 % (can be changed during inching operation)
The resulting inching speed in this example will be:
Inching speed = v - Tipp * Offset inching 2 = 10 rpm * 85 % = 9 rpm
The results are always rounded to integers. The minimum speed is 1 rpm.
4.1.3.3 Rotational speed mode
With the set point enabled, the actuator when in the rotational speed mode accelerates to the
target speed and maintains this speed until the set point is disabled or a different target
speed specified.

Functional Description
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The speed is adjusted immediately to the new value when the rotational target speed is
changed.
The arithmetical sign of the set point determines the travel direction in the rotational speed
mode.
Fig. 5: Ramp rotational speed mode
The following conditions must be met for enabling the start of the rotational speed mode:
The actuator must not be switched to error
No active travel job
Supply voltage of the output stage is applied
Limits 1 + 2 are inactivated in this operational mode.
4.1.4 Current limiting
The actuator is equipped with adjustable current limiting, which serves primarily for
protecting the actuator against overload.
With the default value set, the nominal speed indicated on the data sheet is achieved.
Actuator overload results in limiting the motor current to the set value.
As a consequence, the actuator cannot maintain the speed set, the contouring error increases.
With the contouring error exceeding the contouring error limit the actuator will enter the
state of error: contouring error.
The actual motor current cannot be stated by measuring the supply current.
With cycled output stages, the supply current does not correspond to the
motor current. The actual motor current can be read out via the interface or
indicated on the display.
Speed
Time
Target speed
(set point)
Acceleration
Parameter no. 8
'Stop'
Set point enabled
Disable set point
or set point = 0
Disable operation

Functional Description
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4.2 Manual control (stand-alone operation)
4.2.1 Start inching mode 2
After applying supply voltage, the actuator will be on the uppermost level of the menu
structure (default/delivery state). Positioning mode is active.
Pressing the key starts left-hand motion (inching operation 2).
Pressing the key starts right-hand motion (inching operation 2).
Releasing the respective key stops travel movement.
Pressing the key starts the parameterization/programming mode.
4.2.2 Specifying the set point and starting the travel order
4.2.2.1 Example: Starting positioning order to position 500
Preconditions:
The display is at the uppermost level of the menu structure (basic state).
Operating mode: Positioning mode
Key functions: enabled


Initial state: normal display
First press the key, then the key and hold down together.


The key enable time is counted down.


After expiry of the key enable time, the input field is released.
The first decimal place is active.
Press the key twice to change the active decimal place.


The third decimal place is active.
Press the key 5 times.


Value 500 will be displayed.
Confirm by pressing the key to start positioning.
4.2.2.2 Example: Starting positioning order to position -500
Preconditions:
The display is at the uppermost level of the menu structure (basic state).
Operating mode: Positioning mode
Key functions: enabled
For negative values to be entered, set first the value and only afterwards
the arithmetical sign. The value 0 cannot be entered.

Functional Description
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

Initial state: normal display
First press the key, then the key and hold down together.


The key enable time is counted down.


After expiry of the key enable time, the input field is released
The first decimal place is active and blinks.
Press the key twice to change the active decimal place.


The third decimal place is active and blinks.
Press the key 5 times for entering the value.


Value 500 will be displayed.
Press the key twice to change the active decimal place.


The fifth decimal place is active and blinks.
Press the key 11 times for setting the arithmetical sign.


Value -500 will be displayed.
Confirm by pressing the key to start positioning.

Functional Description
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4.3 Menu selection
Fig. 6: Menu selection
Start
Hold down the
key
Changeable
parameters


Only readable
parameters


Error memory


PIN –input
required
key
key
see menu
only readable
parameters
see menu
error memory
Key enable
time
expired?
see menu
changeable
parameters
End
yes
no

Functional Description
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4.3.1 Changeable parameters
The Changeable parameters menu is subdivided into further sub-menus:
Menu
Sub-menu
Description




Bus parameters


Positioning


Actuator


Limiting values


Visualization


Options


Controller parameter


Exit menu
Table 2: Changeable parameters menu overview
4.3.1.1 Bus parameters
Menu


Sub-menu


Parameter
Description

Node address
Value range: 1 - 127
(see chapter 8: Parameter descriptionParameter no. 22)

Baud rate
Selection:
: 1 Mbit/s
: 800 kbit/s
: 500 kbit/s
: 250 kbit/s
: 125 kbit/s
: 50 kbit/s
: 20 kbit/s
(see chapter 8: Parameter descriptionParameter no. 33)
Table 3: Bus parameter menu

Functional Description
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4.3.1.2 Positioning
Menu


Sub-menu


Parameter
Description

Pos window
Value range: 0 - 1000
(see chapter 8: Parameter description Parameter no. 10)

Spindle pitch
Value range: 0 - 99999
(see chapter 8: Parameter description Parameter no. 13)

Display divisor
Selection:
: 1
: 10
: 100
: 1000
(see chapter 8: Parameter description Parameter no. 43)

Calibration value
Value range: -19999 … 99999
(see chapter 8: Parameter description Parameter no. 14)

Selection:
: no calibration
: Execute calibration

Offset
Value range: -19999 … 99999
(see chapter 8: Parameter description Parameter no. 32)

Sense of rotation
Selection:
: i sense of rotation (cw)
: e sense of rotation (ccw)
(see chapter 8: Parameter description Parameter no. 18)

Pos Type
Selection:
: direct
: loop+
: loop–
(see chapter 8: Parameter description Parameter no. 19)

Loop length
Value range: 0 –30000
(see chapter 8: Parameter description Parameter no. 27)
Table 4: Positioning menu

Functional Description
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 17 of 114
4.3.1.3 Actuator
Menu


Sub-menu


Parameter
Description

Acceleration in the positioning mode
Value range: 1 –100
(see chapter 8: Parameter description Parameter no. 4)

Maximum speed in the positioning mode
Gear 188:1 value range: 1 - 30
Gear 368:1 value range: 1 - 15
(see chapter 8: Parameter description Parameter no. 5)

Acceleration in rotational speed mode
Value range: 1 - 100
(see chapter 8: Parameter description Parameter no. 6)

Acceleration in inching mode 1/2
Value range: 1 - 100
(see chapter 8: Parameter description Parameter no. 8)

Maximum speed in inching mode 1/2
Gear 188:1 value range: 1 - 30
Gear 368:1 value range: 1 - 15
(see chapter 8: Parameter description Parameter no. 9)

Numerator gear ratio
Value range: 1 - 10000
(see chapter 8: Parameter description Parameter no. 11)

Denominator gear ratio
Value range: 1 - 10000
(see chapter 8: Parameter description Parameter no. 12)
Table 5: Actuator menu
4.3.1.4 Limiting values
Menu


Sub-menu


Parameter
Description

Limit 1
Value range: -19999 … 99999
(see chapter 8: Parameter description Parameter no. 15)

Limit 2
Value range: -19999 … 99999
(see chapter 8: Parameter description Parameter no. 16)

Functional Description
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 18 of 114
Parameter
Description

Current limiting
Value range: 25 - 110
(see chapter 8: Parameter description Parameter no. 29)

Contouring error limit
Value range: 1 - 30000
(see chapter 8: Parameter description Parameter no. 28)
Table 6: Limiting values menu
4.3.1.5 Visualization
Menu


Sub-menu


Parameter
Description

Display orientation
Selection:
: 0°
: 180°
(see chapter 8: Parameter description Parameter no. 45)

LED 2 orange function
Selection:
: Bus operation display
: Off
(see chapter 8: Parameter description Parameter no. 39)

Red LED 1 function
Selection:
: Indication of the operating status
: Off
(see chapter 8: Parameter description Parameter no. 40)

Green LED 1 function
Selection:
: Indication of the operating status
: Off
(see chapter 8: Parameter description Parameter no. 41)

Decimal places
Selection:
: 0
: 0.0
: 0.00
: 0.000
: 0.0000
(see chapter 8: Parameter description Parameter no. 42)

Functional Description
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 19 of 114
Parameter
Description

Direction indication function
Selection:
: On
: inverted
: Off
(see chapter 8: Parameter description Parameter no. 44)

Displayed value of 2nd display line
Selection:
: Set point
: Output stage temperature
: Control voltage
: Output stage voltage
: Battery voltage
: Motor current
: Actual position
: Actual rotational speed
(see chapter 8: Parameter description Parameter no. 49)

Display test
Selection:
: no display test
: Start display test, pressing the key stops display test.
Table 7: Visualization menu
4.3.1.6 Options
Menu


Sub-menu


Parameter
Description

Key enable time
Value range: 1 - 60
(see chapter 8: Parameter description Parameter no. 37)

Key function enable
Selection:
: Enable all key functions
: All key functions disabled
(see chapter 8: Parameter description Parameter no. 38)

Operating mode
Selection:
: Positioning mode
: Rotational speed mode
(see chapter 8: Parameter description Parameter no. 20)

Functional Description
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 20 of 114
Parameter
Description

Delta Inch
Value range: -19999 … 99999
(see chapter 8: Parameter description Parameter no. 17)

Inpos mode
Selection:
: Position control to set point
: Position control Off and short circuit of all motor windings
: Position control Off and drive enable
(see chapter 8: Parameter description Parameter no. 26)

Inching mode 2 acceleration type
Selection:
: static acceleration
: incremental acceleration
(see chapter 8: Parameter description Parameter no. 31)

Stop mode inching 2
Selection:
: stop with maximum deceleration
: stop with programmed deceleration
(see chapter 8: Parameter description Parameter no. 25)

Inching 2 Offset
Value range: 10 - 100
(see chapter 8: Parameter description Parameter no. 30)

PIN change
Value range: 0 - 99999
(see chapter 8: Parameter description Parameter no. 48)

S commands
Selection:
: execute no S command
: Set all parameters to default
: Set standard parameters to default
: Set controller parameters to default
: Set display parameters to default
: Set bus parameters to default
: Calibration
: Delete error memory
Table 8: Options menu