Parameter Description BOSCH REXROTH SERVO DRIVE

Rexroth IndraControl VCP 20

IndustrialHydraulics

Electric Drivesand Controls

Linear Motion and Assembly Technologies Pneumatics

ServiceAutomation

MobileHydraulics

Rexroth IndraDrive Drive ControllersMPx-02, MPx-03

R911297317Edition 02

Parameter Description

About this Documentation IndraDrive

DOK-INDRV*-GEN-**VRS**-PA02-EN-P

Rexroth IndraDriveDrive ControllersParameter Description


Box: M8*-01VRSInfo for Document Author, z.B. Ablagevermerk120-2400-B306-02/EN

This documentation serves:for parameterization of the drive controller

Description ReleaseDate

Notes

DOK-INDRV*-GEN-**VRS**-PA01-EN-P 03.2004 First ReleaseDOK-INDRV*-GEN-**VRS**-PA02-EN-P 02.2005 Second Release

2005 Bosch Rexroth AGCopying this document, giving it to others and the use or communicationof the contents thereof without express authority, are forbidden. Offendersare liable for the payment of damages. All rights are reserved in the eventof the grant of a patent or the registration of a utility model or design(DIN 34-1).

The specified data is for product description purposes only and may notbe deemed to be guaranteed unless expressly confirmed in the contract.All rights are reserved with respect to the content of this documentationand the availability of the product.

Bosch Rexroth AGBgm.-Dr.-Nebel-Str. 2 D-97816 Lohr a. MainTelephone +49 (0)93 52/40-0 Tx 68 94 21 Fax +49 (0)93 52/40-48 85http://www.boschrexroth.com/Dept. EDY1 (mr/mw/bb/hp)

This document has been printed on chlorine-free bleached paper.

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IndraDrive Contents I


Contents1 General Information 1-1

Document Structure ................................................................................................................. 1-1Definitions ................................................................................................................................ 1-2

2 Standard Parameters 2-1S-0-0000, Dummy parameter .................................................................................................. 2-1S-0-0001, NC cycle time (TNcyc) ............................................................................................ 2-1S-0-0002, SERCOS cycle time (TScyc) .................................................................................. 2-2S-0-0003, Minimum AT transmit starting time (T1min)............................................................ 2-3S-0-0004, Transmit/receive transition time (TATMT) .............................................................. 2-3S-0-0005, Minimum feedback acquisition time (T4min) .......................................................... 2-4S-0-0006, AT Transmission starting time (T1)......................................................................... 2-4S-0-0007, Feedback acquisition starting time (T4).................................................................. 2-5S-0-0008, Command value valid time (T3) .............................................................................. 2-6S-0-0009, Position of data record in MDT ............................................................................... 2-6S-0-0010, Length of master data telegram.............................................................................. 2-7S-0-0011, Class 1 diagnostics ................................................................................................. 2-7S-0-0012, Class 2 diagnostics ................................................................................................. 2-8S-0-0013, Class 3 diagnostics ............................................................................................... 2-10S-0-0014, Interface status...................................................................................................... 2-11S-0-0015, Telegram type parameter...................................................................................... 2-12S-0-0016, Configuration list of AT.......................................................................................... 2-13S-0-0017, IDN-list of all operation data.................................................................................. 2-14S-0-0018, IDN list of operating data for communication phase 2 .......................................... 2-14S-0-0019, IDN list of operating data for communication phase 3 .......................................... 2-15S-0-0021, IDN list of invalid operating data for communication phase 2............................... 2-15S-0-0022, IDN list of invalid operating data for communication phase 3............................... 2-16S-0-0024, Config. list of the master data telegram ................................................................ 2-17S-0-0025, IDN-list of all procedure commands...................................................................... 2-17S-0-0026, Configuration list signal status word ..................................................................... 2-18S-0-0027, Configuration list signal control word .................................................................... 2-19S-0-0028, MST error counter ................................................................................................. 2-20S-0-0029, MDT error counter................................................................................................. 2-20S-0-0030, Manufacturer version ............................................................................................ 2-21S-0-0032, Primary mode of operation.................................................................................... 2-22S-0-0033, Secondary operation mode 1................................................................................ 2-23S-0-0034, Secondary operation mode 2................................................................................ 2-24S-0-0035, Secondary operation mode 3................................................................................ 2-25S-0-0036, Velocity command value ....................................................................................... 2-26S-0-0037, Additive velocity command value.......................................................................... 2-26

II Contents IndraDrive


S-0-0038, Positive velocity limit value ................................................................................... 2-27S-0-0039, Negative velocity limit value.................................................................................. 2-28S-0-0040, Velocity feedback value ........................................................................................ 2-28S-0-0041, Homing velocity..................................................................................................... 2-29S-0-0042, Homing acceleration ............................................................................................. 2-29S-0-0043, Velocity polarity parameter ................................................................................... 2-30S-0-0044, Velocity data scaling type ..................................................................................... 2-31S-0-0045, Velocity data scaling factor ................................................................................... 2-32S-0-0046, Velocity data scaling exponent ............................................................................. 2-32S-0-0047, Position command value....................................................................................... 2-33S-0-0048, Additive position command value ......................................................................... 2-34S-0-0049, Positive position limit value ................................................................................... 2-35S-0-0050, Negative position limit value ................................................................................. 2-36S-0-0051, Position feedback 1 value ..................................................................................... 2-37S-0-0052, Reference distance 1 ............................................................................................ 2-38S-0-0053, Position feedback 2 value ..................................................................................... 2-39S-0-0054, Reference distance 2 ............................................................................................ 2-40S-0-0055, Position polarities .................................................................................................. 2-41S-0-0057, Position window .................................................................................................... 2-43S-0-0058, Reversal clearance ............................................................................................... 2-44S-0-0059, Position switch flag parameter .............................................................................. 2-45S-0-0060, Position switch point 1 "On" .................................................................................. 2-46S-0-0076, Position data scaling type ..................................................................................... 2-46S-0-0077, Linear position data scaling factor ........................................................................ 2-48S-0-0078, Linear position data scaling exponent................................................................... 2-48S-0-0079, Rotational position resolution................................................................................ 2-49S-0-0080, Torque/force command value ............................................................................... 2-50S-0-0081, Additive torque/force command value................................................................... 2-51S-0-0082, Torque/force limit value positive ........................................................................... 2-52S-0-0083, Torque/force limit value negative .......................................................................... 2-53S-0-0084, Torque/force feedback value ................................................................................ 2-54S-0-0085, Torque/force polarity parameter............................................................................ 2-55S-0-0086, Torque/force data scaling type.............................................................................. 2-56S-0-0087, Transmit to transmit recovery time (TATAT)......................................................... 2-57S-0-0088, Receive to receive recovery time (TMTSY) .......................................................... 2-58S-0-0089, MDT Transmit starting time (T2) ........................................................................... 2-58S-0-0090, Command value proceeding time (TMTSG) ......................................................... 2-59S-0-0091, Bipolar velocity limit value..................................................................................... 2-59S-0-0092, Bipolar torque/force limit value.............................................................................. 2-60S-0-0093, Torque/force data scaling factor ........................................................................... 2-61S-0-0094, Torque/force data scaling exponent...................................................................... 2-61S-0-0095, Diagnostic message.............................................................................................. 2-62S-0-0096, Slave arrangement (SLKN)................................................................................... 2-63S-0-0097, Mask class 2 diagnostics ...................................................................................... 2-64S-0-0098, Mask class 3 diagnostics ...................................................................................... 2-65S-0-0099, C0500 Reset class 1 diagnostics.......................................................................... 2-66

IndraDrive Contents III


S-0-0100, Velocity loop proportional gain.............................................................................. 2-66S-0-0101, Velocity loop integral action time .......................................................................... 2-67S-0-0103, Modulo value......................................................................................................... 2-68S-0-0104, Position loop Kv-factor .......................................................................................... 2-69S-0-0106, Current loop proportional gain 1 ........................................................................... 2-70S-0-0107, Current loop integral action time 1........................................................................ 2-71S-0-0108, Feedrate override.................................................................................................. 2-72S-0-0109, Motor peak current ................................................................................................ 2-73S-0-0110, Amplifier peak current ........................................................................................... 2-73S-0-0111, Motor current at standstill...................................................................................... 2-74S-0-0112, Amplifier nominal current ...................................................................................... 2-75S-0-0113, Maximum motor speed ......................................................................................... 2-75S-0-0115, Position feedback 2 type....................................................................................... 2-76S-0-0116, Feedback 1 Resolution ......................................................................................... 2-77S-0-0117, Feedback 2 Resolution ......................................................................................... 2-78S-0-0121, Input revolutions of load gear................................................................................ 2-78S-0-0122, Output revolutions of load gear............................................................................. 2-79S-0-0123, Feed constant ....................................................................................................... 2-80S-0-0124, Standstill window................................................................................................... 2-81S-0-0125, Velocity threshold nx ............................................................................................. 2-82S-0-0126, Torque threshold Tx.............................................................................................. 2-82S-0-0127, C0100 Communication phase 3 transition check ................................................. 2-83S-0-0128, C0200 Communication phase 4 transition check ................................................. 2-84S-0-0130, Probe value 1 positive edge.................................................................................. 2-84S-0-0131, Probe value 1 negative edge ................................................................................ 2-85S-0-0132, Probe value 2 positive edge.................................................................................. 2-86S-0-0133, Probe value 2 negative edge ................................................................................ 2-86S-0-0134, Master control word............................................................................................... 2-87S-0-0135, Drive status word .................................................................................................. 2-88S-0-0138, Bipolar acceleration limit value ............................................................................. 2-89S-0-0139, C1600 Parking axis command.............................................................................. 2-90S-0-0140, Controller type....................................................................................................... 2-91S-0-0141, Motor type ............................................................................................................. 2-91S-0-0142, Application type..................................................................................................... 2-92S-0-0143, Sercos interface version ....................................................................................... 2-92S-0-0144, Signal status word................................................................................................. 2-93S-0-0145, Signal control word................................................................................................ 2-94S-0-0146, C4300 NC-controlled homing procedure command ............................................. 2-94S-0-0147, Homing parameter ................................................................................................ 2-95S-0-0148, C0600 Drive-controlled homing procedure command .......................................... 2-97S-0-0149, C1300 Positive stop drive procedure command................................................... 2-98S-0-0150, Reference offset 1................................................................................................. 2-99S-0-0151, Reference offset 2............................................................................................... 2-100S-0-0152, C0900 Position spindle command ...................................................................... 2-101S-0-0153, Spindle angle position......................................................................................... 2-102S-0-0154, Spindle position parameter ................................................................................. 2-102

IV Contents IndraDrive


S-0-0155, Friction compensation......................................................................................... 2-104S-0-0156, Velocity feedback value 2 ................................................................................... 2-104S-0-0157, Velocity window................................................................................................... 2-105S-0-0158, Power threshold Px............................................................................................. 2-105S-0-0159, Monitoring window .............................................................................................. 2-106S-0-0160, Acceleration data scaling type ............................................................................ 2-107S-0-0161, Acceleration data scaling factor .......................................................................... 2-108S-0-0162, Acceleration data scaling exponent .................................................................... 2-109S-0-0164, Acceleration feedback value 1 ............................................................................ 2-109S-0-0165, Distance-coded reference offset A...................................................................... 2-110S-0-0166, Distance-coded reference offset B...................................................................... 2-110S-0-0169, Probe control parameter ..................................................................................... 2-111S-0-0170, Probing cycle procedure command .................................................................... 2-112S-0-0171, C4400 Calculate displacement procedure command......................................... 2-113S-0-0172, C4500 Displacement to referenced system procedure command...................... 2-114S-0-0173, Marker position A ................................................................................................ 2-115S-0-0174, Marker position B ................................................................................................ 2-115S-0-0175, Offset parameter 1 .............................................................................................. 2-116S-0-0176, Offset parameter 2 .............................................................................................. 2-117S-0-0177, Absolute offset 1 ................................................................................................. 2-117S-0-0178, Absolute offset 2 ................................................................................................. 2-118S-0-0179, Probe status ........................................................................................................ 2-119S-0-0180, Spindle relative offset.......................................................................................... 2-120S-0-0183, Velocity synchronization window ........................................................................ 2-120S-0-0185, Length of the configurable data record in the AT................................................ 2-121S-0-0186, Length of the configurable data record in the MDT ............................................ 2-122S-0-0187, List of configurable data in the AT ...................................................................... 2-122S-0-0188, List of configurable data in the MDT ................................................................... 2-123S-0-0189, Following distance............................................................................................... 2-123S-0-0190, C4200 Drive-controlled oscillation command ..................................................... 2-124S-0-0191, C1500 Cancel reference point procedure command.......................................... 2-124S-0-0192, IDN-list of backup operation data........................................................................ 2-125S-0-0193, Positioning Jerk................................................................................................... 2-126S-0-0195, Acceleration feedback value 2 ............................................................................ 2-126S-0-0197, C3300 Set coordinate system procedure command........................................... 2-127S-0-0198, Initial coordinate value ........................................................................................ 2-127S-0-0199, C3400 Shift coordinate system procedure command......................................... 2-128S-0-0201, Motor warning temperature................................................................................. 2-128S-0-0204, Motor shutdown temperature .............................................................................. 2-129S-0-0206, Drive on delay time ............................................................................................. 2-129S-0-0207, Drive off delay time ............................................................................................. 2-130S-0-0208, Temperature data scaling type ........................................................................... 2-130S-0-0213, Oscillation speed................................................................................................. 2-131S-0-0214, Oscillation offset speed....................................................................................... 2-131S-0-0215, Oscillation cycle time .......................................................................................... 2-132S-0-0216, C4100 Switch parameter set command.............................................................. 2-132

IndraDrive Contents V


S-0-0217, Preselect parameter set command..................................................................... 2-133S-0-0219, IDN-list of parameter set ..................................................................................... 2-133S-0-0222, Spindle positioning speed ................................................................................... 2-134S-0-0228, Position synchronization window ........................................................................ 2-134S-0-0254, Current parameter set......................................................................................... 2-135S-0-0256, Multiplication 1 .................................................................................................... 2-135S-0-0257, Multiplication 2 .................................................................................................... 2-136S-0-0258, Target position .................................................................................................... 2-137S-0-0259, Positioning velocity.............................................................................................. 2-137S-0-0260, Positioning acceleration ...................................................................................... 2-138S-0-0261, Coarse position window ...................................................................................... 2-139S-0-0262, C07_x Load defaults procedure command......................................................... 2-139S-0-0263, C2300 Load working memory procedure command........................................... 2-140S-0-0264, C2200 Backup working memory procedure command....................................... 2-141S-0-0265, Language selection............................................................................................. 2-141S-0-0267, Password ............................................................................................................ 2-142S-0-0269, Storage mode...................................................................................................... 2-142S-0-0270, Selected IDN list of operation data to backup..................................................... 2-143S-0-0273, Maximum drive off delay time ............................................................................. 2-143S-0-0275, Coordinate offset value ....................................................................................... 2-144S-0-0277, Position feedback 1 type..................................................................................... 2-145S-0-0278, Maximum travel range ........................................................................................ 2-146S-0-0279, IDN-list of password-protected operation data ................................................... 2-147S-0-0282, Positioning command value ................................................................................ 2-147S-0-0283, Current coordinate offset .................................................................................... 2-148S-0-0284, Secondary operation mode 4.............................................................................. 2-149S-0-0285, Secondary operation mode 5.............................................................................. 2-150S-0-0286, Secondary operation mode 6.............................................................................. 2-151S-0-0287, Secondary operation mode 7.............................................................................. 2-152S-0-0292, List of all operating modes .................................................................................. 2-153S-0-0293, C2400 Selectively backup working memory procedure command..................... 2-154S-0-0298, Reference cam shift ............................................................................................ 2-155S-0-0299, Home switch offset.............................................................................................. 2-156S-0-0301, Allocation of real-time control bit 1...................................................................... 2-157S-0-0303, Allocation of real-time control bit 2...................................................................... 2-158S-0-0305, Allocation of real-time status bit 1 ....................................................................... 2-159S-0-0307, Allocation of real-time status bit 2 ....................................................................... 2-160S-0-0315, Positioning velocity > nLimit................................................................................ 2-161S-0-0323, Target position outside of travel range................................................................ 2-161S-0-0326, Parameter checksum .......................................................................................... 2-162S-0-0327, IDN list of checksum parameter.......................................................................... 2-162S-0-0328, Assign list signal status word .............................................................................. 2-163S-0-0329, Assign list signal control word............................................................................. 2-163S-0-0330, Message n_actual = n_command ..................................................................... 2-164S-0-0331, Status n_feedback = 0....................................................................................... 2-165S-0-0332, Message nactual < nx........................................................................................ 2-165

VI Contents IndraDrive


S-0-0333, Message T >= Tx............................................................................................... 2-166S-0-0334, Message T >= Tlimit .......................................................................................... 2-166S-0-0335, Message n command > n limit........................................................................... 2-167S-0-0336, Message In position ............................................................................................ 2-167S-0-0337, Message P >= Px .............................................................................................. 2-168S-0-0338, Message In target position.................................................................................. 2-169S-0-0341, Status "In coarse position" .................................................................................. 2-170S-0-0342, Status "Target position attained"......................................................................... 2-170S-0-0343, Status "Interpolator halted" ................................................................................. 2-171S-0-0346, Positioning control word...................................................................................... 2-171S-0-0347, Velocity error ....................................................................................................... 2-173S-0-0348, Acceleration feedforward gain ............................................................................ 2-174S-0-0349, Jerk limit bipolar .................................................................................................. 2-175S-0-0359, Positioning deceleration...................................................................................... 2-176S-0-0360, Data container A: command value 1................................................................... 2-176S-0-0362, Data container A: list index command values..................................................... 2-177S-0-0364, Data container A: feedback value 1 .................................................................... 2-178S-0-0366, Data container A: list index feedback values ...................................................... 2-178S-0-0368, Data container A: addressing.............................................................................. 2-179S-0-0370, Data container A: configuration list command value-1 ....................................... 2-180S-0-0371, Data container A: configuration list feedback value-1......................................... 2-180S-0-0372, Drive Halt acceleration bipolar ............................................................................ 2-181S-0-0375, List of diagnostic numbers .................................................................................. 2-182S-0-0378, Absolute encoder range of motor encoder ......................................................... 2-182S-0-0379, Absolute encoder range of optional encoder ...................................................... 2-183S-0-0380, DC bus voltage.................................................................................................... 2-183S-0-0382, DC bus power ..................................................................................................... 2-184S-0-0383, Motor temperature............................................................................................... 2-184S-0-0384, Amplifier temperature.......................................................................................... 2-185S-0-0386, Active position feedback value............................................................................ 2-185S-0-0390, Diagnostic message number .............................................................................. 2-186S-0-0391, Monitoring window feedback 2............................................................................ 2-186S-0-0393, Command value mode........................................................................................ 2-187S-0-0398, IDN list of configurable data in signal status word .............................................. 2-189S-0-0399, IDN list of configurable data in the signal control word....................................... 2-189S-0-0400, Home switch........................................................................................................ 2-190S-0-0401, Probe 1................................................................................................................ 2-190S-0-0402, Probe 2................................................................................................................ 2-191S-0-0403, Position feedback value status ........................................................................... 2-192S-0-0404, Position command value status .......................................................................... 2-193S-0-0405, Probe 1 enable.................................................................................................... 2-194S-0-0406, Probe 2 enable.................................................................................................... 2-194S-0-0407, Homing enable .................................................................................................... 2-195S-0-0408, Reference marker pulse registered..................................................................... 2-196S-0-0409, Probe 1 positive latched...................................................................................... 2-197S-0-0410, Probe 1 negative latched .................................................................................... 2-198

IndraDrive Contents VII


S-0-0411, Probe 2 positive latched...................................................................................... 2-199S-0-0412, Probe 2 negative latched .................................................................................... 2-200S-0-0413, Bit number allocation of real-time control bit 1.................................................... 2-201S-0-0414, Bit number allocation of real-time control bit 2.................................................... 2-201S-0-0415, Bit number allocation of real-time status bit 1..................................................... 2-202S-0-0416, Bit number allocation of real-time status bit 2..................................................... 2-203S-0-0417, Positioning velocity threshold in modulo mode................................................... 2-203S-0-0418, Target position window in modulo mode ............................................................ 2-204S-0-0419, Positioning command acknowledge.................................................................... 2-205S-0-0426, Signal select probe 1........................................................................................... 2-206S-0-0427, Signal select probe 2........................................................................................... 2-206S-0-0428, Probe, IDN list signal selection ........................................................................... 2-207S-0-0430, Effective target position....................................................................................... 2-208S-0-0437, Positioning status word ....................................................................................... 2-209S-0-0446, Ramp reference velocity for acceleration data ................................................... 2-210S-0-0450, Data container A: command value 2................................................................... 2-210S-0-0451, Data container A: command value 3................................................................... 2-211S-0-0452, Data container A: command value 4................................................................... 2-211S-0-0453, Data container A: command value 5................................................................... 2-212S-0-0454, Data container A: command value 6................................................................... 2-212S-0-0455, Data container A: command value 7................................................................... 2-213S-0-0456, Data container A: command value 8................................................................... 2-214S-0-0460, Position switch point 1 "Off" ................................................................................ 2-214S-0-0480, Data container A: feedback value 2 .................................................................... 2-215S-0-0481, Data container A: feedback value 3 .................................................................... 2-215S-0-0482, Data container A: feedback value 4 .................................................................... 2-216S-0-0483, Data container A: feedback value 5 .................................................................... 2-216S-0-0484, Data container A: feedback value 6 .................................................................... 2-217S-0-0485, Data container A: feedback value 7 .................................................................... 2-217S-0-0486, Data container A: feedback value 8 .................................................................... 2-218S-0-0490, Data container A: configuration list command value 2........................................ 2-218S-0-0491, Data container A: configuration list command value 3........................................ 2-219S-0-0492, Data container A: configuration list command value 4........................................ 2-220S-0-0493, Data container A: configuration list command value 5........................................ 2-220S-0-0494, Data container A: configuration list command value 6........................................ 2-221S-0-0495, Data container A: configuration list command value 7........................................ 2-222S-0-0496, Data container A: configuration list command value 8........................................ 2-222S-0-0500, Data container A: configuration list feedback value 2......................................... 2-223S-0-0501, Data container A: configuration list feedback value 3......................................... 2-224S-0-0502, Data container A: configuration list feedback value 4......................................... 2-224S-0-0503, Data container A: configuration list feedback value 5......................................... 2-225S-0-0504, Data container A: configuration list feedback value 6......................................... 2-226S-0-0505, Data container A: configuration list feedback value 7......................................... 2-227S-0-0506, Data container A: configuration list feedback value 8......................................... 2-228

3 Product Specific Parameters P-0-0001 P-0-0905 3-1

VIII Contents IndraDrive


P-0-0001, Switching frequency of the power output stage ...................................................... 3-1P-0-0004, Velocity loop smoothing time constant.................................................................... 3-2P-0-0008, Activation E-Stop function....................................................................................... 3-3P-0-0009, Error number ........................................................................................................... 3-4P-0-0010, Excessive position command value ........................................................................ 3-5P-0-0011, Last valid position command value ......................................................................... 3-5P-0-0012, C0300 Command Set absolute measuring............................................................. 3-6P-0-0013, List of all IDNs not corresponding to default value ................................................. 3-7P-0-0014, C1400 Command Get marker position ................................................................... 3-7P-0-0018, Number of pole pairs/pole pair distance ................................................................. 3-8P-0-0019, Initial position value................................................................................................. 3-8P-0-0020, Oscilloscope: operating mode................................................................................. 3-9P-0-0021, Oscilloscope: list of measured values 1................................................................ 3-10P-0-0022, Oscilloscope: list of measured values 2................................................................ 3-10P-0-0023, Oscilloscope: signal selection 1 ............................................................................ 3-11P-0-0024, Oscilloscope: signal selection 2 ............................................................................ 3-11P-0-0025, Oscilloscope: trigger mask.................................................................................... 3-12P-0-0026, Oscilloscope: trigger signal selection.................................................................... 3-13P-0-0027, Oscilloscope: trigger level ..................................................................................... 3-13P-0-0028, Oscilloscope: control word .................................................................................... 3-14P-0-0029, Oscilloscope: status word ..................................................................................... 3-15P-0-0030, Oscilloscope: trigger edge .................................................................................... 3-16P-0-0031, Oscilloscope: time resolution ................................................................................ 3-17P-0-0032, Oscilloscope: size of memory ............................................................................... 3-17P-0-0033, Oscilloscope: number of measured values after trigger event ............................. 3-18P-0-0034, Position command additional actual value............................................................ 3-19P-0-0035, Oscilloscope: control offset ................................................................................... 3-19P-0-0036, Oscilloscope: external trigger signal ..................................................................... 3-20P-0-0037, Oscilloscope: internal trigger signal ...................................................................... 3-20P-0-0038, Torque-generating current, command value......................................................... 3-21P-0-0039, Flux-generating current, command value ............................................................. 3-22P-0-0040, Velocity feedforward evaluation ............................................................................ 3-22P-0-0041, Position command average value filter time constant .......................................... 3-23P-0-0042, Current position command average value filter order........................................... 3-24P-0-0043, Torque-generating current, actual value............................................................... 3-25P-0-0044, Flux-generating current, actual value.................................................................... 3-25P-0-0045, Control word of current controller.......................................................................... 3-26P-0-0046, Status word of current controller ........................................................................... 3-27P-0-0047, Position command value control ........................................................................... 3-28P-0-0048, Effective velocity command value......................................................................... 3-29P-0-0049, Effective torque/force command value.................................................................. 3-30P-0-0051, Torque/force constant ........................................................................................... 3-30P-0-0052, Actual position value of measuring encoder ......................................................... 3-31P-0-0053, Master axis position .............................................................................................. 3-32P-0-0054, Additive master axis position ................................................................................ 3-32P-0-0055, Return distance..................................................................................................... 3-33

IndraDrive Contents IX


P-0-0056, Return velocity ...................................................................................................... 3-34P-0-0057, Return acceleration............................................................................................... 3-34P-0-0058, Return jerk............................................................................................................. 3-35P-0-0059, Additive position command value, controller ........................................................ 3-35P-0-0060, Filter time constant additional pos. Command...................................................... 3-36P-0-0061, Angle offset begin of profile .................................................................................. 3-36P-0-0063, Torque-generating voltage, actual value .............................................................. 3-37P-0-0064, Flux-generating voltage, actual value ................................................................... 3-37P-0-0065, Absolute voltage value, actual value..................................................................... 3-38P-0-0071, C3100 Recalculate actual value cycle .................................................................. 3-38P-0-0072, Cam shaft profile1................................................................................................. 3-39P-0-0073, Cam shaft distance 2 ............................................................................................ 3-40P-0-0074, Encoder type 1 (motor encoder) ........................................................................... 3-40P-0-0075, Encoder type 2 (optional encoder)........................................................................ 3-43P-0-0076, Encoder type 3 (measuring encoder).................................................................... 3-45P-0-0077, Assignment motor encoder->optional slot ............................................................ 3-46P-0-0078, Assignment optional encoder ->optional slot ........................................................ 3-48P-0-0079, Assignment measuring encoder ->optional slot.................................................... 3-49P-0-0081, Parallel output 1 .................................................................................................... 3-50P-0-0082, Parallel input 1 ...................................................................................................... 3-51P-0-0083, Gear ratio fine adjust............................................................................................. 3-51P-0-0085, Dynamic angle offset ............................................................................................ 3-52P-0-0087, Actual position value offset of measuring encoder ............................................... 3-53P-0-0088, Control word for synchronous operation modes ................................................... 3-54P-0-0089, Status word for synchronous operating modes .................................................... 3-56P-0-0090, Travel range limit parameter ................................................................................. 3-57P-0-0092, Cam shaft profile 2................................................................................................ 3-58P-0-0093, Cam shaft distance ............................................................................................... 3-60P-0-0094, Cam shaft switch angle......................................................................................... 3-60P-0-0095, Absolute encoder monitoring window for motor encoder...................................... 3-61P-0-0096, Absolute encoder monitoring window for opt. encoder......................................... 3-61P-0-0097, Absolute encoder monitoring window for measuring encoder.............................. 3-62P-0-0098, Max. model deviation ............................................................................................ 3-63P-0-0099, Position command smoothing time constant ........................................................ 3-64P-0-0100, Position command value extension ...................................................................... 3-64P-0-0101, Configuration for starting lockout selector ............................................................ 3-65P-0-0102, Oper. hours power section at last activat. of start. lockout ................................... 3-66P-0-0103, Time interval of forced dynamization .................................................................... 3-66P-0-0104, Change history time interval of forced dynamization ............................................ 3-67P-0-0105, Time stamp for list of diagnostic message numbers............................................. 3-67P-0-0108, Master drive polarity.............................................................................................. 3-68P-0-0109, Torque/force peak limit ......................................................................................... 3-69P-0-0114, Undervoltage threshold......................................................................................... 3-70P-0-0115, Device control: status word................................................................................... 3-71P-0-0116, Device control: control word.................................................................................. 3-72P-0-0117, Activation of NC reaction on error......................................................................... 3-73

X Contents IndraDrive


P-0-0118, Power supply, configuration.................................................................................. 3-73P-0-0119, Best possible deceleration .................................................................................... 3-75P-0-0121, Gear 1 motor-side (motor encoder) ...................................................................... 3-76P-0-0122, Gear 1 encoder-side (motor encoder)................................................................... 3-77P-0-0123, Feed constant 2 (optional encoder) ...................................................................... 3-77P-0-0124, Gear 2 load-side (optional encoder) ..................................................................... 3-78P-0-0125, Gear 2 encoder-side (optional encoder) ............................................................... 3-79P-0-0127, Input revolutions of measuring gear...................................................................... 3-79P-0-0128, Output revolutions of measuring gear................................................................... 3-80P-0-0129, Internal position data format ................................................................................. 3-81P-0-0130, Position switch signal selection list ....................................................................... 3-81P-0-0131, Position switch signal selection............................................................................. 3-82P-0-0132, Position switch switch-on threshold ...................................................................... 3-83P-0-0133, Position switch switch-off thresholds .................................................................... 3-83P-0-0134, Position switch lead times..................................................................................... 3-84P-0-0135, Position switch status word................................................................................... 3-84P-0-0139, Analog output 1 ..................................................................................................... 3-85P-0-0140, Analog output 2 ..................................................................................................... 3-85P-0-0141, Thermal drive load ................................................................................................ 3-86P-0-0142, Synchronization acceleration ................................................................................ 3-87P-0-0143, Synchronization velocity........................................................................................ 3-87P-0-0144, Cam shaft distance switch angle .......................................................................... 3-88P-0-0145, Oscilloscope: list of measured values 3................................................................ 3-89P-0-0146, Oscilloscope: list of measured values 4................................................................ 3-89P-0-0147, Oscilloscope: signal selection 3 ............................................................................ 3-90P-0-0148, Oscilloscope: signal selection 4 ............................................................................ 3-91P-0-0149, Oscilloscope: signal selection list.......................................................................... 3-91P-0-0150, Oscilloscope: number of valid measured values .................................................. 3-92P-0-0151, Synchronization init window for modulo format .................................................... 3-92P-0-0152, Synchronization completed................................................................................... 3-93P-0-0153, Optimum distance home switch-reference mark .................................................. 3-94P-0-0154, Synchronization direction...................................................................................... 3-95P-0-0155, Synchronization mode .......................................................................................... 3-96P-0-0156, Master drive gear input revolutions....................................................................... 3-98P-0-0157, Master drive gear output revolutions..................................................................... 3-98P-0-0158, Angle offset change rate ....................................................................................... 3-99P-0-0159, Slave drive feed travel ........................................................................................ 3-100P-0-0162, C1800 Command Automatic control loop adjust ................................................ 3-101P-0-0163, Damping factor for autom. controller adjust........................................................ 3-102P-0-0164, Application for autom. controller adjust............................................................... 3-103P-0-0165, Selection for autom. controller adjust.................................................................. 3-104P-0-0166, Lower limit for autom. control loop adjust ........................................................... 3-105P-0-0167, Upper limit for autom. control loop adjust ........................................................... 3-106P-0-0168, Maximum acceleration to be parameterized....................................................... 3-107P-0-0169, Travel distance for autom. controller adjust........................................................ 3-107P-0-0176, Torque/Force command smoothing time constant ............................................. 3-108

IndraDrive Contents XI


P-0-0177, Absolute encoder buffer 1 (motor encoder) ........................................................ 3-109P-0-0178, Absolute encoder buffer 2 (optional encoder)..................................................... 3-109P-0-0179, Absolute encoder buffer 3 (measuring encoder) ................................................ 3-110P-0-0180, Acceleration feedforward smoothing time constant ............................................ 3-111P-0-0185, Control word of encoder 2 (optional encoder) .................................................... 3-112P-0-0187, Position command processing mode.................................................................. 3-113P-0-0190, Operating hours control section .......................................................................... 3-115P-0-0191, Operating hours power section ........................................................................... 3-116P-0-0192, Error memory of diagnostic numbers.................................................................. 3-117P-0-0193, Error memory operating hours of control section................................................ 3-118P-0-0194, Error memory power section............................................................................... 3-119P-0-0195, IDN list of retain data (replacement of devices).................................................. 3-120P-0-0196, Build date and time ............................................................................................. 3-121P-0-0200, Start position probe function 2 active.................................................................. 3-121P-0-0201, End position probe function 2 active................................................................... 3-122P-0-0202, Difference probe values 1 ................................................................................... 3-123P-0-0203, Difference probe values 2 ................................................................................... 3-124P-0-0204, Start position probe function 1 active.................................................................. 3-125P-0-0205, End position probe function 1 active................................................................... 3-125P-0-0206, Probe 1, max. number of marker failures ........................................................... 3-126P-0-0207, Probe 2, max. number of marker failures ........................................................... 3-127P-0-0210, Analog input 1 ..................................................................................................... 3-127P-0-0211, Analog input 2 ..................................................................................................... 3-128P-0-0212, Analog input, list of assignable parameters ........................................................ 3-129P-0-0213, Analog input, assignment A, target parameter ................................................... 3-129P-0-0214, Analog input, assignment A, scaling per 10V full scale ...................................... 3-130P-0-0215, Analog input, assignment A, signal value at 0V.................................................. 3-130P-0-0216, Analog input, assignment A, dead zone ............................................................. 3-131P-0-0217, Analog input 1, time constant input filter ............................................................. 3-131P-0-0218, Analog input, control parameter.......................................................................... 3-132P-0-0219, Analog input, maximum value for adjust............................................................. 3-134P-0-0220, C2800 Analog input adjust command................................................................. 3-135P-0-0222, Travel range limit switch inputs........................................................................... 3-136P-0-0223, E-Stop input ........................................................................................................ 3-136P-0-0224, Probe 1, number of marker failures .................................................................... 3-137P-0-0225, Probe 2, number of marker failures .................................................................... 3-138P-0-0226, Probe, extended control word ............................................................................. 3-139P-0-0227, Cam shaft profile, access angle.......................................................................... 3-140P-0-0228, Analog input 3 ..................................................................................................... 3-141P-0-0229, Analog input 4 ..................................................................................................... 3-142P-0-0231, Analog input 2, time constant input filter ............................................................. 3-143P-0-0232, Analog input 3, time constant input filter ............................................................. 3-144P-0-0233, Analog input 4, time constant input filter ............................................................. 3-145P-0-0236, Analog input, assignment B, target parameter ................................................... 3-146P-0-0237, Analog input, assignment B, scaling per 10V full scale ...................................... 3-146P-0-0238, Analog input, assignment B, signal value at 0V.................................................. 3-147

XII Contents IndraDrive


P-0-0239, Analog input, assignment B, dead zone ............................................................. 3-147P-0-0240, C1700 Command measuring wheel mode ......................................................... 3-148P-0-0241, Actual pos. smoothing time constant for hybrid pos. control .............................. 3-149P-0-0242, Current actual slip value in % ............................................................................. 3-149P-0-0243, Maximum occurred actual slip value in %........................................................... 3-150P-0-0244, Monitoring window of slip in %............................................................................ 3-151P-0-0300, Digital I/Os, assignment list................................................................................. 3-151P-0-0301, Digital I/Os, bit numbers...................................................................................... 3-153P-0-0302, Digital I/Os, direction........................................................................................... 3-154P-0-0303, Digital I/Os, status display................................................................................... 3-155P-0-0304, Digital I/Os, outputs............................................................................................. 3-156P-0-0326, Multiplication of measuring encoder ................................................................... 3-157P-0-0327, Encoder resolution of measuring encoder .......................................................... 3-158P-0-0328, Type of position encoder for measuring encoder ............................................... 3-159P-0-0329, Smoothing of actual position value 3 of measuring encoder .............................. 3-160P-0-0330, Control word of measuring encoder.................................................................... 3-160P-0-0331, Status of measuring encoder .............................................................................. 3-161P-0-0332, Actual velocity value of measuring encoder ....................................................... 3-162P-0-0334, Absolute encoder range of measuring encoder.................................................. 3-162P-0-0340, C3500 Command Determine encoder correction values.................................... 3-163P-0-0341, Control word for encoder correction.................................................................... 3-163P-0-0342, Correction value table for encoder correction..................................................... 3-164P-0-0343, Encoder 1, cosine signal..................................................................................... 3-165P-0-0344, Encoder 1, sine signal......................................................................................... 3-165P-0-0345, Encoder 2, cosine signal..................................................................................... 3-166P-0-0346, Encoder 2, sine signal......................................................................................... 3-167P-0-0347, Encoder 3, cosine signal..................................................................................... 3-168P-0-0348, Encoder 3, sine signal......................................................................................... 3-168P-0-0391, Actual position value difference encoder1 - encoder2........................................ 3-169P-0-0393, IDN groups: control word .................................................................................... 3-170P-0-0394, IDN groups: list.................................................................................................... 3-171P-0-0395, Average value filter for display: signal selection ................................................. 3-171P-0-0396, Average value filter for display: signal selection list............................................ 3-172P-0-0397, Average value filter for display: time constant .................................................... 3-173P-0-0400, Axis correction external correction value ............................................................ 3-174P-0-0401, Axis correction active correction value................................................................ 3-174P-0-0402, Axis correction reference temperature................................................................ 3-175P-0-0403, Axis correction reference position for temp. corr. ............................................... 3-175P-0-0404, Axis correction actual temperature pos.-dependent ........................................... 3-176P-0-0405, Axis correction actual temperature pos.-independent ........................................ 3-176P-0-0406, Axis correction temperature factor pos.-dependent............................................ 3-177P-0-0407, Axis correction temperature factor pos.-independent ......................................... 3-178P-0-0408, Axis correction start position ............................................................................... 3-178P-0-0409, Axis correction end position ................................................................................ 3-179P-0-0410, Axis correction support point distance ................................................................ 3-180P-0-0411, Axis correction, correction table positive............................................................. 3-181

IndraDrive Contents XIII


P-0-0412, Axis correction, correction table negative ........................................................... 3-182P-0-0413, Axis correction control word................................................................................ 3-183P-0-0414, Analog Output 3 .................................................................................................. 3-184P-0-0415, Analog Output 4 .................................................................................................. 3-184P-0-0418, Analog output, assignment A, signal value at 0V ............................................... 3-185P-0-0419, Analog output, assignment B, signal value at 0V ............................................... 3-185P-0-0420, Analog output, assignment A, signal selection ................................................... 3-186P-0-0422, Analog output, assignment A, scaling [1/V] ........................................................ 3-186P-0-0423, Analog output, assignment B, signal selection ................................................... 3-187P-0-0425, Analog output, assignment B, scaling [1/V] ........................................................ 3-188P-0-0426, Analog output IDN list of assignable parameters................................................ 3-188P-0-0427, Control parameter of analog output .................................................................... 3-189P-0-0434, Position command value of controller ................................................................. 3-190P-0-0435, Control word of position controller ...................................................................... 3-191P-0-0436, Reference radius for quadrant error correction................................................... 3-191P-0-0437, Velocity time range for quadrant error correction ............................................... 3-192P-0-0438, Table of path velocities for quadrant error correction ......................................... 3-192P-0-0439, Table of velocity pulse for quadrant error correction .......................................... 3-193P-0-0440, Actual output current value (absolute value) ...................................................... 3-194P-0-0441, Overload warning ................................................................................................ 3-194P-0-0442, Actual value torque limit positive (stationary) ..................................................... 3-195P-0-0443, Actual value torque limit negative (stationary) .................................................... 3-196P-0-0444, Actual value peak torque limit ............................................................................. 3-197P-0-0445, Status word torque/current limit .......................................................................... 3-198P-0-0451, Actual acceleration torque/force value................................................................ 3-199P-0-0452, Actual process torque/force value....................................................................... 3-199P-0-0453, Integral-action component velocity loop ............................................................. 3-200P-0-0454, Velocity feedforward actual value ....................................................................... 3-200P-0-0455, Acceleration feedforward actual value................................................................ 3-201P-0-0460, Module group, control word ................................................................................ 3-202P-0-0461, Module group, status word.................................................................................. 3-202P-0-0477, Logbook axis number.......................................................................................... 3-204P-0-0478, Logbook event..................................................................................................... 3-204P-0-0479, Logbook time stamp............................................................................................ 3-205P-0-0480, Patch function 1, source pointer ......................................................................... 3-205P-0-0481, Patch function 1, attribute ................................................................................... 3-206P-0-0482, Patch function 1, bit mask................................................................................... 3-207P-0-0483, Patch function 1, exponent ................................................................................. 3-207P-0-0485, Patch function 1, display ..................................................................................... 3-208P-0-0486, Patch function 2, source pointer ......................................................................... 3-209P-0-0487, Patch function 2, attribute ................................................................................... 3-209P-0-0488, Patch function 2, bit mask................................................................................... 3-210P-0-0489, Patch function 2, exponent ................................................................................. 3-211P-0-0491, Patch function 2, display ..................................................................................... 3-211P-0-0506, Amplitude for angle acquisition ........................................................................... 3-212P-0-0507, Test frequency for angle acquisition ................................................................... 3-213

XIV Contents IndraDrive


P-0-0508, Commutation offset............................................................................................. 3-214P-0-0510, Rotor inertia......................................................................................................... 3-215P-0-0512, Temperature sensor............................................................................................ 3-216P-0-0513, Temperature sensor characteristic ..................................................................... 3-217P-0-0517, Commutation: required harmonics component................................................... 3-219P-0-0520, Error threshold for encoder monitoring ............................................................... 3-220P-0-0521, Effective commutation offset............................................................................... 3-220P-0-0522, Control word for commutation setting ................................................................. 3-221P-0-0523, Commutation setting measured value ................................................................ 3-223P-0-0524, C1200 Commutation offset setting command..................................................... 3-224P-0-0525, Holding brake control word ................................................................................. 3-224P-0-0528, Flux control loop proportional gain...................................................................... 3-226P-0-0529, Scaling of stall current limit ................................................................................. 3-227P-0-0530, Slip increase........................................................................................................ 3-228P-0-0532, Premagnetization factor ...................................................................................... 3-229P-0-0533, Voltage loop proportional gain ............................................................................ 3-231P-0-0534, Voltage loop integral action time......................................................................... 3-232P-0-0535, Motor voltage at no load ..................................................................................... 3-233P-0-0536, Maximum motor voltage...................................................................................... 3-234P-0-0539, Holding brake status word .................................................................................. 3-235P-0-0540, Torque of holding brake ...................................................................................... 3-236P-0-0541, C2100 Brake check command............................................................................ 3-236P-0-0542, C2000 Command Release motor holding brake................................................. 3-237P-0-0543, C3800 Command Apply motor holding brake..................................................... 3-238P-0-0544, C3900 Command Abrasion of brake .................................................................. 3-238P-0-0545, Test torque for releasing motor holding brake .................................................... 3-239P-0-0546, Starting torque for releasing motor holding brake............................................... 3-240P-0-0547, Nominal load of holding system.......................................................................... 3-240P-0-0549, Oper. hours control section at last successful brake check................................ 3-241P-0-0550, Time interval brake check ................................................................................... 3-242P-0-0555, Status word of axis controller.............................................................................. 3-243P-0-0556, Control word of axis controller ............................................................................ 3-244P-0-0565, C3600 Command Motor data identification ........................................................ 3-245P-0-0566, C4600 Command Calculate motor control parameters ...................................... 3-246P-0-0568, Voltage boost ...................................................................................................... 3-246P-0-0569, Maximum stator frequency change..................................................................... 3-247P-0-0570, Stall protection loop proportional gain................................................................. 3-247P-0-0571, Stall protection loop integral action time ............................................................. 3-248P-0-0572, Slip compensation factor..................................................................................... 3-248P-0-0573, IxR boost factor ................................................................................................... 3-249P-0-0574, Oscillation damping factor................................................................................... 3-249P-0-0575, Search mode: search current factor.................................................................... 3-250P-0-0576, Search mode: finding point slip factor................................................................. 3-250P-0-0577, Square characteristic: lowering factor................................................................. 3-251P-0-0590, Motor model frequency loop proportional gain ................................................... 3-251P-0-0591, Motor model frequency loop integral action time................................................ 3-252

IndraDrive Contents XV


P-0-0592, Motor model adjust factor ................................................................................... 3-253P-0-0612, Control word for setting absolute measuring ...................................................... 3-254P-0-0640, Cooling type ........................................................................................................ 3-254P-0-0681, Assignment IDN -> parallel output 1 ................................................................... 3-255P-0-0682, Assignment parallel input 1 -> IDN ..................................................................... 3-256P-0-0690, Additive velocity command value, process loop ................................................. 3-256P-0-0691, Additive position command value, process loop................................................. 3-257P-0-0692, Additive master axis position, process loop........................................................ 3-258P-0-0693, Filter time constant, add. master axis pos., process loop................................... 3-259P-0-0694, Gear ratio fine adjust, process loop .................................................................... 3-260P-0-0695, Angle offset begin of profile, process loop.......................................................... 3-261P-0-0696, Filter time constant, angle offset profile, process loop........................................ 3-262P-0-0750, Master axis revolutions per master axis cycle .................................................... 3-262P-0-0751, Synchronization divisions per command cycle slave axis .................................. 3-263P-0-0752, Load revolutions per actual value cycle slave axis ............................................. 3-264P-0-0753, Position actual value in actual value cycle.......................................................... 3-265P-0-0754, Command value cycle......................................................................................... 3-266P-0-0755, Gear reduction .................................................................................................... 3-267P-0-0764, Master axis speed............................................................................................... 3-268P-0-0765, Modulo factor measuring encoder ...................................................................... 3-268P-0-0775, Resulting master axis position ............................................................................ 3-269P-0-0776, Effective master axis position ............................................................................. 3-270P-0-0777, Effective master axis velocity.............................................................................. 3-270P-0-0778, Synchronous position command value ............................................................... 3-271P-0-0779, Synchronous velocity .......................................................................................... 3-273P-0-0780, Cam shaft profile 3.............................................................................................. 3-274P-0-0781, Cam shaft profile 4.............................................................................................. 3-275P-0-0782, Cam shaft profile 5.............................................................................................. 3-277P-0-0783, Cam shaft profile 6.............................................................................................. 3-278P-0-0784, Cam shaft profile 7.............................................................................................. 3-279P-0-0785, Cam shaft profile 8.............................................................................................. 3-280P-0-0786, Modulo value actual value cycle ......................................................................... 3-281P-0-0806, Current mains voltage crest value ...................................................................... 3-281P-0-0809, Properties of charging circuit .............................................................................. 3-282P-0-0810, Minimum mains crest value ................................................................................ 3-282P-0-0815, Nominal mains voltage crest value ..................................................................... 3-283P-0-0816, Amplifier temperature 2....................................................................................... 3-284P-0-0833, Braking resistor threshold ................................................................................... 3-284P-0-0844, Braking resistor load ........................................................................................... 3-285P-0-0858, Data of external braking resistor ......................................................................... 3-285P-0-0859, Data of internal braking resistor .......................................................................... 3-286P-0-0860, Control word of power section ............................................................................ 3-287P-0-0861, Status word of power section.............................................................................. 3-288P-0-0900, Encoder emulation signal selection list ............................................................... 3-289P-0-0901, Encoder emulation signal selection .................................................................... 3-290P-0-0902, Encoder emulation control parameter................................................................. 3-291

XVI Contents IndraDrive


P-0-0903, Encoder emulation resolution ............................................................................. 3-292P-0-0904, Encoder emulation zero pulse offset .................................................................. 3-294P-0-0905, Encoder emulation zero pulse distance.............................................................. 3-294

4 Product Specific Parameters (P-0-1000 P-0-4095) 4-1P-0-1000, Kind of encoder 1, encoder memory....................................................................... 4-1P-0-1001, Encoder 1 resolution, encoder memory.................................................................. 4-2P-0-1002, Absolute encoder offset 1, encoder memory.......................................................... 4-2P-0-1003, Pulse wire encoder offset 1, encoder memory ....................................................... 4-3P-0-1004, Pulse wire encoder status 1, encoder memory....................................................... 4-3P-0-1010, Kind of encoder 2, encoder memory....................................................................... 4-4P-0-1011, Encoder 2 resolution, encoder memory.................................................................. 4-5P-0-1012, Absolute encoder offset 2, encoder memory.......................................................... 4-5P-0-1013, Pulse wire encoder offset 2, encoder memory ....................................................... 4-6P-0-1014, Pulse wire encoder status 2, encoder memory....................................................... 4-6P-0-1020, Kind of encoder 3, encoder memory....................................................................... 4-7P-0-1021, Encoder 3 resolution, encoder memory.................................................................. 4-8P-0-1022, Absolute encoder offset 3, encoder memory.......................................................... 4-8P-0-1119, Velocity mix factor feedback 1 & 2.......................................................................... 4-9P-0-1120, Velocity control loop filter: filter type ....................................................................... 4-9P-0-1121, Velocity control loop filter: limit frequency of low pass.......................................... 4-11P-0-1122, Velocity control loop filter: bandwidth of band-stop filter....................................... 4-12P-0-1123, Vel. cont. loop filter: center frequency of band-stop filter...................................... 4-13P-0-1125, Velocity control loop: average value filter clock .................................................... 4-14P-0-1126, Velocity control loop: acceleration feedforward .................................................... 4-14P-0-1150, Command value generator output ........................................................................ 4-16P-0-1151, Command value generator, list of possible target parameters ............................. 4-16P-0-1152, Command value generator, target parameter assignment ................................... 4-17P-0-1153, Command value generator, control word.............................................................. 4-18P-0-1154, Command value generator, offset ........................................................................ 4-19P-0-1155, Command value generator, amplitude.................................................................. 4-19P-0-1156, Command value generator, duration 1 ................................................................. 4-20P-0-1157, Command value generator, duration 2 ................................................................. 4-20P-0-1158, Command value generator, periodic time............................................................. 4-21P-0-1200, Control word of velocity control mode................................................................... 4-21P-0-1201, Ramp 1 pitch ......................................................................................................... 4-22P-0-1202, Final speed ramp 1 ............................................................................................... 4-23P-0-1203, Ramp 2 pitch ......................................................................................................... 4-24P-0-1206, Memory of velocity command values.................................................................... 4-24P-0-1207, Lower limit of velocity masking

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Parameter Description BOSCH REXROTH SERVO DRIVE