Rexroth IndraDrive C Drive Controllers HCS02.1 ... - Bosch Rexroth

Electric Drives 

Linear Motion and 

and Controls Hydraulics 

Assembly Technologies Pneumatics Service 

Rexroth IndraDrive C 

Drive Controllers 

HCS02.1, HCS03.1 

Operating Instructions 

R911314905 

Edition 01

About this Documentation Rexroth IndraDrive 

Title 

Type of Documentation 

Document Typecode 

Internal File Reference 

Purpose of Documentation 

Record of Revisions 

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Published by 

Note 

Rexroth IndraDrive C 


HCS02.1, HCS03.1 

Operating Instructions 

DOK-INDRV*-FU*********-IB01-EN-P 

Document Number, 120-2400-B327-01/EN; Mat. No.: R911314905 

This documentation describes the mounting, installation, commissioning, 

parameterization and troubleshooting of Rexroth IndraDrive controllers on 

the basis of the power sections HCS02 or HCS03 and the control sections 

BASIC OPENLOOP or BASIC PROFIBUS with comfort control panel. 

Description Release 

Date 

Notes 

DOK-INDRV*-FU*********-IB01-EN-P 06-2006 First Release 

© Bosch Rexroth AG 2006 

Copying this document, giving it to others and the use or communication 

of the contents thereof without express authority, are forbidden. Offenders 

are liable for the payment of damages. All rights are reserved in the event 

of the grant of a patent or the registration of a utility model or design 

(DIN 34-1). 

The data specified above only serve to describe the product. No 

statements concerning a certain condition or suitability for a certain 

application can be derived from our information. The given information 

does not release the user from the obligation of own judgement and 

verification. It must be remembered that our products are subject to a 

natural process of wear and aging. 

Bosch Rexroth AG 

Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main 

Telephone +49 (0)93 52/40-0 • Tx 68 94 21 • Fax +49 (0)93 52/40-48 85 

http://www.boschrexroth.de/ 

Dept. EDY1 (RR/US/BB) 

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

DOK-INDRV*-FU*********-IB01-EN-P

Rexroth IndraDrive Contents I 

Contents 

1 Introducing the Products 1-1 

1.1 Introduction ................................................................................................................................... 1-1 

Terms, Basic Principles ........................................................................................................... 1-1 

1.2 Rexroth IndraDrive Hardware Platform ........................................................................................ 1-6 

Drive Controllers...................................................................................................................... 1-6 

Motors and Measuring Systems.............................................................................................. 1-7 

Master Communication............................................................................................................ 1-8 

1.3 Rexroth IndraDrive Firmware Platform ......................................................................................... 1-8 

Type Code ............................................................................................................................... 1-8 

Functions Overview ................................................................................................................. 1-9 

1.4 Rexroth IndraDyn Motors............................................................................................................ 1-12 

Housing Motors...................................................................................................................... 1-12 

Kit Motors............................................................................................................................... 1-12 

1.5 Third-Party Motors at IndraDrive Controllers.............................................................................. 1-13 

General Information on Third-Party Motors........................................................................... 1-13 

Requirements on Third-Party Motors .................................................................................... 1-14 

Requirements on the Encoder of the Third-Party Motor ....................................................... 1-17 

Notes on Selection and Commissioning................................................................................ 1-17 

1.6 Approval, Listing ......................................................................................................................... 1-18 

Conformities........................................................................................................................... 1-18 

C-UL-US-Listing..................................................................................................................... 1-18 

2 Important Directions for Use 2-1 

2.1 Appropriate Use............................................................................................................................ 2-1 

Introduction .............................................................................................................................. 2-1 

Areas of Use and Application .................................................................................................. 2-2 

2.2 Inappropriate Use ......................................................................................................................... 2-2 

3 Safety Instructions for Electric Drives and Controls 3-1 

3.1 General Information ...................................................................................................................... 3-1 

Using the Safety Instructions and Passing them on to Others................................................ 3-1 

Instructions for Use.................................................................................................................. 3-1 

Explanation of Warning Symbols and Degrees of Hazard Seriousness ................................. 3-3 

Hazards by Improper Use........................................................................................................ 3-4 

3.2 Instructions with Regard to Specific Dangers............................................................................... 3-5 

Protection Against Contact with Electrical Parts ..................................................................... 3-5 

Protection Against Electric Shock by Protective Low Voltage (PELV) .................................... 3-6 

Protection Against Dangerous Movements ............................................................................. 3-7 


II Contents Rexroth IndraDrive 

Protection Against Magnetic and Electromagnetic Fields During Operation and 

Mounting .................................................................................................................................. 3-9 

Protection Against Contact with Hot Parts ............................................................................ 3-10 

Protection During Handling and Mounting............................................................................. 3-11 

Battery Safety ........................................................................................................................ 3-11 

Protection Against Pressurized Systems .............................................................................. 3-12 

4 Identification, Transport, Storage, Installation Conditions 4-1 

4.1 Identification.................................................................................................................................. 4-1 

Type Code ............................................................................................................................... 4-1 

Type Plates.............................................................................................................................. 4-4 

4.2 Transport and Storage.................................................................................................................. 4-6 

Transport of the Devices ......................................................................................................... 4-6 

Storage of the Devices ............................................................................................................ 4-6 

4.3 Installation Conditions................................................................................................................... 4-7 

Ambient and Operating Conditions.......................................................................................... 4-7 

Compatibility with Foreign Matters .......................................................................................... 4-9 

5 Electrical Data 5-1 

5.1 Power Sections............................................................................................................................. 5-1 

Type Current and Connected Load ......................................................................................... 5-1 

Control Voltage Supply............................................................................................................ 5-2 

Power Voltage Supply- Mains Connection .............................................................................. 5-3 

Limited Length of Motor Power Cables ................................................................................... 5-4 

5.2 Control Sections ........................................................................................................................... 5-6 

Relay Contact Type 1 .............................................................................................................. 5-6 



Digital Inputs/Outputs .............................................................................................................. 5-7 

Analog Inputs/Outputs ............................................................................................................. 5-9 

5.3 Additional Components............................................................................................................... 5-15 

Mains Filter HNF.................................................................................................................... 5-15 

Mains Filter (-Combination) HNK........................................................................................... 5-16 

Mains Choke HNL01.1E (feeding)......................................................................................... 5-16 

Mains Choke HNL01.1E-****-S (Current-Compensated) ...................................................... 5-17 

Braking Resistor HLR ............................................................................................................ 5-17 

Motor Filter HMF.................................................................................................................... 5-26 

6 Mounting and Installation 6-1 

6.1 Mounting ....................................................................................................................................... 6-1 

Dimensions – Power Sections................................................................................................. 6-1 

Dimensions – Mains Filter HNF............................................................................................... 6-7 

Dimensions – Mains Choke HNL01.1E (infeeding) ................................................................. 6-9 

Dimensions – Standard Braking Resistors HLR01.1............................................................. 6-12 

Dimensions – Reinforced Braking Resistors HLR01.1.......................................................... 6-14 

Dimensions – Motor Filter HMF............................................................................................. 6-17 

Combination of Drive Controllers of the Rexroth IndraDrive C Product Range .................... 6-22 


Rexroth IndraDrive Contents III 

Multiple-Line Arrangement of Drive Controllers .................................................................... 6-24 

6.2 Electrical Installation ................................................................................................................... 6-25 

Rules for Design of Installations with Drive Controllers in Compliance with EMC ................ 6-25 

EMC-Optimal Installation in Facility and Control Cabinet...................................................... 6-26 

Ground Connections.............................................................................................................. 6-32 

Installing Signal Lines and Cables......................................................................................... 6-33 

General Measures of Radio Interference Suppression for Relays, Contactors, 

Switches, Chokes, Inductive Loads....................................................................................... 6-34 

Installing the 24V Supply ....................................................................................................... 6-35 

Connection Diagram.............................................................................................................. 6-36 

Connections and Connectors ................................................................................................ 6-38 

Accessories HAS................................................................................................................... 6-67 

7 Commissioning and Parameterization 7-1 

7.1 Basics ........................................................................................................................................... 7-1 

Control Panels ......................................................................................................................... 7-1 

Parameters .............................................................................................................................. 7-1 

Master Communication Interfaces........................................................................................... 7-3 

Parameterization Mode / Operating Mode .............................................................................. 7-4 

Default Settings in the Motor Encoder Data Memory ("Load Defaults Procedure")................ 7-9 

7.2 Parameterization......................................................................................................................... 7-12 

Control Panels ....................................................................................................................... 7-12 

Menu Structure ...................................................................................................................... 7-16 

7.3 Overview of Parameters – Base Package.................................................................................. 7-36 

S-0-0000 – S-0-0100 ............................................................................................................. 7-36 

S-0-0101 – S-0-0200 ............................................................................................................. 7-41 

S-0-0201 – S-0-0300 ............................................................................................................. 7-45 

S-0-0301 – S-0-0400 ............................................................................................................. 7-47 

S-0-0401 – S-0-1000 ............................................................................................................. 7-50 

P-0-0001 – P-0-0689 (General Functions) ............................................................................ 7-51 

P-0-0690 – P-0-0899 (Synchronization Mode)...................................................................... 7-85 

P-0-1100 – P-0-1299 (Velocity Control) ................................................................................ 7-87 

P-0-1500 – P-0-1599 (General Device Parameters)............................................................. 7-96 

P-0-2000 – P-0-2999 (General Device Parameters .............................................................. 7-96 

P-0-3600 – P-0-4095 (General Device Parameters)............................................................. 7-97 

7.4 Basic Functions ........................................................................................................................ 7-108 

Serial Communication ......................................................................................................... 7-108 

Master Communication........................................................................................................ 7-110 

Profile Types........................................................................................................................ 7-114 

Motor Control....................................................................................................................... 7-117 

Scaling of Physical Data...................................................................................................... 7-118 

7.5 Voltage-Controlled Operation (Open-Loop U/f Control) ........................................................... 7-121 

Overview.............................................................................................................................. 7-121 

Automatic Setting of Motor Control Parameters.................................................................. 7-122 

7.6 Closed-Loop Axis Control (Closed-Loop Operation) ................................................................ 7-131 

Automatic Setting of Axis Control........................................................................................ 7-136 

7.7 Positioning Block Mode ............................................................................................................ 7-137 


IV Contents Rexroth IndraDrive 

8 Diagnostic and Service Functions 8-1 

8.1 Diagnostic System ........................................................................................................................ 8-1 

Diagnostic Status Messages ................................................................................................... 8-1 

Diagnostic Command Messages............................................................................................. 8-1 

Warnings.................................................................................................................................. 8-1 

General Description of Error Messages and Error Reactions ................................................. 8-2 

8.2 Recommended Actions for Operating States, Activities and Reactions of the Drive 

Controller ...................................................................................................................................... 8-5 

8.3 Troubleshooting .......................................................................................................................... 8-21 

Check Drive Components...................................................................................................... 8-21 

Replacing Devices................................................................................................................. 8-21 

Cables.................................................................................................................................... 8-23 

Replacing the Firmware......................................................................................................... 8-24 

Firmware Release Update..................................................................................................... 8-25 

Firmware Version Upgrade.................................................................................................... 8-29 

Possible Problems during Firmware Replacement ............................................................... 8-35 

8.4 Service and Maintenance ........................................................................................................... 8-36 

Deactivation........................................................................................................................... 8-36 

Dismantling ............................................................................................................................ 8-36 

Disposal ................................................................................................................................. 8-37 

Environmental Protection ...................................................................................................... 8-37 

9 Service & Support 9-1 

9.1 Helpdesk....................................................................................................................................... 9-1 

9.2 Service-Hotline ............................................................................................................................. 9-1 

9.3 Internet.......................................................................................................................................... 9-1 

9.4 Vor der Kontaktaufnahme... - Before contacting us... .................................................................. 9-1 

9.5 Kundenbetreuungsstellen - Sales & Service Facilities ................................................................. 9-2 

10 Index 10-1 


Rexroth IndraDrive Introducing the Products 1-1 

1 Introducing the Products 

1.1 Introduction 

Terms, Basic Principles 

Data Memory 

Condition As Supplied 

Storing the Application-Specific 

Parameter Values 

Saving Parameter Values 


Parameters 

Communication between master and drive takes place, with a few 

exceptions, by means of parameters. 

Parameters are used for: 

• determining the configuration 

• parameterizing the control loop 

• triggering and controlling drive functions and commands 

• transmitting command values and actual values (according to 

requirements, cyclically or acyclically) 

All operating data are mapped to parameters! 

The operating data stored in parameters can be identified by means of 

the IDN. They can be read and transferred, if required. The user write 

access to parameters depends on the properties of the respective 

parameter and the current communication phase. Specific parameter 

values (operating data) are checked for validity by the drive firmware. 

Data Storage and Parameter Handling 

Several non-volatile data memories are available in an IndraDrive device: 

• in the controller 

• in the motor encoder (depending on motor type) 

In addition, a volatile data memory (working memory) is available in the 

controller. 

Condition as supplied of the Rexroth drive components: 

• The controller memory contains the drive firmware and the controllerspecific 

parameter values. 

• The motor encoder memory contains the encoder-specific and, 

depending on the motor type, the motor-specific parameter values. 

The application-specific parameter values are stored in the controller. Due 

to the limited number of writing cycles of non-volatile storage media, 

application-specific parameter values can be stored in the working 

memory (volatile memory), too. 

Saving application-specific parameter values is required in the following 

cases: 

• after initial commissioning of the machine axis or the motor 

• before replacing the controller for servicing (if possible) 

Application-specific parameter values can be saved via: 

• "IndraWorks D" commissioning tool → saving the parameter values on 

external data carrier 

• control master → saving the parameter values on master-side data 

carrier 

• comfort control panel

1-2 Introducing the Products Rexroth IndraDrive 

Parameter IDN Lists 

Loading Parameter Values 

Checksum of Parameter Values 

Kinds of Passwords 

The drive supports master-side saving of parameter values by listing 

parameter identification numbers (IDNs). Using these lists guarantees 

complete storage of the application-specific parameter values. It is also 

possible to determine IDN lists defined by the customer. 

Loading parameter values is required in the following cases: 

• initial commissioning of the motor (loading basic parameter values and 

motor-specific parameter values) 

• serial commissioning of machine axes at series machines (loading the 

values saved after initial commissioning) 

• reestablishing a defined original status (repeated loading of the values 

saved after initial commissioning) 

• replacing the controller for servicing (loading the current parameter 

values saved before servicing) 

• Possibilities of loading parameter values to the controller: 

• motor encoder data memory → loading the parameter values by 

command or via the control panel during initial motor commissioning 

• "IndraWorks D" commissioning tool → loading the parameter values 

from external data carrier 

• control master → loading the parameter values from master-side data 

carrier 

By means of checksum comparison, the control master can determine 

whether the values of the application-specific parameter values currently 

active in the drive correspond to the values saved on the master side. 

Password 

IndraDrive controllers provide the possibility to protect parameter values 

against accidental or unauthorized change by means of a password. With 

regard to write protection, there are 3 groups of parameters that can be 

written: 

• Parameters that are write-protected as a standard, such as motor 

parameters, hardware code parameters, encoder parameters, error 

memory etc. ("administration parameters"). The values of these 

parameters guarantee correct function and performance of the drive. 

• Parameters the customer can combine in groups and protect them 

with a so-called customer password. This allows protecting parameter 

values, that are used for adjusting the drive to the axis, after having 

determined them. 

• All other parameters that can be written and are not contained in the 

above-mentioned groups. They are not write-protected. 

The drive firmware allows activating and deactivating the write protection 

for parameter values by means of three hierarchically different 

passwords: 

• Customer password 

The parameter values of a parameter group combined by the 

customer can be protected. 

• Control password 

Parameters protected by a customer password can be written; 

"administration parameters" remain write-protected. 

• Master password 

All parameters that can be written, including "administration 

parameters" and parameters protected by a customer password, can 

be changed. 



Kinds of Commands 


Commands 

Commands are used to activate and control complex functions or 

monitoring features in the drive. The higher-level master can start, 

interrupt or clear commands. 

Each command is assigned to a parameter by means of which the 

execution of the command can be controlled. During the execution of the 

command the display of the control panel reads "Cx", "C" representing the 

diagnostic command message and "x" representing the number of the 

command. 

Note: Each command that was started must be actively cleared 

again. 

All commands available in the drive are stored in the S-0-0025, IDN-list 

of all procedure commands parameter. 

There are 3 different kinds of commands: 

• Drive control commands 

• can cause automatic drive motion, 

• can be started only when drive enable has been set, 

• deactivate the active operating mode during its execution. 

• Monitoring commands 

• activate or deactivate monitors or functions in the drive. 

• Administration commands 

• carry out administration tasks, 

• cannot be interrupted. 

See also "Command Processing" in chapter "Master Communication" 

Operating Modes 

The selection of operating modes defines which command values will be 

processed in which way, in order to lead to the desired drive motion. The 

operating mode does not determine how these command values are 

transmitted from the master to the slave. 

One of the four or eight (for SERCOS) operating modes defined in 

parameters is always active when the following conditions have been 

fulfilled: 

• control section and power section are ready for operation 

• drive enable signal sees a positive edge 

• drive follows command value 

• "Drive Halt" function has not been activated 

• no drive control command is active 

• no error reaction is carried out 

The display of the control panel reads "AF" when an operating mode was 

activated. 

Note: All implemented operating modes are stored in the S-0-0292, 

List of all operating modes parameter. 

See also chapter "Operating Modes"


Warning Classes 

Error Classes 

Warnings 

Depending on the active operating mode and the parameter settings, 

many monitoring functions are carried out. If a status is detected that still 

allows correct operation but in case this status persists will cause an error 

to occur and therefore cause the drive to be automatically switched off, 

the drive firmware generates a warning message. 

Note: Warnings do not cause automatic shutdown (exception: fatal 

warning). 

Warnings are classified in different warning classes which determine 

whether the drive, when the warning is generated, carries out an 

automatic reaction or not. 

Note: The warning class can be recognized by the diagnostic 

message. 

The following classes of warnings are distinguished: 

• without drive reaction → diagn. message no. E2xxx, E3xxx, E4xxx 

• with drive reaction → diagn. message no. E8xxx 

Note: Warnings cannot be cleared. They persist until the condition 

that activated the warning is no longer fulfilled. 

Errors 

Depending on the active operating mode and the parameter settings, 

many monitoring functions are carried out. If a status is detected that 

affects or prevents correct operation the drive firmware generates an 

error message. 

Errors are classified in different error classes. There are 6 error classes 

with different drive error reactions. 

Note: The error class can be recognized by the diagnostic message 

number. 

Diagnostic message 

number Error class 

F2xxx non-fatal error 

F3xxx non-fatal safety technology error 

F4xxx interface error 

F6xxx travel range error 

F7xxx safety technology error 

F8xxx fatal error 

F9xxx fatal system error 

E-xxxx fatal system error "processor exception" 

Fig. 1-1: Overview of error classes 

Note: Apart from the mentioned error classes that can occur during 

operation, errors can occur when the devices are booted and 



Error Reactions of the Drive 

Clearing Error Messages 

Clearing Error Messages when 

Drive Enable Was Set 

Error Memory 


during firmware download. These errors are not displayed at 

the control panel with a diagnostic message number of the 

"Fxxxx" pattern, but with a short text. Boot errors and firmware 

download errors are separately described in the 

documentation "Troubleshooting Guide" (diagnostic message 

description). 

If the drive controller is in control and an error status is detected, the 

execution of a drive error reaction is automatically started. The diagnostic 

message number "Fxxxx" flashes on the display of the control panel. 

The drive reaction in the case of interface errors and non-fatal errors is 

determined in parameter P-0-0119, Best possible deceleration At the 

end of each error reaction, the drive is torque-free. 

See also "Error Reactions" in chapter "Drive Functions" 

Error messages are not cleared automatically but by the following action: 

• activating the S-0-0099, C0500 Reset class 1 diagnostics command 

- or - 

• actuating the "Esc" button on the control panel 

If the error status persists the error message is immediately generated 

again. 

If a drive error occurs while operating with drive enable having been set, 

the drive carries out an error reaction. The drive automatically deactivates 

itself at the end of each error reaction; in other words, the output stage is 

switched off and the drive switches from an energized to a de-energized 

state. 

To reactivate the drive: 

• clear the error message and 

• input a positive edge for drive enable again. 

The diagnostic message numbers of occurring errors are written to an 

error memory. This memory contains the diagnostic message numbers of 

the last 50 errors that occurred and the time when they occurred. Errors 

caused by a shutdown of the control voltage (e.g. F8070 +24Volt DC 

error) are not stored in the error memory. 

The diagnostic message numbers in the error memory are mapped to the 

P-0-0192, Diagnostic numbers of error memory parameter and can be 

displayed by means of the control panel. By means of the "IndraWorks D" 

commissioning tool it is possible to display the diagnostic message 

numbers and the respective times at which the errors occurred.


1.2 Rexroth IndraDrive Hardware Platform 


Power section 

Control section 

300 mm Design 

400 mm Design 

Overview 

The drive controller consists of two essential parts: 

• power section 

• control section 

The power section incorporates the control section and has the following 

connections: 

• mains voltage connection (at supply modules and HCS devices) 

• motor connection (with optional motor holding brake and motor 

temperature monitor) 

• 24 V control voltage 

• DC bus connection 

• module bus connection 

• connection for external braking resistor (at HCS devices) 

The control section is a separate component that is plugged into the 

power section. The drive controller is supplied complete with factoryinstalled 

(possibly configured) control section. 

Power Sections 

IndraDrive C 

• HCS02.1E-W0012 




• HCS03.1E-W0070 

• HCS03.1E-W0100 

• HCS03.1E-W0150 

• HCS03.1E-W0210 

Control Sections 

• BASIC OPENLOOP (single axis; type CSB01.1N-FC-…) 

• BASIC PROFIBUS (single axis CSB01.1N-PB-…) 

Supported Control Section Configurations 

The configurable control sections differ with regard to the scope of their 

configurability. It basically depends on the control section type and the 

corresponding firmware variant. The following abbreviations are used: 

Options for master communication: 

• PB → PROFIBUS-DP 

• FC → FC Interface 



Motors and Measuring Systems 

Third party motors 

Motor Encoders and External 

Optional Encoders 

Measuring Encoders 


Supported Motors 

The table below contains an overview of the Rexroth motors which can be 

operated at IndraDrive controllers. 

Housing motors Kit motors 

synchronous asynchronous synchronous asynchr. 

MHD 

MKD 

MKE 

MSK (IndraDyn S) 

MAL 

SF (Bosch) 

2AD 

ADF 

MAD (IndraDyn A) 

MAF (IndraDyn A) 

MLF (IndraDyn L) 

MBS (Standard) 

MBSxx2 (IndraDyn H) 

MBT (IndraDyn T) 

LSF 

Fig. 1-2: Appropriate Rexroth motors for IndraDrive 

Third party motors must meet the specified requirements. 

Supported Measuring Systems 

1MB 

In addition to the encoders integrated in the Rexroth motors, the 

IndraDrive firmware can evaluate the following measuring systems as 

motor encoders or as external optional control encoders: 

• Bosch Rexroth GDS or GDM encoders (single-turn or multi-turn type) 

• resolvers according to Rexroth signal specification (single-turn or 

multi-turn type) 

• encoders with sine signals and EnDat2.1 interface (1 Vpp ) 

• encoders with sine signals (1 V pp ) 

• encoders with square-wave signals (TTL) 

• Hall sensor box and encoder with sine signals (1 Vpp ) 

• Hall sensor box and encoder with square-wave signals (TTL) 

• encoders with sine signals and HIPERFACE interface (1 Vpp ) 

For measuring purposes the firmware can evaluate the following 

measuring systems (measuring encoders, no control encoders): 

• Bosch Rexroth GDS or GDM encoders (single-turn or multi-turn type) 

• encoders with sine signals and EnDat2.1 interface (1 Vpp ) 

• encoders with sine signals (1 V pp ) 

• encoders with square-wave signals (TTL) 

• encoders with sine signals and HIPERFACE interface (1 Vpp ) 

• motor encoders of MSK, MHD, 2AD, ADF, MAD, MAF motors 

• SSI encoders 

Note: Resolvers cannot be evaluated as measuring encoders!


Master Communication 

PROFIBUS Interface 

• cyclic data exchange of command and actual value (max. 32 byte 

each direction; min. cycle time of 500 µs) 

• parameter channel for parameterization and diagnosing via field bus 

• safe process data channel (PROFIsafe), optional 

• free configuration of telegram contents possible (many cyclic 

configurable parameter IDN) 

1.3 Rexroth IndraDrive Firmware Platform 

Type Code 

The individual functional packages can be combined to form the following 

firmware types that can be ordered: 

variant … 

(depending on 

control section) 

of 

package Base 

Basic single-axis 

IndraDrive-Firmware 

FWA-INDRV* -MPB- 04 VRS- D5- x- xxxxx 

Control 

section 

Basic 

single-axis 

General Features 

Structure of the Firmware Type 

Designation 

Firmware Types That Can Be 

Ordered 

Firmware 

range Base 

package 

Version 

Version 

Release 

Language 

Open-/closedloop 

Fig. 1-3: Basic structure of the firmware type designation 

Alternative 

expansion 

packages 

Additive 

expansion 

packages 

The following overview shows the available scope of functions of the 

respective base package: 

Release 

Language 

Open/closedloop 

Alternative 

functional 

packages 

FWA-INDRV*- MPB- 04 VRS- D5- 0- NNN -NN 

Scope of functional packages 

base package (open-loop) 

FWA-INDRV*- MPB- 04 VRS- D5- 0- SNC -NN base package (open-loop) + synchronization 

FWA-INDRV*- MPB- 04 VRS- D5- 0- MSP -NN base package (open-loop) + main spindle 

FWA-INDRV*- MPB- 04 VRS- D5- 0- ALL -NN base package (open-loop) + all altern. functions 

FWA-INDRV*- MPB- 04 VRS- D5- 0- NNN -ML base package (open-loop) + IndraMotion MLD-S 

FWA-INDRV*- MPB- 04 VRS- D5- 0- *** -ML base package (open-loop) + *** + IndraMotion MLD-S 

FWA-INDRV*- MPB- 04 VRS- D5- 1- NNN -NN base package (closed-loop) 

FWA-INDRV*- MPB- 04 VRS- D5- 1- SRV -NN base package (closed-loop) + servo function 

FWA-INDRV*- MPB- 04 VRS- D5- 1- SNC -NN base package (closed-loop) + synchronization 

FWA-INDRV*- MPB- 04 VRS- D5- 1- MSP -NN base package (closed-loop) + main spindle 

FWA-INDRV*- MPB- 04 VRS- D5- 1- ALL -NN base package (closed-loop) + all altern. functions 

FWA-INDRV*- MPB- 04 VRS- D5- 1- NNN -ML base package (closed-loop) + IndraMotion MLD-S 

FWA-INDRV*- MPB- 04 VRS- D5- 1- *** -ML base package (closed-loop) + *** + IndraMotion MLD-S 

IndraMotion 

MLD-S 

*** selected option "alternative functional packages" according to 

availability 

Fig. 1-4: Overview of firmware types and functional packages they are 

containing 



Functions Overview 


Supported Operating Modes 

The drive firmware supports the following operating modes: 

• torque/force control 

• velocity control 

• position control with cyclic command value input 

• drive-internal interpolation 

• drive-controlled positioning 

• positioning block mode 

• synchronization modes: 

• velocity synchronization with real/virtual master axis 

• phase synchronization with real/virtual master axis 

• electronic cam shaft with real/virtual master axis 

• electronic motion profile with real/virtual master axis 

Note: The operating modes supported by the firmware depend on 

the hardware and firmware and are contained in parameter 

S-0-0292, List of all operating modes. 

Drive Functions 

These are the most important drive functions of the MPX-04 firmware: 

• Drive Halt 

• establishing the position data reference 

• drive-controlled homing 

• setting absolute measuring 

• shifting the position data reference 

• drive error reactions 

• best possible deceleration 

• package reaction on error 

• NC reaction on error 

• E-Stop function 

• compensation functions/corrections 

• friction torque compensation 

• encoder correction 

• axis error correction 

• quadrant error correction 

• spindle positioning 

• drive-integrated command value generator 

• parameter set switching 

• probe function 

• encoder emulation 

• programmable position switch 

• drive-integrated PLC (IndraMotion MLD-S) 

• integrated safety technology


Control 

section type/ 

firmware 

CSB01.1/MPB 

Functional 

packages 

all, except for 

"synchronization" 

and 

"IndraMotion" 

Overview 

• monitoring functions 

• limitations that can be parameterized 

• output of control signals 

• numerous diagnostic possibilities 

• drive-internal generation of diagnostic messages 

• analog output 

• status displays, status classes 

• oscilloscope function 

• monitoring function 

• patch function 

• code of optional card 

• parameter value check 

• operating hours counter, logbook function, error memory 

Performance Data 

For the control performance of the IndraDrive range we basically 

distinguish three levels with regard to the clock rates (cycle times): 

• Basic performance 

→ standard control performance by medium internal clock rates for the 

control loops and the signal processing of inputs/outputs or driveintegrated 

PLC (IndraMotion MLD-S) 

In this documentation the clock rate data refer to the following 

characteristic values: 

• current loop clock TA_current 

• velocity loop clock TA_velocity 

• position loop clock TA_position 

• cycle time of PLC (IndraMotion MLD-S) TMLD-S 

• cycle time of master communication TMastCom 

The table below contains an overview of the clock rates depending on the 

respective control performance. The detailed assignment of the clock rate 

to control section design, performance level and parameter setting is 

contained in the table in section "Control Section Design and 

Performance" (see below). 

Performance TA_Strom TA_Geschw TA_Lage TMLD-S TFKM 

Basic 62,5/83,3/125 µs 250 µs 500 µs 2000 µs 500/1000 µs 

Fig. 1-5: Clock rates (depending on the available performance) 

Perform. 

level TA_current TA_velocity TA_posit. TMLD-S TMastCom 

Switching 

frequency 1) 

P-0-0556 

bit 2 bit 5 

Basic 125 µs 250 µs 500 µs -- 1000 µs 4000 Hz 0 0 

Basic 125 µs 250 µs 500 µs -- 1000 µs 8000 Hz 0 0 

1) : can be set via P-0-0001 

P-0-0556: config word of axis controller 

Fig. 1-6: Performance depending on the control section design 



Selecting Performance via 

Parameter P-0-0556 

Restricted Performance with 

Certain Functional Packages 


For certain applications it is necessary to use the same clock rates in all 

axes so that the slowest drive sets the clock. It is therefore possible to 

specifically reduce the performance via bit 2 and bit 5 of parameter 

P-0-0556, Config word of axis controller. 

• For BASIC control sections it is possible to select the performance 

levels "Basic" or "Economy" via bit 5 of P-0-0556. 

See also Parameter Description "P-0-0556, Config word of axis controller" 

Note: The effective clock rates of the active performance level are 

contained in the table "Performance depending on the control 

section design" in section "Control Section Design and 

Performance" (see above). 

If you use extensive and complex functions, the internal clock rates for 

BASIC control sections (CSB with firmware MPB and CDB with 

firmware MPD) are automatically reduced. This applies to the use of the 

following functional packages: 

• drive-integrated PLC "IndraMotion MLD-S" (functional package "ML") 

• expansion package "synchronization" (functional package "SNC") 

If you use one of these functional packages for BASIC control sections, 

the clock rates (position loop, velocity loop) are reduced to the lowest 

performance level "Economy!"


1.4 Rexroth IndraDyn Motors 

Housing Motors 

Product 

Motor size 

Motor length 

Type Code S 

MSK030B-0900-NN-S1-UG0-NNNN 

Windings code 

Housing design 

MSK 030 B 0900 NN S1 U G 0 NNNN 

Product 

Motor size 

Motor length 

Windings code 

Encoder 

Electrical 

Connection 

Fig. 1-7: Basic structure of type code 

Type Code IndraDyn A 

MAF130B-0150-FQ-M0-LH0-05-N1 

Cooling mode 

Encoder 

MAF 130 B 0150 FQ M0 L H 0 05 N 1 

Kit Motors 

Product 

Motor size 

Example 

Example 

Example 

Motor length 

Electrical Connection 

Shaft 


Type Code IndraDyn L 

MLP100A-0120-FS-N0CN-NNNN 

Windings code 

Cooling mode 

MLP 100 A 0120 F S N0 CN NNNN 

Encapsulation 


Holding brake 

Encoder 

Shaft 

Mounting style 

Holding brake 

Electrical 

Connection 

Bearings 

Other design 

Vibration severity 

grade 

Other design 



Product 

Product 

Motor size 


Type Code IndraDyn H 

MRS102B-1N-0046-NNNN 

Motor length 


Internal diameter 

of the rotor 

MRS 102 B 1N 0046 NNNN 

Motor size 

Example 1 

Example 2 

Motor length 


MSS102B-0800-FA-N0CN-NNNN 

Windings code 

Cooling mode 

MSS 102 B 0800 F A N0 CN NNNN 

Cooling 

connector 


1.5 Third-Party Motors at IndraDrive Controllers 

General Information on Third-Party Motors 

Special Requirements 

Undeliverable Motor Design 

Check Before Using Third-Party 

Motors 

Additional Aspects to be 

Observed 

Encoder 

Electrical 

connection 

Why Use Third-Party Motors at IndraDrive? 

Today machine axes are mainly moved with electric drives. Motors of 

standard design are used in most cases as this is the most cost-efficient 

solution. 

Due to special requirements at machine axes, constructional or safetyrelated 

aspects, it may be necessary for the machine manufacturer to use 

a motor construction diverging from the standard. 

For these cases there is the demand on the drive supplier to realize, apart 

from the deliverable standard drive consisting of (standard) motor, 

controller, cable and, if required, machine control unit, drives with motors 

that are not included in his own product range due to the special design. 

At Rexroth controllers of the IndraDrive range it is also possible to use 

third-party motors. For this purpose, check whether the third-party motor 

complies with the requirements of use. 

Which are the Important Directives? 

According to the legal requirements 

• of the EU directives EMC89/336/EEC and 

• the German EMC laws 

installations and machines have to be designed and built according to the 

present state of standardization. In order to comply with the machine 

directives regarding "electromagnetic compatibility (EMC)", a conformity 

test of the drive system (motor with controller and connection design) has 

Other design 

Other design


Motor Types 

Synchronous Motors 

Requirements on Third-Party Motors 

to be carried out. The test of the drive system and compliance with the 

directives have to be guaranteed by the machine manufacturer. 

Third-Party Motors to be Controlled 

The following motor types can be controlled: 

• asynchronous motors, rotary 

• asynchronous motors, linear 

• synchronous motors, rotary 

• synchronous motors, linear 

These motors can be operated within the scope of the technical data of 

the selected IndraDrive controller. If motors have been provided with a 

holding brake, it should be controlled via the controller. Make sure that the 

relevant technical data of the motor holding brake are complying with 

those of the holding brake output. 

Note: For third-party motors Bosch Rexroth, as a matter of principle, 

does not assume the guarantee for the power data at the 

motor shaft! 

In the case of synchronous motors, the commutation offset has to be set 

during commissioning. The drive firmware provides several methods for 

determining this offset so that it is possible to determine the value for 

different motor characteristics. 

Note: Observe the restrictions in conjunction with the commutation 

offset determination when using synchronous motors! 

See Functional Description of firmware "Motor Control: 

Commutation Setting" in chapter "Drive Control" 

Possibly available reluctance property cannot be used for synchronous 

third-party motors! For third-party motors it is impossible to determine failsafe 

motor parameter values for using the reluctance property; the 

respective bit of P-0-4014, Type of construction of motor therefore 

mustn't be set! 

For successful and fail-safe use of a third-party motor check 

• whether the third-party motor to be controlled satisfies the voltage 

loads, 

• which controller, including supply, is suitable due to the motor power to 

be delivered, 

• whether the third-party motor has the required minimum inductance, 

• whether the motor can be protected against inadmissible temperature 

rise in the case of overload (temperature evaluation), 

• whether the mounted position measuring system can be evaluated by 

the controller or which position measuring system can be selected for 

kit motors. 

Voltage Load of the Third-Party Motor 

The voltage load of the insulation system of a motor occurring in practical 

application is mainly influenced by the following characteristics: 

• The output variables of the drive controller which is used (feed the 

transmission distance). 



Use of Voltage-Reducing 

Components, Motor Filter HMF 


• The cable parameters depending on cable design and length 

(determine the properties of the transmission distance, such as the 

attenuation). 

• The motor design regarding capacitive and inductive properties (form 

the end of the transmission distance). 

As a result of the variables, the insulation system of the third-party motor, 

as regards voltage, is loaded by the values 

• peak voltage Upp and 

• voltage change dv/dt. 

The occurring peak voltages at the motor are caused by reflections in the 

motor cable. The insulation of the motor is thereby loaded with other peak 

voltages and voltage changes than the ones occurring at the output of the 

power section. 

Note: Determine the occurring voltage load at the terminals of the 

third-party motor in the application with all involved 

components. 

Use voltage-reducing components (e.g. motor filter HMF), if one of the 

following criteria applies: 

• allowed voltage change (dv/dt) of third-party motor smaller than 

5 kV/µs 

• allowed peak voltage (crest value) of third-party motor between phasephase 

and phase-housing smaller than 1500 V 

• motor cable length smaller than 25 m 

• mains voltage greater than AC440V 

Note: Apart from the nominal current IN, especially take the 

maximum allowed switching frequency of the power output 

stage (fs) into account with which the motor filter HMF may be 

operated. 

Verify the success of the voltage-reducing measure. 

Minimum Inductance of Third-Party Motor 

Depending on the controller used, the motor has to have a minimum 

value for inductance. The actually available inductance of a motor can be 

measured directly between two motor terminals by means of an 

inductance measuring bridge. The measurement has to be made for a 

complete motor wired for normal operation but not yet connected. During 

the measurement one motor terminal remains open! 

For asynchronous motors the measured value can only be used if the 

rotor doesn't have closed slots! 

Controller type Minimum required motor inductance 

HCS with 3*AC230V LU-V = 60* 4/(√2 * ITyp * fs) (in mH) 

HMS, HMD at HMV (3*AC400V) 

HMS, HMD at HCS (3*AC400V) 

HMS, HMD at HMV (3*AC480V) 

HMS, HMD at HCS (3*AC480V) 

LU-V = 80* 4/(√2 * ITyp * fs) (in mH) 

LU-V = 116* 4/( √2 * ITyp * fs) (in mH) 

ITyp: maximum controller current acc. to type code (rms value) 

fs: desired switching frequency in kHz 

Fig. 1-12: Minimum inductances depending on controller data, supply units and 

supply voltage


Use a three-phase choke in the motor feed wire, if the inductance of the 

third-party motor is smaller than indicated in the table above. This choke 

has to increase the inductance that can be measured between two motor 

terminals to the minimum value. 

Note: When the inductance is measured, different inductance values 

can be determined at different rotor positions within one pole 

pair distance of the motor. The average value is relevant for 

the check of the minimum value. 

Correct values can only be determined when the motor is in 

standstill! 

Available third-party motor Planned third-party motor 

LU-Vmin 

3x LDr 

LU-V 

U 

V 

W Motor 

LDr = 0,5 * (LU-Vmin - LU-V) 

(inductance measurement with 1 kHz) 

mounting of 3x LDr (three-phase choke) 

Calculating the leakage inductance 

(asynchronous motor) or inductance 

(synchronous motor) of the third-party 

motor by means of the single-phase 

equivalent circuit diagram 

(manufacturer's specification!). 

Determine choke by means of 

calculation, if necessary. 

It is recommended to contact Rexroth! 

Requirements on the choke: 

- In_Dr ≥ In_Mot 

The rated current of the choke has to be greater than or equal to 

the rated motor current. 

- Depending on the maximum speed, the choke is loaded with the respective 

output frequency and the PWM frequency of the controller. 

- The insulation class has to correspond at least to that of the motor or 

has to be dimensioned for higher temperatures. 

- The voltage load of the choke depends on the controller used. 

Fig. 1-13: Data for possibly required choke 

Temperature Evaluation of Third-Party Motor 

Only operate such motors with incorporated temperature sensor at 

IndraDrive controllers so that the motor can be thermally monitored by the 

controller and protected against destruction by too high temperature rise 

(see P-0-0512, Temperature sensor). 

When, in exceptional cases, you want to operate third-party motors 

without temperature sensor at IndraDrive controllers, you must determine 

the thermal time constants of motor housing (P-0-4035) and motor 

winding (P-0-4034, P-0-4037). The firmware-internal motor temperature 

model can thereby reflect the cooling situation of the motor correctly. 

Note: In case the motor housing or blower is dirty, this worsens the 

cooling situation of the motor and protection against thermal 

overload is therefore insufficient! 



Requirements on the Encoder of the Third-Party Motor 

Notes on Selection and Commissioning 


Motor Encoder of Asynchronous Third-Party Motor 

Asynchronous motors can also be controlled by IndraDrive controllers in 

"open-loop" operation (without motor encoder). In "closed-loop" operation 

(with motor encoder) a relative measuring system is sufficient for 

asynchronous motors. 

Motor Encoder of Synchronous Third-Party Motor 

For fail-safe drives with synchronous third-party motors at IndraDrive 

controllers the following possible combinations or restrictions have to be 

taken into account when selecting the measuring system: 

Drive range Motor measuring system Synchronous thirdparty 

motor 

IndraDrive 

absolute 

relative 

+ 

o 

+ … advantageous combination 

o … Combination is possible (restrictions specific to application), 

commissioning may be more complicated! 

Fig. 1-14: Possible combinations of synchronous third-party motor and motor 

measuring system 

Note: The control section integrated in the controller can evaluate 

measuring systems as a motor encoder if they are contained 

in P-0-0074, Encoder type 1 (motor encoder) (see also 

Project Planning Manual of the IndraDrive control sections). 

For information on absolute and relative measuring systems 

see section "Measuring Systems" of Functional Description of 

firmware! 

Selecting the Controller as Regards Continuous Current 

The controller required for the respective motor and the supply unit are 

determined by comparing the motor data to the data of these devices (see 

documentation for HMS/HMD and HMV or HCS). 

Note: The continuous current of the controller should be greater than 

that of the motor, the continuous power of the supply must be 

greater than the sum of all average powers of the axes of the 

drive system! 

Selecting the Connection Technique 

The available power and encoder cables are described in the 

documentation "Connection Cables; Selection Data" (DOK-CONNEC- 

CABLE*STAND-AU...). 

Notes on Commissioning 

Note: For further information, notes on commissioning and 

supporting documents (e.g. forms for entering the required 

data) see Functional Description of firmware.


1.6 Approval, Listing 

Conformities 

Declaration of Conformity 

C-UL-US-Listing 

CE Label 

For Rexroth IndraDrive components there are declarations of conformity 

available. These declarations confirm that the components are designed 

according to valid EC directives. If required, you can ask your sales 

representative for these declarations. 

Low-Voltage Directive 

The Rexroth products of a drive system mentioned in this documentation 

comply with the requirements of the EC Directive 73/23/EEC (Low- 

Voltage Directive), annex III B. 

EMC Directive 

The Rexroth products of a drive system mentioned in this documentation 

comply with the requirements of the EC Directive 89/336/EEC (EMC 

Directive) with the amendments 91/263/EEC and 93/68/EEC. 

Fig. 1-15: CE label 

CEf1.fh7 

Devices approved by the UL agency carry the following label: 

Fig. 1-16: C-UL-US label 



C-UL-US Listed Components 


Motors approved by the UL agency carry the following label: 

Fig. 1-17: C-UR-US label 

Product Component File Number 

HMS01.1N- W0020, W0036, W0054, W0070, W0150, 

W0210 

E 134201 

HMS02.1N- W0028, W0054 E 134201 

HMD01.1N- W0012, W0020, W0036 E 134201 

HCS02.1E- W0012, W0028, W0054, W0070 E 134201 

HCS03.1E- W0070, W0100, W0150, W0210 Manufacturer REFU 

E254781 

HMV01.1E- W0030-A-07, W0075-A-07, W0120-A-07 E 134201 

HMV01.1R- W0018-A-07, W0045-A-07, W0065-A-07 E 134201 

HMV02.1R- W0015 E 134201 

HLB01.1C- 01K0-N06R0-A-007-NNN E 134201 

HLB01.1D- 02K0-N03R4-A-007-NNN E 134201 

HLC01.1C- 01M0-A-007, 02M4-A-007 E 134201 

HLC01.1D- 05M0-A-007 E 134201 

NFD03.1- -007, -016, -030, -055, -075, -130, -180 E 172117 and CSA 

Cert. 1038841Master 

Contr. 171321 

HNL01.1- ..... CSA Cert. 

1492099Master 

Contr. 222887 

HNF01.1 In preparation E 134201 

HNK01.1 In preparation E 134201 

HLR01.1 In preparation E 134201 

Fig 1-18: C-UL-US listed Rexroth IndraDrive components 

Note: The components are listed by the file number of „Underwriters 

Laboratories Inc.®" (UL). The documented evidence of listing 

can be seen in the internet: http://www.ul.com, "Certifications", 

enter file number or "Company name: Rexroth. 

The control sections are included in the listing of the power 

sections. The control sections are not listed separately.



Rexroth IndraDrive Important Directions for Use 2-1 

2 Important Directions for Use 

2.1 Appropriate Use 

Introduction 


Rexroth products represent state-of-the-art developments and 

manufacturing. They are tested prior to delivery to ensure operating safety 

and reliability. 

The products may only be used in the manner that is defined as 

appropriate. If they are used in an inappropriate manner, then situations 

can develop that may lead to property damage or injury to personnel. 

Note: Rexroth as manufacturer is not liable for any damages 

resulting from inappropriate use. In such cases, the guarantee 

and the right to payment of damages resulting from 

inappropriate use are forfeited. The user alone carries all 

responsibility of the risks. 

Before using Rexroth products, make sure that all the pre-requisites for 

an appropriate use of the products are satisfied: 

• Personnel that in any way, shape or form uses our products must first 

read and understand the relevant safety instructions and be familiar 

with appropriate use. 

• If the products take the form of hardware, then they must remain in 

their original state, in other words, no structural changes are permitted. 

It is not permitted to decompile software products or alter source 

codes. 

• Do not mount damaged or faulty products or use them in operation. 

• Make sure that the products have been installed in the manner 

described in the relevant documentation.

2-2 Important Directions for Use Rexroth IndraDrive 

Areas of Use and Application 

2.2 Inappropriate Use 

Drive controllers made by Bosch Rexroth are designed to control 

electrical motors and monitor their operation. 

Control and monitoring of the motors may require additional sensors and 

actors. 

Note: The drive controllers may only be used with the accessories 

and parts specified in this document. If a component has not 

been specifically named, then it may not be either mounted or 

connected. The same applies to cables and lines. 

Operation is only permitted in the specified configurations and 

combinations of components using the software and firmware 

as specified in the relevant Functional Descriptions. 

Every drive controller has to be programmed before commissioning, 

making it possible for the motor to execute the specific functions of an 

application. 

The drive controllers have been developed for use in single- and multiaxis 

drive and control tasks. 

To ensure an application-specific use, the drive controllers are available 

with different drive power and different interfaces. 

Typical applications of the drive controllers include: 

• handling and mounting systems, 

• packaging and food machines, 

• printing and paper processing machines and 

• machine tools. 

The drive controllers may only be operated under the assembly and 

installation conditions described in this documentation, in the specified 

position of normal use and under the ambient conditions as described 

(temperature, degree of protection, humidity, EMC, etc.). 

Using the drive controllers outside of the operating conditions described in 

this documentation and outside of the indicated technical data and 

specifications is defined as "inappropriate use". 

Drive controllers must not be used, if 

• ... they are subject to operating conditions that do not meet the 

specified ambient conditions. This includes, for example, operation 

under water, under extreme temperature fluctuations or extremely high 

maximum temperatures. 

• Furthermore, the drive controllers must not be used in applications 

which have not been expressly authorized by Rexroth. 

• Please carefully follow the specifications outlined in the general Safety 

Instructions! 


Rexroth IndraDrive Safety Instructions for Electric Drives and Controls 3-1 

3 Safety Instructions for Electric Drives and Controls 

3.1 General Information 

Using the Safety Instructions and Passing them on to Others 

Instructions for Use 


Do not attempt to install or commission this device without first reading all 

documentation provided with the product. Read and understand these 

safety instructions and all user documentation prior to working with the 

device. If you do not have the user documentation for the device, contact 

your responsible Bosch Rexroth sales representative. Ask for these 

documents to be sent immediately to the person or persons responsible 

for the safe operation of the device. 

If the device is resold, rented and/or passed on to others in any other 

form, then these safety instructions must be delivered with the device. 

WARNING 

Improper use of these devices, failure to follow 

the safety instructions in this document or 

tampering with the product, including disabling 

of safety devices, may result in material 

damage, bodily harm, electric shock or even 

death! 

Read these instructions before the initial startup of the equipment in order 

to eliminate the risk of bodily harm or material damage. Follow these 

safety instructions at all times. 

• Bosch Rexroth AG is not liable for damages resulting from failure to 

observe the warnings provided in this documentation. 

• Read the operating, maintenance and safety instructions in your 

language before starting up the machine. If you find that you cannot 

completely understand the documentation for your product, please ask 

your supplier to clarify. 

• Proper and correct transport, storage, assembly and installation as 

well as care in operation and maintenance are prerequisites for 

optimal and safe operation of this device. 

• Only assign trained and qualified persons to work with electrical 

installations: 

Only persons who are trained and qualified for the use and 

operation of the device may work on this device or within its 

proximity. The persons are qualified if they have sufficient 

knowledge of the assembly, installation and operation of the 

equipment as well as an understanding of all warnings and 

precautionary measures noted in these instructions. 

Furthermore, they must be trained, instructed and qualified to 

switch electrical circuits and devices on and off in accordance 

with technical safety regulations, to ground them and to mark 

them according to the requirements of safe work practices. 

They must have adequate safety equipment and be trained in 

first aid. 

• Only use spare parts and accessories approved by the manufacturer. 

• Follow all safety regulations and requirements for the specific 

application as practiced in the country of use.

3-2 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive 

• The devices have been designed for installation in industrial 

machinery. 

• The ambient conditions given in the product documentation must be 

observed. 

• Only use safety-relevant applications that are clearly and explicitly 

approved in the Project Planning Manual. If this is not the case, they 

are excluded. 

Safety-relevant are all such applications which can cause danger to 

persons and material damage. 

• The information given in the documentation of the product with regard 

to the use of the delivered components contains only examples of 

applications and suggestions. 

The machine and installation manufacturer must 

make sure that the delivered components are suited for his 

individual application and check the information given in this 

documentation with regard to the use of the components, 

make sure that his application complies with the applicable safety 

regulations and standards and carry out the required measures, 

modifications and complements. 

• Startup of the delivered components is only permitted once it is sure 

that the machine or installation in which they are installed complies 

with the national regulations, safety specifications and standards of the 

application. 

• Operation is only permitted if the national EMC regulations for the 

application are met. 

• The instructions for installation in accordance with EMC requirements 

can be found in the documentation "EMC in Drive and Control 

Systems". 

• The machine or installation manufacturer is responsible for 

compliance with the limiting values as prescribed in the national 

regulations. 

• Technical data, connections and operational conditions are specified in 

the product documentation and must be followed at all times. 



Explanation of Warning Symbols and Degrees of Hazard Seriousness 


The safety instructions describe the following degrees of hazard 

seriousness. The degree of hazard seriousness informs about the 

consequences resulting from non-compliance with the safety instructions: 

Warning symbol with signal 

word 

DANGER 

WARNING 

CAUTION 

Degree of hazard seriousness according 

to ANSI Z 535 

Death or severe bodily harm will occur. 

Death or severe bodily harm may occur. 

Bodily harm or material damage may occur. 

Fig. 3-1: Hazard classification (according to ANSI Z 535)


Hazards by Improper Use 

DANGER 

DANGER 

WARNING 

WARNING 

CAUTION 

CAUTION 

CAUTION 

High electric voltage and high working current! 

Risk of death or severe bodily injury by electric 

shock! 

Dangerous movements! Danger to life, severe 

bodily harm or material damage by 

unintentional motor movements! 

High electric voltage because of incorrect 

connection! Risk of death or bodily injury by 

electric shock! 

Health hazard for persons with heart 

pacemakers, metal implants and hearing aids in 

proximity to electrical equipment! 

Hot surfaces on device housing! Danger of 

injury! Danger of burns! 

Risk of injury by improper handling! Risk of 

bodily injury by bruising, shearing, cutting, 

hitting, or improper handling of pressurized 

lines! 

Risk of injury by improper handling of batteries! 



3.2 Instructions with Regard to Specific Dangers 

Protection Against Contact with Electrical Parts 


Note: This section only concerns devices and drive components with 

voltages of more than 50 Volt. 

Contact with parts conducting voltages above 50 Volts can cause 

personal danger and electric shock. When operating electrical equipment, 

it is unavoidable that some parts of the devices conduct dangerous 

voltage. 

DANGER 

High electrical voltage! Danger to life, electric 

shock and severe bodily injury! 

Only those trained and qualified to work with or on 

⇒ 

electrical equipment are permitted to operate, 

maintain and repair this equipment. 

Follow general construction and safety regulations 

⇒ 

when working on electrical power installations. 

Before switching on the device, the equipment 

⇒ 

grounding conductor must have been nondetachably 

connected to all electrical equipment in 

accordance with the connection diagram. 

Do not operate electrical equipment at any time, 

⇒ 

even for brief measurements or tests, if the 

equipment grounding conductor is not permanently 

connected to the mounting points of the components 

provided for this purpose. 

Before working with electrical parts with voltage 

⇒ 

potentials higher than 50 V, the device must be 

disconnected from the mains voltage or power 

supply unit. Provide a safeguard to prevent 

reconnection. 

With electrical drive and filter components, observe 

⇒ 

the following: 

Wait 30 minutes after switching off power to allow 

capacitors to discharge before beginning to work. 

Measure the voltage on the capacitors before 

beginning to work to make sure that the equipment is 

safe to touch. 

Never touch the electrical connection points of a 

⇒ 

component while power is turned on. 

Install the covers and guards provided with the 

⇒ 

equipment properly before switching the device on. 

Before switching the equipment on, cover and 

safeguard live parts safely to prevent contact with 

those parts. 

A residual-current-operated circuit-breaker or r.c.d. 

⇒ 

cannot be used for electric drives! Indirect contact 

must be prevented by other means, for example, by 

an overcurrent protective device according to the 

relevant standards. 

Secure built-in devices from direct touching of 

⇒ 

electrical parts by providing an external housing, for 

example a control cabinet. 

European countries: according to EN 50178/ 1998,


section 5.3.2.3. 

USA: See National Electrical Code (NEC), National 

Electrical Manufacturers' Association (NEMA), as well as 

local engineering regulations. The operator must observe 

all the above regulations at any time. 

With electrical drive and filter components, observe the following: 

DANGER 

High housing voltage and large leakage current! 

Risk of death or bodily injury by electric shock! 

⇒ Before switching on, the housings of all electrical 

equipment and motors must be connected or 

grounded with the equipment grounding conductor to 

the grounding points. This is also applicable before 

short tests. 

⇒ The equipment grounding conductor of the electrical 

equipment and the units must be non-detachably 

and permanently connected to the power supply unit 

at all times. The leakage current is greater than 

3.5 mA. 

⇒ Over the total length, use copper wire of a cross 

section of a minimum of 10 mm 2 for this equipment 

grounding connection! 

⇒ Before start-up, also in trial runs, always attach the 

equipment grounding conductor or connect with the 

ground wire. Otherwise, high voltages may occur at 

the housing causing electric shock. 

Protection Against Electric Shock by Protective Low Voltage (PELV) 

All connections and terminals with voltages between 5 and 50 Volt at 

Rexroth products are protective extra-low voltage systems which are 

provided with touch guard according to the product standards. 

WARNING 

High electric voltage by incorrect connection! 

Risk of death or bodily injury by electric shock! 

⇒ To all connections and terminals with voltages 

between 0 and 50 Volt, only devices, electrical 

components, and conductors may be connected 

which are equipped with a PELV (Protective Extra- 

Low Voltage) system. 

⇒ Connect only voltages and circuits which are safely 

isolated from dangerous voltages. Safe isolation is 

achieved for example by isolating transformers, safe 

optocouplers or battery operation without mains 

connection. 



Protection Against Dangerous Movements 


Dangerous movements can be caused by faulty control of connected 

motors. Some common examples are: 

• improper or wrong wiring of cable connections 

• incorrect operation of the equipment components 

• wrong input of parameters before operation 

• malfunction of sensors, encoders and monitoring devices 

• defective components 

• software or firmware errors 

Dangerous movements can occur immediately after equipment is 

switched on or even after an unspecified time of trouble-free operation. 

The monitoring in the drive components will normally be sufficient to avoid 

faulty operation in the connected drives. Regarding personal safety, 

especially the danger of bodily harm and material damage, this alone 

cannot be relied upon to ensure complete safety. Until the integrated 

monitoring functions become effective, it must be assumed in any case 

that faulty drive movements will occur. The extent of faulty drive 

movements depends upon the type of control and the state of operation.


DANGER 

Dangerous movements! Danger to life, risk of 

injury, severe bodily harm or material damage! 

For the above reasons, ensure personal safety by 

⇒ 

means of qualified and tested higher-level monitoring 

devices or measures integrated in the installation. 

They have to be provided for by the user according 

to the specific conditions within the installation and a 

hazard and fault analysis. The safety regulations 

applicable for the installation have to be taken into 

consideration. Unintended machine motion or other 

malfunction is possible if safety devices are disabled, 

bypassed or not activated. 

To avoid accidents, bodily harm and/or material 

damage: 

Keep free and clear of the machine’s range of 

⇒ 

motion and moving parts. Possible measures to 

prevent people from accidentally entering the 

machine’s range of motion: 

- use safety fences 

- use safety guards 

- use protective coverings 

- install light curtains or light barriers 

⇒ Fences and coverings must be strong enough to 

resist maximum possible momentum. 

⇒ Mount the emergency stop switch in the immediate 

reach of the operator. Verify that the emergency stop 

works before startup. Don’t operate the device if the 

emergency stop is not working. 

⇒ Isolate the drive power connection by means of an 

emergency stop circuit or use a safety related 

starting lockout to prevent unintentional start. 

⇒ Make sure that the drives are brought to a safe 

standstill before accessing or entering the danger 

zone. 

⇒ Additionally secure vertical axes against falling or 

dropping after switching off the motor power by, for 

example: 

- mechanically securing the vertical axes, 

- adding an external braking/ arrester/ clamping 

mechanism or 

- ensuring sufficient equilibration of the vertical 

axes. 

The standard equipment motor brake or an external 

brake controlled directly by the drive controller are 

not sufficient to guarantee personal safety! 




Disconnect electrical power to the equipment using a 

⇒ 

master switch and secure the switch against 

reconnection for: 

- maintenance and repair work 

- cleaning of equipment 

- long periods of discontinued equipment use 

Prevent the operation of high-frequency, remote 

⇒ 

control and radio equipment near electronics circuits 

and supply leads. If the use of such devices cannot 

be avoided, verify the system and the installation for 

possible malfunctions in all possible positions of 

normal use before initial startup. If necessary, 

perform a special electromagnetic compatibility 

(EMC) test on the installation. 

Protection Against Magnetic and Electromagnetic Fields During 

Operation and Mounting 

Magnetic and electromagnetic fields generated by current-carrying 

conductors and permanent magnets in motors represent a serious 

personal danger to those with heart pacemakers, metal implants and 

hearing aids. 

WARNING 

Health hazard for persons with heart 

pacemakers, metal implants and hearing aids in 

proximity to electrical equipment! 

Persons with heart pacemakers and metal implants 

⇒ 

are not permitted to enter following areas: 

- Areas in which electrical equipment and parts are 

mounted, being operated or commissioned. 

- Areas in which parts of motors with permanent 

magnets are being stored, repaired or mounted. 

⇒ If it is necessary for somebody with a pacemaker to 

enter such an area, a doctor must be consulted prior 

to doing so. The interference immunity of present or 

future implanted heart pacemakers differs greatly, so 

that no general rules can be given. 

⇒ Those with metal implants or metal pieces, as well 

as with hearing aids must consult a doctor before 

they enter the areas described above. Otherwise 

health hazards may occur.


Protection Against Contact with Hot Parts 

CAUTION 

Hot surfaces at motor housings, on drive 

controllers or chokes! Danger of injury! Danger 

of burns! 

⇒ Do not touch surfaces of device housings and 

chokes in the proximity of heat sources! Danger of 

burns! 

⇒ Do not touch housing surfaces of motors! Danger of 

burns! 

⇒ According to operating conditions, temperatures can 

be higher than 60 °C, 140 °F during or after 

operation. 

⇒ Before accessing motors after having switched them 

off, let them cool down for a sufficiently long time. 

Cooling down can require up to 140 minutes! 

Roughly estimated, the time required for cooling 

down is five times the thermal time constant 

specified in the Technical Data. 

⇒ After switching drive controllers or chokes off, wait 

15 minutes to allow them to cool down before 

touching them. 

⇒ Wear safety gloves or do not work at hot surfaces. 

⇒ For certain applications, the manufacturer of the end 

product, machine or installation, according to the 

respective safety regulations, has to take measures 

to avoid injuries caused by burns in the end 

application. These measures can be, for example: 

warnings, guards (shielding or barrier), technical 

documentation. 



Protection During Handling and Mounting 

Battery Safety 


In unfavorable conditions, handling and assembling certain parts and 

components in an improper way can cause injuries. 

CAUTION 

Risk of injury by improper handling! Bodily 

injury by bruising, shearing, cutting, hitting! 

⇒ Observe the general construction and safety 

regulations on handling and assembly. 

⇒ Use suitable devices for assembly and transport. 

⇒ Avoid jamming and bruising by appropriate 

measures. 

Always use suitable tools. Use special tools if 

⇒ 

specified. 

Use lifting equipment and tools in the correct 

⇒ 

manner. 

⇒ If necessary, use suitable protective equipment (for 

example safety goggles, safety shoes, safety 

gloves). 

⇒ Do not stand under hanging loads. 

⇒ Immediately clean up any spilled liquids because of 

the danger of skidding. 

Batteries consist of active chemicals enclosed in a solid housing. 

Therefore, improper handling can cause injury or damages. 

CAUTION 

Risk of injury by improper handling! 

Do not attempt to reactivate low batteries by heating 

⇒ 

or other methods (risk of explosion and 

cauterization). 

Do not recharge the batteries as this may cause 

⇒ 

leakage or explosion. 

Do not throw batteries into open flames. 

⇒ 

Do not dismantle batteries. 

⇒ 

Do not damage electrical parts installed in the 

⇒ 

devices. 

Note: Environmental protection and disposal! The batteries installed 

in the product are considered dangerous goods during land, 

air, and sea transport (risk of explosion) in the sense of the 

legal regulations. Dispose of used batteries separate from 

other waste. Observe the local regulations in the country of 

assembly.


Protection Against Pressurized Systems 

According to the information given in the Project Planning Manuals, 

motors cooled with liquid and compressed air, as well as drive controllers, 

can be partially supplied with externally fed, pressurized media, such as 

compressed air, hydraulics oil, cooling liquids, and cooling lubricating 

agents. In these cases, improper handling of external supply systems, 

supply lines, or connections can cause injuries or damages. 

CAUTION 

Risk of injury by improper handling of pressurized 

lines! 

⇒ Do not attempt to disconnect, open, or cut 

pressurized lines (risk of explosion). 

⇒ Observe the respective manufacturer's operating 

instructions. 

Before dismounting lines, relieve pressure and 

⇒ 

empty medium. 

Use suitable protective equipment (for example 

⇒ 

safety goggles, safety shoes, safety gloves). 

Immediately clean up any spilled liquids from the 

⇒ 

floor. 

Note: Environmental protection and disposal! The agents used to 

operate the product might not be economically friendly. 

Dispose of ecologically harmful agents separate from other 

waste. Observe the local regulations in the country of 

assembly. 


Rexroth IndraDrive Identification, Transport, Storage, Installation Conditions 4-1 

4 Identification, Transport, Storage, 

Installation Conditions 

4.1 Identification 

Type Code 

Control 

section 

Basic 

single-axis 

Product 

Firmware 

range Base 


package 

Version 

Firmware MPB-04 

Release 

Language 

Open/closedloop 

Alternative 

functional 

packages 

FWA-INDRV*- MPB- 04 VRS- D5- 0- NNN -NN 

Scope of functional packages 

base package (open-loop) 

FWA-INDRV*- MPB- 04 VRS- D5- 0- SNC -NN base package (open-loop) + synchronization 

FWA-INDRV*- MPB- 04 VRS- D5- 0- MSP -NN base package (open-loop) + main spindle 

FWA-INDRV*- MPB- 04 VRS- D5- 0- ALL -NN base package (open-loop) + all altern. functions 

FWA-INDRV*- MPB- 04 VRS- D5- 0- NNN -ML base package (open-loop) + IndraMotion MLD-S 

IndraMotion 

MLD-S 

FWA-INDRV*- MPB- 04 VRS- D5- 0- *** -ML base package (open-loop) + *** + IndraMotion MLD-S 

FWA-INDRV*- MPB- 04 VRS- D5- 1- NNN -NN base package (closed-loop) 

FWA-INDRV*- MPB- 04 VRS- D5- 1- SRV -NN base package (closed-loop) + servo function 

FWA-INDRV*- MPB- 04 VRS- D5- 1- SNC -NN base package (closed-loop) + synchronization 

FWA-INDRV*- MPB- 04 VRS- D5- 1- MSP -NN base package (closed-loop) + main spindle 

FWA-INDRV*- MPB- 04 VRS- D5- 1- ALL -NN base package (closed-loop) + all altern. functions 

FWA-INDRV*- MPB- 04 VRS- D5- 1- NNN -ML base package (closed-loop) + IndraMotion MLD-S 

FWA-INDRV*- MPB- 04 VRS- D5- 1- *** -ML base package (closed-loop) + *** + IndraMotion MLD-S 

Line 

Examples 

Design 

Power Sections HCS 

HCS02.1E-W0012-A-03-NNNV (with integrated 24V supply); 

HCS03.1E-W0100-A-05-NNBV (with integrated brake transistor) 

Power supply 

Cooling mode 

HCS 02 1 E W 0012 A 03 NNNV 

Maximum current 


Protection mode 

Mains connecting 

voltage 

Other design

4-2 Identification, Transport, Storage, Installation Conditions Rexroth IndraDrive 

Product 

Line 

Design 

Configuration option 

Control Sections BASIC CSB01.1N 

CSB01.1.N-FC-NNN-NNN-NN-C-NN-FW 

Master communication 

Option 1 

CSB 01 1 N FC NNN NNN NN C NN FW 

Product 

Line 

Design 

Option 2 


Additional Components 

Mains Choke HNL 

HNL01.1E-0980-N0026-A-480-NNNN 

Supply system 

Nominal inductance 

HNL 01 1 E 0980 N 0026 A 480 NNNN 

Product 

Line 

Example 

Example 

Example 

Design 

Additional option 

Nominal current 


Mains Filter HNF, HNK 

HNF01.1A-F240-R0094-A-480-NNNN 

EMC-area per 

DIN 61800-3 

Applications 

HNF 01 1 A F240 R 0094 A 480 NNNN 

HNK 01 1 A A075 E 0050 A 500 NNNN 

Supply system 



Safety option 

Display 

Degree of protection 

Degree of 

protection 

Other design 


voltage 


voltage 

Firmware 

(to be ordered extra) 

Other design 

Other design 



Product 

Line 

Design 



Motor Filter HMF 

HMF01.1A-N1K5-E0070-A-500-NNNN 

Filter class 

Motor frequency 

HMF 01 1 A N 1K5 E 0070 A 500 NNNN 

Product 

Line 

Design 

Switching frequency 


Braking Resistor HLR 

HLR01.1N-1K08-N05R0-A-007-NNNN 


Continuous output 

HLR 01 1 N 1K08 N 05R0 A 007 NNNN 

Product 

Example 

Example 

Example 

Line 

Additional option 

Resistance 


Accessories 

HAS01.1 

HAS01.1-050-048-NN 

Design 

Device width 



Bus-bar 


Voltage rating 

DC bus nominal 

voltage 

HAS 01 1 050 048 NN 


Other design 

Other design 

Other design


Product 

Line 

HAS02.1 

HAS02.1-001-NNN-NN 

Design 

HAS 02 1 001 NNN NN 

Type Plates 

Example 

Device assignment 


Other feature 

Each drive component is marked by a type designation. 

There is a type plate attached to all devices. 

Type Plates at the Drive Controller 

1: Power section type plate 

2: Control section type plate 

3: Firmware type plate 

Fig. 4-9: Type plates at the drive controller 

1 

2 

3 

DG000023v01_nn.FH9 

Other design 



Type 

Part number 

Serial number 

Barcode 


Type Plates at the Control Section 

Control Section Type Plate 

CSH01.1C-SE-EN1-EN2-MA1-L1-S-NN-FW 

MNR: R911293808 FD: 05W24 (7260) 

SN:CSH011-00123 0A01 0S01 

Barcode Hardware index 

Fig. 4-10: Control section type plate 

Firmware Type Plate 

MPH02V12D51 

SRVNN 

(7260) 

05W24 

R911 

297901-04432 

Type 

Production week 

Example: 05W24 means year 2005, week 24 

Serial number 

Fig. 4-11: Firmware type plate (example) 

Production week 

Example: 05W24 means year 2005, week 24 

DG000024v01_en.fh9 

DG000022v01_de.FH9


4.2 Transport and Storage 

Transport of the Devices 

Storage of the Devices 

Extended Storage 

Conditions 

temperature -25…70 °C 

relative humidity 5…95%; 

climatic category 2K3 

absolute humidity 1…60 g/m 3 


moisture condensation not allowed 

icing not allowed 

shock test out of operation according 

to EN 60068-2-27 

Fig. 4-12: Conditions for transport 

Conditions 

temperature -25…55 °C 

half sine in 3 axes: 10g / 11ms 

relative humidity 5…95%; 


absolute humidity 1…29 g/m 3 


moisture condensation not allowed 

icing not allowed 

Fig. 4-13: Conditions for storage 

Some devices contain electrolytic capacitors which may deteriorate during 

storage. 

Note: When storing these devices for a longer period of time, 

operate them once a year for at least 1 hour with power ON: 

• devices HCS with mains voltage ULN 



4.3 Installation Conditions 

Ambient and Operating Conditions 

Designation Data 

degree of protection IP20 according to IEC529 

ambient temperature 0…+40 °C 

ambient temperature with power 

reduction 


The drive controllers and their additional components are designed for 

control cabinet mounting! 

Note: The user must check that the ambient conditions, in particular 

the control cabinet temperature, are complied with by 

calculating the heat levels in the control cabinet and making 

the corresponding measurements. 

In the Technical Data the power dissipation is indicated as an 

input value for calculating the heat levels. 

0…+55 °C; see characteristic in Fig. 4-15 

temperature during storage see section 4.2 Transport and Storage 

temperature during transport see section 4.2 Transport and Storage 

installation altitude with nominal data


Capacity Utilization 

Where installation conditions differ, the following performance data are 

reduced in accordance with the diagrams (see "Fig. 4-15: " and "Fig. 4-16: 

"): 

drive controller: 

• allowed continuous DC bus power 

• continuous power of braking resistor 

• continuous current 

motor: 

• power 

• continuous torque at standstill 

• S1 continuous torques 

• short-time service torque MKB 

If differing ambient temperatures and higher installation altitudes occur 

simultaneously, both capacity utilization factors must be multiplied. The 

installation altitude must only be taken into account once, deviating 

ambient temperatures must be taken into account separately for motor 

and drive controller. 

Load factor 

1 

0,7 

5 

40 45 50 55 

Ambient temperature in °C 

DK000073v01_en 

Fig. 4-15: Capacity utilization at higher ambient temperature 




Load factor 

1 

0,9 

0,8 

0,7 

0,6 

Compatibility with Foreign Matters 

0 

1000 2000 

Installation altitude above sea level in meters 

Fig. 4-16: Capacity utilization at higher installation altitude 

3000 4000 

DK000074v01_en 

All Rexroth controls and drives are developed and tested according to the 

state-of-the-art technology. 

As it is impossible to follow the continuing development of all materials 

(e.g. lubricants in machine tools) which may interact with our controls and 

drives, it cannot be completely ruled out that any reactions with the 

materials used by Bosch Rexroth might occur. 

For this reason, before using the respective material a compatibility test 

has to be carried out for new lubricants, cleaning agents etc. and our 

housings/our housing materials.



Rexroth IndraDrive Electrical Data 5-1 

5 Electrical Data 

5.1 Power Sections 

Type Current and Connected Load 

Compact 

converter 

Type 

current 


Attached mains choke 

HNL, HNK 

Unless otherwise specified, the following data apply to 

• Ta = Tamax 

• ULN = 3AC400V 

• use of HNL and HNK mains chokes 

Nominal 

motor 

power 

(2) 

Connected 

load 

Mains 

input 

contin. 

current 

Nominal fuse 

current / fuse 

type 

characteristic 

gL 

Contin. 

current 

(1) 

Peak 

current 

(1) 

SLN IL_cont Type Iout_cont1 Iout_max 

[kW] [kVA] [A] [A] [A] [A] 

HCS02 W0012 HNL01.1E-1000-N0012 1,5 3,5 6 10 4 12 

HCS02 W0028 HNL01.1E-1000-N0012 4,0 7,3 13 20 11 28 

HCS02 W0054 HNL01.1E-1000-N0020 7,5 13,3 19 25 22 54 

HCS02 W0070 HNL01.1E-0600-N0032 11 18,5 30 35 28 70 

HCS03 W0070 HNL01.1E-0571-N0050 

HNK01.1A-A075-E0080 

HCS03 W0100 HNL01.1E-0362-N0080; 

HNK01.1A-A075-E0080 

HCS03 W0150 HNL01.1E-0240-N0106 

HNK01.1A-A075-E0106 

18,5 35 50 3NA6820-4 45 70 

30 55,2 80 3NA6824-4 73 100 

45 72,9 106 3NA6832-4 95 150 

HCS03 W0210 HNL01.1E-0170-N0146 

HNK01.1A-A075-E0146 

75 99,3 146 3NA6836-4 145 210 

(1) at fs = 4 kHz; without overload 

(2) for standard motor, when using mains choke HNL01; at 3 AC 400 V 

variable torque, low overload 

Fig. 5-1: Type current and connected load

5-2 Electrical Data Rexroth IndraDrive 

Control Voltage Supply 

Designation 

24V control voltage supply 

Symbol Unit 

HCS02.1E; 

HCS03.1E 

Note: The control sections are supplied via the terminal connectors 

24V and 0V at the power section (24V supply). 

Note: The isolated inputs/outputs at X31 and X32 are not supplied 

via the connections of the 24V supply of the power section. A 

separate voltage supply is required for these inputs/outputs. 

Note: Overvoltage of more than 33 V has to be discharged by 

means of the appropriate electrical equipment of the machine 

or installation. 

This equipment includes: 

• 24V power supply units that reduce incoming overvoltages 

to the allowed value. 

• Overvoltage limiters at the control cabinet input that limit 

existing overvoltage to the allowed value. This, too, applies 

to long 24V lines that have been run in parallel to power 

cables and mains cables and can absorb overvoltages by 

inductive or capacitive coupling. 

UN3 V • 24 ± 20% 

(if no motor holding brake has to be supplied) 

• If motor holding brakes are to be supplied, observe 

the data of the motor documentation. The following 

values are normally sufficient: 

24 ± 5% at motor cable length < 50 m 

26 ± 5% at motor cable length > 50 m 

max. ripple content w - mustn't exceed the control voltage range 

max. allowed overvoltage UN3max V 33 (max. 1 ms) 

Power consumption of power sections 1) 

HCS02.1E-W0012 PN3 W 12 




HCS03.1E-W0070 PN3 W 23 

HCS03.1E-W0100 PN3 W 25 

HCS03.1E-W0150 PN3 W 25 

HCS03.1E-W0210 PN3 W 30 

Power consumption of control sections 2) 

CSB01.1N-FC… PN3 W 7,5 

CSB01.1N-PB… PN3 W 7,5 

Typ. inrush current of control sections 



CSB01.1N-FC… IEIN3 A 1,5 (pulse width tEIN3lade ca. 120 ms) 

CSB01.1N-PB… IEIN3 A 5 (pulse width tEIN3lade ca. 40 ms) 

Power consumption of optional modules according to type code 3), 4) 

C PN3 W 1,0 

EN1 PN3 W 6,0 

EN2 PN3 W 5,5 

ENS PN3 W 5,5 

MA1 PN3 W 2,0 

MD1 PN3 W 1,0 

S PN3 W 1,0 

Power Voltage Supply- Mains Connection 


1) plus control section with optional modules 

2) plus optional modules 

3) code from the control section type code 

4) at max. allowed output load without circuits to be supplied externally 

Fig. 5-2: Control voltage 

Designation Symbol Unit HCS02.1E HCS03.1E 

allowed range of mains input 

voltage, three-phase; 

TN-S, TN-C, TT mains 


voltage, three-phase; 

IT mains 


voltage, single-phase 

ULN 

ULN 

V 

V 

3 * AC (200…500) 

+-10% 

3 * AC (200…230) 

+-10% 

3 * AC (400…500) 

+10% -15% 

not allowed 

ULN V 1 * AC (200…250) +-10% not allowed 

rotary field no rotary field condition 

allowed range of mains 

frequency 

max. allowed mains frequency 

change 

fLN Hz (50…60) + - 2 

d fLN /t Hz/s 2% * fLN 

Fig. 5-3: Extended range of power voltage 

Note: When using HCS02 and HCS03 devices in the mains voltage 

range up to 3 * AC 500 V, make sure the additional 

components you use may be operated in this mains voltage 

range. NFD mains filters, for example, can only be used up to 

3 * AC 480 V.


Limited Length of Motor Power Cables 

Limited Lengths of Motor Power 

Cables 

Documentation Motor Power 

Cables 

Keep in mind, that the allowed maximum motor cable length is depending 

on the switching frequency of the power output stage. On principle, the 

higher the switching frequency, the shorter the allowed cable length (in 

order to protect the drive controllers against overload). 

Note: Always use switching frequencies supported by the 

components of your drive system. Observe the technical data 

of the drive controllers and motors. 

See also Parameter Description "P-0-0001, Switching frequency of the 

power output stage". 

The lengths indicated in the table below are recommended as guide 

values (at an ambient temperature of ≤ 40 °C in accordance with 

EN 60 204). 

Allowed line lengths for motor connection without filter measures at 

motor output: 

PWM frequency [kHz] 

2 2) 

Max. allowed line length [m] 

Shielded line Unshielded line 1) 

100 175 

4 75 150 

8 38 150 

12 25 not allowed 

16 18 not allowed 

1) only allowed at HCS drive controllers 

2) depending on the drive controller 

Fig. 5-4: Line lengths 

Operation with unshielded motor cables of up to 150 m 

• aims at applications with "operation without encoder" (Open Loop) 

• does not include the control voltage lines to the motor 

• requires additional measures with regard to EMC on the part of the 

operating company 

Allowed line lengths for motor connection with additional components 

HMF or HML: 

PWM frequency [kHz] 

Max. allowed line length [m] 

Shielded line Unshielded line 1) 

4 2) 

75 200 

1) only allowed at HCS03 drive controllers 

2) higher PWM frequencies are not allowed 

Fig. 5-5: Line lengths 

The documentation "Rexroth Connection Cables; Selection Data" is 

available for selecting the motor power cables and other connections, 

such as encoder cables. 

Rexroth IndraDrive drive systems have to be equipped with shielded 

motor power cables of the RKL line. 



Third-Party Motor Power Cables 


Requirements on third-party motor power cables: 

Maximum allowed cable length at A1, A2, A3: 

• see description above 

Maximum allowed capacitance per unit length at A1, A2, A3: 

• against ground, each: 0.5 nF/m 

• against each other: 0.5 nF/m 

Maximum allowed inductance per unit length at A1, A2, A3: 

• 100 nH/m each 

Note: If you use third-party motor power cables not corresponding to 

the requirements, Rexroth's guarantee for the drive system will 

expire. 

Use ready-made Rexroth cables.


5.2 Control Sections 

Relay Contact Type 1 


Data Unit Min. Typ. Max. 

current load capacity A DC 1 

AC 2 

voltage load capacity V DC 30 

AC 250 

minimum contact load mA 10 

contact resistance at 

minimum current 

switching actions at max. time 

constant of load 

number of mechanical 

switching cycles 

mOhm 1000 

100.000 

1 * 10 6 

time constant of load ms 50 

pick up delay ms 10 

drop out delay ms 10 

Fig. 5-6: Relay contacts type 1 











mOhm 1000 

1 * 10 6 

1 * 10 8 

time constant of load ms ohmic 







Digital Inputs/Outputs 












mOhm 1000 

1 * 10 6 

1 * 10 7 

time constant of load ms ohmic 




Digital Inputs 

The digital inputs correspond to IEC 61131, type 1. 

Fig. 5-9: Symbol of digital input 

1 

DA000022v01_nn.FH9 


allowed input voltage V -3 30 

On V 15 

Off V 5 

input current mA 2 5 

input resistance kOhm non-linear, varies depending on 

input voltage 

sampling frequency kHz depending on firmware 

probe input delay us 1 

Fig. 5-10: Digital inputs 

Note: Probe inputs are fast inputs. For triggering use bounce-free 

switches.


Digital Outputs 

The digital outputs correspond to IEC 61131. 

Note: Do not operate digital outputs at low-resistance sources. 

Observe Functional Description of the firmware section "Notes 

on Commisioning" particularly parameter P-0-0302, Digital I/O, 

Direction. 

Fig. 5-11: Symbol of digital output 

1 

DA000024v01_nn.FH9 


output voltage "ON" V Uext - 0,5 24 Uext 

output voltage "OFF" V 2,1 

output current "OFF" mA 0,05 

allowed output current per 

output 

allowed output current total 

or per group 

mA 500 

mA 1000 

update interval ns depending on firmware 

short circuit protection present 

overload protection present 

allowed energy content of 

connected inductive loads, 

e.g. relay coils; only allowed 

as single pulse 

Fig. 5-12: Digital outputs 

mJ 400 

Note: The digital outputs have been realized with so-called high-side 

switches. This means that these outputs can actively supply 

current but not drain it. 

Note: The energy absorption capacity of the outputs is used to limit 

voltage peaks caused when inductive loads are switched off. 

Limit voltage peaks by using free-wheeling diodes directly at 

the relay coil. 



Analog Inputs/Outputs 


The analog inputs correspond to IEC 61 131. 

Analog Input Type 1 

U+ 

U- 

GND 

Ru 

Ru 

AD: analog/digital converter 

Fig. 5-13: Analog voltage inputs 

AD 

DA000025v01_nn.FH9 


allowed input voltage 

voltage inputs 

input resistance 

voltage input 

V -10 +10 

kOhm 180 

input bandwidth kHz 6 

common-mode range V -20 +20 

common-mode rejection dB 

relative measuring error 

at 90% Uemax 

converter width A/D converter 

incl. polarity sign 

% -1 +1 

Bit 10 

oversampling 8-fold 

dynamic converter width with 

oversampling 

Bit 12 

resulting resolution mV/Ink 5,5 

cyclic conversion us 500 (depending on firmware) 

conversion time us n.s. 

Fig. 5-14: Analog voltage inputs



U+ 

U- 

GND 

Ru 

Ru 



AD 

DA000025v01_nn.FH9 





voltage input 

V -10 +10 

kOhm 1000 



common-mode rejection dB 70 


at 90% Uemax 



% -0,3 +0,3 

Bit 12 



oversampling 

Bit 14 



conversion time us 40 






I+ 

I- 

GND 

Rs 


Fig. 5-17: Analog current inputs 

Ri 

Ri 

AD 

DA000026v01_nn.FH9 


allowed input current mA 0 +20 

input resistance Ohm 200 





at 90% Uemax 



% -1 +1 

Bit 10 



oversampling 

Bit 12 

resulting resolution µA/Ink 5,45 



Fig. 5-18: Analog current inputs



U+ 

U- 

GND 

Ru 

Ru 



AD 

DA000025v01_nn.FH9 





voltage input 


voltage input CSH01.2C 

V -10 +10 

kOhm 2 

kOhm 160 





at 90% Uemax 



% -1 +1 

Bit 12 



oversampling 

Bit 14 








Analog Output Type 1 


output voltage V 0 +10 

output load kOhm 2 

output current mA 0 +5 

converter width digital/analog 

converter incl. polarity sign 

Bit 10 

resolution mV/Ink 9,8 

conversion time 

(incl. response time) 

us 10 

cyclic conversion us depending on firmware 



Fig. 5-21: Analog outputs type 1 



output voltage V 0 +5 





Bit 8 

resolution mV/Ink 19,5 

accuracy at R=5 kOhm % 5 of FMR 

accuracy at R=10 kOhm % 2,5 of FMR 



us 10 




FMR: final value of measuring range 

Fig. 5-22: Analog outputs type 2




output voltage V -10 +10 





Bit 12 

resolution mV/Ink 5 

accuracy at R = 1 kOhm % 1 of FMR 

accuracy at R = 10 kOhm % 0,2 of FMR 



us 10 




FMR: final value of measuring range 

Fig. 5-23: Analog outputs type 3 



5.3 Additional Components 

Mains Filter HNF 


Unit 

F240-E0051 

M900-E0051 

F240-E0125 

M900-E0125 

HNF01.1A- … -A-480-NNNN 

Power dissipation W < 89 < 91 < 127 < 174 < 238 < 373 < 73 < 77 < 163 < 157 < 135 < 146 

Phase current (continuous 

current) 

Phase current (peak 

current 1) ) 

Leakage current at filters 

input (line side) 

Leakage current at filters 

output (load side) 

allowed THD (Total Harmonic 

Distortion) 

Reduction of allowed 

operating data due to 

harmonic content 

F240-E0202 

M900-E0202 

A 51 51 125 125 202 202 26 26 65 65 94 94 

A 77 77 188 188 303 303 65 65 163 163 235 235 

A < 2 < 2 < 2,2 < 2,2 < 2,5 < 2,5 < 2 < 2 < 2 < 2 < 2,2 < 2,2 

A < 2 < 2 < 2,2 < 2,2 < 2,5 < 2,5 < 2 < 2 < 2 < 2 < 2,2 < 2,2 

% see Project Planning Manual "Rexroth IndraDrive Drive System" 

- see Project Planning Manual "Rexroth IndraDrive Drive System" 

Input supply voltage V 3 x AC 380…480V ±10%, 50/60Hz ±2% 

Sum of leakage currents at 

filters input with power supply 

unit switched off: 

• 1 phase failed 

• 2 phases failed 

Leakage resistance (Phase – 

Ground) 

A 

MOhm > 15 

Protection category - IP20 

• < 0,83 

• < 1,4 

Materials - free of asbestos and silicone 

Terminal L1, L2, L3 resp. L1.1, L2.1, L3.1: 

Cross section flexible min. mm 2 

Cross section flexible max. mm 2 

Cross section rigid min. mm 2 

Cross section rigid max. mm 2 

0,5 0,5 16 16 50 50 0,5 0,5 10 10 16 16 

16 16 50 50 150 150 10 10 25 25 50 50 

0,5 0,5 16 16 35 35 0,5 0,5 6 6 16 16 

25 25 50 50 150 150 16 16 35 35 50 50 

Cross section AWG min. -- 20 20 6 6 2 2 20 20 10 10 6 6 

Cross section AWG max. -- 4 4 0 0 00/3 00/3 6 6 2 2 0 0 

Tightening torque Nm 

4,8 

±0,5 

4,8 

±0,5 

< 25 < 25 < 25 < 25 

F240-R0026 

4,8 

±0,5 

1) duration: 300 ms ; 

cycle duration: 

for feeding units: 0,67 s; 

for regenerating units: 1,42 s; 

base load: 60% (continuous current) 

Fig. 5-24: Data HNF 

M900-R0026 

4,8 

±0,5 

F240-R0065 

4,8 

±0,5 

M900-R0065 

4,8 

±0,5 

F240-R0094 

M900-R0094 

< 25 < 25


Mains Filter (-Combination) HNK 

Mains filter HNK01.1A-A075 Unit E0050 E0080 E0106 E0146 

Nominal voltage V 3*AC400…500 

Nominal current A 50 80 106 146 

Inductance µH 571 362 240 170 

Connection cross section mm² 16 (AWG 6) 25 (AWG 3) 25 (AWG 3) 50 (AWG 1/0) 

Protection category - IP20 

Weight kg 15 20 20 28 

Fig. 5-25: Data HNK 

Mains Choke HNL01.1E (feeding) 

Mains choke UN 

[V] 

IN 

[A] 

LN 

[µH] 

PV 

[W] 

Imax 

[A] 

Lmin at Imax 

Connection 

cross section 

[mm²] 

HNL01.1E-1000-N0012-A-500-NNNN 500 12 3 x 1000 40 25 50% of LN 4 (a, b: 4) 



HNL01.1E-0571-N0050-A-500-NNNN 500 50 3 x 571 50 100 50% of LN 16 (a, b: -) 

HNL01.1E-0400-N0051-A-480-NNNN 480 51 3 x 400 165 77 50% of LN 16 (a, b: 2,5) 






Switching Capacity 

Switching Temperature 

Fig. 5-26: Data HNL 

Temperature Contact a, b 

1 A / AC 250 V; DC 24 V 

125 °C 

Note: HNL01.1E mains chokes of type 1 are equipped with a 

temperature contact (a, b), types 2, 3 and 4 are not. 



Mains Choke HNL01.1E-****-S (Current-Compensated) 


Unit 

E-5700-S0051 

E-2800-S0125 

HNL01.1 … -A-480-NNNN 

Weight kg 11 26 30 12 14 24 

Inductance LN mH 3 x 5,7 3 x 2,8 3 x 3,4 3 x 4,2 3 x 6,3 3 x 3,0 

Nominal current A 51 125 202 26 65 94 

Peak current 1) 

E-3400-S0202 

A 77 188 303 65 163 235 

Total leakage current at power terminal A < 2 < 2,2 < 2,2 < 2 < 2 < 2 

Allowed power dissipation at nominal current and 

maximum leakage current 

Braking Resistor HLR 

W 83 179 320 80 138 142 

Input supply voltage 3 x AC 380…480V ±10%, 50/60Hz ±2% 

Minimum inductance Lmin 

0,8*LN at Imax 

Protection category IP20 

1) duration: 300 ms ; 

cycle duration: 

for feeding units: 0,67 s; 

for regenerating units: 1,42 s; 

base load: 60% 

Fig. 5-27: Data HNL…S 

HLR01.1N-xxxx-Nxxxx-A-007-NNNN 

Designation Symbol Unit 0300-N17R5 0470-N11R7 0780-N07R0 1K08-N05R0 

nominal braking resistance RDC_Bleeder Ohm 17,5 11,7 7,0 5,0 

braking resistor continuous 

power, at Ta < 40 °C 

PBD kW 0,30 0,47 0,78 1,08 

resistance value at PBD Ω 20,5 13,7 8,2 5,8 

braking resistor peak power 

at UDC = 850 V 

max. regenerative power that 

can be absorbed 

PBS kW 35 52 88 124 

WR_max kWs 37 56 93 130 

max. allowed duty cycle t s 1 1 1 1 

min. allowed cycle time t s 120 120 120 120 

time constant s 780 780 780 780 

weight m kg 3 4,5 5,5 8 

connection cross section 

Fig. 5-28: Data 

mm² 10 25 25 50 

AWG 8 3 3 1/0 

R-4200-S0026 

R-6300-S0065 

R-3000-S0094


HLR01.1N-xxxx-xxxxx-A-007- 

NNNN 

Braking Resistors for HCS03.1E-W0070 

-01K6-N18R0 -03K5-N19R0 -04K5-N18R0 -06K5-N18R0 -10K0-N18R0 

continuous power kW 1,6 3,5 4,5 6,5 10 

resistance value in 

operating status 

Ω 20,0 21,3 20,2 20,2 20,2 

type A5 B1 B2 B2 B3 

Energy absorption at peak power, duty cycle t = x sec and load cycle T = 120 sec 

energy absorption at peak 

power 

kWs 109 252 432 686 1080 

peak power kW 34 31 33 33 33 

t sec 3,3 8 13 21 32 

duty cycle ED % 2,7 6,7 11 17 27 

Braking power at x % ED and a load cycle T = 120 sec 

braking power kW 15 14 14 14 15 

t sec 7,2 18 30 48 72 

ED % 6 15 25 40 60 

Connection cross section 

mm² 2,5 4 6 10 10 

AWG 14 12 10 8 8 

Fig. 5-29: Technical data for braking resistors at HCS03.1E-W0070 



10000 

W [kWs] 

1000 

P_s [kW] 

100 

10 


Braking resistors for HCS03 ... 0070 

Peak power P_s and Energy absorption W 

1 

1 10 100 1000 

Duty cycle [s] 

Energy 

HLR01.1N-10K0-N18R0 

HLR01.1N-06K5-N18R0 

HLR01.1N-04K5-N18R0 

HLR01.1N-03K5-N19R0 

HLR01.1N-01K6-N18R0 

Power 

HLR01.1N-10K0-N18R0 

HLR01.1N-06K5-N18R0 

HLR01.1N-04K5-N18R0 

HLR01.1N-03K5-N19R0 

HLR01.1N-01K6-N18R0 

Fig. 5-30: Selection aid for braking resistors for HCS03.1E-W0070



NNNN 



continuous power kW 2 5 7 9,5 14,5 



Ω 16,7 16,9 15,7 14,6 14,6 

type A6 B2 B3 B3 B4 


energy absorption at 

peak power 

kWs 137 360 672 1003 1566 

peak power kW 40 40 43 46 46 

t sec 3,4 9 16 22 34 

duty cycle ED % 2,8 7,5 13 18 28 



t sec 7,2 18 30 48 72 

ED % 6 15 25 40 60 


mm² 4 6 10 10 16 

AWG 12 10 8 8 6 




W [kWs] 

P_s [kW] 

10000 

1000 

100 

10 




Energy 

HLR01.1N-14K5-N13R0 

HLR01.1N-09K5-N13R0 

HLR01.1N-07K0-N14R0 

HLR01.1N-05K0-N15R0 

Power 

HLR01.1N-14K5-N13R0 

HLR01.1N-09K5-N13R0 

HLR01.1N-07K0-N14R0 

HLR01.1N-05K0-N15R0 

1 

1 10 100 1000 


Fig. 5-32: Selection aid for braking resistors for HCS03.1E-W0100



NNNN 



continuous power kW 4,5 8,5 11 15 24 



Ω 8,3 9,0 8,2 9,1 8,1 

type B1 B3 B3 B4 C3 



peak power 

kWs 246 612 1056 1584 2592 

peak power kW 81 75 82 74 83 

t sec 3 8,2 13 21 31 

duty cycle ED % 2,5 6,8 11 18 26 



t sec 7,2 18 30 48 72 

ED % 6 15 25 40 60 


mm² 10 16 25 25 35 

AWG 8 6 3 3 2 

Fig. 5-33 Technical data for braking resistors at HCS03.1E-W0150 



10000 

W [kWs] 

1000 

P_s [kW] 

100 

10 

1 




1 10 100 1000 


Energy 

HLR01.1N-24K0-N07R2 

HLR01.1N-15K0-N08R1 

HLR01.1N-11K0-N07R3 

HLR01.1N-08K5-N08R0 

HLR01.1N-04K5-N07R4 

Power 

HLR01.1N-24K0-N07R2 

HLR01.1N-15K0-N08R1 

HLR01.1N-11K0-N07R3 

HLR01.1N-08K5-N08R0 

HLR01.1N-04K5-N07R4 

Fig. 5-34: Selection aid for braking resistors for HCS03.1-W0150



NNNN 



continuous power kW 6,5 12,5 17 23 36 



Ω 7 6 6 6 6 

type B2 B4 B5 C2 C4 



peak power 

kWs 356 900 1632 2429 3888 

peak power kW 98 109 117 109 111 

t sec 3,6 8,3 14 22 35 

duty cycle ED % 3 6,9 12 18 29 



t sec 7,2 18 30 48 72 

ED % 6 15 25 40 60 


mm² 16 35 35 50 50 

AWG 6 2 2 1/0 1/0 




10000 

W [kWs] 

1000 

P_s [kW] 

100 

10 




1 

1 10 100 1000 


Energy 

HLR01.1N-36K0-N05R4 

HLR01.1N-23K0-N05R5 

HLR01.1N-17K0-N05R1 

HLR01.1N-12K5-N05R5 

HLR01.1N-06K5-N06R1 

Power 

HLR01.1N-36K0-N05R4 

HLR01.1N-23K0-N05R5 

HLR01.1N-17K0-N05R1 

HLR01.1N-12K5-N05R5 

HLR01.1N-06K5-N06R1 

Fig. 5-36: Selection aid for braking resistors for HCS03.1E-W0210 

Line Cross Sections for Reinforced Braking Resistors 

HLR01.1 

According to the standards "Electronic equipment for use in power 

installations" (EN 50178, chapter 5.3.2.1) and "Adjustable speed electrical 

power drive systems" (EN 61800-5-1, chapter 4.2.5.4.2), a stationary 

connection of the equipment grounding conductor is required. The 

following requirement has to be complied with: cross section of equipment 

grounding conductor at least 10 mm 2 (mechanical stability). 

Note: For the equipment grounding conductor run lines with a cross 

section corresponding to that of the lines for mains connection 

at the drive controller HCS and having at least 10 mm 2 . 

Requirements for line routing: 

• The cross sections are valid for one phase each in the case of 

stranded wires and are specified according to the regulations of 

VDE0298. 

• Up to 50 mm 2 , solid wires in the cable duct.



Motor filter IN 

[A] 

PV 

[W] 

LM 

[µH] 

fout_max 

[Hz] 

fp_max 

[kHz] 

du/dt at 

output 

[kV / us] 

HMF01.1A-N0K2-D0045-A-500-NNNN 45 120 3 x 160 200 4 < 1 1,2 




Fig. 5-37: Electrical data 

Motor filter Cross section 

[mm²] 

Cross section 

flexible 

[mm²] 

Cross section 

[AWG] 

Uout_max 

[kV] 

Tightening 

torque 

[Nm] 

HMF01.1A-N0K2-D0045-A-500-NNNN 16 - 6 1,5 

HMF01.1A-N0K2-D0073-A-500-NNNN 35 - 2 6 

HMF01.1A-N0K2-D0095-A-500-NNNN 50 2*25 0 6 

HMF01.1A-N0K2-D0145-A-500-NNNN 95 2*50 4/0 25 

Fig. 5-38: Terminal connector data 


Rexroth IndraDrive Mounting and Installation 6-1 

6 Mounting and Installation 

6.1 Mounting 

Dimensions – Power Sections 


Device Depths, Heights and Widths 

Device Device 

width 

[mm] 

Min. 

mounting 

width 

[mm] 1) 

Device 

height 

[mm] 2) 

HCS02.1E-W0012 65 70 290 




Device depth 

[mm] 3) 

265 

for control cabinets with 

at least 300 mm of 

depth 

HCS03.1E-W0070 125 125 440 

322 

HCS03.1E-W0100 225 225 440 

for control cabinets with 

HCS03.1E-W0150 225 225 440 at least 400 mm of 

HCS03.1E-W0210 350 350 440 

depth 

1) incl. minimum distance between the components 

2) device body without mounting flange on top and bottom, as well as 

minimum distances for ventilation and installation 

3) incl. touch guard, connector housing, bending radius of fiber optic 

cable, control panel "C" 

Fig. 6-1: Mounting dimensions

6-2 Mounting and Installation Rexroth IndraDrive 

Device 

K 

[mm] 

Drilling Pattern for the Mounting Plate 

Fig. 6-2: Drilling pattern 

R 

K 

K 

P 

M 

N 

L 

HNF_bohrbild.fh7 

Note: The figure shows the back of the devices. 

L 

[mm] 

M 

[mm] 

P 

[mm] 

R 

[mm] 

HCS02.1E-W0012 0 316 32,5 13 7 

HCS02.1E-W0028 0 378 32,5 13 7 

HCS02.1E-W0054 55 378 25 13 7 

HCS02.1E-W0070 55 378 25 13 7 

HCS03.1E-W0070 75 466 25 13 7 

HCS03.1E-W0100 175 466 25 13 7 

HCS03.1E-W0150 175 466 25 13 7 

HCS03.1E-W0210 250 466 50 13 7 

HNL02.1 100 378 20 13 7 

Fig. 6-3: Drilling pattern 

Notes 

observe additional distance to lateral 

neighboring devices 










Distances for Drive Controllers 

In addition to the mounting dimensions, the components of the 

Rexroth IndraDrive range require additional mounting clearance 

• to ventilate the components 

• to mount accessories and connections 

• to take temperature limits of neighboring mounting parts, such as 

cable ducts etc., into account 

To determine the required mounting clearances in the control cabinet, 

take additional distances between the components and on their tops and 

bottoms into account. 

Distance between Drive Controllers 

Owing to power dissipation in the components, especially due to installed 

braking resistors in compact devices, the temperatures of neighboring 

components are rising. In the case of lateral mounting, trouble-free 

operation therefore requires the following minimum distances in [mm] 

between the components. 

from 

to 

HCS02 HCS03 (HNK01, 

HLR01) 

HCS02.1E 5 -- 

HCS03.1E with HNK01 and HLR01 -- 0 

-- not allowed 

Fig. 6-4: Minimum distance in [mm] 

Note: For arrangement of the components in the control cabinet, 

take their dimension sheets and the required minimum 

distances into account.


Distances on Top and Bottom of Components 

Owing to power dissipation in the components, the temperature of the 

cooling air current at the device outlet is rising to values higher than 

ambient temperature at device inlet. 

CAUTION 

Property damage due to temperatures higher 

than 105 °C! 

⇒ Comply with indicated minimum distances! 

In order that drive controllers can discharge the power dissipation 

generated inside of them, they need space on their top (A) and 

bottom (B). 

d 

A: air intake 

B: air outlet 

C: mounting surface in control cabinet 

d: distance to top of device 

Fig. 6-5: Air intake and air outlet at drive controller 

B 

A 

C 

kuehlluft.FH7 



Minimum distance for ventilation 

Minimum Distance to Braking 

Resistor 


For sufficient ventilation of the components you have to comply with the 

minimum distances below. At components without integrated braking 

resistor, there will be temperatures of up to 105 °C at the air outlet (B) 

(with an air intake temperature of 45 °C). 

Component Minimum distance for 

ventilation 

at the bottom 

(A) 

[mm] 1) 

at the top 

(B) 

[mm] 2) 

Notes 

HCS02 80 80 additionally take power 

HCS03 100 80 

at braking resistor into 

account 

1) for additional mounting parts, such as HAS, see dimensional 

drawings 

2) integrated braking resistors require additional distance 

Fig. 6-6: Minimum distance for ventilation 

Note: If there are different minimum distances for the individual 

components in a drive system, the greatest value determines 

the minimum distance to be observed. 

For components with integrated braking resistor (supply units, DC bus 

resistor units, HCS02 drive controllers) their higher outlet temperatures 

have to be taken into account. 

To determine the required distances the resulting outlet temperatures are 

indicated in diagrams in the technical data of the components. 

Input value in the diagrams is the generated power of the braking 

resistors or the individual output current. See exemplary diagram below:


120 

100 

80 

60 

∆T [K] 

40 

20 

0 

Input value in the diagrams is the generated power of the braking 

resistors or the individual output current. See exemplary diagram below: 

0 50 100 150 200 250 300 350 400 450 500 

PBD [W] 

∆T @ d~0mm 

∆T @ d~40mm 

∆T @ d~80mm 

∆T @ d~120mm 

PBD: average continuous braking resistor power 

d: distance to top of device 

Fig. 6-7: Exemplary diagram 

The minimum distance for these mounting parts results from the 

intersection of the input value with the allowed temperature rise. 



Dimensions – Mains Filter HNF 


Drilling Pattern 

R 

K 

K 

P 

M 

N 

L 

HNF_bohrbild.fh7 

Note: The figure shows the back of the devices. 

Mains filter K [mm] L [mm] M [mm] N [mm] P [mm] R [mm] 

HNF01.1A-F240-E0051-A-480-NNNN 

HNF01.1A-M900-E0051-A-480-NNNN 

HNF01.1A-F240-E0125-A-480-NNNN 

HNF01.1A-M900-E0125-A-480-NNNN 

50 466 25 7 13 6,5 

125 466 12,5 7 13 6,5 

HNF01.1A-F240-E0202-A-480-NNNN 125 466 12,5 7 13 6,5 

HNF01.1A-M900-E0202-A-480-NNNN 150 466 50 7 13 6,5 

HNF01.1A-F240-R0026-A-480-NNNN 50 466 25 7 13 6,5 

HNF01.1A-M900-R0026-A-480-NNNN 100 466 25 7 13 6,5 

HNF01.1A-F240-R0065-A-480-NNNN 

HNF01.1A-M900-R0065-A-480-NNNN 

HNF01.1A-F240-R0094-A-480-NNNN 

HNF01.1A-M900-R0094-A-480-NNNN 

100 466 25 7 13 6,5 

125 466 12,5 7 13 6,5 

Fig. 6-8: Drilling pattern


Dimensions 

Mains filter A 

[mm] 

B 

B 

[mm] 

A 

C 

[mm] 

D 

[mm] 

H 

H 

E 

[mm] 

F 

L1 

L2 

L3 

X3 

Netz 

Line 

Last 

Load 

X3.2 

L1.1 

L2.1 

L3.1 

C 

F 

[mm] 

G 

G 

E 

D 

HNF_abmessungen.fh7 

G 

[mm] 

H max. 

tightening 

torque 

[Nm] 

HNF01.1A-F240-R0026-A-480-NNNN 480 262 100 440 - - 26 M6x20 8.6 

HNF01.1A-F240-E0051-A-480-NNNN 

HNF01.1A-M900-E0051-A-480-NNNN 

480 262 100 440 - - 33 

M6x16 

HNF01.1A-M900-R0026-A-480-NNNN 480 262 150 440 - - 26 M6x20 8.6 

HNF01.1A-F240-R0065-A-480-NNNN 

HNF01.1A-M900-R0065-A-480-NNNN 

HNF01.1A-F240-R0094-A-480-NNNN 

HNF01.1A-M900-R0094-A-480-NNNN 

HNF01.1A-F240-E0125-A-480-NNNN 

HNF01.1A-M900-E0125-A-480-NNNN 

480 262 150 440 40 110 40 

M6x16 

480 262 150 440 40 110 45 M10x30 

480 262 150 440 40 110 45 M10x30 

HNF01.1A-F240-E0202-A-480-NNNN 480 262 150 440 40 110 63.5 M10x30 25 

HNF01.1A-M900-E0202-A-480-NNNN 480 262 250 440 40 110 63.5 M10x30 25 

Fig. 6-9: Dimensions 

2.3 

4.8 

25 

25 



Dimensions – Mains Choke HNL01.1E (infeeding) 


Dimensions Type 1: 


Dimensions Type 3:


Mains choke Type 


Dim. 

[mm] 

A B C D D1 E F 1) 

G H 

HNL01.1E-1000-N0012-A-500-NNNN 1 120 61 164 81 - 44 6,4 x 11 2,7 

HNL01.1E-1000-N0020-A-500-NNNN 1 150 66,5 184 113 - 49,5 6,4 x 11 3,8 

HNL01.1E-0600-N0032-A-500-NNNN 1 150 66,5 185 113 - 49,5 6,4 x 11 4,5 

HNL01.1E-0571-N0050-A-500-NNNN 4 153 100 238 127 - 80 8,5 x 12 400 30 13 

HNL01.1E-0400-N0051-A-480-NNNN 1 180 112 225 125 80 87 7 x 15 13,5 

HNL01.1E-0362-N0080-A-500-NNNN 3 175 205 180 145 - 185 8,5 x 12 350 ca. 12 13 


HNL01.1E-0200-N0125-A-480-NNNN 1 230 148 295 180 - 122 8 x 12 24 


HNL01.1E-0100-N0202-A-480-NNNN 1 265 152 350 215 - 126 15 x 11 33 

1) long hole in "B" direction 

Fig. 6-10: Mechanical data HNL 

Weight 

[kg] 



Mains Choke UN 

[V] 


IN 

[A] 

LN 

[µH] 

PV 

[W] 

Imax 

[A] 

Lmin at Imax 

Connection 

Cross Section 

[mm²] 





AWG 8 



AWG 6 


AWG 1/0 



AWG 1/0 


Switching Capacity 

Switching Temperature 

Fig. 6-11: Electrical data HNL 

Temperature Contact a, b 

1 A / AC 250 V; DC 24 V 

125 °C 

Note: HNL01.1E mains chokes of type 1 are equipped with a 

temperature contact (a, b), types 2, 3 and 4 are not.


Dimensions – Standard Braking Resistors HLR01.1 

1) 

1 2 

123 

75 

Note: The standard braking resistors are intended to be mounted 

above the drive controllers HCS03; otherwise, forced 

convection (blower) with a volume stream of 200 m³/hour is to 

be provided. 

275 

19,5 

(M6) 

300 

165 

196 

235 

MBZU0032EN00.FH9 

Fig. 6-12: Dimensional drawing braking resistor HLR01.1N-0300-N17R5-A- 

007-NNNN 



(M6) 

(M6) 

350 

300 


223 

175 

1 2 

1) 

275 

19,5 

300 

165 

210 

Fig. 6-13: Dimensional drawing braking resistor 

HLR01.1N-0470-N11R7-A-007-NNNN and 

HLR01.1N-0780-N07R0-A-007-NNNN 

12 

1) 

275 

19,5 

300 

235 


165 

220 

235 


Fig. 6-14: Dimensional drawing braking resistor HLR01.1N-1K08-N05R0-A- 

007-NNNN 

Note: The joint bar (ground strap) is contained in the scope of supply 

of the standard braking resistors HLR01.


Dimensions – Reinforced Braking Resistors HLR01.1 

Fixed Resistors IP 20 Type A 

Fig. 6-15:Type A5 – A6 

Type Dimensions in mm Weight in kg 

H B T H1 B1 D 

A5 586 185 120 526 150 M6 5,2 

A6 686 185 120 626 150 M6 6,2 

Fig. 6-16: Dimensions table braking resistor type A 




Steel Grid Fixed Resistors IP 20 Type B 

Fig.: 6-17 Type B1 – B4 


B T H B1 T1 D 

B1 490 300 270 380 270 M10 9,5 

B2 490 400 270 380 370 M10 13 

B3 490 600 270 380 570 M10 22 

B4 490 800 270 380 770 M10 33 

B5 490 1000 270 380 970 M10 44 

Tab.: 6-1 Dimensions table braking resistor type B


Steel Grid Fixed Resistors IP 20 Type C 

Fig.: 6-18 Type C1 – C7 


B T H B1 T1 D 

C2 595 490 710 570 380 M10 56 

C3 795 490 710 770 380 M10 80 

C4 995 490 710 970 380 M10 93 

Tab.: 6-2 Dimensions table braking resistor type C 

Note: Under consideration of the technical data for the minimum 

braking resistance and the brake chopper, other braking 

resistors can be used alternatively. 



Dimensions – Motor Filter HMF 

H 

U2 V2 W2 PE 

104 

75 

125 

305 


330 

B1 

B 

277 

270 


Fig. 6-19: Dimensions motor filter HMF01.1A-N0K2-D0045-A-500-NNNN 

Type Dimensions in mm 

T 

MBZU0056EN00.fh9 

Fig. 6-20: Dimensions motor filter HMF01.1A-N0K2-D0073-A-500-NNNN, 

HMF01.1A-N0K2-D0095-A-500-NNNN and 

HMF01.1A-N0K2-D0145-A-500-NNNN 

B H T B1 H1 

0073 225 315 270 175 257 

0095 225 315 270 175 257 

0145 350 400 260 250 310 

Fig. 6-21: Dimensions motor filter


Arrangement of the Components HCS03.1 / 


U2 V2 W2 PE 

75 

125 

770 


Fig. 6-22: Sample mounting HCS03.1E-W0070 / HMF01.1A-N0K2-D0045 




B 

B1 

H 


Fig. 6-23: Sample mounting HCS03.1E-W0100 0150 0210 / motor filter 

HCS03.1E- H B B1 

W0100 720 225 175 

W0150 720 225 175 

W0210 780 350 250 

Fig. 6-24: Dimensions table for sample mounting HCS03.1E-…/ motor filter 

HMF


Arrangement of the Components HCS03.1 / Motor Filter 

and Mains Filter 

U2 V2 W2 PE 

PE 

PE 

X3 L3 

L2 

L1 

PE 

75 

125 

L1 L2 L3 PE 

770 

1075 


Fig. 6-25: Arrangement HCS03.1E-W0070 / motor filter and mains filter 

+ HAS05.1-001 + HAS05.1-002 




B 

B1 

H 


Fig. 6-26: Arrangement of device 0100, 0150, 0210 / motor filter and mains 

filter 

HCS03.1E- H B1 B 

W0100 980 175 225 

W0150 980 175 225 

W0210 1090 250 350 

Fig. 6-27: Dimensions table for sample mounting HCS03.1E-.. / mains filter / 

motor filter


Combination of Drive Controllers of the Rexroth IndraDrive C Product 

Range 

Fig. 6-28: Rexroth IndraDrive C components 

Note: Observe that using HAS04 accessory at the HCS arranged at 

the utmost left position requires additional space of 30 mm. 

Rexroth IndraDrive components are arranged in line to the 

right starting from the supplying device. Arrange the drive 

controllers with high capacity as close to the supplying unit as 

possible. 

The HAS02 accessories in the figure require additional 

mounting clearance. 




Dimension Z is significantly determined by the involved components. The 

table below contains the dimensions Z between the component arranged 

to the left and the component arranged to the right. 

Component left Component right 

HCS02.1E-W0012 










HCS03.1E-W0070 

HCS03.1E-W0100 

HCS03.1E-W0150 







HCS03.1E-W0070 

HCS03.1E-W0100 

HCS03.1E-W0150 

HCS03.1E-W0210 HCS03.1E-W0210 

HCS03.1E-W0070 

HCS03.1E-W0100 

HCS03.1E-W0150 

HCS03.1E-W0210 

Fig. 6-29: Table for dimension Z 

HCS03.1E-W0210 

HCS03.1E-W0070 

HCS03.1E-W0100 

HCS03.1E-W0150 

Dimension Z 

[mm] 

70 

55 

50 

(without distance 

between the 

components) 

57,5 


between the 

components) 

62,5 

50 


between the 

components) 

100 


between the 

components) 

75 


between the 

components) 

75 


between the 

components)


Multiple-Line Arrangement of Drive Controllers 

Control Cabinet with Multiple-Line Structure 

Note: Particular attention should be paid to the maximum allowed air 

intake temperature of components when they are arranged in 

multiple lines in the control cabinet. Where necessary, cooling 

air guides are to be provided with blowers specially used for 

this purpose. 

additional 

blower 

conveying direction of heated air 

in flow-off area 

intake area of cooling air for 

upper device line 

conveying direction of heated air 

in flow-off area 

intake area of cooling air for 

lower device line 

outlet air to 

cooling unit 

air guide 

supply air 

from cooling 

unit 

Fig. 6-30: Example of arrangement for multiple-line structure with components 



6.2 Electrical Installation 


Note: For successful project planning of the electrical installation 

with regard to EMC, also observe the Project Planning Manual 

on the drive system Rexroth IndraDrive. The explanations 

below will help you detect and remove malfunction. 

Rules for Design of Installations with Drive Controllers in Compliance 

with EMC 

Mains Filter 

Control Cabinet Grounding 

Line Routing 

Interference Suppression 

Elements 

Twisted Wires 

Lines of Measuring Systems 

Digital Signal Lines 

Analog Signal Lines 

The following rules are the basics for designing and installing drives in 

compliance with EMC. 

Correctly use a mains filter recommended by Rexroth for radio 

interference suppression in the supply feeder of the AC drive system. 

All metal parts of the cabinet have to be connected with one another over 

the largest possible surface area to establish a good electrical connection. 

This, too, applies to the mounting of the EMC filter. If required, use 

serrated washers which cut through the paint surface. The cabinet door 

should be connected to the cabinet using the shortest possible grounding 

straps. 

Avoid coupling routes between lines with high potential of noise and 

noise-free lines, therefore signal, mains and motor lines and power cables 

have to be routed separately from another (this eliminates mutual 

interference!). Minimum clearance: 10 cm. Provide separating sheets 

between power and signal lines. Separating sheets have to be grounded 

at several points. 

Lines with high potential of noise at the drive controller are lines for the 

mains supply (incl. mains synchronization), lines at the motor connection 

and DC bus connections. 

Generally, interference injection are reduced by routing cables close to 

grounded sheet steel panels. For this reason, cables and wires should not 

be routed freely in the cabinet, but close to the cabinet housing or 

mounting panels. The incoming and outgoing cables of the radio 

interference suppression filter have to be separated. 

Contactors, relays, solenoid valves, electromechanical operating hour 

counters etc. in the control cabinet must be provided with interference 

suppression combinations. These combinations must be connected 

directly at each coil. 

Non-shielded cables belonging to the same circuit (feeder and return 

cable) have to be twisted or the surface between feeder and return cable 

has to be kept as small as possible. Ground cables that are not used at 

both ends. 

Lines of measuring systems have to be shielded. The shield has to be 

connected to ground at both ends and over the largest possible surface 

area. The shield may not be interrupted, e.g. using intermediate terminals. 

The shields of digital signal lines have to be grounded at both ends 

(transmitter and receiver) over the largest possible surface area and with 

low impedance. Bad ground connection between transmitter and receiver 

requires additional routing of a bonding conductor (min. 10 mm²). Braided 

shields are to be preferred to foil shields. 

The shields of analog signal lines generally have to be grounded at one 

end (transmitter or receiver) over the largest possible surface area and


Connection of Mains Choke to 

Drive Controller 

Installation of Motor Power 

Cable 

with low impedance, in order to avoid low-frequency interference current 

(in the mains frequency range) on the shield. 

Keep connection lines of mains chokes as short as possible and twist 

them. 

• Preferably use the motor power cables with shield provided by 

Rexroth. If you use other motor power cables, they have to be run in 

shielded form. 

• Keep length of motor power cable as short as possible. 

• Ground shield of motor cable at both ends over the largest possible 

surface area to establish a good electrical connection. 

• Run motor lines in shielded form inside the control cabinet. 

• Do not use any steel-shielded lines. 

• The shield of the motor cable mustn't be interrupted by mounted 

components, such as output chokes, sine filters, motor filters. 

EMC-Optimal Installation in Facility and Control Cabinet 

With regard to EMC-optimal installation, a spatial separation of the 

interference-free area (mains connection) and the interferencesusceptible 

area (drive components) is recommended, as shown in the 

figures below. 

Note: For EMC-optimal installation in the control cabinet use a 

separate control cabinet panel for the drive components. 

Division into Areas (Zones) 

The arrangement in the control cabinet can be seen from Fig. 6-31. 

There are three areas to be distinguished: 

1. Interference-free area of control section (area A): 

This includes: 

• supply feeder, input terminals, fuse, main switch, mains side of mains 

filter for drives and corresponding connecting lines 

• control voltage or auxiliary voltage connection with power supply unit, 

fuse and other parts unless connection is run via the mains filter of 

the AC drives 

• all components that aren't electrically connected with the drive system 

2. Interference-susceptible area (area B): 

• mains connections between drive system and mains filter for drives, 

mains contactor 

• interface lines of drive controller 

3. Strongly interference-susceptible area (area C): 

• motor cable including single strands 

Never run lines of one of these areas in parallel with lines of another area 

so that there isn't any unwanted interference injection from one area to 

the other and that the filter is jumpered with regard to high frequency. 

Keep connection lines as short as possible. 

For complex systems it is recommended to put the drive components into 

a cabinet and the controls into a separate second cabinet. 




Badly grounded control cabinet doors act as antennas. It is recommended 

to connect the doors to the control section on top, in the middle and on 

the bottom via short equipment grounding conductors with a cross section 

of at least 6 mm 2 or, even better, via grounding straps with the same 

cross section. Make sure connection points have good contact. 

Fig. 6-31: Separation of interference-free area and interference-susceptible 

area in control cabinet


Arranging the Components in 

the Control Cabinet 

Cable Routing of the 

Interference-Free Lines to the 

Mains Connection 

Routing and Connecting a 

Neutral Conductor (N) 

Connecting Motor Blowers 

Design and Installation in Interference-Free Area of 

Control Cabinet (Area A) 

When arranging the components in the control cabinet, it is 

recommended that you place the components and electrical elements 

(switches, pushbuttons, fuses, terminal connectors) in the interferencefree 

zone A with a distance of at least d1 = 200 mm to the components in 

both other zones B and C. 

In particular, a distance of at least d2 = 500mm has to be kept in zone A 

between magnetic components, such as transformers, line reactors and 

DC-link reactors, that are directly connected to the power terminals of the 

drive system and the interference-free components and lines between 

supply system and filter including the mains filter. If this distance is not 

kept, the magnetic leakage fields are injected to the interference-free 

components and lines connected to the mains so that the limit values at 

the supply connection are exceeded in spite of the installed filter. 

The distance between the power input line and the lines between filter 

and exit point from the control cabinet in area A and the lines in areas B 

and C must be at least 200 mm (distances d1 and d3 in the figure) at all 

points. 

If this is impossible, there are two alternatives: 

• Install these lines with a shield and connect the shield, at several 

points, but at least at the beginning and at the end of the line, to the 

mounting plate or the control cabinet housing over a large surface 

area, or: 

• Separate these lines from the other interference-susceptible lines in 

zones B and C by means of a grounded distance plate vertically 

attached to the mounting plate. 

In addition, these lines have to be kept as short as possible within the 

control cabinet and installed directly on the grounded metal surface of the 

mounting plate or of the control cabinet housing. 

Mains supply lines from zones B and C must not be connected to the 

mains without a filter. 

Note: In case the information on cable routing given in this section is 

not observed, the effect of the mains filter is totally or partly 

neutralized. You must therefore expect the noise level of the 

interference emission to be higher within the range of 150 kHz 

to 40 MHz and the limit values at the connection points of the 

machine or installation to be exceeded. 

If a neutral conductor is used together with a three-phase connection, it 

must not be installed unfiltered in zones B and C, in order to keep 

interference off the mains. 

Single-phase or three-phase supply lines of motor ventilators, that are 

usually routed in parallel with motor cables or interference-susceptible 

lines, also have to be provided with a filter. They either have to be filtered 

via a separate single-phase filter (NFE type) or three-phase filter (HNF, 

NFD type) near the supply connection of the control cabinet, or to be 

connected at the load side of the existing three-phase filter for the power 

connector of the drive system. When switching power off, make sure the 

ventilator is not switched off. 



Shielding Mains Supply Lines in 

Control Cabinet 

Mains Filters for AC Drives 

Grounding 

Point of Connection for 

Equipment Grounding 

Conductor of Machine, 

Installation, Control Cabinet 

Arranging Components and 

Lines 

Control Voltage or Auxiliary 

Voltage Connection 

Line Routing 


If there is a high degree of interference injection to the power input line 

within the control cabinet, in spite of you having observed the above 

instructions (to be found out by standard EMC measurement), the lines in 

area A have to be routed in shielded form. In this case the shields have to 

be connected to the mounting plate at the beginning and the end of the 

line by means of clips. The same procedure may be required for long 

cables of more than 2 m between the point of power supply connection of 

the control cabinet and the filter within the control cabinet. 

The mains filter ideally should be mounted on the parting line between 

area A and B. Make sure the ground connection between filter housing 

and housing of the drive controllers has good electrically conductive 

properties. If single-phase loads are connected on the load side of the 

filter, their current may only be a maximum of 10% of the three-phase 

operating current. A highly imbalanced load of the filter would deteriorate 

its interference suppression capacity. 

If the mains voltage is more than 480 V, the filter has to be connected on 

the output side of the transformer and not on its supply side. 

In the case of bad ground connections in the installation, the distance 

between the lines to the grounding points E1, E2 in area A and the other 

grounding points of the drive system should be at least d4 = 400 mm, in 

order to minimize interference injection from ground and ground cables to 

the power input lines. 

The equipment grounding conductor of the power cable of the machine, 

installation or control cabinet of the has to be firmly connected at point 

PE and have a cross section of at least 10 mm 2 or to be complemented 

by a second equipment grounding conductor via separate terminal 

connectors (according to EN50178/ 1997, section 5.3.2.1). If the cross 

section of the outer conductor is bigger, the cross section of the 

equipment grounding conductor has to be adjusted accordingly. 

Design and Installation in Interference-Susceptible Area 

of Control Cabinet (Area B) 

Modules, components and lines in area B should be placed at a distance 

of at least d1 = 200 mm from modules and lines in area A or shielded by 

distance plates mounted vertically on the mounting plate. As an 

alternative, the lines can be shielded. 

Power supply units for auxiliary or control voltage connections in the drive 

system mustn't be directly connected to the mains, but have to be 

connected to the mains via a mains filter, as indicated in Fig. 6-31. 

Keep line length between drive controller and filter as short as possible. 

Avoid unnecessary lengths. 

Only in exceptional cases should a connection of power supply unit and 

fusing for the control voltage connection be made at phase and neutral 

conductor. In this case these components have to be mounted and 

installed in area A, far away from the areas B and C of the drive system. 

For details see chapter "Design and Installation in Interference-Free Area 

of Control Cabinet (Area A)". 

The connection between control voltage connection of the drive system 

and power supply unit used has to be run through area B over the 

shortest distance. 

Run the lines along grounded metal surfaces, in order to minimize 

radiation of interference fields to area A (transmitting antenna effect).


Influence of the Motor Power 

Cable 

Routing the Motor Cables 

cable duct 1: 

mains connection 

lines 

Design and Installation in Strongly Interference- 

Susceptible Area of Control Cabinet (Area C) 

Area C mainly concerns the motor cables, especially at the connection 

point at the device. 

The discharge capacitance is limited to ensure compliance with the limit 

values. The calculation of the discharge capacitance can be found in the 

"Calculations" chapter. 

If the applications allows this, the cable length should always be kept 

short. Avoid unnecessary line lengths. 

The motor cables have to be run in shielded form. Besides they are 

always to be routed with a distance of d5 = 100 mm to the other 

interference-free lines and to signal cables and lines, or to be separated 

from them by a grounded distance plate. The latter is not required for the 

feedback cables of Rexroth motors. 

At the drive controller connection the motor cables and the (unfiltered) 

power connection lines may only be routed in parallel for a distance of 

300 mm. After that distance, motor cables and power supply cables have 

to be routed in opposite directions in separate cables ducts, as illustrated 

in the following figures (Fig. 6-32; Fig. 6-33) by the example of a drive 

system with separate mains connection per drive axis IndraDrive HCS. 

Area B drive controllers 

Area C 

motor cable: 

shield contact via clips at least at one point: 

alternatively at device or on mounting plate at 

control cabinet outlet 

parallel routing: 

length max. 300 mm 

cable duct 2: 

motor cable 

with a distance of at least 100 mm 

or separated by grounded 

distance plate 

Fig. 6-32: Option 1: separate routing of motor cable and mains connection lines 

via 2 cable ducts 



Area B drive controllers 

Area C 

cable duct 1: 


lines 

Additional Recommendations on 

Cable Routing 


parallel routing: 

length max. 300 mm 

cable duct 2: 

motor cable 

motor cable: 

shield contact via clips at least at one 

point: alternatively at device or on 

mounting plate at control cabinet outlet 

control cabinet outlet 

motor cables 

Fig. 6-33: Option 2: separate routing of motor cable and mains connection lines 

The motor cables should be routed along grounded metal surfaces, both 

inside the control cabinet and outside of it, in order to minimize radiation 

of interference fields. If possible the motor cables should be routed in 

metal-grounded cable ducts. 

The outlet of the motor cables at the control cabinet should ideally be 

provided in a distance of at least d3 = 200 mm from the (filtered) power 

supply cable.


Ground Connections 

Housing and Mounting Plate 

Connection Elements 

Metal Surfaces 

Ground Wires and Shield 

Connections 

By means of appropriate ground connections it is possible to avoid the 

emission of interference, because interference is discharged to earth on 

the shortest possible way. Ground connection of the metal housings of 

EMC-critical components such as filters, devices of the drive system, 

connection points of the cable shields, devices with microprocessor and 

switching power supply units have to be over a large surface area and 

well contacted. This also applies to all screw connections of between 

mounting plate and control cabinet wall and to the mounting of a ground 

bus to the mounting plate. 

For this purpose it is recommended to use a zinc-coated or chromatized 

mounting plate. Compared to a lacquered plate, the connections in this 

case have a good long-time stability. 

For lacquered mounting plates always use screw connections with tooth 

lock washers and zinc-coated, tinned screws as connection elements. At 

the connection points selectively scratch off the lacquer so that there is 

safe electrical contact over a large surface area. Contact over a large 

surface area is established by means of bare connection surfaces or 

several connection screws. For screw connections the contact to 

lacquered surfaces is ensured by using tooth lock washers. 

In any case use connection elements with good electroconductive 

surface. 

Bare zinc-coated, tinned and chromatized metal surfaces have good 

electroconductive properties. Anodized, yellow chromatized, black 

gunmetal finish or lacquered metal surfaces have bad electroconductive 

properties and therefore shouldn't be used for connection elements 

(screws, nuts, plain washers). 

For connecting ground wires and shield connections it is not the cross 

section but the size of contact surface that is important, as the highfrequency 

interference currents mainly flow on the surface of the 

conductor. 

Any connection of cable shields, especially of shields of the motor power 

cables with ground potential (see section "Connection of Motor Cable to 

Drive Controller") always has to be provided over a large surface area. 



Installing Signal Lines and Cables 

Line Routing 

Shielding 


For measures to prevent interference see the Project Planning Manuals 

of the respective device. In addition, observe the following 

recommendations: 

Signal and control lines have to be routed separately from the power 

cables with a minimum distance of d5 = 100 mm (see Fig. 6-31: ) or with 

a grounded separating sheet. The optimum way is to route them in 

separate cable ducts. If possible, lead signal lines into control cabinet at 

one point only. 

Exception: If there is no other way to do it, motor feedback cables can be 

routed together with the motor power cables. 

If signal lines are crossing power cables, they should be routed in an 

angle of 90° in order to avoid interference injection. 

Spare cables that are not used and have been connected should be 

grounded at least at both ends so that they don't have any antenna effect. 

Avoid unnecessary line lengths. 

Run cables as close as possible to grounded metal surfaces (reference 

potential). The ideal solution are closed, grounded cable ducts or metal 

pipes which, however, is only obligatory for high requirements (sensitive 

instrument leads). 

Avoid suspended lines or lines routed along synthetic carriers, because 

they are functioning both like good reception antennas (noise immunity) 

and like good transmitting antennas (emission of interference). 

Exceptional cases are trailing cable installations over short distance of a 

max. of 5 m. 

The cable shield has to be connected immediately at the devices in the 

shortest and most direct possible way and over the largest possible 

surface area. 

The shield of analog signal lines is connected at one end over a large 

surface area, normally in the control cabinet at the analog device. Make 

sure the connection to ground/housing is over a large surface area and 

short. 

The shield of digital signal lines is connected at both ends over a large 

surface area and in short form. In the case of potential differences 

between beginning and end of the line, run an additional bonding 

conductor in parallel. The guide value for the cross section is 10 mm 2 . 

You absolutely have to equip separable connections with connectors with 

grounded metal housing. 

In the case of non-shielded lines belonging to the same circuit, twist 

feeder and return cable.


General Measures of Radio Interference Suppression for Relays, 

Contactors, Switches, Chokes, Inductive Loads 

If, in conjunction with electronic devices and components, inductive loads, 

such as chokes, contactors, relays are switched by contacts or 

semiconductors, appropriate interference suppression has to be provided 

for them. In the case of d.c. operation, this is achieved by arranging freewheeling 

diodes and in the case of a.c. operation, by arranging usual RC 

interference suppression elements depending on the contactor type, 

immediately at the inductance. Only the interference suppression element 

arranged immediately at the inductance serves this purpose. Otherwise 

the emitted noise level is too high which can affect the function of the 

electronic system and of the drive. 

If possible, mechanical switches and contacts should only be realized as 

snap contacts. Contact pressure and contact material must be suited for 

the corresponding switching currents. 

Slow-action contacts should be replaced by snap switches or by solidstate 

switches, because slow-action contacts strongly bounce and are in 

an undefined switching status for a long time which emits electromagnetic 

waves in the case of inductive loads. These waves are an especially 

critical aspect in the case of manometric or temperature switches. 



Installing the 24V Supply 


As a matter of principle, the 24V supply of the components of the drive 

system Rexroth IndraDrive has to be installed in star-shaped form, i.e. for 

each group of drive controllers or third-party components it is necessary 

to run separate supply lines. This, too, applies to multiple-line 

arrangement in the case of supply from a supply unit, for example. 

PE 

24V 

2) 

HCS02 

HMV 

1) 

HCS02 

HMS 

HMD 

DA000006v01_nn 

1) third-party component (e.g. PLC, valve etc.) 

2) connection to central ground point (e.g. earth-circuit connector) 

Fig. 6-34: Installing the 24V supply 

Note: If you use several power supply units for 24 V supply, make 

sure that 

• the reference conductors 0V of the individual power supply 

units are interconnected with low impedance 

• the output voltages of the power supply units are within the 

allowed voltage range 

• the power supply units are synchronously switched on and off.


Connection Diagram 

HCS02 

X1out 1-8 

X1in 1-8 

X3 L1 

L2 

L3 

X5 A1 

A2 

A3 

X6 1 

2 

3 

4 

X9 1 

2 

XS1 

X1:Out 

X1:In 

X13:1 0V 

X13:2 0V 

X13:3 +24V 

X13:4 +24V 

L+ 

L+ 

L- 

L- 

L1 

L2 

L3 

A1 

A2 

A3 

MotTemp+ 

MotTemp- 

+24VBr 

0VBr 

1 

2 

XS2 

shield connection 

bus connection OUT 

bus connection IN 

control voltage 

DC bus 


motor connection 

motor temperature monitoring 

motor holding brake 

external braking resistor 


anschlussplan_w0054u70.fh7 

X1, L+/L not available for HCS02.1E-W0012 

X9 not available for HCS02.1E-W0012 and –W0028 

Fig. 6-35: Complete connection diagram 

Note: Apart from the connections listed below, it is necessary to wire 

the Bb contact at the control section for signaling the 

readiness for operation of the drive controller. 



to following 

drive control 

from 

drive control 

control unit interface 

X1 

X1 


ribbon cable 

bus connection 

. 

ribbon cable 

bus connection 

HCS03 

drive controller 

L + 

power voltage 

(terminal bar) 

DC bus 

L + 

L - 

L - 

power voltage 


DC bus 

+24 V 



+24 V 

0 V 

MotTemp- 

MotTemp+ 

0VBr 

+24VBr 

power connection 

brakeresistor 



0 V 

A1 A2 A3 

X6 

X5 

L1 L2 L3 

X3 

X9 1 2 

Fig. 6-36: Connection diagram 

2 

1 

4 

3 

shield support 

Motor cable 

H 

E 

G 

F 

D 

C 

B 

A 

U 

M 3 

encoder connection 

optionaly 

PTC / 

NTC / 

KTY84 

(in dependence of 

motor type) 

holding 

brake 

AC - Motor 

APHC0001EN00.FH9


Connections and Connectors 

XS1 

1 2 3 4 

X13 

hcs0012_front.fh7 

Power Sections HCS02.1E-W0012 

XS2 

1 2 3 4 

X6 

X5 

X3 

hcs0028_x3_x5_x6.fh7 

X3: Mains connection 

X5: Motor connection 

X6: Motor temperature monitoring and motor holding brake 

X13: Control voltage connection 

XS1: Shield connection of signal cables 

XS2: Shield connection of motor cable 

Fig. 6-37: HCS02.1E-W0012 power section connections (left: front, 

right: bottom) 



X1 out 

L+ 


L- 

Power Sections HCS02.1E-W0028, -W0054, -W0070 

X9 

XS2 

XS1 

X1 in 

1 2 3 4 

X13 

hcs0028_front.fh7 

XS2 

1 2 3 4 

X3 X5 

X6 

hcs0054_x3_x5_x6_x9.fh7 

1 2 3 4 

X6 

X5 

X3 

hcs0028_x3_x5_x6.fh7 

X1: Module bus 



X6: Motor temperature monitoring and motor holding brake 

X9: Braking resistor connection 

X13: Control voltage connection 

XS1: Shield connection of signal cables 

XS2: Shield connection of motor cable 

Fig. 6-38: HCS02.1E-W0028, -W0054, -W0070 power section connections (left 

above: front, right above: bottom –W0028, below: bottom –W0054 

and –W0070)


4, 6 

1.1 

5 

PE 

Power Sections HCS03.1 

X5 X3 

A1 A2 A3 L1 L2 L3 

9 

24V 

0V 

L+ 

L+ 

L- L- 

1, 1.1: Module bus X1 

2: Control voltage; +24 V and 0 V 

3: DC bus; L+ and L- 

4: Connection of equipment grounding conductor 

5: Motor 

6: Shield connection of motor cable 

7: Motor temperature monitoring and motor holding brake (X6) 

8: Mains connection 

Fig. 6-39: Connections at power section HCS03.1 

X6 

PE 

1 

2 

3 

7 

8 



Graphic Representation 

Design 


1 2 3 4 

A1 A2 A3 PE 

L1 L2 L3 PE 

X6 

X5 

X3 



X6: Connection of motor temperature, motor holding brake 

Fig. 6-40: Connections at power section (bottom) HCS03.1E-W0070 

X1, Module Bus 

The module bus permits data exchange between the drive controllers. 

Fig. 6-41: X1 

X1 out X1 in 

X1f2.FH7 

Type No. of poles Type of design 

Ribbon cable connector 8 Connector at device 

Ribbon cable socket 8 Socket at ribbon cable 

Fig. 6-42: Design


Design 

Connection Cross Section 

X3, Mains Connection 

DANGER 

High electrical voltage! Danger to life, severe 

bodily harm by electric shock! 

Always operate the drive controller with plugged on 

⇒ 

connector! 

HCS02.1E- Type Number of 

poles 

W0012 Screw terminal 

block 


block 


block 


block 

Fig. 6-43: Design 

Type of design 

4 Pins on device 




HCS03.1E- Type No. of poles Type of design 

W0070 Connector 4 Screw connection 

W0100 Terminal block 3 Screw connection for 

M6 ring cable lugs 




M10 ring cable lug 


Identification of the individual connections: 

Identification Significance 

L1 phase 1 

L2 phase 2 

L3 phase 3 

(PE) equipment grounding conductor 

Fig. 6-45: Identification of the individual connections mains connection 

Note: Only with single-phase operation: connect the connecting lines 

of the mains voltage supply L1 and N with the connections L1 

and L2. 

HCS02.1E- Cross section 

single-wire 

[mm²] 

Cross section 

multi-wire 

[mm²] 

Cross section 

in AWG 

W0012, W0028 0,2-4 0,2-4 24-10 

W0054, W0070 0,5-10 0,5-10 20-8 

Fig. 6-46: Connection cross section 



Tightening Torque 

Design 


HCS03.1E- Cross section 

single-wire 

[mm²] 

Cross section 

multi-wire 

[mm²] 

Cross section 

in AWG 

W0070 16 - 6 

W0100 35 - 2 

W0150 50 2*25 0 

W0210 95 2*50 4/0 


HCS02.1E- Tightening torque [Nm] 

W0012, W0028 0,5 – 0,6 

W0054, W0070 1,2 – 1,5 

Fig. 6-48: Tightening torques 

HCS03.1E- Tightening torque [Nm] 

W0070 1,5 

W0100, W0150 6 

W0210 

Fig. 6-49: Tightening torques 

25 

CAUTION 

Damage to the drive controller 

Strain relief for the motor power cable must be 

⇒ 

provided within the control cabinet, or you can use 

the optionally available connection accessory 

HAS02.1. 

Note: Observe the following for use within the scope of C-UL: 

• Use 60/75 °C copper wire only 

• Use Class 1 wire only or equivalent 

• Suitable for use on a circuit capable of delivering not more 

than 8 kA (10 kA) rms symmetrical amperes for a 

maximum voltage of 500 V (400 V) 

X5, Motor Connection 

DANGER 




⇒ 

connector! 

HCS02.1E- Type No. of 

poles 

W0012..0070 Screw terminal 

block 



4 Pins on device


Short Circuit Protection 



HCS03.1E- Type No. of 

poles 



W0100, W00150 Terminal block 3 Screw connection for 





Identification of the individual connections: 


A1 phase 1 

A2 phase 2 

A3 phase 3 

(PE) equipment grounding conductor 

Fig. 6-52: Identification of the individual connections motor connection 

The outputs A1, A2, A3 are short-circuit proof at the device output against 

each other and against ground. 


single-wire 

[mm²] 

Cross section 

multi-wire 

[mm²] 

Cross section 

in AWG 

W0012, W0028 0,2-4 0,2-4 24-10 

W0054, W0070 0,5-10 0,5-10 20-8 



single-wire 

[mm²] 

Cross section 

multi-wire 

[mm²] 

Cross section 

in AWG 

W0070 16 - 6 

W0100 35 - 2 

W0150 50 2*25 0 

W0210 95 2*50 4/0 



W0012, W0028 0,5 – 0,6 

W0054, W0070 1,2 – 1,5 

Fig. 6-55: Tightening Torque 


W0070 1,5 

W0100, W0150 6 

W0210 

Fig. 6-56: Tightening Torque 

25 



Connection of the Motor Power 

Cable 

Shield Connection with 

Accessory HAS02 

Shield Connection without 

Accessory HAS02 


For the connection between drive controller and motor, use Rexroth motor 

power cables (see documentation "Rexroth Connection Cables; Selection 

Data", DOK-CONNEC-CABLE*STAND-AUxx-EN-P). 

CAUTION 

Damage to the drive controller! 

⇒ Strain relief for the motor power cables cannot be 

provided at the drive controller. Therefore, make 

sure strain relief of the motor power cables is 

provided in the control cabinet or cable use our 

special accessories HAS02.1. 

Connection of Motor Cable to Drive Controller 

There are the following minimum requirements for connecting the motor 

cables to the drive controller: 

• Connect the shield of the motor cable over the largest possible 

surface area (with low impedance) to the drive controller. The 

connection of cable shields by means of round wires (so-called "pig 

tails") at the cable ends to ground and housing is normally insufficient. 

• Make sure there is sufficient strain relief for the motor cable itself. 

Optional accessory HAS02 to be used with connection over a large 

surface area directly to the device. This is the best solution. The figure 

below illustrates this by the example of HCS02 drive controllers: 

Fig. 6-57: Connecting HAS02 to HCS02 

DG000004v01_NN.tif 

For shield connection without HAS02 accessory connect the cable shield 

with the lowest possible impedance to the drive controller. 

The following paragraphs describe two basic alternatives of this kind of 

connection.


Alternative 1 

Connect cable shield to a ground bus. The maximum distance between 

ground bus and device connection is 100 mm. For this purpose take the 

given length of the single strands at the cable end into account for readymade 

Rexroth motor power cables. 

6 

4 

5 

3 

2 

7 

motorkabel_schirmauflage_b.fh7 

1: drive controller 

2: clip for shield contact 

3: overall shield of the motor power cable folded back 

4: ground bus in control cabinet 

5: single strands of motor power cable 

6: connection of ground bus to supplying device 

7: strain relief (as near as possible to control cabinet outlet) 

Fig. 6-58: Shield contact, alternative 1 

• With a clip (2) connect overall shield of motor power cable (3) to 

ground bus (4). 

(If you use your own cable make sure the shields of the two inner 

pairs of wires are in contact with the overall shield.) 

• With a cable (6) (line cross section at least 10 mm2) connect ground 

bus (4) to ground connection at supplying device (Rexroth IndraDrive 

supply unit or Rexroth IndraDrive drive controller HCS). 


1


Alternative 2 


Connect cable shield to a ground bus. The cable length between device 

and ground bus mustn't be more than a max. of 1 m. For this purpose 

prepare the motor cable in accordance with the description below: 

6 

4 

A 

2 

3 

7 

5 

8 

motorkabel_schirmauflage_a.fh7 

1: drive controller 

2: cable tie 

3: overall shield of the motor power cable folded back 

4: ground bus in control cabinet 

5: connection between overall shield of motor power cable laying bare 

and ground bus 

6: connection of ground bus to supplying device 

7: strain relief (as near as possible to the drive-side cable end) 

8: strain relief (as near as possible to control cabinet outlet) 

A: cable length between ground bus and device: < 1m 

Fig. 6-59: Shield contact, alternative 2 

• With a cable tie (2) press the drive-side cable end in such a way that 

the shields of the two inner pairs of wires (motor temperature, holding 

brake) have good contact with the overall shield of the motor power 

cable (3). 

(If you use your own cable make sure the shields of the two inner 

pairs of wires are in contact with the overall shield.) 

• On the level of the ground bus in the control cabinet remove a piece 

of the cable sheath from the motor power cable in order to lay bare 

the overall shield (5). 

• Connect overall shield (5) to ground bus in the control cabinet with an 

appropriate connection (clip). The connection must have a cross 

section of at least 10 mm2 . 

• With a cable (6) (line cross section at least 10 mm2) connect ground 

bus (4) to ground connection at supplying device (Rexroth IndraDrive 

supply unit or Rexroth IndraDrive drive controller HCS). 

• Make sure there is sufficient strain relief for the motor power cable as 

near as possible to the drive-side cable end (7). 

1


Bonding Conductor 

Shield Connection of Kit Motors 

Shield Connection for Linear 

Motors 

Shielding of Temperature 

Monitor and Brake 

Design 

Connection 

• In addition, make sure there is sufficient strain relief for the motor 

power cable as near as possible to the control cabinet outlet of the 

motor power cable (8). 

Note: Do not remove the shield of the motor cable between ground 

bus and device. 

If the motor cables are routed to the control cabinet via flange boxes, the 

shield is directly connected to the wall of the control cabinet over a large 

surface area via the housing of the flange box. Make sure there is 

sufficient separate strain relief. 

Bad ground connection between motor housing and control cabinet 

housing, as well as long motor cables, can require additional routing of a 

bonding conductor of a cross section of normally 10 mm² between control 

cabinet housing and motor housing. 

Note: For cable lengths of more than 50 m the cross section should 

be at least 35 mm 2 . 

For kit motors make sure that the connection lines are run in shielded 

form or under metal between winding and terminal box, if the terminal box 

is not directly mounted on the spindle case. 

For linear motors connect the shield of the connection cable between 

primary part and terminal box via clips to machine housing or metal shell. 

The inner shields of temperature monitor and brake in the motor cable are 

connected to the drive controller at one end. 

X6, Motor Temperature Monitoring and 

Motor Holding Brake 

The drive controller is supplied with 24V for the motor holding brake via 

the control voltage connection. 

DANGER 




⇒ 

connector, because high voltages can occur at the 

connector at the end of the cable (coming from 

motor)! 

Type Number of poles Type of design 

Spring tension 4 Pins on device 


1 MotTemp+ 

2 MotTemp- 

3 +24 V 

4 0 V 

Monitoring the motor 

temperature 

Motor holding brake 





HCS02.1N-W0012, -W0028, -W0054, -W0070: 

Cross section 

single-wire 

[mm²] 

Cross section 

multi-wire 

[mm²] 

Cross section 

in AWG 

0.14-1.5 0.14-1.5 28-16 


HCS03.1E-W0070: 

Cross section 

single-wire 

[mm²] 

Cross section 

multi-wire 

[mm²] 

Cross section 

in AWG 

1,5 1,5 16 

Fig. 6-62: Connection cross section X6 (HCS03.1E-W0070) 

HCS03.1E-W0100, -W0150 and W0210: 

Cross section 

single-wire 

[mm²] 

Cross section 

multi-wire 

[mm²] 

Cross section 

in AWG 

2,5 2,5 12 

Fig. 6-63: Connection cross section X6 (HCS03.1E-W0100…0210) 

Note: Make sure the voltage supply for the motor holding brake is 

sufficient. In this respect observe the lengths and cross 

sections of the cables used. 

X5 

A 

A1 A2 A3 

B 

M 

3 

C 

D 

1 

E 

MotTemp+ 

2 

H 

MotTemp- 

3 

F 

+24VBr 

4 

G 

U 

0VBr 

PTC / 

NTC / 

KTY84 

(depends on motor type) 

X6 

holding 

brake 

shield for 

motor cable 

AC motor 

x6_kabel_anschluss.FH7 

Fig. 6-64: Motor cable, temperature monitor and holding brake connection


Controlling the Motor Holding 

Brake 

Design 

CAUTION 

DANGER 

Maximum allowed braking current: 

• HCS02.1N-W0012…-W0070: 2.0 A eff 

• HCS03.1N-W0070…-W0210: 2.0 A eff 

Where braking currents are higher, the motor holding 

brake must be activated by means of an external contact 

element. 

The contact elements used in the drive controller are 

subject to wear. Guaranteed number of switching 

actions at max. time constant of load < 50 ms 

(LBrake/(24V/IBrake)): 250.000. 

Maximum switching frequency: 0.5 Hz 

Dangerous movements! Danger to personnel 

from falling or slipping axes! 

⇒ The standard motor holding brake provided or an 

external motor holding brake controlled directly by 

the drive controller are not sufficient on their own to 

guarantee the safety of personnel! 

⇒ Personnel safety must be achieved using higherranking, 

fail-safe procedures: 

Dangerous areas should be blocked off with 

protective fences or grids. 

Additionally secure vertical axes against falling or 

sinking after switching off the motor power by, for 

example: 

- mechanically locking the vertical axis 

- providing external braking/catching/clamping 

mechanisms 

- adequately counterbalancing the axis. 

For the current consumption of the motor holding brake see the project 

planning documentation for the AC motors. 

The motor holding brake of the AC motors has not been designed as a 

service brake. After approximately 20,000 motor revolutions against the 

closed brake armature disc it will be worn. 

The drive controller can assume the control of the motor holding brake. 

X9, Connection of Braking Resistor 

DANGER 

Lethal electric shock caused by live parts with 

more than 50 V! 

Exclusively operate the drive controller with plugged 

⇒ 

on connector! 

HCS02.1E- Type No. of 

poles 

W0054, W0070 Screw terminal 

block 









HCS03.1E- Type No. of 

poles 



W0100..0210 Screw terminal 

block 


Identification of the individual connections:: 


1 Phase 1 

2 Phase 2 

Fig. 6-67: Identification of the individual connections 


single-wire 

[mm²] 

2 Screw connection 

Cross section 

multi-wire 

[mm²] 

Cross section 

in AWG 

W0054, W0070 0,5-10 0,5-10 20-8 

Fig. 6-68: Connection cross sections 


in [mm²] 

Cross section 

in AWG 

W0070 16 6 

W0100, W0150 25 4 

W0210 50 0 

Fig. 6-69: Connection cross sections 


W0054, W0070 1,2 – 1,5 

Fig. 6-70: Tightening torque 


W0070 1,5 

W0100, W0150 2 

W0210 

Fig. 6-71: Tightening torque 

8 

CAUTION 

Damage to the drive controller! 

You have to provide strain relief for the connection 

⇒ 

cable in the control cabinet or use the optionally 

available connection accessory (shielding plate; 

HAS02.1). 

Note: With twisted or shielded cable, the maximum cable length for 

the braking resistor is 5 m.


X13, Control Voltage (+24 V, 0 V) 

The external 24V supply is applied via connection X13 for 

• the power section of the drive controller 

• brake control via X6 and 

• the control section of the drive controller 

With regard to control voltage supply, the HCS02.1 drive controllers are 

available in two different designs. 

• Standard design HCS02.1E-W****-***N: 

The control voltage is supplied by an external 24V power supply unit. 

• Optional design HCS02.1E-W****-***V: 

The control voltage is supplied by an integrated 24V power supply unit. 

A power supply unit that makes available the control voltage supply for the 

power section and the control section from the DC bus is integrated in the 

drive controller. 

Note: • Falling short of the permissible control voltage leads to a 

corresponding error message (=> refer also to firmware 

function description). 

• Interruption to the control voltage when the motor is 

running leads to torque-free (brakeless) runout in the motor. 

Note on design -***V: 

• The brake supply has to be realized via an external power supply unit. 

• Applying the external supply voltage for the purpose of buffering at nopower 

operation is allowed. 

• Load at the terminal X13 is not allowed. 

DANGER 

Dangerous movement caused by brakeless 

motor coasting to stop in the event of an 

interruption to the control voltage supply! 

⇒ Do not stay within the motional range of the 

machine. Possible measures to prevent personnel 

from accidentally accessing the machine: 

– protective fencing 

– protective grid 

– protective cover 

– light barrier. 

⇒ Fencing and covers must be adequately secured 

against the maximum possible force of movement. 



Design 


Connection 

Load Capacity 

Lines +24 V and 0 V 


Type Number of poles Type of design 

Spring power 4 Pins on connector 


Cross section 

single-wire 

[mm²] 

Cross section 

multi-wire 

[mm²] 

Cross section 

in AWG 

0.14-1.5 0.14-1.5 28-16 

Fig. 6-73: Connection Cross Section 

3, 4 +24 V 

1, 2 0 V 

Fig. 6-74: Identification of the individual connections 

looping through the power supply up to max. 6 Aeff allowed 

polarity reversal protection over the allowed voltage range by 

internal protective diode of +24V 

circuit 

Fig. 6-75: Load capacity 

Note: The input 0 V connected in conductive form with the housing 

potential. It is therefore impossible to use an insulation monitor 

at +24 V and 0 V against housing. 

line cross section min. 1 mm² 

line routing preferably in parallel 

max. allowed inductance between 24V 

supply source and X13 

Fig. 6-76: Supply line 24 V 

100 µH 

(corresponds to approx. 2*75 m)


Design 


Multiple-Line Arrangement 

The control voltage supply is routed to the connection X13 from above 

(see following figure). 

1: lines to control voltage supply 

Fig. 6-77: Control voltage supply at X13 

Optional Control Voltage (HCS03) 

Control voltage is supplied by an external 24V power supply unit. 

Note: Technical data of control voltage: see section "Electrical Data" 

The control voltage supply is connected via contact bars and screws (M6) 

at the front of the drive controller. Depending on the width of the drive 

controllers, there are contact bars of different lengths. 

6 Nm 

The following figures show the correct control voltage connection for 

stacked drive controllers. The illustrated way of connection ensures that 

the touch guard can be correctly mounted and the required clearances 

and creepage distances can be complied with. 

The cables have to be twisted. Observe the notes in chapter "Arranging 

the Components in the Control Cabinet", section "Installing the 24V 

Supply". 




Cable Routing to the Left: 

device 1 

(control voltage 

connection) 

device 2 


connection) 

device 1 

(control voltage connection) 

device 2 


correct incorrect 

Fig. 6-78: Control voltage connections for cable routing to the left 

Cable Routing to the Right: 

device 1 


connection) 

device 2 


connection) 

device 1 


device 2 



Fig. 6-79: Control voltage connections for cable routing to the right 

steuerspg nach links 

DC bus nach rechts_1f4.fh7


Design 


DC Bus Wiring 

DC Bus (L+, L-) 

By means of the DC bus connection, the following components are linked: 

• several drive controllers to one another, and 

• drive controllers to additional components in order to 

• increase the stored power by means of DC bus capacitor unit 

• increase the permissible braking resistor continuous output by 

means of DC bus resistor unit 

The DC bus is connected via contact bars and screws (M6) at the front of 

the drive controller. Depending on the width of the drive controllers, there 

are contact bars of different lengths. 

6 Nm 

If in special cases it is not possible to use the DC bus rails for connection, 

connection must be established using the shortest possible twisted wires. 

Length of twisted wire HCS02: max. 2 m 

HCS03: max. 4 m 

Wire cross section min. 10 mm², 

but not less than supply feeder 

cross section 

Wire protection by means of fuses in the mains 

supply 

Dielectric strength of single strand against 

ground 

CAUTION 

> 750 V 

(e.g.: strand type - H07) 

Damage caused by voltage arcing! 

⇒ If drive controllers are stacked in the control cabinet, 

the connections for the DC buses between the drive 

controllers have to be correctly made. 

The figures below illustrate the correct DC bus connection for stacked 

drive controllers. The illustrated way of connection keeps bare wire 

sections from being situated directly vis-à-vis. This avoids voltage arcing. 

The cables have to be twisted. 

CAUTION 

Risk of damage! 

⇒ Connect the devices both to the left and to the right 

screw connection at the terminal block. 




Cable Routing to the Left: 

CAUTION 

device 1 

(DC bus connection) 

device 2 



⇒ Insulate ring terminals and connecting lines with a 

heat-shrinkable sleeve. Afterwards only strip the 

insulation of the contact surface of the ring terminal. 

Realize connections according to figure. 

device 1 


device 2 



Fig. 6-80: DC bus connections for cable routing to the left 

DC bus nach links_1f4


Cable Routing to the Right: 

CAUTION 

device 1 


device 2 



⇒ Insulate ring terminals and connecting lines with a 

heat-shrinkable sleeve. Afterwards only strip the 

insulation of the contact surface of the ring terminal. 

device 1 


device 2 



Fig. 6-81: DC bus connections for cable routing to the right 

DC bus nach rechts_1f4.fh7 

Connection Point of Equipment Grounding Conductor 

and Equipment Grounding Connections 

DANGER 

Dangerous contact voltage at device housing! 

Lethal electric shock! 

Connect the drive controller to the equipment 

⇒ 

grounding system via connection X3 (mains). 

Ground Connection of Housing 

The ground connection of the housing is used to provide functional safety 

of the drive controllers and protection against contact in conjunction with 

the equipment grounding conductor. 

Ground the housings of the drive controllers: 

1. Connect the bare metal back panel of the drive controller in 

conductive form to the mounting surface in the control cabinet. To do 

this use the supplied mounting screws. 

2. Connect the mounting surface of the control cabinet in conductive 

form to the equipment grounding system. 




XS1, Shield Connection (Control Wires) 

XS1 

Fig. 6-82: Shield connection XS1 

hcs_xs1.fh7 

Connection for shields of lines connected to the control section (only for 

lines with connectors, which do not have their own shield connection). 

Note: Always connect shields of control lines with a large metal-tometal 

contact surface. 

CAUTION 

Risk of damage caused by high temperature of 

outlet air! 

Observe outlet temperatures at the top of the drive 

⇒ 

controllers.


XS2 

hcs0028_XS2.fh7 

XS2, Shield Connection HCS02 (Motor Cable) 

Fig. 6-83: XS2 

XS2 

hcs0054_XS2.fh7 

XS2 is used for mounting the accessory HAS02.1 for shield connection of 

the motor cable. 



Front view Connec 

tion 

point 

X31 X32 

X11 X12 

X35 X36 

X2 

H1 

DG000010v01_nn.FH9 


Control Sections BASIC OPENLOOP - CSB01.1N-FC 

Front View with Connections at Basic Circuit Board: 

X31 / 

X32 

X11 / 

X12 

X35 / 

X36 

Strande 

d wire 

[mm²] 

AWG Tighte 

ning 

torque 

[Nm] 

0,08-1,5 28-14 - digital and 

analog 

inputs/outputs; 

voltage input 

(24V, 0V) 

0,08-1,5 28-14 - relay contacts 

0,08-1,5 28-14 - analog 

inputs / outputs 

; 

voltage output 

(24V, 0V) 

X2 0,25-0,5 - - serial interface 

H1 - - - interface for 

control panel 

see also chapter "Connections with Spring Terminals" 

Fig. 6-84: Connections BASIC OPENLOOP 

Description Figure 

1 

2 

3 

4 

5 

6 

7 

8 

9 

1 

2 

3 

4 

5 

1 

2 

3 

4 

2 

1 

1 

2 

3 

4 

5 

6 

7 

8 

9 

DA000051v01_nn.FH9 

1 

2 

3 

4 

5 

DA000050v01_nn.FH9 

1 

2 

3 

4 

DA000052v01_nn.FH9 

5 

4 

3 

8 

7 

6 

DA000049v01_nn.FH9 

-


relay contact 

Rel 3 

relay contact 

Rel 2 

relay contact 

Rel 1 

digital inputs 

Functions 

Note: Factory settings depend on the firmware. Following settings 

are valid for firmware MPx04. 

Function Connec 

tion 

DA000016v01_nn.FH9 

DA000016v01_nn.FH9 

DA000017v01_nn.FH9 

1 

DA000022v01_nn.FH9 

no Rel 3 X11.3 

com Rel 3 X11.4 

nc Rel 3 X11.5 


com Rel 2 X12.4 

nc Rel 2 X12.5 



Factory setting Nominal data Technical data 

"speed reached", 

S-0-0013 

"Ready", 

P-0-0115 

ready for operation, 

P-0-0115 

E1 X31.3 "clear error", 

S-0-0099 

E2 X31.4 "drive ON", 

P-0-4028 

E3 X31.5 "velocity cmd value 

from memory of fixed 

values", 

P-0-1200 



values", 

P-0-1200 



values", 

P-0-1200 

E8 X32.6 "E-Stop", 

P-0-0223 



values", 

P-0-1200 



values", 

P-0-1200 

AC250V /2A 

DC30V /1A 

AC250V /2A 

DC30V /1A 

AC250V /2A 

DC30V /1A 

relay contact 

type 1 

24 V / 3 mA digital inputs 



analog inputs 

analog output 

analog output 

input for 

voltage supply 

of digital inputs 

output (source) 

for voltage 

supply of digital 

inputs 


Function Connec 

tion 

voltage input 

voltage input 

current input 

current input 

EAn1+ X32.4 

EAn1- X32.5 

EAn2+ X32.1 

EAn2- X32.2 

AI1+ X36.1 

AI1- X36.2 

AI2+ X36.3 

AI2- X36.4 


voltage output AN1 X32.9 0…+10 V 

reference potential 

for analog voltage 

output 

A_GND X32.3 

voltage output AN2 X35.3 0…+10 V 

reference potential 

for analog voltage 

output 

A_GND X35.4 

supply of digital 

+24V X31.8 

inputs 0V X31.9 

connect supply 

(source) of digital 

inputs with X31.8 or 

X31.9 

+24V X35.1 

0V X35.2 

serial interface X2 corresponds 

to RS232 

Fig. 6-85: Functions BASIC OPENLOOP 

+/- 10 V analog inputs 

type 1 

0…20 mA analog inputs 

type 3 

analog outputs 

type 1 

analog outputs 

type 1 

DC 19…30 V; 

max. 0,1A 

DC 19…30 V 

max. 0,1A; 

protected 

against polarity 

reversal; shortcircuit 

proof


Front view Connec 

tion 

point 

BASIC PROFIBUS - CSB01.1N-PB 

Front View with Connections at Basic Circuit Board 

Strande 

d wire 

[mm²] 

AWG Tighte 

ning 

torque 

[Nm] 

X8 0,25-0,5 - - encoder 

evaluation ENS 

X31 / 

X32 

0,08-1,5 28-14 - digital 

inputs/outputs; 

voltage input 

(24V, 0V) 

X41 0,25-0,5 - optional: 

starting lockout 

X30 0,08-0,5 - - master 

communication 

PROFIBUS 

X2 0,25-0,5 n.s. - serial interface 

H1 - - - interface for 

control panel 

see also chapter "Connections with Spring Terminals" 

Fig. 6-86: BASIC PROFIBUS 


1 

2 

3 

4 

5 

6 

7 

8 

9 

DA000053v01_nn.FH9 

2 

1 


1 

8 

9 

15 

1 

2 

3 

4 

5 

6 

7 

8 

9 

DA000051v01_nn.FH9 

1 

5 

6 

9 

DA000054v01_nn.FH9 

1 

5 

6 

9 

DA000054v01_nn.FH9 

5 

4 

3 

8 

7 

6 

DA000049v01_nn.FH9 

-


master 

communication 

encoder 

interfaces 

relay contact 


digital outputs 

voltage supply 

of digital 

inputs/outputs 


Functions 

Note: Factory settings depend on the firmware. Following settings 

are valid for firmware MPx04. 

Note: Observe that the connections X32.6, X32.7 and X32.8 can be 

configured as digital input (E8, E9, E10) or digital output (A8, 

A9, A10). 

Function Connection 

point 


PROFIBUS PB X30 12 MBaud 

ENS X8 DC11V6, 

300 mA 

DA000017v01_nn.FH9 

1 

DA000022v01_nn.FH9 

1 

DA000022v01_nn.FH9 

1 

DA000024v01_nn.FH9 

voltage supply of 

digital inputs/outputs 

Rel 1 X31.1 

Rel 1 X31.2 

"ready for operation" 

P-0-0115 

E1 X31.3 "probe 1" 

S-0-0401 

E2 X31.4 

E3 X31.5 "travel range limit 

switch" 

P-0-0222 

E4 X31.6 "travel range limit 

switch" 

P-0-0222 

E5 X31.7 "home switch" 

S-0-0400 

E8 X32.6 "E-Stop" 

P-0-0223 

E9 X32.7 

E10 X32.8 

A8 X32.6 

A9 X32.7 

A10 X32.8 

+24V X31.8 

0V X31.9 

see Technical 

Data Optional 

Module ENS 

DC24V / 1A relay contact 

type 2 

can be 

configured as 

probe; 

24 V / 3 mA; 

typ. 1us 


24 V / 3 mA digital inputs 

24 V / 0,5 A digital outputs 

DC 19…30 V; 

max. 1,1A 

serial interface RS232 X2 serial interface 

optional: 

starting lockout 

X41 see Optional 

Module Starting 

Lockout 

Fig. 6-87: Functions BASIC PROFIBUS


Serial Interface (RS232) 

The serial interface (RS232) is required for programming, 

parameterization and diagnosis during commissioning and servicing. 

Connection 

point 

X2 MiniDin, 

female 

(device) 

Type No. of 

poles 

Fig. 6-88: Connections 

Stranded 

wire 

[mm²] 

8 0,25-0,5 serial 

interface 

Pin Signal Function 

1 RTS Request to send 

2 CTS Clear to send 

3 TxD Transmit Data 

4 GND reference potential 

5 RxD Receive Data 

6 Vcc supply voltage 

7 n.c. n.c. 

8 n.c. n.c. 

Fig. 6-89: Pin assignment of serial interface 

Serial Interface to PC with 9-Pin SUB-D: 


Fig. 6-90: Connection of serial interface to PC with 9-pin SUB-D 

2 

1 

DA000049v01_nn.FH9 

Note: For direct connection to the serial interface, use our cable 

IKB 0041. 

Fig. 6-91: Connection of serial interface to PC with 25-pin SUB-D 


5 

4 

3 

8 

7 

6


Accessories HAS 


Overview 

Fig. 6-92: Accessories HAS01 

Fig. 6-93: Accessories HAS02


Basic Accessories HAS01 

Accessories for mounting and installation of drive controllers in 

combination, i.e. next to each other. 

Type Code: 

Fig. 6-94: Type code HAS01.1 

As adjusted to the device widths, the basic accessories are supplied with 

or without contact bars. 

HAS01 without contact bars and HAS01 with contact bars. 

• Example 1: Without contact bars (-NNN). 

• Example 2: With contact bars to interconnect the DC buses (e.g. -048 

or -072); the bars are adjusted to the device width. 

• Example 3: With contact bars to interconnect the DC buses (e.g. -048 

or -072); the bars are adjusted to the device width. In addition, the joint 

bars for connecting the equipment grounding conductors are 

contained in this case. 




Note: Please observe that the contact bars of the basic accessories 

HAS01 are used for connection to the drive controller to the 

left side. 

Applications 

The HAS01 accessories are used to 

• fasten the drive controllers on a mounting surface, 

• interconnect the DC bus connections of drive controllers, 

• connect the 24V supply of drive controllers of the 

Rexroth IndraDrive M range, 

• establish the connection of the equipment grounding conductors from 

drive controller to drive controller or supply module, 

• increase the current carrying capacity of the contact bars in the DC 

bus. 

Scope of Supply 

The basic accessories HAS01 without contact bars is contained in the 

standard scope of supply of the HCS02 drive controllers. 

Further Accessories 

Note: You find a complete overview of available accessories in the 

Project Planning Manual "Rexroth IndraDrive Drive System".


Accompanying Note 

The accessories will be delivered with a accompanying note. The 

accompanying note shows the parts of the accessories. 

Fig. 6-95: Accompanying note (example) 




Mounting the Parts "Bar" and "End Piece" from the HAS01 

Accessories 

The parts "bar" and "end piece" increase the current carrying capacity of 

the DC bus connection by reducing the involved contact resistances. 

1: bar 

2: end pieces (right end) 

3:: end pieces (left end) 

Fig. 6-96: Mounting bar and end piece from HAS01 

• Ad 1: Use the bars contained in all HAS01.1-***-072-** at L+ and L- as 

illustrated above. 

• Ad 2 and 3: Use the end pieces contained in all HAS01.1-350-***-** 

and HAS01.1-200-***-** at the right and left ends of the DC bus 

connections in the drive system.


Shield Connection HAS02 

Accessories for appropriate connection of the motor cable to the drive 

controller, especially the shield connection of the motor cable. 

There are appropriate HAS02 available for the different connection cross 

sections of the drive controllers. 

Type Code 





Applications 

The HAS02 accessories are used to 

• provide the motor connection cables with a strain relief, 

• connect the shield of the motor connection cables to the drive 

controller. 

Scope of Supply 

The HAS02 accessories are available as an option, they are not part of 

the standard scope of supply.


Fig. 6-98: Accompanying note 




Fig. 6-99: Accompanying note


Fig. 6-100: Accompanying note 




Fig. 6-101: Accompanying note


Mounting the HAS02 Accessories 

The sheet metal of the accessories is screwed to the bottom of the drive 

controller (see also figure below): 

• Unscrew bottom or bottom left fixing screw of drive controller. 

• Put sheet metal of accessories to bottom of drive controller and screw 

down fixing screw of drive controller again. 

CAUTION 

Risk of damage to the drive controller caused 

by too long screws! 

Exclusively use the supplied screws of a length of 

⇒ 

12 mm for the thread of the shield connection XS2. 

• Screw second screw (M6 x 12) in thread XS2 at bottom of drive 

controller. 

• Screw fixing device to sheet metal of accessories according to 

desired cable routing of motor cable (45° or horizontal). (The figure 

below illustrates cable routing with 45°.) 

• According to diameter of motor cable, fix motor cable to 

corresponding support of fixing device (12-18 mm or 19-30 mm) with 

a clip. Make sure that shield of motor cable has good contact with 

fixing device. 

1: screw in thread XS2 

2: sheet metal of accessories 

3: fixing device 

4: shield of motor cable 

5: clip 

Fig. 6-102: Shield connection of motor cable 



Mounting Shield Connection 

HAS02.1-004-NNN-NN to Drive 

Controller HCS03.1E-W0070: 

PE 



Controller HCS03.1E-W0100 / 

150: 


1. By means of supplied screws, fasten shield angle steel to bottom of 


2. Fix support to shield angle steel as required. 

shield angle steel 

support 

clip 

hrau 

methode of installation, 

for the motor cable selectable 

MZZU0012EN00.FH9 

Fig. 6-103: Shielding plate HAS02.1-004-NNN-NN at the bottom of the drive 

controller HCS03.1E-W0070 

3. Fix shield of motor cable to shielding plate with a clip. 

Note: Adapt the size of the clip to the motor cable cross section. 

1. Hang up support at guide section at bottom of drive controller and 

fasten it by means of supplied screws. 

2. Screw shielding plate to shield angle steel. 

According to required motor cable routing, it is possible to mount angle 

plate for shield connection in different positions: 

• motor cable routed in parallel or 

• 45° to bottom of drive controller.


PE 

Installation 1 



Controller HCS03.1E-W0210: 

Installation 2 

PE 

install the support on guide rail 

with 2 screws 

angle plate 

clip 



controller HCS03.1E-W0100 / 0150 


Note: Adapt the size of the clip to the motor cable cross section. 

1. By means of supplied screws (from the accessories kit SCHR-LIN- 

M6,0 x 12,0), fasten support to bottom of drive controller. 

2. By means of supplied screws (from the accessories kit 

SCREW...M6 x 12), fasten shielding plate between the supports. 



Shield Connection of Motor 

Cable HAS02.1-006-NNN-NN with 

Mains Filter Mounted: 


According to required power supply cable and motor cable routing, it is 

possible to mount shielding plate for shield connection in different 

positions. 

3. Fix shield of power supply cable and motor cable to shielding plate 

with a clip. 


controller HCS03.1E-W0210 

Note: Adapt the size of the clip to the power supply cable and motor 

cable cross sections. 

Shield Connection of Motor Cable via Mains Filter 

For shield connection of the motor cable at the drive controller via the 

mains filter, a special shielding plate is available: 

Note: Using the shielding plate guarantees optimum shield contact 

of the motor cable. You should therefore always use the 

shielding plate, where possible. 

The shielding plate is only available as an option. 

1. Hang up shielding plate at bottom of mains filter at threaded bolts and 

fasten with supplied nuts. 

2. Screw support to shielding plate. 

Clips can be mounted depending on motor cable cross section.


PE 

PE 

PE 

X3 L3 

L2 

L1 

Shield Connection of Power 

Supply Cable HAS02.1-007-NNN- 

NN with Mains Filter Mounted 

L1 L2 L3 PE 

shielding plate 

support 

clip 


Fig. 6-106: Shielding plate HAS02.1-006-NNN-NN at the bottom of the mains 

filter (nominal current 50 A) 


Note: The shield terminals must not be used to provide strain relief. 

1. Hang up support at bottom of mains filter and fasten it by means of 

supplied screws. 

2. Screw shielding plate of power supply cable to support. 

According to required power supply cable routing, it is possible to mount 

shielding plate in different positions: 

• power supply cable routed in parallel or, 

• 45° to bottom of mains filter or, 

• 90° to bottom of mains filter. 




Fig. 6-107: Shielding plate HAS02.1-007-NNN-NN at the bottom of the mains 

filter (nominal current 80 A / 106 A) 

3. Fix shield of power supply cable to front side of mains filter with a clip. 

For shield connection of the power supply cable at the mains filter, clips of 

various sizes are available according to cross sections and number of 

cables, which are hung up to the punched holes. 

Note: The shield terminals must not be used to provide strain relief.


Accessories HAS05.1 

Type code HAS05.1: 





Applications: 

HAS05-Typ Application 

HAS05.1-001-NNN-NN is used for electrical connection between motor filter 

HMF01.1A-D0K2-D0045 and HCS03.1E-W0070, as 

well as between mains filter HNK01.1A-A075-E0050 

and HCS03.1E-W0070 

HAS05.1-002-NNN-NN is used for electrical connection between mains filter 

HNK01.1A-A075-E0050 and HCS03.1E-W0070, if a 

motor filter has been mounted between HCS03.1 

and mains filter 

Fig. 6-109: HAS05 type 

Scope of Supply: 

The HAS05.1 accessories have to be ordered separately. 

Accessories HAS05.1-001-NNN-NN 

Fig. 6-110: Accessories HAS05.1-001 

EKZU0001EN00.FH9


Fig. 6-111: Arrangement HCS / HAS / HMF 

HCS03.1E-W0070 

HAS05.1-001 

HMF01.1A-D0K2-D0045 


When mounting the motor filter HMF01.1 to HCS03.1, connection from 

filter to drive controller is established via connector X5 of HAS05.1-001. 

When mounting the mains filter HNK01.1 to HCS03.1, connection from 

filter to drive controller is established via connector X3 of HAS05.1-001. 

Accessories HAS05.1-002-NNN-NN 

HNK01.1 HMF01.1 HCS03.1 

X3 

(HCS03.1) 

cable tie 

HAS05.1-002 HAS05.1-001 


Fig. 6-112: Sample mounting HCS03.1 / HMF01.1 / HNK01.1 with accessories 

HAS05.1 


Rexroth IndraDrive Commissioning and Parameterization 7-1 

7 Commissioning and Parameterization 

7.1 Basics 

Control Panels 

Parameters 

Data Memory 

Condition As Supplied 

Storing the Application-Specific 

Parameter Values 


IndraDrive controllers are equipped with a control panel; its front consists 

of a display and keys located underneath it. The display shows operating 

states, command and error diagnoses, as well as present warnings. By 

means of the keys you can make settings, call information and trigger 

some commands. 

The control panel for IndraDrive controllers can be supplied in two 

variants of different possibilities of display and performance: 

• standard control panel 

• comfort control panel 

Via the serial interface of the controller it is additionally possible to 

connect an independent operator terminal VCP that can, for example, 

be integrated in the front of the control cabinet. 

Communication between master and drive takes place, with a few 

exceptions, by means of parameters. 

Parameters are used for: 

• determining the configuration 

• parameterizing the control loop 

• triggering and controlling drive functions and commands 

• transmitting command values and actual values (according to 

requirements, cyclically or acyclically) 

All operating data are mapped to parameters! 

The operating data stored in parameters can be identified by means of 

the IDN. They can be read and transferred, if required. The user write 

access to parameters depends on the properties of the respective 

parameter and the current communication phase. Specific parameter 

values (operating data) are checked for validity by the drive firmware. 

Data Storage and Parameter Handling 

Several non-volatile data memories are available in an IndraDrive device: 

• in the controller 

• in the motor encoder (depending on motor type) 

In addition, a volatile data memory (working memory) is available in the 

controller. 

Condition as supplied of the Rexroth drive components: 

• The controller memory contains the drive firmware and the controllerspecific 

parameter values. 

• The motor encoder memory contains the encoder-specific and, 

depending on the motor type, the motor-specific parameter values. 

The application-specific parameter values are stored in the controller. Due 

to the limited number of writing cycles of non-volatile storage media,

7-2 Commissioning and Parameterization Rexroth IndraDrive 

Saving Parameter Values 

Parameter IDN Lists 

Loading Parameter Values 

Checksum of Parameter Values 

application-specific parameter values can be stored in the working 

memory (volatile memory), too. 

Saving application-specific parameter values is required in the following 

cases: 

• after initial commissioning of the machine axis or the motor 

• before replacing the controller for servicing (if possible) 

Application-specific parameter values can be saved via: 

• "IndraWorks D" commissioning tool → saving the parameter values on 

external data carrier 

• control master → saving the parameter values on master-side data 

carrier 


The drive supports master-side saving of parameter values by listing 

parameter identification numbers (IDNs). Using these lists guarantees 

complete storage of the application-specific parameter values. It is also 

possible to determine IDN lists defined by the customer. 

Loading parameter values is required in the following cases: 

• initial commissioning of the motor (loading basic parameter values and 

motor-specific parameter values) 

• serial commissioning of machine axes at series machines (loading the 

values saved after initial commissioning) 

• reestablishing a defined original status (repeated loading of the values 

saved after initial commissioning) 

• replacing the controller for servicing (loading the current parameter 

values saved before servicing) 

• Possibilities of loading parameter values to the controller: 

• motor encoder data memory → loading the parameter values by 

command or via the control panel during initial motor commissioning 

• "IndraWorks D" commissioning tool → loading the parameter values 

from external data carrier 

• control master → loading the parameter values from master-side data 

carrier 


By means of checksum comparison, the control master can determine 

whether the values of the application-specific parameter values currently 

active in the drive correspond to the values saved on the master side. 



Master Communication Interfaces 


The basic functions of master communication apply to each type of 

master communication, in the case of IndraDrive devices to SERCOS 

interface, field bus interface, parallel and analog interface. 

Features 

All variants of master communication supported by IndraDrive have the 

following functional features in common: 

• address assignment 

→ communication address to be freely parameterized (via master 

communication, serial and control panel) via parameter P-0-4025, 

Drive address of master communication 

• command processing 

→ drive commands to be externally activated (via master 

communication, serial and control panel) 

• device control (status machine) 

→ individual status machines for master communication and device 

• According to the variant of master communication, the master 

communication status machine has different functionality and 

complexity. The communication-specific states are distinguished 

and mapped to the status words of the corresponding master 

communication (e.g. for SERCOS: S-0-0014, S-0-0135). 

• The device status machine is independent of the variant of master 

communication and maps the device-specific states to parameter 

S-0-0424, Status parameterization level. We always distinguish 

operating mode (OM) and parameter mode (PM). 

• extended possibilities of control 

• signal control word/signal status word (S-0-0144, S-0-0145) 

• multiplex channel 

See section "Possibilities of Control/Additional Functions" in the same 

chapter 

Note: The status machine of the master communications is briefly 

outlined in this section; it will be described in detail, i.e. 

including the individual status transitions, in the main chapter 

of the respective master communication.


Parameterization Mode / Operating Mode 

Communication Phases According to SERCOS 

Specification 

Note: For drives of the IndraDrive range the communication phases 

according to SERCOS specification are valid for all kinds of 

master communication. The only restriction is that for field bus 

and parallel/analog interface only the communication phases 

2, 3 and 4 are supported. 

transition check 

command 

phase 3 to 4 

transition check 

command 

phase 2 to 3 

communication phase 4 





communication phase -1 

operating 

mode 

parameter 

mode 

Fig. 7-1: Communication phases of the drive according to SERCOS 

specification 

Note: The currently valid communication phase is contained in 

parameter S-0-0014, Interface status (bit 0...2). For field bus 

drives there also is the parameter P-0-4078, Field bus: status 

word (bit 0, 1) for this purpose. 

The individual phases (states) have the following functions: 

• P-1: After it is switched on, the drive goes to phase –1 and carries out 

a baud rate scan. As soon as the drive receives valid SERCOS 

telegrams from the master, it changes to phase 0. 

• P0: The master checks the SERCOS ring by sending synchronization 

telegrams. During phase 0 communication between master and drive 

isn't possible yet. 

• P1: When the ring is closed, the master changes to phase 1 and 

scans the slaves. In addition, it checks the configuration of the ring. 

• P2: In phase 2 the complete drive parameterization can be carried out. 

The following kinds of parameters can only be changed in phase 2: 

• communication parameters (according to SERCOS) 

• configuration of axis control (sampling times) 




• all factory-specific settings (can only be changed via master 

password) 

• P3: When changing from P2 → P3 only the parameters that can be 

changed in phase 2 (see above) are checked. 

In phase 3 the following parameters can be changed: 

• parameters for operating mode configuration 

• error reaction settings 

• motor configuration parameters, holding brake parameters 

• encoder configuration parameters 

• mechanical transmission elements (gear, feed constant) 

• scaling and polarity parameters, position data format, modulo value 

• configuration of analog and digital inputs/outputs 

• configuration of switch on / switch off sequence of drive enable 

(waiting times, ...) 

Note: According to SERCOS specification, the parameterization 

mode is divided into phases 2 and 3. In phase 3 the limit 

values for all scaling-dependent parameters are not yet 

known. When these parameters are written in phase 3, the 

extreme value check is only carried out during phase switch to 

phase 4. 

• P4: In phase 4, the so-called operating mode, only the cyclic data can 

be changed, the configuration parameters cannot. The switch to the 

operating mode always causes a new initialization of all functions 

available in the drive. 

The supported communication phases, as well as the handling of the 

switching between the communication phases (e.g. parameterization and 

operating mode) are depending on the master communication that is 

used. The control information preset for master communication is 

displayed in parameter P-0-4086, Master communication status. 

• SERCOS interface 

For SERCOS devices all 5 communication phases (as well as 

phase –1 → baud rate scan) are supported. According to SERCOS 

specification, switching takes place by setting the communication 

phase by the master. 

• Field bus interface 

For field bus devices only the communication phases 2 to 4 are 

supported! 

Switching takes place in the freely configurable operating mode 

(P-0-4084 = 0xFFFE) by presetting the desired mode via bit 1 in 

P-0-4077, Field bus: control word. 

Switching can also take place by executing the transition check 

commands (see below). 

• Parallel/analog interface 

For devices with analog or parallel interface only the communication 

phases 2 to 4 are supported! 

Switching always takes place when the transition check commands 

(see below) are executed. 

After the controller is switched on it does not automatically go to the 

operating mode, but has to be switched to this mode by the master. 

This switching of the drive controller to the operating mode is closely 

connected to establishing the readiness for operation.


Communication Phase 3 

Transition Check 

The procedure comprises several steps and is controlled by the master by 

presetting communication phases –1 to 4 and starting/completing the 

following commands: 

• S-0-0127, C0100 Communication phase 3 transition check 


. 

When the drive has reached communication phase 4 without error, the 

display reads "bb". 

The corresponding diagnostic message is: 

• A0013 Ready for power on 

Transition Check Commands 

To switch from communication phase 2 to 3 and from 3 to 4 it is 

necessary to activate transition check commands in the drive: 



Note: In order to get back from the operating mode to the 

parameterization mode, there is the command P-0-4023, 

C0400 Communication phase 2 transition. 

By executing the command S-0-0127, C0100 Communication phase 3 

transition check a number of checks and parameter conversions are 

carried out that can possibly cause the listed command errors: 

• Checking whether functional package selection was changed 

• C0199 Functional package selection changed. Restart 

→ drive has to be rebooted before it is possible to switch to 

phase 3 

• Checking validity of parameters required for switching to phase 3 

If one of these parameters has never been written or the backup was 

carried out incorrectly, the error message "C0101" is generated. The 

IDNs of the faulty parameters are listed in parameter S-0-0021, IDN 

list of invalid operating data for communication phase 2. These 

parameters have to be set valid by writing correct values to them. 

• C0101 Invalid parameters (-> S-0-0021) 

• Checking device configuration 

• C0132 Invalid settings for controller cycle times 

• C0138 Invalid amplifier data (->S-0-0021) 

• Checking telegram configuration, especially in the case of configured 

telegrams 

In this case a check is run to find out whether the parameters selected 

for the configurable data block in the cyclic command value channel 

(MDT) or actual value channel (AT) may be configured and whether 

the allowed length of the configurable data blocks is complied with. 

• C0104 Config. IDN for MDT not configurable 

• C0105 Maximum length for MDT exceeded 

• C0106 Config. IDNs for AT not configurable 

• C0107 Maximum length for AT exceeded 

• If necessary, checking timing parameters for SERCOS communication 

in phases 3 and 4 for validity and compliance with requirements 

• C0108 Time slot parameter > Sercos cycle time 

• C0109 Position of data record in MDT (S-0-0009) even 



Communication Phase 4 

Transition Check 


• C0110 Length of MDT (S-0-0010) odd 

• C0111 ID9 + Record length - 1 > length MDT (S-0-0010) 

• C0112 TNcyc (S-0-0001) or TScyc (S-0-0002) error 

• C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error 

• C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005) 

• C0115 T2 too small 

• C0116 T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010) 

• C0139 T2 (S-0-0089) + length MDT (S-0-0010) > TScyc (S-0- 

0002) 

• If necessary, checking parameters for field bus communication for 

validity and compliance with requirements 

• C0154 Field bus: IDN for cycl. command val. not configurable 

• C0155 Field bus: max. length for cycl. command val. exceeded 

• C0156 Field bus: IDN for cycl. actual val. not configurable 

• C0157 Field bus: length for cycl. actual values exceeded 

• C0158 Field bus: Tcyc (P-0-4076) incorrect 

• C0159 Field bus: P-0-4077 missing for cycl. command values 

• Checking configuration of multiplex channel 

• C0118 Order of MDT configuration incorrect 

• C0151 IDN for command value data container not allowed 

• C0152 IDN for actual value data container not allowed 

• Limit value check of communication parameters and system 

• C0102 Limit error in parameter (-> S-0-0021) 

• C0103 Parameter conversion error (->S-0-0021) 

• C0131 Switching to phase 3 impossible 

With the S-0-0128, C0200 Communication phase 4 transition check 

command the following checks and initializations are carried out that can 

possibly cause the listed command errors: 

• Checking validity of parameters required for subsequent initializations 

• C0201 Invalid parameters (->S-0-0022) 

• C0212 Invalid control section data (->S-0-0022) 

• Checking motor and encoder configuration 

• C0219 Max. travel range too large 

• C0270 Error when reading encoder data => motor encoder 

• C0271 Incorrect parameterization of motor encoder (hardware) 

• C0272 Incorr. parameteriz. of motor enc. (mechanical system) 

• C0273 Modulo value for motor encoder cannot be displayed 

• C0274 Motor encoder unknown 

• C0275 Error when reading encoder data => optional encoder 

• C0276 Incorrect parameterization of optional enc. (hardware) 

• C0277 Incorr. parameteriz. of opt. enc. (mechanical system) 

• C0278 Modulo value for optional encoder cannot be displayed 

• C0279 Optional encoder unknown 

• C0280 Maximum travel range cannot be displayed internally 

• C0284 Invalid motor data in encoder memory (->S-0-0022)


• C0285 Type of construction of motor P-0-4014 incorrect 

• C0286 Several motor encoders connected 

• C0287 Error during initialization of motor data (->S-0-0022) 

• C0288 Rotary scaling not allowed 

• C0289 Error at init. of synchr. motor with reluctance torque 

• C0290 Error when reading encoder data => measuring encoder 

• C0291 Incorr. prarmeterization of measuring enc. (hardware) 

• C0292 Measuring encoder unknown 

• C0293 Modulo value for measuring encoder cannot be 

displayed 

• C0294 Incorrect measuring encoder configuration 

• Checking modulo range 

• C0244 Act. modulo value cycle greater than max. travel range 

• Checks during encoder initialization 

• C0220 Error when initializing position of encoder 1 

• C0221 Initialization velocity encoder 1 too high 

• C0224 Error when initializing position of encoder 2 

• C0225 Initialization velocity encoder 2 too high 

• C0227 Error when initializing position of measuring encoder 

• C0228 Initialization velocity measuring encoder too high 

• Initializing optional additional functions (digital I/Os) 

• C0243 Brake check function not possible 

• C0250 Probe inputs incorrectly configured 

• C0260 Incremental enc. emulator resol. cannot be displayed 

• Initializing integrated safety technology 

• C0254 Configuration error PROFIsafe 

• C0255 Safety command for system init. incorrect 

• C0257 No encoder assigned to slot 1 

• Limit value check 

• C0202 Parameter limit error (->S-0-0022) 

• C0203 Parameter calculation error (->S-0-0022) 

• General system checks 

• C0245 Operating mode configuration (->S-0-0022) not allowed 

• Initializing fine interpolator 

• C0258 Error in relation TNcyc (S-0-0001) to fine interpol. 

• Initializing digital inputs/outputs 

• C0246 Trav. range lim. switch not ass. to dig. input 

• C0247 Dig. output already assigned to other axis 

• C0248 Dig. input assigned differently to axes 

• C0249 Dig. I/Os: bit number too large 

• Checking interface configuration 

• C0242 Multiple configuration of a parameter (->S-0-0022) 

• Checking master communication 

• C0251 Error during synchronization to master communication 



Default Settings in the Motor Encoder Data Memory ("Load Defaults 

Procedure") 

Initial Commissioning 

Recommissioning 


Loading Basis Parameter 

The following Rexroth housing motors are equipped with an encoder data 

memory: 

• MHD, MKE, MKD 

• MSK, MSH, MAD, MAF, MAL 

Note: The Bosch motor with the type designation "SF..." that can be 

operated with IndraDrive controllers is equipped with an 

encoder data memory, too. As regards commissioning and 

parameters, SF motors have the same behavior as Rexroth 

housing motors with encoder data memory! 


In the case of Rexroth housing motors with encoder data memory, the 

values for the motor parameters stored in the encoder, the measuring 

system parameters and, where required, the motor holding brake 

parameters are automatically loaded to the controller when the drive is 

switched on. 

At the initial commissioning of a drive the F2008 RL The motor type has 

changed. error message will appear. This message only means that this 

motor has not yet been connected to the controller. 

By clearing this error message (reset via control panel or S-0-0099, 

C0500 Reset class 1 diagnostics) S-0-0262, C07_x Load defaults 

procedure command is automatically started. Default control loop 

parameter values for this motor are thereby loaded. 

Note: Depending on the setting in P-0-4090, Index for C07 Load 

defaults procedure, the following parameter values are 

loaded with the "load defaults procedure" command 

(S-0-0262): 

- default control loop parameter values (default setting) 

- basic parameter values (default parameter set) of the 

firmware. 

In the case of motors with integrated holding brake, the type of motor 

holding brake and the activation of the brake control is automatically set in 

P-0-0525, Holding brake control word. 

In the case of motors with several cooling type variants (MHD, MKD), the 

load data can be referred to the cooling type realized by entering the 

corresponding value in P-0-0640, Cooling type. 

When the machine is repaired the motor can be replaced by a motor of 

the same type without any problem. The adjustment to the controller does 

not need to be repeated. In the case of an absolute motor encoder, it is 

only necessary to make an adjustment to the machine axis by 

establishing the position data reference. 

If the motor type connected to the controller has changed, the controller 

signals this with F2008 RL The motor type has changed. and requests 

the default control loop parameter values and the motor type parameter to 

be loaded. In the case of a desired motor change, initial commissioning of 

the new axis motor is necessary. Otherwise there is an assembly error 

that has to be corrected!


Diagnostic Messages 

S-0-0262, C07_x Load defaults 

procedure command 

• While the default control loop parameter values and the motor type 

parameter is loaded the controller signals: 

C07_0 Load defaults procedure com. (load controller param.) 

• If the parameter values in the encoder data memory cannot be read: 

C0706 Error when reading the controller parameters 

• If the motor type connected to the controller has changed: 

F2008 RL The motor type has changed. 

• If an invalid value for the commutation offset is contained in the 

encoder memory, the controller signals: 

F2104 Commutation offset invalid 

Load Defaults Procedure 

For all Rexroth motors of the series with motor encoder data memory 

(e.g. MHD, MKD, MKE, MSK and possibly MAD and MAF), the basic 

settings for the controllers are stored and can be loaded to the drive by 

executing the "load defaults procedure" command (S-0-0262). 

There are two ways to activate the S-0-0262, C07_x Load defaults 

procedure command parameter: 

• Automatically when running up the drive by recognizing that the motor 

type (cf. parameter S-0-0141) has changed. The display then reads 

"RL" and the "load defaults procedure" command is internally started 

by pressing the "Esc" button on the control panel, unless this was 

deactivated in P-0-0556, Control word of axis controller. 

• Starting the command by writing "11b" to parameter S-0-0262. 

See also "Loading, Storing and Saving Parameters" in chapter "Handling, 

Diagnostic and Service Functions" 

Note: In order to start the "load defaults procedure" command the 

value "0" (default setting) must have been set in parameter 

P-0-4090, Index for C07 Load defaults procedure. 

During the load defaults procedure, the following control loop parameters 

are set to their default values optimized for the respective motor: 

• S-0-0100, Velocity loop proportional gain 

• S-0-0101, Velocity loop integral action time 

• S-0-0104, Position loop Kv-factor 

• S-0-0106, Current loop proportional gain 1 

• S-0-0107, Current loop integral action time 1 

• P-0-0004, Velocity loop smoothing time constant 

Note: The default settings for the current loop (cf. S-0-0106 and 

S-0-0107) are automatically adjusted to the currently 

parameterized PWM frequency (cf. P-0-0001) and 

performance setting (cf. P-0-0556)! 

In addition, the following control loop parameters are set to their firmwareside 

default values although there haven't been any default values stored 

for them in the motor data memory: 

• S-0-0348, Acceleration feedforward gain 

• P-0-1125, Velocity control loop: average value filter clock 




Note: In the majority of cases, the controller settings stored in the 

motor encoder data memory provide a useful and reliable 

control loop setting. In exceptional cases, however, it may be 

necessary to make the settings with regard to the specific 

application.


7.2 Parameterization 

Control Panels 

Possibilities of Display of 

Standard Control Panel 

Possible Settings with Standard 

Control Panel 

Command Activation with 



Can be used with control sections CSB01, CSH01, CDB01. 

Fig. 7-2: Standard control panel 

The standard control panel allows the following displays: 

• status of the master communication 

• operating status 

• activated commands and command diagnoses 

• warnings and error diagnoses 

• extended displays such as contents of error memories, diagnostic 

message memory, operating hours counter of control section, 

operating hours counter of power section, type designation of firmware 

active in the device, safety technology code (if safety technology option 

available) 

The following settings can be made with the standard control panel: 

• set the drive address (drive number in the bus system of the master 

communication) 

• set the length of the fiber optic cable 

• activate the master communication mode "Easy Startup" 

The following commands can be activated with the standard control 

panel: 

• activate S-0-0262, C07_x Load defaults procedure command (load 

controller parameters or basic parameters) 

• activate other commands, such as: 

• C2200 Backup working memory procedure command 

• C2300 Load working memory procedure command 

• C2500 Copy IDN from optional memory to internal memory 

• C2600 Copy IDN from internal memory to optional memory 



Possibilities of Display of 

Comfort Control Panel 

Possible Settings with Comfort 

Control Panel 

Command Activation with 




Fig. 7-3: Comfort control panel 

Note: The comfort control panel 

• can be used with control sections CSB01.1N-FC 

• requires firmware FWA-INDRV*-MPB-04V12 at least 

• only supports voltage controlled operation (V/f control) 

• must have been plugged in when the drive controller is 

switched on so that it can be recognized 

• is suited for hot plug, i.e. you may disconnect it when the 

drive controller has been switched on 

Compared to the standard control panel, the comfort control panel, due to 

the fact that it can be programmed, provides additional settings, as well 

as additional display and command functions. 

Additional possibilities of display of the comfort control panel (compared 

to the standard control panel), for example: 

• cyclic parameter display 

• measured value of motor temperature sensor 

• message threshold or shutdown threshold for motor temperature 

• active switching frequency (PWM) 

Note: To use this function you need a comfort control panel of 

version VCP01.2BWA-TS-NN-FW (see type plate of comfort 

control panel). 

Additional possibilities of setting of the comfort control panel (compared to 

the standard control panel), for example: 

• language selection 

• set/change single parameters 

• input of motor data acc. to type plate data for asynchronous third-party 

motors 

Activation of further commands with the comfort control panel (compared 

to the standard control panel), for example: 

• C3200 Command Calculate motor data


Editing Mode 

Keys 

The comfort control panel in particular supports the commissioning of 

asynchronous third-party motors – another commissioning tool is not 

required for this purpose. The required steps are given by the display, the 

corresponding input is made by means of the keys of the control panel. 

The editing mode is the status in which you can enter or change values by 

pressing the key Prog + or ⎺Mon at the control panel. The corresponding 

field of the value then is highlighted in black on the display. To have the 

value applied by the drive press the Enter key. If you do not want to apply 

changed values, press the Esc key. By doing this you exit the editing 

mode. The corresponding field then no longer is highlighted in black. 

Key Function 

• return to previous menu item (without applying possibly 

changed values) 

• exit editing mode (without applying possibly changed 

values) 

• reset error 

Fig. 7-4: Keys 

• Editing mode: reduce value 

• Motor potentiometer: reduce speed 

• go to monitor mode 

• Editing mode: increase value 

• Motor potentiometer: increase speed 

Editing mode: apply displayed value 

arrow key (e.g. navigation up) 

arrow key (e.g. navigation down) 

arrow key (e.g. navigation to previous display mask, cursor 

to the left) 

arrow key (e.g. navigation to subsequent display mask, 

cursor to the right) 



Display Mask 


The figure below illustrates a typical display mask of the comfort control 

panel. 

1: drive address of master communication 

2: display text of diagnostic message (PM: Parameterization mode) 

3: value which can be changed (changeable values are highlighted in 

black [editing mode]; value can be changed with Prog+ or ⎺Mon 

keys; changed value is applied with Enter key; with Esc key you can 

exit the editing mode without applying the changed value) 

4: parameter with its possible values (in this example, 0, 1, 3 or 4 can 

be selected as value for parameter "P-0-0512, Temperature sensor") 

5: displays the keys with which an action can be carried out 

: go to next display mask 

Fig. 7-5: Display mask


Menu Structure 

The diagram below shows the complete menu structure of the control 

panel. The individual modes (monitor, operating and parameter modes) 

are described in the next sections. 

Level 1 Level 2 Level 3 

Main screen 

Clear error 

DE / EN / … (Language setting) 

Mode selection 

Mode selection 

Monitor 

Motor potentiometer 

Torque/Force limit value 

Parameterization 

Parameter management 

Monitor 

Single parameter display 

Cycl. parameter list display 

History, error memory 

Current configuration 

(see description of monitor) 


(see description of motor 

potentiometer) 

Bipolar torque/force limit 

value 

S-0-0092 

(see description of Bipolar 

torque/force limit value) 

Single parameter display 

(any parameter) 

Cycl. parameter list display 

P-0-4024 (Element 0…7) 

History; error memory 

Error memory 

Diagnostic message memory 

Operating hours: Control section 

and power section 

Current configuration 

Firmware 

Motor type 


Power section 






Guided parameterization 

Change single parameter 

(see description of 

"Parameterization") 

Parameter management 

Load basic parameters 

Save/Load parameters 

(see description of "Parameter 

management") 

Fig. 7-6: Menu structure


Start Screen 

Main Screen 

When you switch the drive controller on, the following start screen 

appears after a boot sequence with various displays: 

Fig. 7-7: Start screen 

After the start screen, the control panel automatically displays the main 

screen: 

Fig. 7-8: Main screen 

On the main screen you can: 

• With Clear error, clear errors which are present: 

First remove cause of error. 

Then press Esc key. 

• Set the language in which text is displayed. Main screen only shows 

languages which are available (e.g. DE: German; EN: English; 

FR: French; IT: Italian; SP: Spanish). 

DE/EN/… (Language setting): 

Press key ◄: 

Screen for setting the language is displayed. 

Press Prog + or ⎺Mon key to set desired language: 

0: German 

1: English 

2: French 

3: Italian 

4: Spanish 

Press Enter key. 



Go to Monitor 


• Go to Mode selection: 

Press key ►. 

Selection list is displayed: 

Fig. 7-9: Mode selection 

With key ▲ or ▼ select desired menu item. Symbol ">" in left-most 

position marks selected menu item. 

Then press key ►. 

• Go directly to Monitor: 

Press ⎺Mon key. 

Monitor 

• Starting point: main screen; 

By pressing ◄ key several times you get to main screen. By means of 

Esc key, you might possibly have to exit editing mode before. 

• By means of ⎺Mon key, go to monitor. 

Selection list appears. 

Fig. 7-10: Monitor mode 

• With key ▲ or ▼ select desired menu item. Symbol ">" in left-most 

position marks selected menu item. 

Then press key ►.


Single Parameter Display 

With Single parameter display it is possible to display the value of any 

parameter. 

How to select the parameter: 

• Select Single parameter display. 

• Press key ►. 

Last selected parameter is displayed. 

• With keys Prog + , ⎺Mon, Enter, ◄, ►, enter desired parameter (see 

also example below): 

Prog + , ⎺Mon: change setting 

Enter, ◄, ►: move cursor to the left or to the right 

Fig. 7-11: Enter parameter 

• Press Enter key. 

• Press Esc key. 


Value of parameter is displayed. 


• Press key ▼. 

Name and unit of parameter are displayed. 

• Press ◄ key to go to previous display. 

Example: 

Last parameter displayed was S-0-0383. 

Parameter P-0-1222 is to be displayed. 

• S → key Prog + → P → key Enter 

• 0 → key Enter 

• → 0 key Prog + 1 → key ► → 

• → 3 key → ⎺Mon → 2 ► key 

• 8 → key ⎺Mon → 7 … → key ⎺Mon → 2 → key ► 

• → 3 key → ⎺Mon → 2 ► key 



• ► Press key. 

Value of parameter P-0-1222 is displayed. 


• ▼ Press key. 




Cyclic Parameter List Display 


Up to 8 arbitrary parameters can be displayed. The parameters can be 

displayed successively. Parameter P-0-4024 contains the IDNs of the 

parameters which can be selected for cyclic parameter display. 

Presetting of list in P-0-4024: 

List element Listed IDN 

0 S-0-0040 Velocity feedback value 

1 S-0-0084 Torque/force feedback value 

2 P-0-0043 Torque-generating current, actual value 

3 S-0-0382 DC bus power 

4 S-0-0000 dummy ID 




Fig. 7-12: Presetting of list in P-0-4024 

The "dummy" S-0-0000 will be ignored during configuration, i.e. only 

entries with valid IDNs are displayed (in this case: entries in list elements 

0…3). 

• From each display you can go to setting of list parameter P-0-4024 by 

▲ pressing key. 

• Select IDN in table by pressing ▲ or ▼ key. 

• Modify IDN. 



• ► Press key to restart cyclic parameter display. 

At first, list entries are checked. Then first parameter of list is 

displayed. Top right you see number of list element displayed. 

Fig. 7-13: Example of the first list element displayed 

• ► Press key to go to next list element. 

• ◄ Press key to go to previous list element. 

• Press Esc key to leave the Cyclic Parameter List Display


History, Error Memory 

Current Configuration 

Requirements 

Motor Potentiometer Operation 

• Error memory (P-0-0192) with indication of time during which error is 

present (P-0-0193) 


• Diagnostic message memory (S-0-0375) with indication of time 

during which diagnostic message is present (P-0-0105) 


• Operating hours: 

Control section (P-0-0190) 

Power section (P-0-0191) 

The operating hours are displayed as seconds. 

Current configuration of the drive controller: 

• Firmware 

display of firmware version (S-0-0030) 

• Motor type 

type designation of motor (S-0-0141) 


• Control section 

type designation of control section (P-0-1520) 

• Power section 

type designation of power section (S-0-0140) 

Motor Potentiometer 

To use the motor potentiometer you must have selected and 

parameterized "Motor potentiometer" as velocity command value (see 

description of "Guided Parameterization"). 

• Starting point: main screen 




Mode selection is displayed. 

• Select Motor potentiometer. 


Motor potentiometer display appears: 

Fig. 7-14: Motor potentiometer 

• Reduce velocity of motor: 

Press ⎺Mon key and keep it pressed. 

• Increase velocity of motor: 

Press Prog + key and keep it pressed. 

• Exit motor potentiometer: 

Press Esc key. 



S-0-0092 


Bipolar Torque/Force Limit Value 

• Starting point: main screen 





• Select Bipol. torque/force limit val. 


Following display appears. Enter desired value for "bipolar torque/force 

limit value" (parameter S-0-0092). 

Data field in which you can make inputs is highlighted in black. 

Fig. 7-15: Bipolar torque/force limit value (S-0-0092) 

• Data field in which you can make inputs is highlighted in black. 

• Enter desired value: 

◄, ►: move cursor to the left or to the right 


• Press Enter key to confirm your setting. 

• Press Esc to leave editing mode. 

By this parameter it is possible to limit the torque/force command value to 

allowed maximum values in order to protect the mechanical components. 

The parameter acts in a bipolar way, i.e. positive and negative command 

values are limited to the entered value. The limitation acts on the sum of 

all torque command values, i.e. on the sum of the command value 

components of the velocity controller output and the command value 

components from acceleration-dependent feedforwards ("S-0-0348, 

Acceleration feedforward gain"; "P-0-1126, Velocity control loop: 

acceleration feedforward"). The unit of S-0-0092 depends on the scaling 

that has been set. 

Note: The effective limit value is displayed in P-0-0049, Effective 

torque/force command value. This value can be limited with 

regard to S-0-0092, due to a lower value in "P-0-0109, 

Torque/force peak limit" or due to a current limit by the 

respective work load of amplifier or motor. 

If in stationary operation (constant speed) a lower torque than 

in the case of acceleration processes is to be made available 

to the drive, this can be achieved by appropriate values of 

"S-0-0082, Torque/force limit value positive" and "S-0-0083, 

Torque/force limit value negative" in conjunction with 

acceleration feedforward (S-0-0348 or P-0-1126). 

The bipolar torque/force limit value also acts on "C1300 Positive stop 

drive procedure command", the value of S-0-0092 is a criterion for the 

acknowledgment of C1300.



• Go to main screen. 





• Select Parameterization 


Parameter mode is automatically displayed. Following display appears: 

Fig. 7-16: Display "Parameterization" 

When drive controller was in status AF (drive enable), following display 

appears: 

Fig. 7-17: Error message when switching operating mode/parameter mode 

Switch off drive enable and repeat procedure. 



Guided Parameterization 


• Select Guided Parameterization. 


"Motor data" display appears: 


Enter motor data 

(P-0-4032): 

Rated current 

Rated voltage 

Rated frequency 

Rated speed 

Power factor cos φ 

Rated power 

(see description below) 

Automatic calculation of 

motor data 

(P-0-4033, C3200 Command 

Calculate motor data) 

Motor peak current (Display) 

(S-0-0109) 

Aeff 

Select temperature sensor 

(P-0-0512): 

0: without 

1: PTC150 

3: KTY84 

4: PTC130 

If you have selected a temperature sensor: 

Enter motor warning temperature 

(S-0-0201) 

If you have selected a temperature sensor: 

Enter motor shutdown 

temperature 

(S-0-0204) 

Select switching frequency of 

power output stage 

(P-0-0001): 

4000 Hz 

8000 Hz 

Velocity command value 

Analog input 


Fixed cmd value 

Analog input 

Select analog mode I/O 

(P-0-0218): 

U signals 

I signals 

4…20 mA



Enter positive velocity limit value 

(S-0-0038) 

Enter negative velocity limit value 

(S-0-0039) 

Enter ramp 2 pitch 

(P-0-1203) 

Enter deceleration ramp 2 

(P-0-1213) 

Enter velocity command filter 

(P-0-1222) 

Automatic switching from 

parameter mode to 

operating mode 

P2 -> P3 -> P4 


Fixed cmd value 

(P-0-1206) 

(see description below) 

Fig. 7-18: Settings (parameterizing the drive controller) 

Enter scaling 

(P-0-0214) 

Enter offset 

(P-0-0215) 

Enter dead zone 

(P-0-0216) 

Enter time constant input filter 

(P-0-0217) 

continue with 

Positive velocity limit value 

(S-0-0038) 

Enter step size 

(P-0-1217) 

Enter acceleration 

(P-0-1215) 

Enter deceleration 

(P-0-1216) 




Enter Motor Data: 

At the beginning of parameterization you must enter the motor data (see 

type plate of motor). 

Data field in which you can make inputs is highlighted in black. 

Fig. 7-19: Enter motor data (example) 

List 

element 

Characteristic 

value of motor Unit Definition 

0 rated current Aeff rms value of the electric current in 

the motor feed wire (motor phase) at 

rated load 

1 rated voltage Veff rms value of the phase-to-phase 

voltage between the motor terminal 

pins at rated load 

2 rated frequency Hz frequency of the feeding, sinusoidal 

electric voltage 

3 rated speed 1/min speed of motor output shaft at rated 

load 

4 power factor cos φ 1 power factor at rated load 

5 rated power kW mechanical power that can be 

continuously delivered at rated load 

Fig. 7-20: List elements P-0-4032 

• Data field in which you can make inputs is highlighted in black. 

• With key ▲ or ▼ you can select a specific data field. 

• With keys ◄, ►, Prog + , ⎺Mon enter desired value: 

◄, ►: move cursor to the left or to the right 


• With Enter key confirm entered value. 

Next data field is automatically activated. 

• When you have made all inputs: 

Press Esc key.


Fixed Command Value (P-0-1206): 

After selecting Fixed cmd value the following display appears (example): 

Data field in which you can make inputs is highlighted in black 

(editing mode). 

Fig. 7-21: Fixed command value (example) 

• To display all fixed command values: 

• In editing mode: Press ▲ or ▼ key 

• Else: Press Prog + or ⎺Mon key 

• To modify fixed command values (in editing mode only): 

Press Prog + or ⎺Mon key. 

Press Enter key to confirm your setting. 

Press Esc key to leave editing mode. 

P-0-1206, Memory of velocity command values: 

Function of the parameter: 

Five velocity command values are stored in this list parameter. In contrast 

to S-0-0036 this parameter cannot be cyclically written. It is used as a 

fixed command value memory the individual values of which can be 

selected via the control word P-0-1200 (switch function). The range of 

values and unit of the parameter elements in P-0-1206 correspond to 

those of the velocity command value S-0-0036. 

See also Functional Description "Operating Modes - Velocity Control" 

Parameter structure: 

For selecting the command values there is the following assignment: 

P-0-1206 Selection by P-0-1200 Priority 

element 1 bit 0 = 1 1 





If more than one bit has been set, the priority indicated in the right column 

applies (1 = highest priority). 



Change Single Parameter 







• Select Parameterization. 



Fig. 7-22: Parameterization 


appears: 


Switch off drive enable and repeat procedure.


• Select Change single parameter 


The following display appears: 

Fig. 7-24: Select parameter 

• With keys Prog + , ⎺Mon, Enter, ◄, ►, enter desired parameter (see 

also example below): 


Enter, ◄, ►: move cursor to the left or to the right 

Fig. 7-25: Enter parameter 

• After desired parameter has been entered: 

Press Enter key. 



Value of parameter is displayed. 


To display name and unit of parameter: 

• Press key ▼. 


• Press ◄ key to go to previous display. 

Example: 

Last parameter displayed was S-0-0383. 

Parameter P-0-1222 is to be displayed. 

• S → key Prog + → P → key Enter 

• 0 → key Enter 

• → 0 key Prog + 1 → key ► → 

• → 3 key → ⎺Mon → 2 ► key 

• 8 → key ⎺Mon → 7 … → key ⎺Mon → 2 → key ► 

• → 3 key → ⎺Mon → 2 ► key 




Value of parameter P-0-1222 is displayed. 




Load Basic Parameters 


• Press ▼ key. 


Parameter Management 






• Select Parameter management 



PM: parameter mode 

Fig. 7-26: Display "Load basic parameters" 


appears: 



• Select Load basic parameters. 


Following display appears: 

Fig. 7-28: Load basic parameters


Save/Load Parameters (Copying 

Parameter Sets) 

Save Parameters 

• Press Prog + key. 

Basic parameters are loaded. 

• If you don't want to load basic parameters: 

◄ Press key. 

You can save the parameter set of a drive controller on the comfort 

control panel and then the load the parameter set which was saved to 

another drive controller. The parameter set which was saved contains the 

parameters from the list of backup parameters. 

Requirements 

Note: To use this function you need a comfort control panel of 

version VCP01.2BWA-TS-NN-FW (see type plate of comfort 

control panel). 

1: Type plate on the back of the comfort control panel 

Fig. 7-29: Type plate of the comfort control panel 

To use this function 

• the functional package "Open-Loop" must be active in the firmware 

which is used and 

• the drive controller with comfort control panel plugged must have 

booted 












Fig. 7-30: Parameter management 


appears: 



• Select Save/load parameters. 



Fig. 7-32: Parameter management


Load Parameters 

• Press ⎺Mon key. 

At start of process, Start Save is displayed (see following figure) and 

parameter set is copied to comfort control panel. At the same time, 

number of bytes already copied is displayed. By means of numbers, 

Progress shows you current status of process (on the right there is 

the end number; to the left of the end number there is the current 

number). 

Data Saved indicates successful end of process. 

If an error occurred, the corresponding message is displayed in lowest 

line. In this case you have to remove error first and then restart 

process. 

ErrCode: Displayed only in the case of an error (e.g. "Err at Init") 

Fig. 7-33: Save parameters 

• Plug comfort control panel with copied parameter set on drive 

controller to which parameter set is to be loaded. 

• Reboot drive controller with comfort control panel plugged. 











appears: 






• Select Save/Load parameters 




• Press Prog + key. 

At start of process, Start Restore is displayed (see following figure) 

and parameter set is loaded to drive controller. At the same time, 

number of bytes already loaded is displayed. By means of numbers, 

Progress shows you current status of process (on the right there is 

the end number; to the left of the end number there is the current 

number). 

Data Restored indicates successful end of process. 

If an error occurred, the corresponding message is displayed in lowest 

line. In this case you have to remove error first and then restart 

process. 

ErrCode: Displayed only in the case of an error (e.g. "Err at Init") 

Fig. 7-37: Load parameters


7.3 Overview of Parameters – Base Package 

S-0-0000 – S-0-0100 

Function 

Function 

Function 

Function 

This chapter contains the parameters of firmware MPx-04 which are 

relevant for open-loop or closed-loop applications. 

S-0-0030, Manufacturer version 

Input min/max: Default value: Unit: 

MPB: --- / --- --- -- 

This parameter contains the drive firmware version in the form of a text 

(ASCII format). 

See also Functional Description "System Overview" 

S-0-0032, Primary mode of operation 


MPB: --- / --- 2 -- 

The operating mode determined in this parameter is activated in the drive, 

if: 

• the primary mode of operation was selected in the master control word 

• (bits 8 and 9 = "00") and 

• control and power sections are ready for operation and 

• drive enable "RF" was set. 

See also Functional Description "Selecting the Operating Mode" 

S-0-0033, Secondary operation mode 1 


MPB: --- / --- 2 -- 


if: 

the secondary operating mode 1 was selected in the master control word 

(bits 8 and 9 = "01"), 






MPB: --- / --- 2 -- 


if: 



Function 

Function 

Function 


• the secondary operating mode 2 was selected in the master control 

word (bits 8 and 9 = "10"), 






MPB: --- / --- 2 -- 


if: 

• the secondary operating mode 3 was selected in the master control 

word (bits 8 and 9 = "11"), 




S-0-0036, Velocity command value 


MPB: 0 S-0-0044 

In the "velocity control" mode the control unit cyclically enters the 

command value in this parameter. 

Note: The velocity command value actually effective (addition of all 

components that generate the velocity command value) at the 

input of the velocity loop is displayed in parameter P-0-0048. 


S-0-0037, Additive velocity command value 


MPB: 0 S-0-0044 

In velocity-controlled and position-controlled operating modes, the control 

unit can cyclically enter an additive command value in this parameter in 

case the control unit provides the respective value. 

Note: The velocity command value actually effective (addition of all 

components that generate the velocity command value) at the 

input of the velocity loop is displayed in parameter P-0-0048. 


S-0-0038, Positive velocity limit value 

Input min/max: Default value: Unit:


Function 

Function 

Function 

Function 

Function 

MPB: --- S-0-0044 

Depending on the application, this parameter indicates the value for the 

maximum allowed positive velocity command value of the motor. 

See also Functional Description "Velocity Limitation" 

S-0-0039, Negative velocity limit value 


MPB: --- S-0-0044 


maximum allowed negative velocity command value of the motor. 


S-0-0040, Velocity feedback value 


MPB: --- / --- --- S-0-0044 

The actual velocity value of the motor encoder can be transmitted by the 

drive controller to the control unit either cyclically or via the service 

channel. 

Note: In open-loop operation, parameter S-0-0040 contains the 

actual velocity value estimated by means of a motor model. 


S-0-0044, Velocity data scaling type 


MPB: --- / --- 2 -- 

The scaling type of the velocity data determines in which format and 

which reference the velocity data are exchanged between the drive and 

the control unit or user interface. 

See also Functional Description "Scaling of Physical Data" 

S-0-0082, Torque/force limit value positive 


MPB: 400,0 S-0-0086 

This parameter allows determining a torque or force limit value for 

positive torque/force command values. This limit value only takes effect 

with regard to the torque command value of the velocity controller 

(P-0-0049) and not with regard to command values from the acceleration 

feedforwards (S-0-0348, P-0-1126). Positive torque takes effect in the 

case of: 

• motive operation at positive velocity 



Function 

Function 

Function 


• regenerative operation at negative velocity 

See also Functional Description "Torque/Force Limitation" 

S-0-0083, Torque/force limit value negative 


MPB: --- S-0-0086 

This parameter allows determining a torque or force limit value for 

negative torque/force command values. This limit value only takes effect 

with regard to the torque command value of the velocity controller 

(P-0-0049) and not with regard to command values from the acceleration 

feedforwards (S-0-0348, P-0-1126). Negative torque takes effect in the 

case of: 

• motive operation at negative velocity 

• regenerative operation at positive velocity 


S-0-0084, Torque/force feedback value 


MPB: --- / --- --- S-0-0086 

Display parameter for the actual torque/force value currently effective. 

Calculating the actual torque/force value 

actual torque/force value = torque-generating current, actual value 

(P-0-0043) * torque factor 

Fig. 7-38: Relation for calculating the actual torque/force value 

Note: The value displayed in S-0-0084 is only an approximation of 

the torque or the force of the motor actually generated! 


S-0-0085, Torque/force polarity parameter 


MPB: 0 / 7 0 -- 

In this parameter it is possible to invert the polarities of the indicated 

torque/force data with regard to the application. The polarities are 

changed outside of the controlled system, i.e. at the input and output of 

the controlled system. 

The following applies to rotary motors: 

A clockwise turn of the motor output shaft in the case of positive torque 

and positive polarity. 

The following applies to linear motors: 

A move of the primary part in the direction of the cable connection side in 

the case of positive force and positive polarity.


Function 

Function 

Function 

Function 


S-0-0086, Torque/force data scaling type 


MPB: --- / --- 0 -- 

The unit and reference of the torque/force data of a drive are set by this 

parameter: 

• percentage-based scaling (% of reference value, see below) 

• rotary scaling (Nm, inlbf) 

• linear scaling (N, lbf) 


S-0-0091, Bipolar velocity limit value 


MPB: 10000000 S-0-0044 


maximum allowed velocity command value of the motor, independent of 

the sense of rotation. 

The maximum value for S-0-0091 is the value of "S-0-0113, Maximum 

motor speed". This value also is the maximum value for all other velocity 

parameters. 

Depending on the sense of rotation, the maximum velocity limit van be 

influenced by the parameters "S-0-0038, Positive velocity limit value" and 

"S-0-0039, Negative velocity limit value". These two parameters have the 

default value "0" and thereby are switched off, only S-0-0091 takes effect. 


S-0-0092, Bipolar torque/force limit value 


MPB: 400,0 S-0-0086 

By this parameter it is possible to limit the torque/force command value to 

allowed maximum values in order to protect the mechanical components. 

See also Functional Description "Torque/Force Control" 

S-0-0093, Torque/force data scaling factor 


MPB: --- / --- --- -- 

This parameter is always adapting itself to the selected preferred scaling. 

The parameter cannot be changed! 

Note: Freely parameterizable scaling (parameter scaling) is 

impossible for the torque/force data! 



Function 

Function 

Function 

S-0-0101 – S-0-0200 

Function 



S-0-0094, Torque/force data scaling exponent 


MPB: --- / --- --- -- 

This parameter is always adapting itself to the selected preferred scaling. 

The parameter cannot be changed! 

Note: Freely parameterizable scaling (parameter scaling) is 

impossible for the torque/force data! 

S-0-0095, Diagnostic message 


MPB: --- / --- --- -- 

This parameter contains the operating status of the drive at present 

relevant in the form of a text. 

Preceding the text is the respective content of parameter S-0-0390, 

Diagnostic message number. 

Example: "A0010 Drive HALT" 

See also Functional Description "Coded Diagnostic Drive Messages" 

S-0-0100, Velocity loop proportional gain 


MPB: 0,000 / 2147483,647 0,050 P-0-4014 

The speed loop generates a torque/force command value (P-0-0049) 

from the difference of velocity command value and actual velocity value 

(= S-0-0347, Velocity error). 

See also Functional Description "Control Loop Structure" 


S-0-0101, Velocity loop integral action time 


MPB: 0,0 / 6553,5 100,0 ms 

The speed controller generates a torque/force command value (P-0-0049) 

from the difference of velocity command value and actual velocity value 

(= S-0-0347, Speed deviation). 

See also Functional Description "Operating Modes - Velocity Control"


Function 

Function 

Function 

Function 

Function 

S-0-0106, Current loop proportional gain 1 


MPB: 0,00 / 500,00 8,00 V/A 

This parameter is used to define the P-gain for the current loop (for the Id 

and Iq control loop). Parameterization of the current loop proportional gain 

depends on the control performance (current loop clock TA,i) and the 

selected switching frequency (cf. P-0-0001). 

S-0-0107, Current loop integral action time 1 


MPB: 0,0 / 429496729,5 2,0 ms 

The value for the current loop integral action time 1 is motor-specific and 

is determined individually for each motor type. 

S-0-0109, Motor peak current 


MPB: 0,000 / 1000,000 5,000 A eff 

Maximum allowed current that may temporarily flow in the motor. 

See also Functional Description "Limitations" 

S-0-0110, Amplifier peak current 


MPB: --- / --- --- A eff 

Peak current of the controller. The value is set automatically by the 

device. This current is only available temporarily. 

See also Functional Description "Current Limitation" 

S-0-0111, Motor current at standstill 


MPB: 0,000 / 500,000 1,000 A eff 

The value of this parameter is the torque-/force-generating component of 

the continuous motor current when the motor is loaded with the least 

allowed cooling type, with the continuous torque ensured at standstill or 

with the ensured continuous force (see motor data sheet). 

See also Functional Description "Rexroth Motors" 

S-0-0112, Amplifier nominal current 


MPB: --- / --- --- A eff 



Function 

Function 

Function 

Function 

Function 


This parameter displays the maximum possible continuous current of the 

drive. 

Note: In the case of rotary field frequencies smaller than 3 Hz, the 

possible amplifier continuous current is reduced by means of a 

temperature model (see Technical Data in hardware Project 

Planning Manual!). 


S-0-0113, Maximum motor speed 


MPB: 3000,0000 S-0-0044 

Value for the maximum allowed velocity command value of the motor. 

The actual velocity value may be a maximum of 12.5% higher than the 

value of S-0-0113, with higher actual values the drive reacts with torque 

disable and generates the error message F8079 Velocity limit S-0-0091 

exceeded. 


S-0-0127, C0100 Communication phase 3 transition 

check 


MPB: --- / --- --- -- 

When executing the S-0-0127, C0100 Communication phase 3 

transition check command, all interface parameters are checked for 

validity. 

See also Functional Description "Device Control (Status Machine)" 

S-0-0128, C5200 Communication phase 4 transition 

check 


MPB: --- / --- --- -- 

When executing the command S-0-0128, C0200 Communication phase 

4 transition check is executed, all parameters are checked for validity 

and possible limit value violations. 


S-0-0134, Master control word 


MPB: --- / --- --- -- 

For drives with SERCOS interface the master control word is cyclically 

transmitted from master to drive.


Function 

Function 

Function 

There is important control information defined in the master control word, 

like for example: 

• drive enable 

• Drive Halt 

• selection of command operating mode 


See also Functional Description "System Overview - Master 

Communication - SERCOS interface" 

See also Functional Description "Drive Functions – Drive Halt" 

S-0-0135, Drive status word 


MPB: --- / --- --- -- 

For drives with SERCOS interface the master status word is cyclically 

transmitted from drive to master. There is important status information 

contained in the master status word, like for example: 

• readiness for operation of control and power sections 

• drive error 

• change bits class 2 and 3 diagnostics 

• current operating mode 


See also Functional Description "System Overview - Master 

Communication - SERCOS interface" 

See also Functional Description "Drive Functions – Drive Halt" 

S-0-0140, Controller type 


MPB: --- / --- --- -- 

The power section type is contained in the operating data of this 

parameter in the form of a text (e.g. HCS02.1). 

See also Functional Description "Controller Design" 

S-0-0141, Motor type 


MPB: --- / --- --- -- 

The type designation of the motor is entered in this parameter. 

See also Functional Description "Motor, Mechanical Axis System, 

Measuring Systems" 

S-0-0142, Application type 


MPB: --- / --- --- -- 



Function 

Function 

Function 

Function 

S-0-0201 – S-0-0300 

Function 


A descriptive name (text) for the drive or the axis (e.g. swiveling axis) can 

be stored in this parameter. 

Note: It does not have any influence on the function. 

S-0-0144, Signal status word 


MPB: --- / --- --- -- 

By means of the signal status word it is possible to transmit signals in real 

time from the drive to the control unit. 

See also Functional Description "Configurable Signal Status Word" 

S-0-0145, Signal control word 


MPB: --- / --- --- -- 

By means of the signal control word it is possible to transmit signals in 

real time from the control unit to the drive. 

See also Functional Description "Configurable Signal Control Word" 

S-0-0160, Acceleration data scaling type 


MPB: --- / --- 2 -- 

As described below, it is possible to set different scaling types for the 

acceleration data in the drive. 

The scaling type of the acceleration data determines in which format and 

which reference the acceleration data are exchanged between the drive 

and the control unit or user interface. The values of the acceleration data 

parameters (e.g. S-0-0138, Bipolar acceleration limit value) are 

displayed by the drive with the scaling that has been set. The scaling 

setting is normally preset by the control unit. 


S-0-0201, Motor warning temperature 


MPB: 145,0 S-0-0208 

If the motor temperature exceeds the motor warning temperature, the 

drive sets bit 2 (motor overtemperature warning) in S-0-0012, Class 2 

diagnostics and the warning E2051 Motor overtemp. prewarning is 

output. In the case of MHD and MKD motors, the drive sets this 

parameter to 145 °C, in the case of MKE motors to 125 °C.


Function 

Function 

Function 

Function 

See also Functional Description "Motor Temperature Monitoring" 

S-0-0204, Motor shutdown temperature 


MPB: 155,0 S-0-0208 

If the motor temperature exceeds the motor shutdown temperature, the 

drive sets bit 2 (motor overtemperature shutdown) in S-0-0011, Class 1 

diagnostics and the error F2019 Motor overtemperature shutdown is 

generated. 

In the case of MHD and MKD motors, the drive sets this parameter to 

155 °C, in the case of MKE motors to 135 °C. 


S-0-0208, Temperature data scaling type 


MPB: --- / --- 0 -- 

By means of this parameter the unit of the temperature data of the drive is 

determined. The values are displayed with the first decimal place. 

S-0-0265, Language selection 


MPB: 0 / var. 0 -- 

All parameter names, units and diagnostic/error messages are stored in 

the drive controller in several languages. This parameter determines the 

language of the texts to be output. 

• 0: German 

• 1: English 

• 2: French 

• 3: Italian 

• 4: Spanish 

See also Functional Description "Language Selection" 

S-0-0292, List of all operating modes 


MPB: --- / --- --- -- 

All operating modes that are supported by the drive firmware used are 

listed in this parameter. 

The codes (hexadecimal) of those operating modes are displayed that 

can be entered in the parameters S-0-0032 … S-0-0035 and 

S-0-0284 … S-0-0287 (primary mode of operation and secondary 

operation modes) in the form of binary values. 

See also Functional Description "Operating Modes" 



S-0-0301 – S-0-0400 

Function 

Function 

Function 

Function 

Function 


S-0-0328, Assign list signal status word 


MPB: 0 / 31 --- -- 

In this list parameter the assignment is made which bit of the respective 

parameter entered in S-0-0026, Configuration list signal status word is 

to be mapped to S-0-0144,Signal status word. 

See also Functional Description "Configurable Signal Status Word" 

S-0-0329, Assign list signal control word 


MPB: 0 / 31 --- -- 

In this list parameter the assignment is made which bit of the respective 

parameter entered in S-0-0027, Configuration list signal control word 

is written via the signal control word (S-0-0145). 

See also Functional Description "Configurable Signal Control Word" 

S-0-0330, Message 'n_actual = n_command' 


MPB: --- / --- --- -- 

This parameter displays whether the actual velocity value has reached the 

command value within a tolerance window (message "n_actual = 

n_command"). 

|S-0-0040 – S-0-0036 – S-0-0037|


Function 

Function 

Function 

Function 

S-0-0333, Message 'T >= Tx' 


MPB: --- / --- --- -- 

This parameter indicates whether the actual torque or force value has 

exceeded a threshold value ("T >= Tx" message) that can be set. 

See also Functional Description "Status Classes" 

S-0-0334, Message 'T >= Tlimit' 


MPB: --- / --- --- -- 

This parameter indicates whether the actual torque or force value has 

reached the limit value ("T >= Tlimit" message). 

The limit value is generated by the smallest value of 

• P-0-0109, Torque/force peak limit 

• S-0-0092, Bipolar torque/force limit value 

• S-0-0082, Torque/force limit value positive 

• S-0-0083, Torque/force limit value negative 

• work load-dependent limits by motor and controller. 


S-0-0335, Message 'n command > n limit' 


MPB: --- / --- --- -- 

This parameter displays when the absolute velocity command value is 

greater than the velocity limit value that can be set ("'n command > n limit" 

message). 


S-0-0337, Message 'P >= Px' 


MPB: --- / --- --- -- 

This parameter indicates whether the absolute value of the actual power 

value has exceeded a threshold value that can be set ("P >= Px" 

message). Bit 0 of this parameter becomes "1" when the absolute value 

of S-0-0382, DC bus power is greater than or equal to the value of 

S-0-0158, Power threshold Px. 

This message also appears in S-0-0013, Class 3 diagnostics. 



Function 

Function 

Function 

Function 


S-0-0349, Jerk limit bipolar 


MPB: 0 S-0-0160 

The bipolar jerk limit value, in the operating modes listed below, describes 

the maximum allowed acceleration change per time (= jerk), 

symmetrically in both directions (acceleration and deceleration). 

The limit value takes effect in the following operating modes: 

• Position control 



Note: The bipolar jerk limit value limits the change in acceleration 

per time for "Drive Halt", the error reaction quick stop (velocity 

command value reset with filter and ramp) and the commands 

that are generating their own position command values. The 

value "0" switches the jerk filter off! 

See also Functional Description "Establishing the Position Data 

Reference (Drive Controlled Homing)" 

See also Functional Description "Spindle Positioning" 

See also Functional Description "Drive Functions - Drive Halt" 

S-0-0375, List of diagnostic numbers 


MPB: --- / --- --- -- 

The drive enters every change of parameter S-0-0390, Diagnostic 

message number in this list. The list is organized as a ring buffer; it can 

contain up to 50 diagnostic message numbers. When the list is read, the 

last diagnostic message number displayed is displayed in the 1 st element 

of the parameter. 

See also Functional Description "Diagnostic System" 

S-0-0380, DC bus voltage 


MPB: --- / --- --- V 

This parameter is used to display the DC bus voltage currently measured. 

S-0-0382, DC bus power 


MPB: --- / --- --- Watt 

This parameter displays the DC bus power currently demanded by the motor.


Function 

Function 

S-0-0401 – S-0-1000 

Function 

Function 

Function 

S-0-0383, Motor temperature 


MPB: --- / --- --- S-0-0208 

This parameter indicates the measured value of the winding temperature 

of the motor, if the temperature sensor incorporated in the motor allows 

analog temperature evaluation! 

Note: In the case of MHD, MKD, MKE and LSF motors, the values 

indicated by S-0-0383 do not allow, due to the temperature 

sensor characteristic (switching performance), drawing a 

conclusion regarding the actual motor temperature! 


S-0-0384, Amplifier temperature 


MPB: --- / --- --- S-0-0208 

Display parameter for the measured temperature of the controller power 

output stage (heat sink temperature). 

S-0-0520, Control word of axis controller 


MPB: --- / --- 4 -- 

The control word of axis controller takes effect in all position-controlled 

operating modes and allows influencing the axis control. 


S-0-0521, Status word of position loop 


MPB: --- / --- --- -- 

The status word of position loop displays current information relevant to 

position control of the active operating mode. 


S-0-0822, Torque/force ramp 


MPB: 0,0 S-0-0086 

With the torque/force ramp time (S-0-0823) the torque/force ramp defines 

an increase for the torque/force command value (S-0-0080) in the 

operating mode "torque/force control". 



Function 

Function 


Note: Parameter S-0-0822 replaces the previously available filtering 

by means of the PT1 filter (cf. P-0-0176)! 

See also Parameter Description "S-0-0822, Torque/force ramp" 

See also Parameter Description "S-0-0824, Message torque/force 

command value reached" 

See also Functional Description "Operating Modes - Torque/Force 

Control" 

S-0-0823, Torque/force ramp time 

P-0-0001 – P-0-0689 (General Functions) 

Function 


MPB: 0,0 / 6553,5 0,0 ms 

The torque/force ramp time (S-0-0823) is the reference time for the 

torque/force ramp. In the operating mode torque/force control, the 

parameter S-0-0823, together with the torque/force ramp (S-0-0822), 

defines an increase for the torque/force command value (S-0-0080). 

See also Parameter Description "S-0-0822, Torque/force ramp" 

See also Parameter Description "S-0-0824, Message torque/force 

command value reached" 

See also Functional Description "Operating Modes - Torque/Force 

Control" 

S-0-0824, Message torque/force command value reached 


MPB: --- / --- --- -- 

In the operating mode "torque/force control", the message "S-0-0824, 

Message torque/force command value reached" indicates that the 

internal "S-0-0080, Torque/force command value" has reached the 

preset value. 


P-0-0001, Switching frequency of the power output stage 


MPB: 4000 / 8000 4000 Hz 

The switching frequency of the power output stage can be set. The max. 

switching frequency is determined by P-0-4058, Amplifier type data, list 

element 16. Depending on the device type, the following values can be 

set, for example: 

Device type / switching frequ. fs [kHz] 2 4 8 12 16 

HCS02 O X X X X 

HCS03 O X X X X


Function 

Function 

HCS04 (as of MPx04) X X X X O 

HMS01 O X X X X 

HMS02 (as of MPx04) O X X O O 

HMD01 O X X O O 

O not allowed 

X allowed 

Fig. 7-39: Switching frequency 

Note: Only set such switching frequencies which are supported by 

the involved components! Observe the Technical Data for 

drive controllers and motors. 

See also Functional Description "Current Controller" 

P-0-0004, Velocity loop smoothing time constant 


MPB: 0 / 65500 800 us 

The time constant that can be activated in this parameter takes effect in 

the velocity controller and is suited for suppressing quantization effects 

and limiting the bandwidth of the velocity control loop. 

See also Functional Description "Velocity Control Mode" 

The limit frequency results from the smoothing time constant by means of 

the following relationship: 

Fig. 7-40: Bandwidth 

f g 

1 

= 

2 ⋅π 

⋅T 

By inputting the minimum input value the filter is switched off. 

P-0-0007, Display text of diagnostic message 


MPB: --- / --- --- -- 

This parameter contains the display text currently displayed on the control 

panel of the drive. 

Example: " AF" or " PL" 

See also Functional Description "Coded Diagnostic Drive Messages" 

P-0-0008, Activation E-Stop function 


MPB: 0 / 7 0 -- 



Function 

Function 

Function 

Function 


This parameter is used for activating the E-Stop input and selecting a 

reaction for the shutdown of the drive. 

See also Functional Description "E-Stop Function" 

See also Functional Description "Activation and Polarity of the E-Stop 

Input" 

P-0-0009, Error number 


MPB: --- / --- --- -- 

When the drive diagnoses a class 1 diagnostics error, a bit is set in 

parameter S-0-0011, Class 1 diagnostics. Bit 13 for "Error in class 1 

diagnostics" is then set in the drive status word. 

See also Functional Description "Error Memory (Power Section and 

Control Section)" 

P-0-0018, Number of pole pairs/pole pair distance 


MPB: 1 / var. 3 P-0-4014 

The following settings can be made depending on bit 9 of parameter 

P-0-4014, Type of construction of motor: 

• number of pole pairs in the case of rotary motors 

• pole pair distance/pole pair length in the case of linear motors 

Note: 

Writing the correct value to this parameter: 

• In the case of MHD, MKD, MKE, automatically at initial 

commissioning. 

• In the case of 2AD, ADF, linear and rotary kit motors, by 

loading the motor parameters with the IndraWorks D 

commissioning tool. 

• In the case of other motors, manual input according to 

manufacturer's specification. 



P-0-0043, Torque-generating current, actual value 


MPB: --- / --- --- A eff 

Display parameter for the torque-generating component of the measured 

actual current value. The value is updated with the current loop cycle 

time.


Function 

Function 

Function 

Function 

Note: The phase currents of the three-phase AC motor are 

measured. The resulting torque-generating content of the total 

current is calculated internally and displayed by means of this 

parameter. 

P-0-0044, Flux-generating current, actual value 


MPB: --- / --- --- A eff 

Display parameter for the content of the measured actual current value 

that generates the magnetic flux in the motor. The value is updated with 

current loop cycle time. 

Note: The phase currents of the three-phase AC motor are 

measured. The resulting flux-generating content of the total 

current is calculated internally and displayed by means of this 

parameter. 

P-0-0045, Control word of current controller 


MPB: --- / --- 0 -- 

This parameter is used to configure the current controller. This means 

that with this parameter you can activate and deactivate extended 

functions. 

See also Functional Description "Motor Control" 

P-0-0046, Status word of current controller 


MPB: --- / --- --- -- 

This parameter displays states that affect the correct behavior of the 

current loop. 

P-0-0048, Effective velocity command value 


MPB: --- / --- --- S-0-0044 

By means of this parameter it is possible to display the velocity command 

value at the summing point of the velocity controller. 

Note: At the summing point the actual velocity value is subtracted 

from the effective velocity command value. The result of this 

calculation (control difference) is the input of the speed 

controller. 



Function 

Function 


See also the functional description: "Velocity Loop" 

See also the functional description: "Synchronization Modes" 

P-0-0051, Torque/force constant 


MPB: 0,01 / 21474836,47 1,00 P-0-4014 

The torque/force constant indicates the relation of the motor torque/force 

and the associated torque-generating current of the motor, if the motor is 

not in the field weakening range. 

If the motor is in the field weakening range, the actually effective 

torque/force constant is reduced depending on the speed/velocity. The 

value in this parameter, however, remains unchanged (relation to 

operation without field weakening). 

Note: 


• In the case of MHD, MKD, MKE, automatically at initial 

commissioning. 


loading the motor parameters with the IndraWorks D 

commissioning tool. 

• In the case of other motors, manual input according to 

manufacturer's specification. 



Measuring Systems 

P-0-0059, Additive position command value, controller 


MPB: 0 S-0-0076 

By means of this parameter an additional position command value can be 

added, directly at the input of the position loop, to the position command 

value generated by command value adjustment. The value is neither 

limited nor changed. This is why the user has to make sure that absolute 

value, characteristic and the derived values are within their allowed 

ranges of values! 

Note: The actually effective position command value (addition of 

position command value from command value adjustment of 

current operating mode and "additive position command value, 

controller") is displayed in parameter P-0-0434, Position 

command value of controller. 

This parameter is used, for example, by the drive firmware in order to set 

command values from the firmware-internal command value generator 

without limitation and deformation (noise generator for control loop 

analysis). It can also be used by the control master for adding 

feedforward values, for example!


Function 

Function 

Function 

Function 

Function 

See also Functional Description "Position Control with Cyclic Command 

Value Input" 

P-0-0063, Torque-generating voltage, actual value 


MPB: --- / --- --- V eff 

Display parameter for the torque-generating component of the voltage 

output by the current loop. The value is updated with the current loop 

cycle time. 

P-0-0064, Flux-generating voltage, actual value 


MPB: --- / --- --- V eff 

Display parameter for the flux-generating component of the voltage output 

by the current loop. The value is updated with the current loop cycle time. 

P-0-0065, Absolute voltage value, actual value 


MPB: --- / --- --- V eff 

This parameter displays the absolute value of the voltage output by the 

current loop which consists of the voltage components Ud and Uq. 

Note: The displayed voltage value corresponds to the measured 

value available at the motor terminals (conductor reference) 

and is updated with the current loop cycle time! 


P-0-0067, Phase current U, actual value 


MPB: --- / --- --- A 

This parameter is used to display the actual current value in the motor 

phase U measured in the current loop clock (TA, current). 

See also Functional Description "Performance Data" 

P-0-0068, Phase current V, actual value 


MPB: --- / --- --- A 

This parameter is used to display the actual current value in the motor 

phase V measured in the current loop clock (TA, current). 




Function 

Function 

Function 

Function 


P-0-0081, Parallel output 1 


MPB: --- / --- --- -- 

The content of P-0-0081, Parallel output 1 is output at the digital outputs 

of the optional cards "MD1" (7 outputs) or "MD2" (16 outputs). 

Note: By writing P-0-0081 (e.g. by means of MLD) the digital outputs 

can be directly addressed. 

See also Functional Description "Digital Inputs/Outputs" 

P-0-0082, Parallel input 1 


MPB: --- / --- --- -- 

The content of P-0-0082, Parallel input 1 maps the digital inputs of the 

option MD1 (11 inputs) or MD2 (16 inputs). 

Note: By reading P-0-0082 (e.g. by means of MLD) the digital inputs 

can be directly detected. 


P-0-0090, Travel range limit parameter 


MPB: 0 / 7 0 -- 

This parameter defines the signal behavior of the travel range limit switch 

inputs and the behavior of the drive with regard to exceeded travel 

ranges. 

See also Functional Description "Position Limitation/Travel Range Limit 

Switch" 

P-0-0101, Configuration for starting lockout selector 


MPB: --- / --- 0 -- 

In parameter P-0-0101, Configuration for starting lockout selector it is 

possible to configure the selection of the activation circuit of the starting 

lockout. 

Parameter structure: 

Bit Designation/function Comment 

0 0: N/C-N/O combination 

1: N/C-N/C combination


Function 

Function 

Function 

Fig. 7-41: P-0-0101, Configuration for starting lockout selector 

P-0-0102, Oper. hours power section at last activat. of 

start. lockout 


MPB: --- / --- 0,0 s 

Parameter P-0-0102, Oper. hours power section at last activat. of 

start. lockout displays the operating hours of the power section since the 

last time the starting lockout function was deselected. 

P-0-0105, Time stamp for list of diagnostic message 

numbers 


MPB: --- / --- --- s 

This parameter contains a list of the points of time at which the diagnostic 

drive message was changed. At each change of S-0-0390, Diagnostic 

message number the respective point of time (value from P-0-0190, 

Operating hours control section) is recorded. The last point of time at 

which the diagnostic message was changed is entered in the first line of 

the list, all entries already existing are moved down by one line. The list is 

full after 50 entries, each other entry causes the oldest value to get lost. 

The list from P-0-0105 corresponds with S-0-0375, List of diagnostic 

numbers. These parameters in the same line contain the diagnostic 

message number corresponding to the respective point of time. 

Note: The numbers of the diagnostic error messages and the 

respective points of time of the error events are only accepted 

in S-0-0375 and P-0-0105 by clearing the error message! 

P-0-0109, Torque/force peak limit 


MPB: 400,0 S-0-0086 

Torque/force limit value that acts on the sum of all torque/force command 

values: 

• command values from the acceleration feedforwards (S-0-0348, 

P-0-1126) 

• command values from the velocity controller (P-0-0049) 


P-0-0114, Undervoltage threshold 


MPB: 0 / 500 0 V 



Function 

Function 

Function 

Function 

Function 


With this parameter it is possible to determine and activate an individual 

undervoltage threshold, differing from the standard value, for the DC bus 

voltage. 

P-0-0115, Device control: status word 


MPB: --- / --- --- -- 

By means of this parameter it is possible to read the drive (� status 

device control) independent of the master communication that is used. 

See also Functional Description "Master Communication" 

See also Functional Description "Drive Functions - Drive Halt" 

P-0-0116, Device control: control word 


MPB: --- / --- --- -- 

This parameter indicates whether the master communication has 

activated the drive. 

P-0-0117, Activation of NC reaction on error 


MPB: --- / --- 0 -- 

This parameter allows activating an error reaction controlled by the control 

unit. When error reaction controlled by the control unit is active, the 

control unit (external control/NC or local MLD) still can input command 

values for the drive for 30 s. This allows realizing an error reaction 

coordinated by the control unit in the case of error. 

Note: When the 30 seconds are over, the error reaction set in 

P-0-0119, Best possible deceleration is carried out. 

See also Functional Description "NC Reaction on Error" 

P-0-0118, Power supply, configuration 


MPB: --- / --- 3 -- 

In parameter P-0-0118 settings with regard to error messages and error 

reactions are made for drives that are interconnected via the DC bus and 

the module bus ("drive system"). In addition, the handling of DC bus 

undervoltage is determined. 

Note: The DC bus voltage (power bus) for the "drive system" in 

operation is not switched off in the case of non-fatal drive 

errors! 

See also Functional Description "Power Supply"


Function 

Function 

Function 

Function 

Function 

P-0-0119, Best possible deceleration 


MPB: 0 / 3 0 -- 

This parameter determines the way the drive is shut down in case 

• non-fatal errors occur 

• interface errors occur 

• communication phase is reset 

• drive enable is disabled 

See also Functional Description "Best Possible Deceleration" 

P-0-0139, Analog output 1 


MPB: 0,000 / 10,000 0,000 V 

This parameter indicates the voltage value that is output via the analog 

output 1 of the drive controller. 

See also Functional Description "Analog Outputs" 

P-0-0140, Analog output 2 


MPB: 0,000 / 10,000 0,000 V 




P-0-0141, Thermal drive load 


MPB: 0,0 / 100,0 --- % 

The P-0-0141, Thermal drive load parameter is used to check the 

thermal load of the amplifier, 0% of the chip overtemperature 

corresponding to 0 Kelvin, 100% corresponding to the maximum chip 

overtemperature. Given the correct dimensioning of the drive, the thermal 

load should not exceed the value of 80% for the intended processing 

cycles. 

P-0-0180, Acceleration feedforward smoothing time 

constant 


MPB: 0 / 10000 0 us 

This parameter allows filtering the 



Function 

Function 


• double differentiated position command value (cyclic position control) 

• differentiated velocity command value (velocity control) 

with a 1 st order low pass in order to realize an acceleration feedforward 

which avoids an unduly high excitation of the system even in the case of 

poor position or velocity resolution. For the double differentiation can 

cause a highly noisy feedforward value which in turn is added as an 

additive torque command value. 

x com 

n com 

P-0-0040 

S-0-0348 

Fig. 7-42: Parameterizable filter cascade 

P-0-1126 

P-0-0180 

+ + 

Mcom Fcom 

DF0018v1.fh7 

See also Functional Description "Drive Control - Axis Control (Closed- 

Loop Operation)" 

P-0-0190, Operating hours control section 


MPB: --- / --- --- s 

This parameter displays the operating time of the drive's control section. 

By means of this parameter it is possible to display the total duty cycle of 

the control electronics since the delivery of the device. If a class 1 

diagnostics error occurs, the content of this parameter at this point of time 

is stored at the first place in the P-0-0193, Error memory operating 

hours of control section parameter. 

Note: The value is displayed in seconds and is stored on the control 

section! 

See also Functional Description "Operating Hours Counter" 

P-0-0191, Operating hours power section 


MPB: --- / --- --- s 

This parameter displays the operating hours of the power section since 

the delivery of the device. These operating hours are the time during 

which the drive has been operated with drive enable switched on. 

Note: The value is displayed in seconds and is stored on the power 

section! 

See also Functional Description "Operating Hours Counter"


Function 

Function 

Function 

Function 

Function 

P-0-0192, Error memory of diagnostic numbers 


MPB: --- / --- --- -- 






P-0-0193, Error memory operating hours of control 

section 


MPB: --- / --- --- s 






P-0-0194, Error memory power section 


MPB: 0 / 4294967295 --- -- 






P-0-0196, Build date and time 


MPB: --- / --- --- -- 

The build date and build time of the drive firmware can be read from this 

parameter as a text. 

See also Functional Description "System Overview" 

P-0-0197, System time 


MPB: --- / --- --- -- 

Parameter P-0-0197 contains a system time of the drive with a resolution 

of 100 ns. It can be used in conjunction with the parameters P-0-0198 and 



Function 

Function 

Function 


P-0-0199 to establish an axis-comprehensive time reference in the case 

of error. 

Note: In the case of drive errors, the drive stores the system time in 

parameter P-0-0198, System time error memory. 

See also Functional Description "Diagnostic and Service Functions" 

See also Parameter Description "P-0-0198, System time error memory" 

See also Parameter Description "P-0-0199, System time error code" 

P-0-0198, System time error memory 


MPB: --- / --- --- -- 

The count of parameter P-0-0197, System time at the time the error is 

detected is stored in parameter P-0-0198, System time error memory. It 

can be used in conjunction with the parameters P-0-0197 and P-0-0199 to 

establish an axis-comprehensive time reference in the case of error. 

Note: P-0-0198 is stored together with P-0-0199 as customer data; 

in this way the system time error memory and the system time 

error code remain in the system when parameter download 

takes place via the master communication or the serial 

interface or the MMC. 

See also Functional Description "Diagnostic and Service Functions" 

See also Parameter Description "P-0-0197, System time" 

See also Parameter Description "P-0-0199, System time error code" 

P-0-0199, System time error code 


MPB: --- / --- --- -- 

Parameter P-0-0199 contains the error code consistent with P-0-0197, 

System time. It can be used in conjunction with the parameters P-0-0197 

and P-0-0198 to establish an axis-comprehensive time reference in the 

case of error. 

P-0-0208, Analog input 5 


MPB: --- / --- --- V 

The input voltage currently provided at the analog input 5 can be read and 

displayed in Volt by means of this parameter. 

Note: Analog input 5 is only available in conjunction with a doubleaxis 

device with configuration of 2 optional cards MA1! 

See also Functional Description "Analog Interface" 

See also Functional Description "Analog Inputs"


Function 

Function 

Function 

Function 



MPB: --- / --- --- V 






See also Functional Description "Analog Inputs" 



MPB: --- / --- --- V 







MPB: --- / --- --- V 


displayed in volt by means of this parameter. 



P-0-0212, Analog input, list of assignable parameters 


MPB: --- / --- --- -- 

This list parameter contains the IDNs of the parameters that can be 

entered in P-0-0213, Analog input, assignment A, target parameter 

and P-0-0236, Analog input, assignment B, target parameter. These 

parameters are available for assigning an analog input value. 



P-0-0213, Analog input, assignment A, target parameter 




Function 

Function 

Function 

Function 


MPB: --- / --- 0 -- 

In this parameter the IDN of that parameter is entered to which a value 

corresponding to the voltage at the respective analog input is to be 

written. The scaling is made via P-0-0214, Analog input, assignment A, 

scaling per 10V full scale! 

Note: Only such IDNs can be entered in P-0-0213 that are contained 

in P-0-0212, Analog input, list of assignable parameters. 



P-0-0214, Analog input, assignment A, scaling per 10V 

full scale 


MPB: --- / --- 0 -- 

By means of this parameter the analog input for assignment A (range of 

values per 10 V) is scaled. 

Unit, decimal places and data type are determined by the parameter 

assigned in P-0-0213, Analog input, assignment A, target parameter. 



P-0-0215, Analog input, assignment A, signal value at 0V 


MPB: --- / --- 0 -- 

In this parameter the reference of the analog input for assignment A 

(value with a voltage of 0 V at the analog input) is defined. This allows 

compensating a possible offset of the voltage at the analog input for 

assignment A. 


assigned in P-0-0213, Analog input, assignment A, target parameter. 



P-0-0216, Analog input, assignment A, dead zone 


MPB: 0,000 / 10,000 0,000 V 

By means of this parameter it is possible to define, for the analog input 

voltage (assignment A), a range of values that is interpreted as voltage 

value 0 V ("dead zone") by the drive controller. 

See also Functional Description "Analog Interface"


Function 

Function 


P-0-0217, Analog input 1, time constant input filter 


MPB: 0,250 / 60,000 0,250 ms 

The analog input 1 can be read by the drive firmware via a digital lowpass 

filter. The limit frequency of this filter is set by this parameter, if 

necessary the filter can also be deactivated. 

flimit: 

flimit = 1000 / (2 * π * Tinput.) 

limit frequency in Hz 

Tinput.: time constant of input filter in ms 

Fig. 7-43: Calculating the limit frequency of the analog input filter 

Performance (P-0-0556) Input filter Tinput in µs 

standard (bit 2 = 0) 

high (bit 2 = 1) 

Fig. 7-44: Settings of the analog input filter 

inactive 500 µs 

active >500 µs 

inactive 250 µs 

active >250 µs 



P-0-0218, Analog input, control parameter 


MPB: --- / --- 0 -- 

This parameter is used 

• for controlling the command "analog input adjust" 

• for assigning the analog channels for "assignment analog channel A" 

or "assignment analog channel B" 

• for selecting current input or voltage input 

• for selecting the measuring range 

• for selecting the kind of reaction in the case of wire break 

Note: It is possible to adjust both analog voltage and current inputs! 



P-0-0219, Analog input, maximum value for adjust 


MPB: --- / --- 0 -- 



Function 

Function 

Function 

Function 

Function 


This parameter makes available a defined command value for 

determining the values of 

• P-0-0214, Analog input, assignment A, scaling per 10V full scale or 

• P-0-0237, Analog input, assignment B, scaling per 10V full scale 



P-0-0220, C2800 Analog input adjust command 


MPB: --- / --- --- -- 

By means of this command, together with 

• P-0-0218, Analog input, control parameter 

• P-0-0219, Analog input, maximum value for adjust 

it is possible to carry out a zero point and gain adjust for the respective 

selected analog input (cf. P-0-0218). 



P-0-0222, Travel range limit switch inputs 


MPB: --- / --- 0 -- 

In this parameter the signals of the travel range limit switch inputs are 

displayed. It is used to diagnose the travel range limit switch inputs. 

See also Functional Description "Position Limitation/Travel Range Limit 

Switch" 

P-0-0223, E-Stop input 


MPB: --- / --- --- -- 

The status of the E-Stop input is mapped to this parameter. The 

parameter can be used to check the E-Stop input or for visualization by a 

commissioning program. 

See also Functional Description "E-Stop Function" 



MPB: --- / --- --- V 



See also Functional Description "Analog Interface"


Function 

Function 

Function 




MPB: --- / --- --- V 







MPB: 0,250 / 60,000 0,250 ms 




fgrenz = 1000 / (2 * π * TEing.) 

fgrenz: limit frequency in Hz 

TEing.: time constant of input filter in ms 






MPB: 0,250 / 60,000 0,250 ms 




flimit = 1000 / (2 * π * Tinput) 

flimit: limit frequency in Hz 

Tinput: time constant of input filter in ms 






MPB: 0,250 / 60,000 0,250 ms 



Function 

Function 

Function 

Function 


The analog input can be uploaded/downloaded by the drive firmware via a 

digital low-pass filter. The limit frequency of this filter is set by this 

parameter, if necessary the filter can also be deactivated. 

fgrenz = 1000 / (2 * π * TEing.) 

flimit: limit frequency in Hz 

Tinput: time constant of input filter in ms 






MPB: 0,250 / 60,000 0,250 ms 


filter. 








MPB: 0,250 / 60,000 0,250 ms 


filter. 






P-0-0236, Analog input, assignment B, target parameter 


MPB: --- / --- 0 -- 

In this parameter the IDN of that parameter is entered to which a value 

corresponding to the voltage at the respective analog input is to be 

written. The scaling is made via P-0-0237, Analog input, assignment A, 

scaling per 10V full scale! 

v


Function 

Function 

Function 

Function 

Note: Only such IDNs can be entered in P-0-0213 that are contained 

in P-0-0212, Analog input, list of assignable parameters. 



P-0-0237, Analog input, assignment B, scaling per 10V 

full scale 


MPB: --- / --- 0 -- 

By means of this parameter the analog input for assignment B (range of 

values per 10 V) is scaled. 


assigned in P-0-0236, Analog input, assignment B, target parameter. 



P-0-0238, Analog input, assignment B, signal value at 0V 


MPB: --- / --- 0 -- 

In this parameter the reference of the analog input for assignment B 

(value with a voltage of 0 V at the analog input) is defined. This allows 

compensating a possible offset of the voltage at the analog input. 


assigned in P-0-0236, Analog input, assignment B, target parameter. 



P-0-0239, Analog input, assignment B, dead zone 


MPB: 0,000 / 10,000 0,000 V 

By means of this parameter it is possible to define a range of values for 

the analog input voltage (assignment B). The controller interprets this 

range of values as voltage value 0 V ("dead zone"). 

P-0-0300, Digital I/Os, assignment list 


MPB: --- / --- --- -- 

Via parameter P-0-0300 drive signals are assigned to the digital 

inputs/outputs of the control section by configuring the corresponding IDN 

in the list parameter. 



Function 

Function 


Note: Apart from the IDN, the bit number desired for the input or 

output (cf. P-0-0301, Digital I/Os, bit numbers) and the 

output direction (cf. P-0-0302, Digital I/Os, direction) have to 

be defined! 


P-0-0301, Digital I/Os, bit numbers 


MPB: --- / --- --- -- 

This parameter is used to configure the digital inputs/outputs of the 

control section. 

In P-0-0301, Digital I/Os, bit numbers the desired bit number which is to 

be assigned to the digital input or output is indicated for each assigned 

parameter (cf. P-0-0300, Digital I/Os, assignment list). 

Note: Apart from determining the bit number, the IDN desired for the 

output or input has to be defined via P-0-0300, Digital I/Os, 

assignment list. 

See also Parameter Description "P-0-0300, Digital I/Os, assignment list" 


P-0-0302, Digital I/Os, direction 


MPB: --- / --- --- -- 

This parameter is used to configure the digital inputs/outputs of the 

control section. 

In parameter P-0-0302, Digital I/Os, direction the desired function 

(direction) is indicated for each assigned parameter (cf. P-0-0300, Digital 

I/Os, assignment list). This means that parameter P-0-0302 sets the 

digital input or output. 

• "0" for "input" function 

• "1" for "output" function 

Note: Apart from determining the "digital I/Os, direction", the desired 

IDN and bit number for the output or input has to be defined 

via P-0-0300, Digital I/Os, assignment list or P-0-0301, 

Digital I/Os, bit numbers. 


P-0-0303, Digital I/Os, status display 


MPB: --- / --- --- --


Function 

Function 

Function 

Function 

Function 

This parameter displays the current states of the digital inputs. This 

means that the current signal level or switch status (only for MP*02VRS!) 

is displayed. 

The table below illustrates the different significance of the individual bits 

depending on control section and firmware: 

P-0-0304, Digital I/Os, outputs 


MPB: --- / --- --- -- 

This parameter displays the states of the digital outputs and relay outputs. 

This means that the current signal level or switch status is displayed; the 

following cases have to be distinguished for inputs/outputs that can be 

switched: 

• With configuration as output, the output signal status is displayed in 

P-0-0304. 

• With configuration as input, the input signal status is displayed in 

P-0-0303, Digital I/Os, inputs. 

Note: Configuration takes place via P-0-0302, Digital I/Os, 

direction. 


P-0-0414, Analog Output 3 


MPB: -10,000 / 10,000 0,000 V 






MPB: -10,000 / 10,000 0,000 V 






MPB: -10,000 / 10,000 0,000 V 

This parameter displays the voltage value that is output via the analog 




Function 

Function 

Function 


Note: Analog output 5 is only available in conjunction with a doubleaxis 





MPB: -10,000 / 10,000 0,000 V 

This parameter displays the voltage value that is output via the analog 


Note: Analog output 6 is only available in conjunction with a doubleaxis 



P-0-0418, Analog output, assignment A, signal value at 

0V 


MPB: --- / --- 0 -- 

In this parameter the reference of the analog output of assignment A 

(value with an output of 0 V) is defined. The unit is determined by the 

parameter assigned in P-0-0420, Analog output, assignment A, signal 

selection. 

When assigning parameters with the "binary" display attribute, the 

parameter is not active. 


P-0-0419, Analog output, assignment B, signal value at 

0V 


MPB: --- / --- 0 -- 

In this parameter the reference of the analog output of assignment B 

(value with an output of 0 V) is defined. The unit is determined by the 

parameter assigned in P-0-0423, Analog output, assignment B, signal 

selection. 

When assigning parameters with the "binary" display attribute, the 

parameter is not active. 


P-0-0420, Analog output, assignment A, signal selection 


MPB: --- / --- --- --


Function 

Function 

Function 

Function 

By means of this parameter it is possible to assign a parameter IDN to the 

analog outputs 1 and 3 of the drive controller. The current parameter 

value is output as voltage at the analog output, if the mode of the analog 

output in P-0-0427, Control parameter of analog output has been set to 

output of assignment A. The output voltage can be made visible with an 

oscilloscope, for example. 

It is only possible to assign those IDNs that have been entered in the 

P-0-0426, Analog output IDN list of assignable parameters list. 


P-0-0422, Analog output, assignment A, scaling [1/V] 


MPB: --- / --- 0 -- 

This parameter is used to scale the voltage output by analog output 1 and 

3. The unit is determined by the parameter assigned in P-0-0420, Analog 

output, assignment A, signal selection. 

When assigning parameters with the "binary" display attribute, the number 

of the bit to be output at the analog output is defined in this parameter. 

When the respective bit has not been set, the output voltage is 0 V. When 

the bit has been set, 1 V is output. 


P-0-0423, Analog output, assignment B, signal selection 


MPB: --- / --- --- -- 

By means of this parameter it is possible to assign a parameter IDN to the 

analog outputs 2 and 4 of the drive controller. The current parameter 

value is output as voltage at the analog output, if the mode of the analog 

output in P-0-0427, Control parameter of analog output has been set to 

output of assignment B. The output voltage can be made visible with an 

oscilloscope, for example. 

It is only possible to assign those IDNs that have been entered in the 

P-0-0426, Analog output IDN list of assignable parameters list. 


P-0-0425, Analog output, assignment B, scaling [1/V] 


MPB: --- / --- 0 -- 

This parameter is used to scale the voltage output by analog output 2 and 

4. The unit is determined by the parameter assigned in P-0-0423, Analog 

output, assignment B, signal selection. 

When assigning parameters with the "binary" display attribute, the number 

of the bit to be output at the analog output is defined in this parameter. 

When the respective bit has not been set, the output voltage is 0 V. When 

the bit has been set, 1 V is output. 



Function 

Function 

Function 

Function 



P-0-0426, Analog output IDN list of assignable 

parameters 


MPB: --- / --- --- -- 

This parameter contains a list of all parameter IDNs that can be assigned 

via 

• P-0-0420, Analog output, assignment A, signal selection and 

• P-0-0423, Analog output, assignment B, signal selection 


P-0-0427, Control parameter of analog output 


MPB: --- / --- --- -- 

This configuration parameter determines the signal source and conditions 

for the analog outputs. 


P-0-0440, Actual output current value (absolute value) 


MPB: --- / --- --- A eff 

Display parameter for the measured actual current value which is the rms 

value of the motor phase current. 

The phase currents are scanned in the current controller cycle, converted 

as a current vector and the rms value is calculated from these data. This 

parameter displays the value averaged during 2 ms and is used as the 

input value for the overload models of amplifier and motor. 

P-0-0441, Overload warning 


MPB: 0 / 100 80 % 

Parameter for determining a threshold value for thermal controller work 

load. 

If the value displayed in P-0-0141, Thermal drive load exceeds the 

determined threshold, the warning E2061 Amplifier overload 

prewarning is generated. 

The unit of the threshold value corresponds to the one of P-0-0141 (%). 

Note: When 100% is entered, E2061 Amplifier overload 

prewarning is not displayed. Instead, the warning E8057 

Amplifier overload, current limit active is already generated 

with approx. 97% of the thermal work load.


Function 

Function 

Function 

P-0-0442, Actual value torque limit positive (stationary) 


MPB: --- / --- --- S-0-0086 

Display parameter for the effective positive torque limit value. The value 

displayed is the lowest value of 



• S-0-0082, Torque/force limit value positive 

• work load-dependent limits by motor and controller 

• motor depending limits. 

P-0-0443, Actual value torque limit negative (stationary) 


MPB: --- / --- --- S-0-0086 

Display parameter for the effective negative torque limit value. The value 

displayed is the lowest value of 



• S-0-0083, Torque/force limit value negative 


• motordepending limits. 


P-0-0444, Actual value peak torque limit 


MPB: --- / --- --- S-0-0086 

Display parameter for the maximum drive torque or the maximum drive 

force. The value is the limit value for positive and negative torque/force 

command values. 

The value displayed is the lower value of 




• motor-dependent limits. 

The unit for the values of this parameter depends on the scaling that has 

been set (S-0-0086, Torque/force data scaling type). 




Function 

Function 

Function 

Function 


P-0-0445, Status word torque/current limit 


MPB: --- / --- --- -- 

This parameter contains the status messages (bits) for the torque/current 

limitation. 

See also Functional Description "Torque/Force and Current Limitation" 

P-0-0512, Temperature sensor 


MPB: 0 / var. 1 -- 

The controller monitors the motor temperature by means of temperature 

sensors installed in the motor. The controller can directly evaluate 

standard temperature sensors because the characteristics of the sensors 

are stored in the firmware. 


P-0-0513, Temperature sensor characteristic 


MPB: 0 / 4294967295 --- Ohm 

If a temperature sensor is to be evaluated the characteristic of which has 

not been stored in the firmware, the characteristic has to be entered in 

this parameter in the form of a value table. 


P-0-0525, Holding brake control word 


MPB: --- / --- 0 -- 

By this parameter the controller is informed of the type of motor holding 

brake and the way it is controlled: 

• self-releasing or self-holding brake 

• main drive brake or servo brake 

• automatic brake check when switching drive enable on and off 

• enabling the "release holding brake" command 

Note: 

• For Rexroth motors with encoder data memory, MHD, 

MKD, MKE and MSK, bit 0 and bit 2 are automatically set! 

• For motors without encoder data memory, bit 0 and bit 2, 

depending on whether a holding brake is available, have to 

be manually set to the appropriate value! 

• For motors without integrated holding brake, an external 

holding brake can be controlled by the controller (set bit 2 

to "1"). Set bit 0 according to type of holding brake!


Function 

Function 

Function 

Function 

See also Functional Description "Motor Holding Brake" 

P-0-0528, Flux control loop proportional gain 


MPB: 0,00 / 100,00 1,00 -- 

For asynchronous motors, the gain of the flux loop is entered in this 

parameter. 

See also Functional Description "Field-Oriented Closed-Loop Current 

Control" 

P-0-0529, Scaling of stall current limit 


MPB: 10 / 150 100 % 

The stall current limit is the limit for the torque-generating current of 

asynchronous motors. 


Control" 

P-0-0530, Slip increase 


MPB: 1,00 / 2,00 1,50 1/100K 

This parameter is only used for asynchronous motors. In the 

asynchronous motor the rotor resistance and therefore the rotor time 

constant change as the temperature changes. 


Control" 

P-0-0532, Premagnetization factor 


MPB: var. / var. 100 % 

With this parameter it is possible to reduce the magnetizing current of an 

asynchronous motor and therefore the rotor flux. The factor is referring to 

P-0-4004, Magnetizing current. 



P-0-0533, Voltage loop proportional gain 


MPB: 0,000 / 4294967,295 0,500 A/V 



Function 

Function 

Function 


By means of this parameter the proportional gain of the voltage loop is 

entered. The voltage loop is used to control the motor voltage in the fieldweakening 

range. 

Note: 


• In the case of MAD and MAF with encoder data memory 

automatically during initial commissioning. 


loading the motor parameters with the commissioning 

software (e.g. IndraWorks). 

• In the case of other motors: default value or manual input. 

See also Functional Description "Third-Party Motors at IndraDrive 

Controllers" 

P-0-0534, Voltage loop integral action time 


MPB: 0,0 / 429496729,5 600,0 ms 

By means of this parameter the integral action time of the voltage loop is 

entered. The voltage loop is used to control the motor voltage in the fieldweakening 

range. 

Note: 







• In the case of other motors: default value or manual input. 

See also Functional Description "Determining the Motor Parameter 

Values" 

P-0-0535, Motor voltage at no load 


MPB: 0,0 / 100,0 80,0 % 

As a matter of principle, this parameter only takes effect in field 

weakening operation. It defines a voltage that is indicated in percent of 

the maximum converter output voltage. 


Values" 

P-0-0536, Maximum motor voltage 



Function 

Function 

Function 

Function 

MPB: 50,0 / 100,0 90,0 % 

This parameter defines the command voltage of the voltage loop. It is 

indicated in percent of the maximum converter output voltage. 

Note: 







• In the case of other motors: Default value or manual input, 

set a maximum of 90% because of the required control 

margin! 

See also Functional Description "Third-Party Motors at IndraDrive 

Controllers" 

P-0-0539, Holding brake status word 


MPB: --- / --- --- -- 

This parameter displays the current status of the holding brake. 


P-0-0542, C2000 Command Release motor holding brake 


MPB: --- / --- --- -- 

By means of this parameter it is possible to release the motor holding 

brake when the drive enable has been switched off. At the start of the 

command the motor holding brake is released, when the command is 

terminated the brake is applied again. 

If drive enable is set with the command being active, the holding brake 

remains released, when drive enable is switched off, the brake is 

automatically applied. 

Note: The command has to be activated via bit 5 in P-0-0525, 

Holding brake control word. 


P-0-0551, Current load torque 


MPB: --- / --- --- S-0-0086 

In this parameter, the maximum occurring load torque of the axis in 

standstill is displayed and cyclically compared to P-0-0547, Nominal load 



Function 

Function 

Function 

Function 


of holding system. When P-0-0547, Nominal load of holding system 

is exceeded, the error message F3116 Nominal load torque of holding 

system exceeded is output. 

P-0-0555, Status word of axis controller 


MPB: --- / --- --- -- 

This parameter contains the following status information (messages) 

regarding axis control in the form of individual status bits: 

• velocity messages 

• limits that have been reached, i.e. information regarding an active 

limitation 


See also Functional Description "Axis Control" 

P-0-0556, Config word of axis controller 


MPB: --- / --- 32769 -- 

This parameter is used for configuring functions specific to axis control 

and setting the control performance. 

See also Functional Description "Drive Control - Axis Control (Closed- 

Loop Operation)" 


P-0-0568, Voltage boost 


MPB: 0,00 / 50,00 0,00 V eff 

By means of this parameter it is possible to increase the voltage at the 

base point of the U/f characteristic (in the case of standstill or very low 

speed of an asynchronous motor). The voltage required at the base point 

is determined on the basis of the motor data and provided by the 

controller. 

P-0-0569, Maximum stator frequency change 


MPB: 0,01 / 3000,00 200,00 Hz/s 

The maximum change of velocity with which the drive can follow the 

command values is determined by the motor and the sampling time of the 

stall protection loop. The limit value can be set with this parameter. 

P-0-0570, Stall protection loop proportional gain 


MPB: 0,00 / 500,00 100,00 %


Function 

Function 

Function 

Function 

Function 

Function 

This parameter presets the P-gain of the stall protection loop. 

The enable signal of the stall protection loop is controlled via bit 12 in 

P-0-0045, Control word of current controller. 

P-0-0571, Stall protection loop integral action time 


MPB: 0,0 / 6500,0 1,0 ms 

By means of this parameter it is possible to set the integral action time of 

the stall protection loop. 

The enable signal of the stall protection loop is controlled via a bit in 

P-0-0045, Control word of current controller. 

P-0-0572, Slip compensation factor 


MPB: 0,00 / 320,00 0,00 % 

By means of this parameter it is possible to trim the slip compensation 

feedforward. With the setting 0.00% the feedforward is switched off 

completely. 

P-0-0573, IxR boost factor 


MPB: 0,00 / 320,00 0,00 % 

By means of this parameter it is possible to trim the feedforward of the 

IxR boost. With the setting 0.00% the feedforward is switched off 

completely. 

P-0-0574, Oscillation damping factor 


MPB: -320,00 / 320,00 0,00 % 

By means of this parameter it is possible to trim the oscillation damping 

feedforward. With the setting 0.00% the feedforward is switched off 

completely. 

P-0-0575, Search mode: search current factor 


MPB: 1,00 / 320,00 60,00 % 

Via P-0-0045, Control word of current controller the search mode function 

can be selected. During the search process a search current is generated 

in the still turning machine that is to be searched. 

Search current = magnetizing current * P-0-0575 / 100% 



Function 

Function 

Function 


P-0-0576, Search mode: finding point slip factor 


MPB: -320,00 / 320,00 100,00 % 

The search mode function is selected via P-0-0045, Control word of 

current controller. As soon as the machine has been found the rated slip 

is added to the speed at the "finding point". 100% are corresponding to 

the rated slip of the machine. 

With clockwise rotating field: V = Vfinding point + (Vslip * P-0-0576 / 100%) 

With anti-clockwise rotat. field: V = Vfinding point - (Vslip * P-0-0576 / 100%) 

P-0-0577, Square characteristic: lowering factor 


MPB: 0,00 / 100,00 50,00 % 

The square characteristic is selected via P-0-0045, Control word of 

current controller. The degree of lowering in the basic range of setting is 

trimmed with this parameter. 

The value of 100% corresponds to the original square curve. When the 

percentage value becomes lower, this lowering factor is reduced until the 

setting 0% has been reached which corresponds to the linear 

characteristic. 

P-0-0590, Motor model frequency loop proportional gain 


MPB: 0,00 / 655,35 10,00 % 

This parameter only takes effect in conjunction with field-oriented current 

control without encoder. Together with P-0-0591, Motor model 

frequency loop integral action time, parameter P-0-0590 is used to 

parameterize the "frequency loop". 

By means of the differences between motor model and measured 

currents, the frequency loop determines the current rotational frequency 

of the motor shaft. The output of the frequency loop supplies parameter 

S-0-0040, Velocity feedback value and is transmitted according to the 

velocity loop. 

Note: Field-oriented current control without encoder is activated via 

P-0-0045, Control word of current controller. If the 

functional package "closed-loop" is active, "operation without 

encoder" has to be set in P-0-0074, Encoder type 1 (motor 

encoder)! 

See also Functional Description "Field-Oriented Current Control" 

See also Functional Description "Automatic Setting of Motor Control 

Parameters" 

P-0-0591, Motor model frequency loop integral action 

time 


MPB: 0,0 / 100,0 5,0 ms


Function 

Function 

Function 


control without encoder. Together with P-0-0590, Motor model 

frequency loop proportional gain, parameter P-0-0591 is used to 

parameterize the "frequency loop". 

By means of the differences between motor model and measured 

currents, the frequency loop determines the current rotational frequency 

of the motor shaft. The output of the frequency loop supplies parameter 

S-0-0040, Velocity feedback value and is transmitted according to the 

velocity loop. 





encoder)! 



Parameters" 

P-0-0592, Motor model adjust factor 


MPB: 0,000 / 1,000 0,100 -- 


control without encoder. 

The drive-internal motor model calculation carried out in the current loop 

clock is corrected by means of the adjust factor entered in P-0-0592 so 

that the motor currents determined by means of the motor model and the 

rotor flux comply with the real values. 





encoder)! 



Parameters" 

P-0-0640, Cooling type 


MPB: 0 / 4 0 -- 

The motors of the MSK, MHD and MKD series can be operated in 

different cooling types. Depending on the motor type, cooling can be 

realized as 

• standard cooling (natural convection, non-ventilated) 

• surface ventilation 

• liquid cooling 




• improved nat. cooling 

• reduced nat. cooling 

P-0-0690 – P-0-0899 (Synchronization Mode) 

Function 

Function 

Function 


Measuring Systems" and "Current and Torque Limitation (Closed-Loop)" 

P-0-0690, Additive velocity command value, process 

loop 


MPB: 0 S-0-0044 

In addition to S-0-0037, parameter P-0-0690 is used to set an additive 

velocity command value. 

Note: P-0-0690 can preferably be used for drive-based process 

loops (by means of MLD)! 

P-0-0806, Current mains voltage crest value 


MPB: --- / --- --- V 

This parameter for HCS03 devices (converters) displays the current crest 

value of the mains voltage. 

P-0-0810, Minimum mains crest value 


MPB: 0 / 780 --- V 

For HCS converters, in this parameter it is possible to set an individual 

minimum value for the crest value of the mains voltage. The value is only 

effective, if it is greater than the minimum value of the mains connection 

voltage range! 

For HCS02 

If the mains crest value, when the converter is switched on, is lower than 

the value in P-0-0810, the diagnostic message E2814 Undervoltage in 

mains is generated. 

For HCS03 

If the mains crest value, when the converter is switched on or is in 

operation, is lower than the value in P-0-0810, the diagnostic message 

E2814 Undervoltage in mains is generated. 

Note: The mains voltage crest value detected when switching on, for 

HCS devices is displayed in P-0-0815, Nominal mains 

voltage crest value!


Function 

Function 

Function 

Function 

Function 

P-0-0815, Nominal mains voltage crest value 


MPB: --- / --- --- V 

This parameter for HCS converters displays the mains voltage crest value 

that was measured when the mains voltage was switched in the first time. 

From this value the standard value for the undervoltage threshold 

(P-0-0114), the standard minimum value of the mains voltage crest value 

(P-0-0810) and the standard switch-on threshold of a braking resistor 

(P-0-0858) are derived. 

P-0-0819, Energy counter 


MPB:-20000000,00 / 20000000,00 0,00 kWh 

This parameter displays the energy which was supplied to the drive. The 

energy is determined by means of the operating time as the sum of the 

effective power. 

P-0-0833, Braking resistor threshold 


MPB: --- / --- --- V 

The braking resistor is only switched on via the firmware if this is required 

for braking. This means that it is switched on whenever the DC bus 

voltage is higher than the voltage threshold P-0-0833, Braking resistor 

threshold. 

P-0-0844, Braking resistor load 


MPB: --- / --- --- % 

This parameter indicates the thermal energy in percent, in relation to its 

maximum allowed energy content, currently stored in the braking resistor. 

P-0-0858, Data of external braking resistor 


MPB: --- / --- --- -- 

For HCS02/HCS03 converters the type data of an externally connected 

braking resistor are entered in this list parameter. 

Note: For HCS03 devices there is only an optional external braking 

resistor available! 

See also Functional Description "Power Supply" 



Function 

Function 

Function 

P-0-1100 – P-0-1299 (Velocity Control) 

Function 

Function 


P-0-0859, Data of internal braking resistor 


MPB: --- / --- --- -- 

For converters the type data of the device-internal braking resistor are 

displayed in this list parameter. The parameter is stored in non-volatile 

form in the power section. 

P-0-0860, Converter configuration 


MPB: --- / --- --- -- 

In this parameter basic settings are made especially for converters. 

Parameter P-0-0860 is specifically used for configuring the power section 

of converters (HCS02.1, HCS03.1,...). 


P-0-0861, Power supply status word 


MPB: --- / --- --- -- 

This parameter is used for status display of the power supply. 


P-0-1120, Velocity control loop filter: filter type 


MPB: 0 / 8 --- -- 

This parameter allows activating and selecting up to 4 different filters 

(2 nd order). 

See also Functional Description "Velocity Loop" 

P-0-1121, Velocity control loop filter: limit frequency of 

low pass 


MPB: 4,0 / 4000,0 --- Hz 

This parameter is used to parameterize the corner frequency of the 

4 filters that can be selectively activated via P-0-1120. The input value is 

in Hz, i.e. the actual frequency (f=1/T) is input at which it is intended to 

obtain an attenuation of –3dB (attenuation of the amplitude to 0.707 of the 

input amplitude!). 

See also Functional Description "Velocity Loop"


Function 

Function 

Function 

P-0-1122, Velocity control loop filter: bandwidth of bandstop 

filter 


MPB: 10,0 / 1000,0 --- Hz 

This parameter is used to parameterize the bandwidth of the 4 band-stop 

filters that can be selectively activated via P-0-1120 [n] = 2. The input 

value is in Hz, i.e. the actual frequency (f=1/T) is input. Notes on how to 

parameterize the band-stop filter are contained in the Functional 

Description. 


P-0-1123, Vel. cont. loop filter: center frequency of bandstop 

filter 


MPB: 4,0 / 4000,0 --- Hz 

This parameter is used to parameterize the center frequency of the 4 

band-stop filters that can be selectively activated via P-0-1120 [n] = 2. The 

input value is in Hz, i.e. the actual frequency (f=1/T) is input. Notes on 

how to parameterize the band-stop filter are contained in the Functional 

Description. 


P-0-1125, Velocity control loop: average value filter clock 


MPB: 1 / 16 1 -- 

This parameter allows filtering the velocity control loop deviation with a 

moving average filter. In the case of this filter type and with constant input 

value, the output is always: 

∆Y 

= 

This means that the filter output, with constant input value, increases in a 

linear way and has reached its final value at the filter output after the time 

t = M⋅ TA. Note: This filter type therefore does not show the typical "creep 

behavior" (filter output increases and decreases according to 

an e-function!) of the usual VZ1 and VZ2 filters. 

X 

M 


P-0-1126, Velocity control loop: acceleration feedforward 


MPB: 0,0000 / 214748,3647 0,0000 P-0-4014 



Function 

Function 

Function 

Function 

Function 


This parameter is used for activating and setting a variable acceleration 

feedforward in the "velocity control" mode. 


See also Functional Description "Position Loop (with Respective 

Feedforward Functions)" 

P-0-1150, Command value generator output 


MPB: --- / --- --- -- 

This parameter displays the output value of the command value 

generator. The output value is displayed in the format of the assigned 

parameter. 

P-0-1151, Command value generator, list of possible 

target parameters 


MPB: --- / --- --- -- 

This list parameter contains the IDNs of the parameters that can be 

entered in P-0-1152, Command value generator, target parameter 

assignment. These parameters are available for assigning the command 

value generator command value. 

P-0-1152, Command value generator, target parameter 

assignment 


MPB: --- / --- 0 -- 

In this parameter the IDN of that parameter is entered to which the result 

of the command value generator is to be written. 

P-0-1153, Command value generator, control word 


MPB: --- / --- 0 -- 

This parameter is used for configuring the integrated command value 

generator and provides the following possible settings. 

See also Functional Description "Drive-Integrated Command Value 

Generator" 

P-0-1154, Command value generator, offset 


MPB:-214748,3647 / 214748,3647 0,0000 --


Function 

Function 

Function 

Function 

Function 

This parameter is used for setting the direct component (offset) for the 

selected signal (sine, square-wave, noise). The display, i.e. unit and 

scaling of the parameter, are set according to the assigned parameter. 

P-0-1155, Command value generator, amplitude 


MPB: 0,0001 / 214748,3647 10,0000 -- 

This parameter is used for setting the amplitude (double crest value, 

peak-to-peak value). The range of values of the selected signal shape 

(sine, square-wave, noise) is between half the plus/minus amplitude. The 

display, i.e. unit and scaling of the parameter, are set according to the 

assigned parameter. 

P-0-1156, Command value generator, duration 1 


MPB: 0,000 / 4294967,295 0,000 s 

This parameter is used for setting the square-wave signal. For the 

duration P-0-1156, Command value generator, duration 1 the 

command value generator output P-0-1150, Command value generator, 

command value is set to half the positive amplitude P-0-1155, 

Command value generator, amplitude plus offset P-0-1154, Command 

value generator, offset. 

When the duration 1 is over, the output of the command value generator 

is set to half the negative amplitude P-0-1155, Command value 

generator, amplitude plus offset P-0-1154, Command value generator, 

offset. Duration 2 starts as of this point of time. 

P-0-1157, Command value generator, duration 2 


MPB: 0,000 / 4294967,295 0,000 s 

This parameter is used for setting the square-wave signal for command 

value generator. 

When duration 1 is over, duration 2 starts. For this duration P-0-1157, 

Command value generator, duration 2 the command value generator 

output P-0-1150, Command value generator, command value is set to 

half the negative amplitude P-0-1155, Command value generator, 

amplitude plus offset P-0-1154, Command value generator, offset. 

When duration 2 is over, the output signal is set to the offset P-0-1154, 

Command value generator, offset until the periodic time has been 

reached. 

P-0-1200, Control word 1 velocity control 


MPB: 0 / 0x3FF 0 -- 

In the "velocity control" mode this parameter is used to control or 

configure the following functions: 



Function 

Function 

Function 


• channel for velocity command value input (memory of fixed values or 

S-0-0036) 

• behavior of ramp generator (run-up stop) 

• command value generator (motor potentiometer) 

Note: The control word can be cyclically written, the assignment of 

individual bits from signal control word or digital inputs is 

possible, too. In contrast to P-0-1214, parameter P-0-1200 is 

stored in the drive in volatile form! 

See also Functional Description "Operating Mode: Velocity Control/Motor 

Potentiometer" 

P-0-1201, Ramp 1 pitch 


MPB: 0 S-0-0160 

The acceleration entered in P-0-1201, Ramp 1 pitch takes effect in the 

"velocity control" mode during acceleration. 


P-0-1202, Final speed ramp 1 


MPB: 0 S-0-0044 

The parameter P-0-1202, Final speed ramp 1 takes effect in the "velocity 

control" mode during acceleration and deceleration. 

When exceeding (acceleration) or falling below (deceleration) the velocity 

indicated in P-0-1202, Final speed ramp 1, the pitch of the drive-internal 

speed command value ramp changes as follows: 

• from the value indicated in P-0-1201, Ramp 1 pitch to the value 

indicated in P-0-1203, Ramp 2 pitch (acceleration) 

• or from the value indicated in P-0-1211, Deceleration ramp 1 to the 

value indicated in P-0-1213, Deceleration ramp 2 (deceleration). 

See also Functional Description "Velocity Command Value Reset with 

Filter and Ramp (Quick Stop)" 

P-0-1203, Ramp 2 pitch 


MPB: 0 S-0-0160 

The acceleration entered in P-0-1203, Ramp 2 pitch takes effect in the 

"velocity control" mode during acceleration. 

With the acceleration entered in this parameter, the acceleration takes 

place from the last effective command value to the new preset command 

value as soon as the velocity at the ramp output is greater than the value 

entered in P-0-1202, Final speed ramp 1. 

Influence of P-0-1209


Function 

Function 

If the function "speed masking in command value channel" is used 

(P-0-1207, P-0-1208, P-0-1209), the content of P-0-1201 is multiplied with 

the content of P-0-1209 and this influences the effective acceleration. 

Note: If the value in parameter P-0-1203, Ramp 2 pitch = 0, the 

ramp 2 is not active. 


P-0-1206, Memory of velocity command values 


MPB: --- S-0-0044 

This list parameter is used as a memory of fixed command values for 

velocity command values. The individual values can be selected via the 

control word P-0-1200. 

Note: As of MP*04VRS, selection via P-0-1200 takes place in 

binarily coded form! 


See also Parameter Description "P-0-1200, Control word 1 velocity 

control" 

P-0-1207, Lower limit of velocity masking window 


MPB: --- S-0-0044 

The list parameter "P-0-1207", in conjunction with the parameter 

"P-0-1208" (upper limit of velocity masking window), defines four velocity 

ranges (velocity windows). 

The ranges apply to positive and negative velocities, the definitions of the 

ranges are mirrored with regard to speed zero. 

Note: 

• The function "velocity masking window" is only effective in 

the "velocity control" mode. 

• The parameter "P-0-1210, Status word of velocity control 

mode" contains information on the status of the current 

command value with regard to a velocity masking window. 


P-0-1208, Upper limit of velocity masking window 


MPB: --- S-0-0044 



Function 

Function 

Function 

Function 


The list parameter "P-0-1208", in conjunction with the parameter 

"P-0-1207" (lower limit of velocity masking window), defines four velocity 

ranges (velocity windows). 

The ranges apply to positive and negative velocities, the definitions of the 

ranges are mirrored with regard to speed zero. 

Note: 

• The function "velocity masking window" is only effective in 

the "velocity control" mode. 

• The parameter "P-0-1210, Status word of velocity control 

mode" contains information on the status of the current 

command value with regard to a velocity masking window. 


P-0-1209, Acceleration factors for velocity masking 

window 


MPB: 1,00 / 100,00 --- -- 

The list parameter P-0-1209 contains the acceleration factors that take 

effect in the velocity ranges defined with P-0-1207 and P-0-1208. 

The ramp generator passes the range of the velocity window (P-0-1207 

and P-0-1208). But the acceleration factors indicated in P-0-1209 have a 

multiplying effect on the acceleration and deceleration values or, in the 

case of alternative scaling of the acceleration, on the ramp times of the 

ramp generator (P-0-1201, P-0-1203, P-0-1211 and P-0-1213). 


P-0-1210, Status word of velocity control mode 


MPB: --- / --- --- -- 

For the velocity control mode the parameter P-0-1210 contains 

information on the current status of the ramp generator and the current 

command value. 

Note: The parameter P-0-1210 can be configured in the cyclic actual 

value channel (e.g. AT with SERCOS) in S-0-0144, Signal 

status word and assigned to the digital outputs. 


P-0-1211, Deceleration ramp 1 


MPB: 0 S-0-0160 

The deceleration entered in P-0-1211, Deceleration ramp 1 only takes 

effect in the "velocity control" mode.


Function 

Function 

Function 

With the deceleration entered in this parameter, the deceleration takes 

place from the last effective velocity command value to the new velocity 

command value as soon as the velocity at the ramp output is smaller than 

the value in P-0-1202, Final speed ramp 1. 



P-0-1213, Deceleration ramp 2 


MPB: 0 S-0-0160 

The deceleration entered in P-0-1213, Deceleration ramp 2 takes effect 

in the "velocity control" mode during the deceleration process. 

With the deceleration entered in this parameter, the deceleration takes 

place from the last effective velocity command value to the new velocity 

command value as long as the velocity at the ramp output is greater than 

the value in P-0-1202, Final speed ramp 1. 


P-0-1214, Control word 2 velocity control 


MPB: --- / --- 0 -- 

Via this parameter it is possible to influence, i.e. to control, the execution 

of a velocity control mode in the operating mode. 

Note: P-0-0088 can be configured in the cyclic command value 

telegram! 


P-0-1215, Motor potentiometer, acceleration 


MPB: 100000 S-0-0160 

In conjunction with the motor potentiometer available in the "velocity 

control" mode, this parameter is used for the following purposes: 

• For linear velocity change: 

Definition of the velocity change by which the ramp velocity changes 

when setting P-0-1214, bit8 ("ramp+") 

�∆P-0-1218 = activation time * [P-0-1215] 

• For square velocity change: 

Definition of the acceleration change by which the ramp velocity 

changes within 2 s when setting P-0-1214, bit8 ("ramp+") 

�∆acceleration = activation time * ( [P-0-1215] / 2 s) 

Note: With the input activated the velocity is increased in linear or 

square form (see P-0-1214, Motor potentiometer, control 



Function 

Function 

Function 


parameter) until the effective positive velocity limit value, i.e. 

minimum value (S-0-0091, S-0-0038), has been reached. 


P-0-1216, Motor potentiometer, deceleration 


MPB: 100000 S-0-0160 

In conjunction with the motor potentiometer available in the "velocity 

control" mode, this parameter is used for the following purposes: 

• For linear velocity change: 

definition of the velocity change by which the ramp velocity changes 

when setting P-0-1214, bit9 ("ramp-") 

�∆P-0-1218 = activation time * [P-0-1216] 

• For square velocity change: 

definition of the acceleration change by which the ramp velocity 

changes within 2s when setting P-0-1214, bit9 ("ramp-") 

�∆deceleration = activation time * ([P-0-1216] / 2s) 

Note: With the input activated the velocity is reduced in linear or 

square form (see P-0-1214, Motor potentiometer, control 

parameter) until the effective negative velocity limit value, i.e. 

minimum value (S-0-0091, S-0-0039), has been reached. 


P-0-1217, Motor potentiometer, step size 


MPB: 500000 S-0-0044 

This parameter takes effect when bit 4 "change by constant velocity step" 

is one in P-0-1214, Motor potentiometer, control parameter. 

P-0-1218, Motor potentiometer, command value, i.e. the velocity 

command value, is increased by the velocity value with every positive 

edge at the ramp input ramp+ until the positive velocity limit value 

S-0-0038 has been reached. With every negative edge at the ramp input 

ramp- it is reduced by the velocity value until the negative velocity limit 

value S-0-0039 has been reached. 

See also Functional Description "Command Value Adjustment in Velocity 

Control" 

P-0-1218, Motor potentiometer, command value 


MPB: --- / --- --- S-0-0044 

Parameter P-0-1218, Motor potentiometer, command value is used to 

display the velocity command value generated by the motor


Function 

potentiometer. This value is then processed in the ramp generator and 

transmitted to P-0-0048, Effective velocity command value. 

Note: The value of parameter P-0-1218 is stored in case the control 

voltage fails so that it is possible to reuse the value. 


P-0-1222, Velocity command filter 


MPB: 0 / 16 0 ms 

This parameter is used to round acceleration jumps in the velocity 

command value characteristics in order to have a smooth initialization or 

deceleration of the drive in velocity control. 



P-0-1500 – P-0-1599 (General Device Parameters) 

Function 

P-0-1520, Control section type 


MPB: --- / --- --- -- 

This parameter displays the type designation of the control section. By 

means of circuit board code parameters the controller firmware identifies 

all circuit boards incorporated in the control section and thus generates 

the type designation. 

The type designation of the control section also implies firmware 

dependencies. 

P-0-2000 – P-0-2999 (General Device Parameters 

Function 

P-0-2004, Active functional packages 


MPB: --- / --- --- -- 

his parameter contains the active functional packages. 

When booting the functional packages selected in P-0-2003 are activated 

and then the respective bits are set or cleared in P-0-2004. This allows 

recognizing at any time which functional packages are actually active. 

Note: This parameter can neither be written nor stored. It is for 

display only. 

See also Functional Description "Enabling of Functional Packages" 

See also Functional Description "Functional Packages" 



P-0-3600 – P-0-4095 (General Device Parameters) 

Function 

Function 


P-0-4004, Magnetizing current 


MPB: 0,000 / var. 1,000 A eff 

In the case of asynchronous motors, the nominal magnetizing current 

defined by Bosch Rexroth is entered in this parameter. The actually 

flowing magnetizing current in the base speed range results by 

multiplication of the value of P-0-4004 with P-0-0532, Premagnetization 

factor. In the field weakening range the magnetizing current, with 

increasing speed, is reduced by the flux loop based on the value of this 

product. 

Note: 


• In the case of Rexroth motors of the 2AD, ADF lines and in 

the case of linear and rotary kit motors, by loading the 

motor parameters with the commissioning software (e.g. 

IndraWorks). 

• In the case of other asynchronous motors: manual input 

according to manufacturer's specification. 

• In the case of synchronous motors, the parameter is not 

used and automatically set to Aeff = 0. 



P-0-4005, Flux-generating current, limit value 


MPB: var. / 0,000 0,000 A eff 

In this parameter a negative limit value for the flux-generating current can 

be entered. 

This limit value is available for field weakening operation of synchronous 

motors and therefore exclusively takes effect for synchronous motors for 

which field weakening operation was allowed (see parameter P-0-0045, 

Control word of current controller). 

Note: 


• In the case of Rexroth motors of the MHD, MKD, MKE and 

MSK lines, automatically at initial commissioning. 

• In the case of linear and rotary synchronous kit motors by 



• In the case of other synchronous motors: manual input 

according to manufacturer's specification. 

• In the case of asynchronous motors, this parameter is 

automatically set to Aeff = 0. 

See also Functional Description "Limitations"


Function 

Function 

Function 

P-0-4014, Type of construction of motor 


MPB: --- / --- --- -- 

By this parameter the controller is informed of control-relevant features of 

the connected motor, such as 

• functional principle 

• type of construction 

• encoder data memory 

See also Functional Description "General Information on the Operation of 

Motors with IndraDrive" 

P-0-4022, Drive address of serial interface 


MPB: 1 / 99 256 -- 

By means of this parameter it is possible to set the address for the serial 

interface. This can be done via the control panel, the serial interface or 

the master communication interface. 

Note: The effective address can be directly taken from P-0-4022 or 

from the list P-0-4031, Overview of device addresses! 

See also Functional Description "Serial Communication" 

See also Parameter Description "P-0-4031, Overview of device 

addresses" 

P-0-4025, Drive address of master communication 


MPB: 1 / 99 --- -- 

By means of this parameter it is possible to set the address for the master 

communication (e.g. SERCOS, Profibus...). This can be done via the 

control panel, the serial interface or the master communication interface 

itself. 

Note: The currently effective address can be directly taken from 

parameter S-0-0096, Slave arrangement (SLKN) or 

P-0-4031, Overview of device addresses! 


P-0-4028, Device control word 


MPB: --- / --- --- -- 



Function 

Function 

Function 


This parameter is used to control the drive in the following cases: 

• for devices with analog or parallel master communication 

• When the drive is switched to the "easy startup mode" via the control 

panel. 

Note: In the case of master communication via field bus or 

SERCOS, P-0-4077, Field bus: control word and S-0-0134, 

Master control word are used accordingly for controlling the 

drive! 



P-0-4031, Overview of device addresses 


MPB: --- / --- --- -- 

This parameter is used to display the following addresses in clearly 

structured and holistic form which is particularly important for multi-axis 

devices: 

• effective drive address of master communication that was set via 

parameter P-0-4025 

• effective drive address of serial interface that was set via parameter 

P-0-4022 

Note: Especially for multi-axis devices (e.g. HMD01.1) the parameter 

P-0-4031 provides a clear overview as regards the axis 

addresses effective in the device. 

P-0-4032, Motor type plate data 


MPB: 0,000 / 250000,000 --- -- 

For asynchronous third-party motors it is possible via C3200 Command 

Calculate motor data to calculate the values for motor parameters from 

the type plate data and then the values of the motor control parameters. 

The activation of C3200 first requires manual input of the motor data from 

the type plate of the asynchronous motor in the list parameter P-0-4032, 

Motor type plate data. 

Note: When a Rexroth motor is used, the content of P-0-4032 and 

the command C3200 are irrelevant as for these motors all 

parameters required for operation are stored in the data base 

for motor data (DriveBase). 


Parameters" 

P-0-4033, C3200 Command Calculate motor data 



Function 

Function 

Function 

MPB: --- / --- --- -- 

For asynchronous third-party motors it is possible via C3200 Command 

Calculate motor data to calculate the values for motor parameters from 

the type plate data and then the values of the motor control parameters. 

The activation of C3200 first requires manual input of the motor data from 

the type plate of the asynchronous motor in the list parameter P-0-4032, 

Motor type plate data. 

Note: When a Rexroth motor is used, the content of P-0-4032 and 

the command C3200 are irrelevant as for these motors all 

parameters required for operation are stored in the data base 

for motor data (DriveBase). 


Parameters" 

P-0-4036, Rated motor speed 


MPB: 0,0000 / 429496,7295 1000,0000 Rpm 

This parameter defines the speed that begins above the field weakening 

range. Voltage reference value is DC bus voltage DC540V (uncontrolled 

supply at 3xAC400V –5%). 

Note: 


• for Rexroth motors of the MAD and MAF lines, if an 

encoder data memory is available, automatically at initial 

commissioning 

• for linear and rotary asynchronous kit motors by loading the 

motor parameters with the "IndraWorks D" commissioning 

tool 

• for other asynchronous motors manual input according to 

manufacturer's specification (see completed form for the 

output data of asynchronous motors!) 

• The parameter is not used for synchronous motors. 


P-0-4039, Stator leakage inductance 


MPB: 0,001 / 4294967,295 5,000 mH 

This parameter is only used for operating asynchronous motors and takes 

effect for current control of the motor. 

For Rexroth motors this value is stored in the DriveBase. 

For third-party motors this parameter is calculated via the command 

C3200 Command Calculate data for asynchronous motor that is 

started with P-0-4033. 



Function 

Function 

Function 

Function 


P-0-4040, Rotor leakage inductance 


MPB: 0,001 / 4294967,295 5,000 mH 



For Rexroth motors this value is stored in the DriveBase. 

For third-party motors this parameter is calculated via the command 

C3200 Command Calculate data for asynchronous motor that is 

started with P-0-4033. 

P-0-4041, Motor magnetizing inductance 


MPB: 0,010 / 4294967,295 50,000 mH 



For Rexroth motors this value is stored in the DriveBase. For third-party 

motors this parameter is calculated via the command C3200 Command 

Calculate data for asynchronous motor that is started with P-0-4033. 


Values" 

P-0-4042, Characteristic of motor magnetizing 

inductance 


MPB: 0,500 / 2,000 --- -- 

This list parameter is only used for operating asynchronous motors and 

takes effect for current control of the motor. 

• For Rexroth motors the characteristic values are made available by 

the manufacturer, either by means of a data sheet or the 

commissioning software (e.g. IndraWorks). 

• For third-party motors the characteristic in the majority of cases is 

unknown. Via the command C3200 Command Calculate data for 

asynchronous motor that is started with P-0-4033 the list is neutrally 

assigned. 

• Via the command C3600 Command Motor data identification that is 

started with P-0-0565 the characteristic of the asynchronous motor is 

determined and entered in this list. 


P-0-4043, Rotor time constant 


MPB: 0,100 / 10000,000 100,000 ms 

This parameter is only active for asynchronous motors. It has a 

considerable influence on the torque generation of the motor, as it 

decisively determines the so-called "slip" in the case of load.


Function 

Function 

Function 

Note: "Slip" is the difference of the rotational frequency of the electric 

rotary field in the stator divided by the number of pole pairs of 

the motor and the mechanical rotational frequency of the rotor. 

The value for P-0-4043 is motor-specific and for asynchronous Rexroth 

motors is made available via the commissioning software (e.g. 

IndraWorks) or via the Intranet output of the manufacturer-side data base 

DriveBase! 

P-0-4045, Maximum possible continuous current 


MPB: --- / --- --- A eff 

This parameter indicates how much current the controller can 

continuously provide in the present load situation. At the same time, this 

current is the current to which the continuous current limitation would 

reduce, if the load situation would continue. 


P-0-4046, Effective peak current 


MPB: --- / --- --- A eff 

This parameter displays the maximum current that the controller can 

temporarily supply to the motor in the active load condition. This is the 

rms value of the total current, i.e. torque-generating and magnetic-fieldgenerating 

components are contained! 


P-0-4065, Non-volatile memory active 


MPB: --- / --- 2 -- 

This parameter contains information on the active, non-volatile memory. 

The parameter values and, in the case of control voltage failure, the retain 

data are stored in the active memory. 

Meaning of the value: 

• 1: MultiMediaCard (MMC) is the active, non-volatile memory 

• 2: internal, non-volatile memory is active 

See also Functional Description "Parameters, Basics" 

P-0-4068, Field bus: control word IO 


MPB: --- / --- 0 -- 



Function 

Function 

Function 

Function 


The parameter P-0-4068, Field bus: control word IO is used as field 

bus control word (16 bits) in the I/O mode. We distinguish the two 

following profile types with freely expandable real-time data and 

configurable field bus status word: 

• "I/O mode positioning" (P-0-4084, Field bus: Profile type = 0xFF82) 

• "I/O mode preset velocity" (P-0-4084, Field bus: Profile type = 

0xFF82) 

See also Functional Description "Profile Types - I/O Mode" 

P-0-4069, Field bus: module diagnosis 


MPB: --- / --- --- -- 

Parameter for reading master communication settings and states (with 

field buses). 

Note: This parameter is only relevant for the development staff! It is 

irrelevant for the application side! 

See also Functional Description "PROFIBUS-DP" 

P-0-4071, Field bus: length of cyclic command value data 

channel 


MPB: 0 / 32 2 Byte 

This parameter indicates the number of bytes of the process data channel 

parameterized in P-0-4081, Field bus: config. list of cyclic command 

value data ch. 

This length does not contain the length parameterized in P-0-4083, Field 

bus: length of parameter channel of a possibly available parameter 

channel. The graduation takes place in word boundaries, i.e. possible 

values are 2, 4, 6, ... 32. 

Note: For communication via Interbus it is obligatory, due to the bus 

structure (shift register), that P-0-4071 = P-0-4082. 


P-0-4072, C2900 Command Firmware update from MMC 


MPB: --- / --- --- -- 

With this command, the firmware is copied from the MultiMediaCard 

plugged in the controller to the controller and to possibly available 

firmware-carrying additional components. 

The command can be started via the control panel or via a commissioning 

tool ("IndraWorks D" or "SynTop"). After successful firmware update the 

message "End C29" is displayed. The user now has to switch the drive off 

and on again so that the new firmware becomes active.


Function 

Function 

Function 

Note: If you make an attempt of phase progression without the drive 

having been rebooted, either a switching command error will 

occur or a system error (F8xxx) entered before the firmware 

update will be displayed. 

See also Functional Description "MultiMediaCard (MMC)" 

P-0-4073, Field bus: diagnostic message 


MPB: --- / --- --- -- 

This parameter contains the status of the field bus status machine in plain 

text. The diagnostic messages depends on the field bus used and is 

according to the designations used in the standard. 


P-0-4074, Field bus: data format 


MPB: 0 / 1 0 -- 

Parameter P-0-4074, Field bus: data format describes the arrangement 

of 32-bit-values in the telegram (process data channel). 

P-0-4074 = 0 

P-0-4074 = 1 

P-0-4074, Field bus: data format 

16-bit low 

16-bit high 

32-bit values (bus) 


P-0-4075, Field bus: watchdog 

16-bit high 

16-bit low 


MPB: --- / --- 0 ms 

In this parameter the watchdog time transmitted by the master in the 

parameterization telegram is stored in ms. If the master communication is 

interrupted for more than this time, a communication error is generated. 


P-0-4076, Field bus: cycle time (Tcyc) 


MPB: 500 / 65000 2000 us 



Function 

Function 

Function 

Function 


The content of P-0-4076, Field bus: cycle time (Tcyc) defines the time 

intervals in which the cyclic real-time data (command values and actual 

values) are processed in the field bus drive. 


P-0-4077, Field bus: control word 


MPB: --- / --- 0 -- 

This parameter is used as field bus control word for all BRC profiles such 

as "freely configurable mode" (0xFFFE). 

Note: The significance and function of the control bits cannot be 

configured and is defined by the profile selection! 

See also Functional Description "Profile Types - Rexroth Profile Types" 

P-0-4078, Field bus: status word 


MPB: --- / --- 0 -- 

In the case of field bus drives that are operated in the freely configurable 

profile type (P-0-4084 = 0xFFFE), the parameter P-0-4078, Field bus: 

status word is used as status word for feedback of the drive status to the 

field bus master. 

Note: The configuration of P-0-4078, Field bus: status word cannot 

be changed, i.e. the bit assignment is fixed and cannot be 

parameterized. 

See also Functional Description "Supported Profile Types" 

P-0-4079, Field bus: baud rate 


MPB: --- / --- 0,00 kBaud 

Parameter P-0-4079 contains the active baud rate of the field bus 

interface. You have to distinguish the following cases: 

• PROFIBUS-DP and PROFInet: 

The baud rate used by the field bus is automatically determined and 

only displayed in this parameter. 

• DeviceNet and CanOpen: 

The baud rate used by the field bus is set in parameter P-0-4079. 

Note: By inputting "0" as baud rate it is possible to activate automatic 

baud rate detection. In some cases this however might not 

work correctly so that it is recommended to make a manual 

input.


Function 

Function 

Function 

Function 


See also Functional Description "PROFInet" 

See also Functional Description "CANopen" 

See also Functional Description "DeviceNet" 

P-0-4080, Field bus: config. list of cyclic actual value 

data ch. 


MPB: --- / --- --- -- 

With this parameter the process input data channel (slave-master, i.e. 

"AT") is configured independent of the field bus used. 


P-0-4081, Field bus: config. list of cyclic command value 

data ch. 


MPB: --- / --- --- -- 

With this parameter the process output data channel (master-slave, i.e. 

"MDT") is configured independent of the field bus used. 


P-0-4082, Field bus: length of cyclic actual value data 

channel 


MPB: 0 / 32 2 Byte 

This parameter indicates the number of bytes of the process data channel 

parameterized in P-0-4080, Field bus: config. list of cyclic actual value 

data ch.. 

This length does not contain the length parameterized in P-0-4083, Field 

bus: length of parameter channel of a possibly available parameter 

channel. The graduation takes place in word boundaries, i.e. possible 

values are 2, 4, 6, ... 32. 

Note: For communication via Interbus it is obligatory, due to the bus 

structure (shift register), that P-0-4071 = P-0-4082. 


P-0-4083, Field bus: length of parameter channel 


MPB: 0 / 16 --- Byte 

Apart from the transmission of real-time data (also called process data), 

communication via a field bus also requires the transmission of 



Function 

Function 

Function 


parameters that are not linked to a real-time cycle. In the case of 

PROFIBUS, for which not all control units are supporting acyclic access, 

these data can be exchanged via a parameter channel. 


P-0-4084, Field bus: profile type 


MPB: --- / --- 0xFF82 -- 

The setting of P-0-4084, Field bus: profile type influences 

• the profile-dependent interpretation of the control and status words 

• the preselection of the primary mode of operation set in the drive 

• the configuration of the real-time data channel (unless freely 

configurable). 


P-0-4085, C4700 Command Activate easy startup mode 


MPB: --- / --- --- -- 

This parameter is used for activating the easy startup mode via the serial 

interface. With the start of this command the drive switches master 

communication (SERCOS or Profibus) off. The drive automatically 

switches to the parameter mode, makes the parameter setting for the 

"easy startup mode" and switches to the operating mode. The parameter 

setting is stored in volatile form. The easy startup mode can only be 

deactivated by switching control voltage off and on. 

P-0-4086, Master communication status 


MPB: --- / --- --- -- 

This parameter contains important status information regarding the 

current status of master communication or device control. Independent 

thereof some control information for handling the communication phase 

switch, as well as for enabling the hardware inputs for drive enable and 

Drive Halt, is controlled. 

Note: Users cannot write this parameter, it is only used for 

diagnostic purposes. 

See also Functional Description "Initial Start in "Easy Startup" Mode" 



P-0-4090, Configuration for loading default values 


MPB: --- / --- --- --


Function 

Function 

Function 

Function 

7.4 Basic Functions 

Serial Communication 

The effects of the command S-0-0262, C07_x Load defaults procedure 

command depend on the configuration available in P-0-4090 at the 

command start. 

See also Functional Description "Loading Default Values" 

See also Parameter Description "S-0-0262, C07_x Load defaults 

procedure command" 

P-0-4091, C2500 Copy IDN from optional memory to 

internal memory 


MPB: --- / --- --- -- 

By means of this command the parameter values are copied from the 

MultiMediaCard (MMC) to the internal, non-volatile memory (flash). 

P-0-4092, C2600 Copy IDN from internal memory to 

optional memory 


MPB: --- / --- --- -- 

By means of this command the parameter values are copied from the 

internal, non-volatile memory (flash) to the MultiMediaCard (MMC). 

P-0-4095, RS-232/485 Parity 


MPB: 0 / 2 0 -- 

By means of this parameter it is possible to set several parities for the 

communication via the serial interface. 

Parity Setting in P-0-4095 

none 0 

odd 1 

even 2 

Fig. 7-48: Coding of the parity in P-0-4095 

The initial setting is no parity (default value). 


The serial interface of the drive controller is used as a universal medium 

of communication for different services. It can be used for master 

communication (in addition to SERCOS), for reading and writing 




parameters, for replacing the firmware, for locating errors and for other 

services. The physical standard used is RS232 (with accessory 

HAS05.1-005 "RS232/RS485 converter", RS485 is possible, too). 

Two protocols are supported for serial communication: 

• ASCII-based protocol 

• SIS protocol (Rexroth-standard serial binary protocol) 

Note: The protocol is automatically recognized by the drive! 

The following functions are made possible via the serial interface: 

• reading and writing parameters via terminal or commissioning tool in 

parallel with the existing master communication 

• connecting a control terminal (BTV04) 

• downloading firmware via the "IndraWorks D" program 

The maximum baud rate is 115 kB. 

General Information on the Parameter Structure 

All parameters of the drive controller are stored in a uniform parameter 

structure. Each parameter consists of 7 elements. The table below 

describes the individual elements and the possibilities of access. The 

following sections will also refer to the parameter structure below. 

Element No. Data block element Possibility of access 

1 IDN read 

2 name read 

3 attribute read 

4 unit read 

5 min. input value read 

6 max. input value read 

7 operating data read / write 

Fig. 7-49: Parameter structure 

Interface Mode 

The serial interface can optionally be operated in the 

• RS232 mode or 

• RS485 mode. 

Note: Communication via RS485 is only possible in conjunction with 

an external RS232/RS485 converter (e.g. with accessory 

module HAS05.1-005 by Bosch Rexroth). 

Depending on the mode, it is necessary to use different cables 

(see Project Planning Manual). 

Transmission Protocols 

Two different protocols are supported on the drive side: 

• ASCII protocol 

• SIS protocol


Properties of ASCII Protocol 

Properties of SIS Protocol 

Master Communication 

When switching on the 24 V supply voltage an automatic protocol 

detection is activated when receiving signals via the serial interface. 

A soon as either 

• a valid ASCII start sequence 

- or - 

• a valid SIS telegram 

was received the drive internally switches to the respective kind of 

protocol. 

• transmission rates of 9600 and 19200 baud 

• 8-bit ASCII protocol 

• no parity bit 

• one stop bit 

Note: There isn't any telegram frame used but the transmitted ASCII 

signs are converted and interpreted. It is only necessary to 

comply with a certain order. 

• binary protocol 

• checksum test (higher Hamming distance D) 

• all telegrams are identified by an unequivocal start character ("0x02") 

• defined structure of the telegram frame 

• it is possible to activate motions (e.g. jogging) 

General 

• address assignment 

→ communication address to be freely parameterized (via master 

communication, serial and control panel) via parameter P-0-4025, 

Drive address of master communication 

• Baud rate PROFIBUS-DP 

P-0-4079, Field bus: Baud rate 

The baud rate used by the field bus is automatically determined and only 

displayed in this parameter. 

Note: By inputting "0" as baud rate it is possible to activate automatic 

baud rate detection. In some cases this however might not 

work correctly so that it is recommended to make a manual 

input. 

Open Loop 

In operation without encoder (open-loop operation) the velocity control 

loop is not closed in the drive, but the drive is operated in a velocitycontrolled 

way (without feedback) via open-loop U/f control. 

Note: The method of open-loop/closed-loop motor control can be 

selected via bit 14 of parameter P-0-0045, Control word of 

current controller. 



master 


cmd. value adjustment 

(depending on oper. mode) 

oper. mode 2 

oper. mode 1 

Features 

Overview 


open-loop drive control 

open-loop 

motor control 

(U/f) 

- without encoder - 

limitation 

torque/current 

Fig. 7-50: Principle of drive control in open-loop operation 

DF000090v01_en.fh7 

The velocity control has the following features: 

• fine interpolation of the velocity command value (can be switched off) 

• monitoring of the velocity control loop (can be switched off via 

P-0-0556, bit 1) 

• filtering of actual velocity value to be parameterized 

• additive velocity command value (S-0-0037) 

• display of resulting command value (in P-0-0048) 

• monitoring and limitation of the maximum stator frequency change 

that results from the command velocity change 

• stall protection loop (PI loop that can be optionally activated to 

prevent breakdown of the machine when the torque limits are attained) 

• slip compensation (feedforward of estimated slip of the machine by 

means of rotor time constant and slip compensation factor) 

• calculation of output voltage by means of a U/f characteristic based 

on motor model data 

• subsequent trimming of magnetization via premagnetization factor 

(linear or square characteristic to be selected) 

• IxR boost (adjustable load-dependent feedforward of the output 

voltage due to the voltage drop on the motor winding resistance) 

• oscillation damping (adjustable load-dependent feedforward to 

prevent velocity oscillations in the partial load and idling ranges) 

• current limitation loop to protect the output stage 

• velocity search mode of a coasting machine after switching drive 

enable on (can be set for one or both rotational directions) 

Profibus Interface 

Drive controllers of the IndraDrive range have a master communication 

module with PROFIBUS interface. Via this module it is possible to 

exchange real-time data with a PROFIBUS-DP master. 

Using the master communication "PROFIBUS-DP" requires the following 

control section design: 

• single-axis BASIC PROFIBUS (not configurable) (CSB01.1N-PB) 

In addition it is possible to use the following configurable control sections 

if they have been designed with the optional module PB: 

• single-axis BASIC UNIVERSAL (CSB01.1C) 

• single-axis ADVANCED (CSH01.1C)


Features 

• double-axis BASIC UNIVERSAL (CDB01.1C) 

The following communication channels are distinguished: 

• cyclic data channel (PROFIBUS-DP) 

The field bus provides data containers in which useful data can be 

cyclically transmitted. This section is called cyclic data channel. The 

cyclic data channel is divided into 

• a device-specific parameter channel (optional) for reading and 

writing all parameters via PROFIBUS-DP, 

Note: This parameter channel does not fulfill "real-time 

properties"! 

• an (optional) safety related, axis-specific process data channel 

(PROFIsafe) that allows transmitting safety-relevant signals 

depending on firmware and hardware (see also "Drive-Integrated 

Safety Technology" in chapter "Drive Functions"), 

• an axis-specific process data channel (real-time channel) 

containing firmly specified information that can be directly 

interpreted by the receiver. 

• acyclic data channel (DPV1 parameter communication) 

The following are supported: 

• one class-1 connection 

• two class-2 connections 

safety related not safety related 

master ® slave param. channel PROFIsafe ctrl word, cmd values 

slave ® master param. channel PROFIsafe status word, act. val. 

Fig. 7-51: Overview cyclic data channel 

DF000156v01_en.fh7 

Note: To simplify field bus communication Bosch Rexroth makes 

available function blocks for different programmable logic 

controllers (PLCs). The principles applied can be easily used 

for other field bus masters. 

The slave PROFIBUS-DP circuit with master communication module PL 

has the following functional features: 

• support of RS485 interfaces according to IEC61158-2 

• support of all data rates according to IEC61158-2, with exclusive use 

of PROFIBUS-DP (9.6 kBaud, 19.2 kBaud, 45.45 kBaud, 93.75 kBaud, 

187.5 kBaud, 500 kBaud, 1.5 MBaud, 3 MBaud, 6 MBaud, 12 Mbaud) 

• automatic baud rate detection 

• configurable cyclic data up to 10 parameters (incl. field bus control 

word and field bus status word) in both data directions 

(max. 40 bytes or 20 words) 

• additional optional parameter channel in the cyclic channel with up to 

16 bytes (8 words) 

• monitoring of the cyclical data exchange (watchdog function) 

• LED for diagnosing the PROFIBUS interface 



Communication Parameters 

Profile Type Parameters 

Parameters for Extended 

Communication 


• supported DPV0 services: 

• Slave_Diag (read diagnostic data) 

• Get_Cfg (read configuration data) 

• Set_Prm (send parameterization data) 

• Chk_Cfg (check configuration data) 

• Data Exchange (transfer I/O data) 

• Global Control (synchronization) 

• RD_Outp (read output data) 

• RD_Inp (read input data) 

• parameter access with DPV1-class-1 services 

• DDLM_Initiate (establishment of connection) 

• DDLM_Read (acyclic read access) 

• DDLM_Write (acyclic write access) 

• DDLM_Abort (abortion of connection) 

• DDLM_Idle (connection monitoring) 

• support of up to two DPV1-class-2 connections 

• supported field bus profiles: 

• 0xFF82: I/O mode "positioning" with configurable real-time data 

• 0xFF92: I/O mode "preset velocity" with configurable real-time data 

• 0xFFFE: freely configurable mode 

• access to all device parameters according to PROFIdrive specification 

Pertinent Parameters 

Specific parameters for communication via PROFIBUS-DP: 

• P-0-3290, PROFIsafe: F_Destination_Address 

• P-0-4069, Field bus: module diagnosis 

Parameters for general communication via field bus interfaces: 

• P-0-4073, Field bus: diagnostic message 

• P-0-4074, Field bus: data format 

• P-0-4075, Field bus: watchdog 

• P-0-4076, Field bus: cycle time (Tcyc) 

• P-0-4079, Field bus: baud rate 

Apart from mere communication parameters, we use parameters in 

conjunction with the profile types. 

See also section "Profile Types (with Field Bus Interfaces)" in the same 

chapter 

We use additional parameters for extended communication. 

See the following sections under "Possibilities of Control/Additional 

Functions" in the same chapter: 

• "Configurable Signal Control Word" 

• "Configurable Signal Status Word" 

• "Multiplex Channel"


Profile Types 

Content of 

P-0-4084, Profile 

type 

Master 

communication 

Profile type: I/O mode positioning 

FF82h PROFIBUS, 

CANopen, 

DeviceNet 

Profile type: I/O mode preset velocity 

FF92h PROFIBUS, 

CANopen, 

DeviceNet 

Profile type: freely configurable mode 

FFFEh PROFIBUS, 

CANopen, 

DeviceNet 

IO Mode - Supported Profile Types 

When a field bus interface is used for master communication, IndraDrive 

controllers support the following profile types (modes): 

• I/O mode positioning 

• I/O mode preset velocity 

• freely configurable mode (Rexroth profile type) 

The table below contains an overview of the most important properties 

and features of the 3 profile types: 

Field bus or drive 

operating mode Features 

I/O mode positioning 

(positioning block mode, 

encoder 1, lagless) 

- up to 64 positioning blocks can be 

controlled via field bus 

- apart from control and status word, 

other real-time data can be configured 

(in P-0-4080 and P-0-4081) 

- bits can be freely defined in signal 

status word via function "configurable 

signal status word" 

I/O mode preset velocity - fixed velocity command values can be 

controlled and ramp generator can be 

operated via field bus 

- apart from control and status word, 

other real-time data can be configured 

(in P-0-4080 and P-0-4081) 

- bits can be freely defined in signal 

status word via function "configurable 

signal status word" 

freely configurable mode 

(default assignment is 

"drive-controlled positioning" 

with corresponding 

required cyclic data) 

FFFDh like profile FFFEh, but reduced field bus control word 

(relevant for MLD applications, for example) 

Drive Profile 

- possible use of complete drive functionality 

by free configuration of real-time data 

and operating mode selection 

- control and status word have a Rexrothspecific 

structure 

- selection suited for operation with 

analog command values in 

commissioning phase 

Fig. 7-52: Supported profile types for IndraDrive firmware 

Basic Principles and Terms 

The drive profile defines 

• the structure of the field bus control word (P-0-4077) and of the field 

bus status word (P-0-4078), 

• the structure and content of real-time channel (P-0-4080, P-0-4081), 

• the active operating mode (S-0-0032, S-0-0033, S-0-0034, S-0-0035) 

• the drive states and their transitions (status machine of I/O mode or 

Rexroth profile type). 



Status Machine 

Abbreviations 

General Features 


By selecting a profile type, the commissioning of field bus drives becomes 

very easy for the user. The advantage of the profile selection is that all 

important basic settings for the desired drive function are thereby made 

automatically in the drive. As the profile types are defined independently 

of the bus, the transfer of applications from one field bus to the other is 

also facilitated. 

A status (e.g. Drive Halt, drive error, ...) represents a specific internal and 

external behavior. The status can be exited by defined events (e.g. drive 

commands, switching of operating modes, ...). Corresponding status 

transitions are assigned to the events. The interaction of control and 

status bits or the status transitions are called status machine. 

i16: 16-bit variable with sign (1 word) in Intel format 

i32: 32-bit variable with sign (2 words) in Intel format 

u16: 16-bit variable without sign (1 word) in Intel format 

u32: 32-bit variable without sign (2 words) in Intel format 

ZKL1: class 1 diagnostics 

ZKL2: class 2 diagnostics 

I/O Mode (Positioning and Preset Velocity) 

We distinguish the following variants of the profile type "I/O mode": 

• I/O mode positioning (functionality similar to parallel interface) 

• I/O mode preset velocity 

(e.g. for open-loop applications) 

The I/O mode has the following features: 

• optional parameter channel can be activated, if required, via P-0-4083, 

Field bus: length of parameter channel (max. 8 words) 

(default: P-0-4083 = 0 → without parameter channel) 

• real-time channel consists of at least one word (16 bits), the field bus 

control word (P-0-4068) and the signal status word (S-0-0144) 

Data direction Word1 Format 

master --> slave P-0-4068, Field bus: control 

word IO 

u16 (1 word) 

slave --> master S-0-0144, Signal status word u16 (1 word) 

• freely expandable real-time channel by configuration of real-time data: 

• Master → slave (drive) 

configuration of P-0-4081, Field bus: config. list of cyclic 

command value data ch. 

• Slave (drive) → master 

configuration of P-0-4080, Field bus: config. list of cyclic actual 

value data ch. 

• freely configurable field bus status word (cf. S-0-0144) 

• Relationship between profile type selection and operating mode which 

takes effect: 

• In the I/O modes there is a determined relationship between profile 

type and predefined primary mode of operation (S-0-0032). 

• The freely configurable mode allows free selection of the 

operating modes (S-0-0032, S-0-0033, …).


Features of "I/O Mode 

Positioning" 

Features of "I/O Mode Preset 

Velocity" 

Features 

Real-Time Channel 

Note: The respective default settings are activated by selecting the 

profile type and subsequent action "load default 

communication parameters" (see also P-0-4090 and 

S-0-0262). 

Specific features of "I/O mode positioning": 

• The drive is operated in "positioning block mode, lagless, encoder 1" 

(see also "Positioning Block Mode" in chapter "Operating Modes"). 

• In this operating mode, 64 programmable positioning blocks can be 

selected and started via 6 bits (in the 16 bit wide control word). 

• The jog function can be activated in P-0-4068, Field bus: control 

word IO. "Drive-controlled positioning" was set as the 1st secondary 

operating mode (see also "Drive-Controlled Positioning" in chapter 

"Operating Modes"). 

Specific features of "I/O mode preset velocity": 

• The drive is operated in the "velocity control" mode (see also "Velocity 

Control" in chapter "Operating Modes"). 

• In this operating mode you can, for example, select and start 

5 programmable fixed velocity command values (in the 16 bit wide 

control word) and operate the ramp generator function. 

Freely Configurable Mode (Rexroth Profile Type) 

To use the extensive and numerous functions of a Rexroth drive with field 

bus interface it is necessary, in addition to the I/O modes, to define 

another profile, the freely configurable mode. This implies the use of a 

specific control and status word (P-0-4077, Field bus: control word and 

P-0-4078, Field bus: status word). 

• The structure (content) of the real-time data channel must be defined 

via the configuration parameters P-0-4080 and P-0-4081. No profiledependent 

settings and checks are carried out! 

• In this profile type it is the Rexroth-specific definitions for the field bus 

control and status words which apply. Some bits in the parameters 

P-0-4077, Field bus: control word and P-0-4078, Field bus: status 

word can only be used in conjunction with certain operating modes. 

• This profile type allows using the entire drive functionalities (e.g. 

velocity synchronization, drive-controlled positioning, ...). 

• The primary mode of operation and the secondary operating modes 

can be freely determined in the parameters S-0-0032, S-0-0033 etc. 

• The operating mode "drive-controlled positioning" is set as default 

setting with the command values S-0-0282, S-0-0259 and 2x S-0-0000 

and the actual values S-0-0386, S-0-0040, S-0-0390 (see also below 

"Exemplary Configurations: Drive-Controlled Positioning"). 

Note: The parameter P-0-4077, Field bus control word or 

P-0-4078, Field bus status word must always be contained 

in the 1 st place in the configuration parameters P-0-4080 and 

P-0-4081. 

In the real-time channel of the field bus the data configured in P-0-4081, 

Field bus: config. list of cyclic command value data ch. and 



Motor Control 


P-0-4080, Field bus: config. list of cyclic actual value data ch. are 

transmitted between master and drive. 

Data direction Word1 Format 

master --> slave P-0-4077, Field bus: control word u16 (1 word) 

optional command values : 

slave --> master P-0-4078, Field bus: status word u16 (1 word) 

optional actual values : 

Note: The IDNs of the parameters of the cyclically configurable 

command values or actual values are listed in S-0-0188, List 

of configurable data in the MDT and S-0-0187, List of 

configurable data in the AT. 

Content and order of data in real-time channel: 

Data direction Word1 Word2 ... Word n 

master --> slave P-0-4077 cmd value 1 ... 

slave --> master P-0-4078 actual value 1 ... 

Open-Loop/Closed-Loop Operation 

The IndraDrive firmware supports the following two basic principles of 

motor control: 

• motor control (U/f control) in open-loop operation 

→ open-loop-controlled operation without encoder information 

• motor control in closed-loop operation 

• with encoder feedback 

→ closed-loop-controlled operation (position, velocity and current) 

• without encoder feedback 

→ closed-loop-controlled operation with motor model (velocity and 

current) 

Via bit 14 and bit 15 of parameter P-0-0045, Control word of current 

controller the method of motor control is selected. 

Cycle Times and PWM Frequencies 

Depending on the firmware variant (MPH, MPD or MPB) and the 

respective control section (CSH01.1, CDB01.1, CSB01.1), there are the 

following possible cycle times and PWM frequencies: 

TA_current P-0-0001 FWA variant P-0-0556, bit 2 Performance 

62,5 µs 16000 MPH 0 Basic 

83,3 µs 12000 MPH 0 Basic 

125 µs 8000 MPH 

MPB 

MPD 

125 µs 4000 MPH 

MPB 

MPD 

0 Basic 

0 Basic


Scaling of Physical Data 

Scaling 

Parameters 

250 µs 2000 1) 

MPH 

MPB 

0 Basic 

62,5 µs 16000 MPH 1 Advanced 



125 µs 4000 MPH 1 Advanced 

TA_current: sampling time of current loop 

P-0-0001: Switching frequency of power output stage (in Hz) 

P-0-0556: Configuration of axis controller 

1): only with power section HCS04.1… and MAD/MAF 

Fig. 7-53: Cycle times and switching frequencies that can be set 

Note: Via bit 2 and bit 5 of parameter P-0-0556, Configuration of 

axis controller it is possible to select the performance options 

depending on the control section design. 

See "Overview of Functions: Performance Data" in chapter 

"System Overview" 

The controller via data maps the drive to an internal mathematical model. 

The status variables of the drive are determined on the basis of: 

• position measurement, 

• current measurement and 

• temperature measurement. 

The measured values collected in this way are converted into physical 

data: 

• position, velocity, acceleration and jerk data 

• current data, torque and force data 

• temperature data and load data 

The master transmits command values to the drive that are used by the 

controller for transforming them at the motor output shaft or mechanical 

axis system. The drive in return registers and transmits actual values, 

signals operating and command states and, if necessary, generates error 

messages and warnings. 

Communication between drive and master also takes place by 

exchanging data. 

An operating data (numeric value) can only be evaluated as a physical 

value, when the numeric value is connected to a physical unit and the 

position of the decimal point (decimal places). The data thereby is 

"scaled" in a qualitative and quantitative way. 

All data are stored in parameters and transmitted as parameter values 

(for explanations on parameters see chapter "Parameters, Basics" in 

chapter "Handling, Diagnostic and Service Functions"). The scaling of the 

parameters containing data of the following physical values can be 

defined by the customer: 

• position 

• velocity 

• acceleration 

• torque/force 



Preferred Scaling/ 

Parameter Scaling 

Linear and Rotary Data 

Motor Reference/Load Reference 

Absolute/Modulo Evaluation 

Basic Scaling Settings 

Settings and Tips for Modulo 

Scaling 


• temperature 

To simplify the scaling definition so-called "preferred scalings" were 

predefined. But physical data can also be exchanged in the controlinternal 

format, i.e. without concrete reference to physical units. To do 

this, the scaling for certain data can be freely set ("parameter scaling"). 

Depending on the kind of motion of motor or load, the data can be 

displayed 

• in linear form (linear axis or motor motion) 

- or - 

• in rotary form (rotary axis or motor motion) 

In the drive firmware there are mechanical transfer elements between 

motor and load mapped by means of mathematical models. The physical 

data can thereby be referred to 

• the point where the load takes effect (load-side data reference) 

- or - 

• the point where the force is input (motor-side data reference). 

For technical reasons, the value range of the position data the controller 

can display is limited. 

In the case of axes with limited travel range (e.g. linear axes), the current 

axis position within the controller-side value range can be unequivocally 

displayed (see "Measuring Systems: "Basics on Measuring Systems, 

Resolution" in chapter "Motor, Mechanical Axis System, Measuring 

Systems"). 

In the case of axes with unlimited travel range (e.g. rotary axes) it is 

useful to limit the infinite value range of the position data to a finite value. 

With continuous motion the value range is recurrently run from minimum 

to maximum value ("modulo" evaluation of the actual position value). 

First make the basic scaling settings for position, velocity, acceleration 

and torque/force data. This is only possible in the parameter mode 

(communication phase 2). 

You have to determine: 

• scaling type (rotary/linear/without scaling/percentage-based, if 

necessary) 

• unit of measurement and unit of time, if necessary 

• data reference (motor/load) 

• absolute/modulo format for position data 

• preferred scaling (predefined) or parameter scaling (can be individually 

defined) 

To do this, set the respective bits in the following parameters: 

• S-0-0076, Position data scaling type 

• S-0-0044, Velocity data scaling type 

• S-0-0160, Acceleration data scaling type 

• S-0-0086, Torque/force data scaling type 

When selecting "modulo format" the value range limit has to be set in 

parameter S-0-0103, Modulo value. 

Note: For "modulo format" enter a value greater than or equal to the 

value of parameter S-0-0103 in parameter S-0-0278, 

Maximum travel range!


Temperature Scaling 

Further Settings for Parameter 

Scaling 

WARNING 

Danger of incorrect actual position value of 

encoders evaluated in absolute form after 

switching the drive on, when the mechanical 

drive system, with the drive switched off, was 

moved in the case of modulo scaling! 

Make sure that the mechanical drive system, with the 

⇒ 

drive switched off, is as a maximum moved by a 

distance or angle corresponding to half the absolute 

encoder range (S-0-0378, Absolute encoder range 

of motor encoder or S-0-0379, Absolute encoder 

range of optional encoder)! 

In addition, make the scaling setting for temperature data in parameter 

S-0-0208, Temperature data scaling type. 

Individual Settings for Parameter Scaling 

position data: 

• S-0-0077, Linear position data scaling factor position data 

• S-0-0078, Linear position data scaling exponent 

- or - 

• S-0-0079, Rotational position resolution 

velocity data: 

• S-0-0045, Velocity data scaling factor 

• S-0-0046, Velocity data scaling exponent 

acceleration data: 

• S-0-0161, Acceleration data scaling factor 

• S-0-0162, Acceleration data scaling exponent 

Diagnostic Messages of Scaling Setting 

If inadmissible scaling settings were made, they are detected when 

switching from parameter mode (communication phase 2) to operating 

mode (communication phase 4). The drive in this case does not reach the 

operating mode and, according to setting, displays the following 

command errors: 

• C0122 Incorr. parameteriz. of motor enc. (mechanical system) 

• C0123 Modulo value for motor encoder cannot be displayed 

• C0127 Incorr. parameteriz. of opt. enc. (mechanical system) 

• C0128 Modulo value for optional encoder cannot be displayed 

• C0140 Rotary scaling not allowed 

• C0101 Invalid parameters (see S-0-0021) 

• C0102 Limit error in parameter (-> S-0-0021) 

• C0103 Parameter conversion error (->S-0-0021) 

Example of Scaling Settings 

There are many possibilities to make settings for the scaling type. The 

table below shows useful settings for which there aren't any command 

errors to be expected: 



Mechanical system Encoder Useful scaling type settings 

Motor External Motor Load 

Motorr Load gear Feed spindle encoder encoder reference reference Modulo 

rotary available not available rotary no rotary rotary possible 

rotary available/ 

not available 


not available 


available rotary no rotary --- possible 

available rotary no --- linear possible 

rotary available not available rotary rotary rotary rotary possible 


not available 


not available 


not available 


not available 

available rotary rotary rotary --- possible 

available rotary rotary --- linear possible 

available rotary linear rotary --- possible 

available rotary linear --- linear possible 

linear not available not available linear --- --- linear not possible 

Fig. 7-54: Useful scaling type settings depending on mechanical drive system 

and measuring systems 

7.5 Voltage-Controlled Operation (Open-Loop U/f Control) 

Overview 

master 

cmd. value adjustment 

(depending on oper. mode) 

oper. mode 2 

oper. mode 1 

Features 

The drive function "voltage-controlled operation of asynchronous motors 

without encoder in open-loop U/f control" is made available in the base 

package "open-loop" in the "velocity control" mode. When the expansion 

package "synchronization" has been enabled, the operating mode 

"velocity synchronization with real/virtual master axis" is additionally 

available. 


open-loop drive control 

open-loop 

motor control 

(U/f) 

- without encoder - 

limitation 

torque/current 

Fig. 7-55: Principle of open-loop U/f control 

DF000090v01_en.fh7 

Open-loop U/f motor control is characterized by the following features or 

core functions: 

• monitoring and limitation of the maximum stator frequency change 

that results from the command velocity change


• stall protection loop (PI loop that can be optionally activated to 

prevent breakdown of the machine when the torque limits are attained) 

• slip compensation (feedforward of estimated slip of the machine by 

means of slip compensation factor) 

• calculation of output voltage by means of a U/f characteristic based 

on motor model data 

• subsequent trimming of magnetization via premagnetization factor, as 

well as linear or square characteristic to be selected 

• IxR boost (adjustable load-dependent feedforward of the output 

voltage due to the voltage drop on the motor winding resistance) 

• oscillation damping (adjustable load-dependent feedforward to 

prevent velocity oscillations in the partial load and idling ranges) 

• current limitation loop to protect the output stage of the drive 

controller, as well as limitation to the effective peak current 

• velocity search mode of a coasting machine after switching drive 

enable on (can be set for the preset rotational direction or both 

rotational directions) 

• user-side torque/force limitation via enabled stall protection loop 

Automatic Setting of Motor Control Parameters 

Motors by Bosch Rexroth 

Third-Party Motors 

For operating motors it is necessary to collect the values for motor 

parameters (resistance values, inductances, ...), in order to determine the 

motor control parameters (flux loop, voltage loop, current loop) with these 

values. 

Depending on the manufacturer and type of the motor to be controlled, 

the values for motor parameters and motor control parameters are made 

available to the controller in different ways: 

For Rexroth motors the values for the motor and motor control 

parameters are optimized and made available by the manufacturer. The 

automatic setting of the motor control parameters by the drive firmware is 

not required and not allowed for Rexroth motors! 

• for motors with motor encoder data memory: 

→ automatic loading of the parameters when drive is switched on (see 

"Overview: Default Settings in the Motor Encoder Data Memory ("load 

defaults procedure") in section "Closed-Loop Axis Control (Closed- 

Loop Operation)") 

• for motors without motor encoder data memory: 

• loading the parameters via the commissioning tool "IndraWorks D" 

from the motor data base (DriveBase) 

- or - 

• manually writing the individual parameters via the serial interface or 

the master communication interface by means of a motor 

parameter list 

For third-party motors the drive firmware possesses commands by means 

of which the values for the motor and motor control parameters are 

generated depending on the available output data and the functional 

principle of the motor. 

The following commands are available for calculating values for the motor 

and motor control parameters: 

• C3200 Command Calculate motor data 

1. calculating the motor parameter values for asynchronous motors 

from the data on the type plate 



Overview 


2. calculating the values to be set for the motor control parameters 

• C3600 Command Motor data identification 

1. identifying (or optimizing) the motor parameter values for 

asynchronous motors 

Note: Appropriate start values already have to be available! 

2. calculating the values of the motor control parameters 

• C4600 Command Calculate motor control parameters 

calculating the values of the motor control parameters from the motor 

parameters for synchronous motors and, if necessary, for 

asynchronous motors (after manual input of motor data in motor 

parameters) 

Note: The prerequisite basically is the "Form for Output Data of 

Asynchronous Motors/Synchronous Motors" to be completed 

by the motor manufacturer (see "Third-Party Motors at 

IndraDrive Controllers" in chapter "Motor, Mechanical Axis 

System, Measuring Systems")! 

The figure below illustrates an overview of the possibilities of determining 

the motor and motor control parameters for motors without motor encoder 

data memory:


optimizing the 

available motor 

parameter values 

via command 

B 

motor data 

on 

type plate 

1. manual input of data from 

type plate in parameter 

P-0-4032 

2. automatic calculation of 

motor parameters via 

command A 

third-party motors Rexroth motors 

motor data 

from 

data sheet 

manual input of 

parameter values from 

data sheet 

motor parameters 

(S-0-0109, P-0-4016, P-0-4039, P-0-4048, ...) 

automatic calculation 

of motor control parameters 

via command 

command execution includes: 

· C3200 Command Calculate motor data 

® steps A and C 

· C3600 Command Motor data identification 

® steps B and C 

· C4600 Command Calculate motor control parameters 

® step C 

Motor Parameters 

C 

motor control parameters 

(S-0-0106, S-0-0107, P-0-0532, ...) 

DriveBase 

(motor data base) 

loading of motor parameters and 

motor control parameters via 

commissioning tool 

DF000159v01_en.fh7 

P-0-4032: motor type plate data 

Fig. 7-56: Determining the motor and motor control parameters for motors 

without motor encoder data memory 

Note: Apart from collecting or determining the motor and motor 

control parameters, further data on measuring system, 

temperature sensor, motor temperature model, motor holding 

brake and, if necessary, position and velocity loop are 

required. 

See also "Closed-Loop Axis Control (Closed-Loop Operation)" 

in the same chapter 

See "Third-Party Motors at IndraDrive Controllers: Notes on 

Commissioning" in chapter "Motor, Mechanical Axis System, 


Overview of Motor and Motor Control Parameters 

The table below contains an overview of the motor parameters for 

synchronous and asynchronous motors: 




Motor parameters 

Synchronous motor Asynchronous motor 

P-0-4014, Type of construction of motor 



S-0-0113, Maximum motor speed 

P-0-0018, Number of pole pairs/pole pair distance 


P-0-0510, Rotor inertia 

P-0-4048, Stator resistance 

P-0-4013, Current limit value of demagnetization P-0-0530, Slip increase 

P-0-4016, Direct-axis inductance of motor P-0-4004, Magnetizing current 

P-0-4017, Quadrature-axis inductance of motor P-0-4036, Rated motor speed 

P-0-4002, Charact. of quadrature-axis induct. of motor, 

inductances 

P-0-4003, Charact. of quadrature-axis inductance of motor, 

currents 

P-0-4039, Stator leakage inductance 

P-0-4040, Rotor leakage inductance 

P-0-4005, Flux-generating current, limit value P-0-4041, Motor magnetizing inductance 

Motor Control Parameters 

P-0-4042, Characteristic of motor magnetizing 

inductance 

P-0-4043, Rotor time constant 

Fig. 7-57: Overview of motor parameters for synchronous and asynchronous 

motors 

The following table contains an overview of the motor control parameters 

for synchronous and asynchronous motors that are used for field-oriented 

current control (with and without encoder) and the voltage-controlled 

operation: 

Motor control parameters 

Synchronous motor Asynchronous motor 

Field-oriented current control (FOC) 



P-0-0533, Voltage loop proportional gain 

P-0-0534, Voltage loop integral action time 

P-0-0535, Motor voltage at no load 

P-0-0536, Maximum motor voltage 

P-0-0528, Flux control loop proportional gain 

P-0-0529, Scaling of stall current limit 


P-0-0590, Frequency loop proportional gain 

P-0-0591, Frequency loop integral action time 

P-0-0592, Motor model adjust factor


Command "Calculate motor 

data" (C3200) 

Voltage-controlled operation (U/f) 




P-0-0568, Voltage boost 

P-0-0569, Maximum stator frequency change 

P-0-0570, Stall protection loop proportional gain 

P-0-0571, Stall protection loop integral action time 

P-0-0572, Slip compensation factor 

P-0-0573, IxR boost factor 

P-0-0574, Oscillation damping factor 

P-0-0575, Search mode: search current factor 

P-0-0576, Search mode: finding point slip factor 

P-0-0577, Square characteristic: lowering factor 

Fig. 7-58: Overview of motor control parameters for synchronous and 


Determining Parameters by Means of Type Plate Data 

For asynchronous motors it is possible via C3200 Command Calculate 

motor data to calculate the values for motor parameters from the type 

plate data and then the values of the motor control parameters. The 

activation of C3200 first requires manual input of the motor data from the 

type plate of the asynchronous motor in parameter P-0-4032, Motor type 

plate data. 

See Parameter Description "P-0-4032, Motor type plate data" 

Note: The command C3200 can only be used for asynchronous 

motors and can only be activated in communication phases 

"P2" or "P3"! 

The figure below illustrates the scope of functions of the command 

C3200: 



Internally Calculated Parameter 

Values 

Annotations 


third-party motors (asynchronous) 

motor data 

on 

type plate 

1. manual input of data from 

type plate in parameter 

P-0-4032 

2. automatic calculation of 

motor parameters via 

command C3200 


(S-0-0109, P-0-4016, P-0-4039, P-0-4048, ...) 

automatic calculation of motor control 

parameters via already activated 

command C3200 


(S-0-0106, S-0-0107, P-0-0532, ...) 

DF000162v01_en.fh7 

Fig. 7-59: Functions of C3200 Command Calculate motor data 

Note: The type plate does not contain the complete information 

required for safe operation of the third-party motor! 

All required data are part of the form of manufacturer-side 

motor data which has to be available in completed form. The 

additional data, however, are not required for executing the 

command C3200. 

By activating the command C3200 (P-0-4033) the following parameter 

values are calculated from the data of the asynchronous motor entered in 

list parameter P-0-4032: 

• motor parameters 

• motor parameters, general (for synchronous and asynchronous 

motors) 

• specific motor parameters for asynchronous motors 

• motor control parameters 

• motor control parameters for field-oriented current control (FOC) of 

synchronous and asynchronous motors 



• motor control parameters for voltage-controlled operation (U/f) of 

asynchronous motors without encoder 

As regards the operating principle of the command C3200, observe the 

following points:


Command "Motor data 

identification" (C3600) 

Requirements 

Sequence of Actions 

• Input in parameter P-0-4032 is irrelevant unless the command C3200 

has been started. 

• When the command was processed without error, the calculated 

values of motor and motor control parameters are operational. 

Identifying and Optimizing the Motor Parameter Values 

For asynchronous motors it is possible via C3600 Command Motor data 

identification to automatically identify and optimize the optimum motor 

and motor control parameters on the basis of appropriate start values. 

Note: The command C3600 can only be used for asynchronous 

motors and can only be activated in the operating mode 

(communication phase "P4")! 


C3600: 

optimizing the 

existing motor 

parameter values via 

command C3600 

third-party motors (asynchronous) 


(S-0-0109, P-0-4016, P-0-4039, P-0-4048, ...) 

automatic calculation of motor control 

parameters via already activated 

command C3600 


(S-0-0106, S-0-0107, P-0-0532, ...) 

DF000163v01_en.fh7 

Fig. 7-60: Function of C3600 Command Motor data identification 

To execute the command C3600 the following requirements have to be 

fulfilled: 

• manual input of motor data from type plate in parameter P-0-4032, 

Motor type plate data and then execution of C3200 Command 

Calculate motor data 

- or - 

• manual input of all motor data in the motor parameters according to 

manufacturer's specification in completed motor data form 

In status "ready for power output" ("Ab"), current and voltage test signals 

are transmitted to the motor with the execution of command C3600. In 

this way the motor parameters for asynchronous motors (see above) are 

checked and, if necessary, optimized. 

A possibly available holding brake continues remaining in the status of 

control as existing in the operating status "Ab". 

After having successfully completed the command execution, the motor 

and motor control parameters have been optimized and stored. 

The following parameters are recalculated: 


synchronous and asynchronous motors 



Annotations 

Command "Calculate motor 

control parameters" (C4600) 

Requirements 




• motor control parameters for voltage-controlled operation (U/f) of 

asynchronous motors without encoder 


following points: 

• Motor motion is not required; the motor holding brake possibly applied 

at "Ab" remains applied. The motor does not generate torque. With 

little friction and inertial mass, little motion can however occur! 


values of motor and motor control parameters are operational. If the 

command execution is aborted during the measurement, all motor and 

motor control parameters remain unchanged. 

Calculating the Motor Control Parameters from the Motor 

Parameters 

For synchronous motors and in special cases (see "Requirements" below) 

for asynchronous motors it is possible via C4600 Command Calculate 

motor control parameters to calculate the motor control parameters 

from the motor parameters. 

Note: The command C4600 can only be activated in the parameter 

mode (communication phase "P2" or "P3")! 


C4600: 

third-party motors 


(S-0-0109, P-0-4016, P-0-4039, P-0-4048, ...) 

automatic calculation 

of motor control parameters 

via command C4600 


(S-0-0106, S-0-0107, P-0-0532, ...) 

DF000164v01_en.fh7 

Fig. 7-61: Function of C4600 Command Calculate motor control parameters 

To execute the command C4600 the following requirements have to be 

fulfilled: 

• Synchronous third-party motors require manual input of the motor 

data in the motor parameters (see "Third-Party Motors at IndraDrive 

Controllers" in chapter "Motor, Mechanical Axis System, Measuring 

Systems"). 

• For asynchronous third-party motors the command C4600 is only 

useful if the motor control parameters are to be generated from 

specific, manually input motor parameters (e.g. from equivalent circuit 

diagram data, see "Third-Party Motors at IndraDrive Controllers" in 

chapter "Motor, Mechanical Axis System, Measuring Systems"). The


Annotations 

calculated values for the motor control parameters thereby might 

possibly be more exact! It is easier, however, to use the commands 

C3200 and C3600 (see above) for asynchronous motors. 


following points: 


values of motor and motor control parameters are operational. 


Motor connected to controller Parameter values made available 

Motor 

manufacturer Motor design Motor type 

Bosch Rexroth housing MHD, MKD, MKE, MSK, 

SF, MAD, MAF 

Encoder 

data memory Motor parameters 

Motor control 

parameters 

yes A A 

2AD, ADF, MSD no M/D M/D 

kit 1MB, MBS, MBT, 

MBW, LSF, MLF, 

MBSxx2 (high speed) 

third-party motor housing or kit asynchronous third-party 

motor 

housing or kit synchronous third-party 

motor 

Rexroth Motors 

Third-Party Motors 

no M/D M/D 

no M/C C 

no M C 

A: automatically after drive switched on 

D: download via commissioning tool 

M: manual input via control master 

C: automatic determination via drive command 

Fig. 7-62: Making available values for motor parameters and motor control 

parameters 

For Rexroth motors both the motor and motor control parameters are 

optimized by the manufacturer via the encoder data memory of the motor 

encoder or, for motors without encoder memory, via the commissioning 

tool. 

Note: For Rexroth motors it is not required to determine the motor or 

motor control parameters! The commands C3200, C3600 and 

C4600 mustn't be started for drives with Rexroth motors 

because otherwise the values of motor and motor control 

parameters optimized by the manufacturer are overwritten with 

the values calculated by means of command. This can modify 

the drive characteristics in a disadvantageous way! 

The commissioning of a third-party motor is similar to the commissioning 

of a Rexroth motor without motor encoder data memory. The major 

difference is that the motor and motor control parameters cannot be 

loaded from the motor parameter data base of the commissioning tool, 

but are determined by the controller via command after manual input of 

the type plate data and the motor parameter values (see "Third-Party 

Motors at IndraDrive Controllers" in chapter "Motor, Mechanical Axis 

System, Measuring Systems"). 




Diagnostic and Status Messages 

If the command execution cannot be carried out successfully, diagnostic 

messages will be signaling the respective errors. The description of the 

respective command error contains information on the causes and 

suggests measures for remedy. If necessary, the manufacturer-side 

motor data have to be questioned and the motor and motor control 

parameters determined again! 

See descriptions of diagnostic messages in the separate 

documentation "Troubleshooting Guide" 

7.6 Closed-Loop Axis Control (Closed-Loop Operation) 

Control Loop Structure 

The drive controller has a cascade structure, i.e. the individual loops 

(position, velocity and current) are connected into one another. 

Depending on the operating mode there are different control loop 

structures with different points of input and paths of the command values. 

Depending on the active operating mode it is only possible to close the 

torque control loop, the torque and velocity control loop or additionally the 

position control loop in the drive. The overall structure of the control loops 

is illustrated below.


position control loop 

velocity control loop 

S-0-0348 

S-0-0124 

S-0-0155 

P-0-1126 

current control loop 

P-0-0040 

P-0-0180 

current 

loop 

J,t 

1/P-0-0051 

filter cascade 

(N = 8) 

velocity 

loop 

F8079 

S-0-0032, 

bit 3 posit. 

loop 

PWM 

IPO 

Performance (Controller Cycle 

Times) 

- 

- 

- 

P-0-0001 S-0-0380 

S-0-0106 

S-0-0107 

S-0-0109 

S-0-0110 

P-0-0001 

P-0-0640 

S-0-0111 

P-0-0109 

S-0-0092 

S-0-0082 

S-0-0083 

P-0-1125 P-0-0004 P-0-1120 S-0-0100 

P-0-1121 S-0-0101 

P-0-1122 

P-0-1123 

S-0-0091 

S-0-0104 

S-0-0037 

S-0-0081 

P-0-0043 

act. current 

vact_motor 

actual velocity 

vact_ext. encoder 

P-0-1119 

actual 

position 

S-0-0051 

S-0-0053 

sampling times (TA) see section below 

Fig. 7-63: Overall structure of control loop 

Features of the Control Loops 

P-0-0001, Switching frequency of the power output stage 

P-0-0004, Velocity loop smoothing time constant 

P-0-0040, Velocity feedforward evaluation 

P-0-0043, Torque-generating current, actual value 


P-0-0109, Torque/force peak limit 

P-0-0180, Acceleration feedforward smoothing time constant 

P-0-0640, Cooling type 

P-0-1119, Velocity mix factor feedback 1 & 2 

P-0-1120, Velocity control loop filter: filter type 

P-0-1121, Velocity control loop filter: limit frequency low pass 

P-0-1122, Velocity control loop filter: band-stop filter of band width 

P-0-1123, Vel. cont. loop filter: band-stop filter of center frequen 

P-0-1125, Velocity control loop: average value filter clock 

P-0-1126, Velocity control loop: acceleration feedforward 

S-0-0032, Primary mode of operation 

S-0-0037, Additive velocity command value 

S-0-0051, Position feedback 1 value 

S-0-0053, Position feedback 2 value 

S-0-0081, Additive Torque/Force command 

S-0-0082, Torque/force limit value positive 

S-0-0083, Torque/force limit value negative 

S-0-0091, Bipolar velocity limit value 

S-0-0092, Bipolar torque/force limit value 

S-0-0100, Velocity loop proportional gain 

S-0-0101, Velocity loop integral action time 

S-0-0104, Position loop Kv-factor 




S-0-0110, Amplifier peak current 


S-0-0124, Standstill window 

S-0-0155, Friction compensation 

S-0-0348, Acceleration feedforward gain 

S-0-0380, Intermediate DC bus voltage 

For simplifying parameterization of the control loops and increasing the 

capacity, some standardizations and structural modifications were made. 

The internal controller cycle times (current, velocity and position) depend 

on the following requirements and parameters: 

• control section design (CSH, CSB or CDB) 

• activation of functional packages 

• P-0-0001, Switching frequency of the power output stage 

DF0001v2.fh7 



Position Loop 

Velocity Loop 


• P-0-0556, Config word of axis controller (bits 2 and 5) 

With IndraDrive and ADVANCED control sections (and firmware) the 

following cycle and switching times can be obtained: 

• PWM switching frequency max. 16 kHz 

• current loop clock TA_current = 62.5 µs 

• velocity loop clock TA_velocity = 125 µs 

• position loop clock TA_position = 250 µs 

With IndraDrive and BASIC control sections (and firmware) the following 

cycle and switching times can be obtained: 

• PWM switching frequency max. 8 kHz 

• current loop clock TA_current = 125 µs 

• velocity loop clock TA_velocity = 250 µs 

• position loop clock TA_position = 500 µs 

Note: All data on performance are contained in section "Overview of 

Functions: Performance Data" in chapter "System Overview". 

• Jerk limitation in the "cyclic position control" mode by introducing the 

S-0-0349, Jerk limit bipolar parameter. The filter degree of the 

smoothing filter (moving average) can be set in parameter P-0-0042, 

Current position command average value filter order. 

• velocity feedforward to be set, i.e. the feedforward degree can be set 

via parameter P-0-0040, Velocity feedforward evaluation 

(0 % … 100 %) 

• input value for parameter S-0-0348, Acceleration feedforward gain 

can be the respective inertia in kg*m^2 (for rotary motor) or the mass 

in kg (for linear motor) 

• Standardization of the output value at the velocity loop to Newton (N) 

or Newton meter (Nm). According to the motor type, there are the 

following units for parameter S-0-0100 for IndraDrive: 

• rotary motor → Nm * s/rad 

• linear motor → N * min/mm 

• Extending the possibilities for filtering resonance frequencies. There 

are 4 filters of 2 nd degree available that can be set via the parameters 

P-0-1120, P-0-1121, P-0-1122 and P-0-1123. 

• limiting the acceleration in velocity control by setting in parameter 

S-0-0138, Bipolar acceleration limit value 

Possibilities of Accessing Outer Control Loops 

It is possible to access the outer control loops when operating in a higherlevel 

mode. Depending on the basic operating mode, the following 

parameters are available to do this. 

In position control: 

• P-0-0059, Additive position command value, controller 

• S-0-0037, Additive velocity command value 

• S-0-0081, Additive torque/force command value 

In velocity control: 

• S-0-0037, Additive velocity command value


fine 

interpolator 

multiple-axis 

interpolation 

position 

cmd value 

additive 

position 

cmd val. 


In current control: 


master 

+ 

- 

dx/dt 

additive 

current 

cmd val. 

velocity 

loop 

additive 

velocity 

cmd val. 

interface for master communication 

interface for master communication 

S-0-0047 P-0-0059 S-0-0104 S-0-0037 S-0-0100 S-0-0081 

S-0-0101 

+ 

- 

position 

loop 

Position Control 

Velocity Control 

Torque/Force Control 

compensation or 

feedforward algorithm 

master 

communication 

+ 

- 

controller 

setting 

current 

loop 

drive 

controller 

PWM 

output stage 

S-0-0037: additive velocity command value 

S-0-0047: position command value 

S-0-0081: additive torque/force command value 

S-0-0100: velocity loop proportional gain 

S-0-0101: velocity loop integral action time 

S-0-0104: position loop Kv-factor 

P-0-0059: additive position command value, controller 

Fig. 7-64: Structural overview (incl. possibilities of access) 

motor 

encoder 

DF000043v03_en.fh7 

Command Value Processing Depending on Operating 

Mode 

In the case of the following operating modes, the position control loop, 

apart from the velocity and current control loop, is closed internally (in the 

drive), too: 

• position control with cyclic command value input 



See also description of the respective operating mode in chapter 

"Operating Modes" 

In the "velocity control" mode the velocity control loop, apart form the 

current control loop, is closed in the drive, too. 

See also "Velocity Control" in chapter "Operating Modes" 

The "torque/force control" mode actually isn't torque or force control but 

current control. Therefore, only the current control loop is closed in the 

drive. 

See also "Torque/Force Control" in chapter "Operating Modes" 



Order of Manual Control Loop 

Setting 

S-0-0262, C07_x Load defaults 



Notes on Commissioning for Control Loop Setting 

The control loop settings in a digital drive controller are very important for 

the features of the servo axis. 

To optimize the control loop setting, application-specific controller 

parameters are available for all digital Rexroth drives. 

Due to the cascade structure of the control loops it is necessary to 

parameterize them "from the inside to the outside". The resulting order for 

setting the control loops is as follows: 

1. Current control loop 

For Rexroth motors with motor encoder data memory (MHD, 

MKD and MKE series), optimizing the current loop is not required 

because the corresponding parameter values (S-0-0106 and 

S-0-0107) are read from the motor encoder data memory. 

For all Rexroth motors without motor encoder data memory (e.g. 

linear motors), the parameter settings can be taken from a central 

motor data base via the "IndraWorks D" commissioning tool. 

The commissioning of third-party motors (incl. control loop setting) 

is described in the respective sections on third-party motors in this 

documentation (see "Third-Party Motors at IndraDrive Controllers" in 

chapter "Motor, Mechanical Axis System, Measuring Systems"). 

2. Velocity control loop 

The settings of the velocity loop (S-0-0100 and S-0-0101) with the 

respective filters (P-0-0004 and P-0-1120, P-0-1121, P-0-1122, 

P-0-1123) on the one hand depend on the motor parameters (inertia 

and torque/force constant), on the other hand they strongly depend on 

the mechanical properties (load inertia/mass, friction, stiffness of the 

connection, ...). Therefore, manual or automatic optimization is often 

required. 

3. Position control loop 

In general, the position control loop only has to be adjusted to the 

dynamics of the outer velocity loop, as well as to the kind of preset 

command values (jerk, acceleration and interpolation procedure). 

Default Settings in the Motor Encoder Data Memory 

("Load Defaults Procedure") 

For all Rexroth motors of the series with motor encoder data memory 

(e.g. MHD, MKD, MKE, MSK and possibly MAD and MAF), the basic 

settings for the controllers are stored and can be loaded to the drive by 

executing the "load defaults procedure" command (S-0-0262). 

There are two ways to activate the S-0-0262, C07_x Load defaults 

procedure command parameter: 

• Automatically when running up the drive by recognizing that the motor 

type (cf. parameter S-0-0141) has changed. The display then reads 

"RL" and the "load defaults procedure" command is internally started 

by pressing the "Esc" button on the control panel, unless this was 

deactivated in P-0-0556, Config word of axis controller. 

• Starting the command by writing "11b" to parameter S-0-0262. 

See also "Loading, Storing and Saving Parameters" in chapter "Handling, 

Diagnostic and Service Functions" 

Note: In order to start the "load defaults procedure" command the 

value "0" (default setting) must have been set in parameter 

P-0-4090, Configuration for loading default values.


Automatic Setting of Axis Control 

Features 

During the load defaults procedure, the following control loop parameters 

are set to their default values optimized for the respective motor: 

• S-0-0100, Velocity loop proportional gain 

• S-0-0101, Velocity loop integral action time 

• S-0-0104, Position loop Kv-factor 

• S-0-0106, Current loop proportional gain 1 

• S-0-0107, Current loop integral action time 1 

• P-0-0004, Velocity loop smoothing time constant 

Note: The default settings for the current loop (cf. S-0-0106 and 

S-0-0107) are automatically adjusted to the currently 

parameterized PWM frequency (cf. P-0-0001) and 

performance setting (cf. P-0-0556)! 

In addition, the following control loop parameters are set to their firmwareside 

default values although there haven't been any default values stored 

for them in the motor data memory: 

• S-0-0348, Acceleration feedforward gain 

• P-0-1125, Velocity control loop: average value filter clock 

Note: In the majority of cases, the controller settings stored in the 

motor encoder data memory provide a useful and reliable 

control loop setting. In exceptional cases, however, it may be 

necessary to make the settings with regard to the specific 

application. 

To facilitate drive parameterization, the IndraDrive firmware provides 

automatic control loop setting in closed-loop operation. Parameters 

P-0-0163, Damping factor for autom. controller adjust and P-0-0164, 

Application for autom. controller adjust can be used to influence the 

result of the control loop setting (obtained control loop dynamics). 

Note: To carry out the automatic control loop setting it is necessary 

to move the drive. The velocity and position control loops are 

optimized. 

• definition of a travel range for movement control for the automatic 

control loop setting by 

• absolute travel limits 

- or - 

• entering a travel distance based on the current actual position 

• use of drive-internal interpolation and its parameters 

• possible settings in P-0-0165, Selection for autom. controller adjust 

for: 

• velocity loop 

• position loop 

• acceleration feedforward 

• determination of load inertia 

• determination of maximum acceleration 



7.7 Positioning Block Mode 

positioning 

block 

positioning 

generator 

Features 


target 

position 

• oscillation movement/unipolar movement 

• absolute travel limits/relative movement around the starting position 

In the "positioning block mode" it is possible to run up to 64 programmed 

positioning blocks. The drive moves to the target position in position 

control, while maintaining velocity, acceleration, deceleration and jerk 

limits as defined in the respective positioning block. 

cmd value 

interpolation 

position 

controller 

effective 

pos. cmd value 

velocity cmd 

value 

velocity 

controller 

torque/force 

cmd value 

Fig. 7-65: "Positioning block mode" block diagram 

current 

controller 

M 

DF000087v01_en.fh7 

• parameterization of up to 64 positioning blocks; each with target 

position/travel distance, velocity, acceleration, deceleration and jerk 

• defined block acceptance by toggling bit 0 in S-0-0346 with reaction 

time t_R_Strobe = t_position 

Note: With field bus drives, the I/O mode and control via the parallel 

interface are exceptions. In these cases acceptance takes place by a 

0-1 edge of bit 0 in P-0-4060. 

• block selection and acknowledgment via separate parameters 

(→ handshake principle) 

• positioning modes to be freely parameterized 

• relative positioning 

• absolute Positioning 

• infinite travel (positive or negative) 

• single-block or sequential block mode with different conditions for 

advance: 

• block advance with switch cams 

• block advance at defined position value 

• block transition with "old" or "new" positioning velocity 

• positioning block transition with freely definable delay time (P-0-4018) 

• positioning while taking command value mode into account 

(shortest distance, positive direction, ...) 

• residual path processing can be activated (→ no loss of incremental 

dimension) 

• "slow travel" mode can be activated 

• velocity override to be set 

Fields of Application 

Sequential block processing allows executing several positioning blocks 

processed in direct sequence without having to give a new start signal 

each time. Typical fields of application are: 

• There is none or only a very simple higher-level control unit available 

and control is realized via digital I/Os only or a field bus control word 

(I/O mode with field bus interface).


• There are quick reaction times or block advances required. The 

required motion profiles can be represented in the drive by the 

maximum possible 64 positioning blocks. 

• There are positioning processes required which cover long distances 

at high speeds (rapid traverse) and then position at the end position at 

low speed without any intermediate stops; for example: 

• taking up or putting down transport goods in handling robots 

• execution of joining processes in assembly facilities 


Rexroth IndraDrive Diagnostic and Service Functions 8-1 

8 Diagnostic and Service Functions 

8.1 Diagnostic System 

Diagnostic Status Messages 

Diagnostic Command Messages 

Warnings 

Drive Control Commands 

Monitoring Commands 

Administration Commands 


The diagnostic status messages display the phases of communication 

build-up and initialization (boot phase), operating states or the currently 

active operating mode. 

Note: In the case of some diagnostic status messages the 

diagnostic message number contained in parameter S-0-0390, 

Diagnostic message number differs from the display at the 


Commands are used to control complex functions in the drive. The 

command execution is displayed in a diagnostic message. 

By means of the respective parameter that is assigned to the command, a 

higher-level control unit can start, interrupt and clear commands. In 

addition, some selected commands can be directly started via the control 

panel of the drive controller. 

There are 3 command types: 

Drive control commands can only be started when drive enable was set. 

They might possibly cause automatic drive motion and deactivate the 

active operating mode during its execution. 

Executing monitoring commands activates or deactivates monitors and 

functions. 

Administration commands execute administration tasks. They cannot be 

interrupted. 

Note: Command errors are displayed with a diagnostic message, 

too. By means of the first three digits (Cxx) of the diagnostic 

message number it is possible to recognize which command 

caused the command error. 

Each command started by a control unit must be actively cleared (see 

also "Basic Functions of Master Communication", "Command 

Processing"). 

A command error cannot be removed by "clearing errors", but only by 

completing the corresponding command. 

While in operation the drive controller carries out monitoring functions. 

Some monitoring functions depend on the operating mode that is used 

and/or parameter settings. If a status is detected that still allows correct 

operation but persists, which would then cause an error to be generated, 

a warning is generated. 

Note: Some warnings won't result in an error if they are ignored.

8-2 Diagnostic and Service Functions Rexroth IndraDrive 

Warning Classes 

Warnings can be divided into two classes: 

• without drive reaction (diagnostic message numbers E1xxx .. E7xxx) 

• with drive reaction (diagnostic message number E8xxx) 

Warnings cannot be cleared externally. 

Warnings (E2xxx) 

In the case of warnings of category E2xx, the drive normally does not 

carry out any drive reaction, unless the warning was generated due to a 

mains or undervoltage error. In this case the behavior of the drive can be 

determined via the parameter P-0-0118, Power off on error. 

A second group of warnings within this category signals that a limit value 

determined (parameterized) by the user has been exceeded. 

Fatal Warnings (E8xxx) 

In the case of warnings of category E8xxx, the drive carries out a drive 

reaction. In the case of warnings that were generated due to a mains or 

undervoltage error, the behavior of the drive can be determined via the 

parameter P-0-0118, Power off on error. 

General Description of Error Messages and Error Reactions 

Error Classes 

Depending on the operating mode that is used and some parameter 

settings, the drive controller carries out monitoring functions. An error 

message is generated by the drive controller, if a status is detected that 

no longer allows correct operation. 

Errors can be divided into several error classes. The error class is 

represented by the first two digits of the diagnostic message number. 

Diagnostic 

message 

number 

Error class Drive reaction 

F2xxx non-fatal error as set in P-0-0119, Best possible deceleration 

F3xxx non-fatal safety 

technology errors 

as set in P-0-0119, Best possible deceleration 

F4xxx interface error as set in P-0-0119, Best possible deceleration 

F6xxx travel range error closed Loop: velocity command value reset 

open Loop: shutdown in compliance with P-0-0569, Maximum stator 

frequency change 

F7xxx safety technology error velocity command value reset 

F8xxx fatal error torque disable 

F9xxx and E-xxxx fatal system error torque disable 

Fig. 8-1: Error classes and drive reaction 

Note: These Operating Instructions do not list all the errors which 

can occur during the operation of one of our IndraDrive 

controllers / supply units; the documentation "Troubleshooting 

Guide" contains descriptions of all possible kinds of 

malfunction. 



Drive Behavior 

Putting the Drive into Operation 



Non-Fatal Errors (F2xxx) 

Non-fatal errors are errors that are still allowing a freely definable, variable 

error reaction. 

The user can define the drive behavior for the case of non-fatal errors 

occurring via the setting of the parameters P-0-0117, Activation of NC 

reaction on error and P-0-0119, Best possible deceleration. 

The drive can only be put into operation again when: 

1. the error reaction has been completed, i.e. the drive has stopped 

(v=0!). 

2. the error message was cleared by the error clearing command (cf. 

S-0-0099, C0500 Reset class 1 diagnostics). 

3. the cause of the error was removed. 

4. drive enable was switched on again (0-1 edge). 

Interface Errors (F4xxx) 

The user can influence the drive behavior in the case of interface errors 

by means of the parameterization of P-0-0119, Best possible 

deceleration (see also Functional Description "Error Reaction"). 

Note: In the case of an interface error, activating the NC reaction via 

P-0-0117, Activation of NC reaction on error is no longer 

possible! 

At the end of each error reaction, the drive goes torque-free. 



(v=0!). 




4. the drive is in the operating mode again and power was switched on 

("Ab"). 


Travel Range Errors (F6xxx) 

Travel range errors are errors associated with exceeding a travel range 

previously defined via hardware or software switches; independent of the 

settings in P-0-0119, Best possible deceleration and P-0-0117, 

Activation of NC reaction on error the drive therefore is stopped as fast 

as can. 

The kind of deceleration depends on the control mode: 

• closed-loop: velocity command value reset 

• open-loop: under compliance with P-0-0569, Maximum stator 

frequency change 

See also Functional Description "Error Reaction" 

Note: In the case of travel range errors, the settings in P-0-0118, 

Power supply, configuration still are taken into account. 

At the end of each error reaction, the drive goes torque-free.







(v=0!). 





("Ab"). 


Fatal Errors (F8xxx) 

Basically there are 2 kinds of fatal errors (F8 errors): 

• fatal errors during initialization (initialization errors) (e.g. F8201 and 

F8203, F8118, F8120, ...) 

• fatal errors during operation (e.g. F8060, F8022, ...) 

Note: Fatal initialization errors cannot be cleared, they require the 

drive to be switched off completely. 

In addition to completely switching off the drive, fatal errors 

associated with the safety technology (e.g. F8201 and F8203) 

require safety technology to be completely recommissioned. 

In the case of fatal errors, closed-loop control (or open-loop U/f control) of 

the drive is no longer ensured; with these errors the drive, independent of 

the setting in P-0-0119, Best possible deceleration and P-0-0117, 

Activation of NC reaction on error, therefore is immediately switched 

off, i.e. it goes torque-free (see also Functional Description "Error 

Reaction"). 

Note: In the case of fatal errors, the settings in P-0-0118, Power 

supply, configuration still are taken into account. 

After a fatal error has occurred, the drive can only be commissioned again 

when: 


S-0-0099, C0500 Reset class 1 diagnostics) [to do this it might 

possibly be necessary to switch to the parameter mode or switch the 

drive off completely]. 

2. the actual cause of the error was recognized and removed. This 

might possibly imply the replacement of an entire component (e.g. 

motor or drive controller). 


again ("Ab"). 


Note: In case fatal errors are occurring repeatedly, contact our 

service department as operating the drive then is no longer 

possible. 






Fatal System Errors (F9xxx and E-xxxx) 

In the case of fatal system errors there is a grave problem in the drive 

system (e.g. watchdog error, processor crash, ...) which does no longer 

allow regular operation of the drive. Due to a hardware or firmware error, 

the drive firmware is no longer operable; clearing an error is no longer 

possible. 

In this case the drive reacts automatically as follows: 

• All digital outputs are set to "0". 

Safety technology: safety related feedback is deactivated! 

• The "ready for operation" relay opens, this also switches power off in 

case the wiring is correct. 

• The output stage is locked, this disables the drive torque. 

• The brake output is deactivated; if a self-holding brake is used, it is 

applied! 

• One of the following diagnostic messages is output at the display: 

• F9xxx (fatal system errors), 

• E8xxx (exceptions), 

• or E-xxxx (processor error), e.g. E-0800 (detailed information in the 

English language is output via the serial interface). 

After a fatal system error has occurred, the drive can only be put into 

operation again when: 

1. the 24 V supply is completely switched off and on so that a restart of 

the drive is carried out (incl. booting process and initialization). 

2. the drive is run up to the operating mode again. 

3. power is switched on again. 

Note: In case fatal system errors are occurring repeatedly, contact 

our service department as operating the drive then is no 

longer possible. 

8.2 Recommended Actions for Operating States, Activities 

and Reactions of the Drive Controller 

The following table lists operating states, activities and reactions of the 

drive controller. If an error, for example, occurs during operation, take the 

actions in the given order until the error has been limited / cleared.


Display at comfort control panel 

S-0-0095, Diagnostic message text 

P0 A0000 Communication phase 0 1 




P -1 A0009 Automatic baud rate detection for 

SERCOS interface 

1 

AH A0010 Drive HALT 1 

AS A0011 Starting lockout active 1 

Ab A0012 Control and power sections ready 

for operation 

bb A0013 Ready for power on 1 

ASP A0014 Drive interlock active 1 

SH A0015 Safety related standstill active 1 

SBH A0016 Safety related operational stop 

active 

SBB A0017 Special mode motion active 1 

SBB1 A0018 Special mode motion 1 active 1 




PM A0050 Parameterization level 1 active 1 

AF A0100 Torque control 1 

AF A0101 Velocity control 1 

AF A0102 Position mode, encoder 1 1 

AF A0103 Position mode, encoder 2 1 

AF A0104 Position mode lagless, encoder 1 1 

AF A0105 Position mode lagless, encoder 2 1 

AF A0106 Drive controlled interpolation, 

encoder 1 


encoder 2 


lagless, encoder 1 


lagless, encoder 2 

AF A0110 Velocity synchronization, virtual 

master axis 

AF A0111 Velocity synchronization, real 

master axis 

See documentation "Troubleshooting Guide" 

1 

1 

1 

1 

1 

1 

1 

1 

Contact our sales and service facility 

Contact machine manufacturer / installation 

programmer 

Check motor incl. holding brake, battery, encoder and 

cooling system 

Switch supply unit off and on again 

Switch drive controller off and on again 

Check encoder function and mounting (motor encoder 

and external encoder)) 

Check encoder cabling 

Check motor cabling 

Check wiring of inputs and outputs and their 24V 

power supply 

Check connection of master communication 

Check control circuit for mains connection 

Check mechanical system (stiffness, loose 

connection,...) 





AF A0112 Phase synchronization, encoder 1, 

virtual master axis 




real master axis 



AF A0116 Phase synchr. lagless, encoder 1, 








AF A0128 Cam shaft, encoder 1, virtual 

master axis 

AF A0129 Cam shaft, encoder 2, virtual 

master axis 

AF A0130 Cam shaft, encoder 1, real master 

axis 

AF A0131 Cam shaft, encoder 2, real master 

axis 

AF A0132 Cam shaft, lagless, encoder 1, 

virt. master axis 


virt. master axis 





AF A0150 Drive-controlled positioning, 

encoder 1 


encoder 1, lagless 


encoder 2 


encoder 2, lagless 

AF A0154 Position mode drive controlled, 

encoder 1 



1 

1 

1 

1 

1 

1 

1 

1 

1 

1 

1 

1 

1 

1 

1 

1 

1 

1 

1 

1 

1 



programmer 










power supply 




connection,...)




AF A0155 Position mode drive controlled, 

encoder 2 

AF A0156 Position mode lagless, encoder 1 

drive controlled 

AF A0157 Position mode lagless, encoder 2 

drive controlled 

AF A0206 Positioning block mode, encoder 1 1 

AF A0207 Positioning block mode lagless, 

encoder 1 

AF A0210 Positioning block mode, encoder 2 1 

AF A0211 Positioning block mode lagless, 

encoder 2 

AC A4000 Automatic drive check and 

adjustment 

AE A4001 Drive deceleration to standstill 1 

AU A4002 Drive in automatic mode 1 

C01 C0100 Communication phase 3 transition 

check 

C0101 C0101 Invalid parameters (-> S-0-0021) 1 3 2 

C0102 C0102 Limit error in parameter (-> S-0- 

0021) 

C0103 C0103 Parameter conversion error (->S- 

0-0021) 

C0104 C0104 Config. IDN for MDT not 

configurable 

C0105 C0105 Maximum length for MDT 

exceeded 

C0106 C0106 Config. IDNs for AT not 

configurable 


1 

1 

1 

1 

1 

1 

1 


1 3 2 

1 3 2 

1 3 2 

1 3 2 

1 3 2 

C0107 C0107 Maximum length for AT exceeded 1 3 2 

C0108 C0108 Time slot parameter > Sercos 

cycle time 

C0109 C0109 Position of data record in MDT (S- 

0-0009) even 

1 3 2 

1 3 2 

C0110 C0110 Length of MDT (S-0-0010) odd 1 3 2 

C0111 C0111 ID9 + Record length - 1 > length 

MDT (S-0-0010) 

C0112 C0112 TNcyc (S-0-0001) or TScyc (S-0- 

0002) error 

C0113 C0113 Relation TNcyc (S-0-0001) to 

TScyc (S-0-0002) error 

1 3 2 

1 3 2 

1 3 2 


programmer 










power supply 









C0114 C0114 T4 > TScyc (S-0-0002) - T4min 

(S-0-0005) 




1 3 2 

C0115 C0115 T2 too small 1 3 2 

C0116 C0116 T3 (S-0-0008) within MDT (S-0- 

0089 + S-0-0010) 

1 3 2 

C0119 C0119 Max. travel range too large 1 3 2 

C0120 C0120 Error when reading encoder data 

=> motor encoder 

C0121 C0121 Incorrect parameterization of 

motor encoder (hardware) 

C0122 C0122 Incorr. parameteriz. of motor enc. 

(mechanical system) 

C0123 C0123 Modulo value for motor encoder 

cannot be displayed 


programmer 







4 2 3 1 

1 3 2 

1 3 2 

1 3 2 

C0124 C0124 Motor encoder unknown 4 2 3 1 


=> optional encoder 

C0126 C0126 Incorrect parameterization of 

optional enc. (hardware) 

C0127 C0127 Incorr. parameteriz. of opt. enc. 

(mechanical system) 

C0128 C0128 Modulo value for optional encoder 

cannot be displayed 

4 3 2 1 

1 3 2 

1 3 2 

1 3 2 

C0129 C0129 Optional encoder unknown 4 3 2 1 

C0130 C0130 Maximum travel range cannot be 

displayed internally 

1 3 2 

C0131 C0131 Switching to phase 3 impossible 1 3 2 

C0132 C0132 Invalid settings for controller cycle 

times 

C0134 C0134 Invalid motor data in encoder 

memory (->S-0-0021) 

C0135 C0135 Type of construction of motor P-0- 

4014 incorrect 

C0136 C0136 Several motor encoders 

connected 

C0137 C0137 Error during initialization of motor 

data (->S-0-0021) 

C0138 C0138 Invalid control section data (->S-0- 

0021) 

C0139 C0139 T2 (S-0-0089)+length MDT (S-0- 

0010)>TScyc (S-0-0002) 

1 3 2 

4 5 2 3 1 

4 5 2 3 1 

1 2 

4 5 2 3 1 

2 1 

1 3 2 

C0140 C0140 Rotary scaling not allowed 1 3 2 




power supply 




connection,...)




C0153 C0153 Error at init. of synchr. motor with 

reluctance torque 

C0154 C0154 Field bus: IDN for cycl. command 

val. not configurable 

C0155 C0155 Field bus: max. length for cycl. 

command val. exceeded 

C0156 C0156 Field bus: IDN for cycl. actual val. 

not configurable 

C0157 C0157 Field bus: length for cycl. actual 

values exceeded 

C0158 C0158 Field bus: Tcyc (P-0-4076) 

incorrect 

C0159 C0159 Field bus: P-0-4077 missing for 

cycl. command values 


=> measuring encoder 

C0161 C0161 Incorr. prarmeterization of 

measuring enc. (hardware) 



1 3 2 

1 3 2 

1 3 2 

1 3 2 

1 3 2 

1 3 2 

1 3 2 


programmer 







4 3 2 1 

1 3 2 

C0162 C0162 Measuring encoder unknown 4 5 3 2 1 

C0163 C0163 Modulo value for measuring 

encoder cannot be displayed 

C0164 C0164 Incorrect measuring encoder 

configuration 

C0199 C0199 Functional package selection 

changed. Restart 

C02 C0200 Exit parameterization level 


1 3 2 

1 3 2 

C0201 C0201 Invalid parameters (->S-0-0423) 1 3 2 

C0202 C0202 Parameter limit error (->S-0-0423) 1 3 2 

C0203 C0203 Parameter calculation error (->S- 

0-0423) 

C0212 C0212 Invalid control section data (->S-0- 

0423) 

C0220 C0220 Error when initializing position of 

encoder 1 

C0221 C0221 Initialization velocity encoder 1 too 

high 


encoder 2 

C0225 C0225 Initialization velocity encoder 2 too 

high 


measuring encoder 

2 3 1 

1 

1 3 2 

1 2 

1 2 

2 1 

4 2 3 1 

4 3 2 1 

4 3 2 1 




power supply 









C0228 C0228 Initialization velocity measuring 

encoder too high 

C0242 C0242 Multiple configuration of a 

parameter (->S-0-0423) 



1 2 


1 3 2 

C0243 C0243 Brake check function not possible 1 3 2 

C0244 C0244 Act. modulo value cycle greater 

than max. travel range 

C0245 C0245 Operating mode configuration (- 

>S-0-0423) not allowed 

C0246 C0246 Trav. range lim. switch not ass. to 

dig. input 

C0247 C0247 Dig. output already assigned to 

other axis 

C0248 C0248 Dig. input assigned differently to 

axes 

1 3 2 

1 3 2 

1 3 2 

1 3 2 

1 3 2 

C0249 C0249 Dig. I/Os: bit number too large 1 3 2 

C0250 C0250 Probe inputs incorrectly 

configured 

C0251 C0251 Error during synchronization to 

master communication 

C0255 C0255 Safety command for system init. 

incorrect 

C0256 C0256 Safety technology configuration 

error 

1 3 2 


programmer 









3 1 2 

1 3 2 

1 3 2 

C0257 C0257 No encoder assigned to slot 1 1 3 2 

C0258 C0258 Error in relation TNcyc (S-0-0001) 

to fine interpol. 

C03 C0300 Command Set absolute 

measuring 

1 3 2 

C0301 C0301 Measuring system unavailable 1 3 2 

C0302 C0302 Absolute evaluation of measuring 

system impossible 

C0303 C0303 Absolute encoder offset cannot be 

saved 

C04 C0400 Activate parameterization level 1 


1 

1 3 2 

C0401 C0401 Drive active, switching not allowed 1 2 

C0403 C0403 Switching to CCD phase 2 

impossible 

C05 C0500 Reset class 1 diagnostics, error 

reset 

4 5 2 3 2 1 

1 

1 


power supply 




connection,...)




C0501 C0501 Error clearing only in parameter 

mode 

C06 C0600 Drive-controlled homing procedure 

command 

C0601 C0601 Homing only possible with drive 

enable 

C0602 C0602 Distance home switch - reference 

mark erroneous 

C0604 C0604 Homing of absolute encoder not 

possible 


1 2 

1 


1 3 2 

1 3 2 

1 3 2 


programmer 







C0606 C0606 Reference mark not detected 4 5 2 3 2 1 

C0607 C0607 Home switch input not assigned 1 3 2 

C0702 C0702 Default parameters not available 1 2 

C0703 C0703 Default parameters invalid 3 2 1 

C0704 C0704 Parameters not copyable 1 

C0706 C0706 Error when reading the controller 

parameters 

C0722 C0722 Parameter default value incorrect 

(-> S-0-0423) 

C0723 C0723 Safety command for load defaults 

procedure incorrect 

C0724 C0724 Timeout of safety command for 

load defaults procedure 

C0751 C0751 Parameter default value incorrect 

(-> S-0-0423) 

1 2 

4 3 1 2 

1 3 2 

1 3 2 

1 2 

C0752 C0752 Locked with password 1 3 2 

C0799 C0799 An invalid index was set 1 2 

C09 C0900 Position spindle command 1 

C0902 C0902 Spindle positioning requires drive 

enable 

1 3 2 

C0903 C0903 Error during initialization 1 3 2 

C0906 C0906 Error during search for zero pulse 2 4 3 1 

C12 C1200 Commutation offset setting 

command 

C1204 C1204 Error in offset calculation 1 

C1208 C1208 No adjustment with asynchronous 

motor 

1 

1 2 

C1209 C1209 Proceed to phase 4 1 2 

C1214 C1214 Command only possible with 

linear synchronous motor 

1 2 

C1215 C1215 Command only possible in 'bb' 1 2 




power supply 









C1216 C1216 Commutation determination not 

selected 



1 2 

C1217 C1217 Setting only possible in 'Ab' 1 2 

C1218 C1218 Automatic commutation: current 

too low 

C1219 C1219 Automatic commutation: 

overcurrent 

1 2 

1 2 



programmer 



C1220 C1220 Automatic commutation: timeout 2 3 1 

C1221 C1221 Automatic commutation: iteration 

without result 

C1222 C1222 Error when writing offset 

parameters 

C13 C1300 Positive stop drive procedure 

command 

C1301 C1301 Class 1 diagnostics error at 

command start 

C14 C1400 Command Get marker position 1 

C17 C1700 Command measuring wheel mode 1 

C1701 C1701 Measuring wheel mode not 

possible 

C18 C1800 Command automatic control loop 

setting 



3 4 2 1 



4 5 2 2 1 

1 

1 2 

1 2 

C1801 C1801 Start requires drive enable 1 2 

C1802 C1802 Motor feedback data not valid 2 3 1 

C1803 C1803 Inertia detection failed 1 2 

C1804 C1804 Automatic controller setting failed 1 2 

C1805 C1805 Travel range invalid 1 2 

C1806 C1806 Travel range exceeded 1 2 

C1807 C1807 Determining travel range only via 

travel distance 

C20 C2000 Command Release motor holding 

brake 

1 

1 2 

C2001 C2001 Command not enabled 1 2 

C21 C2100 Brake check command 1 

C2101 C2101 Brake check only possible with 

drive enable 

1 

1 2 

C2103 C2103 Brake torque too low 1 3 2 

C2104 C2104 Command execution not possible 1 2 

C22 C2200 Backup working memory 


1 




power supply 




connection,...)




C2202 C2202 Error when writing data to nonvolatile 

memory 

C23 C2300 Load working memory command 1 

C2301 C2301 Error when reading non-volatile 

memory 


1 2 

1 2 

C2302 C2302 Error when converting parameters 1 2 

C24 C2400 Selectively backup working 

memory procedure command 

1 2 

C2402 C2402 Error when saving parameters 1 2 

C25 C2500 Copy IDN from optional memory 

to internal memory 

C2502 C2502 Error when accessing the MMC 1 2 

C2504 C2504 Error when writing data to internal 

memory 

C26 C2600 Copy IDN from internal memory to 

optional memory 

1 

1 2 

1 2 


C2604 C2604 Error when reading the internal 

memory 

C28 C2800 Analog input adjust command 1 

C2801 C2801 Analog input not configured 

C2802 C2802 Oscillations of input signal outside 

tolerance range 

C2803 C2803 Measured values at zero point and 

max. value identical 

1 2 

1 2 

1 2 

C2804 C2804 Automatic adjust failed 1 2 

C29 C2900 Command Firmware update from 

MMC 




programmer 



C2904 C2904 Error when accessing the flash 2 3 1 

C2905 C2905 Programmed firmware defective 1 2 

C31 C3100 Recalculate actual value cycle 1 

C3101 C3101 Act. modulo value cycle greater 

than max. travel range 

1 

1 3 2 

C3102 C3102 Drive is still in drive enable 1 2 

C32 C3200 Command Calculate motor data 1 

C3201 C3201 Incorrect input for current 1 3 2 

C3202 C3203 Incorrect input for voltage 1 3 2 

C3203 C3202 Incorrect input for frequency 1 3 2 

C3204 C3204 Incorrect input for speed 1 3 2 








power supply 









C3205 C3205 Incorrect input for power factor 1 3 2 

C3206 C3206 Incorrect input for power 1 3 2 

C3207 C3207 Type plate list incomplete 1 3 2 

C3208 C3208 Error when writing parameters 1 2 

C33 C3300 Set coordinate system procedure 

command 

1 

C34 C3400 Shift coordinate system procedure 

command 

C35 C3500 Command Determine encoder 

correction values 

C3501 C3501 Acquisition velocity not allowed 1 3 2 

C3502 C3502 Motor encoder not available 1 3 2 

C3503 C3503 Optional encoder not available 1 3 2 

C3504 C3504 Measuring encoder not available 1 3 2 

C3505 C3505 No encoder selected 1 3 2 

C3506 C3506 Correction value table cannot be 

stored 

C38 C3800 Command Apply motor holding 

brake 

C39 C3900 Command Abrasion of brake 1 

C3901 C3901 Abrasion of brake only possible 

with drive enable 



1 

1 

1 2 

1 

1 2 



programmer 

C3902 C3902 Error during abrasion of brake 1 2 2 

C3903 C3903 Command execution impossible 1 3 2 

E- 

XXXX 

E-0000 Processor exception error 1 

E2011 E2011 PLC - Warning no. 1 1 




E2021 E2021 Motor temperature outside of 

measuring range 

1 

E2026 E2026 Undervoltage in power section 1 4 3 2 

E2040 E2040 Device overtemperature 2 

prewarning 

E2047 E2047 Interpolation velocity = 0 1 3 2 

E2048 E2048 Interpolation acceleration = 0 1 3 2 

E2049 E2049 Positioning velocity >= limit value 1 3 2 










power supply 

3 2 1 

E2050 E2050 Device overtemp. Prewarning 3 2 1 




connection,...)







programmer 

E2051 E2051 Motor overtemp. prewarning 3 4 2 1 

E2053 E2053 Target position out of travel range 1 3 2 

E2054 E2054 Not homed 1 3 2 

E2055 E2055 Feedrate override S-0-0108 = 0 1 3 2 

E2056 E2056 Torque limit = 0 1 3 2 

E2058 E2058 Selected process block is not 

programmed. 

1 3 2 

E2061 E2061 Device overload prewarning 3 2 1 

E2063 E2063 Velocity command value > limit 

value 

1 3 2 

E2064 E2064 Target position out of num. range 1 

E2069 E2069 Brake torque too low 1 3 2 

E2074 E2074 Encoder 1: encoder signals 

disturbed 

E2075 E2075 Encoder 2: encoder signals 

disturbed 

E2076 E2076 Measuring encoder: encoder 

signals disturbed 

E2086 E2086 Prewarning supply module 

overload 







3 2 1 

3 2 1 

3 2 1 




power supply 

4 3 2 1 

E2802 E2802 HW control of braking resistor 2 1 

E2810 E2810 Drive system not ready for 

operation 

1 2 

E2814 E2814 Undervoltage in mains 2 1 

E2815 E2815 Overvoltage in mains 

E2816 E2816 Undervoltage in power section 2 1 

E2818 E2818 Phase failure 

E2819 E2819 Mains failure 2 1 

E2820 E2820 Braking resistor overload 

prewarning 

2 1 

E2829 E2829 Not ready for power on 3 2 1 

E3110 E3110 Time interval of forced 

dynamization exceeded 

2 4 3 1 

E8025 E8025 Overvoltage in power section 3 1 2 

E8026 E8026 Undervoltage in power section 

E8028 E8028 Overcurrent in power section 4 2 3 1 

E8029 E8029 Positive position limit exceeded 1 3 2 

E8030 E8030 Negative position limit exceeded 1 3 2 

E8034 E8034 Emergency-Stop 2 3 1 









E8040 E8040 Torque/force actual value limit 

active 





programmer 










power supply 

2 1 

E8041 E8041 Current limit active 4 2 3 1 

E8043 E8043 Positive travel range limit switch 

activated 

E8044 E8044 Negative travel range limit switch 

activated 

2 1 

2 1 

E8055 E8055 Motor overload, current limit active 5 3 4 2 1 

E8057 E8057 Device overload, current limit 

active 

E8058 E8058 Drive system not ready for 

operation 

E8260 E8260 Torque/force command value limit 

active 

1 2 

F2005 F2005 Cam shaft invalid 1 3 2 

F2006 F2006 MMC was removed 1 2 

F2007 F2007 Switching to non-initialized 

operating mode 

RL F2008 RL The motor type has changed. 1 

PL F2009 PL Load parameter default values 1 

F2010 F2010 Error when initializing digital 

inputs/outputs 

5 3 4 2 1 

2 1 

1 3 2 

1 3 2 

F2011 F2011 PLC - Error nr. 1 2 1 

F2012 F2012 PLC - Error nr. 2 2 1 

F2013 F2013 PLC - Error nr. 3 2 1 

F2014 F2014 PLC - Error nr. 4 2 1 

F2018 F2018 Device overtemperature shutdown 3 2 1 

F2019 F2019 Motor overtemperature shutdown 5 3 4 2 1 

F2021 F2021 Motor temperature monitor 

defective 

F2022 F2022 Device temperature monitor 

defective 

4 2 3 1 

2 1 

F2026 F2026 Undervoltage in power section 1 4 3 2 

F2028 F2028 Excessive deviation 2 3 1 

F2031 F2031 Encoder 1 error: signal amplitude 

incorrect 

F2032 F2032 Validation error during 

commutation fine adjust 

3 4 2 1 

F2033 F2033 External power supply X10 error 2 3 1 

F2036 F2036 Excessive position feedback 

difference 

2 5 4 3 1 




connection,...)




F2037 F2037 Excessive position command 

difference 



1 3 2 


programmer 

F2039 F2039 Maximum acceleration exceeded 2 4 3 1 

F2040 F2040 Device overtemperature 2 

shutdown 

F2042 F2042 Encoder 2: encoder signals 

incorrect 

F2043 F2043 Measuring encoder: encoder 

signals incorrect 










power supply 

3 2 1 

4 3 2 1 

4 3 2 1 

F2044 F2044 External power supply X15 error 2 3 1 

F2048 F2048 Low battery voltage 2 3 1 

F2050 F2050 Overflow of target position preset 

memory 

F2051 F2051 No sequential block in target 

position preset memory 

F2053 F2053 Incr. encoder emulator: pulse 

frequency too high 

F2054 F2054 Incr. encoder emulator: hardware 

fault 

F2067 F2067 Synchronization to master 

communication incorrect 

F2069 F2069 Error when releasing the motor 

holding brake 

F2074 F2074 Actual pos. value 1 outside 

absolute encoder window 





1 3 2 

1 3 2 

2 1 

1 3 2 

2 1 

4 3 2 1 

1 4 3 2 

1 4 3 2 

1 4 3 2 

F2077 F2077 Current measurement trim wrong 2 1 

F2086 F2086 Error supply module 1 3 2 

F2087 F2087 Module group communication 

error 

F2100 F2100 Incorrect access to command 

value memory 

F2101 F2101 It was impossible to address MMC 1 2 

F2102 F2102 It was impossible to address I2C 

memory 

F2103 F2103 It was impossible to address 

EnDat memory 

1 2 

1 2 

2 1 

2 1 

F2104 F2104 Commutation offset invalid 3 4 2 1 









F2110 F2110 Error in non-cyclical data 

communic. of power section 





programmer 




2 1 




F2174 F2174 Loss of motor encoder reference 1 4 3 2 

F2175 F2175 Loss of optional encoder reference 1 4 3 2 

F2176 F2176 Loss of measuring encoder 

reference 

F2177 F2177 Modulo limitation error of motor 

encoder 

F2178 F2178 Modulo limitation error of optional 

encoder 

F2179 F2179 Modulo limitation error of 

measuring encoder 

1 4 3 2 

F2816 F2816 Softstart fault power supply unit 2 1 

1 

1 

1 

F2819 F2819 Mains failure 3 2 1 

F2820 F2820 Braking resistor overload 3 2 1 

F2821 F2821 Error in control of braking resistor 3 2 1 

F2825 F2825 Switch-on threshold braking 

resistor too low 

1 2 

F2836 F2836 DC bus balancing monitor error 4 2 3 1 

F4001 F4001 Double MST failure shutdown 3 4 2 1 

F4002 F4002 Double MDT failure shutdown 2 4 3 1 

F4003 F4003 Invalid communication phase 

shutdown 

1 3 2 

F4004 F4004 Error during phase progression 1 3 2 

F4005 F4005 Error during phase regression 1 3 2 

F4006 F4006 Phase switching without ready 

signal 

1 3 2 

F4009 F4009 Bus failure 3 4 2 1 

F4012 F4012 Incorrect I/O length 1 3 2 

F4014 F4014 PLC watchdog 2 1 

F4034 F4034 Emergency-Stop 2 4 3 1 

F6024 F6024 Maximum braking time exceeded 2 3 1 

F6029 F6029 Positive travel limit exceeded 1 3 2 

F6030 F6030 Negative travel limit exceeded 1 3 2 

F6034 F6034 Emergency-Stop 2 4 3 1 

F6043 F6043 Positive travel range limit switch 

activated 

F6044 F6044 Negative travel range limit switch 

activated 

F8xxx F8000 Fatal hardware error 1 



1 4 3 2 

1 4 3 2 


power supply 




connection,...)




F8013 F8013 Automatic commutation: current 

too low 

F8014 F8014 Automatic commutation: 

overcurrent 




programmer 










power supply 

2 3 1 

1 2 

F8015 F8015 Automatic commutation: timeout 2 3 1 

F8016 F8016 Automatic commutation: iteration 

without result 

F8022 F8022 Enc. 1: enc. signals incorr. (can be 

cleared in ph. 2) 

F8023 F8023 Error mechanical link of encoder 

or motor connection 

F8027 F8027 Safety related standstill while drive 

enabled 

3 4 2 1 

4 2 3 1 

3 4 2 1 

1 3 2 

F8060 F8060 Overcurrent in power section 5 2 3 1 4 

F8064 F8064 Interruption of motor phase 2 3 1 

F8070 F8070 +24Volt DC error 2 1 

F8078 F8078 Speed loop error 6 4 5 2 1 3 

F8079 F8079 Velocity limit value exceeded 1 3 2 

F8091 F8091 Power section defective 3 2 1 

F8100 F8100 Error when initializing the 

parameter handling 

F8102 F8102 Error when initializing power 

section 

F8118 F8118 Invalid power section/firmware 

combination 

F8120 F8120 Invalid control section/firmware 

combination 

1 2 

1 2 

2 1 

2 1 

F8122 F8122 Control section defective 2 1 

F8129 F8129 Incorrect optional module firmware 1 3 2 

F8130 F8130 Firmware of option 2 of safety 

technology defective 

F8838 F8838 Overcurrent external braking 

resistor 

F9001 F9001 Error internal function call 1 

F9002 F9002 Error internal RTOS function call 1 

F9003 F9003 Watchdog 1 

1 3 2 

2 3 1 







8.3 Troubleshooting 

Check Drive Components 

Replacing Devices 


Motor 

• brake 

• battery of encoder 

• cooling system 

• cable 

Supply Unit 

• wiring 

• 24V supply voltage 

• mains voltage 3 * 400V 

Drive Controller 

• note down error number 

• wiring 

• 24V supply voltage 

• mains voltage 3 * 400V 

Encoder 

• You can check the encoder signals by means of the oscilloscope 

function of the firmware 

Cables 

• encoder cable 

• motor cable 

• input and output cables incl. 24V supply voltage 

• cables of the master communication 

Peripheral Equipment 

• mains connection / switch-on logic 

• mechanics (rough running, loose connections, …) 

• transition resistances within the emergency circuit 

Note: For replacing devices you absolutely have to observe the 

safety instructions contained in chapter 3! 

Replacing the Motor 

• Eventually note down the last absolute value. 

• open main switch 

• make sure main switch cannot be switched on again 

• disconnect plug-in connectors


Note: When replacing the motor, cover the open mating sites of 

power lines with protective caps if sprinkling with cooling 

liquid/lubricant or soiling may occur (allowed degree of soiling 

according to EN50178: 2). 

• replace motor 

Note: To mechanically replace the AC servo motor, observe the 

instructions of the machine manufacturer. 

• connect plug-in connectors 

WARNING 

Risk of accident due to accidental axis 

movement! 

Servo axes with indirect distance measuring system 

⇒ 

via the motor encoder will loose the position data 

reference when the motor is replaced! 

This position data reference to the machine 

coordinate system must therefore be reestablished 

after replacement. 

• for servo axes with absolute motor encoder, reestablish the position 

data reference 

Replacing the Supply Unit 

Note: Replacing the unit requires, depending upon unit weight, a 

lifting device and an identical replacement unit. 

DANGER 

Electrical shock due to voltage-containing parts 

of more than 50 V! 

The unit may only be replaced by qualified 

⇒ 

personnel, which have been trained to perform the 

work on or with electrical devices. 

Note: Prior to the replacement of the unit please check according to 

the type plates, whether these units are of the same types. 

Replace only units of the same types. 

Proceed as follows: 

1. Switch voltage to installation off and secure it against being switched 

back on. 

2. Using an appropriate measuring device, check whether the 

installation is power free. Wait the discharge time. 

3. Motors must be standing still. 

4. Secure vertical axes against motion. 

5. Release all connections from the defective unit. 

6. Release the fixing bolts and remove the unit from the control cabinet. 

Use the lifting device, if necessary. 

7. Hang replacement unit into mounting rails. Use the lifting device, if 

necessary. 



Cables 


8. Reconnect the unit as per the terminal diagram of the machine 

manufacturer. 

9. If vertical axes have been mechanically secured prior to replacement, 

then remove these devices at this point. 

10. While reading out the fault memories of the connected drive 

controllers make sure that the device fault has not been triggered by 

the drive controllers. 

The unit replacement is completed. The system can be put back into 

operation. 

Replacing the Drive Controller 

• save parameter set 



• make sure drive controller is completely de-energized 

DANGER 

Lethal electric shock caused by contact to live 

parts! 

Before touching live parts allow the capacitors to 

⇒ 

discharge! Only then start working on the connection 

cables! 

• remove touch guard and separate connecting lines from drive 

controller 

• unscrew screws on top and bottom of housing 

• take drive controller out of drive system 

• mount new drive controller 

• connect new drive controller as specified in machine circuit diagram 

• mount touch guard 

• copy firmware and parameter set to new drive controller (see firmware 

documentation) 

Replacing Cables 

WARNING 

Lethal electric shock caused by live parts with 

more than 50 V! 

Power connectors of the cables may only be 

⇒ 

separated or connected if the installation has been 

de-energized! 

Note: When replacing cables, observe the instructions of the 

machine manufacturer. 

If you do not use ready-made Rexroth cables, check to ensure 

that the cables match the terminal diagram of the machine 

manufacturer! 



• disconnect plug-in connectors


Replacing the Firmware 

Explanation of Terms 

Preparing the Firmware 

Replacement 

Note: When replacing cables, cover the open mating sites of power 

lines with protective caps if sprinkling with cooling 

liquid/lubricant or soiling may occur (allowed degree of soiling 

according to EN50178: 2). 

• replace cable 

CAUTION 

Property damage caused by bad power 

connectors! 

Only separate or connect clean and dry power 

⇒ 

connectors. 

• connect plug-in connectors 

Basic Principles 

For firmware replacement we distinguish the following cases: 

• Release update 

An old firmware release (e.g. MPH04V06) contained in the device is 

replaced by a new firmware release (e.g. MPH04V08). 

• Version upgrade 

The old firmware version (e.g. MPH03V20) contained in the device is 

replaced by a new firmware version (e.g. MPH04V08). 

Note: The paragraphs below describe the recommended options of 

firmware replacement by higher releases ("update") or 

versions ("upgrade"). The same conditions and sequences of 

actions apply to firmware replacement by older releases or 

older firmware versions. 

Firmware for IndraDrive is replaced using the following hardware and 

software: 

• MultiMediaCard (MMC) 

• PC with software "IndraWorks D" 

Note: The commissioning software "IndraWorks D" can be ordered 

from one of our sales and service facilities under the 

designation SWA-IWORKS-D**-03VRS-D0-CD650-COPY 

(part no. R911312495). The scope of supply of 

"IndraWorks D" contains a documentation which describes the 

operation of the program. 

Preparations and Conditions for Firmware Replacement 

You have to make the following preparations for firmware replacement: 

1. Drive controller must be on (24 V supply). 

2. Be absolutely sure to save parameter values before any firmware 

version upgrade (for release update this is recommended). 

See section "Loading, Storing and Saving Parameters" 

3. Drive controller mustn't be in operating mode (communication 

phase 4) [cf. P-0-0115]. 



General Notes on How to Carry 

Out Firmware Replacement 

Firmware Release Update 


You have to observe the following points when carrying out the firmware 

replacement: 

• Do not switch off the 24 V control voltage while replacing the firmware. 

• Firmware replacement always must be carried out completely, i.e. 

firmware on optional safety technology module must be replaced, too. 

• For firmware replacement we distinguish between release update and 

version upgrade. 

Note: When firmware is replaced in conjunction with the option 

starting lockout ("L1"), this does not require any specific 

measure, i.e. the additional measures described below only 

apply to the use of option "S1"! 

When firmware in a drive controller is replaced by firmware of a new 

release, this is called firmware release update (e.g. FWA-INDRV*- 

MPH-04V06-D5 replaced by FWA-INDRV*-MPH-04V08-D5). 

The described sequences of the firmware release update depend on the 

configuration of the control section and the hardware (MMC or PC) used 

for update. The basically recommended sequence of the firmware release 

update is illustrated in the scheme below:


Requirements 

Loading Firmware to MMC 

CSH0x.x 

CDB0x.x 

MMC 

as active 

memory? 

yes 

MMC plugged in 

operation 

® MMC with old 

firmware 

Request new 

firmware (ibf file)! 

Load new firmware 

to MMC! 

MMC with new 

firmware 

Release Update 

with MMC 

no 


type ? 

Firmware update 

without PC? 

yes 

Request MMC with 

new firmware! 

Variant 1 Variant 2 

no 

CSB0x.x 

Request new 


Release Update 

with IndraWorks D 

DC000032v01_en.fh 

CSH0x.x: ADVANCED single-axis control section 

CDB0x.x: BASIC double-axis control section 

CSB0x.x: BASIC single-axis control section 

active memory: "programming module" operation of MMC (see P-0-4065) 

Fig. 8-2: Schematic sequence of firmware release update 

Note: The action instructions marked with dark background in the 

illustration are described in the paragraphs below. 

Loading New Firmware to MMC 

The following requirements must have been fulfilled for loading firmware 

to the MMC of the drive: 

• new firmware available (ibf file) 

• PC with MMC reader 

• MMC with old firmware in drive 

The following steps are required for loading the firmware to the MMC: 

1. Switch drive off and remove MMC. 

2. Plug MMC into MMC reader and open folder "Firmware" on MMC. 

3. Delete old firmware (e.g. FWA-INDRV_-MPH-04V06-D5.ibf). 

4. Copy new firmware (e.g. FWA-INDRV_-MPH-04V08-D5.ibf) to folder 

"Firmware". 



Selection Criterion 

Firmware Update with MMC 


Note: Only one firmware file may be stored in the folder "Firmware" 

on the MMC. With several firmware files, the message 

"MMC not correct" appears on the display of the drive after 

booting. 

5. Remove MMC from MMC reader after writing process has been 

completed. 

Variant 1: Release Update with MMC 

Carrying out the firmware release update with MMC makes sense when 

the controller has not been equipped with a BASIC single-axis control 

section. 

The optional MultiMediaCard (MMC) allows transmitting drive firmware to 

the drive controller in a quick and uncomplicated way. 

Note: As the MMC is a storage medium that can be written in a 

simple way (e.g. via PC), it is recommended that you check 

the MMC content before downloading the firmware. You have 

to make sure that the MMC really contains the appropriate 

firmware type. 

An MMC with the current release of the required firmware can be ordered 

from one of our sales and service facilities. 

Carrying out the firmware release update with MMC requires the following 

steps: 

1. Load firmware 

Switch drive off. 

⇒ 

Plug MMC with new firmware into corresponding slot at controller. 

⇒ 

Restart drive with MMC plugged. 

⇒ 

After drive has been booted, the following message appears: 

• "Firmware update?" 

Acknowledge this message by pressing "Enter" key of control panel. 

⇒ 

By doing this, firmware is loaded from plugged MMC to controller. 

If drive before firmware replacement was operated without MMC 

plugged, the following message appears: 

• "Load new param.?" 

→ Switch drive off, remove MMC and restart drive. 

2. Put machine into ready-for-operation status 

Put machine into ready-for-operation status again according to 

⇒ 

machine manufacturer's instructions. 

Check functions of drive. 

⇒



Firmware Upgrade with 

IndraWorks D 

3. Check safety technology parameters (only when safety technology 

has been activated in drive) 

In the case of a release update, safety technology parameters are 

retained. With safety technology activated, the following steps are 

additionally required: 

Check whether correct safety technology parameters for drive are still 

⇒ 

available. 

To do this, check the following points: 

• data in P-0-3205, Safety technology device identifier 

• status of safety technology via P-0-3207, Safety technology 

password level (in the case of active and locked safety 

technology, level is 2) 

• change counter of safety technology memory (P-0-3201, Change 

counter of safety technology memory) 

• operating hours at last change of memory (P-0-3202, Operating 

hours at last change of memory) 

Variant 2: Release Update with IndraWorks D 

The following requirements should have been fulfilled in order that 

carrying out the firmware release update with IndraWorks D makes 

sense: 

• Controller is operated without MMC. 

- or - 

• Controller has been equipped with BASIC single-axis control section. 

Carrying out the firmware release update with IndraWorks D requires the 

following steps: 


Call IndraWorks D. 

⇒ 

Load project for corresponding axis or create new project; to do this, 

⇒ 

address axis via a serial connection. 

Switch project "online". 

⇒ 

Select/highlight controller and call "Firmware management" in context 

⇒ 

menu. 

→A new window opens and firmware currently available in drive is 

displayed on its right side. On left side of window, firmware available 

in current firmware directory is displayed. 

Highlight new firmware (*.ibf file) on left side and start firmware 

⇒ 

download via "Download" button. 

→ Firmware download runs automatically and all required firmware 

components are loaded to drive. 

After firmware download has been completed, close "Firmware 

⇒ 

management" window. 



⇒ 



⇒ 



Firmware Version Upgrade 


3. Check safety technology parameters (only when safety technology 

has been activated in drive) 

In the case of a firmware release update, safety technology parameters 

are retained. With safety technology activated, the following steps are 

additionally required: 

Check whether correct safety technology parameters for drive are still 

⇒ 

available. 

To do this, check the following points: 

• data in P-0-3205, Safety technology device identifier 

• status of safety technology via P-0-3207, Safety technology 

password level (in the case of active and locked safety 

technology, level is 2) 

• change counter of safety technology memory (P-0-3201, Change 

counter of safety technology memory) 

• operating hours at last change of memory (P-0-3202, Operating 

hours at last change of memory) 

When firmware in a drive controller is replaced by firmware of a new 

version, this is called firmware version upgrade (e.g. 

FWA-INDRV*-MPH-03V20-D5 replaced by FWA-INDRV*-MPH- 

04V08-D5). 

Note: Before carrying out the firmware version upgrade, you must 

save all parameters (e.g. with IndraWorks D). After firmware 

replacement the parameters must be restored because the 

command "C07_1 Load defaults procedure command" is 

carried out automatically. After the desired parameter file was 

loaded, the drive controller is ready for operation again. 

The described sequences of the firmware version upgrade depend on the 

configuration of the control section and the firmware used. The basically 

recommended sequence of the firmware version upgrade is illustrated in 

the scheme below:


CSH0x.x 

CDB0x.x 

MMC 

as active 

memory? 

yes 

MMC plugged in 

operation 

® MMC with old 

firmware 

Request new 


Load new firmware 

to MMC! 

MMC with new 

firmware 

Option 

"safety technology 

I/O" (S1)? 

yes 

Version Upgrade 

with MMC 

(with safety techn.) 

no 

no 

Save parameters! 


type? 

Request MMC with 

new firmware! 

Variant 1 Variant 2 Variant 3 


with MMC 

(without safety techn.) 

CSB0x.x 

Request new 



with 

IndraWorks D 

DC000033v01_en.fh 

CSH0x.x: ADVANCED single-axis control section 

CDB0x.x: BASIC double-axis control section 

CSB0x.x: BASIC single-axis control section 

active memory: "programming module" operation of MMC (see P-0-4065) 

Fig. 8-3: Schematic sequence of firmware version upgrade 

Note: The action instructions marked with dark background in the 

illustration are described in the paragraphs below. 



Requirements 

Loading Firmware to MMC 



Saving Parameters 

Before firmware upgrade all application-specific parameters must be 

saved on a data carrier. Parameter backup can be carried out by means 

of: 

• commissioning software "IndraWorks D" 

→ saving parameter values on external data carrier 

- or - 

• control master 

→ saving parameter values on master-side data carrier 

Note: Saving the parameters on the MMC available in the drive is 

without effect, as this backup will be deleted during the 

firmware upgrade. 

Loading New Firmware to MMC 


to the MMC of the drive: 

• new firmware available (ibf file) 

• PC with MMC reader 

• MMC with old firmware in drive 

The following steps are required for loading the firmware to the MMC: 

1. Switch drive off and remove MMC. 

2. Plug MMC into MMC reader and open folder "Firmware" on MMC. 

3. Delete old firmware (e.g. FWA-INDRV*-MPH-03V20-D5.ibf). 

4. Copy new firmware (e.g. FWA-INDRV*-MPH-04V08-D5.ibf) to folder 

"Firmware". 

Note: Only one firmware file may be stored in the folder "Firmware" 

on the MMC. With several firmware files, the message 

"MMC not correct" appears on the display of the drive after 

booting. 

5. Remove MMC from MMC reader after writing process has been 

completed. 

Variant 1: Version Upgrade with MMC (without Safety 

Technology) 


carrying out the firmware version upgrade with MMC makes sense 

(without safety technology): 

• Controller has not been equipped with BASIC single-axis control 

section. 

• Optional slot for safety technology has not been equipped with option 

"safety technology I/O" (S1). 

• Current parameter setting of axis was saved.


Firmware Upgrade with MMC 

(without Safety Technology) 


Firmware Upgrade with MMC 

(with Safety Technology) 

Carrying out the firmware version upgrade with MMC requires the 

following steps (without safety technology): 



⇒ 


⇒ 


⇒ 




⇒ 






2. Put drive into ready-for-operation status 

⇒ As number of parameters to be buffered has changed, "PL" appears 

on display (in case errors are present, remove them first). If you now 

press "Esc" key, all buffered parameters are set to their default 

values. During this time, message "C07 Load default parameters" 

appears on display. 

3. Load parameter values 

Load parameter file which was saved. 

⇒ 

Switch drive off and restart it (only if drive was operated with MMC 

⇒ 

plugged). 



⇒ 



⇒ 

Variant 2: Version Upgrade with MMC (with Safety 

Technology) 


carrying out the firmware version upgrade with MMC makes sense (with 

safety technology): 

• Controller has not been equipped with BASIC single-axis control 

section. 

• Optional slot for safety technology has been equipped with option 

"safety technology I/O" (S1). 

• Current parameter setting of axis was saved. 

Carrying out the firmware version upgrade with MMC requires the 

following steps (with safety technology): 



⇒ 


⇒ 


⇒ 







⇒ 








on display (in case errors are present, remove them first). If you now 





Load parameter file which was saved. 

⇒ 

If drive before firmware replacement was operated with MMC 

plugged: 


4. Complete commissioning of integrated safety technology 

Switch drive to operating mode (communication phase 4). 

⇒ 


plugged, error message "F3152 Incorrect backup of safety technology 

data" appears as safety technology parameter set between firmware 

versions 02, 03 and 04 has changed. 

→ Clear error message. 

Activate command "synchronize and store safety technology IDN" 

⇒ 

(C3000). 

Activate safety technology by inputting safety technology password 

⇒ 

(P-0-3206). 

Carry out new acceptance test. 

⇒ 

See sections "Activating the safety technology" and "Acceptance 

Test" in the separate documentation "Rexroth IndraDrive: Integrated 

Safety Technology" (DOK-INDRV*-SI*-**VRS**-FK**-EN-P; part no. 

R911297838) 

Note: After a firmware version upgrade for drive controllers with 

optional safety technology module ("S1"), you have to carry out 

a complete acceptance test. 

⇒ Make safety technology parameter backup, compile acceptance test 

protocol and add it to safety-relevant documentation of machine. 


⇒ Put machine into ready-for-operation status again according to 


⇒ Check functions of drive.



Firmware Upgrade with 

IndraWorks D 

Variant 3: Version Upgrade with IndraWorks D 


carrying out the firmware version upgrade with IndraWorks D makes 

sense: 

• Controller has been equipped with BASIC single-axis control section. 

• Current parameter setting of axis was saved. 

Carrying out the firmware version upgrade with IndraWorks D requires the 

following steps: 


Call IndraWorks D. 

⇒ 

Load project for corresponding axis or create new project. To do this, 

⇒ 

address axis via a serial connection. 

Switch project "online". 

⇒ 

Select/highlight controller and call "Firmware management" in context 

⇒ 

menu. 

→A new window opens and firmware currently available in drive is 

displayed on its right side. On left side of window, firmware available 

in current firmware directory is displayed. 

Highlight new firmware (*.ibf file) on left side and start firmware 

⇒ 




After firmware download has been completed, close "Firmware 

⇒ 



⇒ Switch project "offline" and then "online" again. 

→ After project has been switched online, a message signals that 

IndraWorks D could not establish communication to drive via serial 

interface, as drive-internal settings for serial communication were 

reset. 

Reconfigure communication via button "Search for devices". 

⇒ As firmware in drive no longer complies with version stored in project, 

a corresponding message is displayed. To adjust firmware version in 

project, first select option "Repair" and then options "Delete existing 

drive from project" and "Add new drive to project". 


on display (in case errors are present, clear them first). If you now 





⇒ Load parameter file which was saved. 



⇒ 



⇒ 



Possible Problems during Firmware Replacement 

Problematic Situations 

Requirements for Loading the 

Firmware 

Firmware Replacement in 

Control Section in the Case of 

Error 


Firmware replacement is carried out incompletely if one of the following 

situations occurs during the sequence of firmware replacement: 

• 24V supply of control section is switched off 

• connection to drive is interrupted (e.g. defective interface cable) 

• software crashes 

The drive controller then possibly is no longer operable because the 

firmware contained in the components is no longer compatible. 

If there isn't any valid firmware available in the control section in this case, 

the loader is started. The drive display signals "LOADER". The loader only 

allows updating the firmware of the control section. Optional cards, such 

as "safety technology I/O" (S1) or "cross communication" (CCD) cannot 

be programmed in this status. This must be done, after successful 

firmware replacement in the control section, in a second run according to 

the descriptions of the firmware replacement variants. 

In this situation, replacement of the control section firmware is only 

supported by IndraWorks D. 

Note: Upon successful firmware replacement in the control section, 

a restart has to be carried out. Then all available components 

have to be updated, too. 


to the drive: 

• serial connection to drive available 

• drive display signals "LOADER" 

The following steps are required for loading the firmware to the control 

section in the case of error: 

1. Call IndraWorks D. 

2. In menu call firmware management under "Extras → 

Extras → Drive → Firmware management". 

3. Select device and COM interface. 

→ A new window opens and firmware available in current firmware 

directory is displayed on its left side. 

4. Highlight new firmware (*.ibf file) on left side and start firmware 




5. After firmware download has been completed, close "Firmware 


6. Restart drive. 

If drive has not been equipped with optional cards, such as "safety 

technology I/O" (S1) or "cross communication" (CCD), continue following 

instructions for release update or version upgrade! Otherwise, carry out 

release update or version upgrade again to program optional cards.


8.4 Service and Maintenance 

Deactivation 

Dismantling 

In the case of malfunctions, maintenance measures or to deactivate the 

motors, proceed as follows: 

1. Observe the instructions of the machine documentation. 

2. Use the machine-side control commands to bring the drive to a 

controlled standstill. 

3. Switch off the power and control voltage of the drive controller. 

4. Only at motors with fan unit: Switch off the motor protection switch 

for the motor fan. 

5. Switch off the main switch of the machine. 

6. Secure the machine against accidental movements and against 

unauthorized operation. 

7. Wait for the discharge time of the electrical systems to expire and 

then disconnect all electrical connections. 

8. Before dismantling, secure the motor and blower unit against falling 

or movements before disconnecting the mechanical connections. 

DANGER 

WARNING 

Fatal injury due to errors in trigger motors and 

moving elements! 

Do not work on unsecured and operating machines. 

⇒ 

Secure the machine against accidental movements 

⇒ 

and against unauthorized operation. 

Before dismantling, secure the motor and power 

⇒ 

supply against falling or movements before 

disconnecting the mechanical connections. 

Combustion via hot surface with temperatures 

over 100°C 

⇒ Let the motor cool down, before maintenance. The 

stated thermal time constant in the technical data is 

a measure for the cooling time. A cooling time up to 

140 minutes can be necessary! 

⇒ Do not work on hot surfaces. 

⇒ Use safety gloves. 

1. Observe the instructions of the machine documentation. 

2. Please heed the safety notes and carry out all steps as described in 

the anterior instructions in the chapter ”Deactivation”. 

3. Before dismantling, secure the motor and power supply against falling 

or movements before disconnecting the mechanical connections. 

4. Dismantle the motor from the machine. Store the motor properly! 



Disposal 

Products 

Packaging Materials 

Environmental Protection 

No Release of Hazardous 

Substances 

Materials Contained in the 

Products 

Recycling 


Our products can be returned to us free of charge for disposal. It is a 

precondition, however, that the products are free of oil, grease or other 

dirt. 

In addition, when returned the products mustn't contain any undue foreign 

matter or foreign component. 

Please send the products free domicile to the following address: 


Electric Drives and Controls 

Bürgermeister-Dr.-Nebel-Straße 2 

D-97816 Lohr am Main 

The packaging materials consist of cardboard, wood and polystyrene. 

They can be easily recycled. For ecological reasons you should not return 

the empty packages to us. 

Our products do not contain any hazardous substances that they can 

release in the case of appropriate use. Normally there aren't any negative 

effects on the environment to be expected. 

Electronic devices mainly contain: 

• steel 

• aluminum 

• copper 

• synthetic materials 

• electronic components and modules 

Motors mainly contain: 

• steel 

• aluminum 

• copper 

• brass 

• magnetic materials 

• electronic components and modules 

Due to their high content of metal most of the product components can be 

recycled. In order to recycle the metal in the best possible way it is 

necessary to disassemble the products into individual modules. 

The metals contained in the electric and electronic modules can also be 

recycled by means of specific separation processes. 

The synthetic materials remaining after these processes can be thermally 

recycled.



Rexroth IndraDrive Service & Support 9-1 

9 Service & Support 

9.1 Helpdesk 

Unser Kundendienst-Helpdesk im Hauptwerk Lohr 

am Main steht Ihnen mit Rat und Tat zur Seite. 

Sie erreichen uns 

9.2 Service-Hotline 


Our service helpdesk at our headquarters in Lohr am 

Main, Germany can assist you in all kinds of inquiries. 

Contact us 

- telefonisch - by phone: +49 (0) 9352 40 50 60 

über Service Call Entry Center Mo-Fr 07:00-18:00 Central European Time 

- via Service Call Entry Center Mo-Fr 7:00 am - 6:00 pm CET 

- per Fax - by fax: +49 (0) 9352 40 49 41 

- per e-Mail - by e-mail: service.svc@boschrexroth.de 

Außerhalb der Helpdesk-Zeiten ist der Service 

Deutschland direkt ansprechbar unter 

After helpdesk hours, contact the German service 

experts directly at 

+49 (0) 171 333 88 26 

oder - or +49 (0) 172 660 04 06 

Hotline-Rufnummern anderer Länder entnehmen 

Sie bitte den Adressen in den jeweiligen Regionen. 

9.3 Internet 

Unter www.boschrexroth.com finden Sie 

ergänzende Hinweise zu Service, Reparatur und 

Training sowie die aktuellen Adressen *) unserer 

auf den folgenden Seiten aufgeführten Vertriebsund 

Servicebüros. 

Verkaufsniederlassungen 

Niederlassungen mit Kundendienst 

Außerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mit 

unserem für Sie nächstgelegenen Ansprechpartner auf. 

*) Die Angaben in der vorliegenden Dokumentation können 

seit Drucklegung überholt sein. 

Hotline numbers of other countries to be seen in 

the addresses of each region. 

At www.boschrexroth.com you can find 

additional notes about service, repairs and training. 

The current addresses *) for our sales and service 

facilities locations around the world are on the 

following pages. 

sales agencies 

sales agencies providing service 

Please contact our sales / service office in your area first. 

*) Data in the present documentation may have become 

obsolete since printing. 

9.4 Vor der Kontaktaufnahme... - Before contacting us... 

Wir können Ihnen schnell und effizient helfen wenn Sie 

folgende Informationen bereithalten: 

1. detaillierte Beschreibung der Störung und der 

Umstände. 

2. Angaben auf dem Typenschild der betreffenden 

Produkte, insbesondere Typenschlüssel und 

3. 

Seriennummern. 

Tel.-/Faxnummern und e-Mail-Adresse, unter denen 

Sie für Rückfragen zu erreichen sind. 

For quick and efficient help, please have the following 

information ready: 

1. Detailed description of the failure and 

2. 

circumstances. 

Information on the type plate of the affected 

products, especially type codes and serial numbers. 

3. Your phone/fax numbers and e-mail address, 

so we can contact you in case of questions.

9-2 Service & Support Rexroth IndraDrive 

9.5 Kundenbetreuungsstellen - Sales & Service Facilities 

Deutschland – Germany vom Ausland: (0) nach Landeskennziffer weglassen! 

from abroad: don’t dial (0) after country code! 

Vertriebsgebiet Mitte 

Germany Centre 

Bosch Rexroth 

Electrice Drives and Controls GmbH 

Bgm.-Dr.-Nebel-Str. 2 / Postf. 1357 

97816 Lohr am Main / 97803 Lohr 

Kompetenz-Zentrum Europa 

Tel.: +49 (0)9352 40-0 

Fax: +49 (0)9352 40-4885 

Vertriebsgebiet Süd 

Germany South 


Landshuter Allee 8-10 

80637 München 

Tel.: +49 (0)89 127 14-0 

Fax: +49 (0)89 127 14-490 

Vertriebsgebiet Nord 

Germany North 


Walsroder Str. 93 

30853 Langenhagen 

Tel.: +49 (0) 511 72 66 57-0 

Service: +49 (0) 511 72 66 57-256 

Fax: +49 (0) 511 72 66 57-93 

Service: +49 (0) 511 72 66 57-783 

SERVICE AUTOMATION 

CALL ENTRY CENTER 

H e l p d e s k 

MO – FR 

von 07:00 - 18:00 Uhr 

from 7 am – 6 pm 

Tel. +49 (0) 9352 40 50 60 

Fax +49 (0) 9352 40 49 41 

service.svc@boschrexroth.de 

Vertriebsgebiet West 

Germany West 


Regionalzentrum West 

Borsigstrasse 15 

40880 Ratingen 

Tel.: +49 (0)2102 409-0 

Fax: +49 (0)2102 409-406 

+49 (0)2102 409-430 

Vertriebsgebiet Mitte 

Germany Centre 


Regionalzentrum Mitte 

Waldecker Straße 13 

64546 Mörfelden-Walldorf 

Tel.: +49 (0) 61 05 702-3 

Fax: +49 (0) 61 05 702-444 


HOTLINE 24 / 7 / 365 

außerhalb der Helpdesk-Zeit 

out of helpdesk hours 

Tel.: +49 (0)172 660 04 06 

oder / or 

Tel.: +49 (0)171 333 88 26 

Gebiet Südwest 

Germany South-West 


Service-Regionalzentrum Süd-West 

Siemensstr. 1 

70736 Fellbach 

Tel.: +49 (0)711 51046–0 

Fax: +49 (0)711 51046–248 

Vertriebsgebiet Ost 

Germany East 


Beckerstraße 31 

09120 Chemnitz 

Tel.: +49 (0)371 35 55-0 

Fax: +49 (0)371 35 55-333 


ERSATZTEILE / SPARES 

verlängerte Ansprechzeit 

- extended office time - 

♦ nur an Werktagen 

- only on working days - 

♦ von 07:00 - 18:00 Uhr 

- from 7 am - 6 pm - 

Tel. +49 (0) 9352 40 42 22 

Vertriebsgebiet Ost 

Germany East 


Regionalzentrum Ost 

Walter-Köhn-Str. 4d 

04356 Leipzig 

Tel.: +49 (0)341 25 61-0 

Fax: +49 (0)341 25 61-111 



Europa (West) - Europe (West) 

Austria - Österreich 

Bosch Rexroth GmbH 

Electric Drives & Controls 

Stachegasse 13 

1120 Wien 

Tel.: +43 (0) 1 985 25 40 

Fax: +43 (0) 1 985 25 40-1459 

Denmark - Dänemark 

Bosch Rexroth A/S 

Engelsholmvej 26 

8900 Randers 

Tel.: +45 36 77 44 66 

Fax: +45 70 10 03 20 

tj@boschrexroth.dk 

France - Frankreich 

Bosch Rexroth SAS 


ZI de Thibaud, 20 bd. Thibaud 

(BP. 1751) 

31084 Toulouse 

Tel.: +33 (0)5 61 43 61 87 

Fax: +33 (0)5 61 43 94 12 

Italy - Italien 

Bosch Rexroth S.p.A. 

Via Paolo Veronesi, 250 

10148 Torino 

Tel.: +39 011 224 88 11 

Fax: +39 011 224 88 30 


Tightening & Press-fit: 

TEMA S.p.A. Automazione 

Via Juker, 28 

20025 Legnano 

Tel.: +39 0 331 4671 

Spain – Spanien 

Goimendi Automation S.L. 

Parque Empresarial Zuatzu 

C/ Francisco Grandmontagne no.2 

20018 San Sebastian 

Tel.: +34 9 43 31 84 21 

- service: +34 9 43 31 84 56 

Fax: +34 9 43 31 84 27 

- service: +34 9 43 31 84 60 

sat.indramat@goimendi.es 

Sweden - Schweden 

Bosch Rexroth AB 


Ekvändan 7 

254 67 Helsingborg 

Tel.: +46 (0) 4 238 88 -50 

Fax: +46 (0) 4 238 88 -74 


vom Ausland: (0) nach Landeskennziffer weglassen, Italien: 0 nach Landeskennziffer mitwählen 

from abroad: don’t dial (0) after country code, Italy: dial 0 after country code 

Austria – Österreich 

Bosch Rexroth GmbH 


Industriepark 18 

4061 Pasching 

Tel.: +43 (0)7221 605-0 

Fax: +43 (0)7221 605-1220 

Great Britain – Großbritannien 

Bosch Rexroth Ltd. 


Broadway Lane, South Cerney 

Cirencester, Glos GL7 5UH 

Tel.: +44 (0)1285 863-000 

Fax: +44 (0)1285 863-030 

sales@boschrexroth.co.uk 

service@boschrexroth.co.uk 

France – Frankreich 



91, Bd. Irène Joliot-Curie 

69634 Vénissieux – Cedex 

Tel.: +33 (0)4 78 78 53 65 

Fax: +33 (0)4 78 78 53 62 



Via Mascia, 1 

80053 Castellamare di Stabia NA 

Tel.: +39 081 8 71 57 00 

Fax: +39 081 8 71 68 85 

Netherlands – Niederlande/Holland 

Bosch Rexroth B.V. 

Kruisbroeksestraat 1 

(P.O. Box 32) 

5281 RV Boxtel 

Tel.: +31 (0) 411 65 16 40 

Fax: +31 (0) 411 65 14 83 

www.boschrexroth.nl 

Spain - Spanien 

Bosch Rexroth S.A. 


Centro Industrial Santiga 

Obradors 14-16 

08130 Santa Perpetua de Mogoda 

Barcelona 

Tel.: +34 9 37 47 94-00 

Fax: +34 9 37 47 94-01 

Switzerland East - Schweiz Ost 

Bosch Rexroth Schweiz AG 


Hemrietstrasse 2 

8863 Buttikon 

Tel. +41 (0) 55 46 46 111 

Fax +41 (0) 55 46 46 222 

Belgium - Belgien 

Bosch Rexroth NV/SA 

Henri Genessestraat 1 

1070 Bruxelles 

Tel: +32 (0) 2 451 26 08 

Fax: +32 (0) 2 451 27 90 

info@boschrexroth.be 

service@boschrexroth.be 

Finland - Finnland 

Bosch Rexroth Oy 


Ansatie 6 

01740 Vantaa 

Tel.: +358 10 3441 000 

Fax: +358 10 3441 506 

France – Frankreich 


Globe Techniques Nouvelles 

143, Av. du Général de Gaulle 

92252 La Garenne Colombes 

Tel.: +33 (0)1 41 19 33 33 



Via del Progresso, 16 (Zona Ind.) 

35020 Padova 

Tel.: +39 049 8 70 13 70 

Fax: +39 049 8 70 13 77 

Netherlands - Niederlande/Holland 

Bosch Rexroth Services B.V. 

Technical Services 

Kruisbroeksestraat 1 

(P.O. Box 32) 

5281 RV Boxtel 

Tel.: +31 (0) 411 65 19 51 

Fax: +31 (0) 411 67 78 14 

Hotline: +31 (0) 411 65 19 51 

services@boschrexroth.nl 

Spain - Spanien 

Bosch Rexroth S.A. 


c/ Almazara, 9 

28760 Tres Cantos (Madrid) 

Tel.: +34 91 806 24 79 

Fax: +34 91 806 24 72 

fernando.bariego@boschrexroth.es 

Switzerland West - Schweiz West 

Bosch Rexroth Suisse SA 

Av. Général Guisan 26 

1800 Vevey 1 

Tel.: +41 (0)21 632 84 20 

Fax: +41 (0)21 632 84 21 

Denmark - Dänemark 

BEC A/S 

Zinkvej 6 

8900 Randers 

Tel.: +45 87 11 90 60 

Fax: +45 87 11 90 61 

France - Frankreich 



Avenue de la Trentaine 

(BP. 74) 

77503 Chelles Cedex 

Tel.: +33 (0)164 72-63 22 

Fax: +33 (0)164 72-63 20 

Hotline: +33 (0)608 33 43 28 



Strada Statale Padana 

Superiore 11, no. 41 

20063 Cernusco S/N.MI 

Tel.: +39 02 92 365 1 

Service: +39 02 92 365 300 

Fax: +39 02 92 365 500 

Service: +39 02 92 365 516 



Via Isonzo, 61 

40033 Casalecchio di Reno (Bo) 

Tel.: +39 051 29 86 430 

Fax: +39 051 29 86 490 

Norway - Norwegen 

Bosch Rexroth AS 


Berghagan 1 or: Box 3007 

1405 Ski-Langhus 1402 Ski 

Tel.: +47 64 86 41 00 

Fax: +47 64 86 90 62 

Hotline: +47 64 86 94 82 

arnt.kristian.barsten @boschrexroth.no 

Sweden - Schweden 

Bosch Rexroth AB 


- Varuvägen 7 

(Service: Konsumentvägen 4, Älfsjö) 

125 81 Stockholm 

Tel.: +46 (0) 8 727 92 00 

Fax: +46 (0) 8 647 32 77


Europa (Ost) - Europe (East) 

Czech Republic - Tschechien 

Bosch -Rexroth, spol.s.r.o. 

Hviezdoslavova 5 

627 00 Brno 

Tel.: +420 (0)5 48 126 358 

Fax: +420 (0)5 48 126 112 

Poland – Polen 

Bosch Rexroth Sp.zo.o. 

Biuro Poznan 

ul. Dabrowskiego 81/85 

60-529 Poznan 

Tel.: +48 061 847 64 62 /-63 

Fax: +48 061 847 64 02 

Turkey - Türkei 

Bosch Rexroth Otomasyon 

San & Tic. A..S. 

Fevzi Cakmak Cad No. 3 

34295 Sefaköy Istanbul 

Tel.: +90 212 411-13 00 

Fax: +90 212 411-13 17 

www.boschrexroth.com.tr 

Czech Republic - Tschechien 


Bosch -Rexroth, spol.s.r.o. 

Stetkova 18 

140 68 Praha 4 

Tel.: +420 (0)241 406 675 

Romania - Rumänien 

East Electric S.R.L. 

Bdul Basarabia no.250, sector 3 

73429 Bucuresti 

Tel./Fax:: +40 (0)21 255 35 07 

+40 (0)21 255 77 13 

Fax: +40 (0)21 725 61 21 

eastel@rdsnet.ro 

Turkey - Türkei 

Servo Kontrol Ltd. Sti. 

Perpa Ticaret Merkezi B Blok 

Kat: 11 No: 1609 

80270 Okmeydani-Istanbul 

Tel: +90 212 320 30 80 

Fax: +90 212 320 30 81 

remzi.sali@servokontrol.com 

www.servokontrol.com 

vom Ausland: (0) nach Landeskennziffer weglassen 

from abroad: don’t dial (0) after country code 

Hungary - Ungarn 

Bosch Rexroth Kft. 

Angol utca 34 

1149 Budapest 

Tel.: +36 (1) 422 3200 

Fax: +36 (1) 422 3201 

Romania - Rumänien 


Str. Drobety nr. 4-10, app. 14 

70258 Bucuresti, Sector 2 

Tel.: +40 (0)1 210 48 25 

+40 (0)1 210 29 50 

Fax: +40 (0)1 210 29 52 

Slowakia - Slowakei 


Australien, Süd-Afrika - Australia, South Africa 

Australia - Australien 

AIMS - Australian Industrial 

Machinery Services Pty. Ltd. 

28 Westside Drive 

Laverton North Vic 3026 

Melbourne 

Tel.: +61 3 93 14 3321 

Fax: +61 3 93 14 3329 

Hotlines: +61 3 93 14 3321 

+61 4 19 369 195 

enquires@aimservices.com.au 

Australia - Australien 

Bosch Rexroth Pty. Ltd. 

No. 7, Endeavour Way 

Braeside Victoria, 31 95 

Melbourne 

Tel.: +61 3 95 80 39 33 

Fax: +61 3 95 80 17 33 

mel@rexroth.com.au 

MTS, spol .s.r.o. 

02755 Kriva 53 

Tel.: +421 43 5819 161 

South Africa - Südafrika 

TECTRA Automation (Pty) Ltd. 

100 Newton Road, Meadowdale 

Edenvale 1609 

Tel.: +27 11 971 94 00 

Fax: +27 11 971 94 40 

Hotline: +27 82 903 29 23 

georgv@tectra.co.za 

Poland – Polen 


ul. Staszica 1 

05-800 Pruszków 

Tel.: +48 (0) 22 738 18 00 

– service: +48 (0) 22 738 18 46 

Fax: +48 (0) 22 758 87 35 

– service: +48 (0) 22 738 18 42 

Russia - Russland 

Bosch Rexroth OOO 

Tschschjolkowskoje Chaussee 100 

105523 Moskau 

Tel.: +7-495-783 30 60 + 64 

Fax: +7-495 783 30 68 + 69 

brcschrexroth.ru 

Slowenia - Slowenien 

DOMEL 

Otoki 21 

64 228 Zelezniki 

Tel.: +386 5 5117 152 

Fax: +386 5 5117 225 

brane.ozebek@domel.si 

South Africa - Südafrika 


Jendamark Automation 

76A York Road, North End 

6000 Port Elizabeth 

Tel.: +27 41 391 4735 



Asien - Asia (incl. Pacific Rim) 

China 

Shanghai Bosch Rexroth 

Hydraulics & Automation Ltd. 

No.122, Fu Te Dong Yi Road 

Waigaoqiao, Free Trade Zone 

Shanghai 200131 - P.R.China 

Tel.: +86 21 58 66 30 30 

Fax: +86 21 58 66 55 23 

brcservice@boschrexroth.com.cn 

China 

Bosch Rexroth (China) Ltd. 

Beijing Representative Office 

Xi San Qi Dong, De Sheng Mei Wai 

Hai Dian District 

Beijing 100096, P.R.China 

Tel.: +86 10 82 91 22 29 

Fax: +86 10 82 91 81 09 

yan.zhang@boschrexroth.com.cn 

Hongkong 


6 th Floor, 

Yeung Yiu Chung No.6 Ind Bldg. 

19 Cheung Shun Street 

Cheung Sha Wan, 

Kowloon, Hongkong 

Tel.: +852 27 86 46 32 

Fax: +852 27 42 60 57 

Paul.li@boschrexroth.com.cn 

India - Indien 

Bosch Rexroth (India) Ltd. 

S-10, Green Park Extension 

New Delhi – 110016 

Tel.: +91 11 26 56 65 25 

+91 11 26 56 65 27 

Fax: +91 11 26 56 68 87 

koul.rp@boschrexroth.co.in 

Korea 

Bosch Rexroth-Korea Ltd. 


1515-14 Dadae-Dong, Saha-gu 

Pusan Metropolitan City, 604-050 

Tel.: +82 51 26 00 741 

Fax: +82 51 26 00 747 

eunkyong.kim@boschrexroth.co.kr 

Malaysia 

Bosch Rexroth Sdn.Bhd. 

11, Jalan U8/82, Seksyen U8 

40150 Shah Alam 

Selangor, Malaysia 

Tel.: +60 3 78 44 80 00 

Fax: +60 3 78 45 48 00 

hhlim@boschrexroth.com.my 

Thailand 

NC Advance Technology Co. Ltd. 

59/76 Moo 9, Ramintra road 34 

Tharang, Bangkhen, 

Bangkok 10230 

Tel.: +66 2 943 70 62 

+66 2 943 71 21 

Fax: +66 2 509 23 62 

Hotline +66 1 984 61 52 

sonkawin@hotmail.com 


China 

Shanghai Bosch Rexroth 

Hydraulics & Automation Ltd. 

4/f, Marine Tower 

No.1, Pudong Avenue 

Shanghai 200120 - P.R.China 

Tel: +86 21 68 86 15 88 

Fax: +86 21 68 86 05 99 

+86 21 58 40 65 77 

y.wu@boschrexroth.com.cn 

China 


Guangzhou Repres. Office 

Room 3710-3716, Metro Plaza, 

Tian He District, 183 Tian He Bei Rd 

Guangzhou 510075, P.R.China 

Tel.: +86 20 87 55 00 30 

+86 20 87 55 00 11 

Fax: +86 20 87 55 23 87 

ndrew.wang@boschrexroth.com.cn 




Plot. No.96, Phase III 

Peenya Industrial Area 

Bangalore – 560058 

Tel.: +91 80 41 17 0211 

Fax: +91 80 83 97 374 

pradeep.rs@boschrexroth.co.in 

Indonesia - Indonesien 

PT. Bosch Rexroth 

Building # 202, Cilandak 

Commercial Estate 

Jl. Cilandak KKO, Jakarta 12560 

Tel.: +62 21 7891169 (5 lines) 

Fax: +62 21 7891170 - 71 

rudy.karimun@boschrexroth.co.id 

Korea 



Bongwoo Bldg. 7FL, 31-7, 1Ga 

Jangchoong-dong, Jung-gu 

Seoul, 100-391 

Tel.: +82 234 061 813 

Fax: +82 222 641 295 

Singapore - Singapur 

Bosch Rexroth Pte Ltd 

15D Tuas Road 

Singapore 638520 

Tel.: +65 68 61 87 33 

Fax: +65 68 61 18 25 

raymond.toh@boschrexroth.com.sg 

China 


Satellite Service Office Changchun 

Rm. 1910, Guangming Building 

No.336 Xi’an Rd., Chao Yang Distr. 

Changchun 130061 - P.R.China 

Tel.+Fax: +86 431 898 1129 

Mobile: +86 139 431 92 659 

shuhong.wang@boschrexroth.com.c 

n 

China 


Dalian Representative Office 

Room 2005,Pearl River Int. Building 

No.99 Xin Kai Rd., Xi Gang District 

Dalian, 116011, P.R.China 

Tel.: +86 411 83 68 26 02 

Fax: +86 411 83 68 27 02 

jason.tan@boschrexroth.com.cn 




Advance House, II Floor 

Ark Industrial Compound 

Narol Naka, Makwana Road 

Andheri (East), Mumbai - 400 059 

Tel.: +91 22 28 56 32 90 

+91 22 28 56 33 18 

Fax: +91 22 28 56 32 93 

singh.op@boschrexroth.co.in 

Japan 

Bosch Rexroth Corporation 

Service Center Japan 

2125-1 atsukawado-cho 

Kasugai-shi Aichi-ken 

486-0932, Japan 

Tel.: +81 568 35 7701 

Fax: +81 568 35 7705 

Korea 



1515-14 Dadae-Dong, Saha-gu 

Ulsan, 680-010 

Tel.: +82 52 256-0734 

Fax: +82 52 256-0738 

eonhyun.jeong@boschrexroth.co.kr 

Taiwan 

Bosch Rexroth Co., Ltd. 

Taichung Industrial Area 

No.19, 38 Road 

Taichung, Taiwan 407, R.O.C. 

Tel : +886 - 4 -235 08 383 

Fax: +886 - 4 -235 08 586 

jim.lin@boschrexroth.com.tw 

david.lai@boschrexroth.com.tw 

China 


Satellite Service Office Wuhan 

No. 22, Pinglanju, Milanyuan, 

Golden Harbor 

No. 236 Longyang Avenue 

Economic & Technology 

Development Zone 

Wuhan 430056 - P.R.China 

Tel.+Fax: +86 27 84 23 23 92 

Mobile: +86 139 71 58 89 67 

ym.zhu@boschrexroth.com.cn 

China 


C. Melchers GmbH & Co 

Shanghai Representation 

13 Floor Est Ocean Centre 

No.588 Yanan Rd. East 

65 Yanan Rd. West 

Shanghai 200001 

Tel.: +86 21 63 52 88 48 

Fax: +86 21 63 51 31 38 

shermanxia@sh.melchers.com.cn 



MICO 

Hosur Road Adugodi 

560 030 Bangalore Karnataki 

Tel.: +91 80 22 99 28 86 

Japan 



BOSCH Bldg. 4F, 3-6-7 Shibuya 

Shibuya-ku, Tokyo 

150-0002, Japan 

Tel : +81 354 85 7240 

Fax: +81 354 85 7241 

Korea 


KVT Co., Ltd. 

901, Daeryung Techno Town 8 

481-11 Gasan-Dong 

Geumcheon-Gu 

Seoul, 153-775 

Tel.: +82 2 2163 0231 9 

Taiwan 

Bosch Rexroth Co., Ltd. 

Tainan Branch 

No. 17, Alley 24, Lane 737 

Chung Cheng N.Rd. Yungkang 

Tainan Hsien, Taiwan, R.O.C. 

Tel : +886 - 6 –253 6565 

Fax: +886 - 6 –253 4754 

charlie.chen@boschrexroth.com.tw


Nordamerika – North America 

USA 

Headquarters - Hauptniederlassung 



5150 Prairie Stone Parkway 

Hoffman Estates, IL 60192-3707 

Tel.: +1 847 645-3600 

Fax: +1 847 645-6201 

servicebrc@boschrexroth-us.com 

repairbrc@boschrexroth-us.com 

USA Northeast Region – Nordost 



99 Rainbow Road 

East Granby, CT 06026 

Tel.: +1 860 844-8377 

Fax: +1 860 844-8595 

Canada West - Kanada West 

Bosch Rexroth Canada Corporation 

5345 Goring St. 

Burnaby, British Columbia 

Canada V7J 1R1 

Tel. +1 604 205 5777 

Fax +1 604 205 6944 

automation.service@boschrexroth.c 

a 

automation.repair@boschrexroth.ca 

USA Central Region - Mitte 



1701 Harmon Road 

Auburn Hills, MI 48326 

Tel.: +1 248 393-3330 

Fax: +1 248 393-2906 

USA West Region – West 



7901 Stoneridge Drive, Suite 220 

Pleasanton, CA 94588 

Tel.: +1 925 227-1084 

Fax: +1 925 227-1081 

CANADA SERVICE HOTLINE 

- 7 days week/ 24 hrs day - 

+1 905 335 5511 

Südamerika – South America 

Argentina - Argentinien 

Bosch Rexroth S.A.I.C. 

"The Drive & Control Company" 

Rosario 2302 

B1606DLD Carapachay 

Provincia de Buenos Aires 

Tel.: +54 11 4756 01 40 

+54 11 4756 02 40 

+54 11 4756 03 40 

+54 11 4756 04 40 

Fax: +54 11 4756 01 36 

+54 11 4721 91 53 

victor.jabif@boschrexroth.com.ar 

Columbia - Kolumbien 

Reflutec de Colombia Ltda. 

Calle 37 No. 22-31 

Santafé de Bogotá, D.C. 

Colombia 

Tel.: +57 1 208 65 55 

Fax: +57 1 269 97 37 

reflutec@etb.net.co 

Argentina - Argentinien 

NAKASE SRL 

Servicio Tecnico CNC 

Calle 49, No. 5764/66 

B1653AOX Villa Balester 

Provincia de Buenos Aires 

Tel.: +54 11 4768 42 42 

Fax: +54 11 4768 42 42 111 

Hotline: +54 11 155 307 6781 

nakase@nakase.com 

USA Southeast Region - Südost 



2810 Premiere Parkway, Suite 500 

Duluth, GA 30097 

Tel.: +1 678 957-4050 

Fax: +1 678 417-6637 

Canada East - Kanada Ost 


5345 Outer Drive unit 5 

Windsor, Ontario 

Canada N9A 6J3 

Tel.: +1 519 737 7393 

Fax.: +1 519 737 9999 

Mexico 

Bosch Rexroth Mexico S.A. de C.V. 

Calle Neptuno 72 

Unidad Ind. Vallejo 

07700 Mexico, D.F. 

Tel.: +52 55 57 54 17 11 

Fax: +52 55 57 54 50 73 

mario.francioli@boschrexroth.com.m 

x 

Brazil - Brasilien 

Bosch Rexroth Ltda. 

Av. Tégula, 888 

Ponte Alta, Atibaia SP 

CEP 12942-440 

Tel.: +55 11 4414 -56 92 

+55 11 4414 -56 84 

Fax sales: +55 11 4414 -57 07 

Fax serv.: +55 11 4414 -56 86 

alexandre.wittwer@rexroth.com.br 

USA SERVICE-HOTLINE 

- 7 days week/ 24 hrs day - 

+1-800-REXROTH 

+1 800 739 7684 

Canada East - Kanada Ost 


Automation Division 

3426 Mainway Drive 

Burlington, Ontario 

Canada L7M 1A8 

Tel.: +1 905 335 5511 

Fax: +1 905 335 4184 (Main) 

+1 905 335 9803 (Serv.) 

automation.service@boschrexroth.c 

a 

automation.repair@boschrexroth.ca 

Mexico 

Bosch Rexroth S.A. de C.V. 

Calle Argentina No 3913 

Fracc. las Torres 

64930 Monterrey, N.L. 

Tel.: +52 81 83 49 80 91 

+52 81 83 49 80 92 

+52 81 83 49 80 93 

Fax: +52 81 83 65 52 80 

Brazil - Brasilien 

Bosch Rexroth Ltda. 

R. Dr.Humberto Pinheiro Vieira, 100 

Distrito Industrial [Caixa Postal 1273] 

89220-390 Joinville - SC 

Tel./Fax: +55 47 473 58 33 

Mobil: +55 47 9974 6645 

sergio.prochnow@boschrexroth.com.br 


Rexroth IndraDrive Index 10-1 

10 Index 


2 

24V supply 5-2 

installation 6-35 

A 

Absolute voltage value, actual value 7-56 

Acceleration data scaling type 7-45 

Acceleration factors for velocity masking window 7-93 

Acceleration feedforward smoothing time constant 7-60 

accessories 

HAS01 6-68 

HAS02 6-72 

HAS05 6-84 

Activation E-Stop function 7-52 

Activation of NC reaction on error 7-59 

Active functional packages 7-96 

Actual output current value (absolute value) 7-75 

Actual value peak torque limit 7-76 

Actual value torque limit negative (stationary) 7-76 

Actual value torque limit positive (stationary) 7-76 

additional components 5-15 

Additive position command value, controller 7-55 

Additive velocity command value 7-37 

Additive velocity command value, process loop 7-85 

administration commands 1-3 

ambient conditions 4-7 

Amplifier nominal current 7-42 

Amplifier peak current 7-42 

Amplifier temperature 7-50 

Analog input 1 7-64 

Analog input 1, time constant input filter 7-66 











Analog input, assignment A, dead zone 7-65 

Analog input, assignment A, scaling per 10V full scale 7-65 

Analog input, assignment A, signal value at 0V 7-65 

Analog input, assignment A, target parameter 7-64 

Analog input, assignment B, dead zone 7-70 

Analog input, assignment B, scaling per 10V full scale 7-70 

Analog input, assignment B, signal value at 0V 7-70 

Analog input, assignment B, target parameter 7-69 

Analog input, control parameter 7-66 

Analog input, list of assignable parameters 7-64 

Analog input, maximum value for adjust 7-66 

Analog inputs 

technical data 5-9 

type 1 5-9 

type 3 5-11 

type 4 5-12 

Analog output 1 7-60 

Analog output 2 7-60 

Analog Output 3 7-72 




Analog output IDN list of assignable parameters 7-75

10-2 Index Rexroth IndraDrive 

Analog output, assignment A, scaling [1/V] 7-74 

Analog output, assignment A, signal selection 7-73 

Analog output, assignment A, signal value at 0V 7-73 

Analog output, assignment B, scaling [1/V] 7-74 

Analog output, assignment B, signal selection 7-74 

Analog output, assignment B, signal value at 0V 7-73 

Analog outputs 


type 1 5-13 

type 2 5-13 

type 3 5-14 

Application type 7-44 

appropriate use 2-1 

areas (zones) 

of control cabint 6-26 

ASCII protocol 

properties 7-110 

Assign list signal control word 7-47 

Assign list signal status word 7-47 

axis control 

automatic setting 7-136 

B 

basic performance 1-10 

BASIC PROFIBUS 6-64 

best possible deceleration 

drive error reactions 1-5 

Best possible deceleration 7-60 

bipolar torque/force limit value 7-23 

Bipolar torque/force limit value 7-40 

Bipolar velocity limit value 7-40 

boring dimensions 

for the mounting plate 6-2 

Brake supply 6-52 

Braking resistor 

connection 6-50 

braking resistor HLR 5-17 

braking resistor HLR01 

dimesions 6-12 

Braking resistor load 7-86 

Braking resistor threshold 7-86 

Build date and time 7-62 

C 

C0100 Communication phase 3 transition check 7-43 

C2000 Command Release motor holding brake 7-80 

C2500 Copy IDN from optional memory to internal memory 7-108 

C2600 Copy IDN from internal memory to optional memory 7-108 

C2800 Analog input adjust command 7-67 

C2900 Command Firmware update from MMC 7-103 

C3200 Command Calculate motor data 7-99 

C4700 Command Activate easy startup mode 7-107 

C5200 Communication phase 4 transition check 7-43 

cable 

replace 8-23 

Cable 

IKB 0041 6-66 

Cables 

motor 6-45 

capacity utilization 4-8 

CE label 1-18 

change single parameter 7-29 

Characteristic of motor magnetizing inductance 7-101 

checksum of parameter values 1-2, 7-2 

clear error 7-18 

clearing error messages 1-5 

closed-loop axis control (closed-loop operation) 7-131 

comfort control panel 7-13 




basic parameters 7-31 

bipolar torque/force limit value 7-23 

change single parameter 7-29 

clear error 7-18 

current configuration 7-22 

cyclic parameter list display 7-21 

diagnostic message memory 7-22 

display mask 7-15 

editing mode 7-14 

enter motor data 7-27 

enter parameter 7-20 

error memory 7-22 

fixed command value 7-28 

guided parameterization 7-25 

keys 7-14 

language setting 7-18 

load basic parameters 7-31 

main screen 7-18 

menu structure 7-16 

mode selection 7-19 

monitor mode 7-19 

motor potentiometer 7-22 

operating hours 7-22 

parameter management 7-31 

parameter selection 7-30 

parameterization 7-24 

save/load parameters 7-32 

single parameter display 7-20 

start screen 7-18 

status switching OM > PM 7-24, 7-29, 7-31, 7-33 

Command value generator output 7-89 

Command value generator, amplitude 7-90 

Command value generator, control word 7-89 

Command value generator, duration 1 7-90 

Command value generator, duration 2 7-90 

Command value generator, list of possible target parameters 7-89 

Command value generator, offset 7-89 

Command value generator, target parameter assignment 7-89 

commands 1-3 

command types 8-1 

commissioning 7-1 

communication phases 7-4 

compatibility with foreign matters 4-9 

conditions 

ambient 4-7 

for installation 4-7 

storage 4-6 

transport 4-6 

Config word of axis controller 7-81 

Configuration for loading default values 7-107 

Configuration for starting lockout selector 7-57 

configurations of the control section 1-6 

connection 

control sections BASIC OPENLOOP 6-61 

control sections BASIC PROFIBUS 6-64 

HCS03.1 6-40 

Connection 

braking resistor 6-50 

control voltage 6-52 

control voltage (HCS03) 6-54 

DC bus 6-56 

diagram 6-36 

mains (X3) 6-42 

motor 6-43 

motor holding brake 6-48 

motor temperature monitoring 6-48 

connection diagram 

HCS02 6-36 

HCS03 6-37 

Connection point of equipment grounding conductor 6-58 

connections 

HCS02.1E-W0012 6-38


HCS02.1E-W0028, -W0054, -W0070 6-39 

control cabinet 

grounding 6-25 

with multiple-line structure 6-24 

control loop features 7-132 

control loop setting 7-135 

control loop structure 7-131 

control panels 7-12 

Control parameter of analog output 7-75 

control section 

connections BASIC OPENLOOP 6-61 


type plate 4-5 

control section configurations 1-6 

Control section type 7-96 

control sections 

connections BASIC PROFIBUS 6-64 


data 5-2 

Control voltage 


Control wires 

shield connection 6-59 

Control word 1 velocity control 7-90 

Control word 2 velocity control 7-94 

Control word of axis controller 7-50 

Control word of current controller 7-54 

Controller type 7-44 

Converter configuration 7-87 

Cooling type 7-84 

copy 

parameter set 7-32 

current configuration 7-22 

Current load torque 7-80 

Current loop integral action time 1 7-42 

Current loop proportional gain 1 7-42 

Current mains voltage crest value 7-85 

cyclic parameter list display 7-21 

D 

data 

ambient 4-7 

electrical, additional components 5-15 

electrical, power section 5-1 

Data of external braking resistor 7-86 

Data of internal braking resistor 7-87 

data storage 1-1, 7-1 

DC bus 6-56 

DC bus power 7-49 

DC bus voltage 7-49 

Deceleration ramp 1 7-93 

Deceleration ramp 2 7-94 

declaration of conformity 1-18 

definitions of terms 1-1, 7-1 

degree of protection 4-7 

derating 4-8 

Device control 

control word 7-59 

status word 7-59 

Device control word 7-98 

devices 

depths 6-1 

heights 6-1 

materials 8-37 

replacing 8-21 

widths 6-1 

Diagnostic message 7-41 

diagnostic message memory 7-22 

diagnostic system 8-1 

Digital I/Os, assignment list 7-70 




Digital I/Os, bit numbers 7-71 

Digital I/Os, direction 7-71 

Digital I/Os, outputs 7-72 

Digital I/Os, status display 7-71 

Digital inputs 


Digital outputs 


Dimensions 6-1 

Display text of diagnostic message 7-52 

disposal 8-37 

distances 

for drive controllers 6-3 

minimum 6-3 

Drive address of master communication 7-98 

Drive address of serial interface 7-98 

drive control commands 1-3 


distances 6-3 

replace 8-23 

drive controllers 

overview 1-6 

power sections 1-6 

drive functions 

overview 1-9 

drive profile 7-114 

Drive status word 7-44 

dust, steam 4-7 

E 

editing mode 7-14 

Effective peak current 7-102 

Effective velocity command value 7-54 

electrical data 5-1 

EMC 

optimal arrangement 6-26 

rules for design of installations 6-25 

Energy counter 7-86 

enter motor data 7-27 

environmental protection 8-37 

Equipment grounding connections 6-58 

error classes 1-4, 8-2 

error memory 1-5, 7-22 

Error memory of diagnostic numbers 7-62 

Error memory operating hours of control section 7-62 

Error memory power section 7-62 

Error number 7-53 

error reaction 


errors 1-4 


E-Stop input 7-67 

E-xxxx errors 

putting into operation 8-5 

F 

F2xxx errors 


F4xxx errors 


F6xxx errors 


F8xxx errors 


F9xxx errors 


fatal errors 

putting into operation 8-4


fatal system errors 


Field bus 

baud rate 7-105 

config. list of cyclic actual value data ch. 7-106 

config. list of cyclic command value data ch. 7-106 

control word 7-105 

control word IO 7-102 

cycle time (Tcyc) 7-104 

data format 7-104 

diagnostic message 7-104 

length of cyclic actual value data channel 7-106 

length of cyclic command value data channel 7-103 

length of parameter channel 7-106 

module diagnosis 7-103 

profile type 7-107 

status word 7-105 

watchdog 7-104 

Final speed ramp 1 7-91 

Firmware 

type plate 4-5 

firmware release update 8-25 

firmware replacement 

possible problems 8-35 

firmware version upgrade 8-29 

fixed command value 7-28 

Flux control loop proportional gain 7-78 

Flux-generating current, actual value 7-54 

Flux-generating current, limit value 7-97 

Flux-generating voltage, actual value 7-56 

freely configurable mode 7-116 

G 

Ground connection 

of housing 6-58 

ground connections 6-32 

guided parameterization 7-25 

H 

HAS 6-67 

HAS01 6-68 

HAS02 6-72 

HAS02.1 

XS2 6-60 

HAS05 6-84 

history 7-22 

Holding brake 6-52 

Holding brake control word 7-77 

Holding brake status word 7-80 

Housing 

ground connection 6-58 

I 

I/O mode (positioning and preset velocity) 7-115 

inappropriate use 2-2 

installation 

24V supply 6-35 

EMC-optimal 6-26 

in interference-free area of control cabinet (area A) 6-28 

in strongly interference-susceptible area of control cabinet (area C) 6-30 

Installation 6-1, 6-25 

connection diagram 6-36 

installation altitude 4-7 

installation conditions 4-7 

interface errors 


interface mode 7-109 




interference suppression elements 6-25 

interference-susceptible area 6-26 

IxR boost factor 7-82 

J 

Jerk limit bipolar 7-49 

K 

kinds of commands 1-3 

L 

L+, L- 6-56 

language 

setting 7-18 

Language selection 7-46 

line routing 6-25 

List of all operating modes 7-46 

List of diagnostic numbers 7-49 

load basic parameters 7-31 

load defaults procedure 7-9, 7-10, 7-135 

loading parameter values, general 1-2, 7-2 

Lower limit of velocity masking window 7-92 

M 

Magnetizing current 7-97 

main screen 7-18 

Mains 

connection (X3) 6-42 

Mains choke 

HNL01.1E-****-S (current-compensated) 5-17 

mains choke HNL01.1E (feeding) 5-16 

mains chokes HNL01.1E 

dimensions 6-9 

Mains Filter (-Combination) HNK 5-16 

mains filter HNF 5-15 


Manufacturer version 7-36 

Marking the components 4-4 

master communication 7-110 

interfaces 7-3 

Master communication status 7-107 

Master control word 7-43 

materials 

of products 8-37 

Maximum motor speed 7-43 

Maximum motor voltage 7-79 

Maximum possible continuous current 7-102 

Maximum stator frequency change 7-81 

measuring systems 

supported measuring systems 1-7 

Memory of velocity command values 7-92 

menu structure 7-16 

Message 'n command > n limit' 7-48 

Message 'n_actual = n_command' 7-47 

Message 'nactual < nx' 7-47 

Message 'P >= Px' 7-48 

Message 'T >= Tlimit' 7-48 

Message 'T >= Tx' 7-48 

Message torque/force command value reached 7-51 

Minimum mains crest value 7-85 

mode 

monitor 7-19 

mode selection 7-19 

Module bus 6-41 

monitor 7-19


monitoring commands 1-3 

motor 

motor inductance 1-15 

replace 8-21 

requirements on third-party motors 1-14 

temperature evaluation of third-party motor 1-16 

third-party, encoder of third-party motor 1-17 

third-party, notes on commissioning 1-17 

third-party, notes on selection 1-17 

third-party, selecting connection technique 1-17 

third-party, selecting controller 1-17 

voltage load 1-14 

Motor 

cables 6-45 


holding brake 6-48 

temperature monitoring 6-48 

Motor cable 


motor control 

automatic setting of parameters 7-122 

motor control parameters 7-125 

Motor current at standstill 7-42 

motor encoder data memory 7-9, 7-135 

motor filter HMF 1-15, 5-26 


Motor holding brake 6-48 

Motor magnetizing inductance 7-101 

Motor model adjust factor 7-84 

Motor model frequency loop integral action time 7-83 

Motor model frequency loop proportional gain 7-83 

motor parameters 7-124 

Motor peak current 7-42 

motor potentiometer 7-22 

Motor potentiometer, acceleration 7-94 

Motor potentiometer, command value 7-95 

Motor potentiometer, deceleration 7-95 

Motor potentiometer, step size 7-95 

motor power cable 

connection to drive controller 6-32, 6-45 

limited length 5-4 


third-party cables 5-5 

Motor shutdown temperature 7-46 

Motor temperature 7-50 

Motor temperature monitoring 6-48 

Motor type 7-44 

Motor type plate data 7-99 

Motor voltage at no load 7-79 

Motor warning temperature 7-45 

motors 

supported motors 1-7 

third-party motors 1-13 

Mounting 6-1 

mounting plate 

boring dimensions 6-2 

N 

Negative velocity limit value 7-38 

Nominal mains voltage crest value 7-86 

non-fatal errors 


non-volatile data memories 1-1, 7-1 

Non-volatile memory active 7-102 

Number of pole pairs/pole pair distance 7-53 

O 

Oper. hours power section at last activat. of start. lockout 7-58 




operating conditions 4-7 

operating hours 7-22 

Operating hours control section 7-61 

Operating hours power section 7-61 

operating mode 7-4, 7-5 

operating modes 

basics 1-3 

positioning block mode 7-137 

Oscillation damping factor 7-82 

overall structure of control loop (illustration) 7-132 

Overload warning 7-75 

Overview of device addresses 7-99 

P 

packaging 


Parallel input 1 7-57 

Parallel output 1 7-57 

parameter handling, general 1-1, 7-1 

parameter management 7-31 

parameter selection 7-30 

parameter set 

copy 7-32 

parameterization 7-1, 7-12, 7-24 

parameterization mode 7-4, 7-5 

parameters 7-1 

definitions of terms 1-1, 7-1 

load 7-32 

save 7-32 

Parameters 1-1 

performance data 1-10 

Phase current U, actual value 7-56 

Phase current V, actual value 7-56 

positioning block mode 7-137 

Positive velocity limit value 7-37 

power reduction 4-8 

power section 

type current and type power 5-1 

power sections 


Power supply status word 7-87 

Power supply, configuration 7-59 

power voltage 

supply 5-3 

power voltage supply 5-3 

Premagnetization factor 7-78 

Primary mode of operation 7-36 

products 


profile types 

freely configurable mode 7-116 

I/O mode (positioning and preset velocity) 7-115 

putting into operation 

after fatal error has occurred (F8xxx errors) 8-4 

after interface error has occurred (F4xxx errors) 8-3 

after non-fatal error has occurred (F2xxx errors) 8-3 

after travel range error has occurred (F6xxx errors) 8-3 

nach after fatal system error has occurred (F9xxx or E-xxxx errors) 8-5 

R 

radio interference suppression 

general measures 6-34 

Ramp 1 pitch 7-91 

Ramp 2 pitch 7-91 

Rated motor speed 7-100 

Recycling 8-37 

reinforced barking resistors HLR01.1 

dimensions 6-14


Relay contacts 

type 1 5-6 

type 2 5-6 

type 3 5-7 

release update 8-24 

replace 

cable 8-23 

drive controller 8-23 

motor 8-21 

replacing the firmware 8-24 

basic principles, terms 8-24 

Rotor leakage inductance 7-101 

Rotor time constant 7-101 

RS-232/485 Parity 7-108 

S 

safety instructions for electric drives and controls 3-1 

saving parameter values, general 1-1, 7-2 

Scaling of stall current limit 7-78 

Search mode 

finding point slip factor 7-83 

search current factor 7-82 

Secondary operation mode 1 7-36 




accessories HAS02 6-72 

motor cable 6-81 

with accessory HAS02 6-45 

without accessory HAS02 6-45 

Shield connection 

control wires 6-59 


shielding plate 6-81 


Signal control word 7-45 

signal lines 6-25 

Signal status word 7-45 

single parameter display 7-20 

SIS protocol 

properties 7-110 

Slip compensation factor 7-82 

Slip increase 7-78 

Square characteristic 

lowering factor 7-83 

Stall protection loop integral action time 7-82 

Stall protection loop proportional gain 7-81 

standard control panel 7-12 

start screen 7-18 

Stator leakage inductance 7-100 

status machine 7-115 

Status 'n_feedback = 0' 7-47 

status switching OM > PM 7-33 

Status word of axis controller 7-81 

Status word of current controller 7-54 

Status word of position loop 7-50 

Status word of velocity control mode 7-93 

Status word torque/current limit 7-77 

storage 4-6 

extended storage 4-6 

strongly interference-susceptible area 6-26 

Switching frequency of the power output stage 7-51 

System time 7-62 

System time error code 7-63 

System time error memory 7-63 

T 

Technical data 




analog inputs 5-9 

analog outputs 5-13 

digital inputs 5-7 

digital outputs 5-8 

temperature 

ambient 4-7 

storage 4-6 

transport 4-6 

Temperature data scaling type 7-46 

Temperature sensor 7-77 

Temperature sensor characteristic 7-77 

Thermal drive load 7-60 

third-party motors 1-13 

directives 1-13 

third-party motors to be controlled 1-14 

Time stamp for list of diagnostic message numbers 7-58 

Torque/force constant 7-55 

Torque/force data scaling exponent 7-41 

Torque/force data scaling factor 7-40 

Torque/force data scaling type 7-40 

Torque/force feedback value 7-39 

Torque/force limit value negative 7-39 

Torque/force limit value positive 7-38 

Torque/force peak limit 7-58 

Torque/force polarity parameter 7-39 

Torque/force ramp 7-50 

Torque/force ramp time 7-51 

Torque-generating current, actual value 7-53 

Torque-generating voltage, actual value 7-56 

transition check commands 7-6 

transmission protocols 7-109 

transport 4-6 

travel range errors 


Travel range limit parameter 7-57 

Travel range limit switch inputs 7-67 

Type of construction of motor 7-98 

Type plates 4-4 

U 

Undervoltage threshold 7-58 

Upper limit of velocity masking window 7-92 

use 

appropriate 2-1 

inappropriate 2-2 

V 

Vel. cont. loop filter 

center frequency of band-stop filter 7-88 

Velocity command filter 7-96 

Velocity command value 7-37 

Velocity control loop 

acceleration feedforward 7-88 

average value filter clock 7-88 

Velocity control loop filter 

bandwidth of band-stop filter 7-88 

filter type 7-87 

limit frequency of low pass 7-87 

Velocity data scaling type 7-38 

Velocity feedback value 7-38 

Velocity loop integral action time 7-41 

Velocity loop proportional gain 7-41 

Velocity loop smoothing time constant 7-52 

version upgrade 8-24 

vibration 

noise 4-7 

sine 4-7 

vibrations 4-7


Voltage boost 7-81 

voltage load of the motor 1-14 

Voltage loop integral action time 7-79 

Voltage loop proportional gain 7-78 

W 

warning classes 1-4, 8-2 

warnings 1-4 

X 

X1 6-41 

X13 6-52 

X3 6-42 

X5 6-43 

X6 6-48 

X9 6-50 

XS1 6-59 

XS2 6-60 

Z 

Zubehör 

Übersicht 6-67 


R911314905 



P.O. Box 13 57 

97803 Lohr, Germany 

Bgm.-Dr.-Nebel-Str. 2 

97816 Lohr, Germany 

Phone +49 (0)93 52-40-50 60 

Fax +49 (0)93 52-40-49 41 

service.svc@boschrexroth.de 

www.boschrexroth.com 

Printed in Germany

Rexroth IndraDrive C Drive Controllers HCS02.1 ... - Bosch Rexroth

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