06 BHB SDS 5000 en

POSIDYN® SDS 5000
Settings
Operation manual
Interfaces
Communication
V 5.6-S or later
08/2016 en
Table of contents
Operation manual POSIDYN® SDS 5000
Table of contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..9
1.1 About this manual .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2 Readers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Further documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4 Further support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
1.5 Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.6 Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2 Notes on safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
2.1 Component part of the product .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.2 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.3 Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.5 Transportation and storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.6 Installation and connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.7 Commissioning, operation and service .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.8 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
WE KEEP THINGS MOVING
2.9 Residual dangers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.10 Presentation of notes on safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3 Commissioning an inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
3.1 Standard device state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.2 Device state machine acc. to DSP 402 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4 Parameterize . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
4.1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.1.2 Data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.1.3 Parameter list structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2 POSITool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
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4.3 Operator panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
5 Parameterizing motor data .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
5.1 Selection in the configuration assistant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
5.2 Electronic type plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5.3 Direct entry in the parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.4 Further motor datas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.4.1 Current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.4.2 Thermal model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.4.3 Absolute Limit values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.5 Parameterize the SLVC-HP control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5.6 Parameterize motor temperature sensor evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
6 Parameterizing encoder data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
6.1 Deactivating the motor encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
6.2 Interface X4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
6.3 Connection X101 (binary input encoder) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
6.4 Interface X120 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
6.5 Interface X140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

7 Parameterizing brake data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
7.1 B20 = 0:V/f-control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
7.2 B20 = 1:Sensorless vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
7.3 B20 = 3:SLVC-HP .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.4 B20 = 2:Vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
7.5 B20 = 64:Servo-control .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
7.6 Brake management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
7.6.1 Single-axis operation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
7.6.2 Multi-axis operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
7.6.3 POSISwitch multi-axis operation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
7.7 Brake test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
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7.8 Brake grinding function .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
8 Parameterizing axis management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64
9 Parameterizing brake resistor .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
10 Parameterizing in-/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
11 Integrated Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
11.1 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
11.1.1 Basics of IGB communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
11.1.2 General diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
11.2 Direct connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
11.2.1 Requirements for a direct connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
11.2.2 IP address and subnet mask .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
11.2.3 Determining the IP address and subnet mask of the PC . . . . . . . . . . . . . . . . . . . . 76

11.2.4 Adjusting the IP address of the inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
11.2.5 Establishing a direct connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
11.2.6 Reading data from the SDS 5000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
11.2.7 Writing data to the inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
11.3 IGB-Motionbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
11.3.1 Activation of the IGB-Motionbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
11.3.2 Parameterization of the IGB-Motionbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
11.3.2.1 Configuration of the IGB-Motionbus . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
11.3.2.2 Parameterization of Process Data .. . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
11.3.3 Non-regular IGB operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
11.3.4 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
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11.3.5 Exchanging the master position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
11.4 Remote maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
11.4.1 System administration .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
11.4.2 The network and remote service assistant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
11.4.2.1 The Network tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
11.4.2.2 The Activation remote service tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
11.4.2.3 Internet proxy server tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
11.4.3 Administration of remote maintenance settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
11.4.4 Using the remote maintenance settings of the gateway inverter . . . . . . . . . . . . . 100
11.4.5 Settings for a LAN connection .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
11.4.6 Settings for an internet connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
11.4.6.1 Internet settings for POSITool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
11.4.7 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
11.4.8 Activation of remote maintenance .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
11.4.9 Establishment of a connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
11.4.10 Deactivation of remote maintenance .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
11.4.11 Monitoring remote maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
11.4.12 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112

11.4.13 General Terms and Conditions of STÖBER ANTRIEBSTECHNIK GmbH &
Co. KG for maintenance of the servo Inverter of the 5th generation of STOBER
inverters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
12 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
12.1 Replacing inverters .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
12.2 Replacing an application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
12.3 Copying Paramodule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
12.4 Live firmware update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
12.4.1 Firmware files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
12.4.2 Replacing the firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
12.5 Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
12.5.1 Actions without enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
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12.5.1.1 A00 Save values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
12.5.1.2 A37 Reset memorized values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
12.5.2 Actions with enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
12.5.2.1 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
12.5.2.2 B40 Phase test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
12.5.2.3 B41 Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
12.5.2.4 B42 Optimize current controller .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
12.5.2.5 B43 Winding test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
12.5.2.6 Optimize B45 SLVC-HP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
12.5.2.7 D96 Reference value generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
13 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142
13.1 LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
13.2 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
13.2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
13.2.2 Event Indications .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
13.3 Events .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
13.3.1 31:Short/ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
13.3.2 32:Short/gr.int . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

13.3.3 33:Overcurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
13.3.4 34:Hardw.fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
13.3.5 35:Watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
13.3.6 36:High voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
13.3.7 37:Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
13.3.8 38:TempDev.sens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
13.3.9 39:TempDev i2t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
13.3.10 40:Invalid data .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
13.3.11 41:Temp.MotorTMS .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
13.3.12 42:TempBrakeRes .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
13.3.13 44:External fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
6 ID 442289.06
Table of contents
13.3.14 45:oTempMot. i2t .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
13.3.15 46:Low voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
13.3.16 47:TorqueLimit .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
13.3.17 52:Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
13.3.18 55:OptionBoard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
13.3.19 56:Overspeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
13.3.20 57:Runtime usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
13.3.21 58:Grounded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
13.3.22 59:TempDev. i2t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
13.3.23 60-67:Application events 0-7 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
13.3.24 68: External fault 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
13.3.25 69:Motor connect. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
13.3.26 70:Param.consist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
13.3.27 71:Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
13.3.28 72:Brake test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
13.3.29 73:Ax2braketest . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
13.3.30 74:Ax3braketest . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
13.3.31 75:Ax4braketest . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

13.3.32 85:Excessive jump in reference value .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
13.3.33 #004:illeg.Instr .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
13.3.34 #006:illSlotInst .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
13.3.35 #009:CPU AddrErr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
13.3.36 #00c:StackOverfl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
13.3.37 *ParaModul ERROR:update firmware! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
13.3.38 *ParaModul ERROR: file not found .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
13.3.39 *ParaModul ERROR: Checksum error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
13.3.40 *ParaModul ERROR: ksb write error .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
13.3.41 *ConfigStartERROR parameters lost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
13.3.42 *ConfigStartERROR remanents lost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
13.3.43 *ConfigStartERROR unknown block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
ID 442289.06 7
Table of contents
13.3.44 *ConfigStartERROR unknown string .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
13.3.45 *ConfigStartERROR unknown scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
13.3.46 *ConfigStartERROR unknown limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
13.3.47 *ConfigStartERROR unknown post-wr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
13.3.48 *ConfigStartERROR unknown pre-rd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
13.3.49 *ConfigStartERROR unknown hiding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
13.3.50 no configuration paramodul error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
13.3.51 no configuration start error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
13.3.52 configuration stopped . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
13.3.53 HW defective FirmwareStartErr .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

8 ID 442289.06
Introduction 1
1 Introduction
Axis management is integrated in the inverter. This allows for the following operation modes:
• Single axis operation:
An axis projected in POSITool is used for the connected motor.
• Multi-axis operation:
2, 3 and 4 axes projected in POSITool are used for the connected motor. The axes can be used
sequentially as parameter sets on the motor.
• POSISwitch multi-axis operation:
Up to 4 motors connected to POSISwitch are sequentially operated with up to 4 axes.
This option requires the following system structure.

The system of the 5th generation of STOBER inverters is divided into two ranges, the global and the axis
range. The global range includes programming and parameterization that relates to the inverter. This includes
the device controller, the setting of peripheral components such as braking resistors, etc. It is also responsible
for the administration of the axis range.
The axis range is divided into up to four axes. Each axis contains the programming and parameterization for
a motor and is selected from the global range. The axis range contains the motor setting and the application
of the motor. The applications are defined by STOBER in so-called applications or can optionally be freely
programmed by the user.
Global area Axis areas
Axis 1

ESC #
I/O
X3
Axis 2
Axis 3
Axis 4
Fig. 1-1: Structure of the global and axis range
ID 442289.06 9
1 Introduction
1.1 About this manual

This manual provides you with information on the basic operation of the inverter. Here functions in the inverter
independent of the standard applications defined by STOBER are explained.
Original version
The original language of this documentation is German.
1.2 Readers
Users who are familiar with the control of drive systems and have a knowledge of commissioning inverter
systems are the target group of this manual.
1.3 Further documentation
Manual Contents ID
Projecting manual Installation and connection 442277
SDS 5000
Commissioning Reinstallation, replacement, function 442301
Instructions SDS 5000 test
You can find the latest document versions at www.stoeber.de.
You can find information on the POSITool software in the following manuals:
Manual Contents ID
POSITool operating Information on the basic functions of 442233

manual POSITool
Programming manual Information on programming with 441693
POSITool
Note that the programming functionality of POSITool can only be used after training by STOBER. You can find
information on training at www. stoeber.de.
10 ID 442289.06
Introduction 1
The devices of the 5th generation of STOBER inverters can be optionally connected with different fieldbus
systems. The connection is described in the following manuals:
Manuals ID
PROFIBUS DP operating manual 441687
CANopen operating manual 441686
EtherCAT operating manual 441896
PROFINET operating manual 442340
The accessories of the inverter are documented in the following manuals:
Manual Product description ID

ASP 5001 operating Safe technical integration of the 442181
manual inverter in a machine
Operating instructions  Sequential switchover between up to 441689
POSISwitch AX 5000 four axes
Control box operating Operating device for parameterization 441479
manual and configuration of the inverter.
Operating manual For buffering the power supply when 442343
Absolute Encoder Support using the inductive absolute value
AES encoder EnDat 2.2 digital with battery-
buffered multiturn power unit, for
example EBI1135, EBI135.

1.4 Further support
If you have technical questions that are not answered by this document, please contact:
• Phone: +49 7231 582-3060
• E-mail: applications@stoeber.de
If you have questions about the documentation, please contact:

• E-mail: electronics@stoeber.de
If you have questions about training sessions, please contact:

• E-mail: training@stoeber.de
ID 442289.06 11
1 Introduction
1.5 Abbreviations
Abbreviations
AA Analog output
AES Absolute Encoder Support
BA Binary output
BE Binary input
CAN Controller Area Network
EMC Electromagnetic Compatibility
EtherCAT Ethernet for Control Automation Technology
HTL High Threshold Logic
IGB Integrated Bus
MAC Media Access Control
PE Protective Earth
PTC Positive Temperature Coefficient
SPS Programmable logic controller
SSI Serial Synchronous Interface
TTL Transistor-transistor logic
12 ID 442289.06
Introduction 1
1.6 Trademarks
POSIDRIVE®, POSIDYN® and POSISwitch® are trademarks of STÖBER ANTRIEBSTECHNIK GmbH & Co.
KG.
The following names that are used in conjunction with the device, its optional equipment and its accessories
are trademarks or registered trademarks of other companies:
Trademarks
CANopen®, CANopen® and CiA® are registered Community

CiA® trademarks of CAN in Automation e.V., Nuremberg,
Germany.
EnDat® EnDat® and the EnDat® logo are registered trademarks of

Dr. Johannes Heidenhain GmbH, Traunreut, Germany.
EtherCAT®, EtherCAT®, Safety over EtherCAT® and TwinCAT® are

Safety over registered trademarks and patented technologies that are
EtherCAT®, licensed by Beckhoff Automation GmbH, Verl, Germany.
TwinCAT®
PROFIBUS®, The PROFIBUS®/PROFINET® logo is a registered

PROFINET® trademark of PROFIBUS Nutzerorganisation e. V.
Karlsruhe, Germany.
All other trademarks that are not listed here are the property of their respective owners.

Products that are registered as trademarks are not specially indicated in this documentation. Existing property
rights (patents, trademarks, protection of utility models) are to be observed.
ID 442289.06 13
2 Notes on safety
2 Notes on safety
The devices can represent a source of danger. Therefore observe
• the safety guidelines, technical rules and regulations given in the following sections and the
• Generally applicable technical rules and regulations.
Always read the corresponding documentation as well. STÖBER ANTRIEBSTECHNIK GmbH & Co. KG shall
assume no liability for damage resulting from failure to comply with the instruction manual or relevant
regulations. This documentation is purely a production description. It does not include any guaranteed
features in terms of a warranty right. We reserve the right to make technical changes for the purpose of
improving the devices.
2.1 Component part of the product

As this documentation includes important information for the safe and efficient handling of the product, always
keep it in the immediate vicinity of the product until product disposal and ensure it can be accessed by
qualified personnel at any time.
Also pass on this documentation if the product is handed over or sold to a third party.
2.2 Risk assessment

Before the manufacturer may bring a machine onto the market, he must conduct a risk assessment according
to Machine Directive 06/42/EC. As a result, the risks associated with the use of the machine are determined.
The risk assessment is a multi-stage and iterative process. On no account can sufficient insight into the
Machine Directive be given as part of this documentation. For this reason, seek detailed information about the
norms and legal position. When installing the inverter in machines, commissioning is forbidden until it has
been determined that the machine meets the requirements of EC Directive 06/42/EC.
14 ID 442289.06
Notes on safety 2
2.3 Ambient conditions

The inverters are products subject to sales restrictions in accordance with IEC 61800-3. In a residential
environment this product may cause high-frequency interference. If this occurs the user may be asked to take
suitable measures to reduce it.
The inverters are not designed for use in a public low frequency network that supplies residential areas. High-
frequency interference can be expected if the inverters are used in a network of this type. The inverters are
designed exclusively for operation in TN networks. The inverters are only suitable for use in supply current
networks that are able to provide a maximally symmetrical nominal short circuit current at maximally 480 volts
according to the following table:
Size Max. symmetrical nominal short-circuit current

0 and 1 5,000 A
2 5,000 A
3 10,000 A
Install the inverter in a control cabinet in which the admissible surrounding temperature will not be exceeded.
The following applications are prohibited:

• Use in areas subject to explosion hazard
• Use in environments with harmful substances as specified by EN 60721, for example oils, acids, gases,
vapors, dust and radiation
• Use with mechanical vibration and impact loads exceeding the limits specified in the technical data in the
projecting manuals

Implementation of the following applications is only permitted after approval is obtained from STOBER:
• Use in non-stationary applications
ID 442289.06 15
2 Notes on safety
2.4 Qualified personnel

Since the devices may harbor residual risks, all configuration, transportation, installation and commissioning
tasks including operation and disposal may only be performed by trained personnel who are aware of the
possible risks.
Personnel must have the qualifications required for the job. The following table lists examples of occupational
qualifications for the jobs:
Activity Possible occupational qualifications

Transportation and storage Worker skilled in storage logistics or comparable
training
Configuration - Graduate engineer (electro-technology or
electrical power technology)
- Technician (m/f) (electro-technology)
Installation and connection Electronics technician (m/f)
Commissioning  - Technician (m/f) (electro-technology)
(of a standard application) - Master electro technician (m/f)
Programming Graduate engineer (electro-technology or
electrical power technology)
Operation - Technician (m/f) (electro-technology)
- Master electro technician (m/f)
Disposal Electronics technician (m/f)
In addition, the valid regulations, the legal requirements, the reference books, this technical documentation
and, in particular, the safety information contained therein must be carefully

• read,
• understood and
• complied with.
2.5 Transportation and storage

Immediately upon receipt, examine the delivery for any transportation damages. Immediately inform the
transportation company of any damages. If damages are found, do not commission the product. If the device
is not to be installed immediately, store it in a dry, dust-free room. Please see the documentation for how to
commission an inverter after it has been in storage for a year or longer.
16 ID 442289.06
Notes on safety 2
2.6 Installation and connection

Installation and connection work are only permitted after the device has been isolated from the power!
The accessory installation instructions allow the following actions during the installation of accessories:
• The housing in the upper slot can be opened
• The housing in the bottom slot can be opened.
Opening the housing in another place or for other purposes is not permitted.
Use only copper conductors. For the line cross sections to be used, refer to DIN VDE 0298-4 or DIN EN
60204-1 Appendix D and Appendix G.
The permissible protection class is protective ground. Operation is not permitted unless the protective ground
is connected in accordance with the regulations.
Comply with the applicable instructions for installation and commissioning of motor and brakes.
Main equipment grounding markings: The main ground connections are marked "PE" or with the international
ground symbol (IEC 60417, Symbol 5019 ).
The motor must have an integrated temperature monitor with basic isolation in acc. with EN 61800-5-1 or
external motor overload protection must be used.
Protect the device from falling parts (pieces of wire, leads, metal parts, and so on) during installation or other
tasks in the switching cabinet. Parts with conductive properties inside the inverter can cause short circuits or
device failure.

2.7 Commissioning, operation and service
Remove the additional covers before commissioning so that the device will not overheat. Note the minimum
open areas specified in the projecting manuals during installation to prevent the inverter and its accessories
from overheating.
The inverter housing must be closed before you turn on the power supply voltage. When the power supply
voltage is turned on, hazardous voltages may be present on the connection terminals and the cables and
motor terminals connected to them. Note that the device is not reliably free of voltage simply because all the
displays are blank.
The following actions are prohibited while the supply voltage is applied
• Opening the housing
• Connecting or disconnecting connection clamps and
• Installing/removing or attaching/detaching accessories.
ID 442289.06 17
2 Notes on safety
Apply the 5 safety rules in the order stated before performing any work on the machine:
1. Disconnect.
Also ensure that the auxiliary circuits are disconnected.
2. Protect against being turned on again.
3. Check that voltage is not present.
4. Ground and short circuit.
5. Cover adjacent live parts.
Information
Note that the discharge time of the DC link capacitors is up to 5 minutes. You can only determine
the absence of voltage after this time period.
You can carry out work on the inverter later. Repairs may only be performed by STOBER.
Send faulty devices with a fault description to:

STÖBER ANTRIEBSTECHNIK GmbH & Co. KG
Department VS-EL
Kieselbronner Str.12
75177 Pforzheim
GERMANY
2.8 Disposal
Please observe the current national and regional regulations! Dispose of the individual parts separately
depending on the quality and currently applicable regulations, e.g. as
• Electronic waste (circuit boards)
• Plastic
• Sheet metal
• Copper
• Aluminum
• Battery
2.9 Residual dangers

The connected motor can be damaged with certain settings of inverters:
• Longer operation against an applied motor halting brake
• Longer operation of self-cooled motors at slow speeds
Drives can reach dangerous excess speeds (e.g., setting of high output frequencies for motors and motor
settings which are unsuitable for this). Secure the drive accordingly.
18 ID 442289.06
Notes on safety 2
2.10 Presentation of notes on safety
NOTICE
Notice
means that property damage may occur
 if the stated precautionary measures are not taken.
CAUTION!
Caution
with warning triangle means that minor injury may occur
WARNING!
Warning
means that there may be a serious danger of death
DANGER!
Danger

means that serious danger of death exists
Information
refers to important information about the product or serves to emphasize a section in the
documentation to which the reader should pay special attention.
ID 442289.06 19
3 Commissioning an inverter
For the solution of a technical drive task, the programming of the inverter system must conform to the
sequence of certain device states. They define the state of the power portion and implement functions such
as the restart of the drive. The device state can be changed with control commands and internal events.
The 5th generation of STOBER inverters offers you a choice between a standard state machine and a state
machine as per DSP 402.You can select the state machines in the Configuration Assistant of the POSITool
software.
Information
Please observe the special features when commissioning an inverter with the safety function Safe
Torque Off (accessory ASP 5001). Read the instructions in the ASP 5001 operating manual; see
section 1.3 Further documentation.
3.1 Standard device state machine
Information
The 24-V power for the accessories must be switched on before or at the same time as the voltage
supply of the control unit.
To be able to place an inverter in operation with the standard device state of the machine, the following
requirements apply:
• You have connected all power supplies.
• You have connected the motor and, if necessary, the encoder, brake, motor temperature sensor and
POSISwitch AX 5000 in accordance with your machine documentation.

• You use the standard device state of the machine with the default settings in your project.
• You have completed all parameter settings, transferred them to the inverter and saved them.
Proceed as follows:
Placing inverter in operation
1. If available, switch on the 24V supply of the accessory (e.g. XEA 5001 X101.18, X101.10).
2. Switch on the 24V supply (X11).
 The device starts. If relay 1 is closed (X1.1, X1.2), the inverter changes to the 1:switchONinh device
state.
3. Switch on the power supply of the power stage (X10).
 The DC link capacitors are charged (E14 = 1:active).
4. If you use safety technology, switch on the controller of the ASP 5001.
 The acknowledgement on the ASP 5001 displays that the safety function is not active (E67 =
0:inactive). Afterwards the inverter is in the 2:Ready for switch on device state.
20 ID 442289.06
Commissioning an inverter 3
5. Switch on the enable.

 The inverter is in the 4:Enabled device state.
 You have placed the inverter in operation.
Device state Startup 1:Switchon 2:Ready to 4:Enabled

of the inverter disable switch on
1
1. 24 V power
accessory
0
t
>0
1
2.
24 V power
control unit (X11)
0
t
1
relay 1
(X1.1, X1.2)
0
t
1
3.
Power
power unit (X10)
0
t
1
DC link charging
relay (E14)
0
t
1
4.
Activation ASP 5001
(X12.3, X12.4)
0
t
1
Response message

ASP 5001 (E67)
0
t
1
5.
Enable
(X1.4, X1.3)
0
t
1
Response message
enable (A900)
0
t
ID 442289.06 21
The following eight states exist in the standard device state machine in accordance with the DRIVECOM
profile for drive technology.
Display Designation Behavior

XDS 5000 Not ready to • The electronics are powered.
V5.X
switch on • Self-test is running.
Or • Initialization is running.
±0Rpm 0.0A • Drive functiona) is disabled.
0: Self test
• Ready-for-operation relay is open.
Switchon disable • Software/hardware initialization is finished.
• The application was reparameterizedn.
±0Rpm 0.0A
1: ONdisable • The drive function1 is disabled.
• The ready-for operation relay is closed.
• The ASP 5001 option (safe torque off) is active.
Ready to switch • The application can be reparameterized.
±0Rpm 0.0A
2: ReadyforON on • The drive function1 is disabled.
• The ready-for-operation relay is closed.
Switched on • The application can be reparameterized.
±0Rpm 0.0A
3: Switched on • The drive function1 is disabled.
Operation  • The application can be partially parameterized.
±0Rpm 0.0A
4: Enabled enabled • The drive function1 is enabled.
Fault • The application can be partially parameterized.
Fault
No.X: type of fault • The drive function1 is disabled.
Fault reaction  • The application can be reparameterized.

active • An error-dependent action is being executed
Fault
No.X: type of fault (disable drive function or quick stop).
• The drive function1 can be enabled.
• The ready-for-operation relay is open.
Quick stop active • The application can be reparameterized.
±0Rpm 0.0A • The quick stop function is being executed.
7: Quick stop
• The drive function1 is enabled.
a) A disabled drive function means the same as a power part which is switched off and a reset application (e.g., reset ramp generator).
This means that the drive is not following the reference value.
22 ID 442289.06
The following Figure 3 1 shows which state changes are possible. The table below shows which conditions
apply.
14
Fault reaction active
Störungsreaktion aktiv
0 15
NotNicht Einschaltbereit
ready for switchon Fault
Störung
1
12 16
13 Einschaltsperre
Switchon disable 10
2 6
11 9
Ready for switchon
Einschaltbereit
3 5
Eingeschaltet
Switched on
4
7
Betrieb freigegeben
Operation enabled Schnellhalt
Quick stop aktiv
active
8
Fig. 3-1: Standard device state machine
Change of state Conditions

0 Device start-up  Not ready to switch on Control unit power supply turned on.
1 Not ready to switch on  switch on Self test without errors and initialization completed.

disable
2 Switch on disable  ready to switch on • Enable on low level (E19 bit 0 = 0 or A300 = 0) or for
initial start-up autostart active (A34)
• DC link charged (E03)
• Option ASP 5001 (Safe Torque Off) is not active (E67).
• Axis activated (E84)
• An IGB motion bus is not configured (configuration
wizard, step 6, check box) or
• No IGB motion bus is configured and either the IGB has
reached the state 3:IGB motion bus (A155) or IGB
exception mode is activated (A124) or local mode is
activated.
3 Ready to switch on  switched on Enable on high level (E19 bit 0 = 1 and A300 = 1).
4 Switched on  operation enabled Enable on high level (E19 bit 0 = 1 and A300 = 1).
5 Switched on  ready to switch on Enable on low level (E19 bit 0 = 0 or A300 = 0).
ID 442289.06 23

6 Ready to switch on  switch on disable • DC link not loaded (E03) or
• Option ASP 5001 (Safe Torque Off) is active (E67).
• Axis deactivated (E84)
• No IGB motion bus is configured (configuration wizard
step 6, check box) and the IGB has left the state 3:IGB
motion bus (A155) and IGB exception mode is not
activated (A124) and local mode is not activated.
7 Operation enabled  quick stop active • Signal quick stop on high level (A302) or
• Enable on low level(E19 bit 0 = 0 or A300 = 0) and
signal quick stop with enable off active (A44)
8 Quick stop active  operation enabled Enable on high level (E19 bit 0 = 1 and A300 = 1) and signal
quick stop on low level (A302) and quick stop end reached
according to parameterization (A45).
9 Quick stop active  ready to switch on Enable on low level (E19 bit 0 = 0 or A300 = 0) and quick
stop end reached according to parameterization (A45).
quick stop is then only regularly moved to end according to
A45 when the quick stop function is active with enable off
(A44). Quick stop is immediately canceled when the quick
stop function is inactive with enable off (A44).
10 Quick stop active  switch on disable Option ASP 5001 (Safe Torque Off) is active (E67).
11 Operation enabled  ready to switch on Enable on low level (E19 bit 0 = 0 or A300 = 0) and quick
stop with enable off inactive (A44).
12 Operation enabled  switch on disable Option ASP 5001 (Safe Torque Off) is active (E67).
13 Switched on  switch on disable • DC link not charged or

activated (A124) and local mode is not activated.
14 All states  fault response active Fault detected (E81).
15 Fault response active  fault Fault response completed (E81).
16 Fault  switch on disable There is no fault (E81) and rising edge of signal
acknowledgment (A301).
Please note section 11 Integrated Bus, an explanation of IGB states and the IGB exception mode.
24 ID 442289.06
3.2 Device state machine acc. to DSP 402

The device state machine according to DSP 402 has the same states as in the standard device state machine.
The following table shows the designation of the states according to DSP 402.
Displaya) Designation according to DSP 402

XDS 5000
V5.X
Or Not ready to switch on

±0Rpm 0.0A
0: Self test
±0Rpm 0.0A
1: ONdisable Switch on disabled
±0Rpm 0.0A
2: ReadyforON Ready to switch on
±0Rpm 0.0A
3: Switched on Switched on
±0Rpm 0.0A
4: Enabled Operation enabled
Fault Fault
No.X: type of fault
(2nd line flashing)
±0Rpm 0.0A
7: Quick stop Quick stop active
a) The display of the device states may be different to the form shown depending on the applications.
ID 442289.06 25
The device state machine must receive certain commands for a change in state. The commands are bit
combinations in the DSP 402 control word (parameter A576 Controlword). The table shows the states of the
bits in parameter A576 and their combination for the commands (the bits marked with X are irrelevant).
Bit of the control word (A576 control word)

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Command
Fault Enable Quick Enable Switch
reset operation stop voltage on
Shutdown 0 X 1 1 0
Switch on 0 0 1 1 1
Disable voltage 0 X X 0 X
Quick stop 0 X 0 1 X
Disable operation 0 0 1 1 1
Enable operation 0 1 1 1 1
Fault reset pos. edge X X X X
The difference between the standard device state machine is the possible state changes and the conditions
for the changes. Fig. 3-2 : State machine as per DSP 402shows the possible changes in state.
13
Störungsreaktion aktiv
0 14
NotNicht
readyEinschaltbereit
to switch on Fault
Störung
1
15
9
10 Switch on disabled
Einschaltsperre 12
2 7
8
Einschaltbereit
Ready to switch on
3 6
Switched on
Eingeschaltet
4 5
11
Betrieb freigegeben
Operation enabled Quick stop
Schnellhalt aktiv
Fig. 3-2: State machine as per DSP 402
26 ID 442289.06
The table below shows the conditions for changes in the state machine.

0 device start-up  Not ready to switch on Control unit power supply turned on
1 Not ready to switch on  switch on Self test without errors and initialization completed
disable
2 Switch on disable  ready to switch on • Enable on high level (E19 bit 0 = 1) and command
shutdown (A576) and option ASP 5001 (Safe torque off)
is not active (E67)
• An IGB motion bus is not configured (configuration
wizard, step 6, check box) or
• No IGB motion bus is configured and either the IGB has
reached the state 3:IGB motion bus (A155) or IGB
exception mode is activated (A124) or local mode is
activated
3 Ready to switch on  switched on Enable on high level (E19 bit 0 = 1) and command switch on
(A576)
4 Switched on  operation enabled Enable on high level (E19 bit 0 = 1) and command enable
operation (A576)
5 Operation enabled  switched on Enable on high level (E19 bit 0 = 1) and command disable
operation (A576)
6 Switched on  ready to switch on Enable on high level (E19 bit 0 = 1) and command shutdown
(A576)
7 Ready to switch on  switch on disable • Enable on low level (E19 bit 0 = 0) or
• Command quick stop (A576) or
• Command disable voltage (A576) or

• Option ASP 5001 (Safe Torque Off) is active (E67)
activated (A124) and local mode is not activated
8 Operation enabled  ready to switch on Command shutdown (A576)
9 Operation enabled  switch on disable • Enable on low level (E19 bit 0 = 0) or
ID 442289.06 27

10 Switched on  switch on disable • Enable on low level (E19 bit 0 = 0) or
• Command quick stop (A576) or
• Option ASP 5001 (Safe Torque Off) is active (E67)
• SDS 5000: No IGB motion bus is configured
(configuration wizard step 6, check box) and the IGB
has left the state 3:IGB motion bus (A155) and IGB
exception mode is not activated (A124) and local mode
is not activated
11 Operation enabled  quick stop Command quick stop (A576)
12 Quick stop  switch on disable • Quick stop complete or
• Command disable voltage (A576)
13 All states  fault response active Fault detected
14 Fault response active  fault Fault response complete
15 Fault  switch on disable Command fault reset (positive edge) (A576)
Please note section 11.3 IGB-Motionbus, an explanation of IGB states and the IGB exception mode.
28 ID 442289.06
Parameterize 4
4 Parameterize
The user interfaces of the 5th generation of STOBER inverters consist of several elements with different
functionalities (see figure).
To program a device system of the 5th generation of STOBER inverters, the user needs the POSITool
software. With the POSITool software, either an application defined by STOBER or the option of a freely
programmed application can be used. POSITool provides a parameter list with which the application can be
adjusted. The software also has comprehensive diagnostic functions.
Parameters can also be changed via the operator panel on the front of the inverter. It consists of a keyboard
for calling the menu functions and the display for indication. When appropriately programmed, the keyboard
can be used to implement functions such as manual operation or tipping. Response messages on the device
status are shown by the LEDs on the front.The display provides detailed information.
Oper. indication
Device states
Program
Display Events

P S Parameterize X3 A Oper.
T o 
X3 B panel Parameterize
Diagnostic
LED Device states


Fig. 4-1: User interface
4.1 Parameters

Parameters perform various tasks in the inverter system:
• Adjust the application to external conditions (e.g., the motor type)
• Indicate the values (e.g. current speed or the torque).
• Trigger actions (e.g., "save values" or "phase test"
Parameters are allocated to the global area or the axis area.
ID 442289.06 29
4 Parameterize
4.1.1 Structure
The parameter structure is set up as shown in the adjacent example::

The axis code identifies an axis parameter when it is shown mixed with global parameters.
The group divides the parameters into functional characteristics.
The line distinguishes the individual parameters in a group.
The element subdivides a parameter (subfunctions).
1.E250.2
Axis
(only for axis parameters)
Group Line Element

Fig. 4-2: Parameter structure
The individual subject areas of the parameter groups are listed in the table below:
Parameter group Subject area / dependency

A.. Inverter Inverter, bus, cycle time
B.. Motor Motor
C.. Machine Speed, torque
D.. Reference value Speed ref. values, reference value generator
E.. Display value Indication for device and application
F.. Control interface Analog inputs / outputs, 
binary inputs / outputs, brake
G.. Technology Depends on the application 
(e.g., synchronous running)
H.. Encoder Encoder

I.. Positioning Only with positioning applications
J.. Process blocks Only with positioning application 
motion block positioning
L.. PLCopen reference values Only with positioning application PLCopen
N.. Posi.switches Only with positioning applications
P.. Customer-specific Only with "free, graphic programming" option
parameters
Q.. Customer-specific Only with "free, graphic programming" option
parameters, dependent on
instance
R.. Production dataa) Production data of inverter
T.. Scope Scope parameters
U.. Protection functions Parameterizing the results
Z.. Fault counter Fault counter of events; In POSITool only visible during online operation
a) Only visible in POSITool during online operation.
30 ID 442289.06
Parameterize 4
4.1.2 Data types
Name Abbrev. Name Description Value Range

Boolean B 1 bit (internal: LSB in 1 byte) 0 ... 1
Unsigned 8 U8 1 byte, without sign 0 ... 255
Integer 8 I8 1 byte, with sign -128 ... 127
Unsigned 16 U16 2 bytes - 1 word, without sign 0 ... 65535
Integer 16 I16 2 bytes - 1 word, with sign -32768 ... 32767
4 bytes - 1 douple word, 
Unsigned 32 U32 0 ... 4294967295
without sign
I32 4 bytes - 1 douple word,  -2147483648 ...
Integer 32
with sign 2147483647
Floating decimal, simple 
Float R32
accuracy in acc. with ANSI / IEEE
Floating decimal, double  754
Double R64
accuracy
String 8 STR8 Text, 8 characters
String 16 STR16 Text, 16 characters
-2147483648 ...
32 bits, increments
Posi 64 P64 2147483647
32 bits, rest 0 ... 2147483647
4.1.3 Parameter list structure

To address parameters via the fieldbus, the following information is important:
• Value range
• Scaling via fieldbus if this differs form the scaling via POSITool.
• Rounding errors via fieldbus, if present.
• Data type
They are specified in the parameter table in the application description.
The fieldbus addresses are specified as hexadecimal numbers. For CANopen and EtherCAT, the index and
subindex can be transferred directly. For PROFIBUS DP-V1 and PROFINET, index = PNU and subindex =
index. Further details are in the documentation for the fieldbus interface connection, see section1.3 Further
documentation.
ID 442289.06 31
4 Parameterize
4.2 POSITool
The versatile interface between user and inverter is the POSITool software. It offers various possibilities for
the configuration of an inverter.
POSITool has an interface to represent programming. In the “free graphic programming” option, blocks are
linked and as a result a control sequence is realized.
STOBER also provides predefined applications for programming. This includes applications such as fast
reference value application and command positioning that are selected using a wizard.
POSITool provides the user with parameter lists for parameterization. Using the lists, the control sequence is
adapted to external conditions such as motor type, rotary encoder or bus systems. Limit values such as
maximum speed are also defined or display values such as the current speed are shown.
The program and parameters are transferred to the inverter via a serial interface (RS232). Afterwards it starts
processing. Here the user can observe the parameters via the serial connection. A scope function is available
to record the different values over time for use in further diagnostics.
More details about the use of POSITool can be found in the corresponding section of the POSITool operating
manual or programming manual (see section 1.3 Further documentation).
4.3 Operator panel

The operator panel is used for monitoring and changing parameter values. The operator panel consists of a
two-line display with 16 characters each and a keyboard. The keyboard has six keys for menu prompting and
two keys for local operation.
Jumps back to operator level.

ESC
Resets parameter value.
# Enter key: Opens the menu level, menu groups and the
parameters. Accepts a changed parameter value.
Selects a parameter in the menu group. During entry,
increases/decreases the parameter value (positive/negative).
Selects the menu group. During entry, changes the decade 
(ones, tens, hundreds, etc.).
Activates/deactivates local mode (if programmed). In local
mode, deactivation also deletes the enable.
Enable for local mode I/O 
I/O (if programmed).
Tab. 4-1: Operator panel
32 ID 442289.06
Parameterize 4
The parameter menu of the inverter is divided into menu groups. The menu groups are arranged in
alphabetical order, beginning with the group A.. Inverter, B.. Motor, C.. Machine, and so on. Each menu group
contains a list of parameters which are identified by the letter of the group and a consecutive number such as
A00, A01, A02, etc. To change a parameter, proceed as shown below. Use the Enter key # to go from the
operation indicators to the menu level.
Betriebs- 3000 rpm 1.3A

anzeige 4: Enabled
A.. B.. C..

Inverter Motor Machine
Parameter
groups
....
Parameter Value
B20 Control mode
0: V/f control
entry flashing
Parameter B26 Motor encoder B26 Motor encoder

selection 3: X140 3: X140
Accept change
Reject change

Fig. 4-3: Menu structure
The menu groups are selected with the arrow keys and activated with # . Use the keys to
select the desired parameter within the menu group. You can switch back and forth between the elements in
an array parameter with the keys. A parameter is then activated for change with # . The value
flashes to indicate that it can be changed with . The keys can be used to select which decade
(ones, tens, hundreds, and so on) is to be adjusted. The value is then accepted with the # key or reset with
the ESC key. Use the ESC key to access a higher menu level. To save safe from power failure, all changes must
be stored with the A00 save values = 1:active!
ID 442289.06 33
5 Parameterizing motor data

For the correct operation of the motors, you must enter the characteristic data and control mode. There are
several options available to enter the motor data:
• Selection of a STOBER standard motor in the configuration wizard
• Use of an electronic nameplate for servo motors with absolute value encoder
• Direct entry in the parameter lists for motors from other manufacturers or special motors
Information
Refer to the inverter’s projecting manual of the inverter for information on connection, see section
1.3 Further documentation.
Information
The number of parameters displayed on the inverter and in the POSITool depends on the access
level set in the parameters. The access level in the inverter can be set in the parameter A10 and
in POSITool in Tools/Change access level.
34 ID 442289.06
Parameterizing motor data 5
5.1 Selection in the configuration assistant
Information
In control type 0:V/f-control, no current or torque limitation occurs. Also connection to a rotating
motor is not possible (capture).
Proceed as shown below to select a STOBER standard motor in the configuration assistant:
Selecting the motor in the configuration assistant
1. Open the configuration assistant in POSITool.

2. Proceed up to step 5 motor selection.
3. Select your required motor from the list of motors (e.g. asynchronous motor 112 M Y 4 kW).
4. Close the assistant.
5. In POSITool select the parameter list and in parameter B20 enter the necessary control mode (e.g.
1:Sensorless vector control).
6. Go online and transfer the settings to the inverter.
7. Save the settings with A00 Save values.
 The motor data and the control mode are correctly entered.
Fig. 5-1: Motor selection in Step 5 of the configuration assistant
ID 442289.06 35
5.2 Electronic type plate

STOBER servo motors are generally equipped with absolute value encoders. These encoders offer a special
parameter buffer. In the standard configuration, STOBER stores all motor data including the data of an
existing holding brake (if one is fitted) as an electronic nameplate in this memory. These data are automatically
read into the inverter each time the device starts up.
Information
A correct evaluation of the electronic nameplate is only guaranteed after a change of the
parameters B06 and B04 after a device restart.
Information
Electronic nameplates of other motor manufacturers cannot be evaluated.
Read all motor data from the electronic nameplate
1. Check whether you have an encoder with electronic nameplate.

2. In POSITool select the parameter list.
3. In B20, enter the control type 64:Servo control.
4. In B26, parameterize the encoder interface X4 and activate the interface in H00 with 64:EnDat.
5. Set the parameter B06 to 0:electronic nameplate.
6. In parameter B04, select the setting 1:All data.
 The motor data and the control type are entered in the parameters.
Manual changes to the motor data are only effective until the next device start-up, even if the changes have
been saved in the Paramodule in non-volatile memory.
Alternatively the commutation offset can only be used from the electronic nameplate. For this purpose chose
in parameter B04 the setting 0:Commutation-offset.
36 ID 442289.06
5.3 Direct entry in the parameters

The specifications of motors which do not have an electronic nameplate and cannot be selected in the
configuration assistant must be entered in the parameter list (e.g. motors of other manufacturers and special
motors). Depending on the motor type and the type of control, different parameters must sometimes be used.
Information
In control type 0:V/f-control, no current or torque limitation occurs. Also connection to a rotating
motor is not possible (capture).
Direct entry of the motor data
1. Call up the configuration wizard in POSITool.

2. Continue up to step 5 motor selection.
3. Select a motor similar to your motor from the list of motors.
4. Close the assistant.
5. In POSITool select the parameter list.
6. Set the required control type in B20 Control type.
7. Enter in B06 Motor data 1: User defined.
8. Now edit the following parameters:
- B02 EMC constant (only for servo motors)
- B05 commutation offset (only for servo motors)
- B10 Motor pole
- B11 Nominal motor output
- B12 Nominal motor current
- B13 Nominal motor speed

- B14 Nominal motor voltage (only for asynchronous motors)
- B15 Nominal motor frequency (only for asynchronous motors)
- B16 cos phi (only for asynchronous motors)
- B17 M0 (only for servo motors)
- B52 Stator inductance
- B53 Stator resistance
- B54 Leakage factor (only for asynchronous motors)
- B55 Magnetic saturation coefficient (only for asynchronous motors)
- B62 Moment of inertia
- B73 Stat. friction moment and
- B74 Dyn. friction moment for an optimized i2t-model
9. In parameter B00 motor type, you can also enter the type designation (max. 16 characters).
 The motor data and control type are correctly entered.
ID 442289.06 37
The following actions will make it easier for you to enter parameters:
• You can calibrate the parameter B05 Commutation-offset with the aid of the action B40 Phase test.
• The parameters B52 to B55 can be determined using action B41 Autotune motor.
• The current controller can be adapted using the action B42 Activate current controller.
The actions are described in section 12.5 Actions.
5.4 Further motor datas
Information
Since parameters in the parameter lists and assistant are indicated or hidden based on how B20
is set, all parameters are not always visible for each setting.
5.4.1 Current controller
The parameters B64 to B68 are important for the setting of the current controller. If an initial test does not
provide the desired running result with the default setting in the parameters, current controller optimization is
recommended. It is performed with the action B42 Optimize current controller. Now save the measured values
with A00 Save values.
5.4.2 Thermal model
The parameters B70, B71 and B72 describe a motor model for the protection of the motor. The default values
are usually sufficient.
5.4.3 Absolute Limit values

The parameters B82 I-max and B83 n-max motor are limit values which may never be exceeded.
38 ID 442289.06
5.5 Parameterize the SLVC-HP control mode

The encoderless control type SLVC-HP is available for AC motors. Activate this control mode with B20 =
3:SLVC-HP.
Areas of application for the SLVC-HP are drives with

• high accelerations,
• changing loads and
• large loads when the motor starts up.
The parameters B46, B47 and B48 are optimized during commissioning of the SLVC-HP control mode. You
can perform this automatically with the action Optimize B45 SLVC-HP see section 12.5.2.6 Optimize B45
SLVC-HP.
If action B45 can not be performed, note the following description for a manual setting.
The quality of control of the SLVC-HP control mode also depends on how exact the values B52 stator
inductance, B53 stator resistance and B54 leakage factor are. For external motors, you can use the action
B41 to optimize these parameters, s. section 12.5.2.3 B41 Autotuning.
Set B48 Integral gain SLVC-HP

This parameter affects the dynamic properties of the motor. The larger B48 is, the faster the motor model can
follow the actual speed.
The correct setting can be checked by means of the speed curve. If an encoder is present during
commissioning, E15 n-motor encoder should be considered, otherwise E91.

If the motor can not follow the set speed ramp despite sufficiently large torque limits, B48 must be increased.
Values that are too large lead to the fault 56:Overspeed.
E07 n-post-ramp
E91 n-motor or E15 n-motor-encoder (B48 too small)
E91 n-motor or E15 n-motor-encoder (B48 too large)
ID 442289.06 39
Set B47 Proportional gain SLVC-HP

This parameter affects the dynamic properties of the motor (especially the stability and overshoot behavior of
the speed).
The correct setting can be checked by means of the speed curve. If an encoder is present during
commissioning, E15 should be considered as the actual speed, otherwise E91. B47 should not be smaller
than 1 % of B48. The drive can become unstable for values that are too small. The resulting vibration
oscillates at the mechanical frequency. By increasing B47, overshoots in the speed can be dampened. Values
that are too large lead to vibrations in the current and speed.
E07 n-post-ramp
E91 n-motor or E15 n-motor-encoder (B48 too small)
E91 n-motor or E15 n-motor-encoder (B47 too large)
mech. frequency
Set B46 Feedback ASM Observer

This parameter affects the accuracy of control type SLVC-HP. For values that are too large or too high, the
stationary difference between the reference and actual speed increases. The amount of feedback is an option
for reporting to the ASM observer how exact the machine constants B54 leakage factor, B52 stator inductance
and B53 stator winding resistance were determined. The smaller the feedback selected, the more the ASM
observer depends on these constants.
40 ID 442289.06
5.6 Parameterize motor temperature sensor evaluation
Information
Note that evaluation of the temperature sensors is always active. If operation without temperature
sensor is permitted, the connections must be bridged on X2. Otherwise a fault will be triggered
when the device is switched on.
Information
Note that the evaluation of a Pt1000 is only possible from firmware V 5.6-S. Before using a Pt or
KTY sensor, note that motor protection is not ensured to the same extent as when monitoring with
PTC triplet.
Connect the motor temperature sensor at terminal X2.
Motor temperature sensor connection

Motor windings are monitored thermally using the motor temperature sensors such as PTC thermistors, KTY
temperature sensors or Pt temperature sensors.
PTC thermistors are thermistors whose resistance changes significantly with the temperature. When a PTC
reaches its defined nominal response temperature, the resistance increases dramatically, by twice or more
the original resistance to several kOhms. As PTC triplets are used, one thermistor monitors each phase of the
motor winding. With 3 thermistors, all 3 phases are monitored which brings about effective motor protection.
On the other hand, KTY or Pt temperature sensors are temperature sensors with characteristic resistance
curves that follow the temperature linearly. They therefore allow for analog measurements of motor

temperatures. However, the measurements are limited to one phase of the motor winding, which also restricts
motor protection considerably compared with PTC triplets.
In the B38 Motor temperature sensor parameter, set whether you will evaluate a PTC triplet, a KTY 84-1xx or
a Pt1000.
B38 = 0:PTC 
B38 = 1:KTY 84-1xx
B38 = 2:Pt1000
In B39 maximum motor temperature, set the maximum permitted temperature of the motor. If this is reached,
the 41:TempMotorTMP fault is triggered.
The motor temperature measured by the KTY or Pt1000 is displayed in E12 Motor temperature.
ID 442289.06 41
6 Parameterizing encoder data

The following paragraphs explain the settings for commissioning encoder systems with POSITool. We
assume that an encoder system and the appropriate interface have already been chosen for your drive. The
settings for the simulation of encoder signals is not described in this chapter.
Various encoder interfaces are provided on the MDS 5000 or SDS 5000. The interfaces must be selected in
the parameter B26 Motor encoder. Interface X4 which is the interface integrated in the basic system is entered
as the default setting. The motor encoder can also be deactivated or set to another interface.
Information
Refer to the inverter’s projecting manual of the inverter for information on connection, see section
1.3 Further documentation.
Information
Not all encoder systems are suitable for servo control. In the selections of the H.. parameters H00,
H40, H120 and H140, the functions with servo capability are the ones with numbers greater than
or equal to 64. Example: H00 = 64:EnDat.
6.1 Deactivating the motor encoders

Select B26=0:inactive when an asynchronous motor without speed feedback is to be used (B20=0:V/f-control
or 1:Sensorless vector control). This setting is not permitted when servo motors or vector control are used.
6.2 Interface X4
You can evaluate the following encoders on X4:

• Absolute value encoder EnDat 2.1/2.2 digital
• Incremental encoder HTL
• Incremental encoder TTL
• Absolute value encoder SSI
If it is determined during device startup that an SSI encoder is parameterized on an interface, the device waits
in device status self test until an SSI encoder is detected on the interface. While waiting for the SSI encoder,
one of the following indications which varies depending on the SSI interface appears on the display:
42 ID 442289.06
Parameterizing encoder data 6
Indication on display Meaning

This indication appears when an SSI encoder is
expected on X120 and the inverter is the SSI
waiting for
X120-SSI-encoder master (setting H120 = 67:SSI-Master). The SSI
master sends the encoder the request to transmit
the positions.
The indication specifies that an SSI encoder is
expected on X120 and the inverter is an SSI slave
waiting for
X120-SSI-slave (setting H120 = 68:SSI-Slave). An SSI slave
receives the same signal as the master but does
not send requests to the encoder.
This indication appears when an SSI encoder is
waiting for
X4-SSI-encoder expected on X4 and the inverter is the SSI master
(setting H00 = 65:SSI-Master).
When no encoder is detected within a waiting time of several seconds, the inverter changes to the next device
state. If the encoder is needed for position control, fault 37 is triggered with the cause 17:X120-wirebreak.
Parameterize interface X4
1. From the parameter list, select the parameter B26.

2. In B26, set 2:X4-encoder.
3. Open group H.. in the parameter list.
4. In H00, set the encoder system which you want to run on X4.
5. Set H01, H02, H05, H10 und H11 in accordance with the connected encoder. Note that depending on the

encoder system set in H00, not every parameter will be displayed.
6. Transfer the settings to the inverter and save them.
7. Switch the inverter off and back on again.
 You have parameterized the X4 interface.
ID 442289.06 43
6.3 Connection X101 (binary input encoder)

You can connect the following encoders to X101:
• Incremental encoder HTL
• Incremental encoder TTL (only with REA 5001)
• Pulse train
NOTICE
If a BE encoder is used, the binary inputs BE3, BE4 and BE5 may not be used for any other function in the
application.
To be able to use the BE encoder, you need one of the options:

• SEA 5001
• REA 5001
• XEA 5001
BE encoder
1. Open the configuration wizard and select step 6.

2. Enter one of the above options for option 2 and make sure that it is installed and correctly connected in
the inverter.
3. If you connect a TTL encoder to the REA 5001, make sure that the sliding switch is correctly set. Observe
the connection section in the projecting manual, see 1.3 Further documentation.
4. Close the configuration wizard.
5. Set to B26 = 1:BE encoder.

6. Set the encoder system that you want to operate at X101 in H40.
7. Set H41 and H42 according to the connected encoder.
10. You have parameterized the BE encoder.
44 ID 442289.06
Parameterizing encoder data 6
6.4 Interface X120

• Absolute value encoder SSI
• Incremental encoder TTL
You will need one of the following options when you use interface X120:
• REA 5001
• XEA 5001
Remember that X120 is designed as a double interface on the XEA 5001.
1. Open the configuration assistant and select step 6.

2. In option 2, enter one of the above-named options and make sure that this is actually installed on the
inverter and correctly connected.
3. Exit the configuration assistant.
4. In B26, enter 4:X120-encoder.
5. In H120, set the encoder system which you want to run on X120.
6. Set H121, H122, H125 and H126 in accordance with the connected encoder.
 You have connected interface X120.

If it is determined during device startup that an SSI encoder is parameterized on an interface, the device waits
in device status self test until an SSI encoder is detected on the interface. While waiting for the SSI encoder,
one of the following indications which varies depending on the SSI interface appears on the display:
Indication on display Meaning

This indication appears when an SSI encoder is expected on X120 and the
waiting for
X120-SSI-encoder inverter is the SSI master (setting H120 = 67:SSI-Master). The SSI master
sends the encoder the request to transmit the positions.
The indication specifies that an SSI encoder is expected on X120 and the
waiting for
X120-SSI-slave inverter is an SSI slave (setting H120 = 68:SSI-Slave). An SSI slave receives
the same signal as the master but does not send requests to the encoder.
waiting for This indication appears when an SSI encoder is expected on X4 and the
X4-SSI-encoder inverter is the SSI master (setting H00 = 65:SSI-Master).
When no encoder is detected within a waiting time of several seconds, the inverter changes to the next device
state. If the encoder is needed for position control, fault 37 is triggered with the cause 17:X120-wirebreak.
ID 442289.06 45
6.5 Interface X140

• Resolver
• Absolute value encoder EnDat 2.1 sin/cos
You will need the this option when you use the X140 interface:
• REA 5001
1. Open the configuration assistant and select step 6.

2. In option 2, enter the selection REA 5001 and make sure that the option is actually installed on the
inverter and correctly connected.
3. Exit the configuration assistant.
4. In B26, enter 3:X140-encoder.
5. In H140 set the encoder system which you want to run on X140.
6. Set H142 and H148 in accordance with the connected encoder.
 You have parameterized interface X140.
46 ID 442289.06
Parameterizing brake data 7
7 Parameterizing brake data

Motors with holding brakes can be connected to the devices oft the 5th generation of STOBER inverters. There
are two ways to activate the brake.
A brake control is integrated in the following applications:

• Fast reference value with brake activation
• Comfort reference value
• Technology controller
• Command positioning (endless and limited position range)
• Synchronous command positioning (endless and limited position range)
• Motion block positioning (endless and limited position range)
• Electronic cam (endless and limited position range)
You can activate the brake control in parameter F08. Further adjustments are made depending on the
selected control mode.
In addition, a signal source can be parameterized in F100. The signal for releasing the brake can be given
direct via the source. F100 is a global parameter and is available in every application.
If F08 is set to 0:inactive, the brake is activated together with system enable A900. In this case, the brake
release times and brake application times are ignored.
In the F08 = 1:active setting, the current motor torque is saved when the brake is applied. This torque is
applied again when the brake is released. If F08 is set to 2:Do not save torque, only the motor magnetization
is established when the brake is released.

As the brake controller parameterization depends on the selected control mode, the following sections are
subdivided accordingly.
ID 442289.06 47
7.1 B20 = 0:V/f-control

Proceed as follows for parameterization:
Parameterize the brake control for B20 = 0:V/F controller
1. Activate the brake control in parameter F08.

2. Specify which brakes are connected to the brake module in F09.
3. Enter the speed when the brake should be set in F02.
4. Enter the speed when the brake should be released in F01.
5. Enter the time that the brake requires to be set in F07. If you use two brakes at the brake module, enter
the one with the longer set time.
6. Enter the time that the brake requires to be released in F06. If you use two brakes at the brake module,
enter the one with the longer release time.
7. Transfer the parameters to the inverter and save them in it.
 You have now parameterized the brake control.
You can make these settings with the General settings assistant on the Holding brake page:
Fig. 7-1: General settings assistant, Holding brake page
48 ID 442289.06
7.2 B20 = 1:Sensorless vector control

Parameterize the brake control for B20 = 1:sensorless vector control

5. Enter the time for which the motor should remain magnetized after triggering the braking procedure in
B27.
6. In B25, enter the percentage of halt flux that should remain after the time in B27.
ID 442289.06 49
7.3 B20 = 3:SLVC-HP

Parameterize the brake control for B20 = 3:SLVC-HP

B27.
50 ID 442289.06
7.4 B20 = 2:Vector control

Parameterize the brake control for B20 = 2:vector control

B27.
ID 442289.06 51
7.5 B20 = 64:Servo-control

The motor holding brake is the brake mounted directly on the motor shaft. Only your data is saved in the
electronic name plate.
If you operate a servo motor at the inverter, there are two options for how to set the brake control:
• Parameterize the brake control with an active (s. 5.2 Electronic type plate) electronic name plate
• if a STOBER servo motor with electronic name plate and a brake is operated at the inverter or
• if a STOBER servo motor with electronic name plate and two brakes is operated whereby the motor
holding brake has the longer release and set time.
• Parameterize the brake control manually

• if you do not use the electronic name plate or
• if a servo motor without electronic name plate is operated at the inverter or
• if a STOBER servo motor with electronic name plate and two brakes is operated whereby the motor
holding brake has the shorter release and set time.
Parameterize the brake control for an active electronic name plate
Parameterize the brake control for B20 = 64: servo control and an active electronic name plate

3. Make sure that B07 = 0:el. motor-type is set.
The values for F06 and F07 are then automatically read from the name plate each time the inverter starts up.
Manual changes to F06 and F07 only apply until the next power on.
Parameterize the brake control manually

Manual parameterization is necessary in the following cases:
• You do not use the electronic name plate.
• A servo motor without electronic name plate is operated at the inverter.
• A STOBER servo motor with electronic name plate and two brakes is operated at the inverter whereby
the motor holding brake has the shorter release and set time.
52 ID 442289.06
Then proceed as follows:
Parameterize the brake control for B20 = 64: Manually parameterize the servo control

3. If the electronic name plate is active, set B07 = 1: free setting.
ID 442289.06 53
7.6 Brake management

Brake management monitors to ensure brake tests are performed regularly, thereby controlling the functional
capability of the brake(s). You can monitor one or two brakes.
The SDS 5000 provides the following options for axis management:
• Single axis operation: An axis projected in POSITool is used for the connected motor.
• Multi-axis operation: 2, 3 or 4 axes projected in POSITool are used for the connected motor.
• POSISwitch multi-axis operation: Up to 4 motors connected to POSISwitch are sequentially operated with
up to 4 axes.
The procedure for single axis operation is shown first. Then the special features of multi-axis operation and
POSISwitch multi-axis operation will be explained.
Brake management can be used provided the following conditions are met:
• The brakes are operated using the accessory BRS 5001.
• Self-activating brakes are used, which means they brake in a de-energized state.
• The braking torque MBrake must be at least 1.3 times the maximum load torque.
• The drive has an encoder.
Note this information during projecting and during commissioning of the machine.
7.6.1 Single-axis operation
Prerequisite for the activation of brake management:

• You have parameterized brake activation.
Activate brake management as shown below:
Activating brake management
1. Set parameter B310 brake management to 1:global.

2. In parameter B311, set the time after which the inverter is to output a message indicating that a brake test
is necessary. The maximum operating time that can be set is 1 year = 52 weeks or 8760 hours.
3. Transfer the parameters to the inverter and save them there.
4. Turn the inverter off and on again.
 After startup, brake management is activated.
54 ID 442289.06
Brake management works with the following state machine:
No
brake test
necessary
Time in B311 Brake test

expired successful
successful
Brake test
Normal inverter operation possible,

Brake test
message 72 on the display
required
E29=1:brake test necessary
Twice the time in B311

expired or brake fest failed
Inverter operation is inhibited.

Brake test Fault 72 on the display. Only
is brake test and brake grinding
mandatory function are possible.
E29=1:brake test necessary
Fig. 7-5: Brake management state machine
The time B311 of brake management begins running at the time of activation. After the time has expired, a
transition is made to the brake test required state. This state is indicated on the inverter display with message

72:brake test. After you perform a successful brake test in this state, brake management returns to the no
brake test required state. And the B311 cycle begins again.
If the time B311 expires again in the brake test required state without a brake test having been performed at
all or the brake test was not successful, a transition is made to the brake test mandatory state takes place.
This state is indicated on the inverter display with fault 72:brake test. In addition the status is displayed in
parameter E29 Warning: perform brake test (1:brake test necessary). To avoid interrupting a production
process, the malfunction is only generated if there is no enable. The fault must be acknowledged before the
brake test and the brake grinding function can be performed. If the brake test has not been performed
successfully 5 minutes after the acknowledgment, the fault appears again on the inverter display. A successful
brake test in this state automatically takes you back to the no brake test required state and the B311 cycle
begins again.
If a brake test is not successful in the brake test mandatory state, you have the option of grinding the brakes
and trying to perform a brake test again. If this brake test also fails, the brake or the motor must be replaced.
Brake management remains in the brake test mandatory state until a successful brake test is performed after
replacement of brake or motor. Time since the last brake test is indicated in parameter E177 Time passed
since last brake test. The brake test can be started directly on the inverter, in POSITool or from the higher level
controller.
ID 442289.06 55
7.6.2 Multi-axis operation
In multi-axis operation, several axes (switching parameter records) are used on one motor connected to the
inverter. In such cases, you activate brake management with the same settings as for single-axis operation.
Please note that the settings are made in the parameters of axis 1.
7.6.3 POSISwitch multi-axis operation
When a POSISwitch is used, up to 8 brakes on 4 motors can be monitored. In such cases, set parameter B310
= 2:axis-specific. Parameters F08, F09 and F311 are set separately for each axis.
A separate state machine exists for each axis that is monitored. All state machines run parallel to each other,
regardless of the activation of the axes. If twice the time B311 expires on one of the state machines without a
brake test having been performed, the state machine changes to the state brake test mandatory. The state is
indicated on the inverter display with events 72 to 75:
• Event 72: The brake test is mandatory for axis 1.
Please note that these events cause the inverter to change to the device state fault which inhibits all axes.
56 ID 442289.06
7.7 Brake test

The brake test checks whether the brakes can still apply the required holding torque.
For the brake test, an encoder test is first performed with the brake released. Brake 1 then engages and a
test torque that can be parameterized is applied to the drive in each permitted direction of rotation. If the drive
detects movement, the brake could not apply the required countertorque and the test has failed. The test
torques that can be parameterized are entered in the B304.x (positive torque) and B305.x (negative torque)
parameters. This is repeated for brake 2 if available. Finally the encoder is tested again.
WARNING!
Danger of personal injury or property damage due to defective motor halting brake. Starting the brake
test action releases the motor brakes one after the other. During the encoder test and/or in the case
of a faulty brake, the drive axis may move.
 Please take special precautionary measures - above all for gravity-stressed axes.
WARNING!
During the action, the motor rotates at approx. 60 Rpm.
Danger due to movement of the drive.
Ensure the following
 Before the function starts, make sure the drive is in a position in which it is permissible for it to move at
this speed.
 Restrict the direction of rotation in B306 if the drive is not permitted to rotate in a particular direction.

Information
A motor encoder is required for the brake test. Only the configured (slip-free) motor encoder is
evaluated.
Information
Please note that the brake test function is defined for the STOBER system (gear motor with brake
and, if applicable, ServoStop). It is essential to clarify the technical demands on a system of
another manufacturer before you use it.
Information
Please note that the motor torque is restricted to the values in C03 and C05. If greater values are
entered in B304.x and B305.x, they will not be achieved. Check E62 and E66 to see whether other
torque limits are still active.
ID 442289.06 57
Information
Please note, that with thrust axes, the torque to be provided by the motor for the direction of
rotation in which loads are lowered, is calculated this way:
MParameter = MBrake - MLoad
MParameter: torque to be entered in B304.x or B305.x
MBrake: stopping torque to be provided by the brake
MLoad: load.
Information
During the brake test action, the cycle time is set internally to 32 ms. The change occurs when the
action is activated. After the action is concluded, the previous cycle time is used again.
Information
If you would like to perform the action and brake management considers a brake test mandatory
(fault 72), the fault must be acknowledged before the action starts. Once you have acknowledged
the malfunction, you can continue with the perform brake test instruction.
Prerequisites for the performance of a brake test:

• You have parameterized a brake activation with the parameter F08 and F09.
• In B304.0 you have entered the torque for brake 1 which the brake must maintain in the positive direction
of rotation.
• In B305.0 you have entered the torque for brake 1 which the brake must maintain in the negative direction
of rotation.
• In B304.1 you have entered the torque for brake 2 which the brake must maintain in the positive direction
of rotation.
• In B305.1 you have entered the torque for brake 2 which the brake must maintain in the negative direction
of rotation.
• If the drive is only permitted to rotate in one direction, you have restricted the direction of rotation in
parameter B306 in preparation for the test.
• In B307 you have entered the angle of rotation which the drive will evaluate as standstill.
58 ID 442289.06
To perform the brake test, proceed as shown below:
Performing a brake test
1. Change to the device state Ready for switch on.

2. Set parameter B300.0 brake test & start to 1:active.
3. Turn on the enable signal.
 The inverter starts the brake test and the motor begins rotating
4. Wait until parameter B300.1 indicates the result 100 % and parameter B300.2 the result 0:error free.
5. Turn off the enable signal.
 You have performed the brake test successfully.
If you did not get the correct results, check the following:
1. B300.2 = 1:aborted: The brake test action was terminated. Reasons for the termination may include, for
example:
– The enable was switched off during the test.
– The enable signal has not been switched on within 30 seconds.
Perform the brake test again.
2. B300.2 = 2:maximal torque not achieved for brake 1:
Brake 1 was unable to maintain the required torque during the test. Perform the brake grinding function
for brake 1 or replace brake 1. Then perform the brake test again.
3. B300.2 = 3:maximal torque not achieved for brake 2:
Brake 2 was unable to maintain the required torque during the test. Perform the brake grinding function
for brake 2 or replace brake 2. Then perform the brake test again.
4. B300.2 = 4:Error. Reasons for the message may include:
– No brake is parameterized. Set F08 to 1:active and F09 to the brakes being used.
– No encoder is parameterized. Determine whether an encoder exists and whether the connected motor

can be operated in control mode servo-control or vector control. Set B20 accordingly.
– Brake test has not been activated in the device state "Ready for switch on" (e.g. in the state "Switch
on inhibit").
5. B300.2 = 5: Encoder defective. Reasons for the message may include:
– The brake(s) did not release. Test the brakes.
– The encoder is defective. Call the STOBER hotline at +49 (0) 180 5 786323.
6. B300.2 = E62/E66 Torque limit. Reasons for the message may include:
– C03/C05 are set to low.
– Other application-relevant torque limits are in effect.
– The device is overloaded.
ID 442289.06 59
The inverter maintains an internal brake test memory with the last 20 results from B300.2 and the actually
achieved stopping torques for brakes 1 and 2 in positive and negative directions. With the result 0:error free,
these correspond to the values parameterized in B304.x and B305.x. If the values in the brake test memory
are less than these, the brake test was not successful.
The maximum positioning path during the brake test is approx. 45° in both directions. When the direction of
rotation is restricted, the positioning path is approx. 2 x 45° in the permitted direction. In both cases there is
also a stopping distance to consider which depends on the torque limit and the inertia. When a mechanism is
coupled, you will also have to include the ratio of the gear unit in your calculations. If both directions of rotation
are permitted in B306, rotation in the positive direction is done first. Please note that this calculation only
applies when the brake is intact. If the brake being tested is unable to provide the required stopping torque,
the positioning path cannot be calculated. In such cases, the inverter shuts off within < 10 ms and applies the
second brake (if one exists). The standstill of the drive is significantly affected by the brake application time
and the functionality of the second brake. If a second brake does not exist, the motor coasts down.
Please note that axis 1 must be selected for the action when you use multi-axis operation.
Please note that the respective axis must be selected for the action when you use POSISwitch® multi-axis
operation
60 ID 442289.06
7.8 Brake grinding function

The control unit can activate the brake grinding function separately for each of the two brakes. Use action
B301 for brake 1 and B302 for brake 2. We will now describe action B301 for brake 1. The description also
applies to brake 2.
During the brake grinding function, the brake is repeatedly applied for approx. 0.7 s and then released for
approx. 0.7 s while the motor is rotating with approx. 20 rpm. This grinds off any deposits from the friction
surface which may affect the halting function. You can parameterize the following settings:
• How often the brake is applied (B308) during rotation.
• How often the drive is to rotate in each direction (B309).
• Whether one direction of rotation is inhibited (B306).
WARNING!
Danger of personal injury or property damage due to defective motor halting brake. Starting the brake
test action releases the motor brakes one after the other. During the encoder test and/or in the case
of a faulty brake, the drive axis may move.
 Please take special precautionary measures - above all for gravity-stressed axes.
WARNING!
Danger due to movement of the drive. During the action, the motor rotates at approx. 20 Rpm and with
the torque entered in C03 or C05.
Ensure the following.
 Before the function starts, make sure the drive is in a position in which it is permissible for it to move at
this speed and torque.

 Restrict the direction of rotation in B306 if the drive is not permitted to rotate in a particular direction.
 Check E62 and E66 to see whether other torque limits are also in effect.
Information
Please note that the brake grinding function is defined for the STOBER system (gear motor with
brake and, if applicable ServoStop). For example, you cannot use the brake grinding function with
brakes that are attached to the output power of the gear unit. It is essential to clarify the technical
demands on a system from another manufacturer before you use this function.
Information
During the brake grinding action, the cycle time is set internally to 32 ms. The change occurs when
the action is activated. After the action is concluded, the previous cycle time is used again.
ID 442289.06 61
Information
If you would like to perform the action and brake management considers a brake test mandatory
(fault 72), the fault must be acknowledged before the action starts. Once you have acknowledge
the malfunction, you can continue with the brake grinding function instruction.
Prerequisites for using the brake grinding function:

• You have parameterized brake activation.
• In B308 you have entered how often the brake is to be applied while rotating in one direction.
• In B309 you have entered how often the drive is to grind in each direction.
• In B306 you have specified whether one direction of rotation is inhibited.
• The brake should be ground with its maximum holding torque. For normal motor-controller combinations
this is the case with C03/C05 = ±200 %.
• Check E62 and E66 to see whether other torque limits are also in effect.
Proceed as shown below:
Performing the brake grinding function

2. Set parameter B301.0 grind & start brake 1 to 1:active.
3. Turn on the enable signal.
 The drive begins to rotate as per the specified parameters.
4. Wait until parameter B301.1 indicates the result 100 % and parameter B301.2 the result 0:error free.
5. Turn the enable off.
 You have successfully performed the brake grinding function.
If you did not get the correct results, check the following:
1. B300.2 = 1:aborted: The brake grinding action was terminated. Reasons for the termination may include,
for example:
– The enable was switched off during execution.
– The enable signal has not been switched on within 30 seconds.
Perform the brake grinding function again.
2. B301.2 = 4:error. Reasons for the message may include:
– Brake 1 is not parameterized. Set F08 to 1:active and F09 to 1:brake 1 or 3:brake 1 and 2.
– Brake grinding has not been activated in the state "Ready for switch on" (e.g. in the state "Switch on
inhibit").
62 ID 442289.06
The inverter maintains an internal memory containing the operating times of the last 40 successfully executed
grinding procedures. All grinding procedures are counted in parameter E176 regardless of the result. The
maximum positioning path is B308 x 0.5 motor rotations. When mechanics are coupled, you will also have to
consider the ratio of the gear unit in your calculations. If B306 permits both directions of rotation, the positive
direction is done first.
The inverter maintains an internal memory containing the operating times of the last 40 successfully executed
grinding procedures. All grinding procedures are counted in parameter E176 regardless of the result.
The maximum positioning path is B308 x 0.5 motor rotations. When mechanics are coupled, you will also have
to consider the ratio of the gear unit in your calculations. If B306 permits both directions of rotation, the positive
direction is done first.
Please note that axis 1 must be selected for the action when you use multi-axis operation
Please note that the respective axis must be selected for the action when you use POSISwitch® multi-axis
operation.
ID 442289.06 63
8 Parameterizing axis management
8 Parameterizing axis management

This section describes axis management. Management of the axes takes place in the global area.
Management means the unique control of a maximum of one axis. All axes can be deactivated. The display
of the inverter shows which axis is active or whether there is an active axis.
Information
The axis can only be switched when the enable has been switched off and E48 device state is not
5:fault. The option startup disable ASP 5001 may not be active when an axis is switched!
The axes can be combined with motors in different ways. For instance, when only one motor is connected
directly to the inverter, several axes can be allocated with applications and switched. In this case, the axes
function like parameter sets (see Figure 8 1).
Axis management
Axis 1
(= ”parameter set 1”)
Axis 2
ESC #
I/O
(= “parameter set 2”)

X3
Axis 3
(= “parameter set 3”) Motor 1
Axis 4
(= “parameter set 4”)
no axis active!
Fig. 8-1: Using the axes as parameter records
An inverter can sequentially control up to four motors. The POSISwitch AX 5000 option must be used for this.
POSISwitch AX 5000 is activated by the inverter via encoder interface X4. Servo motors with EnDat absolute
encoders are connected to POSISwitch.
Axes can be used like parameter sets with POSISwitch AX 5000 too. The axis-motor combination is
determined with parameter H08. Separate and defined information exists for each axis as to which encoder
is being activated by the axis on POSISwitch AX 5000.
In our example, the motor on encoder port 3 ("Enc3") is selected for axis 1.
Fig. 8-2: Allocating the axis to encoder port
64 ID 442289.06
Parameterizing axis management 8
Selection of an axis is binary-coded via the signals axis-selector bit 0 and axis-selector bit 1. The axis disable
signal can be used to disable all axes regardless of the state of the axis selectors.
For which parameters can be used to access these signals, see the descriptions of the applications.
You can view the status of axis management in the parameters E84 and E200, bits 3 to 5.
ID 442289.06 65
9 Parameterizing brake resistor
9 Parameterizing brake resistor

To remove excess braking energy from the DC link, a brake resistor can be connected to the 5th generation
of STOBER inverters. You will find information on the types available from STOBER and connection in the
configuration manual for the inverter.
Parameters
• A21 Braking resistor R [Ω]
• A22 Braking resistor P [W]
• A23 Braking resistor thermal [s]
are available for the settings.
Enter the value 0 in A22 and the activation of the braking resistor (brake chopper) is deactivated. Note that
the brake chopper continues working when most malfunctions occur. The malfunctions that cause the brake
chopper to be switched off are documented accordingly in chapter Diagnosis.
Inverters of size 3 have an internal braking resistor. To activate the internal brake resistor, enter A21 = 30 Ω
and A22 = 1000 W for example.
66 ID 442289.06
Parameterizing in-/outputs 10
10 Parameterizing in-/outputs
This chapter discusses the linking of control and status signals with the application.
The system of the control signals will now be explained with the example of quick stop.
Fig. 10-1: Selection of the signal sources for input signals
The signal can be provided on various binary inputs or via fieldbus. The user makes the selection with a
selector (A62 here). In addition, an indicator parameter exists which shows the signal status (A302 here). The
application descriptions list selection, fieldbus and indicator parameters for each signal.
The output signals are allocated by the specific selection of status signals. The routine is explained with the
example of ref.value reached.
Fig. 10-2: Selection of the signal sources for output signals
ID 442289.06 67
10 Parameterizing in-/outputs
All available parameters can be entered in the source parameters.
To be able to poll application status signals, the signals must be allocated to an output (BA, AA, parameter).
There is a source parameter for each output in which the signals available for the particular application can
be selected / inscribed. Source parameters F61 and F62 are used for the binary outputs BA1 and BA2 shown
in the diagram. At the same time, the signal is written in a parameter (D200 bit 1 here). This parameter can
be read from a fieldbus system.
The indicator parameter (D181 in the diagram) shows the signal state after handling by the application. It is
used to check the signal path. The application descriptions specifies for each signal the possible outputs and
the related selection parameters as well as the fieldbus and indicator parameter.
68 ID 442289.06
Integrated Bus 11
11 Integrated Bus
The Integrated Bus (IGB) offers the following functions:
• Direct connection
• IGB-Motionbus
• Remote maintenance
You can use the IGB-Motionbus function either with a direct connection or with the remote maintenance
function. However, it is not possible to establish both a direct connection and a remote maintenance
connection at the same time.
The IGB can only be set up with inverters of the SDS 5000 device family.
11.1 Components
The following figure shows the components used to carry out remote maintenance. You can also use the IGB
Motionbus function with this setup. The teleserver that establishes the connection is described in 11.4.
Internet Remote
maintenance
Company
network IGB network
Fig. 11-1: Remote maintenance with the components involved
The following figure shows the setup when a direct connection to the PC is established as well as the IGB
Motionbus. A direct connection and remote maintenance can not be set up simultaneously!
ID 442289.06 69
11 Integrated Bus
Fig. 11-2: Direct connection to the PC and the components involved
You can also set up communication to a controller via the fieldbus in parallel to the IGB. Observe the fieldbus
documentation for this (see section 1.3 Further documentation).
Information
Remember that when a fieldbus and the IGB-Motion bus are used at the same time, the fieldbus
communication cannot be synchronized on the controller.
11.1.1 Basics of IGB communication
Information
Remember that an IGB network can never be accessed by remote maintenance and direct
connection (PC) at the same time.
Communication uses the following interfaces:

• Direct connection: TCP/IP protocol on port 37915 and UDP/IP protocol on port 37915
• Remote maintenance without proxy server: HTTP protocol on port 80
• Remote maintenance with proxy server: HTTP protocol on port of the proxy server
You may be asked to share this port by the personal firewall. Share these port for your firewall. To do this,
contact your network administrator.
The IGB network must meet the following conditions:

• A maximum of 32 SDS 5000s may be connected in one network.
• All inverters involved in the IGB network must be directly connected with each other. No other components
such as hubs and switches are permitted between them in the circuit.
• The overall resulting layout must be a line topology.
• The X3 A interfaces may only be connected with X3 B interfaces of other inverters and vice versa.
• Suitable cables must be used. STOBER provides ready-made cables for the layout of the Integrated Bus.
These cables must be used to ensure proper functionality. Note also the SDS 5000 projecting manual.
70 ID 442289.06
Integrated Bus 11
It is also possible to use cables with the following specification:
Plug wiring Patch or crossover

Quality CAT5e (or better)
Shielding SFTP or PIMF (or better)
• The maximum overall extent of the IGB network is 100 m.
• The IGB does not require an explicit master and the extensive configuration 
typically required for Ethernet is eliminated.
IGB addr. 5 IGB addr. 31 IGB addr. 0
Free socket X3 A Free socket X3 B

for connection of for connection
PC or Internet of PC or Internet
Fig. 11-3: IGB network

PC or the internet are connected to a free outer socket. The IGB network is set up automatically when you
turn on at least one inverter. The following conditions apply when integrating additional inverters into the
network:
• You have connected these inverters to the IGB network.
• The inverters in the network must be receiving a 24-V power supply.
To start the integration, the 24-V power supply of the inverter in the network must be turned on. When the 24-
V power supply is turned on, the IGB network is restructured and up to 32 connected inverters will be
integrated.
Information
Remember that sockets X3 A and X3 B are not electrically connected. If you turn off a device in an
IGB network or disconnect an IGB cable, two partial networks are created to the left and right of
this device or the disconnected cable.
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11.1.2 General diagnosis
Information about the IGB is provided by every inverter via the following parameters:
Parameters A153 and A155 are used in every station to diagnose the IGB ...
• A153 IGB actual node number: The parameter specifies the number of stations which are currently
registered on the IGB.
• A155 IGB-state: The parameter specifies information on the following states of the IGB:
Indication in A155 Description

0: Booting The IGB is booting.
1: Single The SDS 5000 did not find any other SDS 5000s with
which it could set up an IGB network. The functions
remote maintenance or direct connection may be
active.
2: IGB-Running Several devices can use the remote maintenance or
direct connection (with POSITool) functions. The IGB-
Motionbus function is not used or cannot be used.
3: IGB-Motionbus Several SDS 5000s can use the IGB-Motionbus
function. The remote maintenance or direct
connection (with POSITool) functions can be active at
the same time.
4: IGB Error An error was determined on the bus.
Information related to the specific device is provided by the following parameters:

... while parameters A152, A154 and A156 describe the status of the IGB station.
• A152 IGB position: The parameter shows the current position of the SDS 5000 on the IGB bus. You are
given the following information:
Indication in A152 Description

0: Single The inverter is not connected with other devices.
1: IGB-internal Both sockets are connected with other inverters (i.e.,
additional inverters are connected on both sides of the
inverter).
2: Gateway-X3A The inverter is located on the left, outer end of the IGB
(i.e., no inverter is connected to its socket X3 A).
3: Gateway-X3B The inverter is located on the right, outer end of the
IGB (i.e., no inverter is connected to its socket X3 B).
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• A154.x IGB Port X3 A/B: The array parameter specifies the status of the interface separately for the X3 A
and the X3 B. You are given the following information:
Indication in A154.x Description

0:_ERROR The status of the socket is unknown.
1:noConnection The socket is not connected with other devices.
2: 10 MBit/s A connection exists to a station with a transmission
rate of 10 Mbit/s.
3: 100 MBit/s A connection exists to a station with a transmission
rate of 100 Mbit/s without full-duplex capability.
4: link OK A connection exists to a station with a transmission
rate of 100 Mbit/s whose communication has full
duplex capability.
To be able to set up communication within the IGB network A154.x = 4: connection OK must be displayed. If
any other message appears, follow this procedure:
• Check whether the IGB network meets the conditions of the section 11.1.1 Basics of IGB communication.
• Check whether an integrated switch, if any, is full duplex capable and capable of transfers at 100 Mbit/s.
• Check the wiring.
• A156 IGB number bootups: The parameter shows for each device how often it determined a startup of the
IGB since the last time its power was turned on.
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11.2 Direct connection

A direct connection means the direct connection of a PC with POSITool to an SDS 5000 or an IGB network
via a cable without any other network components for commissioning, diagnostic or maintenance
purposes.You can establish a direct connection with an SDS 5000 or an IGB network.
11.2.1 Requirements for a direct connection
Note the following rule for the direct connection:

• The socket of the gateway device and the computer's network connection must have IP addresses on the
same subnet.
Information
To coordinate the IP addresses of the gateway device and the computer, you have the option of
changing the IP address of either the computer or the gateway device. However, since you
generally need administrator rights to change the IP address of the computer, we recommend
changing the IP address of the gateway device.
Information
Please note that the device has two RJ45 sockets (X3A and X3B). Since one socket must be
access concretely for a direct connection, the related parameters are created as array parameters.
Element 0 contains the settings for socket X3A and element 1 for socket X3B. Make the settings
described in this section appropriately for the socket with which you will connect the gateway
device with the computer.
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11.2.2 IP address and subnet mask
An IP address is divided into a network section and a device section by the subnet mask. The subnet mask
can be represented in binary format, for example, as a series of numbers with the left side consisting only of
the number 1 and the right side consisting only of the number 0.
1111 1111.1111 1000.0000 0000.0000 0000 = 255.248.0.0
The section of the subnet mask with the number 1 shows which part of the IP address indicates the address
of the subnet (the network section). The other part with the number 0 shows the part of the IP address that
represents the address of the device in the subnet (device section).
The following example illustrates how to calculate the IP address.

The IP address 128.206.17.177 with subnet mask 255.240.0.0 is entered for the network interface of the
computer:
Subnet mask:1111 1111.1111 0000.0000 0000.0000 0000
The 12 numbers on the left of the IP address indicate the address of the subnet and must be identical in the
IP address of the device. The 20 number of the IP address on the right indicate the address of the computer
in the subnet. This section must be different in the IP address of the device.
IP address: 1000 0000.1100 1110.0001 0001.1011 0001
Network section, must be Device section, must be

identical in the device and different in the device and PC
PC
A possible IP address for the device could therefore be:

1000 0000.1100 1111.0001 0001.1011 0001 = 128.207.17.177
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11.2.3 Determining the IP address and subnet mask of the PC
You can determine the IP address and subnet mask of the PC network interface in the system control of the
PC but POSITool offers an easier way of finding this information:
Determining the IP address and subnet mask of the PC
1. In the Project view of POSITool, open the Network and remote service assistant.
 The following dialog screen appears:
2. Double click an inverter in the list.

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Integrated Bus 11
3. Click one of the two Determine settings from network adapter buttons.
4. In the top part of the dialog screen, select the network interface which is connected with the direct
connection to the inverter.
 The IP address and the subnet mask of the PC on this interface are indicated in the IP address field.
11.2.4 Adjusting the IP address of the inverter
Follow these steps to adjust the IP address of the inverter to the IP address of the computer:
Adjusting the IP address of the inverter
1. Determine the IP address and subnet mask of the computer, for example from the control panel of your
computer.

2. Determine an IP address that is in the same subnet as the PC's IP address.
3. Use the operator panel of the gateway device to enter that address in parameter A164[x]. Use A164[0] if
the direct connection is via X3A. Use A164[1] if you are connecting the PC via X3B.
4. Check whether either 0:manual or 1:standard is entered in A166[x]. Note in this case as well that A166[0]
applies to X3A, while A166[1] applies to X3B.
5. If A166[x] is not set to 0:manual or 1:standard, correct the setting.
6. Save your settings with A00 Save values.
 You have adjusted the IP address of the inverter.
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11.2.5 Establishing a direct connection
To establish a direct connection, proceed as follows:
Establish a direct connection
1. Click the button in the toolbar of POSITool.

 The following dialog screen is displayed:
2. Specify the IP address of the RJ45 connector that you have connected to the PC.
3. Click the OK button.
 You have established a direct connection and the IGB: Display connected devices dialog screen is
displayed. The dialog screen shows all devices that are connected via the direct connection to the PC:
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11.2.6 Reading data from the SDS 5000
You must have established a direct connection before you can read data from an SDS 5000. After you have
done this, proceed as shown below:
Reading data from the SDS 5000
1. In the IGB: display connected devices dialog screen, click the read from IGB… button.
In the first column of this dialog screen, you can select the inverters which are connected to the PC.
The possible targets in your project are shown in the second column.
2. Highlight the line of the inverter entry in POSITool to which the data are to be written. You can select an
already existing inverter entry 
(I1: Inverter1) or set up a new inverter entry (new).
3. In this line, double click the first column Source (IGB) (<Please select>).

 A selection list appears showing all inverters which are connected to the PC.
4. Select the inverter whose data you want to read.
5. Repeat steps 2 to 4 for each source to be read from.
 The data are loaded as you specified and shown in POSITool.
The Read configuration / parameters from IGB dialog screen also offers the function of assigning inverters to
the inverter entry based on the resources identifier (Allocation 1:1 as per resources button). This requires the
entry of an unambiguous resource identifier. This button is particularly useful when changes must be made to
an already existing project. The resource identifier is entered in the configuration assistant in step 1. You can
also make changes in the Project view by clicking the related inverter with the right mouse button. In the
context menu which appears, select the item Rename inverter. In the next dialog screen that appears, you
can make the changes.
When you click the Read all button in the Read configuration / Parameters from IGB dialog screen, all
inverters are read and the data are indicated in POSITool as new inverter entries.
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11.2.7 Writing data to the inverter
To write data to the inverter, proceed as shown below:
Writing data to the inverter
1. Click the Send to IGB... button in the IGB: display connected devices dialog screen.
2. Highlight the line of the inverter to which you want to write data.
3. In this line, double click the first column Source (PC).
 A selection list appears in which all inverter entries are listed which contain your project.
4. Select the inverter entry which you want to write to the selected inverter.
5. In this line, double click the Action column.
 A selection list appears in which you can set whether you want an automatic adjustment or whether
the previously stored configuration and the parameters are to be overwritten.
6. Select one of the actions.
7. Repeat steps 2 to 6 for each inverter to which you want to write data.
 The data are written to the inverters as specified by you.
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11.3 IGB-Motionbus
The IGB-Motionbus allows each SDS 5000 integrated in the IGB network to send its data cyclically to the bus.
Every other SDS 5000 in the IGB network can access these data (producer-consumer model). An SDS 5000
can send a maximum of 32 bytes. If you are going to use the IGB-Motionbus function, each inverter in the IGB
network must be integrated in the IGB-Motionbus.
The IGB-Motionbus uses the following state machine:
(1)
Switch on (1)
Einschalten
(7)
Busreset (7)
Busreset
Nobody
Niemand
found (2)(2)
gefunden
0:
0: Booting
Booting 1:
1: Single
Single
(3)(3)
(7)
Busreset(7)
Partner
Partner
Gefunden
found
Busreset
All partners
Alle Partner
lost (4)
verloren (4)
2:2:IGB-Running
IGB-Running
partners
Partner
lost (4)(4)
Voraussetzung
prerequisite
(5)
verloren
erfüllt (5)
MB-
fulfilled
MB
Alle
All
MB
MB-
(7)(7)
prerequisite
Voraussetzung

lost (6)(6)
verloren
Busreset
Busreset
3:
3: IGB-
IGB- 4:
4: IGB-
IGB
Motionbus
Motionbus Motionbus Error
Motionbus Error
MB
MB-
Voraussetzung
prerequisite
erfüllt (5)
ulfilled (5)
Fig. 11-4: State machine of the IGB-Motionbus
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Parameter A155 indicates the current state of the IGB-Motionbus:
State Description
0: IGB Booting The IGB is booting. The connected inverters register
on the IGB network and synchronize themselves. In
this condition, values for parameters A120 and A121
will be sampled and applied for further operation
without change.
1: Single No IGB network with other inverters is currently
established. The functions remote maintenance or
direct connection can be used.
2: IGB running Several inverters have established an IGB network.
The functions remote maintenance or direct
connection (with POSITool) can be used. The IGB-
Motionbus function is not being used or cannot be
used for one of the following reasons,
• The function was not selected during configuration
• The parameter A120 IGB Address was not
unambiguously set for all stations
• A121 IGB nominal number was not
parameterized.
• Because after changing of A120 or A121 the
values were not saved and the device was
switched off and on again, or because no other
device has triggered a bus reset.
3: IGB-Motionbus The inverters in the IGB network are sending and
receiving cyclic data. In this state, the addition of

further inverters has no effect on the existing IGB-
Motionbus.
4: Motionbus Error The state A155 = 3:IGB-Motionbus was already
achieved once and was exited due to an error.
The following conditions apply to a change in state:
State Condition
1: Switch on Power was turned on
2: Nobody found Either this SDS 5000 found no other inverter with
which it could establish an IGB network or an already
existing connection to other inverters via IGB was
disconnected.
3: Partner found At least one directly connected SDS 5000 was found.
All partners that were found have organized and
synchronized themselves on the IGB.
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State Condition
4: All partners lost No connection to a partner on either X3A or X3B. This
can happen when the cable is disconnected, for
example.
5: IGB-Motionbus This means the following
prerequisite fulfilled • The IGB-Motionbus function was activated for all
inverters in the IGB network
• No IGB address was assigned more than once
(A120 IGB Address)
• Every inverter found the same number of partners
in the IGB network and this number corresponds
to the expected number in A121 for every inverter
• All inverters in the IGB network are synchronized
and are receiving valid data
• No inverter reported a double error (event 52,
causes 9 and 10).
• The "save values" and switching off and on again
(bus reset) were not forgotten.
6: IGB-Motionbus At least one condition of change-in-state no. 5 was
prerequisite lost violated. This can happen for the following reasons:
• The 24-V power for at least one inverter in the IGB
network was turned off
• Cable break in the IGB network
• Double error due to great EMC problems
• Loss of synchronization between the inverters
• Loss of synchronization within one inverter

because POSITool stopped the configuration
7: Busreset received At least one partner in the IGB network has achieved
the state 0:Booting. If one of the inverters in the IGB
network is switched off and on again, this triggers a
bus reset all inverters. All will now evaluate their
parameters A120 and A121 and therefore start the
IGB motion bus..
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Before you can use the IGB-Motionbus, you will have to:
• first activate the function on all inverters integrated in the IGB network
• and then parameterize the IGB-Motionbus on each inverter.
Chapter 11.3.5 also gives you information on how to parameterize the exchange of the master position via the
IGB-Motionbus.
11.3.1 Activation of the IGB-Motionbus
Select the IGB-Motionbus function in the configuration assistant in step 6.

Proceed as shown below to activate the IGB-Motionbus:
How to activate the IGB-Motionbus
1. Open the configuration assistant in POSITool.

2. Configure your application as usual in steps 1 to 5.
3. In step 6, select the inverter family SDS 5000.
4. Activate the checkbox IGB-Motionbus.
5. Exit the configuration assistant with the Weiter button.
6. Parameterize your application as you normally would.
7. Repeat steps 1 to 6 for each inverter which is integrated on the IGB-Motionbus.
8. Parameterize the IGB-Motionbus (see chapter 11.3.2).
9. Transfer the application to the inverters and save it.
10. Turn the 24 V power of all inverters off and on again.
 You have now activated the IGB-Motionbus.
11.3.2 Parameterization of the IGB-Motionbus
The IGB-Motionbus is parameterized in two steps:

• Configure the IGB-Motionbus
• Parameterize the process data
These steps have to be performed for every inverter. You can simplify this job by using the assistants IGB-
Motionbus configuration and IGB-Motionbus process data mapping which will lead you through the process
of parameterizing the entire IGB-Motionbus in a project.
Information
Remember that you can only transmit parameters with PDO capability via the IGB-Motionbus.
Parameters with PDO capability are marked in the parameter list with the PDO attribute.
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11.3.2.1 Configuration of the IGB-Motionbus

During the configuration of the IGB-Motionbus, unambiguous addresses are set for the inverters and the
expected number of stations on the IGB-Motionbus.
Prerequisites:
• You have entered all inverters which will use the IGB-Motionbus in the project.
• The IGB-Motionbus function has been configured for all inverters.
How to configure the IGB-Motionbus
1. Open the assistant Configuration IGB-Motionbus.

 The assistant indicates all inverters of the project:
Since the settings in A120 und A121 are not correct, the lines are highlighted in red.
2. Double click the column A120 IGB Address for one inverter.
3. Enter the IGB address of the inverter.
4. Double click the column A121 IGB nominal number for this inverter.
5. Enter the number stations expected for IGB.
6. Repeat steps 2 to 5 for each inverter which is to use the IGB-Motionbus.

 The lines turn white if you have entered the values correctly:
7. Confirm the dialog screen with the OK button.
 You have configured the IGB-Motionbus.
Instead of using steps 2 to 6, you can also configure the IGB-Motionbus with the button Set automatically. In
this case, the inverters are consecutively numbered for the IGB address and the total number of stations is
entered in A121. If you do not get the right result, check the Problem column in the assistant.
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11.3.2.2 Parameterization of Process Data
Information
Remember that you can only transmit parameters with PDO capability via the IGB-Motionbus.
Parameters with PDO capability are marked in the parameter list with the PDO attribute.
Each SDS 5000 on the IGB-Motionbus has its own memory area in which 32 bytes of data can be sent. These
data can be read by all the other inverters which are registered on the IGB network.
The first six bytes are permanently set with the following parameters.
• Byte 0: E48 Device control state
• Byte 1: E80 Operating condition
• Byte 2: E82 Event type
• Byte 3: A163.0 IGB systembits
• Byte 4: A163.1 IGB systembits
• Byte 5: Reserved
Following this area, you can send up to 24 parameters per inverter with up to a total length of 26 bytes.
You can also read up to 32 parameters with a total length of up to 32 bytes from the IGB-Motionbus. The 32
parameters can come from different inverters. To parameterize the process data, proceed as shown below.
To parameterize the process data, proceed as shown below:
How to parameterize process data
1. Open the IGB-Motionbus Process Data Mapping assistant.

2. Make sure that the button producer view is selected in the top part of the screen.
3. In the screen beneath, select an inverter which is to send the data on the IGB-Motionbus.
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4. On the right-hand side of the assistant, click the button add parameter ....
5. In the selection list on the left-hand side, select whether you want to add a parameter from an axis area
or from the global area of the inverter.
6. Select the parameter from the selection list to the right.
 The parameter appears in the producer view.
8. Repeat steps 2 to 7 for every inverter which is to send data on the IGB-Motionbus and for every

parameter which is to be sent.
9. Click the button at the top of the assistant to change to the consumer view.
 The following window appears:
10. Select an inverter which is to receive the data from the other inverters.
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11. On the right side of the assistant, click the button map parameter.
12. In the top part of the dialog screen, set the inverter which is to receive data.
13. Set which parameter value is to be read.
14. In the bottom part of the dialog screen, set whether the parameter value is to be written to an axis or a
global parameter.
15. Set the parameter to which the value is to be written.
 The mapped parameter is indicated as shown below:
17. Repeat steps 10 to 16 for each inverter which is to receive parameters and for each parameter value
which is to be received.
19. Transfer the settings to the inverters and save them.
20. Switch the 24-V power supply off and on again for all inverters.
 You have parameterized the process data.
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11.3.3 Non-regular IGB operation
WARNING!
When non-regular IGB operation is activated, there is a risk of asynchronous, undefined movements
which may endanger personnel and machines!
 Before using A124, make sure that the movements cannot inflict personal injury or cause property
damage.
When an SDS 5000 is a station on the IGB-Motionbus, the device state machine cannot leave the state
1:Switchon disable (see E48 device state) if the IGB-Motionbus cannot be established (A155 IGB state does
not indicate 3:IGB-Motionbus).
Non-regular IGB operation can be activated in A124 so that the axes can be individually positioned even
during commissioning or when the IGB or a device fails. When non-regular IGB operation is activated,
enabling is still possible regardless of A155 IGB-state.
Information
This parameter cannot be saved. It is pre-assigned with 0:Inactive during every device startup.
11.3.4 Diagnosis
During IGB-Motionbus operation, each connected inverter sends its data to all the other inverters once every
millisecond. This is monitored by parameter A162.x.
Parameter A162.0 is an error density counter for the IGB-Motionbus. It indicates a value for the current error

density of the expected but not correctly received data sent once every millisecond. During IGB-Motionbus
operation, each SDS sends its data to all the other inverters once every millisecond. If at least one inverter
fails to send its data cyclically, this is determined and registered in element 0 of the parameter. This counter
is incremented by the number of expected but not received data. When all data from all the inverters
connected to the IGB have been received correctly, the error density counter is decremented by 1. As you can
see, this parameter provides information on the quality of the IGB network. If the value increases quickly, this
probably means that a connection cable of the IGB has been disconnected or an inverter has been turned off.
Parameter A162.1 indicates the sum of all errors of the IGB-Motionbus which have been registered since the
inverter was turned on or during the first startup of the IGB-Motionbus. During operation of the IGB-Motionbus,
each SDS 5000 sends its data to all the other inverters once every millisecond. This value is incremented for
the expected but not correctly received data during the millisecond cycle.
To prevent any errors which occurred during startup from being counted as real errors, the value is cleared
the first time the state A155 = 3:IGB-Motionbus is reached.
After this, the value can only be cleared by switching the inverter off.
As you can see, this parameter provides information on the quality of the IGB network. If the value increases
quickly, this probably means that a connection cable of the IGB has been disconnected or an inverter has
been turned off. If the value increases erratically, the cabling and the environment should be checked for
EMC-compatible wiring.
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You can use parameter A138 to analyze events in which several inverters on the IGB-Motionbus are involved.
This parameter indicates the global time (in milliseconds) on the IGB-Motionbus. The value goes from 0 to 232
-1 = 4 294 967 295 ms and then begins again at 0. All stations of the IGB-Motionbus work synchronously with
each other and use the inter-device clock. You can use A138 to trigger Scope pictures in different inverters,
for example, and then use POSITool to relate the pictures to each other timewise.
11.3.5 Exchanging the master position
To exchange the master position via the IGB-Motionbus, you must

• Send the position of the master to the IGB-Motionbus and
• Read in the position on the slaves.
WARNING!
Danger of machine malfunction due to an incorrectly reconstructed master reference.
 When the master position is distributed over the IGB, the slaves restore the referenced master position
after each startup. This reconstruction is not reliable unless an SSI or EnDat® encoder with 4096 multi-
turns is set as the source encoder in parameter G104 of the master.
 The restored master position may not be used with other encoders. New referencing is necessary after
each switch-on.
Information
Remember that a positioning application with one of the following synchronous functionalities must
be used on the slaves.
- Electronic cam
- Motion block positioning
- Synchronous command positioning
To send the master position to the IGB-Motionbus, proceed as shown below:
How to send the master position to the IGB-Motionbus
1. Set parameter G104 on the master to the source of the master position (e.g.,
X120).
 The master position and the related time stamp are indicated in
parameters E163 or E164.
2. Add the parameters E163 and E164 to the IGB-Motionbus Process Mapping
assistant in the Producer view of the master.
3. In the Consumer view of the slaves, map parameter E163 on E102 and E164
on E103.
4. Set parameter G27 to 6:IGB on the slaves.
5. Save the parameter assignments in the inverters.
6. Turn the 24-V power supply of the inverters off and on again.
 The master position is sent to the IGB-Motionbus and received by the slaves.
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11.4 Remote maintenance
Information
On the usage of remote maintenance it is imperative you observe our maintenance conditions in
chapter 11.4.13.
Each indirect connection from the start-up computer via a local network, intranet or the internet with a inverter
or an IGB network counts for remote maintenance. You can perform all the functions that are possible via a
direct connection with remote maintenance. These are:
• Diagnostic functions
• Changing parameters
• Programming/configuration and
• Live firmware update
WARNING!
Changing the parameters may change the properties of a machine during and after remote
maintenance.
The person responsible for the machine must
 Keep people away from the hazardous areas of the machine during remote maintenance.
 After remote maintenance is finished, ensure that the behavior of the machine is correct.
 The machine may not be released until after this has taken place. Make sure this sequence is
organizationally safeguarded.

Information
Remember that an IGB network can never be accessed by remote maintenance and direct
connection (PC) at the same time.
At least two people are always involved in remote maintenance:

• The service employee who performs the remote maintenance. For example, this can be a service
employee of STOBER or the machine manufacturer.
• The machine technician initiates and concludes the remote maintenance and ensures that persons are
safe at all times. This can be a qualified employee of the machine manufacturer or the user
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The following figure shows the components involved in remote maintenance via Internet:
Internet Remote
maintenance
Teleserver
Company IGB network

network
Fig. 11-5. Components involved in remote maintenance via Internet
The following figure shows the components involved in remote maintenance via the local network:
IGB network
Company network
Fig. 11-6: Components involved in remote maintenance via the local network
The Teleserver establishes the connection between the inverter and the PC of the service technician. The
Teleserver for the Internet connection is run by STÖBER ANTRIEBSTECHNIK GmbH & Co. KG. This ensures
that the Teleserver is always equipped with the latest technology regarding Internet security.
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11.4.1 System administration
Information
Networks can be structured very differently. Therefore STOBER is unable to provide universally
applicable instructions that cover every case. Because of this, you should discuss the content of
the following section with your responsible network administrator so that you can achieve an
optimum connection. Note that this applies not only to the inverter, but also to connecting the
engineering software!
Information
Make the settings derived from this section on the inverter in the IGB network on which the
connection to the internet is set up. This inverter is the gateway device to the network! Note that
the connection can only be made on an RJ45 socket. Therefore some of the parameters listed
below are designed as arrays. This is identified in the description by the suffix .x in the parameter
coordinate. Element 0 applies to X3A (for example A166.0), while element 1 applies to X3B (for
example A166.1). Make the settings derived from this section only for the socket that is the
gateway to the network!
These values are set in the Network and Remote Maintenance assistant which will now be described. Since
the settings for an Internet connection differ from the settings for a LAN connection, they will be distinguished
between in the next few sections.
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11.4.2 The network and remote service assistant
Call this assistant in POSITool in the Project screen of the IGB by double-clicking its name:
Fig. 11-7: The Network and remote service assistant in the Project view of the IGB
Once opened, the assistant indicates all the inverters that are configured in the IGB network:
Fig. 11-8: The opened Network and remote service assistant
The assistant is divided into three tabs which can be processed one after the other.
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11.4.2.1 The Network tab

After you open the assistant, the Network tab is selected. Select the gateway inverter in the list and double-
click this line. The Network settings dialog screen appears:
Fig. 11-9: The Network settings dialog screen
You can use this dialog screen to set how the IP address is to be obtained for remote maintenance, for
example. Remember that the settings must be made for the RJ45 socket (X3 A or X3 B) which is the gateway
to the network.

If a DHCP server exists in the network, check the checkbox of the socket and then decide whether to use the
DHCP standard setting or the Only DHCP setting.
When you use the DHCP standard setting, the IP address must be entered manually if the DHCP server does
not provide an IP address within three minutes. If this does happen, enter the IP address and the subnet mask
manually in the fields below.
Fig. 11-10: Automatic provision of the IP address for X3 A with the DHCP standard setting
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When you use the setting Only DHCP, you wait for a reply on the DHCP server without a timeout.
If the inverter does not receive an IP address from the DHCP server even though one is present, the address
can be enabled by the network administrator. It is possible that the configuration of the DHCP server will also
have to be expanded. SDS 5000 inverters can be unambiguously recognized by the DHCP server with the
MAC address 00:11:39:xx:xx:xx.
If the network does not have a DHCP server, remove the checkmark from the checkbox and manually enter
an IP address and a subnet mask in the fields:
Fig. 11-11: Manual setting of the IP address for X3 A
If the inverter is located in the same network as the PC on which you are making the settings in POSITool,
you can use the IP address and the subnet mask from the Determine settings from network adapter button.
When you click the button, the following dialog screen appears:
Fig. 11-12: The Select network adapter dialog screen
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In the top part of this dialog screen, select the network connection of your PC which is connected to the same
network as the inverter, and the related IP address, subnet mask and the IP addresses of the standard
gateway and the DNS server appear in the bottom part of this screen. Confirm the dialog screen with the OK
button, and the IP addresses of the standard gateway and the DNS server are used. One position of the IP
address of the PC is changed so that the IP addresses of the inverter and the PC are not the same.
Remember that no check is made to determine whether the thus determined IP address is being used by
another device in the network:
Fig. 11-13: The IP address determined from the network adapter
Note that, although you are only using the above settings for the gateway socket, the settings for the second
socket in the dialog screen remain accessible. This means that you can enter an IP address for a direct
connection for the second socket.
You can enter the IP address of the standard gateway in the lower part of the Network settings dialog screen.
This is necessary for an Internet connection when there is DNS server in the network but a proxy server is not
used.
Manual entry of the IP address of the DNS server is necessary if there is a DNS server in the network but its
IP address is not transmitted by the DHCP server.

11.4.2.2 The Activation remote service tab
For example, you can specify the signal with which remote maintenance is to be activated under the Activation
remote service tab. Select the gateway inverter from the list and double-click the line. The Set activation
remote service dialog screen appears:
Fig. 11-14: The Set activation remote service dialog screen
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In parameter A167 remote service source you can specify the signal which you will use to activate remote
maintenance. You can choose between the binary inputs or their inversion and two parameters. If you set
A167 = 1:A800, you can activate remote maintenance with the A800 parameter via the operator panel of the
inverter. If you set A167 = 2:A181-Bit 0, you can start remote maintenance via fieldbus by writing to parameter
A181 Bit 0 via fieldbus.
In parameter A168 you can specify whether remote maintenance is to be performed with a session ID. After
you activate this setting, the service technician can only establish the remote maintenance connection if he/
she knows the session ID. Please see also the section 11.4.7 Security.
In A176 teleserver selection you can specify whether remote maintenance is to be performed via a LAN
connection or an Internet connection.
If you set A176 = 1:LAN, you will have to specify in A177 the PC on which the LAN Teleserver is to be installed.
There are two ways to do this:
• Enter the IP address of the computer. This is always possible.
• Enter the complete Fully Qualified Domain Name (FQDN) (e.g., "pc-
daddylonglegs.daddylonglegscompany.de"), Please note that this is not always possible (see Figure 11
16).
11.4.2.3 Internet proxy server tab

Information on the proxy server for an Internet connection is entered under the Internet proxy server tab.
Select the gateway inverter from the list and double-click the line. The Internet proxy server dialog screen
appears:
Fig. 11-15: The Internet proxy server dialog screen
If there is a proxy server in the network to which the gateway inverter is connected and this is to be used,
activate the Use proxy server checkbox. Then enter the address of the proxy server. There are two ways to
do this:
• Enter the IP address of the proxy server. This is always possible.
• Enter the FQDN (Fully Qualified Domain Name) of the proxy server (e.g., www-proxy.business.de).
Please note that this is not always possible (see Figure 11 17)
If the proxy server requires registration, activate the second checkbox and enter the user name and password.
You can check the settings by clicking the Test connection button. If the connection cannot be established,
please talk to your network administrator about the settings.
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11.4.3 Administration of remote maintenance settings
Remote maintenance procedures are usually performed for different projects or in different networks and thus
with different settings. When only a simple switchover is needed, you can save the settings in a *.cfg file and
reload them when necessary.
You can save and load all settings that you make with the Network and remote service assistant. Please note
that the save and load procedures are performed separately for each of the assistant's tabs. After you have
processed the Network settings tab, you can use the Save as ... button to save the settings to a *.cfg file.
When you then save the settings of the Activation remote service tab to the same *.cfg file, the settings of the
tab are supplemented. The same applies to the Internet proxy server tab.
The settings saved in the assistant can be loaded with the Load... button. The load and save procedures must
be performed separately for each tab. If all data are stored in the same file, you can use the same file for each
load procedure.
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11.4.4 Using the remote maintenance settings of the gateway inverter
In case of service (i.e., maintenance), it may be useful to break up an IGB network and access partial networks
or each inverter separately via remote maintenance. To prevent the network and remote maintenance settings
from having to be parameterized again in such cases, you can use the settings of the gateway inverter for the
other inverters in the IGB network.
Prerequisites:
• You have made all the necessary settings for the gateway inverter.
Using the remote maintenance settings of the gateway inverter
1. Select the Network tab.

2. Select the gateway inverter from the list.
3. With the right mouse button, click the line of the gateway inverter.
 The following context menu appears:
4. In the context menu, select the entry set to all inverter.

5. Repeat steps 2 to 4 for each tab.

 The settings have been accepted for all inverters.
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11.4.5 Settings for a LAN connection
To be able to establish a connection via the local network, the LAN Teleserver must be installed on a computer
which is connected with the local network. Proceed as shown below:
Operating the LAN Teleserver
1. Start the POSITool-Teleserver.exe file on the computer on which the LAN Teleserver is to be installed.
2. Make a note of the FQDN (Fully Qualified Domain Name).

 You are now running the Teleserver on the local network.
The FQDN is the full computer name of a PC (i.e., Fully Qualified Domain Name). Remember that, when
setting up a LAN connection, you must specify on the inverter (see Figure 11 16) and in POSITool, the FQDN
of the computer on which the LAN Teleserver is installed.
Also note that the LAN teleserver should be installed on a high performance computer with a high level of
availability.
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Fig. 11-16 : Parameterization with LAN connection shows which settings must be made for which network
setup. Remember that this is a logical sequence of decisions and not a processing sequence of the tabs in
the Network and remote service assistant.
Set activation remote service
dialog screen: A176 = 1:LAN
Is there a
Yes DHCP server No
in the
network?
Network settings dialog screen, Network settings dialog screen,

gateway socket: gateway socket:
Place checkmark in the Obtain Remove checkmark from the
IP address automtically box. Obtain IP address
Choose beetween DHCP automatically box.
standard and Only DHCP. On the inverter, manually enter
the valid IP address and the
Subnet mask of the gateway
socket.
Does the
Yes DHCP server No
transmit the DNS-
IP address?
Ist there an
Yes active DNS server No
in the network?
Network settings dialog screen:

Manually enter the IP address of
the DNS server.
Activate remote servce tab:

Set activation remote service A177 IP address of the PC on
dialog screen: A177 IP address which the LAN Teleserver is
or FQDN of the PC on which installed.
LAN Teleserver is installed.
Fig. 11-16: Parameterization with LAN connection
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11.4.6 Settings for an internet connection
Set activation remote service

dialog screen: A176 = 0:Internet
Is there a
Yes DHCP server in No
the network?
Network settings dialog screen, Network settings dialog screen,

gateway socket: gateway socket:
Place checkmark in the Obtain Remove checkmark from the Obtain
IP address automatically box. IP address automatically box.
Choose between DHCP standard and On the inverter, manually enter the
Only DHCP. valid IP address and the Subnet mask
of the gateway socket.
Is an
Yes active DNS No
server in the
network?
Does the
Yes DHCP server No
transmit the DNS-
IP address?
Network settings dialog screen:

Manually enter the IP address
of the DNS server
Is there a
Yes No

proxy server on
Is there a the network?
Yes proxy server No
in the network?
Remote
maintenance
is not possible!
Internet proxy Internet proxy server Internet proxy server

server dialog dialog screen: dialog screen:
screen: Port = 0 IP address or FQDN
IP address or Network settings dialog screen: of the proxy server
FQDN of the
IP address of the standard
proxy server
gateway
Internet proxy server dialog screen:

Proxy port, user name and
passwort as per network
Fig. 11-17: Parameterization for an Internet connection
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Comply with the following rules on the Internet connection:

• If possible, avoid the proxy server. This will increase the remote maintenance performance. Ask your
network administrator for details.
• If you do use a proxy server, it should be set so that it supports persistent HTTP connections. This will
increase the performance of remote maintenance. Ask your network administrator for details.
• The Internet connection uses the HTTP protocol with TCP/IP port 80. This port is usually enabled. Ask
your network administrator for details.
11.4.6.1 Internet settings for POSITool

Note that you may have to make settings for POSITool as well for the internet connection. It is assumed that
the PC with which remote maintenance will be performed is integrated into the local network. If there is a proxy
server present, you must make the setting for the Internet connection in the Tools menu:
Fig. 11-18: The Internet settings dialog in theTools menu
Making the Internet settings for POSITool
1. Place a checkmark in the checkbox at the top right, if a proxy server exists.
2. Enter the address of the proxy server (IP address or FQDN) and the port.
3. If the proxy server requires registration, place a checkmark in the checkbox underneath and enter your
Windows user name and your password.
4. Click the button Accept for POSITool remote service.
 You have now made the Internet settings for POSITool. You can check the connection with the Proxy/Test
connection button.
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11.4.7 Security
Here, Security means protection against the unauthorized manipulation of data.
Security-relevant parameters of an inverter can also be changed via remote maintenance. The following
security mechanisms have been installed to prevent this from being done by unauthorized parties or by
accident:
• A remote maintenance procedure can only be started locally on the machine.
• The service technician who performs remote maintenance must know the serial number of the inverter
which is to be serviced.
• When the Session-ID option is selected (parameter A168 remote service with session-ID), the person
responsible for the machine must inform the service technician of the temporarily valid session-ID. This
appears on the inverter display while remote maintenance is being activated or in parameter A151.
These three mechanisms prevent unauthorized access for all practical purposes. However, a small element
of risk of unauthorized access remains here (e.g., through a former worker who is intent on sabotage). With
a great deal of effort, this worker might still be able to establish a connection at the time of the request before
the service technician, if this worker knows this point in time.
Such an unauthorized access is indicated as follows,

• The remote maintenance LED is continuously on
• The connection request of the authorized service technician fails.
Use of a session ID is a little more trouble, but it prevents this from happening.
An outgoing connection is always established when there is a local request on the machine. This always
connects to the Teleserver (see Figure 11 19). No other connections are possible. In addition, it is impossible
to establish an Internet connection to the SDS 5000 if the connection was not requested on the SDS 5000.
Fig. 11-19: Remote maintenance via the Teleserver
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11.4.8 Activation of remote maintenance
Information
As the person responsible for the machine, ensure (e.g., by telephone) that the device is accessed
for remote maintenance by an authorized person.
Do not allow a request to exist for an unnecessarily long period of time.
Before you can activate remote maintenance, the following prerequisites must be met:
1. The inverter is connected with the local network, Intranet or Internet.
2. The inverter has been given valid information so that it can communicate via the local network, Intranet
or Internet (see chapter 11.4.1 System administration).
3. In parameter A167 remote service source you have entered the signal with which remote maintenance
can be started (e.g., a binary signal on binary input BE1).
4. On the inverter that is the gateway to the network, you specify in parameter A168 remote service with
session-ID whether remote maintenance should be protected with a session ID.
5. The service employee has a PC which is connected to the local network, Intranet or Internet and version
V 5.4 or later of the POSITool software is installed on this PC.
Activation of remote maintenance
1. The machine technician switches on the signal parameterized in A167 for the inverter which is to have
remote service.
 The inverters register. The LEDs on the front of the inverters suddenly flash once.
 After the connection to the Teleserver is established, the blue LEDs on the front of the inverters begin
flashing at regular intervals. The inverters indicate their serial number on their displays.
 If A168 = 1:with SessionID is set on the gateway inverter, the session ID is indicated in addition to the
serial number.
 The person responsible for the machine has activated remote maintenance. He informs the service
technician and gives him/her the serial number of a device in the IGB network and, if applicable, the
session ID.
The session ID provides additional security for remote maintenance. If Parameter A168 is set on the gateway
inverter so that the session ID is requested for remote maintenance, the service technician cannot establish
a connection to the inverter without the session ID.
If the blue LED does not flash even though remote maintenance is activated, parameter A178 indicates the
cause.
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11.4.9 Establishment of a connection
Establishing a connection
1. The service employee starts POSITool.

2. On the start page of POSITool, the service employee presses the reverse documentation from connected
inverter... button.
3. The service employee presses the SDS 5000 button.

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4. The service employee presses the Internet Access button or the LAN Access button depending on his/
her specific application.
 If a LAN connection is requested, a dialog screen appears for entry of the FQDN of the computer on
which the LAN Teleserver is installed. Enter the FQDN and confirm the dialog screen. The setup of
the LAN connection is now identical to the setup of the Internet connection.
5. The service employee enters the serial number and, if applicable, the session ID.
6. The service employee presses the OK button.
 The connection is established.
 A reverse documentation is read and indicated in POSITool.
 After the connection has been established, the blue LED on the front of the inverter lights up
continuously.
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 The entire IGB network is shown in POSITool. The inverters which are not enabled for remote
maintenance are marked with a red "stop sign." You can use the buttons at the bottom for the inverters
which are enabled for remote maintenance to
- read data from the inverters
- trigger the sending of data to the inverters
- execute a live firmware update.
Comply with the following points concerning activated remote maintenance:

• There must be at least one inverter in the IGB network which is enabled for remote maintenance so that
the Internet connection can be maintained. When an active Internet connection exists, you can enable or
disable inverters in the IGB network at all times.
This is done with the signal specified in A167 remote service source.
• If you are downloading a new configuration via remote maintenance, set the parameters which are

relevant to remote maintenance the same as for the configuration up to now so that you avoid a premature
termination of the connection due to errors in the parameterization. This refers primarily to the parameter
A167 remote service source in which the signal which will start remote maintenance is specified..
• If you are performing a live firmware update via remote maintenance and then start the firmware again
immediately afterwards, a new start is performed on the inverters. In this case, the remote maintenance
connection is disconnected.
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11.4.10 Deactivation of remote maintenance
NOTICE
Long timeout times on the teleserver!
Do not deactivate remote maintenance by turning the device off and on again because this will result in long
timeout times on the teleserver.
 Use one of the following methods to deactivate remote maintenance.
Information
Deactivate remote maintenance immediately after the job is finished. Do not let a request exist for
an unnecessarily long period of time.
Remote maintenance can be deactivated by the following events:

• The machine technician switches off the signal (low level) specified in A167 for all inverters on the IGB
network.
• The service employee exits remote maintenance in POSITool by pressing the button when an
Internet connection exists, or the button for a LAN connection.
• The Internet connection is interrupted (e.g., by a timeout ). Any specified session ID is always invalid. The
blue LED goes off. To establish a new connection, the procedure in chapter 11.4.8 Activation of remote
maintenance must be performed again.
Note the A178 parameter when you deactivate remote maintenance. A number value is specified here as to
why the deactivation occurred and whether it was free of errors.
Also remember that after remote maintenance is concluded in POSITool, the signal specified in A167 must
first be switched to low before remote maintenance can be activated again. Remote maintenance is then
activated again the next time a switch to high is made.
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11.4.11 Monitoring remote maintenance
The person responsible for the machine has the option of monitoring remote maintenance. This means that
the person responsible for the machine will see on the screen which settings the service technician makes in
the engineering software.
The person responsible for the machine requires the free subscriber program from Netviewer to do this. The
screen below shows the components involved:
Fig. 11-20: The components involved in monitoring remote maintenance with the Netviewer software
You can also obtain the Netviewer subscriber program at no cost from the homepage www.stoeber.de. The
service technician has the consultant program that is used to start a session. If you want to monitor remote
maintenance, tell the service technician at the beginning of remote maintenance.
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11.4.12 Diagnosis
The blue LED on the front of the inverter and the parameter A169 remote service advance (i.e., progress) give
you information on the status of the Internet connection:
Indication in A169 Blue LED Meaning

0:off Off Remote maintenance is not desired.
1:flash Flashing very quickly The connection to the teleserver is being established.
2:blink Flashing at regular The device is waiting for the connection to POSITool.
intervals
3:on Continuously on The connection has been fully established and remote
maintenance can begin.
Tab. 11-1: Diagnosis of the remote maintenance status
Parameter A170 remote service acknowledge (i.e., remote service response message) changes its value like
the blue LED on the front:
• 1: LED on
• 0: LED off
You can output this parameter on a binary output so that you can evaluate the signal of the blue LED.
The four bytes of parameter A178 contain the exit code, the status value, the error category and the error
value.
Another possibility is the parameter A178 error remote service. The parameter indicates a hexadecimal
number (length: 32 bits) showing the state of remote maintenance. Each of the four bytes stands for a
diagnostic value:
00 00 00 00 hex
The Exit code The error value

specifies why indicates the error
remote maintenance within the error
was exited. category.
The status value The error category

specifies the stands for a group
status of remote of errors.
maintenance.
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The Exit Code indicates the following causes for the conclusion of remote maintenance:
Exit Code Description

00hex No remote maintenance is started. This value is the initial value after the inverter is
turned on.
01hex The active gateway was changed.
02hex Remote maintenance was exited correctly.
03hex Remote maintenance was exited because no remote maintenance request was
found for any inverter in the IGB network.
06hex Remote maintenance was concluded by POSITool.
07hex Remote maintenance was exited due to an error. The error can be determined with
the error category and the error value.
08hex A direct connection was started before the remote maintenance connection was
established. Remote maintenance was exited since the direct connection has
priority.
09hex Remote maintenance was terminated since it could not be exited correctly.
0Ahex Remote maintenance was terminated since the serial number of the active gateway
could not be determined.
0Bhex Remote maintenance was terminated since the status of the active gateway could
not be determined.
0Chex Remote maintenance was terminated since the serial number of the active gateway

0Dhex Remote maintenance was terminated since the serial number of the active gateway
0Ehex Remote maintenance was terminated since the serial number of the active gateway
0Fhex Remote maintenance was terminated since the active gateway had changed.
10hex Remote maintenance was terminated since an error was found while looking for the
active gateway.
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The status value specifies the status of remote maintenance:
Status value Description

00hex No remote maintenance is started. This value is the initial value after the inverter is
turned on.
01hex The DNS resolver was started.
02hex Establishment of the connection to the Teleserver was started.
03hex New establishment of the connection to the Teleserver was started.
04hex Disconnection of the HTTP connection was started.
05hex An unknown HTTP event was received.
06hex An attempt is being made to contact the Teleserver again.
07hex A timeout occurred during the attempt to contact the Teleserver.
08hex The Teleserver refused the connection.
09hex The host cannot be reached.
0Ahex An error occurred during the HTTP connection.
0Bhex An error occurred during the HTTP connection.
0Chex An error occurred during the HTTP connection.
0Dhex An error occurred during the HTTP connection.
0Ehex An error occurred during the HTTP connection.
0Fhex An error occurred during the HTTP connection.
10hex An error occurred during the HTTP connection.
11hex An error occurred during the HTTP connection.
12hex Waiting until POSITool has connected with the Teleserver.
13hex The connection to the Teleserver was correctly concluded.

14hex A timeout occurred while the connection of the HTTP connection was being
disconnected.
15hex The connection to the Teleserver was correctly concluded by POSITool.
16hex The connection to the Teleserver was closed.
17hex POSITool has connected with the Teleserver.
18hex The HTTP connection was started.
19hex The lower-level TCP/IP connection was interrupted. New establishment is being
started.
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The error category stands for a group of errors:
Error category Description

00hex No remote maintenance is active or no error occurred.
01hex A socket error was determined (problems with the use of the TCP/IP connection).
02hex A firmware error was determined (internal firmware error).
03hex An HTTP error was determined (problems at the HTTP communication level).
04hex A TCP/IP error was determined (problems at the TCP/IP communication level).
05hex An error of the Teleserver Client application was determined.
06hex A DNS error was determined (problems with the DNS resolver).
07hex A proxy error was determined (problems with the proxy settings).
The Error value specifies the error in an error category. The error values are specified for each error category
in the following.
In error category 00 hex, the error value is always 00 hex.
The following errors can occur in error category 01 hex:
Error value Description

00hex Reserved
01hex A TCP/IP error occurred during sending or receiving.
02hex A TCP/IP error occurred during sending or receiving.
The cause of these errors can be a faulty TCP/IP connection. Check the connection and the network settings.
The TCP/IP connection may also be blocked by a firewall. Check (e.g., with POSITool) whether the Teleserver

can be reached.

00hex Reserved
01hex Internal error 1
02hex Too little free memory space available.
03hex An internal handle is invalid.
04hex An error occurred while the HTTP application was being executed.
05hex An internal parameter is invalid.
0Ahex Too little free memory space available.
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0Bhex Internal access was denied.
0Chex Internal access was denied.
0Dhex Internal access was denied.
0Ehex An error occurred while sending data.
0Fhex An error occurred while sending data.
10hex An error occurred while receiving data.
11hex An error occurred while receiving data.
12hex An unknown HTTP status code was determined.
13hex An error occurred while remote maintenance was being exited.
There is a wide variety of causes for these errors. First, start the inverter again and check the network settings
of the inverter and the company network. If this does not correct the error, contact STÖBER
ANTRIEBSTECHNIK GmbH & Co. KG, see chapter 1.4 Further support

00hex Reserviert
01hex Es kam zu einem Timeout: Der Teleserver antwortete nicht.
02hex Der HTTP-Status-Code meldet einen HTTP-Fehler.
This error may be caused because the HTTP response of the Teleserver is not reaching the inverter. Check
the connection and the network settings. Receipt may also be blocked by a firewall. Check the firewall's
settings, too.
Since general causes cannot be given for error categories 04 hex and 05 hex, these errors were given a cause
number. A description of the causes follows the description of the errors in category 05 hex.
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Error value Description Cause no.

00hex Reserved –
01hex An error occurred while connection to the Teleserver was being
1
established.
02hex The Teleserver refused the connection. 2
03hex An error occurred while the TCP/IP connection to the Teleserver was
1
being re-established.
04hex An error occurred while the TCP/IP connection to the Teleserver was
1
being re-established.
05hex A timeout occurred during establishment of the TCP/IP connection to
1
the Teleserver.
06hex The Teleserver refused the connection. 2
07hex The inverter cannot access the IP address of the Teleserver. 3
08hex The inverter is connected to the Teleserver. 4
09hex An error occurred while connection to the Teleserver was being
1
established.
0Ahex An error occurred while connection to the Teleserver was being
1
established.
0Bhex An error occurred while connection to the Teleserver was being
1
established.
0Chex The IP address of the Teleserver is invalid. 3
0Dhex The IP address of the Teleserver is invalid. 3

0Ehex The IP address of the Teleserver is invalid. 3
0Fhex An internal error was found. 5
10hex The IP address of the Teleserver is invalid. 3

00hex Reserved –
01hex An error occurred during flow monitoring between Teleserver and
6
inverter.
02hex An internal error occurred. 5
04hex A CRC error was determined for the HTTP response from the
7
Teleserver.
05hex An invalid HTTP state was determined during receipt. 8
06hex An invalid HTTP state was determined during receipt. 8
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07hex The Teleserver concluded remote maintenance. 9
08hex The Teleserver rejected the serial number. 10
09hex The Teleserver rejected the serial number. 10
0Ahex An internal error occurred. 5
0Bhex An internal error occurred. 5
0Chex The inverter is waiting for the connection to POSITool. 11
0Dhex An internal error occurred. 5
0Ehex An error occurred during flow monitoring between Teleserver and
6
inverter.
0Fhex A CRC error was determined for the HTTP response from the
7
Teleserver.
6
inverter.
6
inverter.
Description of the causes
Cause no. Description

1 Establishment of the TCP/IP connection to the Teleserver failed.

Check all network settings and the firewall.
2 The inverter tried to connect with the Teleserver PC, but the specified PC actively
denied the attempted connection.
Check whether the Teleserver (LAN) was installed correctly and is running. You can
check the connection to the Teleserver with POSITool, for example.
3 The inverter cannot access the IP address of the Teleserver with the current network
settings (IP address and subnet mask).
Check the IP address of the inverter and Teleserver.
4 An attempt was made to establish a TCP/IP connection to a Teleserver which already
exists.
Exit remote maintenance correctly and start remote maintenance again.
5 An internal error was found.
Contact STÖBER ANTRIEBSTECHNIK GmbH & Co. KG, see chapter 1.4 Further
support.
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Cause no. Description

6 An error was determined during flow monitoring between Teleserver and inverter
Check all network connections.
7 A CRC test of the received data failed.
Check all network connections. In particular, check the Ethernet connection and EMC
interference.
8 The Teleserver reported an invalid HTTP state.
Check all network connections. Check the settings of the proxy server.
9 The Teleserver exited remote maintenance.
It is possible that remote maintenance was also terminated. Start remote maintenance
again.
10 The Teleserver exited remote maintenance since one or all of the serial numbers of
the inverter stations were invalid.
Wait 10 minutes and start remote maintenance again. If this also fails, contact
STÖBER ANTRIEBSTECHNIK GmbH & Co. KG, see chapter 1.4 Further support.
11 POSITool has not yet been connected with the Teleserver.
Establish the connection.

00hex Reserved
01hex A general DNS error was determined.
02hex A timeout occurred. The DNS server did not respond.

A possible cause of one of the errors could be that the name resolution of the host name of the Teleserver in
the applicable IP address failed. Check the settings of the name server. The name server may have to be
enabled for the requests of the SDS 5000.

00hex Reserved
01hex The proxy authorization is invalid.
The cause of this case could be an incorrect proxy parameterization on the inverter. Check the proxy settings
on the inverter.
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Below are some examples of the indication in A178:
Example 1
00 12 00 00 hex
No Exit code No error

is specified.
12hex: Waiting No error category

until POSITool
connects with
the Teleserver.
Example 2
07 04 04 02 hex
07hex: Remote 02hex: An error occurred

maintenance while connection to
was exited due the Teleserver was
to an error. being established.
04hex: Disconnection 04hex: A TCP/IP

of the HTTP error was determined.
connection was
started.
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11.4.13 General Terms and Conditions of STÖBER ANTRIEBSTECHNIK

GmbH & Co. KG for maintenance of the servo Inverter of the 5th
generation of STOBER inverters
Date 11/2009
1. Scope
1.1. The present maintenance terms shall apply exclusively to all contractual relationships under which
STÖBER ANTRIEBSTECHNIK GmbH & Co. KG (to as "STÖBER ANTRIEBSTECHNIK") carries
out maintenance services on the 5th inverter generation for other companies, legal entities under
public law or special funds under public law (hereinafter referred to as "Customer"). Contradictory
and supplementary terms of the Customer shall not – other than with the prior written consent of
STÖBER ANTRIEBSTECHNIK – form part of the Contract, even if STÖBER ANTRIEBSTECHNIK
should undertake a contract or carry out services without expressly contradicting such terms.
1.2. These General Terms and Conditions cover the maintenance services for the 5th inverter generation
offered by STÖBER ANTRIEBSTECHNIK, such as the provision of standardised software updates,
remote maintenance of the servo inverters by remote access, telephone support and maintenance
services on site.
1.3. Furthermore, the Terms of Sale and Delivery of STÖBER ANTRIEBSTECHNIK shall apply
accordingly, whereby the maintenance terms shall take priority in the event of contradictions
between the two documents.
2. Conclusion of Contract, Written Form, Time of Performance

2.1. Quotations by STÖBER ANTRIEBSTECHNIK are subject to confirmation and not binding unless
they have been expressly declared as a binding quotation. Orders from the Customer may be made
informally by e-mail, telefax or telephone. STÖBER ANTRIEBSTECHNIK can accept the orders
from the Customer within two weeks. In case of doubt, the content of the order confirmation by

STÖBER ANTRIEBSTECHNIK shall be binding for the Contract unless the Customer has
contradicted the content of the order confirmation without delay.
2.2. All notices of termination, setting of deadlines and reminders by the Customer shall require the
written form for their validity. Contractual guarantees and undertakings, in particular those going
beyond the scope of these General Terms and Conditions, shall require the express and written
confirmation of STÖBER ANTRIEBSTECHNIK.Deadlines and dates for fulfillment are not fixed
dates unless they have been expressly declared as fixed dates by STÖBER ANTRIEBSTECHNIK
in writing. If the Customer sets deadlines or periods of grace for fulfillment or subsequent fulfillment
or for remedying a situation, these deadlines or periods must be reasonable, at least 5 working days.
Should the fruitless expiry of a deadline or grace period result in the dissolution of the contractual
relationship or a reduction in the price to be paid, this must be expressly threatened by the Customer
at the time of setting the deadline or grace period. The above declarations shall require the written
form for their validity.
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3. Payment
3.1. The payment shall be dictated by the order confirmation. Should the Parties agree on payment
according to outlay, the outlay shall be shown in the invoice or in a separate annex to the invoice.
Should the Customer not contradict the evidenced outlay in writing within two weeks, the Customer
shall bear the burden of proof for the incorrectness of the outlay. Additional services requested by
the Customer shall be invoiced on the basis of the STÖBER ANTRIEBSTECHNIK price list. In the
absence of any other written agreement, the prices in the latest STÖBER ANTRIEBSTECHNIK
price list shall apply, according to which services are invoiced according to person-days and hours
plus the expenses incurred.
3.2. In the event of an unjustified notification of defects, STÖBER ANTRIEBSTECHNIK can invoice the
Customer for the time taken for the troubleshooting on the basis of the current price list, in particular
if the Customer reports a fault that cannot be demonstrable or reproducible, or if the fault is not
attributable to STÖBER ANTRIEBSTECHNIK.
4. Rights to Software
4.1. All intellectual property rights to the software supplied to the Customer and to the work results,
including the documentation (e.g. copyrights, trademark rights, technical property rights), in the
relationship with the Customer shall be due to STÖBER ANTRIEBSTECHNIK, even if and insofar
as the work results are obtained on the basis of the specifications from or in cooperation with the
Customer. STÖBER ANTRIEBSTECHNIK grants the Customer a simple, non-exclusive right of use
to the software supplied. The Customer shall only be entitled to use the software for its own
purposes in conjunction with the 5th inverter generation.
4.2. The Customer may make the requisite number of backup copies of the software, all of which,
however, must bear the STÖBER ANTRIEBSTECHNIK copyright mark and subsequently be kept
safely. The Customer may decompile the software and parts thereof (such as interface information)
only within the limitation of § 69e German Copyright Act (UrhG) and only when this intention is
notified to STÖBER ANTRIEBSTECHNIK in writing with a reasonable period of notice for provision
of the necessary information. Information on the source code shall thereby be subject to the strictest
confidentiality, irrespective of whether it was provided by STÖBER ANTRIEBSTECHNIK or a third
party or became known during the course of decompilation. Furthermore, modifications to and
editing of the software (modification, reverse engineering, decoding, translation, etc.) shall require
the prior written authorization of STÖBER ANTRIEBSTECHNIK.
4.3. If the software was supplied to the Customer electronically, any passing on of the software by the
Customer to third parties - whether or not against payment - shall not be permitted without the prior
written authorization of STÖBER ANTRIEBSTECHNIK.
4.4. STÖBER ANTRIEBSTECHNIK grants the rights of use to the software initially only revocably
subject to a condition precedent of complete remuneration or payment and can, in the event of a
delay in payment and after fruitless expiry of a reasonable grace period, revoke the granting of the
rights of use to the extent to which no remuneration or payment has been received.
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5. Updates
STÖBER ANTRIEBSTECHNIK shall send updates to the Customer electronically or shall offer the update
for downloading on the company's website. A physical data medium, the source code and the installation
on the Customer's premises are not owed. The updates can contain additional functions, whereby the
Customer shall have no claim to the implementation of specific functions within the scope of the updates.
STÖBER ANTRIEBSTECHNIK shall thus decide alone on the type, scope and frequency of updates for
STÖBER ANTRIEBSTECHNIK software. In all other points, the provisions of § 4 shall apply analogously.
6. Testing of Supplied Software

Before use in production, the software supplied must be adequately tested by the Customer. The
contractual software and the documentation supplied must be examined immediately on receipt and any
faults discovered reported in detail in writing. § 377 German Commercial Code (HGB) shall apply. If no
such immediate notice is given, the service shall be regarded as having been approved, except in cases
of non-recognizable faults. Should such a fault be discovered later, notice of the fault must be given
immediately on discovery of this fault, otherwise the service shall be regarded as having been approved
also with regard to this fault. If STÖBER ANTRIEBSTECHNIK has fraudulently concealed the fault,
STÖBER ANTRIEBSTECHNIK may not claim a failure to notify or delayed notification of the fault by the
Customer.
7. Customer Hotline
7.1. STÖBER ANTRIEBSTECHNIK shall provide a 24 h customer hotline for the Customer. STÖBER
ANTRIEBSTECHNIK receives fault reports and orders via this hotline and passes them on to the
responsible service technicians. The hotline serves furthermore to support the Customer through
telephone advice on remedying faults, avoiding faults and working around faults. A fault elimination
guarantee and reaction or recovery times are neither assured nor owed.
7.2. Further maintenance and support services (e.g. on site) shall only be provided on the basis of a

separate order and shall be invoiced according to time on the basis of the STÖBER
ANTRIEBSTECHNIK price list valid at the time of the placement of the order.
8. Remote Maintenance
8.1. If the Customer places an order with STÖBER ANTRIEBSTECHNIK for the remote maintenance of
the servo inverter, a date for the maintenance will be agreed with the Customer. The remote access
is effected via an Internet connection set up by the Customer in accordance with the IGB SDS 5000
manual of the remote access server. For this the Customer must inform STÖBER
ANTRIEBSTECHNIK of the serial number of the servo inverter or, if the session ID method is
selected, the corresponding temporarily valid session ID number by telephone and then also
validate the number to the remote access server.
8.2. Before the maintenance process, the Customer must ensure the safety of persons and equipment
by clearing and cordoning off the whole turning and slewing circle or danger zone of the machine
axes controlled by the servo inverter. The maintenance and the safety precautions must be carried
out and monitored on the Customer's side by a technician familiar with and trained in the operation
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of the servo inverter, in particular with the IGB SDS 5000 manual and these maintenance terms.
STÖBER ANTRIEBSTECHNIK assumes no liability for any damage resulting from the failure to
observe these safety precautions.
8.3. The maintenance process will be started by STÖBER ANTRIEBSTECHNIK only when after
establishing the remote access, a telephone connection to the Customer exists and adequate safety
precautions are verified by the Customer. After the corresponding notification, the telephone
conversation will be recorded by STÖBER ANTRIEBSTECHNIK. The technician must state his first
name and family name, and verify the establishment and maintaining of the personal and equipment
safety.
8.4. The telephone conversation will be stored by STÖBER ANTRIEBSTECHNIK for documentation
purposes. The recording will not be used by third parties. The Customer must therefore obtain the
consent of his employee for the recording and storage.
8.5. Before the end of the maintenance process, the Customer must first deactivate the remote
maintenance and establish the safety of the machine by means of a test run. Only after a successful
test run is the maintenance process concluded so that the Customer can then allow access to the
danger zone of the machine again.
8.6. The remote maintenance by remote access is linked to IT security measures, such as the session
ID method, the use of which is decided upon exclusively by the Customer. STÖBER
ANTRIEBSTECHNIK is responsible only for its own observance of the IT security measures offered
and selected by the Customer. The Customer decides also on the selection of the connection of the
inverter to the STÖBER ANTRIEBSTECHNIK remote access server and bears the sole
responsibility for its establishment, maintenance and security.
9. Other Cooperation Obligations of the Customer

9.1. The Customer shall report malfunctions, errors and damage without delay. The report must
furthermore describe the symptoms of the fault so precisely that STÖBER ANTRIEBSTECHNIK is
able to support the Customer in the purposeful remedying of the fault.

9.2. The Customer shall bear the responsibility for a regular data backup and the IT security in
accordance with the state-of-the-art. STÖBER ANTRIEBSTECHNIK may assume that all data with
which employees of STÖBER ANTRIEBSTECHNIK come into contact have been previously
backed up elsewhere by the Customer.
9.3. The warranty of quality and liability do not cover faults or damage resulting from the use of the
software in a hardware and software environment that does not meet the technical requirements.
9.4. Further cooperation obligations of the Customer result from the individual order and from the
general obligation to maintain safety and the duty to take due care. The risk of damage in the event
of infringements of the cooperation obligation must be borne by the Customer. STÖBER
ANTRIEBSTECHNIK shall not be responsible for monitoring whether the Customer complies with
the cooperation obligations.
9.5. The whole cooperation of the Customer shall be at no expense to STÖBER ANTRIEBSTECHNIK.
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10. Defects in Quality and Title of the Software

The Terms of Sale and Delivery of STÖBER ANTRIEBSTECHNIK shall apply to all defects in quality and
title. If, after providing a service, STÖBER ANTRIEBSTECHNIK supplies the Customer with a new
software version to remedy defects in quality and title, the Customer shall accept this new software
version in order to maintain the warranty rights, insofar as the acceptance is not unreasonable.
11. Acceptance
11.1. For all services suitable for acceptance testing and for all services for which acceptance testing has
been agreed, STÖBER ANTRIEBSTECHNIK may demand a written declaration of acceptance from
the Customer or the countersigning of an acceptance protocol immediately after a successfully
completed acceptance test. Individual services that can be used independently of one another shall
be accepted separately.
11.2. If no formal acceptance testing is carried out pursuant to 11.1, the Customer shall inspect the results
of the work within one month and either declares the acceptance or notify STÖBER
ANTRIEBSTECHNIK in detail and in writing of any faults discovered. The unqualified use of the
work results in production shall be deemed to be an acceptance.
12. Final Provisions

12.1. The whole business relationship between STÖBER ANTRIEBSTECHNIK and the Customer shall
be subject to the law of the Federal Republic of Germany, to the exclusion of the UN Sales
Convention and the provisions of private international law. Place of fulfillment and venue for all
disputes arising out of and/or in conjunction with this Contract shall the registered offices of
STÖBER ANTRIEBSTECHNIK. In the event of legal disputes, STÖBER ANTRIEBSTECHNIK can
also opt to take action at the Customer's general venue.
12.2. The Customer warrants to have established all necessary preconditions in order that STÖBER
ANTRIEBSTECHNIK can carry out the agreed services without infringement of the provision of data

protection law.
12.3. Amendments and supplements to the contracts between STÖBER ANTRIEBSTECHNIK and the
Customer must be made in written form for their validity. A notification in text form (e.g. e-mail) shall
also be sufficient to meet the written form requirement unless the receiving party insists on
notification in written form.
12.4. Should any of the above provisions be or become invalid or unenforceable, this shall not affect the
validity or enforceability of the other provisions. The Contract parties shall make efforts to replace
the invalid or unenforceable provision with a valid and enforceable provision coming as close as
possible to the business intention of the original invalid or unenforceable provision.
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12 Service
This chapter lists various service jobs and explains their performance.
12.1 Replacing inverters
WARNING!
Electric shock hazard!
Risk of serious injury from contact with live parts!
 Observe the 5 safety rules.
 Note that dangerously high voltages can still be present in the inverter even 5 minutes after switching off
the power supply due to the residual charge of the DC link capacitors.
 Ensure that the motor shaft is at a standstill before carrying out work. A rotating rotor can generate high
voltages at the terminals.
This chapter provides you with an introduction to the simple replacement of two inverters without additional
aids. Only the Paramodule from the replaced inverter must be used on the new inverter. In the Paramodule,
the action A00 save values stores the programming and the parameterization of the inverter safe from a power
failure.
Information
If inverters of different types are replaced or the devices to be configured on the inverter are
changed, the entire configuration must be changed with POSITool and checked!
The following conditions apply for the replacement:

• The replacement inverter assumes the task of the inverter that is replaced. There is no change in the
drive-related task.
• Inverters of the same device type are replaced.
• The replacement inverter has the same or a higher hardware and software version as the inverter that
was replaced.
• No projected devices or components (motor, rotary encoder, option boards, etc.) in the inverter are
changed.
Follow these steps:
Replacing the inverter
1. Start the A00 save values action. Wait until the action is complete with result 0:error free.
2. Turn off the power supply voltage of the inverter. Wait until the display goes out.
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3. Disconnect the Paramodule that was previously used on the inverter that is being removed!
Inverter that is being removed
4. Connect the Paramodule that was previously used to the inverter that is being installed!
Inverter that is being installed
5. Remove the inverter that is being replaced and install the new inverter. Follow the instructions in the
projecting manual!
6. Connect the power supply voltage.

 The inverter loads the configuration at the start from the Paramodule that was previously used and
takes on the application of the previously installed inverter as it does so.
7. Disconnect the previously used Paramodule.
8. Connect the new Paramodule to the new inverter.
9. Start the A00 save values action. Wait until the action is complete with result 0:error free.
 The inverter is replaced.
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12.2 Replacing an application

This chapter provides you with a guide to the simple change of an application without extra aids. Only the
Paramodule must be replaced. In the Paramodule, the action A00 save values stores the programming and
the parameterization of the inverter safe from a power failure.
The following conditions apply to the replacement:
• The hardware configuration (option boards, motor settings, etc.) stored on the Paramodule corresponds
to the drive which will use the data of the Paramodule in the future.
• The programming and parameterization stored on the Paramodule was tested beforehand.
• After the Paramodule has been exchanged and the drive has been tested, set up the drive again
(referencing, parameter optimization, etc.).
Replacing the application
1. Start the action A00 save values. Wait until the action has been concluded with the result 0:error free.
2. Turn the power supply of the inverter off. Wait until the indication on the display disappears.
3. Remove the Paramodule from the inverter.
4. Install the new Paramodule (Paramodule with changed application) on the inverter!
5. Connect the power supply.

 During startup, the inverter loads the configuration and the new application from the Paramodule and
accepts these.
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12.3 Copying Paramodule

The following section describes how to copy a Paramodule so that an application can be utilized in additional
inverters.
Copying Paramodule
1. Start the action A00 save values. Wait until the action has been concluded with the result 0:error free.
2. Remove the Paramodule from the inverter.
3. Install the new Paramodule on the inverter!
4. Start the action A00 save values. Wait until the action has been concluded with the result 0:error free. WE KEEP THINGS MOVING
 You have copied Paramodule.
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12.4 Live firmware update
12.4.1 Firmware files
A folder named Download is created in the POSITool directory when POSITool is installed:
Fig. 12-1: The Download folder is in the POSITool directory
The following files are saved in the folder:

• Download.exe: Use this file to download the firmware for MDS 5000 and FDS 5000. Observe section
12.4.2 for the download procedure:
• fx..x.mot: Firmware files for FDS 5000.
• mx..x.mot: Firmware files for MDS 5000.
• SDS5000x..x.fli: Firmware files for SDS 5000.
The correct .fli file version is assigned to the existing SDS 5000 by POSITool. If the files saved on your PC
can not be combined with the inverter connected with POSITool, you will receive a message. This can occur
when an .fli file of version V 5.4 or V 5.5 is saved in your download folder but you have an A-device available
that requires an .fli file of version V 5.6.
You can find different versions of firmware files on the STOBER Electronics CD. This CD is supplied with the
inverter.
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12.4.2 Replacing the firmware
WARNING!
Danger of personal injury or material damage due to unsecured loads. The firmware must be activated
after the download for a live firmware update. The control part and power stage of the inverter are
switched off during activation. Unsecured loads on the drive can therefore slip.
 Secure the drive load before activation.
During a live firmware update the firmware is loaded to the firmware download memory without affecting
running operation. The firmware does not become active until it is accepted. The firmware stored in the
firmware download memory is kept as redundant firmware to increase safety.
Requirements:
• The inverter controller is powered as a minimum (24 V at terminal X11). The power may only be switched
off during download if the software gives an appropriate instruction. You can also carry out the live
firmware update during ongoing operation.
• You have connected a PC to the SDS 5000 or an IGB network.
• You have configured at least one IGB network in POSITool.
You need:
• POSITool version 5.4 or higher
Carrying out a live firmware update

1. In POSITool, open the IGB: display connected devicesmenu entry in the File menu.
 You will see the following dialog screen that displays all devices connected to the PC:
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2. Click the Live Firmware update button.

3. Read the safety information.

4. If you accept the safety information, select the Accept safety guidelines checkbox.
6. Select the firmware that you want to save on the inverter in the list on the right-hand side (steps 1 to 3).
7. Select the inverter to which the chosen firmware is to be transferred by selecting the checkbox on the
left-hand side. Note that the inverter is displayed with your serial number for unique identification.
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8. Click the Start download to selected devices button.

 The firmware download starts. Progress is displayed on the right-hand side of the firmware download
dialog screen:
 Once the download has completed, the following dialog screen is displayed:
9. Click the OK button to return to the Firmware update dialog screen.
WARNING!

Danger of personal injury or material damage due to unsecured loads. The firmware must be activated
after the download for a live firmware update. The control part and power stage of the inverter are
switched off during activation. Unsecured loads on the drive can therefore slip.
 Secure the drive load before activation.
10. If you want to activate the firmware immediately, click the Start firmware immediately button. Observe the
above safety information. Follow the POSITool instructions to carry out activation. If you do not carry out
this step, the firmware is automatically activated the next time the device is switched off and on.
11. Close the dialog screen by clicking the Close button.
12. For each inverter, check that the correct firmware is entered in the E51 software version parameter.
 You have completed the live firmware update.
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12.5 Actions
Actions are functions which are executed by the inverter automatically after their start.
Actions are controlled and analyzed using special parameters. The parameters contain three elements.
You can start the action via the element 0 (e.g. A00.0) The element 1 (e.g. A00.1) shows you the action's
progress. Element 2 (e.g. A00.2) shows the result. You can start an action via every interface (operator panel
on the inverter, fieldbus or POSITool in online mode).
For some actions, power must be applied to the motor and the motor must be free to turn. For this reason the
inverter must be enabled if you want to run these actions. Other actions can be performed without energizing
the motor. Since these two action groups are executed differently, they will be described separately below.
12.5.1 Actions without enable
Actions which do not need an enable before they can be executed are:
• A00 Save values
• A37 Reset memorized values
Executing actions without enable
1. Set element 0 of 0 to the value 1 (e.g., A00.0 = 1).

 Element 1 indicates the progress of the action (e.g., A00.1 = 33 %).
2. Wait until element 0 indicates the value 0 again (e.g., A00.0 = 0)
 Element 2 indicates the results of the action (e.g., A00.2 = 0:error free).
12.5.1.1 A00 Save values

When you activate A00.0, the inverter's current configuration and the parameter values are stored in
Paramodule, safe from loss due to a power failure. After power-off, the inverter starts with the configuration
stored in Paramodule.
When it is determined during the saving procedure that the configuration data in Paramodule and the inverter
are identical, only the parameters are stored. This speeds up the procedure.
You can read the following results from the third element (A00.2):
0: error free
10: write error
11: invalid data
12: write error
14: Warning
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With the results 10 to 12 an error was determined while saving to Paramodule. If the results occur repeatedly,
the Paramodule should be replaced.
Result 14 means that saving was error-free. At the same time it is determined that the maximum number of
approx. 10,000 write cycles has almost been reached. The Paramodule should be replaced as soon as
possible (for the ID no. of the Paramodule, see the Accessories Chapter in the projecting manuals of the
inverter).
Information
Do not turn off the power of the control section (devices of the /L version: 24 V, devices of the /H
version: supply voltage) while the action is still being executed. Turning off the power while actions
are being executed will cause data to be lost. The display indicates the fault *ConfigStartERROR
parameters lost" or *Paramodul ERROR - Read error. In such cases, the application must be
transferred to the inverter again (POSITool or Paramodul).
12.5.1.2 A37 Reset memorized values

The action A37 resets memorized values E33 to E37 and E41. The action can be started in A37.0.
The action offers the following result (A37.2): 0:error free.
12.5.2 Actions with enable
Actions which require that the motors be energized before these actions can be executed:
• B40 Phase test
• B41 Autotune motor
• B42 Optimize current controller
• B43 Winding test
• D96 Reference value generator

• B300 Brake test, see chapter 7.7 Brake test
• B301 Brake grinding, see chapter 7.8 Brake grinding function
12.5.2.1 Execute
Executing actions with enable

2. Set the first element of the action to the value 1 (e.g., B40.0 = 1).
3. Enable the motor.
 Element 1 indicates the progress of the action (e.g., B40.1 = 33 %).
4. Wait until element 1 indicates the value 100 % (e.g., B40.1 = 100 %).
5. Turn off the enable.
 Element 2 indicates the result of the action (e.g., B40.2 = 0:error free).
Please note that since parameter values be determined directly during these actions, you should perform the
action A00 save values afterwards so that the values are stored safe from loss due to power failure.
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12.5.2.2 B40 Phase test
NOTICE
During this action, the motor shaft will move.
 Make sure that the motor can turn freely during the action!
Activate B40.0 to start the phase test. The phase test can only be used with servo motors. The test checks to
determine whether one phase is mixed up when the motor was connected or whether the number of motor
poles is set correctly. In addition, the commutation offset is measured.
If a resolver is connected, an amplitude offset of the sine and cosine tracks is performed (improved speed
controller performance). This offset is stored directly on the REA 5001. The action should be performed again
when the resolver, the option board or the cable is replaced.
During activation of the action, the enable must be inactive. If you have started the action in B40.0, you must
activate the enable. After the action was concluded, you must deactivate the enable again. You can then read
the measured commutation offset in B05.
During the action, the cycle time is set internally to 32 msec. When a quick stop is triggered during the action,
the drive is halted immediately.
You can read the following results from the third element (B40.2):
0: error free: The action was executed without errors and concluded.
1: aborted: The action was aborted by turning off the enable.
2: phase order: It was found that two phases were mixed up.
3: motor poles: The determined number of poles is not the value in B10.
4: commutation offset: The measured commutation offset is not B05.

5: test run: A test run with the measured commutation offset could not be performed.
136 ID 442289.06
Service 12
12.5.2.3 B41 Autotuning
NOTICE
Using the action B41 the stator resistance (B53) and stator inductance (B52) are measured on servo motors.
On asynchronous motors Leakage factor (B54) and Magnetic saturation coefficient (B55) are also
determined.
During activation, the enable must be inactive. If you have started the action in B41.0, you must activate the
enable. After the action was concluded, you must deactivate the enable again. You can then read the
measured values (B52 to B55).
During the action, the cycle time is set internally to 32 msec.

1: abortedn: The action was aborted by turning off the enable.
ID 442289.06 137
12 Service
12.5.2.4 B42 Optimize current controller
NOTICE
During the action, the motor turns at approx. 2000 Rpm.
 For this reason ensure the motor and the mechanism coupled to it are allowed to be operated at this speed
and can rotate freely!
 During the action, you hear clicking noises at regular intervals. The action takes approx. 20 minutes.
NOTICE
Danger due to delayed shut-down.
 If you have enable the action via local operation, the action can only be interrupted with a very long delay
by deactivating the enable!
When you start the action, the parameters of the current controller are specified again (B64 to B68).
enable. After the action was concluded, you must deactivate the enable again. You can then read the
measured values in B64 to B68.
If a quick stop request occurs during the action, the drive is halted immediately.
For the duration of the action, the cycle time is set internally to 32 msec.
138 ID 442289.06
Service 12
12.5.2.5 B43 Winding test
NOTICE
When you start the action, the symmetry of the ohmic resistors of the motor windings are checked.
enable. After the action was concluded, you must deactivate the enable again.
2: R_SYM_U: The resistance of phase U differs significantly from that of the other phases.
3: R_SYM_V: Same as 2
4: R_SYM_W: Same as 2
5: POLAR_SYM_U: An asymmetry was determined when the polarity changed.
6: POLAR_SYM_V: Same as 5
7: POLAR_SYM_W: Same as 5
Results 5 to 7 are usually an indication of an inverter error.
ID 442289.06 139
12 Service
12.5.2.6 Optimize B45 SLVC-HP
WARNING!
Risk of injury due to high speeds!
The action accelerates the motor up to twice its nominal speed.
 Only perform this action when the motor is adequately fastened. Secure feather keys, etc.
 Make sure that any mechanical systems (gear units, etc.) that are attached can reach these speeds.
NOTICE
Unsuitable optimization results!
The results are falsified if the action is performed with a loaded motor.
 If possible, only perform the action when the motor is not connected to a mechanical system (gear units,
etc.).
 If it is not possible to disconnect the mechanical system, make sure that the load torque is not more than
10 % of the nominal torque.
The action optimizes the following parameters:

• B46 Feedback SLVC-HP,
• B47 P-gain SLVC-HP and
• B48 I-Gain SLVC-HP.
The enable must be inactive during activation. If you have started the action in B45.0, you must activate the
enable. If the action has completed, the enable must be deactivated again. The result of the action can be
read after removing the enable in B46, B47 & B48.
Note that the result is more accurate if you fit the motor with an encoder for this action. This is possible for
initial commissioning of a machine series, for example.
In this case, mount and connect the encoder, set control mode B20 = 2:vector control and parameterize the
encoder. Now perform the action. After you have the dismantled the encoder, set control mode B20 = 3:SLVC-
HP again.
140 ID 442289.06
Service 12
12.5.2.7 D96 Reference value generator
NOTICE
When you start the action, a square-shaped reference value is specified for the motor. You can parameterize
the reference value in D93 to D95.
During activation, the enable must be inactive. If you have started the action in D96.0, you must activate the
enable.
The action can only be concluded by turning off the enable and quick stop! With a quick stop signal, the drive
is halted immediately.
You can read the following result from the third element (D96.2):
ID 442289.06 141
13 Diagnosis
13 Diagnosis
13.1 LED
The LEDs on the front of the inverter provide a quick overview of the device state. A green LED and a red
LED light up in different combinations and at different frequencies to provide information about the device
state as shown in the table below.
The additional blue LED provides information about remote maintenance.
Fig. 13-1: LEDs on the front
LEDs State of the inverter

ERROR (red) OFF No power supply voltage.
RUN (green) OFF
ERROR (red) OFF Data is written on the Paramodul.
RUN (green) Flashing at 8 Hz

ERROR (red) ON Paramodule is not detected.
ERROR (red) OFF Ready for operation

(not enabled).
ERROR (red) OFF Operation (enabled).
RUN (green) ON
ERROR (red) Flashing at 1 Hz Warning.
RUN (green) ON
ERROR (red) Flashing at 1 Hz Warning.
RUN (green) Flashes
142 ID 442289.06
Diagnosis 13

ERROR (red) ON Fault.
RUN (green) OFF

ERROR (red) Flashing at 8 Hz No configuration active.
RUN (green) OFF

REMOTE OFF No remote maintenance active.
(blue)
REMOTE Repeatedly Connection to the teleserver is being
(blue) lights up very established.
quickly
REMOTE Steady flashing Inverter is waiting for the connection
(blue) to POSITool.
REMOTE Continuously lit Connection is completely set up and
(blue) remote maintenance can be
performed.
13.2 Display
The display gives the user a detailed response message on the state of the inverter. In addition to the
indication of the parameters and events, the device states are shown.
The display permits an initial diagnosis without additional aids.

13.2.1 General
After the self-test of the inverter, the operation indication appears on the display. Depending on the
configuration and the current device state, the first and second line of the display may differ from what is
shown in the example. Im Picture shows the configuration fast ref. value in the device state enabled. See
chap. 3 for device states.
If no axis is active, this is indicated with an asterisk (*). The active axis is then shown when it differs from axis
no. 1. Only for active brake chopper or active local mode does the appropriate symbol appear on the
display.
Speed Current
3000 rpm 1.3A

4: Enabled
Device state Brake chopper

active
Axis no. 2 active
Fig. 13-2: Display indication
ID 442289.06 143
13 Diagnosis
13.2.2 Event Indications
Events
Event indications on the display give the user information on the state of the device. The event list (chapter
13.3 Events) gives you a list of the event indications. The following event groups exist.
Events
Sequence error
active inactive
recognized
configuration configuration
by CPU
Fig. 13-3: Events
Error during active configuration

Events during active configuration are used to monitor the device during operation. The reaction to one of
these events can be set in four levels - inactive, message, warning or fault.
1. When an event is parameterized as a message, it is shown flashing at the bottom of the display. An
application is not affected by a message (i.e., the top part of the display does not change). A message is
not acknowledged. It is queued until the cause disappears.
2. A warning is shown in the top part of the display with the appropriate logo. The bottom line indicates the
flashing event. The upper right corner shows the remaining time after which the warning becomes a fault.
If the cause disappears within this parameterized time, the warning is reset. An application is not affected
by a warning.
3. When an event with the level "fault" occurs, the device immediately changes to the device state "fault
reaction." The event appears flashing in the bottom line of the display. A fault must be acknowledged.
The device provides notes on the cause of some of the events. These events are marked with a number and
appear alternately to the event indicators on the display. Causes which are not documented with a number in
the event description are only an indication of possible faults. They do not appear on the display.
For additional diagnosis, the occurrence of an event of this group is documented by incrementing a counter.
The fault counters are stored in the parameter group Z.. An acknowledgment can be programmed on the
operator panel or via binary input for some of these events. These events do not affect communication and
device control. The events can be identified by their consecutive numbering.
Sequence faults recognized by the CPU

The 5th generation of STOBER inverters includes a digital computer with microprocessor, memory and I/O
modules. When an error occurs which affects this area, the device reacts with an indication on the display. At
the same time, the inverter assumes a defined state (power section is turned off). The device must be turned
off and on again before it can return to its normal functionality.
At the same time, device control (menu function) and communication with the inverter are not possible. Events
of this type are marked on the display with the character "#".
144 ID 442289.06
Diagnosis 13
Inactive configuration…
There are two cases when a configuration is inactive:
1. A fault occurs during device start.
2. The configuration was stopped by POSITool.
Events which will lead to an inactive configuration are marked on the display with an asterisk (*).
...during device startup

During device startup, configuration and parameters, flags and signal values are loaded from Paramodul.
Afterwards the configuration is started. During both steps detailed error messages can be generated. When
a fault occurs during loading from Paramodul, "*ParaModuleERROR" appears in the top line. When a fault
occurs while the configuration is being started, "*ConfigStrtERROR" appears. These faults are corrected by
turning the device off and on or transferring a configuration.
...after stop by POSITool

If the configuration was stopped by POSITool, the logo of the company STÖBER ANTRIEBSTECHNIK
appears on the display.
ID 442289.06 145
13
146 WE KEEP THINGS MOVING
13.3 Events

Diagnosis
13.3.1 31:Short/ground
Triggering Level Response Fault counter

The hardware short-circuit switch-off is active. Fault The motor continues to coast. The brake chopper cuts Z31
The output current is too high. If there is no out. Any existing brakes are engaged if they were not
supply voltage when starting the device, the released via F100 independent of the device controller.
cause may be a device-internal short circuit/
ground fault.
Possible cause Test Measure Acknowledgement

Interwinding fault Check the motor. Replace the motor. Switch the device off/on or
Fault in motor cable Check the cable Replace the cable. programmed
acknowledgement
Connection fault Check the connection, e.g. whether V or Correct the connection.
W is connected to PE at X20 U.
Braking resistor short Check the braking resistor. Replace the braking resistor.
circuit
Device-internal short Check whether the fault only occurs when Replace the inverter.
circuit/ground fault enabling the inverter.
ID 442289.06
13.3.2 32:Short/gr.int
ID 442289.06
Resolution Level Response Fault counter

An internal test is performed when the controller Malfunction The inverter cannot be enabled. Z32
part power supply is switched on. An existing
short-circuit causes a malfunction. A requirement
for triggering this event is for the supply voltage
to already be present when starting the device.

There is an internal device — Please contact our service department, Switch the device on/off or
fault. see section 1.4 Further support programmed
acknowledgement
13.3.3 33:Overcurrent

The total motor current exceeds the permitted Fault The motor always coasts except when U30 Emergency Z33
maximum value. stop is activated. Any existing brakes are engaged if they
were not released via F100 independent of the device
controller.

Acceleration times too Extend the ramps. Apply this setting for operation. Switch the device off/on or
short. programmed
Incorrectly set torque limits Set smaller values in C03 and C05. Apply this setting for operation. acknowledgement
Diagnosis 13
in the C03 and C05
parameters.

147
13
13.3.4 34:Hardw.fault

Diagnosis
There is a hardware fault. Fault The inverter can no longer be enabled. Z34
Cause Description Measure Acknowledgement

1:FPGA Fault when loading the FPGA Replace the inverter. Not confirmable
2:NOV-ST Faulty power unit memory (EEPROM)
3:NOV-LT Faulty control unit memory (EEPROM)
4:Brake1 The controller of the brake 1 is faulty or Check the wiring and correct it if
the 24 vdc power supply is missing at the necessary.
brake module.
5:Brake2 The controller of the brake 2 is faulty or Check the wiring and correct it if
the 24 vdc power supply is missing at the necessary.
brake module.
11:CurrentMeas The current offset measurement for the Replace the inverter.
device start-up indicates a deviation that
is too large.
ID 442289.06
13.3.5 35:Watchdog
ID 442289.06

The watchdog of the microprocessor is activated. Malfunction The motor continues to coast. The brake chopper is Z35
switched off while the inverter restarts. Any existing
brakes are engaged if they were not released via F100
independent of the device controller.

The microprocessor is • Check the E191 parameter, it should • Set a higher cycle time in the A150 Switch the device on/off or
used to capacity or faulty. indicate a value less than 80%. parameter. programmed
• Check the wiring for EMC-compliant • Wire according to EMC regulations. acknowledgement
design.

Diagnosis 13
149
13
13.3.6 36:High voltage

Diagnosis
The voltage in the intermediate circuit exceeds Fault The motor continues to coast. Any existing brakes are Z36
the permitted maximum (DC link voltage display engaged if they were not released via F100 independent
in E03). of the device controller.

Supply voltage too high Check whether the supply voltage Take measures to adjust the supply Switch the device off/on or
exceeds the permitted input voltage. voltage. programmed
No braking resistor Check the wiring. Connect a braking resistor. acknowledgement
connected
Brake chopper is Check whether A22 = 0 is set. Enter the values of the braking resistor in
deactivated the A21, A22 and A23 parameters.
Braking resistor too small • Check whether A21 does not reach Connect a suitable braking resistor.
or too large the permitted value.
• Check whether the resistance is
suitable to dissipate the power losses
arising.
Braking ramps to steep Observe the DC link voltage during a • Extend the braking ramps.
braking procedure, e.g. using a Scope • Connect a suitable braking resistor.
recording. • Check the application of the DC link
connection.
Brake chopper is faulty Observe the DC link voltage in the Scope. Please contact our service department,
If this increases to the overvoltage limit see section 1.4 Further support
without hindrance, the brake chopper is
faulty.
ID 442289.06
13.3.7 37:Encoder
ID 442289.06

Error due to Fault The motor always coasts except when U30 Emergency stop is activated. Z37
encoder Attention: The reference is deleted for positioning applications due to the event
37:Encoder. Referencing must be repeated after acknowledgement.
If the encoder is not connected when switching on the control unit power supply, the
encoder supply is permanently switched off. Acknowledgement is then only possible by
switching the inverter off and on.
Cause Description Measure Acknowledgeme

nt
1:Para<>Encoder Parameterization is not suitable for Check and correct the H-parameter. Programmed
the connected encoder. acknowledgement
2:ParaChgOffOn Parameter change; encoder Save and then switch the device off/on so that the change is Programmed
parameterization can not be effective. acknowledgement

changed during operation
4:X4 chan. A/Clk Wire break track A/Clock Check the encoder cable and replace if necessary. Programmed
acknowledgement
5:X4-chan. B/Dat Wire break track B/Data Programmed
acknowledgement
6:X4-channel 0 Wire break channel 0 Programmed
acknowledgement
7:X4-EnDatAlarm Alarm bit of EnDat encoder present. Replace the motor. Switch device off/
on
Diagnosis 13
8:X4-EnDatCRC Errors accumulate during data • Check the connection and shielding of the encoder Programmed
transfer. cable. acknowledgement
• Reduce the electromagnetic interference.

151
13

Diagnosis
nt
10:Resol.carrier The resolver could not be calibrated • Check the encoder cable. Programmed
or optimized. • Check whether the specification of the resolver matches acknowledgement
11:X140-undervolt. Incorrect transfer factor the specifications of STOBER. Switch device off/
on
12:X140-Overvltg Programmed
acknowledgement
14:Resol.failure Wire break • Check the encoder cable. Programmed
acknowledgement
15:X120-double Different positions are frequently Switch device off/
transmission determined at X120 during double on
transmission.
16:X120-Busy Encoder has not responded for too • Replace the option board that the encoder is connected Programmed
long; for SSI Slave: No telegram for to. acknowledgement
5 ms for enabled drive. • Replace the inverter.
17:X120-Wire break A wire break was detected at X120. • Check the connected cable (encoder or SSI connection). Programmed
• Check the power supply of the SSI encoder or the source acknowledgement
that simulates the SSI signals.
• Make sure that the settings of the SSI master are
matched to the SSI encoder or the source that simulates
the SSI signals.
• Check whether a device is correctly parameterized as
the source of the SSL signals in the SSI motion bus.
• Check whether the devices in the SSI motion bus boot up
together.
ID 442289.06
ID 442289.06

nt
18:X120-Timeout No cycle signal was detected from • Check the connected cable. Programmed
the SSI master. • Check the power supply of the SSI master. acknowledgement
• Make sure that the settings of all devices in the SSI
motion bus are matched to each other.
• Check whether a device is correctly parameterized as
the SSL master in the SSI motion bus.
• Check whether the devices in the SSI motion bus boot up
together.
19:X4 double Different positions are frequently • Check the connection and shielding of the encoder Programmed
transmission determined at X4 during double cable. acknowledgement
transmission. • Reduce the electromagnetic interference.
20:X4-Busy Encoder has not responded for too • Check the encoder cable. Programmed
long. • Check whether a suitable encoder is connected. acknowledgement
21:X4-wire break A wire break from one or more • Check the encoder cable. Programmed

tracks was detected. acknowledgement
22:AX5000 Acknowledgement for axis Check the wiring between the inverter and POSISwitch Programmed
switchover did not occur. AX 5000. acknowledgement
23:AX5000required A POSISwitch AX 5000 was • Match the projection of your hardware. Programmed
projected but not connected. • Check the connection of the POSISwitch AX 5000. acknowledgement
24:X120-speed B297, G297 or I297 exceeded for • Check the connection and shielding of the encoder Programmed
the encoder at X120 cable. acknowledgement
25:X4-speed B297, G297 or I297 exceeded for • Reduce the electromagnetic interference. Programmed
the encoder at X4 • Check the parameterization of B297, G297 or I297. acknowledgement
Diagnosis 13
26:X4-noEnc.found No encoder was found at X4 or a • Correct the connection of the encoder. Programmed
wire break was detected at the • Check the encoder cable. acknowledgement
EnDat/SSI encoder. • Correct the power supply of the encoder.
• Check the setting of the H00 parameter.

153
13

Diagnosis
nt
27:X4-AX5000 gef A functional AX 5000 option was • Check the setting of the H00 parameter. Programmed
found at X4 although the • Check the connection of the encoder at the POSISwitch acknowledgement
incremental encoder or EnDat AX 5000.
encoder was parameterized or no
EnDat encoder is connected to
option AX 5000.
28:X4-EnDatfound An EnDat encoder was detected at Check the setting of the H00 parameter. Programmed
X4 although a different encoder was acknowledgement
parameterized.
29:AX5000/IncEnc A faulty POSISwitch AX 5000 option • Replace the AX 5000 option. Programmed
at X4 or a wire break in the A- • Check the encoder cable of the incremental encoder. acknowledgement
channel for an incremental encoder
was detected.
30:Opt2 incomp Option 2 is not the latest version. Install the latest version of the option board. Programmed
acknowledgement
31:X140EnDatAlar The EnDat encoder at X140 reports Replace the motor. Programmed
an alarm. acknowledgement
32:X140EnDatCRC Errors accumulate during data • Make sure that the correct encoder type is connected. Programmed
transfer. The encoder is not • Check the connection and shielding of the encoder acknowledgement
available. cable.
• Reduce the electromagnetic interference.
33:IGB Angle dif. G297 exceeded on the IGB • Check the parameterization of G297. Programmed
• Check the producer. acknowledgement
ID 442289.06
ID 442289.06

nt
34:battery low When switching on the inverter, it • Replace the AES battery before the next time the inverter Programmed
was determined that the voltage of is switched off. Note also the Absolute Encoder Support acknowledgement
the battery has fallen below the AES operating instructions (see section 1.3 Further
warning limit of the encoder. documentation).
Referencing of the axis remains
intact. However, the remaining
service life of the backup battery is
limited.
35:battery empty When switching on the inverter, it • Referencing the axis. Programmed
was determined that the voltage of • Replace the AES battery before the next time the inverter acknowledgement
the battery has fallen below the is switched off. Note also the Absolute Encoder Support
minimal voltage of the encoder. AES operating instructions (see section 1.3 Further
Referencing of the axis has been documentation).
deleted. The backup battery is no

longer able to retain the position in
the encoder over the time during
which the inverter in switched off.
Diagnosis 13
155
13
13.3.8 38:TempDev.sens

Diagnosis
The temperature measured by the device sensor Fault The parameterized fault reaction in the A29 parameter. Z38
exceeds the permitted maximum value or has
fallen below the permitted minimum value. The
permitted temperatures are saved in the power
unit of the inverter.

The ambient/control Correct the surrounding temperature of Take suitable measures to match the Switch the device off/on or
cabinet temperatures are the inverter. surrounding temperature to the operating programmed
too high or too low. conditions of the inverter. acknowledgement
Fan faulty Switch on the control unit power supply Replace the inverter.
and check whether the fan(s) start up.
ID 442289.06
13.3.9 39:TempDev i2t
ID 442289.06

2
The i t-model calculated for Inactive, message, warning or When triggering an event, a current limit initially takes Z39
the inverter exceeds the malfunction can be place in the servo and vector control control types. At the
thermal load of 100% (for parameterized in U02 same time, a quick stop is triggered as a fault when
firmware 5.6-P or higher, the parameterizing in U02. Reducing the current can cause
threshold in A27 can be set). the quick stop to no longer perform correctly.

Inverter overloaded Check the load situation of your drive. • Correct the design of the drive. Switch the device off/on or
• Check the maintenance condition of programmed
the drive (block, lubrication, etc.) acknowledgement
Cycle frequency too high Check the load situation of your drive • Reduce B24.
(B24) under consideration of the derating. • Use a drive with a suitable power
rating.

Diagnosis 13
157
13
13.3.10 40:Invalid data

Diagnosis
A data error was detected when initializing the Fault The inverter cannot be enabled. Z40
non-volatile memory.

1:Error Low level write/read error or timeout. Replace the inverter. Not confirmable
2:BlockMiss unknown data block
3:DataSecurity Block has no data security.
4:CheckSum Block has a check sum error.
5:R/O Block is r/o.
6:ReadErr Start-up phase: Block read error
7:BlockMiss Block not found
17:Error Low level write/read error or timeout
18:BlockMiss unknown data block
19:DataSecurity Block has no data security.
20:CheckSum Block has a check sum error.
21:R/O Block is r/o.
22:ReadErr Start-up phase: Block read error
23:BlockMiss Block not found.
ID 442289.06
ID 442289.06

32:el. Nameplate no nameplate data available • For STOBER standard motor: Please Switch the device off/on or
contact our service department, see programmed
section 1.4 Further support acknowledgement
• For motor from other manufacturers:
Set B06 to 1:arbitrary setting and
manually enter the motor data.
33:el.typeLim Nameplate parameter cannot be entered • Check the configuration of the inverter
(limit value or existence). and motor.
• Please contact our service
department, see section 1.4 Further
support
48:Option module2 Error in memory of option 2 for REA 5000 The option must be sent in for repair. Not confirmable
or REA 5001 and XEA 5000 or XEA 5001.

Diagnosis 13
159
13
13.3.11 41:Temp.MotorTMS

Diagnosis
Motor temperature sensor Warning and malfunction can The parameterized malfunction reaction in the A29 Z41
reports overtemperature be parameterized in U15. parameter.
(connection clamp X2).

The motor temperature Check whether the motor temperature Connect the cable properly. Switch the device on/off or
sensor is not connected. sensor is connected to X2 and whether programmed
the wiring is OK. acknowledgement
The motor is overloaded Check whether the operating conditions • Check and, if necessary, correct the
have caused the motor to overheat (load drive design.
state, ambient temperature of the motor, • Check whether a blockage caused
etc.). overheating.
The KTY evaluation is Your device indicates a HW version of 190 • If the motor allows it, set B38 = 0:
activated although an A- or lower and B38 is set to 1: KTY 84-1xx. PTC.
device is not involved. • Replace the inverter with an A-device
(HW version 200 or higher).
ID 442289.06
13.3.12 42:TempBrakeRes
ID 442289.06

2
The i t model for the braking resistor exceeds Fault The parameterized fault reaction in the A29 parameter. Z42
100% load.

The braking resistor may Check whether the load state of the Check the drive configuration. Consider Programmed acknowledgement;
not be designed braking resistor has caused a DC link connection or the use of a acknowledgement by switching
according to the overheating. braking resistor with a larger power of/on is not recommended as in
application. rating. this case the i2t model is reset to
80 %. As a result, there is a risk
that the braking resistor will be
damaged.

Diagnosis 13
161
13
13.3.13 44:External fault

Diagnosis
Application-specific or by free Fault The parameterized fault reaction in the A29 parameter: Z44
programming option • A29 = 0:inactive
The power unit is switched off, the motor coasts down. The
holding brakes are applied when the purge override is
inactive.
• A29 = 1:active
The drive is stopped with a quick stop. The holding brakes are
applied at the end of a quick stop if the purge override is
inactive.

Application-specific or — — Switch the device off/on or
based on free programmed
programming option; acknowledgement
can be separately
programmed for each
axis
ID 442289.06
13.3.14 45:oTempMot. i2t
ID 442289.06

2
The i t model for the motor Parameterized as inactive, The parameterized malfunction reaction in the A29 Z45
reaches 100% load. message or warning in U10 parameter.
and U11.

The motor is overloaded Check whether the operating conditions • Take measures to meet the Switch the device off/on or
have caused the motor to overheat requirements for the operating programmed acknowledgement.
(load state, ambient temperature of the conditions.
motor, etc.). • Rectify any existing blockages.
• If necessary, correct the drive
design.
13.3.15 46:Low voltage

A problem with the supply • Cause 1: Parameterized in The parameterized malfunction reaction in the A29 Z46
voltage or DC link voltage was U00 and U01 parameter for cause 1 and 2. For cause 3, the motor
detected. • Cause 2: Warning with 10 s always coasts except when U30 Emergency stop is
warning time activated.
• Cause 3: Malfunction
Diagnosis 13
163
13

Diagnosis
1:low Voltage The value in E03 DC link voltage has Check whether the supply voltage Can be acknowledged for
fallen below the value parameterized in corresponds to the specification. malfunction level by switching
A35 Undervoltage limit. the device off/on or programmed
2:network phase The line monitoring has detected that a Check the line fuse and wiring. acknowledgement.
phase is missing when the power stage
is switched on.
3:drop in network If the line monitoring detects that the Check whether the supply voltage
line is missing, the load relay is corresponds to the specification or
immediately switched off. Normal whether there is a power failure.
operation is maintained. If the line return
of the power stage is still switched on, a
malfunction is triggered after 0.5 s.
13.3.16 47:TorqueLimit

The maximum torque permitted for static Can be The parameterized malfunction reaction in the A29 Z47
operation is exceeded in the control types of parameterized parameter.
servo control, vector control or sensorless in U20 and U21
vector control (E62 act. pos. T-max, E66 act.
neg. T-max). Note that in many cases,
operation at the torque limit is desirable.

Incorrect Check whether the torque moments in Correct the setting of the parameters in Can be acknowledged for
parameterization E62 and E66 correspond with your C03, C05, C06, C130 and C230. malfunction level by switching
projection. the device off/on or programmed
ID 442289.06
Drive overloaded Check the load situation of your drive. Rectify any existing blockages. acknowledgement.
13.3.17 52:Communication
ID 442289.06

Communication malfunction Fault Z52

1:CAN LifeGuard The device detects the Life-Guarding Check the CANOpen master. Switch off/on the Esc key of the
event (master no longer sends any device at the front of the inverter
Remote Transmit Request). or rising flank of the enable
signal or programmed
acknowledgement
2:CAN Sync Error Sync message was not received within • Make sure that the A201 parameter Switch off/on the Esc key of the
the timeout period that is calculated is correctly set. device at the front of the inverter
from the A201 Cycle Period Timeout as • Make sure that the master sends or rising flank of the enable
follows: the sync message reliably. signal or programmed
• A201 ≤ 20 ms:  acknowledgement

Timeout period = A201 * 4,
• 20 ms < A201 ≤ 200 ms: 
Timeout period = A201 * 3,
• Otherwise: Timeout period = A201 *
2
3:CAN Bus Off The CAN controller in the inverter has • Make sure that the CAN baud rate Switch off/on the Esc key of the
switched off due to critical and repeated was correctly set. device at the front of the inverter
CAN bit timing errors. The CAN • Check the wiring. or rising flank of the enable
controller is restarted after a waiting • Check the bit timing of a different signal or programmed
time of 2 s and acknowledgement of the CAN subscriber. acknowledgement
Diagnosis 13
malfunction.
4:PZD-Timeout • Failure of the cyclic data connection • Check the PLC (RUN switch, set Switch off/on the Esc key of the
(PROFIBUS master no longer cycle time). device at the front of the inverter
sends) or connection is faulty or • Check the wiring. or rising flank of the enable
• PROFINET IO controller no longer signal or programmed
sends or the connection is faulty acknowledgement

165
13

Diagnosis
5:USS Failure of cyclic data connection (USS). Check the USS master. Switch off/on the Esc key of the
device at the front of the inverter
or rising flank of the enable
signal or programmed
acknowledgement
6:EtherCAT PDO-Ti The inverter did not receive process • Make sure that the A252.x, A253.x, Switch the device off/on or
data in the time period that was A256, A257.x, A258, A259.x, A260, programmed acknowledgement.
parameterized in A258. A261.x, A262.x, A263.x, A264.x, Note that an action must also
A265.x, A266 and A267.x occur in the controller or the
parameters are correctly set. EtherCAT master for complete
• Make sure that the timeout value acknowledgement.
parameterized in A258 matches the
A150 cycle time (of the inverter) and
the cycle time of the controller or
EtherCAT masters that were
selected.
• Check the wiring.
• Check the EtherCat state of the
inverter and the controller or
EtherCAT master.
• Check whether CoE emergency
messages are present in the
controller or the EtherCAT master.
ID 442289.06
ID 442289.06

7:EtherCAT-DcSYN If the inverter is synchronized to • Check the controller. Switch the device off/on or
EtherCAT by means of the Distributed • Make sure that the wiring is in programmed acknowledgement.
Clock, the "SYNC 0" synchronization accordance with electromagnetic Note that an action must also
signal is checked by a watchdog. If this interference regulations. occur in the controller or the
SYNC 0 signal remains for a certain • Replace the ECS 5000. EtherCAT master for complete
time (that cannot be parameterized), • Please contact our service acknowledgement.
this cause is triggered. This cause can department, see section 1.4 Further
only be triggered for EtherCAT with support
synchronization by the Distributed
Clock.
8:IGB µC failure The microcontroller for the IGB • Check the wiring for EM-compliant Switch the device off/on or
communication has failed. design. programmed acknowledgement
• The inverter must be sent in for
repair. Please contact our service

support
9:IGB Lost Frame IGB motion bus: The subscriber has • Make sure that all inverters in the Switch the device off/on or
detected the loss of min. 2 consecutive IGB network are switched on. programmed acknowledgement
data frames (double error). This cause • Make sure that all connection
can only occur when the IGB state = cables are plugged in.
3:Motion bus and the motor is powered.
10:IGB P. LostFr IGB motion bus: A different subscriber Switch the device off/on or
has detected a double error and programmed acknowledgement
reported this via A163. As a result, this
inverter is also faulty with this cause.
This cause can only occur when the IGB
Diagnosis 13
state = 3:Motion bus and the motor is
powered.

167
13

Diagnosis
11:IGB Sync Erro The synchronization within the inverter • Start the configuration in the Switch the device off/on or
is faulty as the configuration was inverter. programmed acknowledgement
stopped by POSITool. This cause can • If the result occurs with this cause
only occur when the IGB state = for a running configuration, the
3:Motion bus and the motor is powered. inverter must be sent in for repair.
Please contact our service
support
12:IGB ConfigTim An IGB motion bus consumer block or Adjust the run-time sequence of the Switch the device off/on or
producer block in the graphical blocks, transfer the changed programmed acknowledgement.
programming was called up at the configuration to the inverter and save it
wrong time. The block was called up too there. Restart the inverter.
early or closed too late. This cause can
only occur when the IGB state =
3:Motion bus and the motor is powered.
13:IGBPartnerSyn There is a synchronization malfunction Check the inverter that displays event Switch the device off/on or
for another subscriber in the IGB 52 with cause 11. programmed acknowledgement
network (see cause 11). This subscriber
reported its fault via A163. As a result,
this inverter is also faulty with cause 13.
This cause can only occur when the IGB
state = 3:Motion bus and the motor is
powered.
ID 442289.06
13.3.18 55:OptionBoard
ID 442289.06

Error when operating with option board. Malfunction The parameterized malfunction reaction in the A29 Z55
parameter.

1:CAN5000Failure CAN 5000 was detected, installed and • Uninstall the option, check the Switch the device on/off or
failed. contacts and reinstall the option. programmed acknowledgement
2:DP5000Failure DP 5000 was detected, installed and • Replace the option.
failed.
3:REA5000Failure REA 5000 was detected, installed and
failed.
4:SEA5000failure SEA 5000 was detected, installed and
failed.

5:XEA5000Failure XEA 5000 or XEA 5001 was detected,
installed and failed.
6:InkSim-Init Incremental encoder simulation on XEA
could not be initialized. The motor may
have rotated during initialization.
7:wrongOption incorrect or missing option board • Install the projected option. Switch device off/on
(seeE54/E58 with E68/E69) • Adjust the projection.
8:LEA5000failure LEA 5000 was detected, installed and • Uninstall the option, check the Switch the device on/off or
• Replace the option.
Diagnosis 13
9:ECS5000failure ECS 5000 was detected, installed and • Uninstall the option, check the Switch the device on/off or
10:24Vfailure Failure of 24V supply for XEA 5001 or Check and, if necessary, correct the Switch device off/on
LEA 5000. 24V supply of the option.

169
13

Diagnosis
11:SEA5001failure SEA 5001 was detected, installed and • Uninstall the option, check the Switch the device on/off or
12:REA5001failure REA 5001 was detected, installed and • Uninstall the option, check the Switch the device on/off or
13:PN5000 Failure1 PN 5000 was detected, installed and • Check whether the PN 5000 Switch device off/on
failed. Basic hardware tests have accessory was correctly installed.
detected an error. • Check whether suitable EMC
14:PN5000 failure2 PN 5000 was detected, installed and measures were taken. Switch device off/on
failed. Basic software tests have • Check whether only PROFINET-
detected an error. certified components were
connected to the inverter.
15:PN5000 failure3 PN 5000 was detected, installed and Switch device off/on
• Check whether the cabeling and
failed. The watchdog function of the PN-
connections correspond to the
5000 monitoring system has detected
PROFINET standard.
an error.
• Contact the service department,
see section 1.4 Further support.
17:opt.2 too old Option board with old hardware version • Install the latest version of the Switch device off/on
(XEA5001 HW 9, REA 5000 HW 18). option.
ID 442289.06
13.3.19 56:Overspeed
ID 442289.06

The measured speed is larger than C01 x 1.1 Malfunction The motor always coasts (from V5.0D) except when U30 Z56
+ 100 rpm. Emergency stop is activated. Any existing brakes are
engaged if they were not released via F100 independent
of the device controller.

Incorrect Check the parameterization of the If necessary, correct the parameters. Switch the device on/off or
parameterization of the encoder, e.g. the line number of the programmed acknowledgement
encoder incremental encoders.
Lag error too large Use a Scope recording to check Correct the parameters (ramps, torque
whether the value in E07 is larger than limits, etc.).
C01 at the time of the error.

Motor overshoots Use a Scope recording to check the Optimize the parameterization of the
value in E91 is larger than E07 at the speed controller (C31 ,C32).
time of the error.
Incorrect commutation Perform the B40 phase test action. The B40 phase testaction must be in
offset for the encoder of a accordance with specifications.
servo motor
Encoder faulty Check whether a speed that clearly The motor must be sent in for repair.
differs to zero is displayed in E91 during Please contact our service department,
a motor standstill. see section 1.4 Further support
Diagnosis 13
171
13
13.3.20 57:Runtime usage

Diagnosis
The cycle time of a real time cycle was Fault The parameterized fault reaction in the A29 parameter. Z57
exceeded.

2:RT2 Cycle time of real time task 2 exceeded Replace the inverter. Switch the device off/on or
(1 ms). programmed acknowledgement
3:RT3 Cycle time of real time task 3 exceeded Set a higher cycle time in A150.
(technology task).
4:RT4 Cycle time of real time task 4 exceeded
(32 ms).
5:RT5 Cycle time of real time task 5 exceeded
(256 ms)
13.3.21 58:Grounded

Unbalanced motor currents were detected. Malfunction The motor continues to coast. Any existing brakes are Z58
This involves a hardware from the power engaged if they were not released via F100 independent
stage for MDS 5000 size 3 or SDS 5000 size of the device controller. The brake chopper is switched
3. off as long as the malfunction is present.

Ground fault in motor Check the motor. Replace the motor. Switch the device on/off or
Fault in motor cable Check the cable. Replace the cable programmed acknowledgement
ID 442289.06
Connection fault Check the connection, e.g. whether V or Correct the connection.
W is connected to PE at X20 U.
13.3.22 59:TempDev. i2t
ID 442289.06

The i2t-model calculated for the inverter Fault The parameterized fault reaction in the A29 parameter. Z59
exceeds the maximum allowed thermal load
of 105% (for firmware 5.6-P or higher,
triggering only occurs when A27=100% is
set).

Inverter overloaded Check the load situation of your drive. • Reduce any existing loads Switch the device off/on or
(lubrications, blockages, etc.). programmed acknowledgement
• Use a drive with a suitable power
rating.
Cycle frequency too high Check the load situation of your drive • Reduce B24.
under consideration of the derating. • Use a drive with a suitable power

rating.
Diagnosis 13
173
13
13.3.23 60-67:Application events 0-7

Diagnosis
Application-specific or due to free Can be The parameterized malfunction reaction in the A29 Z60 to Z67
programming option; can be separately parameterized parameter.
programmed for each axis in the U100,
• Message/warning: Evaluation occurs in U110, U120,
256 ms cycle. etc. up to U170
• Malfunction: Evaluation occurs in system
parameterized cycle time (A150) parameters.

Application-specific or due to free programming — — Switch the device on/off or
option; can be separately programmed for each axis programmed acknowledgement
13.3.24 68: External fault 2

Application-specific or by free programming Fault The parameterized fault reaction in the A29 parameter: Z68
option; should be used for application events • A29 = 0:inactive
that may only be parameterized on the fault The power unit is switched off, the motor coasts
level. down. The holding brakes are applied when the
purge override is inactive.
• A29 = 1:active
The drive is stopped with a quick stop. The holding
brakes are applied at the end of a quick stop if the
ID 442289.06

Application-specific or by — — Switch the device off/on or
free programming option programmed acknowledgement
13.3.25 69:Motor connect.
ID 442289.06

Motor connection error Can be parameterized as The parameterized fault reaction in the A29 parameter: Z69
inactive or malfunction in U12 • A29 = 0:inactive
The power unit is switched off, the motor coasts
down. The holding brakes are applied when the
• A29 = 1:active
The drive is stopped with a quick stop. The holding
brakes are applied at the end of a quick stop if the

1:motorNotDiscon The contactor did not open during the Replace the contactor. Switch the device off/on or
axis change. This cause can only be programmed acknowledgement

determined when at least two phases
stick and the intermediate circuit is
loaded (see E03).
2:no motor Possibly no motor connected or the line • Check and correct the connection of
to the motor is interrupted. the motor.
• Replace the cable.
Diagnosis 13
175
13
13.3.26 70:Param.consist

Diagnosis
Conflicting parameterization. Malfunction A malfunction is only triggered when enabled for faulty Z70
parameterization.

1:Encoder type The B20 control type is set to servo or Correct the parameterization. Switch the device on/off or
Vector Control but no corresponding programmed acknowledgement
encoder is selected (B26, H..
parameter).
2:X120-direction X120 is used as the source in a Correct the parameterization.
parameter but is parameterized in H120
as a drain (or vice-versa).
3:B12<->B20 B20 control type is not set to the servo Correct the parameterization. Switch the device on/off or
but the rated motor current (B12) programmed acknowledgement
exceeds the 4 kHz rated current (R24)
of the device by more than 1.5x.
4:B10<->H31 The set motor pole number (B10) and Correct the parameterization. Switch the device on/off or
the resolver pole number (H31) do not programmed acknowledgement
match.
5:neg. slip When using the control types U/f, SLVC Correct the parameterization. Switch the device on/off or
or Vector Control (B20): Control type set programmed acknowledgement
to "ASM": The values for the rated
motor speed (B13), rated motor
frequency (B15) and motor pole number
(B10) result in a negative slippage.
6:Torque limit When using the values entered in C03 Correct the parameterization. Switch the device on/off or
ID 442289.06
or C05, the maximum current of the programmed acknowledgement

inverter is exceeded. Enter lower torque
limits.
ID 442289.06

7:B26:SSI-Slave SSI slave must not be used as a motor Correct the parameterization. Switch the device on/off or
encoder (synchronisation problems). programmed acknowledgement
8:C01>B83 C01 must not be larger than B83. Correct the parameterization. Switch the device on/off or
programmed acknowledgement
9:E102/E103 faulty An attempt was made to apply a master Correct the parameterization. Switch the device on/off or
position via the IGB but the required programmed acknowledgement
E102 and E103 parameters are not
available.
10: G104<->G27 A master position is sent via the IGB Correct the parameterization. Switch the device on/off or
Motionbus (i.e. G104 is not set to programmed acknowledgement
0:inactive ) but the 0:inactive and 6:IGB
settings valid for this case could not be
detected in G27.

Diagnosis 13
177
13
13.3.27 71:Firmware

Diagnosis
A firmware error was detected. Fault Causes 1 and 2 only occur when the device starts so that Z71
the inverter can not be enabled. Cause 3 can also occur
during operation.

1:FW defective Only for SDS 5000: An active firmware Reload the firmware using the Switch device off/on
error was detected or faulty firmware POSITool software. Also note the
was detected in the firmware download Service section.
memory.
2:Activate FW! Only for SDS 5000: The firmware was Activate the firmware and perform a
loaded into the inverter but not yet device restart. Also note the Service
activated. section.
3:CRC error A firmware error was detected. Switch off the 24 vdc power supply and
switch it on again. If the error occurs
repeatedly, replace the inverter.
ID 442289.06
13.3.28 72:Brake test
ID 442289.06

For active brake management Cause 1 and 2: Fault, Cause 3: This fault only occurs with the enable switched off. Z72
in the SDS 5000, the time set in Message
B311 has elapsed without the
B300 Brake test action having
been performed.

1:B311Timeout The time entered in B311 Timeout for Perform the B300 brake test action. For the Fault level, the event can
brake test B300 has elapsed twice be acknowledged for a duration
without the B300 Brake test action of 5 minutes to be able to
having been performed. perform the B300 brake test
2:Brake defective When performing the brake test action, • Perform the brake grinding function action. If this time elapses
the holding torque entered in B304 or and then the brake test. without the B300 Brake test

B305 could not be applied or the • Replace the motor. action being successfully
encoder test run included in the brake performed, the inverter changes
test was completed with errors. to the Malfunction state again. If
the B300 brake test action is
3:Brake test required Timeout for brake test has elapsed once Perform the action B300 test brake.
successfully performed, the
without the test brake action being
event is automatically
performed.
acknowledged.
Diagnosis 13
179
13
13.3.29 73:Ax2braketest

Diagnosis
B300 Brake test action with
active axis 2 having been
performed.

without the B300 Brake test action with of 5 minutes to be able to
active axis 2 having been performed. perform the B300 brake test
2:Brake defective When performing the brake test action • Perform the brake grinding function action. If this time elapses
with active axis 2, the holding torque and then the brake test. without the B300 Brake test with
entered in B304 or B305 could not be • Replace the motor. active axis 2 being successfully
applied or the encoder test run included performed, the inverter changes
in the brake test was completed with to the Malfunction state again. If
errors. the B300 brake test action is
acknowledged.
performed.
ID 442289.06
ID 442289.06

performed.


acknowledged.
performed.
Diagnosis 13
181
13

Diagnosis
performed.

acknowledged.
performed.
ID 442289.06
13.3.32 85:Excessive jump in reference value
ID 442289.06
Triggering Level Response Counter

If reference value monitoring Fault Parameterized fault response in A29: Z85
C100 is active, the assigned • A29 = 0:inactive
reference values require an The power unit is switched off and the drive becomes
acceleration that the motor is torque-free/force-free. The holding brakes are
unable to maintain while applied when the purge override is inactive.
keeping to the maximum • A29 = 1:active
output current of the inverter The drive is stopped with a quick stop. The holding
power unit I2maxPU (R04*R26) brakes are applied at the end of a quick stop if the
– even in idle. purge override is inactive.

1: Position Reference position changes cause Reduce velocity of the reference value Switch the device off/on or
acceleration that cannot be executed changes so that the resulting programmed acknowledgement

2: Velocity Reference velocity changes cause acceleration is smaller than E64.
acceleration that cannot be executed
13.3.33 #004:illeg.Instr
Triggering Level Response

An unknown operation code was detected. Fault The motor coasts, the microprocessor is stopped and all device
functions are inoperable.
Diagnosis 13
Error in code memory (bit Reestablish the operating conditions at • Reload the application in the Switch device off/on
dumped, permanent). the time of the error and check whether inverter and save it.
the error occurs again. • Perform a firmware upgrade.
EMC error Check the wiring for EMC-compliant Wire according to EMC regulations.
design.

183
13
13.3.34 #006:illSlotInst

Diagnosis
An invalid operation code was detected after a Fault The motor coasts, the microprocessor is stopped and all device
jump command. functions are inoperable.

design.
13.3.35 #009:CPU AddrErr

The address for data access is invalid. Fault The motor coasts, the microprocessor is stopped and all device

design.
ID 442289.06
13.3.36 #00c:StackOverfl
ID 442289.06

A stack that is too small was detected. Fault The motor coasts, the microprocessor is stopped and all device

design.
13.3.37 *ParaModul ERROR:update firmware!

Resolution Level Response
The versions of configuration and firmware do not — The configuration does not start.
match.

Old firmware version — Apply a suitable configuration or —
firmware.
Diagnosis 13
185
13
13.3.38 *ParaModul ERROR: file not found

Diagnosis
The Paramodule file can not be read. — The configuration does not start.

May have been switched — • Apply a suitable configuration via —
off during the A00 action. POSITool and then save it (A00)
• Attach a suitable Paramodule.
Faulty or unformatted — Replace the Paramodule. —
Paramodule
13.3.39 *ParaModul ERROR: Checksum error

A checksum error was detected when loading — The configuration does not start.
from the Paramodule.

Memory bit dumped. — Apply a suitable configuration via —
POSITool and then save it (A00)
ID 442289.06
13.3.40 *ParaModul ERROR: ksb write error
ID 442289.06

An error was detected when writing the — The configuration does not start.
configuration in the configuration memory.

Faulty flash memory. — Replace the Paramodule. —
The configuration is too • Apply a suitable configuration via
large for the configuration POSITool and then save it (A00)
memory. • Replace the Paramodule.
13.3.41 *ConfigStartERROR parameters lost

No parameter values are saved in the — The configuration does not start.
Paramodule.

The control part was — • Apply a suitable configuration via —
switched off while A00 POSITool and then save it (A00)
was active. • Replace the Paramodule.
Diagnosis 13
187
13
13.3.42 *ConfigStartERROR remanents lost

Diagnosis
No flag values are saved. — The configuration does not start.

The A00 Save values — • Apply a suitable configuration via —
action was not performed. POSITool and then save it (A00)
• Replace the Paramodule.
13.3.43 *ConfigStartERROR unknown block

match.

The configuration saved in the — Apply a suitable configuration or —
Paramodule originates from a firmware via POSITool.
newer inverter firmware that
recognises more system
modules.
ID 442289.06
13.3.44 *ConfigStartERROR unknown string
ID 442289.06

The versions of configuration and firmware do not match. — The configuration does not start.

recognises more texts (e.g.
name of the system standard
module parameters).
13.3.45 *ConfigStartERROR unknown scale

match.

recognises more scaling
functions.
Diagnosis 13
189
13
13.3.46 *ConfigStartERROR unknown limit

Diagnosis
match.

recognises more limit value
functions.
13.3.47 *ConfigStartERROR unknown post-wr

match.

recognises more PostWrite
functions.
ID 442289.06
13.3.48 *ConfigStartERROR unknown pre-rd
ID 442289.06

match.

recognises more Pre-read
functions (mapping of firmware
parameters to configuration
parameters).
13.3.49 *ConfigStartERROR unknown hiding

match.

knows more hide functions (hide
Diagnosis 13
parameters that should be visible
depending on other parameters).

191
13 Diagnosis
13.3.50 no configuration paramodul error
When displaying no configuration paramodule error, the device start-up is ended and an error was detected
by the Paramodule during start-up. Note also the events in section 13.3.37 *ParaModul ERROR:update
firmware! to 13.3.40 *ParaModul ERROR: ksb write error. Alternating to the event display, STÖBER
ANTRIEBSTECHNIK appears.
13.3.51 no configuration start error
When displaying no configuration start error, the device start-up is ended and an error was detected when
starting the configuration. Note also the events in section 13.3.41 *ConfigStartERROR parameters lost to
13.3.49 *ConfigStartERROR unknown hiding. Alternating to the event display, STÖBER ANTRIEBSTECHNIK
appears.
13.3.52 configuration stopped
When displaying configuration stopped, the current configuration was stopped. Apply a configuration or switch
the inverter off and on again so that the previous configuration can be loaded from the Paramodule.
192 ID 442289.06
13.3.53 HW defective FirmwareStartErr
ID 442289.06

A firmware error was detected. Fault Cause 1 only occurs when the device starts so that the inverter can not be
enabled.

1:FW defective The active firmware as well as the A "normal" firmware download is not Not confirmable
firmware in the download memory are possible. Please contact our Service
faulty. department.

Diagnosis 13
193
Notes

Global presence
Address registers
Always up to date on the internet: www.stober.com (Contact)
• Technical offices for advice and marketing in Germany
• Global presence for advice and marketing in about 25 countries
• Service network Germany
• Service network international
• STOBER subsidiaries:
USA Switzerland Italy

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1781 Downing Drive Rugghölzli 2 Via Italo Calvino, 7 Palazzina D
41056 Maysville 5453 Remetschwil 20017 Rho (MI)
Fon +1 606 759 5090  Fon +41 56 496 96 50 Fon +39 02 93909570
sales@stober.com sales@stoeber.ch sales@stober.it
www.stober.com www.stoeber.ch www.stober.it
Austria France South East Asia

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Turkey Taiwan
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m
STÖBER ANTRIEBSTECHNIK GmbH & Co. KG

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GERMANY
Fon +49 7231 582-0
mail@stoeber.de
24 h Service Hotline +49 7231 5823000
www.stober.com
Technische Änderungen vorbehalten

Errors and changes excepted
ID 442289.06
08/2016
442289.06

06 BHB SDS 5000 en

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POSIDYN® SDS 5000

1.1 About this manual .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.3 Further documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.4 Further support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

2 Notes on safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

2.1 Component part of the product .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.2 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.3 Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.5 Transportation and storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.6 Installation and connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.7 Commissioning, operation and service .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.9 Residual dangers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.10 Presentation of notes on safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3 Commissioning an inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20

3.1 Standard device state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.2 Device state machine acc. to DSP 402 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4.1.2 Data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.1.3 Parameter list structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.3 Operator panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

5 Parameterizing motor data .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

5.1 Selection in the configuration assistant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

5.2 Electronic type plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

5.3 Direct entry in the parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

5.4 Further motor datas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

5.4.1 Current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

5.4.2 Thermal model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

5.4.3 Absolute Limit values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

5.5 Parameterize the SLVC-HP control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

5.6 Parameterize motor temperature sensor evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

6 Parameterizing encoder data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

6.1 Deactivating the motor encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

6.3 Connection X101 (binary input encoder) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

6.4 Interface X120 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

6.5 Interface X140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

WE KEEP THINGS MOVING

7.1 B20 = 0:V/f-control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

7.2 B20 = 1:Sensorless vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

7.3 B20 = 3:SLVC-HP .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

7.4 B20 = 2:Vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

7.5 B20 = 64:Servo-control .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

7.6 Brake management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

7.6.1 Single-axis operation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

7.6.2 Multi-axis operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

7.6.3 POSISwitch multi-axis operation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

7.7 Brake test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

7.7.1 Single-axis operation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

7.7.2 Multi-axis operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

7.7.3 POSISwitch multi-axis operation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

7.8 Brake grinding function .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

7.8.1 Single-axis operation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

7.8.2 Multi-axis operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

7.8.3 POSISwitch multi-axis operation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

8 Parameterizing axis management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64

9 Parameterizing brake resistor .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66

10 Parameterizing in-/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67

11 Integrated Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69

11.1.1 Basics of IGB communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

11.1.2 General diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72