Posidrive MDS 5000

MDS POSIDRIVE®
MDS 5000
Application Manual
It is essential to read and comply with the complete

documentation for POSIDRIVE® MDS 5000 before
using the system !
MANAGEMENTSYSTEM
certified by DQS according to

DIN EN ISO 9001, DIN EN ISO 14001
Reg-No. 000780 UM/QM
SV 5.1
02/2005
POSIDRIVE® MDS 5000 – Application Manual STÖBER
ANTRIEBSTECHNIK
Table of Contents
TABLE OF CONTENTS
1. Notes on Safety 1
1.1 Hardware 1
1.2 Software 2
2. Description 3
3. Device 4
3.1 Device States 4
3.2 Parameters 6
4. User Interface of
POSIDRIVE® MDS 5000 8
4.1 POSITool 8
4.2 Operator Panel 9
4.3 LEDs 10
4.4 Display 11
4.4.1 General 11
4.4.2 Event Indications 11
4.4.3 Event List 13
5. POSI Tool 20
5.1 Installation 20
5.2 First Contact 20
5.3 Setup of POSITool 22
5.3.1 Project Directory 23
5.3.2 Inverter Directory 23
5.3.3 Parameters 24
5.3.4 Configuration 25
5.3.5 Other Areas 26
5.4 User Level 26
5.5 Communication 27
5.6 Diagnosis 29
6. Primary Settings 34
6.1 Motor and Control Mode 34
6.2 Encoder 36
6.3 Brake 37
6.4 Braking resistor 37
6.5 Axis Management 38
6.6 Local Operation 38
6.7 Control and Status Signals 39
6.8 Actions 40
7. Applications 43
STÖBER ANTRIEBSTECHNIK - Germany 45

STÖBER ANTRIEBSTECHNIK - International 47
ANTRIEBSTECHNIK
1. Notes on Safety
1 NOTES ON SAFETY
1.1 Hardware
Before mounting and commissioning, be sure to read these mounting and commissioning instructions
to prevent the occurrence of avoidable problems during commissioning and/or operation.
®
In the sense of DIN EN 50178 (earlier VDE 0160), POSIDRIVE of the MDS family is an electrical resource of
power electronics (BLE) for the regulation of energy flow in high-voltage systems. They are exclusively intended
for powering servo and asynchronous machines. Handling, mounting, operation and maintenance must be
performed in adherence to valid regulations and/or legal specifications, applicable standards and this technical
documentation.
This is a restricted marketing class product in accordance with IEC 61800-3. In residential areas, this product
may cause high-frequency interference for which the user may be called on to provide suitable
countermeasures.
Strict adherence to all rules and regulations must be ensured by the user.
The safety notes and specifications contained in further sections (items) must be adhered to by the user.
Caution! High touch voltage! Danger of shock! Hazardous to life!
When power is applied, the housing may not be opened or connections disconnected under any circumstances.
The inverter may only be opened in a dead state (all power plugs disconnected) not earlier than 5 minutes after
the power voltage has been turned off for the installation or removal of option boards. Prerequisite for the
correct inverter function is the correct configuration and mounting of the inverter drive. The device may only be
transported, installed, commissioned and controlled by specialized personnel who are qualified for this task.
Pay particular attention to:
• Permissible protection class: Protective ground. Operation is only permitted with regulation connection of
the protective conductor. Direct operation of the devices on IT networks is not possible.
• Installation work may only be performed when the power is disconnected. When work must be performed
on the drive, inhibit the enable and disconnect the entire drive from the power network. (Adhere to the 5
safety rules.)
• Discharge time of the DC link capacitors > 5 minutes
• Do not penetrate the inside of the device with any kind of object.
• When performing mounting or any other work in the switching cabinet, protect the device from falling
objects (pieces of wire, leads, metal parts, and so on). Parts with conductive properties can cause short
circuiting inside the device and device failure.
• Before commissioning, remove additional coverings so that the device cannot overheat.
The inverter must be installed in a switching cabinet in which the maximum ambient temperature is not
exceeded (see technical data).
Only copper wires can be used. The line cross sections to be used are listed in table 310-16 of standard NEC at
o o
60 C or 75 C.
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG accepts no liability for damages caused by non-
adherence to the instructions or the applicable regulations.
The motor must be equipped with integrated temperature monitoring or external motor overload protection must
be used.
Only suitable for use on power networks which cannot supply more than a symmetric rated short-circuit current
of 5000 A at 480 Volt.
Notes: Subject to technical changes to improve the devices without prior notice. This documentation is purely
a product description. It is not a promise of properties in the sense of warranty law.
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1. Notes on Safety
1.2 Software
Use of the POSITool software
The POSITool software package can be used to select applications, adjust parameters and
monitor signals of POSIDRIVE® MDS 5000. The functionality is specified by selecting an
application and transferring these data to an inverter.
The program is the property of STÖBER ANTRIEBSTECHNIK GmbH + Co. KG and is protected by
copyright. The program is licensed for the user.
Use of the software is exclusively in machine-readable format.
The customer receives from STÖBER ANTRIEBSTECHNIK GmbH + Co. KG the non-exclusive
rights to use the program (license) providing it was legally purchased.
The customer is authorized to use the program for the above activities and functions and to make
copies of the program, including the creation and installation of a backup copy for support of this
use.
The conditions of this license apply to all copies. The customer is obligated to affix the copyright
note and all other ownership notes to each copy of the program.
The customer is not authorized to use, copy, modify or pass on/transmit the program for purposes
other than these specifications. The customer is also not authorized to convert (reverse assemble,
reverse compile) the program or compile it in another way, to pass on, rent or lease the program
with sublicenses.
Product maintenance
The maintenance obligation refers to the last two current program versions created and approved
for use by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG.
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will either correct program deficiencies or provide
the customer with a new program version. The choice is up to STÖBER ANTRIEBSTECHNIK
GmbH + Co. KG If the error cannot be immediately corrected in an individual case, STÖBER
ANTRIEBSTECHNIK GmbH + Co. KG will provide an intermediate solution which may require the
adherence to special conditions by the user.
A claim to correction of deficiencies only exists when reported errors are reproducible or can be
recorded by machine-generated outputs. Deficiencies must be reported in reproducible form
specifying the information helpful for correction of the deficiency.
The duty to correct deficiencies no longer exists for such programs which the customer changes or
manipulates unless the customer provides proof in connection with the deficiency report that the
manipulation is not the cause of the deficiency.
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG is obligated to keep the valid program versions at
a specially protected location (fire-resistant data safe, bank safe deposit box).
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2. Description
2 DESCRIPTION
Introduction Up to four motors can be run sequentially on an inverter of the MDS device family. This
capability requires the following system structure.
An MDS system is divided into two areas - the global area and the axis area.
The global area contains the programming and parameterization related to the inverter.
This includes device control, the setting of I/O components such as brake resistors and
so on. In addition, it is responsible for managing the axis area.
The axis area is divided into up to four axes. Each axis contains the programming and
parameterization for one motor and is addressed by the global area. The axis area
contains the motor setting and the application of the motor. The uses are defined by
STÖBER ANTRIEBSTECHNIK in so-called applications or, optionally, can be
programmed as desired by the user.
Global area Axis areas
#
Axis 1
ESC
I/O
X3
Axis 2
Axis 3
Axis 4
Purpose of the manual This manual gives you information on programming the MDS inverter with applications
defined by STÖBER ANTRIEBSTECHNIK. The principal procedures are explained.
The purpose of the manual is:
• To familiarize you with the basic knowledge of POSITool software and POSITool
assistants
• To explain the applications defined by STÖBER ANTRIEBSTECHNIK and their use
Circle of 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.
Other manuals For further information, see the following manuals.

• Mounting instructions (Publ. no. 441688) for mounting the MDS 5000 device family
• Brief commissioning instructions (Publ. no. 441690) for a quick introduction to using
the MDS device family
• System manual (Publ. no. 441693) for a detailed description of the system and the
"free programming" option
Other support If you have questions about the use of the MDS system and the POSITool software
which are not answered by this manual, we will be glad to advise you under the
telephone number 0180 5 786323.
To simplify getting started with the use of our software, we offer courses. Contact our
training center at the following address.
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG
Training Center
Kieselbronner Strasse 12
75177 Pforzheim
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3. Device
3 DEVICE
General The POSIDRIVE® MDS 5000 is primarily a freely programmable system. Two ways of
programming are available to the user.
• Applications defined by STÖBER ANTRIEBSTECHNIK which can be selected via an
assistant in the POSITool software. Parameterization is performed to adapt the
application to its task.
The application is then transferred to the inverter. On delivery, the application “fast
reference value” is stored.
• The option “free, graphic programming” with the aid of the POSITool software
This chapter describes the general reactions of the MDS 5000 in interplay with the
applications defined by STÖBER ANTRIEBSTECHNIK.
3.1 Device States

Introduction For the solution of a technical drive task, the programming of the MDS system must
conform to the sequence of certain device states. They define the state of the power
portion and implement functions such as the control of the end stage, restart of the drive
and fault handling. This is the only way to ensure safe operation and the defined state of
the devices. The device state can be changed with control commands and internal
events.
The following eight states exist for the MDS system in accordance with the DRIVECOM
profile for drive technology.
Display Designation Behavior
MDS 5000 - The electronics are powered.

V5.X - Self-test is running.
Or Not ready to switch on - Initialization is running.
- Drive function* is disabled.
±0Rpm 0.0A
- Ready-for-operation relay is open.
0: Self test
- Software/hardware initialization is finished.
±0Rpm 0.0A - The application can be reparameterized.
Switchon disable
1: ONdisable - The drive function* is disabled.
- The ready-for-operation relay is closed.
- The application can be reparameterized.
±0Rpm 0.0A
Ready to switch on - The drive function* is disabled.
2: ReadyforON
±0Rpm 0.0A
Switched on - The drive function* is disabled.
3: Switched on
- The application can be partially reparameterized.
±0Rpm 0.0A
Operation enabled - The drive function* is enabled.
4: Enabled
- The application can be partially reparameterized.
Fault - The drive function* is disabled.
Fault - The ready-for-operation relay is open.
No.X: type of fault - The application can be reparameterized.
- An error-dependent action is being executed (disable drive
(2nd line flashing) Fault reaction active function or quick stop).
- The drive function* can be enabled.
- The ready-for-operation relay is open.
±0Rpm 0.0A - The quick stop function is being executed.
Quick stop active
7: Quick stop - The drive function* is enabled.
* The drive function includes the complete unit of the power portion of the inverter and the application. 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.
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3. Device
Changes in state The following diagram shows which state changes are possible in the MDS 5000 system.
The table below shows which conditions apply.
14
Fault reaction active
Störungsreaktion aktiv
0 15
Not ready
Nicht for switchon
Einschaltbereit Fault
Störung
1
12 16
13
Switchon disable
Einschaltsperre 10
2 6
11 9
Ready for switchon
Einschaltbereit
3 5
Switched on
Eingeschaltet
4
7
Operation enabled
Betrieb freigegeben Quick stop active
Schnellhalt aktiv
8
Change in State Conditions
0 Input, state machine → Not ready for switchon - Control power portion switched on
1 Not ready for switchon → Switchon disable - Self-test without errors and initialization concluded
- Enable on low level or autostart active during first startup
- DC link charged
2 Switchon disable → Ready for switchon
- Startup disable ASP 5000 inactive
- Axis activated
- Enable on high level
3 Ready for switchon → Switched on
- Startup disable ASP 5000 inactive
4 Switched on → Operation enabled - Enable on high level
5 Switched on → Ready for switchon - Enable on low level
- DC link not charged or startup disable ASP 5000 active or

6 Ready for switchon → Switchon disable
axis deactivated.
- "Quick stop" signal on high level or enable on low level and
7 Operation enabled → Quick stop active
"quick stop with enable off" signal active
- Enable for high level and "quick stop" signal on low level and
8 Quick stop active → Operation enabled
quick stop end reached in accordance with parameterization
- Enable for low level and quick stop end reached in
9 Quick stop active → Ready for switchon
accordance with parameterization
10 Quick stop active → Switchon disable - Startup disable ASP 5000 active
11 Operation enabled → Ready for switchon - Enable for low level and "quick stop with enable off" inactive
12 Operation enabled → Switchon disable - Startup disable ASP 5000 active
13 Switched on → Switchon disable - DC link not charged or startup disable ASP 5000 active
14 All states → Fault reaction active - Fault detected
15 Fault reaction active → Fault - Fault reaction concluded
- No fault is queued and rising edge of the "acknowledgment"

16 Fault → Switchon disable
signal
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3. Device
3.2 Parameters
Parameters Parameters fulfill various tasks in the MDS 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.
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 into subfunctions.
1.E250.2
Axis
(only for axis parameters)
Group Element
Line
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 Reference values, reference value generator
E.. Display Value Indication for device and application
F.. Control Interface Analog input/output, binary output, brake
Depends on the application
G.. Technology
(e.g., synchronous running)
H.. Encoder Encoder
I.. Positioning Only with positioning applications
Only with positioning application motion block
J.. Process Blocks
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
parameters, dependent on Only with “free, graphic programming” option
instance
Production data of inverter, only visible during
R.. Production data
online operation
T.. Scope Scope parameters
U.. Protection functions Only parameter level 3 (see chap. 5.4)
Fault counter of events; In POSITool only
Z.. Fault counter
visible during online operation.
Data types
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3. Device
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
Unsigned 32 U32 4 bytes – 1 double word, without sign 0 ... 4294967295
Integer 32 I32 4 bytes – 1 double word, with sign -2147483648 ... 2147483647
Float R32 Floating decimal, simple accuracy
In acc. w. ANSI / IEEE 754
Double R64 Floating decimal, double accuracy
String 8 STR8 Text, 8 characters
String 16 STR16 Text, 16 characters
32 bits, increments -2147483648 ... 2147483647
Posi 64 P64
32 bits, remainder 0 ... 2147483647
Parameter The following information is important when parameters are to be addressed via fieldbus.
list structure • Value range
• Scaling via fieldbus if this differs from the scaling via POSITool.
• Rounding error via fieldbus if present
• Data type
They are specified in the parameter table of the application description.
Fieldbus addresses are specified in hexadecimal format. For CANopen, index and
subindex can be used as is. For PROFIBUS DP-V1, index = PNU and subindex = index.
For more details, see documentations of the fieldbus interface (CANopen, publ. no.
441686; PROFIBUS DP, publ. no. 441687).
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4. User Interface of POSIDRIVE® MDS 5000
4 USER INTERFACE OF POSIDRIVE® MDS 5000

Description The user interface of the MDS family of devices consists of several elements with
different functionalities (see following figure).
To program an MDS system, the user needs the POSITool software. With the
POSITool software, either an application defined by STÖBER ANTRIEBSTECHNIK 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
Display Device states
Events 1
P S
Program
Oper.
,
Parameterize panel Parameterize
X3
T o Diagnose
LEDs Device states

1
4.1 POSITool
POSITool The POSITool software represents the many-sided interface between user and MDS
inverter. If offers a wide variety of ways to configure an inverter.
Programming POSITool offers a user interface for the representation of the programming. In the option
"free, graphic programming," blocks are linked here to implement a control sequence.
In addition to this STÖBER ANTRIEBSTECHNIK provides pre-defined applications for
programming. This includes applications such as “fast reference value” and “command
positioning” which can be selected via an assistant.
Parameterization For parameterization, POSITool offers the user parameter lists. The lists are used to
adjust the control sequence to external conditions such as motor type, shaft encoder or
bus systems. In addition, limit values such as maximum speed are specified or indicator
values such as the current speed are presented.
Interface Using a serial interface (RS 232), program and parameters are transferred to the
inverter. The MDS then begins with processing. The user can monitor the parameters via
the serial connection. A scope function is available for expanded diagnostics to record
the time progression of various values.
For more details on the use of POSITool, see the applicable chapter of this manual.
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4.2 Operator Panel

Description The operator panel of the POSIDRIVE® MDS 5000 is used for monitoring and for
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.
ESC Jumps back to operator level.

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,

increments/decrements the parameter value (positive/negative).
Selects the menu group. During entry, changes the decade (ones,
tens, hundreds, and so on).
Activates/deactivates local mode (if programmed). In local mode

deactivation also deletes the enable.
Enables for local mode I/O

I/O (if programmed)
LED status indicator Paramodule
Menu prompting The parameter menu of the MDS 5000 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.
Oper. 3000 Rpm 1.3 A To change a parameter, proceed as shown below.

indicator 4: Enabled Use the Enter key # to go from the operation indicators to
the menu level.
The menu groups are selected with the arrow keys
A.. B.. C.. and activated with # . Use the keys to select the
Inverter Motor Machine desired parameter within the menu group. This is then
activated for change with # . The value flashes to indicate
that it can be changed with . The keys can be
Parameter used to select which decade (ones, tens, hundreds, and so
groups 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 parameter = 1: active !!
Parameter Value
B20 Ctrltype entry flashing
0: U/f control
Parameter B26 Crtltype B26 Ctrltype

selection 3: X140 3: X140
Accept change
Reject change
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4.3 LEDs
Description The LEDs on the front of the inverter give you a quick overview of the state of the MDS
device. A green and a red LED which light up in different combinations and frequencies
provide information on the device's status based on the following table.
LEDs State of the MDS

ERROR
Red OFF
No power
RUN OFF
Green
ERROR OFF/ON
Red Device initialization (startup phase) or data
action (A00 is active).
RUN Paramodule is not installed correctly.
ERROR RUN Green Flashing at 8 Hz
(red) (green)
ERROR OFF
Red Ready for operation
RUN (not enabled)
Green Flashing at 1 Hz
ERROR
Red OFF
Operation (enabled)
RUN ON
Green
ERROR Flashing at 1 Hz
Red
Warning
RUN
Green ON or flashing
ERROR
Red ON
Fault
RUN OFF
Green
ERROR
Red Flashing at 8 Hz
No configuration active
RUN
Green OFF
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4.4 Display
Description 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.
4.4.1 General
Description After the self-test of the MDS 5000, 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. In the figure, the configuration
“fast reference value” is shown (state on delivery).
The device states are listed in chapter 3 and described there in detail. 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
Brake
Device state
chopper
(see chap. 3)
active
Axis no. 2 active
4.4.2 Event Indications

Events Event indications on the display give the user information on the state of the device. The
event list (chapter 4.4.3) gives you a list of the event indications. The following event
groups exist.
Events
Ereignisse
active Sequence error inactive

configuration recog. by C configuration
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.
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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 list (chap. 4.4.3, see
below) 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 (see list).
These events do not affect communication and device control. The events can be
identified by their consecutive numbering.
Sequence faults The MDS 5000 inverter family includes a digital computer with microprocessor, memory
recognized by the CPU 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 "#."
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 Paramodule. Afterwards the configuration is started. During both steps detailed
error messages can be generated. When a fault occurs during loading from Paramodule,
"*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.
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4.4.3 Event List

No: Name Description
Fault Trigger: The hardware overcurrent switchoff is active.
31:Short/ground. Cause: • The motor requires too much current from the inverter
(interwinding fault, overload)
Level: Fault
Acknowledgment: Turn device off/on or programmed acknowledgment
Other: The motor always coasts down.
Fault counter: Z31
Fault Trigger: An internal check is performed when the inverter is enabled.
32:Short/gr.int. An existing short circuit will cause a fault.
Cause: • An internal device error exists.
Level: Fault
Acknowledgment: Turn device off/on or programmed acknowledgment
Faultt counter: Z32
Fault Trigger: The total motor current exceeds the permissible maximum.
33:Overcurrent Cause: y Acceleration times too short
y Wrong torque limitations in parameters C03 and C05
Level: Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Fault counter: Z33
Fault Trigger: A hardware error occurred.
34:Hardw.fault Cause: 1: FPGA; error while loading the FPGA.
2: NOV-ST; NOV-control unit defective (FERAM).
3: NOV-LT; NOV-power unit defective (EEPROM).
10: ST <-> LT; control unit <-> power unit; power unit serial number
does not match. requirement in control unit.
11: currentMeas; current offset measurement when device starts up
- deviation too great
Level: Fault
Acknowledgment: Cannot be acknowledged
Other: The inverter must be sent in for repairs.
Fault counter: Z34
Fault Trigger: The watchdog of the microprocessor has triggered.
35:Watchdog Cause: • The microprocessor is busy or it is faulty.
Level: Fault
Fault counter: Z35
Fault Trigger: The voltage in the DC link exceeds permissible maximum
36:High voltage (indication DC link voltage in E03).
Cause: y Network voltage too high
y Feedback of drive in braking mode (no brake resistor connected
brake chopper deactivated with A20=inactive or defective).
y Brake resistor too low (overcurrent protection)
y Ramp too steep
Level: Fault
Fault counter: Z36
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Fault Trigger: Error by motor encoder (X4).
37:n-feedback Cause: 1: Para <-> encoder; parameterization does not match
connected encoder.
2: ParaChgOffOn; Parameterchange; encoder parameterization
cannot be changed during operation. Save and then turn device off
and on so that the change takes effect.
4: Chan.A/Clk; wire break, track A / clock
5: Chan.B/Dat; wire break, track B / data
6: Chan.0; wire break, track 0
7: EnDatAlarm; alarm bit of EnDat® encoder is queued.
®
8: EnDatCRC; too many CRC errors with EnDat (e.g.,
wire break, error in cable shield).
10: Resol.carrier; resolver is not or wrong connected, wirebreak is
possible
11: Resol.undervolt.; wrong transmission error
12: Resol.overvolt.; wrong transmission error
13: Resol.parameter;
14: Resol.failure; wirebreak
15: X120-double tr.; X120 double transmission occurred
16: X120-Busy; encoder gave no response for too long
17: X120-wirebreak;
18: SSI-slave sync; SSI-slave synchronization problems
19: X4-double tr.; X4 double transmission occurred
20: X4-Busy; encoder gave no response for too long
21: X4-wirebreak;
22: AX5000; Acknowledgment of the axis switch not required.
23: AX5000Soll; comparison of E57 and E70.
Level: Fault
Acknowledgment: Turn device off and on.
Other: The motor always coasts down. The fault cannot be acknowledged for
causes 7, 10, 11, 12, 13 and 14 (turn control section off/on).
Caution: With positioning applications, the reference is deleted by the
event "37:n-feedback." After off/on, referencing must be performed
again.
Fault counter: Z37
Fault Trigger: The temperature measured by the device sensor exceeds the
38:TempDev.sens permissible maximum value.
Cause: • Ambient/switching cabinet temperatures too high.
Level: Fault
Other: The permissible maximum temperature is stored on the power
section of the inverter.
Fault counter: Z38
Par. U02 Trigger: The i2t model for the inverter exceeds 100% of the thermal load.
39:TempDev.i2t Cause: y Inverter overloaded (e.g., because motor blocked).
y Too high clock pulse frequency.
Level: Inactive, message, warning or fault, can be parameterized in U02
(Default: fault).
Other: When the event is triggered, a current limitation occurs first. At the
same time, a quick stop is triggered as a fault when parameterized in
U02. Reduction of the current may mean that the quick stop is no
longer executed correctly!
Fault counter: Z39
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ANTRIEBSTECHNIK

Fault Trigger: A data error was detected when the non-volatile memory was initialized.
40:Invalid data Cause: 1 to 7: Control section NOV
1: Fault; low-level read/write error or timeout.
2: BlockMiss; unknown data block.
3: DatSecur; block has no data security.
4: Checksum; block has checksum error.
5: R/o; block is r/o.
6: ReadErr; startup phase: block read error.
7: BlockMiss; block not found .
17 to 23: power section NOV
17: Fault; low-level read/write error or timeout.
18: BlockMiss; unknown data block.
19: DatSecur; block has no data security.
20: Checksum; block has checksum error.
21: R/o; block is r/o.
22: ReadErr; startup phase: block read error.
23: BlockMiss; block not found.
32 and 33: encoder-NOV.
32: el. mot-type; no nameplate data present.
33: el.typeLim; elecronic motor-type limit; nameplate parameters
cannot be entered.
48: Optionmodule2; error in NOV memory of option 2 with
REA 5000 and XEA 5000.
Level: Fault
Acknowledgment: The event cannot be acknowledged for cause 1 to 23 and 48.
The inverter must be sent in for repairs. The event can be
acknowledged for causes 32 and 33.
Fault counter: Z40
Fault Trigger: Motor temperature sensor reports excess temperature. (Connection
41:Temp.MotorTMP terminals X2.3, X2.4).
Cause: y The motor is overloaded.
y The temperature sensor is not connected.
Level: Fault
Fault counter: Z41
Fault Trigger: The i2t model for the brake resistor exceeds 100% of the load.
42:TempBrakeRes Cause: • The brake resistor may not be adequate for the application.
Level: Fault
Fault counter: Z42
External fault: Trigger: Application specific or by free programming option.
Fault Level: Fault
44:Text from U180 Acknowledgment: Turn device off/on or programmed acknowledgment.
Other: Should only be used for application events which may not be set
lower than the "fault" level.
Fault counter: Z44
Par U10 Trigger: The i2t model for the motor has reached 100% of load.
45:oTempMot.i2t Cause: • The motor is overloaded.
Level: Can be parameterized as inactive, message or warning in U10 and U11.
Fault counter: Z45
Par. U00 Trigger: The DC link voltage is lower than the limit value set in A35.
46:Low voltage Cause: y Drops in the network voltage.
y Failure of one phase with three-phase connection.
y Acceleration times too short.
Level: Can be parameterized as fault or warning in U00 and U01.
Acknowledgment: Can be acknowledged for "fault" level by turning device off/on or
programmed acknowledgment.
Fault counter: Z46
Par. U20 Trigger: The maximum torque permitted for static operation exceeded. (E62:act.
47:TorqueLimit pos. M-max, E66:act. neg. M-max).
Cause: y Limitation by parameters C03 and C05.
Level: Can be parameterized in U20 and U21.
Fault counter: Z47
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ANTRIEBSTECHNIK

Fault Trigger: Communication fault
52:Communication Cause: 1: CAN LifeGuard; recognized the "life-guarding-event" (master no
longer sends RTR).
2: CAN Sync Error; sync message was not received within the time
set in CANOpen object with index 1006 (cycle period timeout).
3: CAN Bus Off; went off when bus went off. The driver started it again.
4: PZD-Timeout; failure of the cyclic data connection (PROFIBUS).
5: USS; (under preparation) failure of the cyclic data connection (USS).
6: Systembus; (under preparation)
Level: Fault
Fault counter: Z52
Fault Trigger: Error during operation with option board.
55:OptionBoard Cause: 1: CAN 5000 failure; was recognized , installed and failed.
2: DP 5000 failure; was recognized, installed and failed.
3: REA 5000 failure; was recognized, installed and failed.
4: SEA 5000 failure; was recognized, installed and failed.
5: XEA 5000 failure; was recognized, installed and failed.
6: EncSim-init; could not be initialized on XEA.
7: WrongOption; wrong or nonexisting option board
(compar. E54/E58 with E68/E69)
Level: Fault
Fault counter: Z55
Fault Trigger: The measured speed is greater than C01*1,1 + 100 rpm.
56:Overspeed Cause: • Encoder defective
Level: Fault
Other: The motor always coasts down (from SV 5.0D on).
Fault counter: Z56
Fault Trigger: The cycle time of a real-time task was exceeded.
57:Runtime usage Cause: 2: RT2; cycle time of real-time task 2 exceeded (MDS5000: 1 msec)
3: RT3; cycle time of real-time task 3 exceeded (technology task)
4: RT4; cycle time of real-time task 4 exceeded (32 msec)
5: RT5; cycle time of real-time task 5 exceeded (256 msec)
Level: Fault
Fault counter: Z57
Fault Trigger: Hardware signal from power section.
58:Grounded Cause: y Asymmetrical motor currents.
Level: Fault
Other: Starting with BG3. The motor always coasts down.
Fault counter: Z58
Fault Trigger: The i2t model calculated for the inverter exceeds 105% of the thermal
59:TempDev.i2t load.
Cause: y Inverter overloaded (e.g., because motor is blocked).
y Clock pulse frequency too high.
Level: Fault
Fault counter: Z59
60...67: Applikations- Trigger: Application specific or by free programming option.
events 0...7 Cause: • Can be programmed as desired for each axis separately.
Level: Can be parameterized in system parameters U100, U110, U120, etc. to
U170.
Other: - Message/warning: Evaluation in 256-msec cycle.
- Fault: Evaluation in parameterizable cycle time (A150).
Texts, times and level can be set in parameter
group U.. starting with U100.
Fault counter: Z60 to Z67
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Trigger: Application specific or by free programming option.
Fault Level: Fault
68:Text from U181 Acknowledgment: Turn device off/on or programmed acknowledgment.
Other: Should be used for application events which can only be parameterized
#External fault at the "fault" level.
Fault counter: Z68
Par. U12 Trigger: Connection error of the motor.
69:Motor connect. Cause: 1: MotorNotDiscon; the contactor did not open when the axis changed.
2: No motor; no motor connected; line to motor interrupted.
Level: Can be parameterized as inactive or warning in U12.
Fault counter: Z69
Fault Trigger: The parameterization is inconsistent.
70:Param.consitency Cause: 1: no servoencoder; no servo-type encoder; control mode B20 is set to
"servo" but no appropriate encoder is selected (B26, H.. parameter).
2: X120 direction; X120 is used as source in one parameter but is
parameterized in H120 as drain (or vice versa).
3: B12<->B20; Control mode B20 is not set to servo but the nominal
motor current (B12) exceeds the 4-kHz nominal current (R24) of the
device by more than 1.5 times.
4: B10<->H31; Resolver/motorpoleno.; the set motor pole number
(B10) and the resolver pole number (H31) do not match.
5: neg.slip; with the control modes V/f, SLVC or VC (B20).
The values for motor nominal speed (B13), motor nominal frequency
(B15) and motor pole number (B10) indicate a negative slip.
7: B26:SSI-Slave; SSI slave may not be used as motor encoder
(synchronization problems).
8: C01>B83; C01 may not be greater than B83.
Level: Fault
Other: With an incorrect parameterization, a fault is not triggered until
enabling takes place.
Fault counter: Z70
#xxx:undef’d.Int Trigger: An interrupt was triggered for which no function is defined.
"#xx" specifies the interrupt number.
Cause: y EMC fault. Turn device off and on again.
Acknowledgment: Turn inverter off/on.
#004:illeg.Instr Trigger: An unknown operation code was determined.
Cause: y Fault in code memory (bit reversed, permanent or one-time soft-
read error).
y EMC fault. Turn device off and on again.
#006:illSlotInst Trigger: After a jump command, an illegal operation code was determined.
read error)
#009:CPU AddrErr Trigger: A data access has an illegal address.
read error).
#00a:DMADTCAdErr Trigger: A fault occurred during execution of automatic, CPU-independent data

transfer via DMA or DTC-On-Chip modules of the processor.
read error).
#00b:NMI occurred Trigger: NMI (Non Maskable Interrupt) has occurred. The interrupt is not used.
Cause: y Hardware error.
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ANTRIEBSTECHNIK

#00c:StackOverfl Trigger: Stack too small.
Cause: y Real-time load too high (E191).
y Too great CPU load due to interrupts (e.g., system bus, fieldbus).
y Fault in code memory (bit reversed, permanent or one-time soft-
read error).
*ParaModul ERROR: Trigger: The configuration contains configuration memory areas which are
update firmware! unknown to the device's firmware.
Cause: y Old firmware status (update necessary)
Acknowledgment: Turn inverter off/on or transfer a configuration.
*ParaModul ERROR: Trigger: Hardware read error
file not found Cause: y Defective or unformatted Paramodule
*ParaModul ERROR: Trigger: While loading from Paramodule, checksum error was discovered.
Checksum error Cause: y Paramodule must be rewritten with A00.
*ParaModul ERROR: Trigger: A configuration write error was discovered in the configuration memory.
ksb write error Cause: y Defective flash memory.
y Configuration too large for configuration memory.
*ParaModul ERROR: Trigger: An unknown Paramodule load error was determined.
PMLoad: unknown Acknowledgment: Turn inverter off/on or transfer a configuration.
*ConfigStartERROR Trigger: There are no parameter values stored on Paramodule.
parameters lost Cause: y The control section was turned off while A00 was active.
(The configuration must be reloaded to the device.)
*ConfigStartERROR Trigger: No flag values are stored.
remanents lost Cause: y Paramodule defective.
*ConfigStartERROR Trigger: The configuration in Paramodule is from a later inverter firmware which
unknown block "knows" more system blocks.
Cause: y A firmware update is necessary.
*ConfigStartERROR Trigger: The configuration stored in Paramodule is from a later inverter firmware
unknown string which "knows" more texts (e.g., names of system and standard block
parameters).
unknown scale which "knows" more scaling functions (for parameter scaling).
unknown limit which "knows" more limit value functions (for parameter limit values).
unknown post-wr which "knows" more post-write functions (image configuration
parameters on firmware parameters).
unknown pre-rd which "knows" more pre-read functions (image firmware parameters
on configuration parameters).
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ANTRIEBSTECHNIK

unknown hiding which "knows" more "hide" functions (hide parameters which are
supposed to be visible in dependence with other parameters).
*ConfigStartERROR Trigger: An unknown configuration start error was determined.
KsbRUN: unknown Acknowledgment: Turn inverter off/on or transfer a configuration.
This logo alternates with the following four event indications.

STÖBER
Antriebstechnik
No configuration Trigger: Device startup is concluded and an error was discovered by the
paramodule error Paramodule during startup.
Cause: • See events "*ParaModuleERROR."
Acknowledgment: Transfer a configuration.
No configuration Trigger: Device startup is concluded an error was discovered during start of the
start error configuration.
Cause: • See events "*ConfigStrtERROR."
Acknowledgment: Transfer a configuration.
Configuration Trigger: The running configuration was interrupted.
stopped Cause: • Configuration was stopped by POSITool, for example.
Acknowledgment: Transfer a configuration or turn off/on so that present configuration
can be loaded from Paramodule.
No configuration Trigger: Device startup is concluded and an error was discovered.
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ANTRIEBSTECHNIK
5. POSITool
5 POSITOOL
Introduction This chapter describes the POSITool software. The following topics are included.
• A discussion of the installation
• Explanations of the structure of the software
• The levels which can be set
• The communication between inverter and PC
• The diagnostic functions
5.1 Installation
Preparation The software package "MDS 5000" is available free of charge on the related product CD
or from the Internet under www.stoeber.de. During installation, be sure to adhere to the
described notes.
System prerequisites Following system requirements apply to the software POSITool:

• Operating system Windows 98SE, Windows XP or Windows 2000
• Internet Explorer 4.0 or better
• Processor
Min. Pentium III with 800 MHz and 256-MB RAM
• Hard drive: Min. of 40 MB
• For communication between PC and inverter: RS 232 serial interface or USB port with
USB serial adapter
• Monitor screen resolution
Required: 800 x 600
Recommended: 1024 x 768 or better
• For installation: CD drive or Internet connection
5.2 First Contact

Introduction To make it easier for the user to open POSITool, the start will be explained first.
Start screen After the software is open, the start screen (shown below) appears. It offers the user
three possibilities (see screen).
• Create a new project
• Open an existing project
• Read a project from a connected inverter
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ANTRIEBSTECHNIK
5. POSITool
Start new project with assistant To create a new project, open the configuration assistant.
In six steps it defines the primary components of an inverter configuration.
• Step 1: Resource names, designations and commentaries can be entered. The
resource names and the designation are used as the title for the inverter directory (see
chap. 5.3.2).
• Step 2: The number of axes to be operated sequentially is specified here.
• Step 3: The application is selected with this step. Before using an inverter with an
application, be sure to adhere to the applicable description in this manual. We
recommend using the same application for each axis.
• Step 4: Here it is decided how the inverter is to be controlled. The user can choose
between control via terminal strip of the inverter or a bus system (PROFIBUS DP, CAN
or USS).
• Step 5: This step provides the user with databases of the STÖBER standard motors.
When a motor is selected, the motor data are entered in the project.
• Step 6: This step concerns the configuration of the inverter. This includes the setting
of the type of inverter used and the option modules.
A control bar is available to switch between the different steps. You can skip between
steps, terminate the configuration or exit the configuration.
Other assistants Additional assistants are loaded to the project when applications and the inverter
controller are selected. These show a selected set of available parameters. The
assistants make parameterization easy and clear.
After the configuration is concluded, the above selection screen automatically appears.
The assistants can be selected there for the individual axes and started via the
applicable button.
The "close" button closes the screen.
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ANTRIEBSTECHNIK
5. POSITool
Open project If you want to process an existing project, select the middle button in the start screen.
A dialog appears which can be used to select and open a file.
Updated documentation from When an updated documentation is created, the configuration stored on the inverter is
connected inverter read during online operation and indicated in POSITool. A configuration with updated
documentation capability must be stored on the inverter for this function (see chap. 5.5).
The inverter must be connected with the PC. Read chapter 5.5 for how to establish
communication between PC and inverter.
5.3 Setup of POSITool

Introduction This chapter explains the setup of POSITool. This includes the definition of various
areas and the explanation of management functions.
Setup POSITool contains several areas which must be distinguished between (see screen).
The left-hand side contains the management area with the project directory, the function
block libraries and the hierarchy directory. They can be selected with a folder structure.
The right-hand side contains the working area. Configurations and parameter lists can be
opened and processed here.
Tool bar
Management area
with Working
project directory area
+ libraries
+ hierarchy directory
Status bar
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5. POSITool
5.3.1 Project Directory

Introduction The project directory offers a complete view of the project. When a new file is opened,
the project has an inverter directory. Additional inverters can be added (see chap. 5.3.2).
Project management The "File" menu is used for project management, among others. The following menu
items are available.
• "New project" for creation of a new project
• "Open project" for opening an existing project
• "Close project" to close current file
• "Save project" for saving the currently opened project
• "Save project under" for saving the project in another directory or under a different
name
5.3.2 Inverter Directory

Inverter directory An inverter directory is identified by the resource name and the designation. They are
entered in the configuration assistant.
The configuration assistant is called under "Configuration." This can be used to change
features such as number of axes or motor types at all times.
The inverter directory has a separate path for each axis area and the global area. Each
path contains a configuration and a parameter screen (except at the configuration level 0
- see chapter 5.4) and the available assistants.
To open a configuration screen, a parameter screen or an assistant, double-click the
applicable entry.
A configuration screen or a parameter screen is opened in the working area. An
assistant is not dependent on the working area and switches other processing areas to
inactive.
The items Communication, Diagnosis and Commissioning are described in the next few
chapters.
Inverter management The "File" menu has several items for management of an inverter within a project.
• "New inverter" adds a new inverter to a project. The new inverter directory is indicated
in the project directory and can be edited there.
• "New inverter from connected inverter" adds an inverter configuration to a project
which (the configuration) is read from a connected inverter. The updated
documentation is indicated in the project directory.
• "Manage inverter" manages the inverters entered in a project directory. The dialog
shown below is indicated under this menu item. Here inverters can be deleted from the
project directory and updated documentation can be converted into configurations.
Updated documentations can only be edited in online mode. To be able to work with the
data record offline, it must be converted into a configuration.
To maintain clear organization, a project should not contain more than 8 inverters.
However, many more can be added.
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5. POSITool
5.3.3 Parameters
Parameter list The parameters contained in the particular configuration are available in a parameter list.
The parameters to be indicated are determined by the selected application and the set
parameter level (see chapter 5.3).
The parameter table is shown in the upper half of the screen. A parameter with the
following information is inserted in each line.
• Coordinate
• Designation
• Current setting
• Default value
• Upper and lower limit value
• Unit
• Data type
• Read and write level
When a parameter is selected, the parameter description appears in the lower half of the
screen. To change a parameter, double-click the left mouse button on the line. When the
line is highlighted, just press the Enter / # or F2 key.
To reset a changed value to the default value, the user can click on the line with the right
mouse button. A context menu appears with the command "accept value from default."
CAUTION! At parameter level 3, in the context menu, the value entered in the
parameter can be accepted as default value. Before you change a default value,
check the validity of the new value!
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ANTRIEBSTECHNIK
5. POSITool
Over the parameter list is a user interface bar. The parameter list appears when the
"Parameter" button is pressed. The "Actions" button is only active during online mode. It
is used to switch to the parameters which can initiate actions (see chapter 6.8).
In addition to the buttons there is a selection list. A certain parameter group can be
selected with this function.
When the parameter list is open in an axis area, the parameters from the global area can
also be indicated. Global parameters can be hidden via a check box.
Changed parameter values are shown in color.
5.3.4 Configuration
Configuration The configuration screen contains the programming user interface. When the option "free
graphic programming" is used, blocks can be inserted here and linked. Applications
defined by STÖBER ANTRIEBSTECHNIK GmbH+Co. KG contain the programming in a
capsule block.
Configuration structure The structural setup of the POSITool configuration is illustrated in the following diagram.
Configuration environment
Capsule block
Configuration object
guration level
First confi-
"One
level
"Open"
Second confi-
guration level
A block can contain other blocks. The block must be opened before the configuration
structure within a block can be viewed. The user clicks with the right mouse button on
the block and select "Open" in the dialog screen which appears. The next level in the
configuration environment is then shown.
To reach a higher level, the user clicks with the right mouse button on a free area in the
configuration environment. In the dialog screen which appears the user selects "One
level higher." This results in a jump back one configuration level.
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ANTRIEBSTECHNIK
5. POSITool
5.3.5 Other Areas

Libraries Blocks for the "free, graphic programming" option are entered in the library directory. The
user can enter these in the configuration screen and link them. The user level
determines which blocks are visible and can be used (see chapter 5.4).
Hierarchy directory The block hierarchy is indicated in the hierarchy directory (see figure). The hierarchy is
designed like the program structure. Blocks are listed in the branch of the higher-level
block. Double-clicking the label of a block causes it to be indicated on the configuration
user interface.
"View" menu In the "View" menu the user can process the indication of the status and tool bar as well
as the project screen.
"Screen" menu In the "Screen" menu the arrangement of the screens in the working area can be set.
When several screens are open, they can be directly selected in this menu.
5.4 User Level

Description Separate user levels for configuration and parameters exist for the MDS system. This
means that parameters disappear and the view of the configuration is locked at a certain
level. The user can choose between the levels 0, 1, 2 and 3.
Parameter level A free choice among the four levels is available for indication of the parameters. The
higher the parameter level, the more parameters can be viewed.
The appropriate levels can be set via parameter A10 so that the parameters appear on
the display.
In parameter level 3, POSITool offers an additional functionality which can hide
parameters. When the user clicks a line in the parameter list with the right mouse button,
the following context menu appears.
In this menu, the read or write level of a parameter can be changed separately. Skillful
setting of the parameter A10.0 can cause a lock at the same time. When, for example,
the value 1 is entered in A10.0, all parameters with the level 0 and 1 can be viewed. To
prevent the user from entering level 2 or 3 in A10.0, the write level can be set to 2 via
POSITool. Although A10.0 is visible, it cannot be changed. Another method is to set the
read level to 2 at the same time. The parameter is then no longer visible on the display.
POSITool shows it in the parameter list starting at level 2.
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ANTRIEBSTECHNIK
5. POSITool
Configuration level The configuration level determines the programming capability.

• Level 0: The configuration screen is not visible at this level.
The user can load and parameterize applications. The "free graphic programming"
option cannot be used.
• Level 1: At this level the user can load and parameterize applications. The application
can be opened up to the first program level. The "free graphic programming" option
cannot be used.
• Level 2: The user can load and parameterize applications. The application can be
opened up to the second program level. The "free graphic programming" option cannot
be used.
• Level 3: At this level a user can load and parameterize an application and, at the two
highest program levels, program an application. The user can open additional levels.
The "free graphic programming" option is available to the user.
At the configuration level only levels 0 to 2 can be set as desired.
Level 3 can only be used with a key file! The settings up to level 2 are sufficient for
users of the applications defined by STÖBER ANTRIEBSTECHNIK!
Setting the levels In the menu "Extra" the following screen is called under
the menu item "Change access level …". The levels can
be individually set here.
5.5 Communication
Introduction
Communication between PC and inverter is
PC Inverter+
established with a serial connection. A cable
2 2
(cat. no. 41488) is connected to a serial
interface on the PC and to terminal X3 as
shown in the adjacent figure. 3 3
4 4
5 5
Housing
Settings The settings for serial transmission are made in the inverter directory under
"Communication" or "Settings." The screen which appears indicates the communication
status. In addition, the interface used on the PC, the transmission speed and the bus
address are entered. "0" is preset as the bus address. It must only be changed when a
serial “Daisy Chain” connection with several inverters is to be used.
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ANTRIEBSTECHNIK
5. POSITool
Online operation There are three ways for a user to establish a connection between inverter and PC.
• The button in the tool bar or
• the area labeled "Establish connection to inverter" in the inverter directory under
"Communication."
• F5 key
Both devices must have the same
configuration and parameter values for a
serial connection between PC and inverter. If
the user gives the command to "go online" via
one of the two ways, POSITool checks the
configuration of PC and inverter. This
comparison can produce two possible results
which are shown in the following screen.
First result During its comparison, the software determined that the inverter and the PC have
different configurations. The user must decide on one of the two configurations - either
the configuration on the PC or the one on the inverter. The selection is made in the
dialog screen shown above.
When the configuration is adjusted, the parameters of the selected project are also used.
Second result The software determined that the configurations of the inverter and the PC are identical.
In this case the user decides which parameter values will be used.
If this is the case, the lower half of the indicated dialog screen is activated (see figure
“Establish connection to inverter”).
Result During the connection is established, a status screen appears in the working area. The
progress of the current status procedure is logged in this screen.
When the connection is activated, the following screen appears.
CAUTION!
After the transmission, the application is not stored safe from power failures! To do this,
execute A00 Save values.
With active connection... When a connection is active, the values which were changed on the inverter are
automatically transferred to the PC and vice versa. Similarly, actions can start the Scope
and Simubox function. Only in online mode are the indicator parameters visible.
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5. POSITool
5.6 Diagnosis
Introduction The POSITool software offers a wide range of diagnostic functions.
• Fault memory: The fault memory contains the last 10 faults.
• Free parameter list: Parameters can be inscribed, monitored and changed in the free
parameter list.
• Simubox: The Simubox software implements the functions of the operator panel with
display. The display can be monitored on the PC via an online connection and the key
functions can be initiated.
• Scope: Scope can be used by the user to record the progress of parameters.
Fault memory The last 10 events are recorded in the fault memory. To obtain an exact overview of the
fault situation, the following values are read and stored at the time the fault occurred.
• Fault
• Cause (if it can be determined)
• Operating time when the event occurred
• Active axis
• Device state
• Speed
• DC link voltage
• Current (motor or device)
• Temperature of the device
The fault memory is not reset when a new application is transferred. It has 10 positions
which are assigned in succession when faults occur. When all items are full, the oldest
entry is overwritten when the next fault occurs.
Reading the fault memory requires an online connection. It is opened in the inverter
directory under "Diagnosis"\"Fault memory." The display of the fault memory is updated
when it is opened.
29
ANTRIEBSTECHNIK
5. POSITool
Free parameter list The free parameter list is used to indicate and change a selection of parameters
adjusted to the application. The list is opened in the inverter directory under
"Commissioning / Free parameter list." The following screen appears.
To enter a parameter in the list, its coordinates must be entered in the field in the upper,
left-hand corner. With a global parameter, the letter of the group and its number (e.g.,
A10) is sufficient. When an axis parameter is to be inserted, the axis no. must be stated
(e.g., 3.I09: Parameter I09 from axis 3).
Parameter elements can also be entered (e.g., A10.1).
If the parameter is not entered correctly in the field, it is not accepted.
When a recording with the scope functionality is started, the parameters entered in the
list are copied with the current value to the info directory of the recording.
Simubox Simubox is a piece of software to simulate the operator panel on the MDS 5000.
Simubox can be used to monitor the display on the PC and to press keys. This makes it
possible to perform commissioning in local mode, for instance, when the inverter is
installed in an inaccessible place.
Simubox is opened in the inverter directory under "Commissioning"\"Simubox." Simubox

can only be used in online mode. If it is opened in offline mode, a display like the one
above appears.
Simubox is also available as a stand-alone application (i.e., it can be opened regardless
of POSITool).
30
ANTRIEBSTECHNIK
5. POSITool
Scope The Scope function is used to record values. It is called in the inverter directory under
"Commissioning"\"Scope - new recording."
Settings can always be made. Acceptance is only possible during online mode.
Setup The status is indicated in the upper, left-hand corner of the screen. The buttons "Read,"
"Start" and "Stop" are used to control the recording. The box to the right of the buttons is
used to activate the automatic read-in.
Recordings are managed with "Save," "Delete," "Info…," and "Export." A stored
recording appears in the inverter directory under "Commissioning." It can be called again
from there. Names and remarks pertaining to a stored recording can be called under
"Info." The dialog is automatically called during saving. The measured values are
exported to an Excel file with "Export." The user can use the data for other forms of
presentation.
Channel selection The dialog for selection of the parameters to be recorded is located under the "Channel
selection + trigger" button.
First, the area in which the parameter to be recorded is stored must be specified in the
dialog screen. The parameter is then selected.
If applications are selected via the configuration assistants, some of the channels are
preassigned.
31
ANTRIEBSTECHNIK
5. POSITool
Trigger A trigger condition must then be specified. The trigger condition defines the recording
time together with the pre-trigger and the scanning time. The scanning time determines
the duration of recording. It is indicated at the bottom left. An event is defined by the
trigger condition. The pre-trigger specifies which time period will be recorded before the
event.
Example:
Total recording time: 5 seconds
Pre-trigger: 40%
Result: Recording is made two seconds before the event (40%) and three seconds
afterwards.
When the dialog screen is confirmed with "OK," the settings are accepted but Scope is
not started before the "OK and start Scope" button is pressed. "Terminate" rejects the
settings.
Channels When a recording is finished and read, the characteristic curves can be selected via the
buttons on the right-hand side. The recorded parameters are specified (e.g., E08) with
the occupied channels. The complete parameter designation is located under the
buttons. The second indication specifies the set scaling.
Color selection for

the channels
The buttons under the indications can be used to change the representation of the
characteristic curve.
Shift the characteristic curve of the activated channel up or down by one

grid interval.
+ Key + shift key: Shift by one pixel.
+ Ctrl key: Shift to the next grid line.
+ Ctrl + shift key: Shift to middle of the image.
Enlarge/reduce the scaling of the channel;

+ Ctrl key: Auto scaling
Indicate/hide the channel
Inverted indication of the channel
Indicate the zero line of the channel
Indication of a value in individual bits. Can only be used for whole-

number parameters without positions after the decimal point and not with
selection parameters.
The user can specify the color of the characteristic curve by clicking the colored field with
the left mouse button.
32
ANTRIEBSTECHNIK
5. POSITool
Time axis The following field is used to change the representation of the time axis. The indication
shows the current scaling.
The buttons have the following functions.

Shift the image to the right/left by one grid interval
Shift key: Shift the image by 1 pixel
Ctrl key: Shift the image to the next grid line
Ctrl + shift key: Shift the image to the middle of the image.
Enlarge/reduce the scaling of the x-axis
Ctrl key: Auto scaling
Type of indication of the measured values interpolated or in step format

(presetting: interpolated).
Measure Eight markers (M1 to M8) are available for precise analysis of the recorded values. Each
marker has two measuring points (A and B). The buttons control the following functions:
Switch on/off the selected marker
Selection of a selected marker
Selection of the color for the selected marker
Indication of the measured value window
Select the left marker point (A) for the shift.
Select the left marker point (B) for the shift.
Select both marker points (A+B) for the simultaneous shift.
Shift the selected marker to the left or to the right (A, B or A+B);
Shift key: Shift by 1 pixel.
Service Additional functions can be called with the "Service" button. When the button is pressed,
"Start reference value generator," Simubox and the free parameter list are indicated.
The functions are used for quick optimization. The user can proceed as shown below.
1. Set the reference value generator via the parameters D93, D94 and D95 and start the
drive via the button.
2. Make a record of the movement with Scope.
3. The parameters to be changed are entered in the free parameter list and adjusted.
4. This procedure is repeated until the drive is optimally adjusted.
33
ANTRIEBSTECHNIK
6. Primary Settings
6 PRIMARY SETTINGS
Introduction The following chapter gives you guidelines on important settings such as the
parameterization of:
• Motor and control mode
• Mechanical halting brake
• Encoder
• Braking resistor
Important information is then given on topics such as actions or the setting of control and
status signals.
6.1 Motor and Control Mode

Introduction Asynchronous and servo motors can be operated on the MDS inverter. Specifications
and control mode must be given so that the motors can be controlled correctly. The
control mode is specified in B20.
For servo motors, select "64:Servo-control." Asynchronous machines can be operated
without speed feedback in the control mode "0:V/f-control." The selection "2:Vector
control" is available for asynchronous motors with feedback.
B20 can be set before or after the motor data are entered. It is listed in the following
descriptions to give you an overview.
There are several ways to enter the motor data.
• Selection of a STÖBER standard motor in the configuration assistant.
• Use of an electronic nameplate for ED and EK servo motors.
• Direct entry in the parameter lists.
Proceed as shown below to select a STÖBER standard motor in the configuration
assistant.
Setting the motor in the ; Open the configuration assistant (via program start or in the project directory).
configuration assistant ; Proceed up to step 5.
; From the selections, set the correct motor list (e.g., "synchronous motor" and "EK
motor").
; In the table, click the applicable motor type and exit the assistant.
; In the parameter B20, enter the appropriate control mode.
Result: The motor data and the control mode are correctly entered.
34
ANTRIEBSTECHNIK
6. Primary Settings
Electronic nameplate ED/EK STÖBER motors are available with electronic single and multi-turn encoders.
These encoders offer a special parameter memory. STÖBER always places all motor
data including any existing halting brake in this memory to provide an "electronic
nameplate."
Proceed as shown below to utilize the data of the electronic nameplate.
All motor data from the electronic ; Check to determine whether you have an encoder with an electronic nameplate.
nameplate ; Parameterize the encoder interface X4 in B26 and activate the interface in H00 with
"64:EnDat."
; Enter the control mode "64:Servo-control" in B20.
; Set the parameter B06 to "0:El. motor-type."
; In the parameter B04, select the setting "1:All data."
; Go online and transfer the settings to the inverter.
; Save the settings with A00 Save values (cf. chap. 6.8).
; Perform a device new start.
Result: The motor data and the type of control are entered in the parameters.
Any manual changes to the motor data are only valid until the next power-off - power-on,
even when the changes were stored non-volatilely in Paramodule.
In addition, the commutation offset from the electronic nameplate can be used
exclusively.
Only the commutation offset from ; Check to determine whether you have an encoder with an electronic nameplate.
the electronic nameplate ; Parameterize the encoder interface X4 in B26 and activate the interface in H00 with
"64:EnDat."
; Enter the control mode "64:Servo-control" in B20.
; Set the parameter B06 to "0:El. motor-type."
; In the parameter B04, select the setting "1:Commutation offset."
; Go online and transfer the settings to the inverter.
; Save the settings with A00 Save values (cf. chap. 6.8).
; Perform a device new start.
Notes:
1. After a change of the parameters B06 and B04, correct evaluation of the electronic
nameplate is only ensured after a device new start.
2. Electronic nameplates of other motor manufacturers cannot be evaluated with the
MDS 5000.
3. In control type 0:V/f-control, no current or torque limitation occurs. Also connection to
a rotating motor is not possible ("capture").
Motors of other manufacturers The specifications of motors which do not have an electronic nameplate and cannot be
and special motors selected in the configuration assistant must be entered in the parameter list. Depending
on the motor type and the type of control, different parameters must sometimes be used.
Direct entry of the motor data ; In B20, select the appropriate control mode.
; In B06, enter "1:User defined." Then edit the following parameters.
; B02 Back EMF (only for servo motors)
; B05 Commutation-offset (only for servo control)
; B10 Motor-poles
; B11 Nominal motor power
; 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 T0 (only for servo control)
; B52 Stator inductance
; B53 Stator winding resistance
; B62 Motor inertia
; B73 and B74 for an optimized i2t model
; You can also enter the type designation in parameter B00 Motor type (max. of 16
characters).
35
ANTRIEBSTECHNIK
6. Primary Settings
Current controller Parameters B64 to B68 pertain to the setting of the current controller.
If an initial test with the default settings of the parameters does not provide the desired
results, we recommend using the current controller optimization. It is performed with the
action B42 Optimize current controller (cf. chap. 6.8). Afterwards, save the measured
values with A00 Save values (cf. chap. 6.8).
Thermal model The parameters B70, B71 and B72 describe a motor model for the protection of the
motor. The default values are usually sufficient.
Limit values The parameters B82 I-max and B83 n-max motor are limit values which may never be
exceeded.
Notes:
• Since parameters in the list are indicated or hidden based on how B20 is set, all
parameters are not always visible for each setting.
6.2 Encoder
Introduction Different encoder systems can be run on the MDS 5000. Several interfaces are available
on the inverter. 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 BE encoder, X120
or X140.
Below is a description of how to make the settings for one interface and one encoder
system. Use the titles in the left margin for orientation. 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 described in this chapter.
Deactivating the motor encoder Select B26="0:inactive" when an asynchronous motor without speed feedback is to be
used (B20=0:V/f-control). This setting is not permitted when servo motors or vector
control are used.
Interface X4 ; From the parameter list, select the parameter B26.

; In B26, set "2:X4-encoder."
; Open group H.. in the parameter list.
; In H00, set the encoder system which you want to run on X4. Optical and inductive
(EnDat®), HTL, TTL and SSI master signals can be evaluated.
; Make further parameter assignments in H02, H08 and H09.
BE encoder ; Open the configuration assistant and select step 6.

; In option 2, enter one of the selections SEA 5000, REA 5000 or XEA 5000 and make
sure that the selected option is actually installed on the inverter.
; Exit the configuration assistant.
; In B26, enter "1:BE-encoder."
; In H40, select whether you are connecting stepper motor signals or an incremental
encoder.
; Make further parameter assignments in H41 and H42.
Notes:
When a BE encoder is used, the binary inputs should not be used for any other function
in the application.
Interface X140 ; Open the configuration assistant and select step 6.
; In option 2, enter the selection REA 5000 and make sure that the option is actually
installed on the inverter.
; In B26, enter "3:X140-resolver."
; Activate H140 with the setting "66:Resolver."
; Make further parameter assignments in H142 and H148.
Interface X120 ; Open the configuration assistant and select step 6.
36
ANTRIEBSTECHNIK
6. Primary Settings
; In option 2, enter the selection XEA 5000 and make sure that the option is actually
installed on the inverter.
; In B26, enter "4:X120-encoder."
; In H120, set the encoder system which you want to run on X120. Incremental
encoders, stepper motor signals, and SSI master and SSI slave encoders can be
evaluated.
; Make further parameter assignments in H121, H122, H125 and H126.
CAUTION!! ; When connecting the encoders, adhere to the mounting guidelines (impr. no. 441688)!
; 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."
; 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.
waiting for This indication appears when an SSI encoder is expected on X120 and the inverter is the
X120-SSI-encoder SSI master (setting H120=67:SSI-Master). The SSI master sends the encoder the
request to transmit the positions.
waiting for The indication specifies that an SSI encoder is expected on X120 and the inverter is an
X120-SSI-slave 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 inverter is the
X4-SSI-encoder 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."
6.3 Brake
Introduction Motors with holding brakes can be connected to the MDS 5000. There are two ways to
activate the brake. A brake control is integrated in some of the applications defined by
STÖBER. You can activate the brake control in parameter F08. Further settings are
made in F01, F02, F06 and F07.
In addition, a signal source can be parameterized in F100. The signal for releasing the
brake can be given via the source. F100 is a global parameter and is available to all
applications.
Notes:
• When connecting the brake, adhere to the mounting guidelines (impr. no. 441688)!
• Before using an application, check to determine whether a brake control is integrated.
• When the electronic nameplate is used, F06 and F07 are automatically entered.
6.4 Braking Resistor

Introduction To remove excess braking energy from the DC link, a brake resistor can be connected to
the MDS inverter. Parameters A21, A22 and A23 are available for the settings. Enter the
value 0 in A22 and the activation of the braking resistor is deactivated.
For which braking resistors are available for the MDS system, see chapter 7 of the
mounting guidelines (impr. no. 441688). When connecting the brake resistor, adhere to
chapter 5 of the mounting guidelines.
MDS inverter of design 3 have an internal braking resistor. You can activate the internal
braking resistor by entering a value other than 0 in A22 (e.g., 10). No additional entries
are necessary.
37
ANTRIEBSTECHNIK
6. Primary Settings
6.5 Axis Management

Introduction 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. See chapter 4.4.
Combinations of axis The axes of the MDS system can be combined with motors in different ways. For
and motor 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.
Axis management
Axis 1
(= "parameter set 1")
ESC #
I/O
Axis 2
(= "parameter set 2")
X3
Axis 3
(="parameter set 3")
Motor 1
Axis 4
(="parameter set 4")
No axis active !
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 (see mounting and commissioning instructions for POSISwitch AX 5000,
®
publ. no. 441689). 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.
Switching 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.
Note! A switch of the axis selectors is only accepted by axis management when the
drive is not in the device status "4:enabled."
CAUTION! The option startup disable ASP 5000 may not be active when an axis is
switched!
38
ANTRIEBSTECHNIK
6. Primary Settings
6.6 Local Operation

Introduction The drive can be switched to local operation for each application. Local operation is
controlled via the operator panel on the inverter (see chapter 4.2). The key is used to
change to local operation. Pressing the I/O key enables or withdraws the enable.
#
ESC When the key is pressed at any time during local operation, the drive changes back
to normal operation. The enable chain of the application becomes effective! The drive
can start moving!
I/O The stored application determines how an axis is handled with the / keys.
6.7 Control and Stauts Signals

Signal position 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."
A62
Auswahlofder
Selection the A302:
A302:Schnellhalt
quick stop
Signalquelle
signal sourcefür
Schnellhalt
for quick stop
BE1
X101.11
BE2
X101.12
. Signalverarbeitung in
Signal processing by
. der Applikation
the application
.
.
A180.2
Wird
Is vom Feldbus
written by
beschrieben
the fieldbus
Signal source selection 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.
A selection must also be made so that status signals of the application can be
processed. The routine is explained with the example of "reference value reached."
F61
BA1
andere
Other
Signale
signals X101.16
D181:Reference
D181: Sollwert
erreicht F62
value reached
BA2
andere
Other
Signale
signals X101.17
Signalverarbeitung in
Signal processing by
der
the Applikation
application .
.
.
.
D200.1
Wird
Is vom
readFeldbus
from
ausgelesen
the fieldbus
A signal must be assigned to an output (binary outputs, analog outputs, parameter) so
39
ANTRIEBSTECHNIK
6. Primary Settings
that the status signals of the application can be sampled. There is a parameter for each
output in which the signals available for the particular application can be selected.
Parameters F61 and F62 are used for the binary outputs shown in the diagram. At the
same time, the signal is written in a parameter (D200.1 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 description specifies for each signal the possible outputs and the related
selection parameters as well as the fieldbus and indicator parameter.
6.8 Actions
Introduction Actions are functions which are executed by the inverter after their start. The MDS
system offers the following actions.
• A00 Save values
• A37 Reset memorized values
• B40 Phase test
• B41 Autotune motor
• B42 Optimize current controller
• B43 Winding test
• D96 Reference value generator
The actions are array parameters with three elements. You can start the action via the
first element. The second element shows you the action's progress. Element 3 shows the
result.
You can start an action via every interface (operator panel on the inverter, fieldbus or
POSITool in online mode).
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
With the results 10 to 12 an error was determined while saving to Paramodule. If the
results occur repeatedly, a exchange of Paramodule may be helpful.
A37 Reset memorized values The action A37 resets memorized values E33 to E38. The action can be started in A37.0.
The action offers the following result (A37.2): 0:error free.
B40 Phase test Activate B40.0 to start the phase test. The phase test can only be used with servo
motors. The test checks to determine whether phases were 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 5000.
This is why the action must be performed again when the resolver or option board is
replaced.
This action may cause the motor shaft to move. Make sure that the motor can turn
freely during the action!
During activation, 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 turn the enable
off again. You can then read the measured commutation offset in B05.
During the action, the cycle time is set internally to 32 msec. The switch occurs when the
action is activated. When a quick stop is triggered during the end phase of the action, the
drive is halted immediately.
You can read the following results from the third element (B40.2).
40
ANTRIEBSTECHNIK
6. Primary Settings
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.
B41 Autotune motor Activate the action to measure resistance (B53) and inductivity (B52) of the motor for
servo motors. With asynchronous motors, only the resistance (B53) is determined.
This action may cause the motor shaft to move. Make sure that the motor can turn
freely during the action!
off again. You can then read the measured values in B53 and B52.
action is activated.
B42 Optimize current controller When you start the action, the parameters of the current controller are specified again
(B64 to B68). During the action, the motor turns at approx. 2000 Rpm.
For this reason, make sure that the motor is operated at this speed and is able to turn
freely!
During the action, you may hear clicking noises at regular intervals. The action may take
up to 20 minutes.
off again. You can then read the measured values in B64 and B68.
After you have enabled the action via local operator control, the action can only be
aborted with a very long delay by deactivating the enable! 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. The switch
occurs when the action is activated.
B43 Winding test When you start the action, the symmetry of the ohmic resistors of the motor windings are
checked. During the action, the motor shaft may move. Make sure that the motor can
turn freely during the action!
off 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.
D96 Reference value generator When you start the action, a square-shaped reference value is specified for the motor.
41
ANTRIEBSTECHNIK
6. Primary Settings
You can parameterize the reference value in D93 to D95. The reference value
specification causes the motor axis to move. For this reason, make sure that the motor is
able to turn freely during the action!
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).
42
ANTRIEBSTECHNIK
7. Applications
7 APPLICATIONS
Introduction This chapter introduces the applications defined by STÖBER ANTRIEBSTECHNIK.
The following table gives you a short description of the applications. The specific
functions for the application are specified.
Using the table, select the application which fits your requirements.
You will find the detailed application description under the name specified in the column
"PDF Document" on the Internet (www.stoeber.de) or on the product CD " STÖBER
ELECTRONICS 5000."
Read the detailed description before you use an application on the MDS inverter.
Add the application description to this document to obtain a complete description of the
system.
This procedure is used by STÖBER ANTRIEBSTECHNIK to enable you to make a quick
and specific selection.
Application description The application description contains a detailed description of the fundamental functions
and the extra features. In addition, it includes the presentation of the input and output
signals for the global and the axis area as well as a list of the parameters available for
the application.
Name Description Functions PDF Document

Fast reference Speed control Control: Status: 441717.pdf (D)
value 441727.pdf (GB)
- Direction of rotation - Standstill 441728.pdf (F)
- Reference value - Torque limit reached
specification via bus or - Relative reference value
analog input
- Variable torque limit
- Relative reference value
Command Position control, control Control: Status: 441729.pdf (D)
positioning via PLCopen commands 441730.pdf (GB)
- Rotary axis or limited - Current position 441731.pdf (F)
position range can be - At stop input (limit switch)
selected. - Status of the drive task
- Position specification with (refused/terminated, in
speed and acceleration position, in reference, etc.)
braking ramp - Local mode active
- HW Stop input (limit - Status after PLCopen
switch) - Status of POSIlatch
- Inching mode - Status of motion ID
- Reference function
- POSIlatch
- Motion ID
- Switching points
- Cam
- Speed override
Synchronous Position control with Control: Status: 441729.pdf (D)
command master slave functionality 441730.pdf (GB)
positioning - Rotary axis or limited - Current position 441731.pdf (F)
via PLCopen commands, position range can be - At stop input (limit switch)
electronic gearing with selected. - Status of the drive task
variable gearing factor - Position specification with (refused/terminated, in
speed and acceleration position, in reference, etc.)
braking ramp - Local mode active
- HW Stop input (limit - Status after PLCopen
switch) - Status Motion ID
- Inching mode
- Motion ID
- Speed override
43
ANTRIEBSTECHNIK
7. Applications
Name Description Functions PDF Document

Under Position control with (Under preparation) 441795.pdf (D)
preparation master slave functionality, 441796.pdf (GB)
Master-Slave any coupling can be 441797.pdf (F)
El. Cam implemented via table
Motion block Position control with Control: Status: 441781.pdf (D)

positioning synchronization - Command specification in - Current position 441782.pdf (GB)
functionality via process process blocks - At stop input (limit switch) 441783.pdf (F)
blocks and processing - A profile can be defined for - Status of the drive task
profiles. each process block. (refused/terminated, in
- Execution of the process position, in reference)
blocks with chaining or - Local mode active
direct activation via ref. - Status after PLCopen
value selectors/parameters - Status of POSILatch
- Rotary axis or limited
position range can be
selected.
- Position specification with
speed and acceleration
braking ramp
- Stop input (limit switch)
- Inching mode
- Speed override
- POSILatch
- Switching points
- Cam
Interpolated Cyclic position Control: Status: 441784.pdf (D)
Position Mode specification via CAN bus - Position specification - Current position 441785.pdf (GB)
STÖBER (absoute or relative) - At stop input (limit switch) 441786.pdf (F)
specific - Stop input (limit switch) - Status of the drive task
- Inching mode (refused/terminated, in
- Reference function position, in reference)
- Speed override - Local mode active
- POSILatch - Status of POSILatch
Under Cyclic position Control: Status: 441790.pdf (D)
preparation specification via CAN bus - Position specification - Current position 441791.pdf (GB)
Interpolated Similar to DSP 402 (absoute) - At stop input (limit switch) 441792.pdf (F)
Position Mode - Stop input (limit switch) - Status of the drive task
In acc. to DSP - Inching mode (refused/terminated, in
402 - Reference function position, in reference)
- Speed override - Local mode active
- POSILatch - Status of POSILatch
44
STÖBER ANTRIEBSTECHNIK - Deutschland
STÖBER ANTRIEBSTECHNIK
Hauptverwaltung: STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 07231 582-0

Postfach 910103 Fax 07231 582-1000
75091 Pforzheim eMail sales@stoeber.de
Kieselbronner Straße 12 24-Stunden-Service-Nr.
75177 Pforzheim 0180 5 786323
Vanity-No:
0180 5 STOEBER
Vertriebsgebiet Nordwest:
Zentrale STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 02302 98494-0
Friedrich-Ebert-Str. 85 Fax 02302 98494-50
58454 Witten eMail TB_DO@stoeber.de
Zugehörige Technische Büros:
Norddeutschland STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 04164 811904
20000 - 23919 Stefan Hildebrandt Fax 04164 811905
24000 - 29999 Bei den roten Höfen 4 eMail TB_ND@stoeber.de
21698 Harsefeld
Münster STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 02552 610271
33000 - 33599 Markus Merker Fax 02552 610272
33600 - 33899 Grottenkamp 28 eMail TB_MS@stoeber.de
33900 - 33999 48565 Steinfurt
48000 - 49999
59200 - 59329
59470 - 59699
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40000 - 41999 Jürgen Volkmuth Fax 02302 98494-50
46000 - 47999 Friedrich-Ebert-Str. 85 eMail TB_DO@stoeber.de
50000 - 50999 58454 Witten
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42000 - 45999 Detlef Mock Fax 02302 98494-50
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57000 - 59199 58454 Witten
59330 - 59469
59700 - 59999
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30000 - 32999 Arne Hülsmeier Fax 05481 903974
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37000 - 37199 49525 Lengerich
37400 - 38799
Vertriebsgebiet Mitte:
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Kieselbronner Straße 12, 75177 Pforzheim eMail sales@stoeber.de
Saar-Pfalz STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 06126 989406
54000 - 56999 Roland Dillmann Fax 06126 55499
65000 - 66919 Black & Decker-Str. 1 eMail TB_ID@stoeber.de
67200 - 67319 65510 Idstein
67500 - 67999
Wiesbaden STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 06126 989405
34000 - 34329 Jens Thomas Fax 06126 55499
34550 - 36399 Black & Decker-Str. 1 eMail TB_ID@stoeber.de
37200 - 37299 65510 Idstein
60000 - 64999
Vertriebsgebiet Süd:
Stand: 06.05.2004
STÖBER ANTRIEBSTECHNIK - Deutschland

Pforzheim Süd STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 07231 582-1229
71000 - 71299 Günter Großmann Fax 07231 582-1349
75100 - 75399 Postfach 910103, 75091 Pforzheim eMail TB_PFSued@stoeber.de
Kieselbronner Straße 12, 75177 Pforzheim
Pforzheim Nord STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 07231 582-1217
70000 - 70999 Philipp Gerstner Fax 07231 582-1349
71300 - 71499 Postfach 910103, 75091 Pforzheim eMail TB_PFNord@stoeber.de
71600 - 71999 Kieselbronner Straße 12, 75177 Pforzheim
74000 - 74172
74300 - 74399
75400 - 75999
Nordbaden STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 07231 582-1149
66920 - 67199 Stefan Rotterdam Fax 07231 582-1349
67320 - 67499 Postfach 910103, 75091 Pforzheim eMail TB_NB@stoeber.de
74173 - 74299
74600 - 75099
76600 - 76999
97860 - 97999
Südbaden STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 07231 582-1114
72190 - 72299 Daniel Lohse Fax 07231 582-1349
76000 - 76599 Postfach 910103, 75091 Pforzheim eMail TB_SB@stoeber.de
78090 - 78149
79000 - 79999
Reutlingen STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 07121 994035
72000 - 72189 Wilhelm Haydt Fax 07121 994036
72300 - 72999 Gerh.-Hauptmann-Str. 53 eMail TB_RT@stoeber.de
78000 - 78089 72793 Pfullingen
78150 - 78999
88000 - 89299
89570 - 89999
Württemberg Nord-Ost STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 07333 950773
71500 - 71599 Klaus Buschko Fax 07333 950774
73000 - 73999 Meisenweg 25 eMail TB_WNO@stoeber.de
74400 - 74599 72589 Westerheim
89500 - 89569
München STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 09191 616890
80000 - 84999 Udo Cyrol Fax 09191 734538
85200 - 87999 Industriestraße 20 a eMail TB_M@stoeber.de
89300 - 89499 91353 Hausen
94000 - 94999
Nürnberg STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 09191 734537
85000 - 85199 Wolfgang Lukas Fax 09191 734538
90000 - 93999 Industriestraße 20 a eMail TB_N@stoeber.de
95000 - 96499 91353 Hausen
97000 - 97859
Vertriebsgebiet Ost:
Berlin / Brandenburg STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 033438 5731
06000 - 06599 Bernd Weise Fax 033438 5732
06730 - 07299 Werneuchener Weg 9 eMail TB_BR@stoeber.de
10000 - 19999 15345 Altlandsberg
23920 - 23999
38800 - 39999
Lichtenstein STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Fon 037204 2985
00000 - 05999 Jürgen Stolper Fax 037204 2986
06600 - 06729 Günsbacher Straße 4 eMail TB_LI@stoeber.de
07300 - 09999 09350 Lichtenstein
36400 - 36999
37300 - 37399
96500 - 96999
98000 - 99999
Stand: 06.05.2004
STÖBER ANTRIEBSTECHNIK - International
Austria STÖBER ANTRIEBSTECHNIK GmbH Phone +43 7613 76000
Fabriksplatz 1 Fax +43 7613 76009
4662 Steyrermühl eMail office@stoeber.at
France STÖBER S.a.r.l. Phone +33 4 72132438

47, rue Maurice Flandin Fax +33 4 72132457
69003 Lyon eMail mail@stober.fr
Great Britain STOBER DRIVES LTD. Phone +44 1992 709710

Unit 9, Abbeymead Industrial Park Fax +44 1992 714111
Brooker Road, Waltham Abbey eMail mail@stober.co.uk
Essex EN9 1HU
Italy STÖBER TRASMISSIONI S. r. l. Phone +39 02 93909-570

Via Risorgimento, 8 Fax +39 02 93909-325
20017 Mazzo di Rho (Milano) eMail info@stoeber.it
Korea DAE KWANG STOEBER CO. LTD. Phone +82 31 4347047

2 Ma 301-3 Sihwa Industrial Complex, Fax +82 31 4347048
1704-3 Jungwang dong, Siheung city, eMail dkstoeber@stoeber.co.kr
Gyunggi do, Korea
Postcode 429-845
Poland STOEBER POLSKA Phone +48 71 3207417

ul.H.Kamienskiego 201-219 Fax +48 71 3207417
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Rua Bairro Da Ponte Alta S/N Fax +55 35 34353887
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Apdo. Aereo 11606 +57 2856336
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Stand: 19.07.2004
STÖBER ANTRIEBSTECHNIK - International
Finland EIE MASKIN OY Phone +358 19 2461642
PL 80 Fax +358 19 2461643
10600 Tammisaari eMail eie@eie.fi
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Fóti Street 141, Bldg 37. Fax +36 1 2311030
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the Netherlands MIJNSBERGEN B. V. Phone +31 297 285821

Postbus 166 Fax +31 297 272326
3640 AD Mijdrecht eMail info@mijnsbergen.nl
Norway ELMEKO AS Phone +47 67 572270

Postbox 80 Fax +47 67 572280
1306 Baerum Postterminal eMail elmeko@elmeko.no
Peru POWERMATIC S. A. Phone +51 1 3490184 / 3494011

Av. Los Ingenieros 333 Fax +51 1 4370073
Ate-Vitarte, Lima 3 eMail powermatic@terra.com.pe
Philippines LEELENG COMMERCIAL, INC. Phone +63 2 2418901 to 05

387 - 393 Dasmariñas St. Fax +63 2 2414060
P. O. Box 480 eMail leeleng@manila.vasia.com
Manila
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P. O. Box 33431 Fax +27 11 6201775
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Jesus, 27 Fax +34 91 6197792
28917 - LA FORTUNA eMail tahfercom@tahfer.com
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Camino Caserio Parada, 25 Fax +34 94 3297810
20015 San Sebastián eMail koom@spitkoom.com
Sweden EIE MASKIN AB Phone +46 8 7278800

Postfach 7 Fax +46 8 7278899
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Switzerland INDUR ANTRIEBSTECHNIK AG Phone +41 61 2792900

Margarethenstraße 87 Fax +41 61 2792910
4008 Basel eMail info@indur.ch
Thailand GERMAN ENGINEERING & Phone +66 2 3153331 / 3153332

MACHINERY CO., LTD. Fax +66 2 3153663
399 Moo 17 Bangna Trad Rd. Km 23 eMail sale-ge@mweb.co.th
Bangsaothong Sub District
10540 Samutprakarn
Turkey HARTEK Sanayigi Ticaret Ltd. Sti Phone +90 216 5406026
Y. Dudullu Mah. Alptekin Fax +90 216 5406030
Sk. No: 2 Kat: 2 eMail o.aydin@hartek.net
34775 ÜMRANIYE - ISTANBUL
Stand: 19.07.2004
Additional information under:
http://www.stoeber.de
© 2004 STÖBER ANTRIEBSTECHNIK GmbH + Co. KG
- Subject to technical change without prior notice -

Publication no. 441691.00.02 · 10.2004
STÖBER . . . The Drive for your Automation

Presented by:
GmbH + Co. KG
GERMANY
Kieselbronner Strasse 12 · 75177 Pforzheim
Postfach 910103 · 75091 Pforzheim
Fon +49 (0) 7231 582-0, Fax +49 (0) 7231 582-1000
Internet: http://www.stoeber.de / e-mail: mail@stoeber.de

Posidrive MDS 5000

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MDS POSIDRIVE®

It is essential to read and comply with the complete

certified by DQS according to

STÖBER ANTRIEBSTECHNIK - Germany 45

Caution! High touch voltage! Danger of shock! Hazardous to life!

Pay particular attention to:

• Discharge time of the DC link capacitors > 5 minutes

Use of the POSITool software

Global area Axis areas

Other manuals For further information, see the following manuals.

3.1 Device States

Display Designation Behavior

MDS 5000 - The electronics are powered.

Change in State Conditions

4 Switched on → Operation enabled - Enable on high level

5 Switched on → Ready for switchon - Enable on low level

- DC link not charged or startup disable ASP 5000 active or

12 Operation enabled → Switchon disable - Startup disable ASP 5000 active

14 All states → Fault reaction active - Fault detected

15 Fault reaction active → Fault - Fault reaction concluded

- No fault is queued and rising edge of the "acknowledgment"

Structure The parameter structure is set up as shown in the adjacent example.

Parameter Group Subject Area/Dependency

Name Abbrev. Name Description Value Range

4. User Interface of POSIDRIVE® MDS 5000

4 USER INTERFACE OF POSIDRIVE® MDS 5000

LEDs Device states

4. User Interface of POSIDRIVE® MDS 5000

4.2 Operator Panel

ESC Jumps back to operator level.

Selects a parameter in the menu group. During entry,

Activates/deactivates local mode (if programmed). In local mode

Enables for local mode I/O

LED status indicator Paramodule

Oper. 3000 Rpm 1.3 A To change a parameter, proceed as shown below.

Parameter B26 Crtltype B26 Ctrltype

4. User Interface of POSIDRIVE® MDS 5000

LEDs State of the MDS

4. User Interface of POSIDRIVE® MDS 5000

3000 Rpm 1.3A

4.4.2 Event Indications

active Sequence error inactive

4. User Interface of POSIDRIVE® MDS 5000

Inactive configuration … There are two cases when a configuration is inactive:

4. User Interface of POSIDRIVE® MDS 5000

4.4.3 Event List

4. User Interface of POSIDRIVE® MDS 5000

No: Name Description

4. User Interface of POSIDRIVE® MDS 5000

No: Name Description

4. User Interface of POSIDRIVE® MDS 5000

No: Name Description

4. User Interface of POSIDRIVE® MDS 5000

No: Name Description

#00a:DMADTCAdErr Trigger: A fault occurred during execution of automatic, CPU-independent data

4. User Interface of POSIDRIVE® MDS 5000

No: Name Description

4. User Interface of POSIDRIVE® MDS 5000

No: Name Description

This logo alternates with the following four event indications.

System prerequisites Following system requirements apply to the software POSITool:

5.2 First Contact

5.3 Setup of POSITool

5.3.1 Project Directory