To determine the hardware revision and firmware version of an installed safety card:

1. Open the setup software Drivegui.
2. Type VER * in the terminal screen.

The tool "Braking Ramps SafetyGUI" (see Downloads) explains that procedure with an example.

It is possible to connect several servo amplifier STO inputs to one output of a safety control and SIL2/PLd can be met.

A maximum of 9 amplifiers can be connected to one output.

For more information see page S700 Safety: Several S700 on one safety control

This occurs because the setup software is resetting "Motor with Brake" to "Motor without Brake".

Fix: Use the terminal screen and enter the ASCII commands MBRAKE1 HSAVE.

Explanation: The motor options are saved in the ENDAT encoder. If this information is wrong, the brake option in the drive is always reset.

The 5V type is always used.

AA always describes a single turn type and AB a multi turn type.

The only required setting is the address.

• For the S600 you will find it under "Basic Setup".
• For the S300/S700 you will find it at "CAN/ Field Bus Settings".

The Profibus chip will detect the baud rate automatically. It can not be set on the drive.

Special for the S400: If the field bus address (ADDRFB) has been set to zero, the drive will be addressed via the general address that has been assigned by the S400 master.

1. In the Setup Software please open the window “Profibus”. The baud rate is shown there. Is it set to the value that you have set in the PLC?
   No => Please check the bus wiring. The drive did not even find the baud rate. That means that even on the lowest level there is no communication. Another hint for this: The PLC CPU reports a device breakdown.
   Yes => go to 2)
2. In this window there is a line "Input" and a line "Output". What do you see in these lines, numbers or just “yyyy”?
   "yyyy" only => Please check the hardware configuration in your PLC (see above). Possibly the drive does not receive any data. Has the watchdog been activated for the Profibus slaves?
   I see numbers => go to 3)
3. Input/ Output are from the PLC's point of view, i.e. the line "output" shows data from the PLC to the drive. What do you see in line "input" in PZD 5?
   Zeroes only => Has the Software- Enable been set via Profibus? At FB10 this is the input SW_Enable.
   Yes, but there are zeroes anyway. |=> Communication works ok, but the drive has not yet been initialized, i.e. the Profibus OPMODE has not been set yet. Using FB10 you need to write the OPMODE into the UserDB (usually 2 for positioning) and set the input Init_Drive.
   Different numbers different from zero => go to 4)
4. In the line Input in PZD3 and PZD4 the actual position is transmitted. Due to the high resolution (20 bit per motor rev.) the last bits usually turn up and down. Do you see the last digit of PZD4 continuously changing?
   No, the numbers do not change at all (usually they are zero). => Communication works ok, but the drive has not yet been initialized, i.e. the Profibus OPMODE has not been set yet. Using FB10 you need to write the OPMODE into the UserDB (usually 2 for positioning) and set the input Init_Drive.
   Yes, the last digit of PZD4 is continuously changing. => The communication works ok, the Profibus OPMODE has been set and the process data is transmitted. Now we need to go into the details of the STW and the diffrent PZDs.

To start several drives synchronously, it can be useful to prepare the motion tasks via the bus but start them via a digital input. Refer to page Start of Motion Tasks in PROFIBUS operation.

See page Speed set point via fieldbus system.

S300: 2.1
S400: 2.1
S600: 2.1
S700: 2.1 and 2.2

All amplifiers can work with 2.2 protocol in compatibility mode 2.1.

The SinCos amplitude monitoring enables the F04 error with:

• Level min/max (see page Supervision of Sine Cosine Encoders)
• no communication to the encoder

Solution: connect the encoder, check the cable

• Wrong data in the encoder

This error occurs with new encoders, that have never been initialized
Solution: Initialize the data with the command HSAVE (terminal screen)

• Linear measuring system is used

Feedback cable shielding
Solution: see Sporadic Error Message F04 with Linear Measuring Systems

See pages Supervision of Sine Cosine Encoders, Setup of an Endat or Hiperface or BISS encoder, and AKD LED Display or Servostar LED Display.

See page SSI Encoder Evaluation.

See page Positioning with external SSI encoder.

To change direction you must exchange sine and cosine.

For more information refer to Motion direction - Parameters.

Direction of Hall signals are inverted with the command HALLDIR 1 (S300). Please observe, that this inverts the primary feedback, too. Change DIR from 21 / 20 to DIR 84 / 85 in this case.

For more information refer to Motion direction - Parameters.

The following BiSS-C encoders are known to work with an AKD drive. This list does not include BiSS Mode B encoders, which function differently.

Configuration requires that FB1.SELECT be manually set to 34, and that FB1.BISSBITS and FB1.ENCRES be set according to the values/equations in the table above.

Full Setup Procedure for a BiSS-C Encoder:

1. Configure the motor properly. For linear encoders, make certain that the pole pitch is correct for the given motor.
2. Refer to the encoder datasheet to determine the number of BiSS bits expected from the device. Use the terminal to set FB1.BISSBITS to this number.
3. Under the "Settings->Feedback 1" tab, select "34 - BiSS Mode C Renishaw", then "Disable & Clear Faults". The encoder should now be returning data.
   1. If faults are being generated, first try Switching to "1 - None", the go back to "34 - BiSS Mode C Renishaw".
   2. If faults are still being generated, then the likely causes are:
      1. The FB1.BISSBITS value does not match the number of bits from the encoder. Recheck the datasheet & encoder
      2. There is a grounding issue and the communication lines are too noisy to return position data. Make sure the cable shield is correctly wired.
      3. The encoder may be using active high error bits instead of active low error bits. Verify this is not the case on the datasheet. For example, the LMA10 encoder series has active high error bits unless option 03 is used. As a result, non "option 03" LMA10 encoders will not work with the drive.
4. Once the drive is communicating with the encoder and showing position feedback, the FB1.ENCRES (on some drives, FB1.ENCLINES) needs to be set.
   1. Use the table above to set FB1.ENCRES for known encoders.
   2. The general equation for linear encoders is: (pole pitch / encoder resolution) * 2^(32-BISSBITS). On 1.12.05.00 firmware, this will be (pole pitch / encoder resolution) * 2^(BISSBITS-32).
   3. Single-turn rotary encoders are always 2^32-1 = 4294967295.
   4. Multi-turn rotary encoders are always 2^(32 - (Number of Multi-turn bits)).
5. If the encoder is still giving completely wrong position values, try working in reverse to determine the approximate value for ENCRES, then use that to verify your previous equation had the right input parameters. This is more useful when the encoder datasheet isn't entirely clear on what distance is measured by one LSB of the encoder.
   1. Set ENCRES to 65536 (2^16).
   2. Record the current position value in counts
   3. Move the encoder by one complete pole pitch or rotate the shaft one complete revolution
   4. Record the new position value in counts.
   5. Take the difference between the two, then divide by 65536. This is approximately what ENCRES should be.
   6. The encoder resolution is then approximately (pole pitch * 2^(48 - BISSBITS)) / (position 2 - position 1) for linear encoders.
6. If, after trying all troubleshooting steps, the encoder is still returning incorrect values or does not work, please report the issue. Make sure to report which steps you were able to complete, what faults were generated, the exact model of the encoder, and a complete parameter dump from the drive.

See page Data storage in Endat or Hiperface or BISS encoders

See page Setup AquadB 5V encoder