LXM32M Iom1 - en

LXM32M
IOM1 Module
User Guide
Original instructions
0198441113874.01
06/2021
www.se.com
Legal Information
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IOM1 Module
Table of Contents
Safety Information.......................................................................................5
Qualification of Personnel ...........................................................................5
Intended Use..............................................................................................6
About the Book ............................................................................................7
Introduction ................................................................................................10
Additional Analog and Digital Signal Inputs and Signal Outputs ....................10
Technical Data ........................................................................................... 11
Analog Signals ......................................................................................... 11
Digital Signals .......................................................................................... 11
Installation ..................................................................................................13
Installation of the Module ..........................................................................13
Commissioning ..........................................................................................15
Preparation ..............................................................................................15
Setting the Analog Signal Inputs ................................................................15
Setting the Analog Signal Outputs..............................................................22
Parameterization of the Signal Input Functions ...........................................26
Parameterization of the Signal Output Functions.........................................34
Parameterization of Software Debouncing ..................................................39
Setting a Signal Output via Parameter........................................................40
Glossary .....................................................................................................43
Index ...........................................................................................................45
0198441113874.01 3
Safety Information IOM1 Module
Safety Information
Important Information
Read these instructions carefully, and look at the equipment to become familiar
with the device before trying to install, operate, service, or maintain it. The
following special messages may appear throughout this documentation or on the
equipment to warn of potential hazards or to call attention to information that
clarifies or simplifies a procedure.
The addition of this symbol to a “Danger” or “Warning” safety label indicates that an
electrical hazard exists which will result in personal injury if the instructions are not
followed.
This is the safety alert symbol. It is used to alert you to potential personal injury
hazards. Obey all safety messages that follow this symbol to avoid possible injury or
death.
! DANGER
DANGER indicates a hazardous situation which, if not avoided, will result in death or serious
injury.
! WARNING
WARNING indicates a hazardous situation which, if not avoided, could result in death or
serious injury.
! CAUTION
CAUTION indicates a hazardous situation which, if not avoided, could result in minor or
moderate injury.
NOTICE
NOTICE is used to address practices not related to physical injury.
Please Note
Electrical equipment should be installed, operated, serviced, and maintained only
by qualified personnel. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of this material.
A qualified person is one who has skills and knowledge related to the construction
and operation of electrical equipment and its installation, and has received safety
training to recognize and avoid the hazards involved.
Qualification of Personnel
Only appropriately trained persons who are familiar with and understand the
contents of this manual and all other pertinent product documentation are
authorized to work on and with this product. These persons must have sufficient
technical training, knowledge and experience and be able to foresee and detect
potential hazards that may be caused by using the product, by modifying the
settings and by the mechanical, electrical and electronic equipment of the entire
system in which the product is used.
0198441113874.01 5
IOM1 Module Safety Information
The qualified person must be able to detect possible hazards that may arise from
parameterization, modifying parameter values and generally from mechanical,
electrical, or electronic equipment.
The qualified person must be familiar with the standards, provisions, and
regulations for the prevention of industrial accidents, which they must observe
when designing and implementing the system.
Intended Use
The products described or affected by this document are, along with software,
accessories and options, servo-drive systems for three-phase servo motors.
The products are intended for industrial use according to the instructions,
directions, examples, and safety information contained in the present user guide
and other supporting documentation.
The product may only be used in compliance with all applicable safety regulations
and directives, the specified requirements and the technical data.
Prior to using the products, you must perform a risk assessment in view of the
planned application. Based on the results, the appropriate safety-related
measures must be implemented.
Since the products are used as components in an overall machine or process, you
must ensure the safety of persons by means of the design of this overall machine
or process.
Operate the products only with the specified cables and accessories. Use only
genuine accessories and spare parts.
Any use other than the use explicitly permitted as described herein is prohibited
and may result in unanticipated hazards.
6 0198441113874.01
About the Book IOM1 Module
About the Book

Document Scope
The information provided in this user guide supplements the user guide of the
servo drive LXM32M.
The functions described in this user guide are only intended for use with the
associated product. You must read and understand the appropriate user guide of
the drive.
Validity Note
This user guide applies to the module IOM1 for the servo drive LXM32M, module
identification IOM1 (VW3M3302).
For product compliance and environmental information (RoHS, REACH, PEP,
EOLI, etc.), go to www.se.com/ww/en/work/support/green-premium/.
The characteristics that are described in the present document, as well as those
described in the documents included in the Related Documents section below,
can be found online. To access the information online, go to the Schneider Electric
home page www.se.com/ww/en/download/.
The characteristics that are described in the present document should be the
same as those characteristics that appear online. In line with our policy of constant
improvement, we may revise content over time to improve clarity and accuracy. If
you see a difference between the document and online information, use the online
information as your reference.
Related Documents
Title of documentation Reference number
LXM32M - IOM1 Module - User Guide (this user guide) 0198441113874 (eng)
0198441113875 (fre)
0198441113873 (ger)
Lexium 32M - Servo Drive - User Guide 0198441113767 (eng)
0198441113768 (fre)
0198441113766 (ger)
0198441113770 (spa)
0198441113769 (ita)
0198441113771 (chi)
0198441113874.01 7
IOM1 Module About the Book
Product Related Information
WARNING
LOSS OF CONTROL
• The designer of any control scheme must consider the potential failure
modes of control paths and, for certain critical control functions, provide a
means to achieve a safe state during and after a path failure. Examples of
critical control functions are emergency stop and overtravel stop, power
outage and restart.
• Separate or redundant control paths must be provided for critical control
functions.
• System control paths may include communication links. Consideration must
be given to the implications of unanticipated transmission delays or failures
of the link.
• Observe all accident prevention regulations and local safety guidelines.1
• Each implementation of this equipment must be individually and thoroughly
tested for proper operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
1For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety
Guidelines for the Application, Installation, and Maintenance of Solid State
Control” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction
and Guide for Selection, Installation and Operation of Adjustable-Speed Drive
Systems” or their equivalent governing your particular location.
Terminology Derived from Standards

The technical terms, terminology, symbols and the corresponding descriptions in
this manual, or that appear in or on the products themselves, are generally
derived from the terms or definitions of international standards.
In the area of functional safety systems, drives and general automation, this may
include, but is not limited to, terms such as safety, safety function, safe state, fault,
fault reset, malfunction, failure, error, error message, dangerous, etc.
8 0198441113874.01
About the Book IOM1 Module
Among others, these standards include:
Standard Description
IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.
General principles for design.
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment
and risk reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards -

Principles for design and selection
ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical,

electronic, and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-

related systems: General requirements.

related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.

related systems: Software requirements.
IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety

fieldbuses - General rules and profile definitions.
2006/42/EC Machinery Directive
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive
In addition, terms used in the present document may tangentially be used as they
are derived from other standards such as:
Standard Description
IEC 60034 series Rotating electrical machines
IEC 61800 series Adjustable speed electrical power drive systems
IEC 61158 series Digital data communications for measurement and control – Fieldbus for
use in industrial control systems
Finally, the term zone of operation may be used in conjunction with the description
of specific hazards, and is defined as it is for a hazard zone or danger zone in the
Machinery Directive (2006/42/EC) and ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific
products cited in the present documentation. For more information concerning
the individual standards applicable to the products described herein, see the
characteristics tables for those product references.
0198441113874.01 9
IOM1 Module Introduction
Introduction
Additional Analog and Digital Signal Inputs and Signal Outputs
Overview
The analog and digital signals of the IOM1 module extend the I/O capacity of the
drive. Configuration and commissioning of the functions of the extended inputs
and outputs correspond to the inputs and outputs of the drive.
The IOM1 module provides the following signal interfaces:
• Analog interfaces:
◦ 2 analog inputs
◦ 2 analog outputs
• Digital interfaces:
◦ 4 digital inputs
◦ 2 digital outputs
Availability
Drives with firmware version V01.06 and higher support the module.
10 0198441113874.01
Technical Data IOM1 Module
Technical Data
Analog Signals
Analog Input Signals
Characteristic Unit Value

Voltage range of differential input circuit V -10 ... 10
Input resistance, typical kΩ 20
Resolution 14 bits
Sampling period ms 0.25
Analog Output Signals

Voltage range V -10 ... 10
Output current mA 0 ... 20
Minimum load resistance (voltage source) Ω 470
Maximum load resistance (current source) Ω 470
Resolution 12 bits
Update rate ms 0.25
Time constant ms 5
Digital Signals
Logic Type
The digital inputs and outputs of this product can be wired to enable positive logic
or negative logic.
1 2
+24V DQCOM +24V DQCOM
DQ0,DQ1,... DQ0,DQ1,...
DI0,DI1,... DI0,DI1,...
0V DICOM DICOM
0V
Logic type Active state
(1) Positive logic Output supplies current (source output)
Current flows to the input (sink input)
(2) Negative logic Output draws current (sink output)
Current flows from the input (source input)
Signal inputs are protected against reverse polarity, outputs are short-circuit
protected. The inputs and outputs are functionally isolated.
0198441113874.01 11
IOM1 Module Technical Data
Digital Input Signals 24 V

When wired as sinking inputs, the levels of the digital inputs comply with IEC
61131-2, type 1. The electrical characteristics are also valid when wired as
sourcing inputs unless otherwise indicated.

Input voltage - sinking inputs
Vdc -3 ... 5
Level 0
Vdc 15 ... 30
Level 1
Input voltage - sourcing inputs (at 24 Vdc)
Vdc >19
Level 0
Vdc <9
Level 1
Input current (at 24 Vdc) mA 2.5
Debounce time (software)(1) ms 1.5 (default value)
(1) Adjustable via parameter (sampling period 250 µs)
Digital Output Signals 24 V

When wired as sourcing outputs, the levels of the digital outputs comply with IEC
61131-2. The electrical characteristics are also valid when wired as sinking
outputs unless otherwise indicated.

Nominal supply voltage Vdc 24
Voltage range for supply voltage Vdc 19.2 ... 30
Nominal output voltage - sourcing outputs Vdc 24
Nominal output voltage - sinking outputs Vdc 0
Voltage drop at 100 mA load Vdc ≤3
Maximum current per output mA 100
12 0198441113874.01
Installation IOM1 Module
Installation
Installation of the Module
Mechanical Installation
Electrostatic discharge (ESD) may permanently damage the module either
immediately or over time.
NOTICE
EQUIPMENT DAMAGE DUE TO ESD
• Use suitable ESD measures (for example, ESD gloves) when handling the
module.
• Do not touch internal components.
Failure to follow these instructions can result in equipment damage.
Install the module according to the instructions in the user guide of the drive.
Cable Specifications Analog Inputs and Outputs
Characteristic Value
Shield: Required, grounded at the device, other end
isolated or grounded via capacitor (for example,
10nF)
PELV: Required
Twisted Pair: Yes

Cable composition: 4 x 2 x 0.25 mm2 (4 x 2 x AWG 22)
Maximum cable length: 30 m (98.4 ft)
Cable Specifications Digital Inputs and Outputs
Shield: -
PELV: Required
Twisted Pair: -
Cable composition: 8 x 0.25 mm2 (8 x AWG 22)
Maximum cable length: 30 m (98.4 ft)
Properties of Spring Terminals
Connection cross section 0.2 ... 1.0 mm2 (AWG 24 ... AWG 16)
Stripping length 10 mm (0.39 in)
Note the pertinent information on equipotential bonding conductors in the user

guide of the drive.
0198441113874.01 13
IOM1 Module Installation
Wiring Diagram
Pin Signal Meaning
9 AI11+ Analog input 11
8 AI11- Reference potential to AI11+
7 AI12+ Analog input 12
6 AI12- Reference potential to AI12+,
5 SHLD Shield connection

4 AQ11+ Analog output 11
3 AQCOM(1) Reference potential to AQ11
2 AQ12+ Analog output 12
1 AQCOM(1) Reference potential to AQ12
(1) Pin 1 and Pin 3 are internally connected.
Pin Signal Meaning
18 DICOM Reference potential for the digital inputs
17 DI10 Digital input 10
13 DQCOM Reference potential for the digital outputs
12 DQ10 Digital output 10
11 DQ11 Digital output 11
10 Reserved Reserved
The connectors are coded. Verify correct assignment when connecting them.
Connecting the Inputs and the Outputs

• Wire the inputs and outputs.
• Ground the shield to pin 5.
• Verify that the connector locks have snapped in properly.
14 0198441113874.01
Commissioning IOM1 Module
Commissioning
Preparation
This chapter describes how to commission the product.
WARNING
UNINTENDED EQUIPMENT OPERATION
• Only start the system if there are no persons or obstructions in the zone of
operation.
• Do not write values to reserved parameters.
• Do not write values to parameters unless you fully understand the function.
• Run initial tests without coupled loads.
• Verify correct word order for fieldbus communication.
• Do not establish a fieldbus connection unless you have fully understood the
communication principles.
equipment damage.
Required Components
The following is required for commissioning:
• Commissioning software “Lexium32 DTM Library”
www.se.com/en/download/document/Lexium_DTM_Library/
• Fieldbus converter for the commissioning software for connection via the
commissioning interface
• Lexium 32M Drive User Guide and this user guide, LXM32M IOM1 Module
User Guide
Setting the Analog Signal Inputs

Analog Inputs
The two analog inputs are referred to as AI11 and AI12. The following descriptions
use the notation AI11 (AI12) if there are no functional differences between the two
inputs.
Analog input voltages between -10 Vdc and +10 Vdc can be read via the analog
inputs. The voltage values are processed using a parameterizable offset and zero
voltage window. The processed values can be read by means of the parameter
_IOM1_AI11_act (_IOM1_AI12_act).
• Power off the power stage supply. Power on the controller supply.
• Apply a voltage to the analog input AI11 (AI12) (±10Vdc)
• Read the voltage with the parameter _IOM1_AI11_act (_IOM1_AI12_act).
0198441113874.01 15
IOM1 Module Commissioning
Parameter name Description Unit Data type Parameter address

via fieldbus
HMI menu Minimum value R/W
HMI name Factory setting Persistent
Maximum value Expert
_IOM1_AI11_act IOM1 Value of input voltage of AI11. mV INT16 CANopen 304F:1h
Mon Available with firmware version ≥V01.06. -10000 R/- Modbus 20226
An11 - - Profibus 20226
10000 - CIP 179.1.1
ModbusTCP 20226
EtherCAT 304F:1h
PROFINET 20226
_IOM1_AI12_act IOM1 Value of input voltage of AI12. mV INT16 CANopen 304F:5h
Mon Available with firmware version ≥V01.06. -10000 R/- Modbus 20234
An12 - - Profibus 20234
10000 - CIP 179.1.5
ModbusTCP 20234
EtherCAT 304F:5h
PROFINET 20234
Offset and Zero Voltage Window

The parameter _IOM1_AI11_offset (_IOM1_AI2_offset) is used to parameterize
an offset and the parameter _IOM1_AI11_win (_IOM1_AI12_win) to parameterize
a zero voltage window for the input voltage at AI11 (AI12).
This corrected input voltage is the voltage value for further processing as well as
the read value of the parameter _IOM1_AI11_act (_IOM1_AI12_act).

via fieldbus
IOM1_AI11_offset IOM1 Offset voltage of AI11. mV INT16 CANopen 304F:Bh
ConF → i-o- The analog input AI11 is corrected/offset by the -5000 R/W Modbus 20246
offset value. If you have defined a zero voltage
A11o window, this window is effective in the zero pass 0 per. Profibus 20246
range of the corrected analog input AI11.
5000 - CIP 179.1.11
Modified settings become active immediately.
ModbusTCP 20246
Available with firmware version ≥V01.06.
EtherCAT 304F:Bh
PROFINET 20246
IOM1_AI12_offset IOM1 Offset voltage of AI12. mV INT16 CANopen 304F:Ch
ConF → i-o- The analog input AI12 is corrected/offset by the -5000 R/W Modbus 20248
offset value. If you have defined a zero voltage
A12o window, this window is effective in the zero pass 0 per. Profibus 20248
range of the corrected analog input AI12.
5000 - CIP 179.1.12
ModbusTCP 20248
EtherCAT 304F:Ch
PROFINET 20248
16 0198441113874.01

via fieldbus
IOM1_AI11_win IOM1 Zero voltage window of AI11. mV UINT16 CANopen 304F:9h
ConF → i-o- Threshold value up to which an input voltage 0 R/W Modbus 20242
value is treated as 0 V.
A11W 0 per. Profibus 20242
Example: Value 20, this means a range from -20
... +20 mV is treated as 0 mV. 1000 - CIP 179.1.9
Modified settings become active immediately. ModbusTCP 20242
Available with firmware version ≥V01.06. EtherCAT 304F:9h
PROFINET 20242
IOM1_AI12_win IOM1 Zero voltage window of AI12. mV UINT16 CANopen 304F:Ah
ConF → i-o- Threshold value up to which an input voltage 0 R/W Modbus 20244
value is treated as 0 V.
A12W 0 per. Profibus 20244
Example: Value 20, this means a range from -20
... +20 mV is treated as 0 mV. 1000 - CIP 179.1.10
Available with firmware version ≥V01.06. EtherCAT 304F:Ah
PROFINET 20244
Offset and zero voltage window
1 Input voltage at AI11 (AI12)

2 Processed input voltage _IOM1_AI11_act (_IOM1_AI12_act)
3 Input voltage without processing
4 Input voltage with offset
5 Input voltage with offset and zero voltage window
Setting the Type of Usage

The analog inputs can be used in a variety of ways. The applied voltage is
interpreted depending on the settings.
0198441113874.01 17

via fieldbus
IOM1_AI11_mode IOM1 Type of usage of AI11. - UINT16 CANopen 304F:Eh
ConF → i-o- 0 / None / n o n E : No function 0 R/W Modbus 20252
A11u 1 / Target Velocity / S P d S : Target velocity for 1 per. Profibus 20252

the velocity controller
4 - CIP 179.1.14
2 / Target Torque / t r q S : Target torque for the
current controller ModbusTCP 20252
3 / Velocity Limitation / L S P d : Limitation of the EtherCAT 304F:Eh

reference velocity for the velocity controller
PROFINET 20252
4 / Current Limitation / L c u r : Limitation of the
reference current for the current controller
Setting can only be modified if power stage is

disabled.
Modified settings become active the next time the

power stage is enabled.

IOM1_AI12_mode IOM1 Type of usage of AI12. - UINT16 CANopen 304F:13h
A12u 1 / Target Velocity / S P d S : Target velocity for 0 per. Profibus 20262

the velocity controller
4 - CIP 179.1.19
2 / Target Torque / t r q S : Target torque for the
current controller ModbusTCP 20262
3 / Velocity Limitation / L S P d : Limitation of the EtherCAT 304F:13h

reference velocity for the velocity controller
PROFINET 20262
4 / Current Limitation / L c u r : Limitation of the
reference current for the current controller

disabled.

Setting the Velocity Limitation

A velocity limitation can be set via the analog inputs. The maximum velocity at 10
V is set as a point of reference. The values for other voltages are derived from this
point of reference.
18 0198441113874.01

via fieldbus
IOM1_AI11_v_max IOM1 Limitation of velocity at 10 V of AI11. usr_v UINT32 CANopen 304F:10h
The maximum velocity is limited to the setting in 1 R/W Modbus 20256

CTRL_v_max.
3000 per. Profibus 20256
The minimum velocity is internally limited to 100
RPM. 2147483647 - CIP 179.1.16
Setting can only be modified if power stage is ModbusTCP 20256

disabled.
EtherCAT 304F:10h
power stage is enabled. PROFINET 20256

IOM1_AI12_v_max IOM1 Limitation of velocity at 10 V of AI12. usr_v UINT32 CANopen 304F:15h
The maximum velocity is limited to the setting in 1 R/W Modbus 20266

CTRL_v_max.
The minimum velocity is internally limited to 100
RPM. 2147483647 - CIP 179.1.21
Setting can only be modified if power stage is ModbusTCP 20266

disabled.
EtherCAT 304F:15h
power stage is enabled. PROFINET 20266
Setting the Current Limitation

A current limitation can be set via the analog inputs. The maximum current at 10 V
is set as a point of reference. The values for other voltages are derived from this
point of reference.

via fieldbus
IOM1_AI11_I_max IOM1 Limitation of current at 10 V of AI11. Arms UINT16 CANopen 304F:Fh
ConF → i-o- In increments of 0.01 Arms. 0.00 R/W Modbus 20254
L11i Setting can only be modified if power stage is 3.00 per. Profibus 20254
disabled.
463.00 - CIP 179.1.15
power stage is enabled. ModbusTCP 20254
Available with firmware version ≥V01.06. EtherCAT 304F:Fh
PROFINET 20254
IOM1_AI12_I_max IOM1 Limitation of current at 10 V of AI12. Arms UINT16 CANopen 304F:14h
ConF → i-o- In increments of 0.01 Arms. 0.00 R/W Modbus 20264
L12i Setting can only be modified if power stage is 3.00 per. Profibus 20264
disabled.
463.00 - CIP 179.1.20
power stage is enabled. ModbusTCP 20264
PROFINET 20264
0198441113874.01 19
Setting the Target Velocity

A target velocity for the operating mode Profile Velocity can be set via the analog
inputs. The velocity at 10 V is set as a point of reference. The values for other
voltages are derived from this point of reference.

via fieldbus
IOM1_AI11_v_scale IOM1 Target velocity at 10 V in operating mode usr_v INT32 CANopen 304F:11h
Profile Velocity of AI11.
-2147483648 R/W Modbus 20258
The maximum velocity is limited to the setting in
CTRL_v_max. 6000 per. Profibus 20258
By using a negative sign, you can invert the 2147483647 - CIP 179.1.17
evaluation of the analog signal.
ModbusTCP 20258
EtherCAT 304F:11h
PROFINET 20258
IOM1_AI12_v_scale IOM1 Target velocity at 10 V in operating mode usr_v INT32 CANopen 304F:16h
Profile Velocity of AI12.
-2147483648 R/W Modbus 20268
The maximum velocity is limited to the setting in
CTRL_v_max. 6000 per. Profibus 20268
By using a negative sign, you can invert the 2147483647 - CIP 179.1.22
ModbusTCP 20268
EtherCAT 304F:16h
PROFINET 20268
Setting the Target Torque

A target torque for the operating mode Profile Torque can be set via the analog
inputs. The torque at 10 V is set as a point of reference. The value corresponds to
one hundredth of the nominal torque. The values for other voltages are derived
from this point of reference.
20 0198441113874.01

via fieldbus
IOM1_AI11_M_scale IOM1 Target torque at 10 V in operating mode % INT16 CANopen 304F:12h

Profile Torque of AI11.
ConF → i-o- -3000.0 R/W Modbus 20260
100.0 % correspond to the continuous stall torque
t11t _M_M_0. 100.0 per. Profibus 20260
By using a negative sign, you can invert the 3000.0 - CIP 179.1.18
ModbusTCP 20260
In increments of 0.1 %.
EtherCAT 304F:12h
PROFINET 20260
IOM1_AI12_M_scale IOM1 Target torque at 10 V in operating mode % INT16 CANopen 304F:17h
Profile Torque of AI12.
ConF → i-o- -3000.0 R/W Modbus 20270
100.0 % correspond to the continuous stall torque
t12i _M_M_0. 100.0 per. Profibus 20270
By using a negative sign, you can invert the 3000.0 - CIP 179.1.23
ModbusTCP 20270
In increments of 0.1 %.
EtherCAT 304F:17h
PROFINET 20270
Setting the Filter Time Constant

A filter time constant can be set via the analog inputs to suppress disturbance.
63.2 % of the applied voltage are reached after the set time.

via fieldbus
IOM1_AI11_Tau IOM1 Filter time constant of AI11. ms UINT16 CANopen 304F:2h
ConF → i-o- First-order low pass (PT1) filter time constant for 0.00 R/W Modbus 20228
analog input AI11.
A11F 0.00 per. Profibus 20228
In increments of 0.01 ms.
327.67 - CIP 179.1.2
ModbusTCP 20228
EtherCAT 304F:2h
PROFINET 20228
IOM1_AI12_Tau IOM1 Filter time constant of AI12. ms UINT16 CANopen 304F:18h
ConF → i-o- First-order low pass (PT1) filter time constant for 0.00 R/W Modbus 20272
analog input AI12.
A12F 0.00 per. Profibus 20272
In increments of 0.01 ms.
327.67 - CIP 179.1.24
ModbusTCP 20272
EtherCAT 304F:18h
PROFINET 20272
0198441113874.01 21
Setting the Analog Signal Outputs

Analog Outputs
The two analog outputs are referred to as AQ11 and AQ12. The following
descriptions use the notation AQ11 (AQ12) if there are no functional differences
between the two inputs. The parameters _IOM1_AO11_ref and _IOM1_AO12_ref
correspond to the reference values of the outputs.

via fieldbus
_IOM1_AQ11_ref IOM1 Value of AQ11. - INT16 CANopen 304F:27h
Mon Unit depends on setting in parameter IOM1_AQ_ -10000 R/- Modbus 20302
mode.
Ao11 - - Profibus 20302
If setting is 'Voltage':
20000 - CIP 179.1.39
Unit: mV
ModbusTCP 20302
If setting is 'Current':
EtherCAT 304F:27h
Unit: µA
PROFINET 20302
_IOM1_AQ12_ref IOM1 Value of AQ12. - INT16 CANopen 304F:31h
Mon Unit depends on setting in parameter IOM1_AQ_ -10000 R/- Modbus 20322
mode.
Ao12 - - Profibus 20322
If setting is 'Voltage':
20000 - CIP 179.1.49
Unit: mV
ModbusTCP 20322
EtherCAT 304F:31h
Unit: µA
PROFINET 20322
Setting the Outputs as Voltage Outputs or as Current Outputs

The parameter IOM1_AO_mode allows you to specify whether the outputs are to
be used as voltage outputs or as current outputs.

via fieldbus
IOM1_AQ_mode IOM1 Type of usage of analog outputs. - UINT16 CANopen 304F:20h
ConF → i-o- 0 / none / n o n E : Analog outputs are 0 R/W Modbus 20288

deactivated
Aoty 0 per. Profibus 20288
1 / Voltage / V o L t : Both analog outputs are
voltage outputs 2 - CIP 179.1.32
2 / Current / C u r r : Both analog outputs are ModbusTCP 20288

current outputs
EtherCAT 304F:20h
disabled. PROFINET 20288

product is powered on.
22 0198441113874.01
Setting the Current Range

If the outputs are used as current sources, the parameters IOM1_AO11_I_range
and IOM1_AO12_I_range are used to set the current range.
Example of current ranges when a reference velocity is set

via fieldbus
IOM1_AQ11_I_range IOM1 Range of current of AQ11. - UINT16 CANopen 304F:22h
ConF → i-o- 0 / 0-20mA / 0 - 2 : 0 mA … 20 mA (0 mA 0 R/W Modbus 20292

correspond to 0 user-defined units)
A11C 0 per. Profibus 20292
1 / 4-20mA unsigned / 4 - 2 u : 4 mA … 20 mA
(4 mA correspond to 0 user-defined units) 2 - CIP 179.1.34
2 / 4-20mA signed / 4 - 2 S : 4 mA … 20 mA (12 ModbusTCP 20292

mA correspond to 0 user-defined units)
EtherCAT 304F:22h


IOM1_AQ12_I_range IOM1 Range of current of AQ12. - UINT16 CANopen 304F:2Ch
ConF → i-o- 0 / 0-20mA / 0 - 2 : 0 mA … 20 mA (0 mA 0 R/W Modbus 20312

correspond to 0 user-defined units)
A12C 0 per. Profibus 20312
1 / 4-20mA unsigned / 4 - 2 u : 4 mA … 20 mA
(4 mA correspond to 0 user-defined units) 2 - CIP 179.1.44
2 / 4-20mA signed / 4 - 2 S : 4 mA … 20 mA (12 ModbusTCP 20312

mA correspond to 0 user-defined units)
EtherCAT 304F:2Ch

Setting the Function

Various functions can be assigned to the analog outputs. The assignment is made
by means of the parameters IOM1_AO11_func and IOM1_AO12_func.
0198441113874.01 23

via fieldbus
IOM1_AQ11_func IOM1 Function of AQ11. - UINT16 CANopen 304F:21h
A11M 1 / Actual Velocity / V A C t : Actual velocity (10 0 per. Profibus 20290

V / 20 mA correspond to value in CTRL_v_max)
7 - CIP 179.1.33
2 / Actual Torque / t A c t : Actual torque (10 V /
20 mA correspond to value in CTRL_I_max) ModbusTCP 20290
3 / Reference Velocity / V r E F : Reference EtherCAT 304F:21h

velocity (10 V / 20 mA correspond to value in
CTRL_v_max) PROFINET 20290
4 / Reference Torque / t r E F : Reference

torque (10 V / 20 mA correspond to value in
CTRL_I_max)
5 / Position Deviation / P d i F : Position

deviation (10 V / 20 mA correspond to value in
MON_p_dif_load_usr)
6 / Fixed Value / F i V A : Fixed value (setting in

parameter IOM1_AQ11_FixVal)
7 / Actual Position / P A c t : Actual position in

the modulo range (10 V / 20 mA correspond to
value in MOD_Max)

IOM1_AQ12_func IOM1 Function of AQ12. - UINT16 CANopen 304F:2Bh
A12M 1 / Actual Velocity / V A C t : Actual velocity (10 0 per. Profibus 20310

V / 20 mA correspond to value in CTRL_v_max)
7 - CIP 179.1.43
2 / Actual Torque / t A c t : Actual torque (10 V /
20 mA correspond to value in CTRL_I_max) ModbusTCP 20310
3 / Reference Velocity / V r E F : Reference EtherCAT 304F:2Bh

velocity (10 V / 20 mA correspond to value in
CTRL_v_max) PROFINET 20310
4 / Reference Torque / t r E F : Reference

torque (10 V / 20 mA correspond to value in
CTRL_I_max)
5 / Position Deviation / P d i F : Position

deviation (10 V / 20 mA correspond to value in
MON_p_dif_load_usr)
6 / Fixed Value / F i V A : Fixed value (setting in

parameter IOM1_AQ12_FixVal)
7 / Actual Position / P A c t : Actual position in

the modulo range (10 V / 20 mA correspond to
value in MOD_Max)
Setting a Fixed Value via Parameters

The parameters IOM1_AO11_FixVal and IOM1_AO12_FixVal are used to
parameterize the values for the signal outputs.
24 0198441113874.01

via fieldbus
IOM1_AQ11_FixVal IOM1 Fixed value for AQ11. - INT16 CANopen 304F:24h
Only available if parameter IOM1_AQ11_func is -10000 R/W Modbus 20296

set to 'Fixed Value'.
0 - Profibus 20296
Unit and range depend on setting in parameter
IOM1_AQ_mode. 20000 - CIP 179.1.36
If setting is 'Voltage': ModbusTCP 20296
Unit: mV EtherCAT 304F:24h
Range: -10000 … 10000 PROFINET 20296
Unit: µA
Range: 0 … 20000

IOM1_AQ12_FixVal IOM1 Fixed value for AQ12. - INT16 CANopen 304F:2Eh
Only available if parameter IOM1_AQ12_func is -10000 R/W Modbus 20316

set to 'Fixed Value'.
0 - Profibus 20316
Unit and range depend on setting in parameter
IOM1_AQ_mode. 20000 - CIP 179.1.46
If setting is 'Voltage': ModbusTCP 20316
Unit: mV EtherCAT 304F:2Eh
Range: -10000 … 10000 PROFINET 20316
Unit: µA
Range: 0 … 20000
Inverting the Voltage

The parameters IOM1_AO11_invert and IOM1_AO11_invert allow you to invert
the voltage values of the outputs.
0198441113874.01 25

via fieldbus
IOM1_AQ11_invert IOM1 Inversion of AQ11. - UINT16 CANopen 304F:23h
Only available if output is set to a voltage output. 0 R/W Modbus 20294
Value 0: No inversion 0 per. Profibus 20294
Value 1: Inversion active 1 - CIP 179.1.35
PROFINET 20294
IOM1_AQ12_invert IOM1 Inversion of AQ12. - UINT16 CANopen 304F:2Dh
Only available if output is set to a voltage output. 0 R/W Modbus 20314
Value 0: No inversion 0 per. Profibus 20314
Value 1: Inversion active 1 - CIP 179.1.45
Available with firmware version ≥V01.06. EtherCAT 304F:2Dh
PROFINET 20314
Overload Monitoring of the Voltage Source

If used as voltage source, the two analog outputs AQ11 and AQ12 are monitored
for overload. An overload is detected outside of the voltage range +2 ... -2 Vdc.
The error response can be set via the parameter IOM1_AO_ErrResp.

via fieldbus
IOM1_AQ_ErrResp IOM1 Error response to overload of analog - UINT16 CANopen 304F:1Fh

outputs.
0 R/W Modbus 20286
0 / Error Class 0: Error class 0
3 - CIP 179.1.31
ModbusTCP 20286
EtherCAT 304F:1Fh

Parameterization of the Signal Input Functions

Signal Input Function
Various signal input functions can be assigned to the digital signal inputs.
26 0198441113874.01
The functions of the inputs and outputs depend on the selected operating mode
and the settings of the corresponding parameters.
WARNING
• Verify that the wiring is appropriate for the factory settings and any
subsequent parameterizations.
operation.
• Carefully run tests for all operating states and potential error situations when
commissioning, upgrading or otherwise modifying the operation of the drive.
equipment damage.
Factory Settings
The table below shows the factory settings of the digital signal inputs in local
control mode depending on the selected operating mode:
Signal Jog Electronic Gear Profile Torque Profile Velocity Motion Sequence
DI10 Switch Controller Switch Controller Switch Controller Switch Controller Data Set Bit 0
Parameter Set Parameter Set Parameter Set Parameter Set
DI11 Jog Fast/Slow Gear Offset 1 Inversion AI11 (IO Inversion AI11 (IO Data Set Bit 1
Module) Module)
DI12 Operating Mode Gear Offset 2 Inversion AI12 (IO Inversion AI12 (IO Data Set Bit 2
Switch Module) Module)
DI13 Freely Available Freely Available Freely Available Freely Available Data Set Bit 3
The table below shows the factory settings of the digital signal inputs in fieldbus
control mode:
Signal Signal input function
DI10 Freely Available
Parameterization
The table below provides an overview of the possible signal input functions:
Signal input function Local control mode Fieldbus

control mode
Jog Electronic Profile Profile Motion Operating
Gear Torque Velocity Sequence mode
independent
Freely Available • • • • • •
Fault Reset • • • • • •
Enable • • • • • •
Halt • • • • • •
Start Profile Positioning •
Current Limitation • • • • • •
Zero Clamp • • • • • •
0198441113874.01 27
Signal input function Local control mode Fieldbus

control mode
independent
Velocity Limitation • • • • • •
Jog Positive •
Jog Negative •
Jog Fast/Slow •
Gear Ratio Switch •(1) • •(1) •(1)
Start Single Data Set •
Data Set Select •
Data Set Bit 0 •
Data Set Bit 1 •
Data Set Bit 2 •
Data Set Bit 3 •
Gear Offset 1 •(1) • •(1) •(1) •
Gear Offset 2 •(1) • •(1) •(1) •
Reference Switch (REF) • •
Positive Limit Switch (LIMP) • • • • • •
Negative Limit Switch (LIMN) • • • • • •
Switch Controller Parameter Set • • • • • •
Operating Mode Switch • • • •
Velocity Controller Integral Off • • • • • •
Start Motion Sequence •
Activate RMAC • • • • • •
Activate Operating Mode • • • • •
Data Set Bit 4 •
Data Set Bit 5 •
Data Set Bit 6 •
Inversion AI11 (IO Module) •(1) •(1) • • • •
Inversion AI12 (IO Module) •(1) •(1) • • • •
Release Holding Brake • • • • • •
(1) With firmware version ≥V01.26 of the drive. The signal input function can be used in the specific
operating mode in conjunction with the signal input function “Operating Mode Switch”.
The following parameters can be used to parameterize the digital signal inputs:
28 0198441113874.01

via fieldbus
IOM1_IOfunct_DI10 IOM1 Function Input DI10. - UINT16 CANopen 304F:50h
ConF → i-o- 1 / Freely Available / n o n E : Available as - R/W Modbus 20384

required
di10 - per. Profibus 20384
2 / Fault Reset / F r E S : Fault reset after error
- - CIP 179.1.80
3 / Enable / E n A b : Enables the power stage
ModbusTCP 20384
4 / Halt / h A L t : Halt
EtherCAT 304F:50h
5 / Start Profile Positioning / S P t P : Start
request for movement PROFINET 20384
6 / Current Limitation / i L i M : Limits the

current to parameter value
7 / Zero Clamp / C L M P : Zero clamping
8 / Velocity Limitation / V L i M : Limits the

velocity to parameter value
9 / Jog Positive / J o G P : Jog: Moves in positive

direction
10 / Jog Negative / J o G n : Jog: Moves in

negative direction
11 / Jog Fast/Slow / J o G F : Jog: Switches

between slow and fast movement
12 / Gear Ratio Switch / G r A t : Electronic

Gear: Switches between two gear ratios
13 / Start Single Data Set / d S t A : Motion

Sequence: Starts a single data set
14 / Data Set Select / d S E L : Motion Sequence:

Data set selection
15 / Data Set Bit 0 / d S b 0 : Motion Sequence:

Data set bit 0

Data set bit 1

Data set bit 2

Data set bit 3
19 / Gear Offset 1 / G o F 1 : Electronic Gear:

Adds first gear offset

Adds second gear offset
21 / Reference Switch (REF) / r E F : Reference

switch
22 / Positive Limit Switch (LIMP) / L i M P :

Positive limit switch
23 / Negative Limit Switch (LIMN) / L i M n :

Negative limit switch
24 / Switch Controller Parameter Set / C P A r :

Switches control loop parameter set
27 / Operating Mode Switch / M S W t : Switches

operating mode
28 / Velocity Controller Integral Off / t n o F :

Switches off velocity controller integral term
29 / Start Motion Sequence / S t M S : Motion

Sequence: Starts a motion sequence
0198441113874.01 29

via fieldbus
31 / Activate RMAC / A r M c : Activates the

relative movement after capture (RMAC)
32 / Activate Operating Mode / A c o P :

Activates operating mode

Data set bit 4

Data set bit 5

Data set bit 6
38 / Inversion AI11 (IO Module) / A 1 1 i :

Inverts analog input AI11 (I/O module)

40 / Release Holding Brake / r E h b : Releases

the holding brake

disabled.



required
- - CIP 179.1.81
ModbusTCP 20386
EtherCAT 304F:51h



direction

negative direction




Data set selection

Data set bit 0

Data set bit 1

Data set bit 2
30 0198441113874.01

via fieldbus

Data set bit 3



switch




operating mode





Data set bit 4

Data set bit 5

Data set bit 6



the holding brake

disabled.



required
- - CIP 179.1.82
ModbusTCP 20388
EtherCAT 304F:52h

0198441113874.01 31

via fieldbus


direction

negative direction




Data set selection

Data set bit 0

Data set bit 1

Data set bit 2

Data set bit 3



switch




operating mode





Data set bit 4

Data set bit 5

Data set bit 6

32 0198441113874.01

via fieldbus


the holding brake

disabled.



required
- - CIP 179.1.83
ModbusTCP 20390
EtherCAT 304F:53h



direction

negative direction




Data set selection

Data set bit 0

Data set bit 1

Data set bit 2

Data set bit 3



switch


0198441113874.01 33

via fieldbus


operating mode





Data set bit 4

Data set bit 5

Data set bit 6



the holding brake

disabled.

Parameterization of the Signal Output Functions

Signal Output Function
Various signal output functions can be assigned to the digital signal outputs.
The functions of the inputs and outputs depend on the selected operating mode
and the settings of the corresponding parameters.
WARNING
• Verify that the wiring is appropriate for the factory settings and any
subsequent parameterizations.
operation.
• Carefully run tests for all operating states and potential error situations when
commissioning, upgrading or otherwise modifying the operation of the drive.
equipment damage.
34 0198441113874.01
In the case of a detected error the state of the signal outputs remains active
according to assigned signal output function.
Factory Settings
The table below shows the factory settings of the digital signal outputs in local
control mode depending on the selected operating mode:
Signal Jog Electronic Gear Profile Torque Profile Velocity Motion Sequence
DQ10 Motor standstill Motor Standstill Motor Standstill Motor Standstill Motor Standstill
DQ11 Selected Error Selected Error Selected Error Selected Error Selected Error
The table below shows the factory settings of the digital signal outputs in fieldbus
control mode:
Signal Signal output function
DQ10 Freely Available
DQ11 Freely Available
Parameterization
The table below provides an overview of the possible signal output functions:
Signal output function Local control mode Fieldbus

control mode
independent
Freely Available • • • • • •
No Fault • • • • • •
Active • • • • • •
RMAC Active Or Finished • • • • • •
In Position Deviation Window • • •(1) •(1) • •
In Velocity Deviation Window • • •(1) • • •
Velocity Below Threshold • • • • • •
Current Below Threshold • • • • • •
Halt Acknowledge • • • • • •
Motion Sequence: Start • •

Acknowledge
Motor Standstill • • • • • •
Selected Error • • • • • •
Drive Referenced (ref_ok) • •
Selected Warning • • • • • •
Motion Sequence: Done • •
Position Register Channel 1 • •
Motor Moves Positive • • • • • •
0198441113874.01 35
Signal output function Local control mode Fieldbus

control mode
independent
Motor Moves Negative • • • • • •
(1) With firmware version ≥V01.26 of the drive.
The following parameters can be used to parameterize the digital signal outputs:
36 0198441113874.01

via fieldbus
IOM1_IOfunct_DQ10 IOM1 Function Output DQ10. - UINT16 CANopen 304F:5Ah

required
do10 - per. Profibus 20404
2 / No Fault / n F L t : Signals operating states
Ready To Switch On, Switched On and Operation - - CIP 179.1.90
Enabled
ModbusTCP 20404
3 / Active / A c t i : Signals operating state
Operation Enabled EtherCAT 304F:5Ah
4 / RMAC Active Or Finished / r M c A : Relative PROFINET 20404

movement after capture active or finished (RMAC)
5 / In Position Deviation Window / i n - P :

Position deviation is within window
6 / In Velocity Deviation Window / i n - V :

Velocity deviation is within window
7 / Velocity Below Threshold / V t h r : Motor

velocity below threshold
8 / Current Below Threshold / i t h r : Motor

current below threshold
9 / Halt Acknowledge / h A L t : Halt

acknowledgement
11 / Motion Sequence: Start Acknowledge /

d S A c : Motion Sequence: Acknowledgement of
start request
13 / Motor Standstill / M S t d : Motor at a

standstill
14 / Selected Error / S E r r : One of the

specified errors of error classes 1 … 4 is active
15 / Valid Reference (ref_ok) / r E F o : Zero

point is valid (ref_ok)
16 / Selected Warning / S W r n : One of the

specified errors of error class 0 is active
17 / Motion Sequence: Done / M S C o : Motion

Sequence: Sequence done
18 / Position Register Channel 1 / P r C 1 :

Position register channel 1



22 / Motor Moves Positive / M P o S : Motor

moves in positive direction
23 / Motor Moves Negative / M n E G : Motor

moves in negative direction

disabled.


IOM1_IOfunct_DQ11 IOM1 Function Output DQ11. - UINT16 CANopen 304F:5Bh

required
do11 - per. Profibus 20406
0198441113874.01 37

via fieldbus
2 / No Fault / n F L t : Signals operating states - - CIP 179.1.91

Ready To Switch On, Switched On and Operation
Enabled ModbusTCP 20406
3 / Active / A c t i : Signals operating state EtherCAT 304F:5Bh

Operation Enabled
PROFINET 20406
4 / RMAC Active Or Finished / r M c A : Relative
movement after capture active or finished (RMAC)
5 / In Position Deviation Window / i n - P :

Position deviation is within window
6 / In Velocity Deviation Window / i n - V :

Velocity deviation is within window
7 / Velocity Below Threshold / V t h r : Motor

velocity below threshold
8 / Current Below Threshold / i t h r : Motor

current below threshold
9 / Halt Acknowledge / h A L t : Halt

acknowledgement
11 / Motion Sequence: Start Acknowledge /

d S A c : Motion Sequence: Acknowledgement of
start request
13 / Motor Standstill / M S t d : Motor at a

standstill
14 / Selected Error / S E r r : One of the

specified errors of error classes 1 … 4 is active
15 / Valid Reference (ref_ok) / r E F o : Zero

point is valid (ref_ok)
16 / Selected Warning / S W r n : One of the

specified errors of error class 0 is active
17 / Motion Sequence: Done / M S C o : Motion

Sequence: Sequence done




22 / Motor Moves Positive / M P o S : Motor

moves in positive direction
23 / Motor Moves Negative / M n E G : Motor

moves in negative direction

disabled.

38 0198441113874.01
Parameterization of Software Debouncing

Debounce Time
Signal input debouncing comprises hardware debouncing and software
debouncing.
Hardware debounce time is permanently set, see Digital Input Signals 24 V, page
12.
If a different signal input function is assigned and when the product is powered off
and on again, software debouncing is reset to the factory setting.
The software debounce time can be set via the following parameters.

via fieldbus
IOM1_DI_10_Deb IOM1 Debounce time of DI10. - UINT16 CANopen 304F:40h
0 / No: No software debouncing 0 R/W Modbus 20352
1 / 0.25 ms: 0.25 ms 6 per. Profibus 20352
2 / 0.50 ms: 0.50 ms 6 - CIP 179.1.64
3 / 0.75 ms: 0.75 ms ModbusTCP 20352
4 / 1.00 ms: 1.00 ms EtherCAT 304F:40h
5 / 1.25 ms: 1.25 ms PROFINET 20352
6 / 1.50 ms: 1.50 ms

disabled.

2 / 0.50 ms: 0.50 ms 6 - CIP 179.1.65
3 / 0.75 ms: 0.75 ms ModbusTCP 20354
4 / 1.00 ms: 1.00 ms EtherCAT 304F:41h
5 / 1.25 ms: 1.25 ms PROFINET 20354
6 / 1.50 ms: 1.50 ms

disabled.
0198441113874.01 39

via fieldbus
2 / 0.50 ms: 0.50 ms 6 - CIP 179.1.66
3 / 0.75 ms: 0.75 ms ModbusTCP 20356
4 / 1.00 ms: 1.00 ms EtherCAT 304F:42h
5 / 1.25 ms: 1.25 ms PROFINET 20356
6 / 1.50 ms: 1.50 ms

disabled.

2 / 0.50 ms: 0.50 ms 6 - CIP 179.1.67
3 / 0.75 ms: 0.75 ms ModbusTCP 20358
4 / 1.00 ms: 1.00 ms EtherCAT 304F:43h
5 / 1.25 ms: 1.25 ms PROFINET 20358
6 / 1.50 ms: 1.50 ms

disabled.
Setting a Signal Output via Parameter

The digital signal outputs can be set as required via the fieldbus.
In order to set a digital signal output via the parameter, you must first parameterize
the signal output function “Freely Available”, see Parameterization of the Signal
Output Functions, page 34.
The parameter IOM1_DQ_set lets you set the digital signal outputs.
40 0198441113874.01

via fieldbus
IOM1_DQ_set IOM1 Setting the digital outputs directly. - UINT16 CANopen 304F:37h
Digital outputs can only be set directly if the signal - R/W Modbus 20334
output function has been set to 'Available as
required'. - - Profibus 20334
Bit assignments: - - CIP 179.1.55
Bit 0: DQ10 ModbusTCP 20334
Bit 1: DQ11 EtherCAT 304F:37h
PROFINET 20334
0198441113874.01 41
IOM1 Module
Glossary
D
Direction of rotation :
Rotation of the motor shaft in a positive or negative direction of rotation. Positive
direction of rotation is when the motor shaft rotates clockwise as you look at the
end of the protruding motor shaft.
DOM:
Date of manufacturing: The nameplate of the product shows the date of
manufacture in the format DD.MM.YY or in the format DD.MM.YYYY. Example:
31.12.09 corresponds to December 31, 2009
31.12.2009 corresponds to December 31, 2009
E
EMC:
Electromagnetic compatibility
Error class:
Classification of errors into groups. The different error classes allow for specific
responses to errors, for example by severity.
Error:
Discrepancy between a computed, observed or measured value or condition and
the specified or theoretically correct value or condition.
F
Factory setting:
Factory settings when the product is shipped
Fault reset:
A function used to restore the drive to an operational state after a detected error is
cleared by removing the cause of the error so that the error is no longer active.
Fault:
Fault is a state that can be caused by an error. Further information can be found
in the pertinent standards such as IEC 61800-7, ODVA Common Industrial
Protocol (CIP).
G
GSD file:
A file provided by the vendor; contains specific information on a Profibus device
and is required for commissioning the device
I
I/O:
Inputs/outputs
Inc:
Increments
Incremental signals:
0198441113874.01 43
IOM1 Module
Steps of an encoder as rectangular pulse sequences. The pulses indicate

changes in positions.
L
Limit switch:
Switches that signal overtravel of the permissible range of travel.
P
Parameter :
Device data and values that can be read and set (to a certain extent) by the user.
PTC:
Resistor with positive temperature coefficient. Resistance value increases as the
temperature rises.
Q
Quick Stop:
Function which can be used for fast deceleration of the motor via a command or
in the event of an error.
44 0198441113874.01
IOM1 Module
Index
I
intended use ...........................................................6
P
parameter _IOM1_AI11_act ...................................16
parameter _IOM1_AI12_act ...................................16
parameter _IOM1_AQ11_ref ..................................22
parameter _IOM1_AQ12_ref ..................................22
parameter IOM1_AI11_I_max ................................19
parameter IOM1_AI11_mode .................................18
parameter IOM1_AI11_M_scale .............................21
parameter IOM1_AI11_offset .................................16
parameter IOM1_AI11_Tau ....................................21
parameter IOM1_AI11_v_max................................19
parameter IOM1_AI11_v_scale ..............................20
parameter IOM1_AI11_win.....................................17
parameter IOM1_AI12_I_max ................................19
parameter IOM1_AI12_mode .................................18
parameter IOM1_AI12_M_scale .............................21
parameter IOM1_AI12_offset .................................16
parameter IOM1_AI12_Tau ....................................21
parameter IOM1_AI12_v_max ...............................19
parameter IOM1_AI12_v_scale ..............................20
parameter IOM1_AI12_win ....................................17
parameter IOM1_AQ_ErrResp ...............................26
parameter IOM1_AQ_mode ...................................22
parameter IOM1_AQ11_FixVal...............................25
parameter IOM1_AQ11_func..................................24
parameter IOM1_AQ11_invert................................26
parameter IOM1_AQ11_I_range.............................23
parameter IOM1_AQ12_FixVal ..............................25
parameter IOM1_AQ12_func .................................24
parameter IOM1_AQ12_invert ...............................26
parameter IOM1_AQ12_I_range ............................23
parameter IOM1_DI_10_Deb .................................39
parameter IOM1_DQ_set.......................................41
parameter IOM1_IOfunct_DI10 ..............................29
parameter IOM1_IOfunct_DI11...............................30
parameter IOM1_IOfunct_DQ10.............................37
parameter IOM1_IOfunct_DQ11 .............................37
Q
qualification of personnel .........................................5
0198441113874.01 45
Schneider Electric
35 rue Joseph Monier
92500 Rueil Malmaison
France
+ 33 (0) 1 41 29 70 00
www.se.com
As standards, specifications, and design change from time to time,

please ask for confirmation of the information given in this publication.
© 2021 – Schneider Electric. All rights reserved.

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LXM32M

About the Book

Lexium 32M - Servo Drive - User Guide 0198441113767 (eng)

Product Related Information

Terminology Derived from Standards

Among others, these standards include:

IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.

ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.

General principles for design.

EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.

Part 1: General requirements and tests.

ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards -

ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design

IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical,

IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-

IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-

IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-

IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety

2006/42/EC Machinery Directive

2014/30/EU Electromagnetic Compatibility Directive

2014/35/EU Low Voltage Directive

IEC 60034 series Rotating electrical machines

IEC 61800 series Adjustable speed electrical power drive systems

Characteristic Unit Value

Input resistance, typical kΩ 20

Analog Output Signals

Characteristic Unit Value

Output current mA 0 ... 20

Minimum load resistance (voltage source) Ω 470

Maximum load resistance (current source) Ω 470

+24V DQCOM +24V DQCOM

Logic type Active state

(1) Positive logic Output supplies current (source output)

Current flows to the input (sink input)

(2) Negative logic Output draws current (sink output)

Current flows from the input (source input)

Digital Input Signals 24 V

Characteristic Unit Value

Debounce time (software)(1) ms 1.5 (default value)

(1) Adjustable via parameter (sampling period 250 µs)

Digital Output Signals 24 V

Characteristic Unit Value

Voltage range for supply voltage Vdc 19.2 ... 30

Nominal output voltage - sourcing outputs Vdc 24

Nominal output voltage - sinking outputs Vdc 0

Voltage drop at 100 mA load Vdc ≤3

Maximum current per output mA 100

Cable Specifications Analog Inputs and Outputs

Twisted Pair: Yes

Maximum cable length: 30 m (98.4 ft)

Cable Specifications Digital Inputs and Outputs

Cable composition: 8 x 0.25 mm2 (8 x AWG 22)

Maximum cable length: 30 m (98.4 ft)

Properties of Spring Terminals

Stripping length 10 mm (0.39 in)

Note the pertinent information on equipotential bonding conductors in the user

Pin Signal Meaning

9 AI11+ Analog input 11

8 AI11- Reference potential to AI11+