MANUAL DATA SHEET XENAX® Xvi48V8

Manual XENAX® Xvi 48V8
Edition 25. August 2022

Compact Ethernet Servo Controller
Parameterization over Web browser
Th e in t eg rat ed w eb s erv er al lo ws a s etu p

an d p a r a me te ri z at ion o v er w eb b ro ws er .
Af te r an au to m ati c s el f - ch e ck, th e
con n ec t ed L IN A X® li n e ar mo tor ax is , th e
E LA X® e le ct ri c s l id e o r t h e RO T AX ® r ota ry
axis can in s ta n tly b e s e t in mo t ion b y c li ck
on th e Qu ic k Sta r t B u tto n .
Th is XE N A X® Xv i 4 8V 8 is s ett in g n e w
s tan d a rd s in te r ms o f i n tu it iv e h an d lin g.
Gener al
Th e XE NA X ® Xv i 4 8 V8 E t h ern et s e rv o
con t ro l l er con t ro ls al l s er ies o f th e L IN AX ®
lin ea r mo to r a xes , th e E LA X® e le ct ri c s l id e
p rod u ct fa mi ly an d th e RO T AX ® r ota ry ax is .
It is a ls o p os s ib l e to co n tro l s e rv o mo tors
s er ies R Axx (u ltr a -co mp a ct rota ry a x es ) a n d
R T- xx (r o u n d t a b l e w ith h o ll o w s h a ft ).
Cu s to m ary rota ry A C /D C /E C s e rv o mot ors

fo r e xa mp le f ro m FA UL H ABE R® or M AX ON ®
can a ls o b e op era t ed b y th e XE N AX ® Xv i
48 V8 .
Th e log ic s u p p ly ( 24 V D C) a n d t h e
in t er m ed i at e c ir cu i t v o l tag e (2 4V – 4 8V D C )
are s ep a ra te ly co n n e cta b le . Th is is h ow
“Sa f ety To rq u e O f f” is p o s s ib l e as a
s tan d a rd .
Mas t er - Sla v e fu n ct ion a n d Fo rc e

Ca l ib r a ti on (co mp en s a ti on o f th e co gg in g
fo r c es in i ron cor e lin ea r m oto rs ) a r e
fu r th e r f ea tu res o f th is co mp a ct XE N A X ®
Xv i 48 V 8 s e rv o co n t ro ll e r.
Alo is J en n y
J en n y Sc i en c e A G
2
Contents
1 Characteristics XENAX® Xvi 48V8 6

1.1 Electronics / Firmware 6
1.2 Performance / Options 6
1.3 Dimensions 7
2 Controllable Motor Types 8
2.1 Linear Motor Axes and Electric Slides 8
2.2 Servo Motors in our Product Line 8
2.3 Customary Servo Motors 9
3 Hardware and Installation 10
3.1 Environmental Conditions 10
3.2 Assembly and Installation 10
4 Electrical Connections 11
4.1 Plug Arrangement 11
4.2 Plug Pin Configuration 11
4.2.1 RS232 11
4.2.2 Motor Plug 3 Phase 12
4.2.3 Logic and Power Supply 12
4.2.4 Encoder and Hall Signals 13
4.2.5 Definition of Rotating Direction for Servo Motors 13
4.2.6 OPTIO Pulse/Dir, Second Encoder Channel 14
4.2.7 PLC I/O 15
4.3 Internal I/O Circuit 16
4.4 Output Configuration 16
5 Configuration Motor Type Jenny Science / Motor customer specific 17
6 RS232 Serial Interface 18
6.1 Baud Rate RS232 XENAX® 18
7 ETHERNET TCP/IP Interface 18
7.1 Test IP Connection with >IPCONFIG 19
7.2 Test Connection with >PING 19
7.3 Close Port 10001 19
8 ASCII Protocol 20
8.1 ASCII Protocol TCP/IP 21
8.2 Asynchronous Messages (Events) 21
9 WebMotion® 22
9.1 Start WebMotion® 23
9.1.1 Error „Upload XENAX® Settings“ 23
9.2 Quick Start (only with LINAX® and ELAX® linear motor axes) 24
9.3 Operation, Status Line 25
9.4 Move Axis by Click 26
9.4.1 Move Axis by Click for LINAX®/ELAX® Linear Motors 26
9.4.2 Move Axis by Click for ROTAX® Rotary Motor or Third Party Motors 28
3
9.5 Move Axis by Command Line 29
9.6 ASCII Command Set for XENAX® 29
9.6.1 Power / Reset 29
9.6.2 Basic Settings 30
9.6.3 Motor Settings 30
9.6.4 Controller Settings 30
9.6.5 Motion Settings 31
9.6.6 Reference LINAX® / ELAX® 32
9.6.7 Reference Gantry 32
9.6.8 Reference Rotary Motors 32
9.6.9 Move Commands 33
9.6.10 Index (programmed movements) 33
9.6.11 Program / Application 34
9.6.12 Force Control Forceteq® basic 34
9.6.13 Event 36
9.6.14 Input / Output 37
9.6.15 Correction Table 38
9.6.16 Limit Position ELAX® 39
9.6.17 System Information 40
9.6.18 Ethernet 41
9.6.19 Bus Module 41
9.6.20 DS402 Compatibility 41
9.6.21 Error Handling 42
9.6.22 System Monitoring 42
9.6.23 License 42
9.7 Move Axis by Forceteq® 43
9.8 Move Axis Motion Diagram 44
9.9 Index 46
9.10 Drive I_Force 47
9.11 Sector I_Force 47
9.12 Program 48
9.12.1 Program commands 49
9.13 I/O Functions 51
9.13.1 Selection of Input Functions 52
9.13.2 Selection Output Functions 54
9.13.3 Operation with Additional Holding Brake 54
9.14 Profile (Velocity) 55
9.15 Captured Pos 56
9.16 State Controller 57
9.16.1 F Setting 60
9.17 Motor 63
9.17.1 Motors LINAX® and ELAX® 63
9.17.2 Motor ROTAX® 64
4
9.17.3 Third Party Motors 65
9.17.4 Position Overflow 66
9.18 Reference 67
9.18.1 Reference LINAX® 67
9.18.2 Reference ELAX® 67
9.18.3 Reference ROTAX® und Third Party Motors 69
9.18.4 Reference to Mechanical Stop 70
9.18.5 Correction Table for LINAX® / ELAX® 71
9.19 Basic Settings 74
9.20 Version 75
9.21 Update Firmware / License 76
9.21.1 Display the actual license code 77
9.21.2 Subsequent license ordering 77
9.21.3 License activation 77
9.22 Save 79
9.23 Open 79
10 Master / Slave 80
10.1 Master/Slave Configuration 80
10.2 Programming example Pick&Place 81
10.3 Timing Master / Slave 81
11 Gantry Synchronized Mode 82
11.1 Activate Gantry Mode 82
11.2 ASCII Commands for Gantry Synchronized Mode 83
12 Forceteq® Force Measurement Technology 84
12.1 Forceteq® basic current based with self calibrated motor 84
12.2 Forceteq® basic via Realtime Bus 85
12.2.1 CANopen over Ethernet 85
12.2.2 Ethernet/IP 85
12.2.3 Profinet 85
12.3 Forceteq® basic via XENAX® 86
12.3.1 I_Force Calibration 86
12.3.2 I_Force Limitation 86
12.3.3 I_Force Monitoring 87
12.3.4 I_Force Control 88
12.3.5 Sector Offset for Touching Position 89
12.3.6 Application Example 90
13 Operating Status on 7-Segment Display 94
14 Error Handling 95
14.1 Error Codes 95
14.2 Notes for Error 50 99
14.3 Arbitrary Display on 7-Segment 100
14.3.1 Defective adapter for logic supply 100
14.3.2 Defective Firmware 101
5
1 Characteristics XENAX® Xvi 48V8
1.1 Electronics / Firmware
Description Data
Interfaces Ethernet, TCP/IP, http web server
Puls/direction, Master Encoder, I/O
I2C Master/Slave, Start-up Key
RS232
Bus, multi-axis operation EtherCAT (CoE), DS402
Ethernet POWERLINK, DS402
CANopen, DS 402
PROFINET (PROFIdrive)
EtherNet/IP, DS402
Ethernet Switch, TCP/IP
Operation Modes Standard Servo (MODE 0)
Multi axis operation (Master/Slave, Gantry)
Electronic gear (MODE 1) optional
Pulse/Direction (MODE 2) optional
Status indication 7-Segment LED
Input digital 4 x 24V Pull down
Output digital 2 x 24V, 100mA Source or 400mA Sink
Input function 4 inputs to start a function or program
Output function 2 outputs to indicate a condition
Reference for rotary motors free to define, incl. external sensor
Index 50 motion moves (accl. / speed / distance, position)
Profile 5 extended motion profiles with 7 profile segments each.
Number of application programs via input 4 program starts triggered by digital inputs.
Firmware update Over TCP/IP, Flash-memory internal
Application and parameter update Over TCP/IP, Flash-memory internal
1.2 Performance / Options
„LG“ logic supply 24VDC / max. 1.2 A

„PW“ power supply motor 12-48VDC
3- Phase Output frequency 0-599 Hz
Nominal current 0-8A
Peak current 18A
Continuous power / dissipation loss Typical 48V / 3A / 150W / η ≈ 85% / Pv = 22W
Temperature monitoring output stage Shutdown at 80°C
Excess voltage – observation > 60V
Under voltage – observation < 10V
Ballast circuit up to 80W
Fuse power 10AF
Motor temperature observation with LINAX®, ELAX® Shutdown at 80°C
and ROTAX®, sensor in coils
PLC Input 4 Inputs, 24V
PLC Output 2 Outputs, 24V, Source 300mA
6
Options
EtherCAT (CoE) DS402, Beckhoff®, OMRON®, TRIO® MC
POWERLINK (CoP) DS402, B&R®
CANopen DS402
EtherNet/IP DS402, Allen-Bradley
PROFINET (PROFIdrive) SIMATIC, SIMOTION, SINUMERIK
Start-up Key ID number for Master Slave and application memory
Force Processes Optional with license code.
Controllable Motor-Types ELAX®, ROTAX® and third party motors enabled by default.
LINAX® optional with license code.
1.3 Dimensions
Dirt resistance IP 20
Weight Standard 720g, with bus module 760g
Case Chrome steel
Ground plate Chrome steel
7
2 Controllable Motor Types
2.1 Linear Motor Axes and Electric Slides
LINAX® Linear Motors
3 phase synchronous linear motor with encoder

RS422 A/A*, B/B* und Z/Z* and distance-coded
reference marks.
Special feature:
Linear motor identification and temperature
monitoring over I2C bus.
ELAX® Electric Slides with Linear

Motor
ELAX® is the evolutionary step of the widespread

pneumatic slides. The great accomplishment is the
patented compact integration of the linear motor in
the slider case, resulting in a force/volume ratio
which has hitherto never been achieved.
Special feature:
Linear motor identification and temperature
monitoring over I2C bus.
2.2 Servo Motors in our Product Line
ROTAX® Rotary motor axes
Whether you choose the ROTAX® Rxvp with direct

connection options to ELAX® linear motor slides and
LINAX® linear motor axes or you go for the ROTAX®
Rxhq 50 with enormous torque despite its small
dimensions and the 12 mm diameter hollow shaft –
the compact ROTAX® rotary motor axes from Jenny
Science all work precisely, can be used flexibly and
are robust in application. The XENAX® servo
controller identifies the ROTAX® rotary axis and
configures the controller parameters automatically.
8
La fer t , R A x x, R T x x
AC-Servo motors with encoder A/A*, B/B* and Z/Z*

and hall sensors e.g.
AEG B28 D4 0,4Nm, 6000 U/min.
Optionally available with brakes for vertical
applications.
2.3 Customary Servo Motors
Fau lh a b er ® , M a xo n ®
AC / DC / EC brushless servo motors with incremental

encoder RS422 A/A*, B/B* and Z/Z* and hall sensors,
as well as DC brush-type servo motors with
incremental encoder.
For brushless AC/EC servo motors there are hall

signals and incremental encoder necessary.
9
3 Hardware and Installation
3.1 Environmental Conditions
Storage and transport No outdoor storage. Warehouses have to be well

ventilated and dry. Temperature from
-25°C up to +55°C
Temperature while operating 5°C -50°C environment,
(above 40°C, nominal current reduced to 6A)
Humidity while operating 10-90% non-condensing
Air conditioning No external air conditioning needed; integrated heat
sink.
MTBF > 120’000h for housing internal temperature of < 50°C
3.2 Assembly and Installation
Assembly with two screws on an electrically

conductive rear wall e.g. the back wall of a switch
cabinet.
For a series mounting the distance between the

devices has to be at least 10mm and the distance to
the floor has to be at least 40mm.
We recommend mounting the devices in vertical

orientation with the 7-segment display at the top to
ensure a good cooling air circulation.
It is recommended to install the XENAX® servo

controller in a control cabinet and to connect the
motor cable to the protective earth using the
EMC shield clamp (Art. No. 130.09.00).
10
4 Electrical Connections
Note:
To disconnect or connect the electrical components
at the electrical connectors, the power supply must
be disconnected.
XENAX® Xvi 48V8
4.1 Plug Arrangement
Description Plug Type
RS232 USB-B socket

Real time Ethernet (optional) 2 x RJ45 socket with status LED
CANopen (optional) 9 Pol socket D-Sub
Ethernet TCP/IP RJ45 socket with status LED
MOTOR 3 pole plug Wago, pitch 3,5mm
POWER / LOGIK 4 pole plug Wago, pitch 3,5mm
ENCODER HALL 15 pole plug D-Sub High Density
PLC I/O 26 pole plug D-Sub High Density
START-UP / MASTER-SLAVE 2 x 4 pole plug USB-A
4.2 Plug Pin Configuration
4.2.1 RS232
USB-B Socket
The serial interface RS232 is led over a 4 pole USB-B
socket.
Pin 4 Pin 3
USB Socket XENAX® PC/SPS
1 N.C.
2 RX TX Pin 1 Pin 2
3 TX RX
4 GND GND
11
4.2.2 Motor Plug 3 Phase
Wago 3 Pole LINAX® / ELAX® Servo motor DC Motor

Plug 3 Phase 3 Phase
1 U (white) U DC +
2 V (brown) V DC -
3 W (green) W
4.2.3 Logic and Power Supply
The typical POWER supply is 24V DC. For the stronger Wago 4 Pole
LINAX® F40 / F60 axes with high masses (>2kg) or Plug
high dynamics (>1.5m/s) a POWER supply of 48V is 1 0, GND
Adapter logic
applicable. The current consumption per axis can be 2 24V DC
up to 8A and 18A peak per axis. Depending on mass 3 0, GND
in motion, profile and power supply voltage. Adapter power
4 12-48V DC
For a fuse protection of the power supply, it must be

considered that a short peak current of 8A can be
reached for the rotating field adjustment.
For a detailed calculation of the required power

supply in your application, please contact our support
www.jennyscience.ch/en/Service.
Important:
 The 0 volt connection of the logic supply
(pin 1) and the 0 volt connection of the
power supply (pin 3) have to be connected
to the ground/chassis star point of the
switch cabinet.
 The base plate of the Lxs/Lxu motors must
be connected to the GND/chassis star
point of the switch cabinet.
 The XENAX® servo controller must be
screwed onto a conductive background,
which is connected to the GND/chassis
star point of the switch cabinet. The
motor cable must be connected to the
shield clamp.
Note:
If the Lxs/Lxu is mounted on a non-conductive base
plate (e.g. granite), the protective earth must be
connected directly to the motor.
In case of emission sensitivity, it is recommended to

twist the supply cable for logic and power.
12
4.2.4 Encoder and Hall Signals
15 pole D-Sub socket Signal Description

1 GND Together, for encoder and hall 0V supply, only 1 pin
2 5V Encoder 150 mA for encoder supply
3 Encoder A Pull up 2,7kΩ to 5V, differential input 26LS32
4 Encoder A* Middle level: pull up 2,7kΩ to 5V, Pull down 2,2kΩ,
differential input 26LS32, 330Ω internal between Pin3/4
5 Encoder B Pull up 2,7kΩ to 5V, differential input 26LS32
6 Encoder B* Middle level: pull up 2,7kΩ to 5V, pull down 2,2kΩ,
differential input 26LS32, 330 Ω internal between Pin5/6
7 Encoder Z Pull up 2,7kΩ to 5V, differential input 26LS32
8 Encoder Z* Middle level: pull up 2,7kΩ to 5V, pull down 2,2kΩ,
differential input 26LS32, 330 Ω E internal between Pin7/8
9 HALL 1 Pull up 2,7kΩ to 5V, differential input 26LS32
10 HALL 1* Middle level: Pull up 2,7kΩ to 5V, pull down 2,2kΩ,
differential input 26LS32
11 HALL 2 / -TMP Pull up 2,7kΩ to 5V, differential input 26LS32 / over
temperature signal motor
12 HALL 2* Middle level: Pull up 2,7kΩ to 5V, Pull down 2,2kΩ, differential
input 26LS32
13 HALL 3 / I2C_SCL Pull up 2,7kΩ auf 5V, differential input 26LS32 /
I2C clock signal
14 HALL 3* Middle level: Pull up 2,7kΩ to 5V, pull down 2,2kΩ, differential
input 26LS32
15 5V Hall / I2C_SDA 5V, 150 mA / I2C data signal
4.2.5 Definition of Rotating Direction for Servo

Motors
Sight on front surface motor shaft, turn the shaft clockwise,

the meter has to count upwards
Switch encoder A/B Switch rotating direction for DC brush type servo motors
Switch +/- motor power
Switch encoder A/B Switch rotating direction for 3phase brushless servo motors
Switch hall1 with hall3
Switch winding-phase 1 and phase 2
Phase 1 to phase 2, 2 to 3 and 3 to 1 Switch phase connection for brushless servo motors without
Hall 1 to hall2, 2 to 3 and 3 to 1 change of rotating direction
13
4.2.6 OPTIO Pulse/Dir, Second Encoder Channel
The pulse/Dir and second encoder channel are

deactivated by default. Both options can be ordered.
PULSE/DIRECTION CONTROL
Enter settings in menu setup / basic settings:
PULSE / DIRECTION CONTROL, MODE 2, optional
Parameter MODE and INC PER PULSE
Signal D-SUB PLC Cable Socket PLC I/O / Analog
GND internal Pin 7 blue GND

Pull up 2,7kΩ to 5V, differential input 26LS32 Pin 15 white-yellow PULS
Pull up 2,7kΩ to 5V, differential input 26LS32 Pin 13 white-green DIRECTION
Middle level: Pull up 2,7kΩ to 5V, pull down 2.2kΩ, Pin 12 red-blue DIRECTION*
Middle level: Pull up 2,7kΩ to 5V, pull down 2.2kΩ, Pin 14 brown-green PULS*
ENCODER 2
Electronic gear, MODE 1, optional
Parameter SYNCH RATIO 10 = 1:1
Signal D-Sub PLC Cable Socket PLC I/O / Analog
GND intern Pin 7 blue GND

5V intern Pin 8 red 5V (Power encoder)
Pull up 2,7kΩ to 5V, differential input 26LS32 Pin 15 white-yellow A
Pull up 2,7kΩ to 5V, differential input 26LS32 Pin 13 white-green B
Middle level: Pull up 2,7kΩ to 5V, pull down 2.2kΩ, Pin 12 red-blue B*
Middle level: Pull up 2,7kΩ to 5V, pull down 2.2kΩ, Pin 14 brown-green A*
14
4.2.7 PLC I/O
Output
Signal D-Sub PLC Cable PLC I/O

Source PNP: 24V/100mA, Sink NPN: open collect. 24V/400mA Pin 1 white Output 1 (0/24V)
Source PNP: 24V/100mA, Sink NPN: open collect. 24V/400mA Pin 2 brown Output 2 (0/24V)
Input
24V Input, Ri 31k Pin 3 green Input 1

24V Input, Ri 31k Pin 4 yellow Input 2
24V Input, Ri 31k Pin 5 grey Input 3
24V Input, Ri 31k Pin 6 pink Input 4
Enabling Power Stage
Activate the function with DIP-switch ON

OFF
DIP switch OFF HW power stage enabling with 24V on Pin 9 Pin 9 black Enable PWR / Input
Input open or 0V = power stage blocked
DIP switch ON Always enabling power stage, Pin 9 inactive

(Standard configuration)
Power Output
2A Pin 10 violet GND

24V / 200mA Pin 11 red-blue + 24V Output
15
4.3 Internal I/O Circuit
INPUT 1-4
INPUT 1-4
24V, Ri = 31kΩ
HIGH or LOW ACTIVITY programmable
OUTPUT 1-2
TYPE SOURCE
SOT TYPE SOA ACTIVITY Output Output

Bit-value Bit-value ON OFF
0,1 SOURCE 1 HIGH 24V* open*
0 LOW open 24V
4.4 Output Configuration
ACTIVITY
SOA (Set Output Activity) parameter 2 Bit
1 Bit-value per output
Output 2 1
SOA Bit 1 0
Bit-Wert 1 1
Decimal 3
*Default setting all outputs set to HIGH ACTIVE
>SOA 3
16
5 Configuration Motor Type Jenny Science /
Motor customer specific
The XENAX® Servo Controller differentiates between

Jenny Science Motors LINAX® Lx, ELAX® Ex or ROTAX®
Rx, and linear motors from other manufacturers.
The setting is done on the hardware over a DIP
switch. The configuration is visible on the sticker with
the serial number. The Jenny Science motors are
automatically identified and parameterized.
Jenny Science Motors: XENAX® Xvi 48V8

LINAX® Linear Motor Axis EtherCAT, JSc Motor
ELAX® Linear Motor Slide SN Xvi-48V8.xxxx.xxxx
JENNY SCIENCE AG
ROTAX® Rotary Axis
Motors from other manufacturers XENAX® Xvi 48V8

Typically rotary servo motors EtherCAT, Third-party
SN Xvi-48V8.xxxx.xxxx
JENNY SCIENCE AG
Motor Type Bit 1 Bit 2 Bit 3 Bit 4
JSc Motor ON ON OFF OFF

Third-party OFF OFF ON ON
A subsequent readjustment of motor type is possible

through the according setup of the DIP-switch. A
change in motor type should be updated on the
sticker with the serial number.
17
6 RS232 Serial Interface
6.1 Baud Rate RS232 XENAX®
The RS232 operates with the following parameters:
Baudrate 115'200 Baud

Data 8 Bit
Parity kein
Stop 1 Bit
7 ETHERNET TCP/IP Interface
The TCP/IP interface has two essential functions.

Firstly, HTML5-WebMotion can be accessed over the
Ethernet TCP/IP interface. Secondly, the Ethernet
TCP/IP interface is used to control the axis with all
available ASCII commands. The port 10001 is used for
ASCII commands.
IP-address of XENAX® is provided on the back side of

the controller. If this has been changed or the label is
not accessible, you can have the IP-address displayed
on the 7-segmet display. To do this, switch on the
logic supply and switch it off again while the dot in
the 7-segment display lights up. The next time you
switch it on, the IP-address is shown on the 7-
segment display.
Connection of XENAX® to laptop/PC over a normal

RJ45 network cable.
When connecting laptop/PC directly without a switch

to XENAX®, it may need a crossed RJ45 cable.
However, with newer network types a crossed RJ45
cable is not necessary anymore.
Display Ethernet Plug
Color LED left Color LED right
Off No connection Off No Activity

Orange 10Mbps Orange Half-duplex
Green 100Mbps Green Full-duplex
18
7.1 Test IP Connection with >IPCONFIG
IPCONFIG command in DOS window
Test TCP/IP address range.

IP address has to be in range of 192.168.2.xxx
If necessary adjust IP address in computer „network
environment“ to e.g. IP 192.168.2.200.
xxx = 001 – 255
≠ IP Address XENAX®
7.2 Test Connection with >PING
PING command in DOS window
IP address is provided on the back side of XENAX®.

If no response, check direct connection with crossed
RJ45 cable.
7.3 Close Port 10001
If the port 10001 is not closed correctly it can stay

open. In this case, it is no longer possible to connect
to this port with a new TCP/IP connection
There are 3 options for closing the port again.
1. Disconnect the Ethernet cable directly on the

Xenax and the port will be closed automatically.
2. Open a second TCP/IP connection over the port

9999 and send a «ENPR» command. This will
close the port 10001.
3. Set a timeout with the command „WD“ and

specify the watch dog time in milliseconds. A
<CR> must now be sent over port 10001 with the
defined interval or the port will be closed
automatically.
19
8 ASCII Protocol
Over Ethernet TCP/IP in the menu move axis / by

command line in WebMotion®
or via the serial interface e.g. with hyper terminal.
The simple ASCII protocol works with the echo

principle.
The sent characters come back as an echo and can be
checked immediately.
Thus, if existing, you get a parameter value and finally
the character prompt ">". If the command could not
be
accepted then, it has a “?” character in the string.
Description Command [Parameter] Echo command accepted
Write parameters:
Power continues PWC <CR> PWC <CR> <LF> >
Speed SP 10-9’000’000 <CR> SPxxxxxx<CR> <LF> >
Acceleration AC 2'000-100'000’000 <CR> ACxxxxxx<CR> <LF> >
Terminate a command with <CR> only, no additional <LF>.
Read parameters:
Tell Position TP <CR> TP <CR> <LF> XXXXXXX<CR> <LF> >
Retrieve e.g. AC? <CR> AC? <CR> <LF> XXX <CR> <LF> >
SP? <CR> SP? <CR> <LF> XXX <CR> <LF> >
Echo command not recognized or cannot be

completed in the current configuration
<command> <CR> <LF> ? <CR> <LF> >
Echo command cannot be accepted at this time

<command> <CR> <LF> #xx <CR> <LF> >
#-List
Nr. Description
#01 Error in queue
#03 Drive is active
#05 Program is active
#13 EE1 in queue
#14 EE in queue
#15 Force Calibration active
#27 I Force Drift Compensation active
#34 Rotary reference active
#36 Gantry reference active
Note for sequential commands: #38 Reference active
Terminate a command with <CR> only, #40 Command at active bus module not allowed
no additional <LF>. Do not send a new #47 Fault Reaction active
command until you have received the #49 No JSC Motor detected
prompt character „>“ before. #65 Value of parameter not valid
#66 Command not completed correctly (>5s
between ASCII-signs)
20
8.1 ASCII Protocol TCP/IP
In TCP/IP the cohesive ASCII sequences can be

splitted into different telegram packages. This is why
a separate receive buffer has to be considered.
Please find detailed information in:

„ Xvi75_TCP/IP_Socket_
Telegram_Events/Wireshark.pdf”
on www.jennyscience.ch/en/download.
8.2 Asynchronous Messages (Events)
To reduce response time, status or PLC input

modifications of the PLC interface can be sent
automatically (events). Therefore it is not necessary
to poll the status or inputs permanently.
Enable Events
Events disabled, default EVT0
Events enabled generally EVT1
Status modifications / Reference Event

Will be sent in case of generally activated events.
Power OFF @S0

Power ON / Halt @S1
In Motion @S2
Error @S9
Reference finished @H
PLC Input
In addition to the status modifications, changes of the
PLC inputs can also trigger events. Prerequisite for
this is that Events is activated (EVT1) and ETI (Event
Track Input) is selected.
Inputs are selectable with ETI (Event Track Input)
Enable event of input 1..4 ETI1..4

Enable all input events ETI0
Disable event of PLC input with DTI (Disable Track

Input).
Disable event for input 1..4 DT1..4

Disable all input events DTI0
21
Structure of input events @I00x PLC I/O pin no. 6 5 4 3
with x as half bytes in Hexadecimal notation and INPUT no. 4 3 2 1
shows the physical state of the inputs. Example input bits after 1 0 1 1
modification
Event general @I x
Example Event @I “B”
Default Settings after Power ON
After power on of XENAX® servo controller or
application download, default settings are active
again:
Events OFF
PLC Input Events OFF
9 WebMotion®
WebMotion® is an integrated graphic user Consult also the TUTORIAL Video

interface (website), located in XENAX®. Tutorial 1: Startup with web browser
It is loaded and activated over a web browser On our website. Within 5 minutes you are able to start
(Internet Explorer >= 8.0, Chrome, Firefox, Opera, …). any of our linear motor or rotativ axis and control them
simply by using your Webbrowser.
Note:
Please make sure that zoom-settings of the browser
window are at 100% (original size). Otherwise, the
WebMotion® display is affected.
22
9.1 Start WebMotion®
Start your web browser with the IP address number of

your XENAX® and add “/xenax.html” as a suffix.
IP address is provided on the back side of the XENAX®.
Example:
http://192.168.2.xxx/xenax.html
XENAX® is being started with an automatic system self-

check including type designation and version information
on firmware and hardware. Moreover, WebMotion®
identifies the connected linear motor or rotary motor and
uploads the current XENAX® settings (parameters,
programs) in to the WebMotion®.
Interruption of TCP/IP Connection
If the XENAX® logic supply is interrupted or if the Ethernet

cable is disconnected, the TCP/IP interruption will be
detected by WebMotion® and signaled with “offline”. After
removing the cause of the offline-mode, the TCP/IP
connection has to be reloaded by updating the current
web browser window.
If it is still blocked, it is recommended to first exit and then

restarts the web browser.
9.1.1 Error „Upload XENAX® Settings“
The settings in Kaspersky Internet Security might be

responsible if the error code „Error Upload XENAX
Settings“ occurs with the automatic self-check of
WebMotion®.
If you are using Kaspersky or similar internet security
software, the security for Instant Messenger Services has
to be deactivated.
(Refer example in Kaspersky Pure 3.0)
23
9.2 Quick Start (only with LINAX® and ELAX® linear
motor axes)
The Quick Start function allows the user to setup the

LINAX® or ELAX® linear motor axis with the XENAX®
controller simply immediately after receipt of the
components.
It is completed per mouse click, without parameter
settings and without an instruction manual.
By pressing the Quick Start button, a system check is
automatically started including the following tests:
Cable connections, power voltage, input functions,
functionality of the measuring system, parameter settings
and current flow of the linear motor.
In order to test the functionality of the measuring systems

the system asks you to move the slider of the LINAX® linear
motor axis of a distance of at least 20mm back and forth.
With the START the LINAX® or ELAX® linear motor will be

referenced automatically and will then move the distance
back and forth that was indicated manually by hand
before.
For the Quick Start Function it is recommended to operate

the linear motor axis in horizontal orientation without a
payload.
The dynamics can dynamics be adjusted with the slider

“DYNAMIC”.
24
9.3 Operation, Status Line
The status line on the lower edge of WebMotion®

gives an overview of the current condition of XENAX®
and the connected motor at any time. These data
cannot be changed and are for the user’s information
only.
MOTOR TMP
Shows the current temperature of the coils in the
LINAX® / ELAX® / ROTAX® motors, which is detected
by a sensor. This measuring function is not possible
for rotary servo motors. The temperature observation
for servo motors is done by an I2T calculation. For
linear motors the I2T observation is performed in
addition to the motor temperature measurement.
POSITION
After referencing, this indicates the absolute position
of the motor in increments of the measuring system.
Standard for LINAX®/ ELAX® linear motors is
1Increment = 1µm.
MOTOR
Automatic identification of the connected
LINAX®/ ELAX® / ROTAX® motor axis. If a third-party
rotary motor is connected, "ROTATIVE" is displayed.
REFERENCE
The reference is a condition to start the
LINAX®/ELAX® linear motor axes. This is also how the
precise current commutation is being calculated.
PENDING = Reference outstanding
DONE = Reference completed
MODE
Displays the operating mode:
0=Standard Servo
1 = El. Gera mechanism over second encoder
2 = Pulse/Dir, stepper emulation
STATUS
POWER OFF = off
POWER ON / HALT = On, Motor is not moving
IN MOTION = Motor is in motion
ERROR XX = error number, with a button that details
the error and shows error history.
INPUT
Condition of the direct inputs 1-4.
OUTPUT
Condition of outputs 1-2
(Modification under menu application / I/O)
25
9.4 Move Axis by Click
9.4.1 Move Axis by Click for LINAX®/ELAX® Linear

Motors
Simple online control for setup and test of the linear

motor axes.
The orange values behind the empty fields show the

current registered values in XENAX®. New values can
be entered in the empty fields and registered with
<Enter>. These parameters will overwrite the existing
values and will be registered directly in the XENAX®
servo controller.
SOFT LIMIT POS

Software Limit Position, setting of an individual
motion range in increments.
SLP- = position counter lower values
SLP+ = position counter upper values
Both values 0 = No limit (limit is the stroke of the
connected linear motor)
S-CURVE %
Percentage S-curve rounding of the internal motion
profile, e.g. in an INDEX, generally for all motion
profiles. Automatic calculation of jerk (changing of
acceleration per time unit inc/ s3)
ACC *1‘000
Acceleration in inc/s2 multiplied with a factor of 1‘000
SPEED
Speed in Inc/s
SP OVERRIDE %
Override of the set speed and acceleration of a motion
profile, for example for process deceleration or set up
mode.
26
Go Way (REL)
Input of the distance relative to the present position in
increments. Sta rt with <Enter>.
Go Position (ABS)
Input of the position absolute to the zero point in
increments. Start with <Enter>.
Rep Reverse
Endless automatic motion back and forth.
Input of the way relative to the present position in
increments. Start with <Enter>.
While running, the motors parameters such as
acceleration, speed, and wait time can be adjusted online.
Stop the back and forth movement with “Stop Motion”.
Wait Reverse
Wait time at reversal point of rep reverse in units of 1
milliseconds. Start with <Enter>.
TIME (ms)
Time of the last profile drive in milliseconds.
Reference
Reference-drive (>REF)
Executes the reference-drive to calculate the
absolute position.
Run this function once after switching on the power.
Go Pos 0
(>G0) Go to position 0.
Power Cont
Power continues (>PWC)
Turning on the power stage with taking over the most
recent absolute position and without the need of
referencing the linear motor, e.g. after error 50 or after
“Power Quit”. This is only possible as long as the logic
supply has not been interrupted after the linear motor was
referenced.
Stop Motion
Stops the motion under control of deceleration ramp.
Power Quit
Power stage without power, the linear motor is movable
by hand. Acknowledge error.
27
9.4.2 Move Axis by Click for ROTAX® Rotary Motor or
Third Party Motors
The XENAX® Servo Controller automatically

recognizes the ROTAX® rotary motor.
If the XENAX® servo controller does not recognize a

LINAX® or ELAX® linear motor axis or a ROTAX® rotary
axis, XENAX® assumes a connection with third party
motor. Instead of “Go Pos 0“ WebMotion® offers
Jog + und Jog – functions.
Jog -
Runs the motor in negative direction until the
command “Stop Motion” stops the motor.
Jog +
Runs the motor in positive direction until the
command “Stop Motion” stops the motor.
While the motor is running with Jog, the dynamics

SP OVERRIDE or SPEED can be adjusted online.
28
9.5 Move Axis by Command Line
The XENAX® can directly be controlled by a

ASCII command set.
COMMAND
Transmits an ASCII command with <Enter>.
Under “Recall commands“ the activated commands
are saved and can be reactivated by mouse click
RESPONSE
shows received characters by WebMotion®.
COMMAND SET
Lists all ASCII commands, recognized by XENAX®.
9.6 ASCII Command Set for XENAX®
Using the simple ASCII command [+PARAMETER]

set, all XENAX® Servo controller functions can be
activated with an extremely short reaction time.
Information about the tables:

¹) Diagnosis and test functions
? Query of the programmed value
9.6.1 Power / Reset
DESCRIPTION Short CMD PARAMETER
Power ON incl. reset encoder counter Power PW

Power ON continue, keep encoder counter Power continue PWC
Power OFF servo amplifier Power quit PQ
Reset setup parameters to default values Reset RES
Reset motor parameters to default values for the currently Reset Motor RESM
connected motor (other parameters remain unchanged)
Clear actual position counter, (not possible with LINAX®/ ELAX®, Clear position to 0 CLPO
with ROTAX® only possible if it is not referenced)
29
9.6.2 Basic Settings
Set up of MODE (Operating) Mode MD 0, 1, 2 / ?

Important! In case of changing this value, the servo amplifier
must be in state POWER OFF (>PQ)..
Inc. per pulse, pulse/direction control Inc per Pulse ICP 0-50
Synchronous ratio for electronic gear Synchronous Ratio SR ± 1-1'000 : 10
Set CI (query), CANopen Node ID, Powerlink Node ID, Remote Card Identifier CI 0-255 / ?
ID in Master/Slave Configuration
Card Identifier of Gantry Slave Gantry Slave Identifier GSID 1-3
Identification string max 16 characters free for user Servo controller ident. SID string / ?
9.6.3 Motor Settings
Max. motor current nominal [x10mA] I stop IS 10-1’800 / ?

Max. motor current peak [x10mA] I run IR 10-1’800 / ?
Pole-pair number of motor Pole pair POL 0-100 / ?
Number of encoder increments per revolution Encoder ENC 10-10'000'000 / ?
Direction of phase control (u,v,w or v,u,w) Phase Direction PHD 0,1 / ?
Detection of phase control sequence. Phase Direction Detection PHDD ?
By rotating the motor clockwise, 0 or 1 appears. Parameter can
be used to enter the phase control (PHD).
If “?” appears, the Dip-switch is set to linear

in the XENAX® servo controller or the hall wiring is wrong.
Correction of the electrical angle at new adjustment of coils to Phase Offset PHO 0-359 / ?
magnets.
Force constant of the motor for LINAX®/ELAX® in [mN/A], Force Constant Motor FCM 0-100‘000‘000 / ?
torque constant for rotary motors in [µNm/A]
Resistance phase to phase of the motor in [mΩ] Phase to Phase Resistance RPH 0-100‘000 / ?
Inductance phase to phase of the motor in [µH] Phase to Phase Inductance LPH 0-100‘000 / ?
Gear ration of rotary Jenny Science motors (ROTAX) Gear Ratio GR ?
9.6.4 Controller Settings
Payload “PAYLOAD” [g] or Mass Load ML 0-100’000’000 / ?

moment of inertia „INERTIA“ [x10-9 kgm2]
Bandwidth position controller “GAIN POS” Bandwidth Position BWP 1-5’000 / ?
Bandwidth current controller “GAIN CUR” Bandwidth Current BWC 5-5’000 / ?
Notch-Current filter frequency “Avoid Vibration FREQ NOTCH” Filter Frequency Current FFC 0-, 160-2’000 / ?
Notch-Current filter quality factor Filter Quality Current FQC 500–100’000 / ?
Active-Current filter frequency “Avoid Vibration FREQ ACTIVE” Avoid Vibration Frequency AVF 0-, 200-2'000 / ?
30
Damping coefficient settings in % of Active-Current filter Avoid Vibration Damping AVD 1-50 / ?
Max. position deviation in increments “Deviation POS ACT” Deviation Position DP 1-1’000’000 / ?
Permissible target point deviation “Deviation TARGET” Deviation Target Pos. DTP 1-10‘000 / ?
Dwell time [ms] in the "Deviation Target Pos" window for the Position Window Time PWT 0-1000 / ?
PSR Bit "IN POSITION" and statusword Bit "Target Position
Reached".
Speed filter frequency Filter Frequency Speed FFS 0-, 160-2’000 / ?
Speed filter quality factor Filter Quality Speed FQS 500–100’000 / ?
Restore controller settings to behaviour smaller or equal to Enhanced Bandwidth EBMD 0-1 / ?
firmware V4.04D Mode Disable
Controller Stability Settings “STAB – DYN” Pole Placement PPSD ± 50 / ?
Stability Dynamic
Damping coefficient settings in % Swing Out Reduction SORD 0-50 / ?
for swing out time reduction Damping
Frequency settings in 0.1Hz (21 => 2.1Hz) Swing Out Reduction SORF 0-, 20-1000 / ?
for swing out time reduction Frequency
9.6.5 Motion Settings
Position rated absolute, Inc Position PO ± 2'000'000'000 / ?

Position soll (absolute) increment, initial value after powerup Position Initial Value POI ± 2'000'000'000 / ?
Way relative, encoder increment Way WA ± 2'000'000'000 / ?
Way (relative) encoder Inkrement, initial value after powerup Way Initial Value WAI ± 2'000'000'000 / ?
Speed Inc/s (encoder counter) Speed SP 10-9’000’000 / ?
Speed Inc/s (encoder counter) , initial value after powerup Speed Initial Value SPI 10-9’000'000 / ?
Acceleration Inc/s² (encoder counter) Acceleration AC 2'000-1‘000'000'000 / ?
Acceleration Inc/s² (encoder counter) , initial value after powerup Acceleration Initial Value ACI 2'000-1‘000'000'000 / ?
Emergency Deceleration Inc/ s² Emergency ED 10’000-1‘000'000'000 / ?
(e.g. for input function EE/EE, for errors, if driving in limit Deceleration
switch or soft limit etc.)
If necessary the emergency deceleration can be adjusted
during operation if there is an emergency deceleration of >1s
 In case of emergency the deceleration is always <1s
Override, scaling from the Acceleration and Speed Override OVRD 1-100 / ?
Override, scaling from the Acceleration and Speed, initial value Override Initial Value OVRDI 1-100 / ?
after powerup
Percentage S-Curve rounding. Calculation of jerk parameter S-Curve SCRV 1-100 / ?
automatically.
Percentage S-Curve rounding. Calculation of jerk parameter S-Curve Initial Value SCRVI 1-100 / ?
automatically, initial value after powerup.
Jerk of trajectory [x1000Inc/s3] Acceleration Variation ACV /?
(Jerk), Read only
Limitation driveway left Soft Limit Position SLPN 0 - < LINAX®/ELAX®
Take effect by LINAX®/ELAX® motors only Negative (Old: LL) stroke > / ?
Limitation driveway right Soft Limit Position Positive SLPP 0 - < LINAX®/ELAX®
Take effect by LINAX®/ELAX® motors only (old: LR) stroke > / ?
31
9.6.6 Reference LINAX® / ELAX®
Home linear motor axis encoder Reference REF

Start direction REF function Direction REF DRHR 0-5 / ?
0 = positive, 1 = negative
2 = Gantry REF positive, motors same direction
3 = Gantry REF negative, motors same direction
4 = Gantry REF positive, motors reverse direction
5 = Gantry REF negative, motors reverse direction
9.6.7 Reference Gantry
Card Identifier of Gantry Slave set in the Master Control Gantry Slave Identifier GSID 1-3 / ?
Set CI (query), CANopen Node ID, Powerlink Node ID, Remote Card Identifier CI 0-255 / ?
ID in Master/Slave Configuration
Home linear motor axis encoder Reference REF
Start direction REF function Direction REF DRHR 0-5 / ?
0 = positive, 1 = negative
2 = Gantry REF positive, motors same direction
3 = Gantry REF negative, motors same direction
4 = Gantry REF positive, motors reverse direction
5 = Gantry REF negative, motors reverse direction
Responds the automatically detected Gantry Master Salve Detected Gantry Master DGMSO
Offset. Important: The command DGMSO has to be performed Slave Offset
on the Gantry Slave Axis.
Indication of the Gantry Master Salve Offset. Deviation to the Preset Gantry Master PGMSO ± 2'000'000'000 / ?
automatically detected value max. 0.5mm, otherwise error 76. Slave Offset
0 = use automatically detected value, can be read with DGMSO.
<> 0 = User pre-set Gantry Master Slave Offset
Important: The command has to be performed on the Gantry
Slave Axis.
9.6.8 Reference Rotary Motors
Home function according to program Reference REF

Direction of motor rotation to seek Dir Home DRH 1-2 / ?
external coarse sensor, 1 = CW, 2 = CCW
Speed [inc/s] for seeking external sensor Speed Home SPH 0-250'000 / ?
If there is no external sensor, then set SPH = 0
Input number for external Home Sensor Input Home INH 0-4 / ?
0 = None, 1-4 = Input Number
Rotary direction of motor for seeking Dir Z-Mark DRZ 1-3 / ?
z-mark on encoder, 1 = CW, 2 = CCW 3 = shortest way (for
ROTAX® Rxvp only)
32
Speed [inc/s] for seeking z-mark Speed Z-Mark SPZ 0-100'000 / ?
If there is no z-mark on the encoder, set SPZ = 0
(ROTAX® Rxvp 10-100'000Inc/s)
Position of Z-mark in reference to internal home sensor of Rotax Z-Mark Position RXZP 0/?
ROTAX® Rxvp. Will be saved after first reference and remains
from then on unchanged. With RXZP0 this value can be deleted
and ROTAX® Rxvp will be set to default at time of delivery.
9.6.9 Move Commands
Go direct to rated position absolute, Inc Go direct Position G ± 2'000'000'000

Go to position absolute Go Position GP (Position = PO value)
Go way relative Go Way GW (Way = WA value)
Go to zero-mark on encoder disk Go Z-Mark GZ
Jog (run) positive, v = constant Jog Positive JP (Speed = SP value)
Jog (run) negative, v = constant Jog Negative JN (Speed = SP value)
Repeat way (command WA) positive <-> negative xx times Repeat Reverse RR¹) 1-100’000 (Way = WA value)
Repeat way (command WA) in same direction xx times Repeat Way RW¹) 1-100’000 (Way = WA value)
Waiting time on command RR and RW Wait Repeat WT¹) 1-10’000 (ms)
Waiting time for command RR and RW, initial value after Wait Repeat Initial Value WTI¹) 1-10’000 (ms)
powerup
Run index number Index IX 1-50
Run profile Profile PRF 1-5
Move DRIVE I_FORCE No. xx Drive I Force DIF xx
Stop program and motion with deceleration Stop Motion SM
9.6.10 Index (programmed movements)
Run index number Index IX 1-50

Number of index pre-load for changing index parameters by Number Index NIX 1-50
remote control
Acceleration write in Index at the NIX preloaded number Accel. Index AIX 2-1‘000'000 (x1000) Inc/s²
(stored in non-volatile memory, still effective after power cycle)
Acceleration write in Index at the NIX preloaded number Accel. Index Dynamic AIXD 2-1‘000'000 (x1000) Inc/s²
(not stored in non-volatile memory, only effective until the next
power cycle)
Speed write in Index at the NIX preloaded number Speed Index SIX 10-10'000'000 Inc/s
Speed write in Index at the NIX preloaded number Speed Index Dynamic SIXD 10-10'000'000 Inc/s
power cycle)
Distance write in Index at the NIX preloaded number Distance Index DIX ± 2'000'000'000 Increment
Distance write in Index at the NIX preloaded number Distance Index Dynamic DIXD ± 2'000'000'000 Increment
power cycle)
33
Save index type in index for the preselected number with NIX Type of Index TYIX 1,2 / ?
(1 = absolute, 2 = relative)
Save index type in index for the preselected number with NIX Type of Index Dynamic TYIXD 1,2 / ?
(1 = absolute, 2 = relative)
power cycle)
9.6.11 Program / Application
Run program number Program PG 1-63

0 = Program 1..15 max. 50 program lines, Program Mapping PMAP 0,1 / ?
Program 16..63 max. 10 program lines
1 = Program 1..5 max. 130 program lines,
Program 6..63 max 10 program lines
Important: Changes of PMAP parameter clears entire program
memory
Save Application (incl. parameters) to Start-up Key Save to Start-up Key SVST
9.6.12 Force Control Forceteq® basic
Force Calibration is started with distance parameter. Force Calibration FC 0-< stroke LINAX®/ELAX®
Value from 1 to 10'000'000 = Distance in Inc. of the scan run. or way ROTAX® / ?
? = Returns whether scanned values are available
0 = Force Calibration delete scanned values
The Force Calibration works iteratively and improves itself in

repeated execution. If the motor oscillates during the Force
Calibration, then wrong values are stored and the oscillation
increases. In this case, the scanned values must be deleted with
FC0 before starting a new Force Calibration.
In the libraries for the operation with bus module, there exists
an input "Iterative FC disable" in the function block
JS_MC_ForceCalibration for this case.
Important:
Force Calibration scan drive will begin at current position
Test function to check Force Calibration effect through manual Force Calibration Test FCT 0,1,2 /?
movement of the carriage slider.
2 = Test Force Calibration On (without active compensation)
1 = Test Force Calibration (with active compensation)
0 = Test Force Calibration off (Servo holds position)
Request Status of Force Calibration: Force Calibration Valid FCV xx / ?
0 = No Force Calibration scan values available
1 = Force Calibration scan values available
Automatic I_Force Drift Compensation Drive in positive I_Force Drift IFDCP
direction Compensation Positive
Automatic I_Force Drift Compensation Drive in negative I_Force Drift IFDCN
direction Compensation Negative
34
I_Force Drift Compensation Settings, bitwise coded: I_Force Drift IFDCS 0-7 / ?
Bit0: Continuous compensation at disabled power stage Compensation Settings
Bit1: Automatic compensation before force calibration
Bit2: Continuous compensation at enabled power stage at
applicable position (see command PIFDC)
Position for I_Force Drift Compensation at enabled power Position I_Force Drift PIFDC ?
stage, depending on the motor type Compensation
Maximal approved force-proportional current [x10mA] Limit I_Force LIF 0 – value of “I run” / ?
0 = Deactivated
 As soon as the max. approved current has been hit, info „30“
is being activated and can be retrieved over Process Status
registry
Bit 15 „I_FORCE_ LIMIT_REACHED“ with command TPSR
(Refer to chapter 9.6.17 System Information)
Change Limit DR_I_FORCE to xx x 10mA Change Limit I Force CLIF xx
value xx will overwrite the current parameter DR_I_Force, until
DRIVE I_FORCE END
Driving with limited force until reaching an object or the end Drive I_Force DIF xx
position if there is no object.
xx= [1-10] No. of the selected Drive I_Force
parameter set
Force-proportional, actual current-value filtered [mA] I Force Actual IFA
Actual motor current [mA] Tell motor current TMC
Select sectors which should be active. Select Sectors SSEC xx / ?
E.g. xx = 100110-> active are the sectors 2,3,6
Binary from right side LSB
(binary notation, LSB = sector 1)
Reads I_FORCE peak value [x1mA] I Force Peak IFPK xx
xx=not defined-> Max peak value over all sectors
xx=n-> peak value of sector n
shows the active sectors which force curve did not correctly Sector I_Force Curve SIFF xx / ?
pass through Failed
E.g. xx = 1001->Error in sector 1 and 4.
(binary notation, LSB = sector 1)
Is taking current actual position as an offset for all sectors with Take Position as Sector TPSO
restart of monitoring. Offset
Furthermore the positions „Wait for distance greater/less“ and
„Jump if distance greater/less“ are adjusted by this offset.
Provide offset for all sectors with restart of monitoring. Set Sector Offset SSO xx / ?
xx = [Inc] offset
Furthermore the positions „Wait for distance greater/less“ and
„Jump if distance greater/less“ are adjusted by this offset xx.
E.g. xx = 0, sets offset to 0
Selecting sector number for which parameters shall be Number of Sector for NSEC xx / ?
changed. xx = [1-10] Sector number, NSEC? = Retrieving the change parameter
selected sector number.
Sector start distance. Sector I Force Start SIFS xx / ?
xx = [Inc] starting distance (current position – sector offset)
Sector end distance. Sector I Force End SIFE xx / ?
xx = [Inc] ending distance (current position – sector offset)
Lowest value I_Force in pre-selected sector. xx [x10mA] I Force High IFH xx / ?
Highest value I_Force in pre-selected sector. xx [x10mA] I Force Low IFL xx / ?
Definition of transitions Entry and Exit in sector Sector Transition STC xx / ?
xx = activated transition 1,2,3,4 Entry/Exit Configuration Decimal
35
Sector Transition STCX xx / ?
Configuration Hexadecimal
Bit 15..12 11..8 7..4 3..0 xx

Entry not used Exit not used
4321 0 4321 0 Transition.
0001 0000 0010 0000 bin
1 0 2 0 hex
4128 dec
Selecting Drive I_Force number in which parameters shall be Number of Drive I_Force NDIF xx / ?
changed. to change parameter
xx= Drive I_Force number 1-10. NDIF? =
Retrieving selected sector number
Acceleration for Drive I_Force xx [x1‘000 inc/s2] Acceleration of selected ADIF xx / ?
Drive I_Force
Speed for Drive I_Force [inc/s] Speed of selected Drive SDIF 10-10'000'000 / ?
I_Force
Limitation of I-Force current while Drive I_Force [x10mA] I_Force Limit of selected IDIF 0-1800 / ?
Drive I_Force
Direction Drive I_Force Direction of selected Drive DDIF xx / ?
xx = 0 ->positive, xx =1 -> negative I_Force
9.6.13 Event
Event activation Event Status or Input EVT 0,1

0=All input events enabled Event Track Input ETI 0-4
1..4= Event of input 1..4 enabled
0= All input events disabled Disable Track Input DTI 0-4
1..4 = Event of input 1..4 disabled
36
9.6.14 Input / Output
High / Low Activity of PLC outputs Set Output Activity SOA 0-3
-> refer chapter 4.4 Output Configuration
Set PLC output to logic 1 (level according, SOA) Set Output SO 1-2
Equivalent to SO, but set all outputs binary coded Set Output Hex SOX 0-3
Bit 0 = Output 1, Bit 1 = Output 2
Clear output (level according, SOA) Clear Output CO 1-2
Status all Outputs, Tell Output TO
0= logic 0, 1=logic 1
Status all Outputs in HEX format Tell Output HEX TOX
Preload output number for output function assignment with Number Output Function NOF 1-2
command TYOF
Assign type of output function to the with NOF preloaded Type Output Function TYOF 0-13
output number (0 = no function, 1 = REFERENCE,
2 = IN MOTION, 3 = END OF PROGRAM, 4 = TRIGGER,
5 = ERROR, 6 = BRAKE, 7 = IN POSITION, 8 = I FORCE MAX LIMIT,
9 = I FORCE IN SECTOR, 10 = IN SECTOR, 11 = IN FORCE,
12 = WARNING, 13 = INFORMATION)
Trigger upward counting, absolute, at output #x defined in Trigger upward TGU ± 2'000'000'000 Increment
Output-Function, pulse during 5ms
Trigger downward counting, absolute, at output #x defined in Trigger downward TGD ± 2'000'000'000 Increment
Output-Function, pulse during 5ms
0=all Input HIGH active, 1= all Input LOW active, Input LOW active ILA 0-2 / ?
2= individual input activity selection according to ILAS (value 0
and 1 puts ILAS to 0x0 respectively 0xF)
individual input activity selection, 0=Input HIGH active, Input Low Active Single ILAS 0-F / ?
1=Input LOW active
Hex value binary coded for input 1-4 (values 0x0 and 0xF put
ILA to 0 resp. 1. All other values are to 2 by ILA
Status all inputs, 0 = Low, 1 = High Tell Input TI 1-4 / ?
/ ? incl. indication of input number
Status single input, 0 = Low 1 = High Tell Input TI 1-4
Status all Inputs in HEX format Tell Input HEX TIX
Preload input number for input function assignment with Number Input Function NIF 1-4
command TYIF
Assign type of input function to the with NIF preloaded input Type Input Function TYIF 0-22
number (0 = no function, 1 = REFERENCE, 2 = INDEX,
3 = PROGRAM, 4 = SET OUTPUT, 5 = CLEAR OUTPUT,
6 = JOG POSITIVE, 7 = JOG NEGATIVE, 8 = CAPTURE POSITION,
9 = INTERRUPT PROGRAM, 10 = STOP IMPULS,
11 = STOP IMPULS COUNTER, 12 = LIMIT SWITCH NEGATIVE,
13 = LIMIT SWITCH POSITIVE, 14 = EMERGENCY EXIT,
15 = EMERGEMCY EXIT POWER ON, 16 = POWER CONTINUE,
17 = PROFILE, 18 = REFERENCE LIMIT STOP, 19 = OVERRIDE,
20 = PROGRAM EXIT, 21 = DRIVE I_FORCE, 22 = POWER QUIT)
Parameter A of input function of with NIF preloaded input Parameter A PAIF xx
number (value depending on input function, according to value
described in chapter 9.13.1 Selection of Input Functions)
Parameter B of input function of with NIF preloaded input Parameter B PBIF yy
37
Parameter C of input function of with NIF preloaded input Parameter C PCIF zz
Shows present position captured with input Tell Capture Position TCP 1-4
Shows the position captured with input 4 Tell Capture Pos. Buffer TCPB 1-8
Set all 8 capture Position Register to 0 Clear Capture Position CLCP 1-8 (all)
Activate capture position function over input 4 Capture Pos. Input 4 CP4 0,1
Break Delay in [ms] Break Delay BRKD 1-1000 (ms) / ?
Attention: no works with the SMU module
9.6.15 Correction Table
Status of correction table: Correction Table State CTAB 0-2 / ?

0= correction table deactivated
1= correction table activated
2= correction table initialized (physical values = Encoder value)
Starting position of the correction table in [inc] Correction Table Position CTPS 0-500‘000‘000 / ?
Start
Distance between the entries in the correction table in [inc] Correction Table Distance CTDP 10-30‘000‘000 / ?
Points
Preselect absolute encoder position in correction table in [inc] Correction Table Preselect CTPO 0-2‘000‘000‘000 / ?
Position
Physical position deviation for preselected encoder position in Correction Table Value CTVA -30‘000-30‘000 / ?
correction table in [inc]
38
9.6.16 Limit Position ELAX®
Start calibration of the internal mechanical limit stop positive. After Mechanical Limit MLC
the calibration the value can be read with DMLPP. Calibration
Position of the detected internal mechanical limit position positive Detected Mechanical Limit DMLPP 0, <Stroke ELAX> - <Stroke
? = Returns the position of the detected internal mechanical limit Position Positive ELAX + 3mm> / ?
stop positive.
0 = Deletes the position of the detected internal mechanical limit
stop positive
Note:
- If DMLPP is deleted (DMLPP = 0), the value for the internal
mechanical limit stop for the reference in positive direction is
<stroke ELAX + 1mm>
- If the value for the internal mechanical limit stop positive is known,
this value can be set without calibration (without command MLC).
Position of the detected external mechanical limit stop position Mechanical Limit Position MLPN <-3mm> - <stroke ELAX +
negative. Negative 3mm> / ?
? = Returns the position of the detected external mechanical limit
stop negative.
0 = Deletes the position of the detected external mechanical limit
stop negative
Note:
- MLPN always needs to be chosen smaller than MLPP
- If MLPN is deleted (MLPN = 0), the value for the internal
mechanical limit stop itself is used for the reference in negative
direction, which is <-1mm> as per definition.
- The position of an externally mounted mechanical limit has to be
accurate. If the entered position of the externally mounted limit
stop is wrong, the alignment of the coils to the magnets cannot be
completed and the motor won’t be capable to drive
Position of the detected external mechanical limit stop position Mechanical Limit Position MLPP <-3mm> - <stroke ELAX +
positive. Positive 3mm> / ?
? = Returns the position of the detected external mechanical limit
stop negative.
0 = Deletes the position of the detected external mechanical limit
stop negative.
Note:
- MLPP always needs to be chosen bigger than MLPN
- If MLPN is deleted (MLPN = 0), the value for the internal
mechanical limit stop itself is used for the reference in negative
direction, which is <-1mm> as per definition.
- The position of an externally mounted mechanical limit has to be
accurate. If the entered position of the externally mounted limit
stop is wrong, the alignment of the coils to the magnets cannot be
completed and the motor won’t be capable to drive
39
9.6.17 System Information
Present position ± 2*10E9 Tell Position TP

Require actual motor velocity [inc/s] Tell Velocity TV
Motor temperature in degree Celsius Tell Temperature TT
Voltage at the power input in [mV] Tell Voltage Power Supply TVPSM
Motor
Status: 0 = Power OFF, 1 = Power ON, 2 = In Motion, 9 = Error Tell Status TS
Binary coded process status, size of return string 4 Bytes in HEX Tell Process Status TPSR
format Register
ERROR = BIT 0
REFERENCE = BIT 1
IN_MOTION = BIT 2
IN_POSITION = BIT 3
END_OF_PROGRAM = BIT 4
IN_FORCE = BIT 5
IN_SECTOR = BIT 6
FORCE_IN_SECTOR = BIT 7
INVERTER_VOLTAGE = BIT 8
END_OF_GANTRY_INIT = BIT 9
NEGATIVE_LIMIT_SWITCH = BIT 10
POSITIVE_LIMIT_SWITCH = BIT 11
EMERGENCY_EXIT_1, REMAIN POWER ON = BIT 12
(Function can only be used without bus module.
With bus module, apply function “EMERGENCY_EXIT”).
EMERGENCY_EXIT, POWER OFF = BIT 13
FORCE_CALIBRATION_ACTIVE = BIT 14
I_FORCE_LIMIT_REACHED = BIT 15
STO PRIMED/HIT = BIT 16
SS1 PRIMED/HIT = BIT 17
SS2 PRIMED = BIT 18
SS2 HIT = BIT 19
SLS PRIMED = BIT 20
SLS SPEED HIT = BIT 21
SLS POSITION HIT = BIT 22
WARNING = BIT 23
INFORMATION = BIT 24
PHASING DONE = BIT 25
I_FORCE_DRIFT_COMPENSATION_DRIVE_ACTIVE = BIT 26
FORCE_LIMIT_REACHED = BIT 27
Actual motor current [mA] Tell motor current TMC
Motion time [milliseconds] of the last profile drive Tell Motion Time TMT
Read process timer [m] Tell Process Time TPT
refer also program functions TIMER_START, TIMER_STOP
Version number of installed firmware Version VER
Returns all the versions of Firmware, Bootloader, WebMotion® Version All VERA
Version number of installed SMU firmware Version SMU VERS
Versions number of the installed bus module firmware Version Bus Module VERB
Versions queries of the boot loader (from version V4.00) Version Boot Loader VERL
Read the Ethernet MAC Adress Ethernet MAC Adress EMAC ?
MAC address query of PROFINET / Powerlink / EtherNet/IP MAC address Bus Module MACB
bus module
Temperature control, instantaneous value integration I2T I2T¹)
Temperature control, maximum value integration painter I2TM I2TM¹)
40
9.6.18 Ethernet
BESCHREIBUNG KÜRZEL BEF PARAMETER
Ethernet TCP/IP-Adresse Ethernet TCP/IP Adress EIP xxx.xxx.xxx.xxx / ?

Example: EIP192.168.2.100 (Default value)
Ethernet NetMask Ethernet Net Mask ENM xxx.xxx.xxx.xxx / ?
Example: ENM255.255.252.0 (Default value)
Ethernet Gateway Ethernet Gateway EGW xxx.xxx.xxx.xxx / ?
Example: EGW192.168.2.1 (Default value)
Ethernet Port Nummer Ethernet Port EPRT 1 – 65535 / ?
Example: EPRT10001 (Default value)
Abfrage der Ethernet MAC Adresse Ethernet MAC Adress EMAC ?
Restore the factory settings for the Ethernet TCP/IP Reset Ethernet RESETH
IP Adress to 192.168.2.100
NetMask to 255.255.252.0
Gateway to 192.168.2.1
Port Number to 10001
9.6.19 Bus Module
Baud rate of the optional CANopen interface CAN Baud rate CAB 1’000-1'000'000 / ?
Set cycle time [microseconds] in Cyclic Synchronous Position PDO Cycle Time PCT 100-10‘000 / ?
Mode (DS402). Used RMR for interpolation. Only multiple of
100 micro seconds possible
Versions number of the installed bus module firmware Version bus module VERB
IP address queries EtherNet/IP modules (from version V4.00) IP Address bus module EIPB
Reset bus module Reset bus module RESB
MAC address query of PROFINET / Powerlink / EtherNet/IP MAC address bus module MACB
bus module
9.6.20 DS402 Compatibility
Re-adjust Bit „P402 Set Point Acknowledge“ to behavior. Set Point ACK disable SPAD 0,1 / ?
equal or smaller than firmware V3.68H
Enable = 1 / Disable = 0 of the automatic reference drive when Automatic Reference AREF 0,1 / ?
entering DS402 Mode of Operation 6
41
9.6.21 Error Handling
Error number 01-99 Tell Error TE

Error number description string Tell Error String TES
Retrieving error buffer (last 10 appearing info’s, warnings or Tell Error Buffer TEB
errors)
Clears the error buffer (TEB) Tell Error Buffer Clear TEBCRL
9.6.22 System Monitoring
Switching off or turning on the encoder plausibility test: Encoder Plausibility ENCPD 0-1 / ?
0=Encoder plausibility test on Checking Disable
1= Encoder plausibility test off
(for rotary motors only)
Watchdog for Serial/Ethernet interface Watchdog WD 0-60’000 ms / ?
0 = deactivated
1-60‘000 = Watchdog time in [ms]. If output stage is on and no
ASCII command was received over the Serial or Ethernet for
<WD> ms, output stage is turned off and error code 77 is
shown.
9.6.23 License
License code for optional XENAX® functionalities. License code LICC License code / ?
Generate from the MAC-address
Read the internal license’s-register License register LICR ?
Bit 0 LINAX enabled
Bit 1 I-FORCE enabled
42
9.7 Move Axis by Forceteq®
The force processes of the XENAX® Xvi servo

controller cover four functionalities:
- I_FORCE CALIBRATION: Calibration of the motor

through detection of all idle running forces
including the payload of the client specific
installation on the slide. This creates the basis to
precisely determine the external application forces.
- I_FORCE LIMITATION: Driving with limited force to

an object or an end position if there are no objects
(e.g. inserting parts). Or driving with very little force
in order to detect an “object’s touching position”.
- I_FORCE MONITORING: Monitoring the force

progression by defining sectors in a force/way
diagram (e.g. inspecting switches). These sectors
can automatically be adjusted towards the “object’s
touching position”.
- I_FORCE CONTROL: Integration of different FORCE

functions into a program. This is how it becomes
possible to use the force processes decentrally in
the standalone operation mode. Of course, these
FORCE functions can also be invoked by a superior
PLC through Ethernet fieldbus.
Refer to chapter 12 Forceteq® Force Measurement

Technology for more information about force
processes.
43
9.8 Move Axis Motion Diagram
Recording position, speed, IForce and

position deviation
LOGGING AUTO
Recording starts, as soon as the drive has started. The
record lasts until the drive and a possible program
have ended.
LOGGING TIME
Recording starts, as soon as the drive has started. The
record lasts as long as the time indicated (2-8000ms).
record new
Initialization for new recording sequence. Wait for
message “ready for recording next motion”. Start
motion in command panel (move axis / by click or by
command line) e.g. G44000.
SPEED
Records speed in increments in relation to the
position.
I_FORCE
Records current in milliampere in relation to the
position.
DEVIATION
Records position deviation in increments.
Zoom Pan Reset
Zoom of curve section on time axis.

By dragging the mouse over a time section, this part
can be zoomed.
The "Reset" button undoes the zoom action. With the
"Pan" key the time axis can be moved with the
mouse.
44
Command
Enter command e.g. starting position of the motor,
REF, G0, drive on a position or repeat reverse (RR).
CURSOR VALUE
Shows the current values at the time of the cursor in
the recording.
safe file
Saves the motion profile on the computer.
open file
Shows a motion profile which was saved on the
computer. The upload has no influence on the
parameters of the servo controller.
45
9.9 Index
An Index is a motion profile and contains acceleration

(ACC), speed (SPEED), distance (DISTANCE) and TYPE
of distance („ABSOLUTE“ with reference to the zero
position or „RELATIVE“ with reference to the present
position).
The values always refer to increments of the
incremental encoder. The INDEXES simplify
programming and reduce the communication time by
serial control. Execute with IXxx<CR>.
A maximum of 50 INDEXES can be predefined.
NEW
Create new index
Parameter of the Index

ACCx1000 Acceleration (2-1‘000'000'000 x 1’000 Inc/s2)
SPEED Speed (10-100’000’000 Inc/s)
DISTANCE Distance in Inc
TYPE ABSOLUTE (Position), RELATIVE (Way)
COMMNANDS
CLEAR = Clears the Index
TEACH POS = Current position is set in the field
„DISTANCE”
EXECUTE = Index will be executed
COPY TO IXxx = Index will be copied into a new
Index
46
9.10 Drive I_Force
A DRIVE I_FORCE is driving with force consisting of

acceleration (ACC), speed (SPEED), current (I_FORCE)
and driving direction (DIRECTION).
Up to 10 DRIVE I_FORCE can be stored.
NEW
Create new Drive I_Force
Parameters of the Drive I_Force

ACCx1000 Acceleration (2-1‘000'000'000 x1000 Inc/s2)
SPEED Speed (10-100’000’000 Inc/s)
I_FORCEx10 Force Limitation (0-1‘800 x10 mA)
DIRECTION POSITIVE = Positive direction, NEGATIVE = Negativ direction
COMMANDS
CLEAR = Clears the Drive I_Force
EXECUTE = Drive I_Force will be executed
COPY TO DIFxx = Drive I_Force will be copied into a
new Drive I_Force
9.11 Sector I_Force
In the WebMotion® program menu „sector I-force“

up to 10 different force sectors can be defined.
Example:
Once an object is touched the force progression shall
be examined in a sector of 150 to 170 Increments.
When entering the force sector (“ENTRY”) the force
should be between 3 and 4N. When exiting the sector
(“EXIT”), the force should have reached 4N. These
force specifications are defined with the in the force
sector incoming and exiting sector boundaries.
Refer more Information in chapter 12 Forceteq®

Force Measurement Technology.
47
9.12 Program
Here you can define program sequences line by line.
PROGRAM
Select, create, copy or delete a program.
LINES
In this list all defined program lines of the present
program will be shown.
Maximum number of lines depends on program
mapping (PMAP, default = 0):
PMAP = 0 Prog 1-15: 50 lines Prog 16-63: 10 lines

PMAP = 1 Prog 1-5: 130 lines Prog 6-63: 10 lines
COMMANDS
CLEAR = Clears the Program-line
MOVE UP = Program-line will be moved up
MOVE DN = Program-line will be moved down
NEW LINE
A new program-line will be inserted in the last line
INSERT LINE
A new program-line will be inserted into any line. The
following program lines are shifted by one line.
48
9.12.1 Program commands
Description Command Parameter Master

/ Slave
Reference for LINAX®/ELAX® / ROTAX® and third party REFERENCE MS
motors
Execute index number xx or change according INDEX xx, yy, zz MS
operation yy with distance zz
Operation „EXE“: Drive index No. xx
and start a new index after COMPLETION zz% of the
actual index command
ACTION „=“: Set index distance to zz
ACTION „+“: Increase Index distance by zz
ACTION „-“: Reduce Index distance by zz
ACTION „POS“: Set Index distance to the slider actual
position.
Set Output number xx SET OUTPUT xx MS
Clear Output number xx CLEAR OUTPUT xx MS
Go to Line number xx GOTO LINE xx
Go to line number xx, if input number yy active GOTO LINE IF INPUT xx, yy
Set Loop Counter # to xxxx (1-10000) SET LOOP COUNTER (A-E) xxxx
Decrement Loop Counter #, if not zero, jump line xx. DEC LOOP COUNT (A-E) JNZ LINE xx
Loop counters can be interleaved with each other
Wait xx ms (in 10ms resolution) WAIT TIME (ms) xx
Wait for logical High of Input number xx within timeout WAIT INPUT NR HIGH xx MS
frame yy, otherwise jump to line zz „error handling“
(timeout can only be used locally, not for (remote)
Wait to logical Low of Input number xx within timeout WAIT INPUT NR LOW xx MS
(timeout can only be used locally, not for remote)
Set position counter to 0, (not possible with LINAX®/ CLEAR POSITION
ELAX®, with ROTAX® only possible if it is not
referenced)
Execute Profile number xx PROFILE xx MS
Start process timer TIMER START
Stop process timer TIMER STOP
Command TPT (Tell Process Timer) returns measured
time in milliseconds
LINAX®/ELAX® drives to mechanical limited position, REF LIMIT STOP
refer setup / reference.
Executing Force Calibration, Start Pos xx, End Pos yy FORCE CALIBRATION xx, yy
Automatic I_Force Drift Compensation drive I_FORCE DRIFT COMPENSATION xx
xx = POS => drive in positive direction
xx = NEG => drive in negative direction
Execute DRIVE I_FORCE No. xx DRIVE I_FORCE xx
Selection of active sectors with Bit mask. SELECT SECTORS xx
E.g. xx = 1010 sectors 2 and 4 are active. LSB is on
right.
Wait until Limit I_FORCE is reached according WAIT LIMIT I_FORCE xx, yy
parameter DRIVE I_FORCE within timeout xx, otherwise
jump to line yy „error handling“
Wait for distance (absolute position – Sector Offset) to WAIT FOR DISTANCE GREATER xx, yy, zz
be greater than xx within timeout frame yy, otherwise
jump to line zz „error handling“
49
Wait for distance (absolute position – Sector Offset) to WAIT FOR DISTANCE LESS xx, yy, zz
be smaller than xx within timeout frame yy, otherwise
jump to line zz „error handling“
Wait for process status register Bit xx High within timeout WAIT PROCESS STATUS BIT HIGH xx, yy, zz
Wait for process status register Bit xx Low within timeout WAIT PROCESS STATUS BIT LOW xx, yy, zz
Is taking the actual position as offset value for all sectors TAKE POS AS SECTOR OFFSET
followed by the restart of monitoring.
Furthermore the positions “Wait for distance
greater/less” and “Jump if distance greater/less” are
being adjusted by the offset as well.
Setting offsets for all sectors followed by the restart of SET SECTOR OFFSET xx
monitoring. xx = [Inc] Offset
Furthermore the positions “Wait for distance
greater/less” and “Jump if distance greater/less” are
being adjusted by the offset xx as well.
e.g. xx = 0, sets offset
incl. TAKE POS AS SECTOR OFFSET to 0
Changing Limit DR_I_FORCE to xx x 10mA CHANGE LIMIT I_FORCE xx
Value of I_FORCE will overwrite the current parameter
I_Force in DRIVE I_FORCE until DRIVE I_FORCE END
Jump to line zz if distance xx (absolute position – sector JUMP IF DISTANCE GREATER xx, zz
offset) greater than xx
e.g. driving distance was too big after force was reached
Jump to line zz if distance (absolute position – sector JUMP IF DISTANCE LESS xx, zz
offset) smaller than xx
e.g. driving distance was too small after force was
reached
Jump to line xx “error handling” if one or more sectors JUMP IF I_FORCE SECTORS FAULT xx
are not passed correctly. Only active sectors are being
tested. Caution: Before this analysis can be done,
“DRIVE I_FORCE END” has to be completed.
Stop Drive I_Force, current position = set point position, DRIVE I_FORCE END
parameter LIMIT DR_I_FORCE inactive
Power stage turned off, POWER QUIT MS
the linear motor can be moves by hand.
Power continues (>PWC) POWER CONTINUE MS
Turning on the power stage while using the most recent
absolute position and without the need of referencing
the linear motor, e.g. after error 50 or after “Power
Quit”. This is only possible as long as the logic supply
has not been interrupted after the linear motor was
referenced.
Program is being ended and does not proceed to last PROGRAM END
line. Beneficiary for „error handling“
Important Note:
All entries in menu application / program must be
“saved” in order to be activated
MS: Master/Slave function can be started on

another controller.
LOC = Local, ID1…4 = Device with according Card
Identifier (CI).
50
Example: Initialization LINAX®/ELAX®
This example shows the initialization of a

LINAX®/ELAX® linear motor with the command
REFERENCE which then drives to a defined starting
position (INDEX 1).
The start position is free to choose as long as it is

within the stroke of the motor. In this example the
axis drives to start position 0.
Important:
The command REFERENCE has to be completed once
after powering on the servo controller.
Only after reference, other motion commands are
possible.
Example: Initialization ROTAX® or third party

motors
The reference function for rotary motors can be
defined in the menu setup / reference (refer chapter
9.18.3 Reference ROTAX® und Third Party Motors).
With this function the motor drives first to a
reference switch (approx. zero) and then to the
encoder Z-mark.
If reference position differs from starting position, an

index (INDEX 1) can be executed to move to start
position.
The program starts with the ASCII command “PG1” in

the menu move axis / by command line or by
activating an input function “PG1”.
9.13 I/O Functions
OUTPUT FUNCTIONS
Assigning output functions to a physical output.
ON und OFF of the outputs by mouse click.
INPUT FUNCTIONS
Assigning input functions to a physical input.
Choice of high- or low-activity of all inputs.
In the operations overview, the physical input and

output conditions are displayed.
51
9.13.1 Selection of Input Functions
LINAX®: Reference for LINAX®, travels the distance of REFERENCE

two coded reference marks and calculates the absolute
position according LINAX® linear motor.
ELAX®: Reference for ELAX®, the absolute potion is
determined by driving to a mechanical limit.
ROTAX® and third party motors: Complete Reference
according to REFERENCE for ROTAX® and third party
motors...
Execute index number xx or change according operation INDEX xx, yy, zz
yy with distance zz
Execute Program xx PROGRAM xx
Set output xx SET OUTPUT xx
Clear output xx CLEAR OUTPUT xx
Drive (Jog) positive (const. speed xxxxx inc/sec) JOG POSITIVE xxxxx
while input # is active
Drive (Jog) negative (const. speed xxxxxx inc/sec) while JOG NEGATIVE xxxxx
input # is active
Capture Position, on triggered edge at input CAPTURE POSITION
Interrupt program, while Input active INTERRUPT PROGRAM
Stop Impulse, edge triggered*) STOP IMPULS
If a LINAX® is connected, it behaves like “STOP IMPULS
COUNTER”
Stop Impulse Counter, like “STOP IMPULS” but STOP IMPULS COUNTER
does not set position counter to 0*)
Limit-switch negative*) LIMIT SWITCH NEGATIVE
Limit-switch positive*) LIMIT SWITCH POSITIVE
Emergency Exit with power off*) EMERGENCY EXIT
Emergency Exit with power on, Position stop (Function EMERGENCY EXIT POWER ON
can only be used without bus module.
With bus module, apply function “EMERGENCY EXIT”)
Power ON continue, keep encoder counter POWER CONTINUE
Execute profile nr. xx PROFILE xx
Reference Limit Stop, also refer REFERENCE LIMIT STOP
menu setup / reference
Speed and acceleration will be reduced by xx percent OVERRIDE xx
Stops and quits active program PROGRAM EXIT
Drive I_Force No. xx DRIVE I_FORCE xx
Power stage turned off, the linear motor can be moved POWER QUIT
by hand.
*) Stop with ED
(Emergency Deceleration) braking ramp
52
Notes to Input Functions:
Except “EMERGENCY EXIT“ and “EMERGENCY EXIT

POWER ON“ all input functions must only be
parameterized in a Pick & Place Maser or Gantry
Master.
For rapid deceleration in emergency shut down
situations (“LIMIT SWITCH NEGATIVE“, “LIMIT
SWITCH POSITIVE“, “EMERGENCY EXIT“,
“EMERGENCY EXIT POWER ON“, “STOP IMPULS“,
“STOP IMPULS COUNTER“) the special ED (Emergency
Deceleration) can be given a value (COMMAND > ED
xxxxx).
The Emergency Exit functions have the highest
priority and are always activated immediately. As
long as “EMERGENCY EXIT“ is active no other function
can be executed.
For the other functions the following applies: If
another function is already active it has to be finished
before the next one is started. If several function calls
are current at the same time, then the one with the
lowest input number is executed first.
To run a program endlessly the assigned input can be
simply left active.
With “INTERRUPT PROGRAM” the program being
executed can be interrupted. If IP becomes inactive
the interrupted program will be continued directly.
With “STOP IMPULS COUNTER” the running
movement is stopped and aborted. A new travel
command can then be executed even with
unreleased stop impulse (“STOP IMPULS COUNTER”
active).
53
9.13.2 Selection Output Functions
REFERENCE has been completed REFFERENCE

In motion, motor is running IN MOTION
End of program END OF PROGRAM
Trigger (5ms, defined by TGU, TGD commands) TGIGGER
Error pending ERROR
Release brake BRAKE
In position, within deviation target position (DTP) IN POSITION
Limit I_Force reached (command LIF) I FORCE MAX LIMIT
I Force In Sector, when motion is completed I FORCE IN SECTOR
In Sector (during and after motion is completed) IN SECTOR
In Force (during and after motion is completed) IN FORCE
Warning pending WARNING
Information pending INFORMATION
9.13.3 Operation with Additional Holding Brake
An additional holding brake for LINAX® Lxs and Lxu

Motor types can be controlled with a XENAX® servo Enable/disable
controller. The output function BRK (Brake) can be commands
assigned to one of the controller outputs and used in
combination with the BRKD (Brake delay) parameter.
Power stage BRKD
This function allows the activation of a time delay by
turning off the power stage. First the brake control
signal output is set to low (brake is active) and after BRK Output
BRKD milliseconds (setting range from 1 to 1000ms)
the power stage is turned off.
This feature allows an active braking with a switched-

on power stage and after this a controlled power
stage turn off, when the brake is safely on. The time
delay is only effective by turning off the power stage.
54
9.14 Profile (Velocity)
Complex motion profiles can be linked with up to

seven profile segments.
The XENAX® servo controller is able to store up to five

profiles.
The profile definition includes a start position as well as

absolute end-position, end-speed and acceleration of
each profile segment. The result of these indications is
the segment type (Speed up, Slow down, constant
speed).
The “Profile Check” tests if the entered values can be
realized with the connected linear motor.
Before profile curve starts, the linear motor has to be

located at the predefined start position.
EDIT
NEW PROFILE = Enter new profile
CLR PROFILE = Clear profile
CURRENT PROFILE
This list contains all predefined profiles.
PARAMETERS
Set up of the parameters in
„CURRENT PROFILE“
S-CURVE Percentage S-curve rounding of the profile. Automatic

calculation of jerk parameter for each profile segment.
POSITION First panel: Input absolute start position
POSITION End position of corresponding profile segment

SPEED End speed of corresponding profile segment
ACCx1000 Acceleration within profile segment
PROFILE CHECK The parameters will be checked on drivability

(is distance long enough for demanded
speed and acceleration?)
Correct profile segments are colored in green, wrong
segments are red and untested segments are orange
Defined and tested profiles have to be stored in the
servo controller under „save“.
A profile can be started with the command PRFx. X

represents the profile number.
Profiles can also be started as input function or in a

program.
55
9.15 Captured Pos
The XENAX® servo controller has two special functions

to read the current position of the motor.
Record function of the actual position controlled by Input
In the WebMotion® menu I/O, you can select the

record function CPOS for all digital inputs 1-4.
Reaction time > 4 ms.
(Input 1 = Pos Input 1 etc.

ASCII command: TCPn (n = register number)
Record function of the actual position controlled by edge
With each increasing edge at input 4, the current

position of the motor is written in a buffer register
(Start is Captured Pos 1).
Reaction time ~ 4-6μs.

(First edge position = Captured Pos 1 etc.)
ASCII command: TCPn (n = register number)
Function is available over Jenny Science bus module in

asynchronous operation, too.
Object Sub Idx ASCII

5000h 0x5010 CLCP Clear all Captured Position CLCP
0x5015 Captured Position Mode Input 4 CP40
0x5016 Captured Position Mode Input 1..4 CP41
5003h 0x37 Read Buffer Position (1..8) TCPn (n=1..8)

0x38 Return of value
56
9.16 State Controller
The closed loop control system consists of a state Consult also the TUTORIAL Video
controller with observer. Tutorial 2: Initial XENAX® Xvi state controller setup
on our website. In this video you will see the basic
Basic Settings settings of the XENAX® Xvi servo controller for Jenny
These settings consent a very easy and clearly arranged Science linear motor slide.
controller configuration for most common applications.
Basic PAYLOAD
Additional payload on the linear motor in g. The weight
of the motor carriage slider is automatically taken into
consideration with the motor identification.
Or
Basic INERTIA (only for ROTAX® and Third Party Motors)
Adjustment of the external torque of inertia.

If a gear box is placed between the motor and the
load, you must adjust the external torque of inertia
according to the motor shaft. The gear transmission
ration needs to be squared.
e.g. With a gear transmission ratio of 20:1, we need to
reduce the external torque of inertia by a factor of 400.
For direct drive linear motors, it is important to set

the parameter for the moment of inertia of the
external payload (INERTIA), otherwise the linear
motor oscillates. Because there is a factor of 10-9,
there can be very large values. If so, please enter the
parameter in the corresponding field.
Calculation Example: The external payload is a
homogenous disc of 1.1kg and Ø200mm.
Formula is as following:
= ⋅ = 5.5 ⋅ 10 kgm
scaling factor with 109 results in a parameter value of
5‘500‘000.
(Please refer to XENAX® Servocontroller/General files

for XENAX® Xvi/PARAMETER OF ROTATIVE.pdf on
www.jennyscience.ch/en/download.)
Basic GAIN POS

Gain of position controller. This parameter must be
reduced when payload is increased.
The “Auto Gain” function
automatically proposes a value
57
Auto Gain
Sets the gain of position controller based on the
entered payload value.
This is a theoretically calculated value. A small
adjustment might be necessary and can be completed
with “GAIN POS”.
Noise GAIN CUR

Gain of current controller. The reduction of this gain
consents a diminution of noise emissions in case of
sound-sensitive environments.
Deviation POS ACT

Maximum position deviation in encoder increments.
If this value is exceeded, the error 50 occurs and
flashes on the 7-segment display.
Deviation TARGET
Permissible position deviation in the target point until
the status “in position” comes up.
Default
Standard setting of the different parameters. All
parameters can be manually modified during the
controller tuning and can be reset to default values
with the „Default“ button.
Advanced
Switch to advanced controller configuration
parameters
Advanced Settings
These settings permit an advanced controller tuning
for complexes constructions affected by mechanical
vibrations.
Stability STAB – DYN

This parameter is set per default at 0 and consents to
set the controller stability against external
disturbances.
Settings in positive direction can improve the
dynamic response of the system for basic mechanical
construction with small payloads.
Settings in negative direction can reduce the
sensitivity of the system to mechanical vibrations.
58
Avoid vibration FREQ
Current filter frequency. The filter is best suited for
the reduction of vibrations with well pronounced
frequencies Typical values are in between 300-500Hz.
At a value of 0, the filter is not active. The frequency
can be automatically detected with an internal scan
function (refer to chapter 9.16.1 F Setting) or
eventually with the help of a smartphone app.
There are 2 types of filters available “active” and
“notch” which can be active on different frequencies.
The "active" is to be preferred, as it has little
influence on the control loop performance. For
resonance frequencies with a wide spectrum, a
"notch" filter should be used.
Swing out reduction

This feature permits an automatic modification of the
target trajectory, so that the settling time after a
finished move can be reduced.
For this swing out reduction, two parameters have to
be identified and set:
damping and frequency of the oscillation.
Setting one of the two parameters at 0 disables this
feature.
Important Note:
The calculation of the target trajectory can not be
abruptly changed in motion. After setting a new value
for frequency or damping the axis should remain at
standstill at least for 1000ms, before so that the new
set of parameters will be inconsistent.
(refer to Info 27 in chapter 14 Error Handling).
Attention:
In the case of cyclic interpolated target position
operation with a superordinate PLC, the internal
controller desired trajectory is modified and the
original target position will be reached with some
time delay. The correct reaching of the target position
must be ensured, tracking the actual position value,
prior to start a new motion.
Swing out reduction DAMPING

This parameter consents to set the damping of the
mechanical swing out oscillation in % and depends on
the load.
Swing out reduction FREQ

This parameter permits to set the frequency of the
mechanical swing out oscillation with a resolution of
0.1Hz. These oscillations exhibit low frequencies
(usually below 30Hz).
The slowest possible frequency to be set is 2Hz.
59
This frequency can be extracted for the “DEVIATION”
curve in “Motion Diagram” if the ratio between load
and slider load is sufficiently high.
If this is not the case, this frequency can be
determined with the help of a highspeed camera, an
acceleration sensor or a smartphone app for vibration
measurements.
Basic Settings
Switch to the basic controller configuration
parameters.
9.16.1 F Setting
The band width of the position control (GAIN POS)

should be set as high as the movements can be
completed within the tolerable position deviation but
before the motor begins to oscillate. In some
applications, usually with high payloads, it sometimes
happens that no setting can be found that meets
both criteria. If the motor with a set band width
begins to oscillate because of a resonance in the
system, this oscillation can possibly be suppressed
with a filter.
In the menu „state controller“ in WebMotion® the

correct PAYLOAD and the required GAIN POS have to
be set. If the motor oscillates, the resonance
frequency can be found and suppressed with the
frequency analysis function.
With the button „Scan>“, the frequency analysis pops

up.
When operating, the frequency analysis can be

started anytime. But because the current of the
motor is being analyzed for the frequency analysis
the, the output stage must be turned on. As soon as
the analysis is completed, the measuring results are
shown in WebMotion® and the frequency can be set.
60
Settings for the Frequency Analysis:
Recordable Time:
The longer the recording time is, the higher is the
frequency resolution, but the smaller is the
measurable frequency range. For each recordable 0.4s -> 0 – 5000Hz
time, the according measurable frequency range will 0.8s -> 0 – 2500Hz
be shown. Please begin with the minimal recording
1.6s -> 0 – 1250Hz
time of 0.4s (with the maximal frequency range). For
low resonance frequencies, the analysis can be 3.2s -> 0 – 625Hz
repeated with higher recording time and reduced
frequency range.
Go while F Analysis
Turned off:
During the frequency analysis there is no movement
of the axis. Please select this option, when the
analysis should be completed in halt mode or when
there is already a movement active (e.g. through a
running program or through a superior PLC).
Turned on:
During the frequency analysis, the axis moves to the
indicated position within the selected recording time.
F Analysis
Starts the frequency analysis (and the movement if
„Go while F Analysis“ is turned on).
Set
If the cursor is located in the adjustable filter
frequency range (Notch: 160…2000Hz, Active:
200…2000Hz), the filter frequency can be set
according to the frequency the cursor shows by
clicking the button „Set“. Directly after the frequency
analysis, the cursor is automatically located on the
frequency with the maximal amplitude within the
adjustable filter frequency range. It is likely that this is
where the resonance frequency is. However, the
cursor can be moved anytime to set another filter
frequency.
If the filter shall be turned off, then the button
„Off“ can be pushed.
61
Process of a Frequency Analysis:
This process shows a typical process of a frequency

analysis:
Notes to frequency analysis:

 The filter frequency might not always be able to clear
the oscillation. Especially when the resonance frequency
is low, the controller can possibly be affected too much
by the filter frequency and the oscillation won’t
disappear. In this case please reduce GAIN POS until the
oscillation disappears.
 If there are multiple resonance frequencies, try to put
the filter frequency in the approximate middle of the
resonance frequency.
 On frequency 0, the mean current will be displayed
during the frequency analysis. It corresponds to the DC-
portion of the motor current, which is rarely 0.
Diagram Amplitude
In this diagram, the amplitudes of all existing
frequencies in the motor current are shown. The
amplitude and the frequency of the cursor position
are displayed on the left side of the diagram.
Diagram I-Motor
This diagram displays the motor current for the
frequency analysis. The motor current and the
recording time at the cursor position are displayed on
the left side of the diagram. Furthermore the same
legend shows the position the linear motor slide was
located, at the time of the recording.
62
9.17 Motor
9.17.1 Motors LINAX® and ELAX®
MOTOR TYPE
The connected motor type of LINAX® and ELAX®
series will be recognized and shown automatically.
I STOP
Continuous current limitation in standstill.
I RUN
Continuous current limitation while moving.
NUMBER OF POLE PAIRS

LINAX® Lx and ELAX® Ex linear motor pole pairs = 1
INC PER REVOLUTION

Number of encoder increments per revolution.
Linear motor axis:

Lxc 44F04, INC PER REVOL = 12'000
other LINAX® products Lxc, Lxe, Lxu, Lxs,
INC PER REVOL = 24'000
ELAX®, INC PER REVOL =14’171
PHASE DIRECTION
Direction of phase control
U, V, W or V, W, U, depending on motor type.
LINAX® / ELAX® linear motor, PHASE DIR = 0
PHASE OFFSET
Correction of electrical angle, in accordance with the
orientation of the coil to the magnet. Value for all
LINAX® and ELAX® products and the most of rotary
motors PHASE OFFSET = 0
63
9.17.2 Motor ROTAX®
MOTOR TYPE
The connected motor type of ROTAX® series will be
recognized and shown automatically.
I STOP
Continuous current limitation in standstill.
I RUN

Number of pole pairs of AC / DC / EC brushless servo
motors. For DC brush-type servo motors, set POLE
PAIRS to 0.
INC PER REVOLUTION

Number of encoder increments per revolution by AC / DC /
EC brushless servo motors. Not used for DC brush-type
servo motors.
PHASE DIRECTION
U, V, W or V, W, U, depending on motor type. Can be
detected with command PHDD.
With DC brush-type servo motors:
PHASE DIR = 0, if motor shaft turns clockwise with direct
DC-supply voltage.
PHASE DIR = 1, if motor shaft turns counter clockwise with
direct DC-supply voltage.
PHASE OFFSET
orientation of the coil to the magnet. Value for the most of
rotary motors PHASE OFFSET = 0
ROTOR INERTIA
Rotor moment of inertia of the motor, with factor 109.
TORQUE CONST
Torque constant of the motor, with factor 106.
INDUCTANCE
Phase to phase inductance of the motor.
RESISTANCE
Phase to phase resistance of the motor.
64
9.17.3 Third Party Motors
THIRD PARTY MOTOR

Motors that are sold by Jenny Science, are available in the
database and can be selected.
For parameterization of rotary servo motors, refer to the

document XENAX® Servocontroller/General files for
XENAX® Xvi/PARAMETER OF ROTATIVE.zip on
www.jennyscience.ch/en/download.
I NOM (FOR I2T)

Acceptable thermic continuous current. Used for I2T
monitoring and current limitation in standstill.
I PEAK

Number of pole pairs of AC / DC / EC brushless servo
motors. For DC brush-type servo motors, set POLE
PAIRS to 0.
INC PER REVOLOLUTION

Number of encoder increments per revolution by AC / DC /
EC brushless servo motors. Not used for DC brush-type
servo motors.
PHASE DIRECTION
U, V, W or V, W, U, depending on motor type. Can be
detected with command PHDD.
With DC brush-type servo motors:
PHASE DIR = 0, if motor shaft turns clockwise with direct
DC-supply voltage.
PHASE DIR = 1, if motor shaft turns counter clockwise with
direct DC-supply voltage.
PHASE OFFSET
orientation of the coil to the magnet. Value for the most of
rotary motors PHASE OFFSET = 0
ROTOR INERTIA
Rotor moment of inertia of the motor, with factor 109.
TORQUE CONST
Torque constant of the motor, with factor 106.
INDUCTANCE
Phase to phase inductance of the motor.
RESISTANCE
Phase to phase resistance of the motor.
65
9.17.4 Position Overflow
For ROTAX® servo motor types and Third Party Rotative

Motors, which are operated e. g. as rotary tables always in
the same direction of rotation, it can occur that the
encoder position reaches very high positive or negative
values
In order to ensure that the position can be continuously

incremented in positive or negative direction, a controlled
overflow mechanism is integrated in XENAX® servo
controller.
The maximum position values correspond to

231-1 = 2’147’483’647 inc in positive direction and
-231=-2’147’483’648 inc in negative direction.
The overflow takes place between these two values.
2’147’483’647 <> -2’147’483’648

+1 inc
31
2 -1 -231
Example: positive overflow
Actual Position: 2’147’483’646 inc

Relative Motion: 10 inc
Motion:
Start position: 2’147’483’646 inc
2’147’483’647 inc
-2’147’483’648 inc
-2’147’483’647 inc
…
Target position: -2’147’483’640 inc
-1 inc
231-1 -231
Example: negative overflow
Actual Position: -2’147’483’648 inc

Relative Motion: -20 inc
Motion:
Start position: -2’147’483’648 inc
2’147’483’647 inc
2’147’483’646 inc
…
Target position: 2’147’483’628 inc
66
9.18 Reference
9.18.1 Reference LINAX®
9.18.1.1 Reference Absolute, According Reference

Marks
REFERENCE Selection
Default, reference over two reference marks on the

measuring scale with calculation of the absolute
position. This position refers to the mechanical zero
point of the LINAX® linear motor axes.
DIRECTION
Enter start direction of the reference travel direction:
POSITIVE (DEFAULT) = Reference direction up. Away,

from absolute zero point, in
positive direction.
NEGATIVE = Reference direction down,
direction towards absolute zero
point.
GANTRY => POS = Motors in same direction up, in
positive direction (away from
zero
point).
GANTRY => NEG = Motors in same direction,
negative direction (towards zero
point).
GANTRY<=>POS = Motors in opposite direction up.
GANTRY<=>NEG = Motors in opposite direction
down.
9.18.2 Reference ELAX®
ELAX® does not possess Z-marks on the measuring scale.

The absolute position is determined by driving on a
mechanical limit. The direction of the reference can be
positive or negative (refer to ASCII command “DRHR”)
67
9.18.2.1 Reference with Internal Limit
If there are no externally mounted limit stops („MLPN“ = 0

and „MLPP“ = 0), the reference will be completed by the
internal mechanical limits of ELAX® itself.
ASCII command „MLPN“= Mechanical Limit Position Negative
ASCII command „MLPP“= Mechanical Limit Position Positive
Negative Reference (DRHR = 1)

The slide drives in negative direction until the mechanical
limit is recognized. This position will then be set to <-
1mm> as per definition. In order to complete the
reference, the slide moves then to the absolute position 0.
ASCII command „DRHR“= Direction REF
Positive Reference (DRHR = 0)

The slide drives in positive direction until the mechanical
limit is recognized. If the calibration of the internal
mechanical limit was completed (MLC, Mechanical Limit
Calibration)positively, the current position is set to the
value “DMLPP“. If no calibration of the internal mechanical
limit was completed positively („DMLPP“ = 0),the current
position is set to <stroke ELAX + 1mm> as per definition. In
order to complete the reference, the slide moves then to
the absolute position <stroke ELAX + 1mm>.
9.18.2.2 Reference with External Limit
If there are externally mounted limit stops (MLPN ≠ 0 or

MLPP ≠ 0), the reference (REF) will be completed to one of
the externally mounted limit stops.
ASCII command „MLPN”= Mechanical Limit Position Negative
ASCII command „MLPP”= Mechanical Limit Position Positive
Negative Reference
The slide drives in negative direction until the mechanical
limit is recognized. This position will then be set to the
value of „MLPN“. In order to complete the reference, the
slide drives to the absolute position <MLPN +1mm>.
Positive Reference
The slide drives in positive direction until the mechanical
limit is recognized. This position will then be set to the
value of „MLPP“. In order to complete the reference, the
slide drives to the absolute position <MLPP - 1mm>.
Important Note:
The position of an externally mounted mechanical limit has
to be accurate. If the entered position of the externally
mounted limit stop is wrong, the alignment of the coils to
the magnets cannot be completed and the motor won’t be
capable to drive. If the ELAX® slide is driven to the internal
negative limit position, the slide is positioned at <-1mm>
as per definition. The position of an externally mounted
limit stop has to be indicated in relation to <-1mm>
68
9.18.3 Reference ROTAX® und Third Party Motors
For ROTAX® and third party motors only, for LINAX®

or ELAX® please use directly command „>REF“.
CLOCKWISE = clockwise
COUNTER CLOCKWISE = counter clockwise
REF DIR
Defines start direction for searching the external REF
sensors 1 = CLOCKWISE, 2 = COUNTER CLOCKWISE
REF SPEED
Defines speed to search the external
REF sensor.
If no home sensor exists, then set this value to 0.
REF INPUT
REF sensor external, input number (NONE or 1-4).
Z-MARK DIR
Defines start direction for searching the Z-mark on
encoder 1 = CLOCKWISE, 2 = COUNTERCLOCKWISE.
Or 3 = ON SHORTEST WAY (shortest way, only
possible at ROTAX® Rxvp).
Z-MARK SPEED
Speed to search the Z-mark. If no Z mark (Reference
mark) exists, then set this value to 0.
CLEAR OUPTPUTS
Set all outputs to OFF after reference.
Note for ROTAX® Rxhq:

Due to the absolute position, the ROTAX® Rxhq is
immediately ready for operation after power-on, no
reference drive is necessary.
For this purpose, the Z-MARK DIR must be set to 0
and the REF INPUT to NONE.
The position of the encoder immediately after startup
always has a value between 0 and 119'999Inc. E.g. in
case of a mechanical stop the movable range of the
encoder changes depending on the range (between 0
and mechanical stop in positive direction or between
0 and mechanical stop in negative direction) in which
the motor is starting up.
69
9.18.4 Reference to Mechanical Stop
Selection REFERENCE LIMIT STOP
After the ordinary reference of a LINAX® or ELAX®, it

is possible drive to a mechanical stop.
Important: This function is optional and has no

influence to the absolute positioning counter.
CREEP DIR
POSITIVE (Travel direction positive)
NEGATIVE (Travel direction negative)
CREEP SPEED
Speed to mechanical stop [Inc/s].
CURRENT LIMIT
Nominal motor current [x10mA] during reference
Power F = motor current x force constant
REF WINDOW
Maximal allowed variation compared to last REF
position [Inc].
REF WINDOW = 0, testing off

Output Function REF = 1
REF WINDOW = 1, testing on
Variations within allowed tolerance (REF Window):

Output function REF = 1, current REF position will be
new reference position.
Variations out of allowed tolerance:

Output function REF = 0,
The subsequent reference will be the new reference
position.
70
9.18.5 Correction Table for LINAX® / ELAX®
Depending on the application’s construction in which a

LINAX® or ELAX® linear motor axis is used, it is possible
that the encoder position does not correspond to the
actual physical position of the linear motor slide (e.g. in
cross table or for high cantilevered applications with
leverage effect).
To a certain degree, the XENAX® servo controller offers the

possibility to correlate the encoder position with the actual
position. The correction table in WebMotion® offers 51
entries in which the physical position can be entered in
fixed distances to the encoder position. The physical
position can be measured with an interferometer.
The range for the way can be freely selected.

Furthermore, the starting point and the distances
between the entries of the table can be defined. If for
example the range 0-100’000 increments shall be
corrected, the starting position is 0inc and the
distance for the 50 remaining table entries is 2’000
inc (100’000 / 50).
The correction values for the table are determined as

follows: If the correction table is deactivated, all
positions that were entered in the table are being
driven to (example above: 0inc, 2‘000inc, 4‘000inc, …,
100‘000inc). At each position, the actual physical
position has to be measured and entered in the
correction table. When activating the correction
table, all driving commands refer to the actual
physical position and no longer to the encoder
position of the LINAX® or ELAX® linear motor axes.
Limitations
- Correction table is not supported in case of rotary
motors
- Correction table is not supported with
communication over Real time Bus module (for
example EtherCAT)
- This correction table runs with following
commands and functions only: >G, >GP, >GW,
>IX, >PRF, >RR, >RW, >TP
71
Input the correction values with WebMotion®:
With the navigation setup/reference in case of
LINAX® or ELAX®
INIT Initialize correction table, physical position

value = encoder value
OFF Correction not active, moving commands refer to

encoder position value
ON Correction table active, moving commands refer

to physical position value
POS START Startposition of correction table.
DIST POINTS Distance between data entries in

correction table
Physical absolute Position, measured with laser

interferometer.
If you enter a G8000 by command, and the laser
interferometer reads the physical position 8011,
Encoder Position (automatically you can put it in the table and press ENTER to
generated from POS SSTART take it over to the table.
and DIS POINTS)
Notes to correction table:

 For the positions outside of the correction table, the
correction of the first respectively the last entry in
the correction table holds valid. For example, the
last entry is „ENC:100‘000 -> PHYSICAL 100‘017“, so
for the encoder position of 110‘000 the physical
value of 110‘017 is considered.
 The position values between the table entries are
interpolated.
 The correction table is saved in the application data
of the XENAX® servo controller.
 After a reset of the XENAX® servo controller
(command “RES”), the correction table will be
initialized and deactivated (physical position =
encoder position).
 During the measurement of the physical position
values, the correction table has to be deactivated.
72
ASCII Commands
>RES (Reset XENAX®) the correction table status
is OFF, encoder values = physical values
>CTAB 0 (= OFF)
>CTAB 1 (= ON)
>CTAB 3 (= INIT)
>CTPS 0 (set correction table position start)

>CTDP 10000 (set correction table distance
points)
Setup individual correction table values

>CTPO 20000 (preselect absolute encoder
position)
>CTVA 20003 (set correction table value with
measured physical absolute
position)
Important:
The reference point is also depending on the mechanical
precision.
Hence this reference point must be always at the same
position
We look for Reference REF 2 times.
Application example for Reference:

>REF Absolute position is calculated
anywhere on the linear motor stroke
>G0 Go to absolute position 0
>REF Absolute position is calculated next to
the 0 point
This is repeatable at the same position.
>G0 Go to absolute position 0
 Now the Linear motor axis is ready
Remark: The position (WebMotion®/ TP „Tell

Position“) is the physical absolute position
The POSITION Value is blinking red/white when the
correction table is in use.
Influence of Temperature on Measuring System

Besides the position deviation, which can be corrected
with the correction table, the temperature influence on
the measuring system has to be considered, too.
The deviation due to temperature can’t be corrected in the
correction table and is about 8.5µm per degree Celsius and
meter for the optical measuring system. The optical
measuring system
Please refer to data sheet of the according motor.
Examples:
1000mm optical glass scale: per 1° Celsius 8.5µm deviation
230mm optical class scale: Per 1° Celsius 2µm deviation
73
9.19 Basic Settings
General basic settings
MODE
Choose mode:
Standard 0
Electronic Gear 1
Stepper Control 2
INC PER PULSE

Inc. pro Pulse, MODE 2, Puls/Direction controlling.
SYNC RATIO
Ratio of electronic gear
CARD IDENTIFIER
Master/Slave, CANopen, Powerlink
Read form start-up key (2 x binary coded switch)
or set manual if there is no start-up key.
IP ADDRESS
Ethernet TCP/IP Adresse
SUBNET MASK
Ethernet TCP/IP Subnetmask
74
9.20 Version
Overview of hardware and software versions of

XENAX® and bus module.
XENAX®
Overview of firmware, WebMotion®, hardware and
MAC-address.
BUS-MODULE
Optional bus module with version indication and
protocol type.
Mac-address issue with Profinet / Powerlink and
EtherNet/IP
If the Mac-address is 0, the Card Identifier is missing.
IP address issue with EtherNet/IP
75
9.21 Update Firmware / License
Loading new version of firmware and new

WebMotion® to XENAX® or to bus module.
Update of License.
The matching software components and hardware
platforms can be found in the release notes.
XENAX FW Xvi48V8
Update of firmware. After switching to the
Update GUI, "FIRMWARE" can be selected in the
dropdown menu. Then select the <*.mot> file by
clicking on "from file" in the Explorer window. After
installation and switching back to the WebMotion®
interface ("Exit Update GUI") all functions are
immediately available.
Recommended procedure of firmware download:

- Save application
- Disconnect PLC-connector and bus module cable if
possible.
- We recommend using a point-to-point connection
from PC to XENAX®, not via switch.
- After completion of firmware download reset servo
controller with command “RES” (reset) in menu move
axis / by command line
- Reload the application into WebMotion® and
download it to servo controller.
XENAX WebMotion
Update from WebMotion®. After switching to the
Update GUI, you can select "WEBMOTION" in the
dropdown menu. Then select the <*.mot> file by
clicking on "from file" in the Explorer window. After
installation and switching back to the WebMotion®
interface ("Exit Update GUI") all functions are
immediately available.
XENAX License Code

Updating the license code
Possible licenses:
LINAX® Linear motor axis
Force processes (Forceteq®)
LINAX® and Force processes (Forceteq®)
BUS-MODULE Firmware
Update of Busmodul Firmware
(Only available if a bus module is present).
Select and load file (*.flash).
It is recommended to load the corresponding EDS
(electronic data sheet) file into the PLC. This is
contained in the folder of the firmware.
76
Note:
Alternatively, the JSC Ethernet Installer can be used
to update each Firmware on several XENAX® Servo
controllers simultaneously.
9.21.1 Display the actual license code
The activated licenses are displayed, when the

WebMotion® is starting.
Or under
WebMotion® Start-> Operation
-> firmware -> version
9.21.2 Subsequent license ordering
The MAC-address must be sent to Jenny Science for

any subsequent license ordering,
WebMotion® Start-> Operation
-> firmware -> version
Possible licenses:
LINAX® Linear motor axis
Force processes (Forceteq®)
LINAX® and Force processes (Forceteq®)
9.21.3 License activation
WebMotion® start
Click on firmware / update
77
Click on XENAX® -> License Code
Entry the new given (from Jenny science) license

code, in the displayed windows.
Click on SET LICENSE CODE
WebMotion® is starting new and display the new

activated license.
By wrong license code introduction,

„No Additional Licenses“ would be displayed.
78
9.22 Save
Saves applications, which contain all from the client

saved parameters, data and programs.
to XENAX
saves applications from WebMotion® to XENAX®.
to file
saves applications from WebMotion® to a file on
PC/Laptop (Harddisk, Server).
to start-up key
Saves applications in the start-up key to load faster
on other XENAX®. If "with Ethernet settings" is
checked, the Ethernet settings are also saved on the
Start-up Key and thus copied to another servo
controller when loading.
9.23 Open
Opens applications, which contain all from the client

saved parameters, data and programs.
from file
loads an existing application from a file to
WebMotion®. Data will be stored into XENAX®.
79
10 Master / Slave
With the master/slave configuration you can control

up to 4 axes with one central program.
Typical applications are handlings modules

(pick&place).
The master controls his slave’s autonomously in

stand-alone operation and can directly be controlled
by a superior system over simple I/O signals.
10.1 Master/Slave Configuration
Master and slave devices are absolute identical

standard XENAX® servo controllers.
The I2C bus is interconnected via short standard USB

patch cables. Both plugs (USB-A) are usable.
No difference between input and output.
The parameter CI (Card Identifier) must be set on the

involved devices as follows:
Device CI Remote ID
Master 0 LOC (local) programs
Slave 1 1 REM ID1 -
Slave 2 2 REM ID2 -
Slave 3 3 REM ID3 -
Important:
The program is running on the master servo
controller.
On the slaves servo controller must be no programs
loaded.
The start-up key functionality is disabled in

master/slave configuration and must be
disconnected.
80
10.2 Programming example Pick&Place
X-Axis Master (LOC) IX2

Z-Axis Slave (REM ID1)
IX1 IX3
START
IX4
IX3 IX1
STOP
Please note:
All indices and profiles have to be defined exclusively
in the master device. After turning on the devices,
indices and profiles will be automatically transferred
to the slaves.
10.3 Timing Master / Slave
The program interpreter is triggered in 1ms intervals.

The transmission of a command from the master to
the slave takes an additional 0.45ms.
The measurement of time critical sequences is

possible with the process timer functionality and the
commands: “TIMER_START” und “TIMER_STOP”. The
process time can be read with the command TPT (Tell
Process Timer).
81
11 Gantry Synchronized Mode
In the gantry mode there are two linear motor axes

mounted with the same driving direction. Those two
axes have to move synchronously. In this example
these are the y-axes marked with the arrows.
When switching on the system, these two Y-axes

have to be aligned in order to move without
mechanical tension.
The alignment is automatically completed with the

function “REFERENCE”. For “REFERENCE” function for
gantry systems you will need the following
information:
The arrangement of the two linear motor axes
Is driving direction from the mechanical absolute zero

point the same for both axes or in opposite direction
In which direction should the reference be completed

(parameter DRHR)
11.1 Activate Gantry Mode

The axis with which will be communicated by ASCII
commands is the master. The slave has to be
connected to the master via A-A cable.
The slave has to be assigned a CARD IDENTIFIER

between 1 and 3. This can be done by WebMotion®
under “setup / basic / CARD IDENTIFIER” or with ASCII
command Corresponds to CI
CI x (where x = 1-3).
The card identifier (CI) can also be assigned with a Master-Slave
start-up key and an address from 1 to 3. When USB A-A cable
turning on the logic supply the next time, this CI
number of the start-up key is set.
The master has to be assigned to the number 0 or a
different Card identifier (CI) than its slave.
XENAX® Parameter Description Settings WebMotion®

SLAVE CI Card Identifier (settings only necessary on the XENAX® Master)
MASTER DRHR Direction of reference
drive and arrangement
LINAX® / ELAX® linear
motor axes.
Corresponds to DRHR
MASTER GSID Gantry Slave ID
corresponds to CI Slave Corresponds to GSID
The gantry mode is activated with these settings.
82
11.2 ASCII Commands for Gantry Synchronized
Mode
Command Description
Can also be triggered as INPUT FUNCTION in the
REF Reference
master.
GP / G Go Position / Go direct Position Reference, profile and indices can also be invoked in a
GW Go Way program.
IX Index
PRF Start profile No. xx
PG Program
EE* Emergency Exit
EE1* Emergency Exit 1
SM Stop Motion
* EE and EE1 must only be parameterized in a Gantry

Master
83
12 Forceteq® Force Measurement Technology
12.1 Forceteq® basic current based with self

calibrated motor
The Forceteq® basic measurement technology is completely integrated in the

XENAX® Xvi servo controller. This allows force-monitored control of all Jenny
Science linear and rotary motor axes. The force is measured during the
production process using the patented Forceteq® measurement technology, no
external load cell is required. This allows you to acquire and record quality-
relevant force-distance diagrams for all movements. Assembly operations can
be monitored "in-process". Errors and discrepancies are detected immediately.
This means better quality and higher throughput. Additional checking stations
are no longer necessary.
- For Standalone
Operation
- Up to 10 force sectors
programm able with
WebMotion®
The individual axis types have different resolution and accuracy of the force and
the measurable minimally measurable force.
Minimally
Linear-Motor Force Constant Resolution
Measurable Force
LINAX® Lxc F08 1N ~ 32 * 10 mA 0.5 N 0.25 N
LINAX® Lxc F10 1N ~ 28 * 10 mA 0.5 N 0.25 N
ELAX® Ex F20 1N ~ 12 * 10 mA 0.5 N 0.25 N
LINAX® Lxc F40 1N ~ 11 * 10 mA 1.0 N 0.5 N
LINAX® Lxu F60 1N ~ 10 * 10 mA 10.0 N 5.0 N
Minimally
Rotativ-Motor Torque Constant Resolution
Measurable Torque
ROTAX® Rxhq 110-50T1.5 10mNm ~ 2.5 * 10 mA 60 mNm 30 mNm
ROTAX® Rxhq 50-12T0.3 10mNm ~ 8 * 10 mA 20 mNm 10 mNm
ROTAX® Rxvp 28-6T0.04 10mNm ~ 23 * 10mA 6 mNm 3 mNm
84
12.2 Forceteq® basic via Realtime Bus
The force values are transmitted as process data

objects (PDO) cyclically according to the bus cycle time
12.2.1 CANopen over Ethernet
Parameter Objekt (PDO) Description

Position Actual [Inc] 6064h Position actual
I_Force Actual [mA] 2005h Force-equivalent current actual
Limit I_Force [x10mA] 6073h Limitation of force-equivalent current
Limitation of force-equivalent current
Process Status Register 2006h Bit 15
reached
12.2.2 Ethernet/IP
Parameter Class Instanz Id Description

PositionActual [Inc] 0x66 0x1 0x24 Position actual
IForceActual [mA] 0x64 0x1 0x5 Force-equivalent current actual
LimitIForce [x10mA] 0x66 0x1 0x33 Limitation of force-equivalent current
ProcessStatusRegister 0x64 0x1 0x6 Bit15
reached
12.2.3 Profinet
PROFIdrive I/O Data

Parameter Description
Telegram 9 Number
XIST_A [Inc] Standard 4&5 Position actual
Supplementary
I_Force Actual [mA] Data 4 2&3 Force-equivalent current actual
Data 5 1&2
Supplementary
Limit I_Force [x10mA] Data 4 1 Limitation of force-equivalent current
Data 5 1
Supplementary
Process Status Register Data 4 6&7 Bit 15
reached
Data 5 5&6 Bit 15
85
12.3 Forceteq® basic via XENAX®
12.3.1 I_Force Calibration
With the patented function „force calibration“ of the

XENAX® servo controller, the cogging-, load- and
friction forces of the iron core LINAX® and ELAX®
linear motor axes and the ROTAX® rotary axes from
Jenny Science can be detected. This is how it
becomes possible to limit, monitor and control forces
in processes.
START: Determining the beginning position of

calibration process in increments.
 Normal operation, calibration active
END: Determining the ending position of calibration  Test calibration active
process in increments.  Test without calibration
In order to increase the accuracy of the detected

forces at temperature variations, the temperature
drift of the detection is continuously compensated at
disabled power stage. The compensation also takes
place before each start of a „force Calibration“.
12.3.2 I_Force Limitation
The current value „I_Force“ is proportional to the

force. Following graph shows corresponding relations
for the different linear motor types.
LINAX® Force Constant Minimal Resolution

Linear Motor Axis detectable force
Lxc F04 50 * 10mA ~ 1N 0.5N 0.25N
Lxc F08 32 * 10mA ~ 1N 0.5N 0.25N
Lxc F10 28 * 10mA ~ 1N 0.5N 0.25N
Lxc F40 11 * 10mA ~ 1N 1N 0.5N
Lxe F40 11 * 10mA ~ 1N 10N 5N
Lxu/Lxs F60 10 * 10mA ~ 1N 10N 5N
ELAX® Force Constant Minimal Resolution
Linear Motor Slide detectable force
Ex F20 12 * 10mA ~ 1N 0.5N 0.25N
ROTAX® Torque Constant Messbares Resolution
Rotary Motor Axis Min.moment
Rxhq 110-50T1.5 2.5 * 10mA ~ 0.01Nm 0.06Nm 0.03Nm
Rxhq 50-12T0.3 8 * 10mA ~ 0.01Nm 0.02Nm 0.01Nm
Rxvp 28-6T0.04 23 * 10mA ~ 0.01Nm 0.006Nm 0.003Nm
Example:
A compression die should apply no more than 4N
force on an object.
Force Limitation with „LIMIT I-FORCE“
e.g.. ELAX® force constant: 12 x 10mA ~ 1 N
48 x 10mA ~ 4 N
86
12.3.3 I_Force Monitoring
12.3.3.1 Diagram I_Force
In the menu „Diag I_Force“ the way/force diagram

can be recorded by which the force progression
through the sectors can be verified.
12.3.3.2 Sector I_Force
In the WebMotion® program menu „sector i-force“

up to 10 different force sectors can be defined.
Example:
Once an object is touched the force progression shall
be examined in a sector of 150 to 170 Increments.
When entering the force sector (“ENTRY”) the force
should be between 3 and 4N. When exiting the sector
(“EXIT”), the force should have reached 4N. These
force specifications are defined with the in the force
sector incoming and exiting sector boundaries.
Force Specification Examples:

1) Force curve has to pass through sector from the
left/bottom side to right/top side.
2) Force curve has to pass through sector from the

bottom to the top side.
3) Force curve has to reach the sector and can pass

through incoming and exiting force boundaries
1 2 3
multiple times.
Note:
If there are defined incoming and exiting force
boundaries, it is absolutely necessary that the force
curve passes through them. If there are no incoming
force boundaries defined, the force curve has to
begin somewhere within the force sector. If there are
no exiting force boundaries defined, the force curve
has to end within the force sector.
87
12.3.4 I_Force Control
12.3.4.1 Program with I_Force Control Commands
In the WebMotion® menu „program“ the different

force functions of I_FORCE CALIBRATION, I_FORCE
LIMITATION and I_FORCE MONITORING can be
combined and defined with the use of the according
commands.
The command can be found in
chapter 9.12.1 Program commands
12.3.4.2 Drive I_Force
DRIVE I_FORCE is driving with force consisting of

acceleration (ACC), speed (SPEED), current (I_FORCE)
and driving direction (DIRECTION).
After defining and saving the above mentioned

parameters, DRIVE I_FORCE can be included in a
program.
Up to 10 DRIVE I_FORCE can be defined.
88
12.3.5 Sector Offset for Touching Position
Typically an object is first touched. All following

functions then relate to this touching position.
Depending on the size tolerance of the objects, this
touching position differs from object to object.
The touching position can very simply be detected

Touching Position
with „Drive I_Force“ (by using little force). The
command “TPSO” (Take IST-Position as Sector Offset)
will take this touching position as sector offset for all
functions that follow.
In order to determine the value „Sector I_Force Start“

and „Sector I_Force End“ it is simplest to record the
force curve and to calculate the distance to touching Index DIF
position (absolute position – Sector Offset).
“Sector I_Force Start”, “Sector I_Force End”, “Wait

for Distance greater/less” and “Jump if Distance
greater/less” are distances relative to the touching
Sector Offset
position (sector offset).
SIFS(1)
With „SSO“ Set Sector Offset = 0 the distances
correspond to the absolute positions. SIFS(2)
WAIT FOR DIST. GREATER
JUMP IF DISTANCE LESS
89
12.3.6 Application Example
A force sensor consisting of a little mounting plate,

ceramic and strain gauge elements glued on the top
shall be tested upon its functionality.
The force sensor measures the external force applied

to the small ball (upper left corner in picture).
With the ELAX® linear motor slide and the XENAX®

servo controller the ball shall be touched and the
touching position detected. The touching position is
the offset of the actual force curve measurement.
This offset compensates the height tolerances of the
different measuring objects.
Ball
After touching position, the force curve of the Air gap
ceramic plate shall be recorded.
After an air gap of only 200 µm, the ceramic plate hits
the rubber buffer. At this position the force increases
steeper as the rubber buffer acts against the ceramic
plate. The maximal force is limited to approximately
12N ~150 x 10mA. Of interest is the increase in force
while the plate is bending and the position where the
force curve is making a kink upwards when hitting the Rubber buffer
rubber buffer. For this example, five different sectors
are defined on the force-/way curve, which have to
be passed correctly.
Hereinafter you can find the according program

example 1) as stand-alone version programmed and
stored in the XENAX® servo controller 2) as Ascii
command set controlled via a superior controller.
90
12.3.6.1 Application as program in XENAX®
Input / Output Interface Definition
INPUT FUNCTIONS:
Input 1 = Program 1, Referencing and drive to position 0
Input 2 = Program 2, Force Calibration of ELAX® linear motor slide
Input 3 = Program 3, Entire test process including analysis
OUTPUT „STATUS“:
Output 1 = No touching position found  No test object available
Output 2 = Error of test object
Output 5 = Test object OK
INDEX, DRIVE I_FORCE und SECTORS

******* Index 1******
Drive INDEX 1 to 0Inc. absolute Acc x1000 = 1000
(1Inc = 1µm) Speed = 100000
Dist = 0
AbsRel = 1
******* Index 2******

Drive INDEX 2 to 30‘000Inc. absolut Acc x1000 = 1000
Speed = 100000
Dist = 30000
AbsRel = 1
******* Drive I_Force 1 ***************

Drive with Force, Force on 0.5N in order to recognize touching Acc x1000 = 100
position. Speed = 5000
(1N = 12 x 10mA) IForce x10mA = 6
Direction = 0
In order to determine the following sector

parameters, we recommend the following approach:
1. Drive towards test object (Drive I_Force) with little Touching position
force (e.g. 0.5-1.0N) and remember the touching
position (offset corresponds to the position at
arrowhead)
2. Record Force/Way diagram of a correct test object.
Then place the testing sectors according to the force
curve and retrieve parameters. For Sector I_Force
Start/End the offset has to be subtracted of the
touching position.
******* Sector I_Force 1 ***************

Sector IForce Start = 31
Sector IForce End = 58
IForce Low x10mA = 25
IForce High x10mA = 35
Sector Transit Config = 12480
******* Sector I_Force 2 ***************

91
******* Sector I_Force 3 ***************
******* Sector I_Force 4 ***************

******* Sector I_Force 5 ***************

No „EXIT“ Sector IForce Start = 170
Ending position has to be in sector. Sector IForce End = 185
******* Program 1 ******

Referencing and driving to position 0, INDEX 1 Line 1 REFERENCE
Line 2 INDEX 1, DEVICE = LOCAL COMPLETION = 100%
******* Program 2 ******

Calibration of linear motor slide by recording all forces Line 1 FORCE CALIBRATION POSITION START = 0 POSITION END =
(cogging, friction, weight etc.) 50000
Entire testing process with analysis of result ******* Program 3 ******

Line 1 CLEAR OUTPUT 1 M/SLAVE DEVICE = LOCAL
Reset output status display Line 2 CLEAR OUTPUT 2 M/SLAVE DEVICE = LOCAL
Line 3 CLEAR OUTPUT 5 M/SLAVE DEVICE = LOCAL
Initializing sector offset to 0 (not mandatory) Line 4 SET SECTOR OFFSET POSITION = 0
Selected sectors 0 (not mandatory) Line 5 SELECT SECTORS 0
Drive to position 0, all the way to the top Line 6 INDEX 1 LOCAL COMPLETION = 100%
Drive to position 30000, fast driving to pre-position Line 7 INDEX 2 LOCAL COMPLETION = 100%
Drive to touching position with little force (0.5N) Line 8 DRIVE I_FORCE 1
Short wait time, in case the force has been exceeded while Line 9 WAIT TIME TIME [ms] = 50
accelerating (when using little forces).
Wait until LIMIT I_FORCE is reached. If there is no touching Line 10 WAIT LIMIT I_FORCE TIMEOUT = 2000ms LINE = 23
position during timeout frame, jump to error
“no object in place”, output 1 ON
Short wait time in order to stabilize touching position Line 11 WAIT TIME TIME [ms] = 20
Takes touching position as offset for the following tests Line 12 TAKE POS AS SECTOR OFFSET
Selecting sectors 1-5 Line 13 SELECT SECTORS 11111
Change I_FORCE forcurrent Drive I_Force from, 6 to 150 = Line 14 CHANGE LIMIT I_FORCE I_FORCE = 150
12.5N Line 15 WAIT LIMIT I_FORCE TIMEOUT = 2000ms LINE = 26
Timeout in case that force is not reached, then no output no 5. Line 16 WAIT TIME TIME [ms] = 20
Short wait time after force reaches limit to “stabilize”.
Line 17 DRIVE I_FORCE END
Drive I_Force ends Line 18 JUMP IF I_FORCE SECT FAULT LINE = 25
Testing the selected sectors, in case of an error, jump to error Line 19 SET OUTPUT 5 M/SLAVE DEVICE = LOCAL
output 5 ON, meaning testing object OK Line 20 SELECT SECTORS 0
Line 21 INDEX 1 LOCAL COMPLETION = 100%
Line 22 PROGRAM END
Line 23 SET OUTPUT 1 M/SLAVE DEVICE = LOCAL

Line 24 GOTO LINE 26
Line 25 SET OUTPUT 2 M/SLAVE DEVICE = LOCAL

Line 26 DRIVE I_FORCE END
Line 27 INDEX 1 = LOCAL COMPLETION = 100%
92
12.3.6.2 Force Process with ASCII Commands
Download the determined sector parameters into

XENAX® servo controller.
There are 5 sectors all in all.
Below you find the description for sector 1. Sectors 2-

5 are structured in the same way.
Parameter Sector 1 laden

Pre-selection of sector number >NSEC 1
Sector I_Force Start [Inc] >SIFS 31
Sector I_Force End [Inc] >SIFE 58
IFL I_Force Low [x10mA] >IFL 25
IFL I_Force High [x10mA] >IFH 35
Sector Transition Configuration >STC 12480
In ordert o be able to see those parameters in the webbrowser under

“sector i_force”, the site has to be re-loaded. This is how the values
are transferred from the XENAX® to the Webbrowser.
Calculate STC parameter with Win Calc (view of

programmer)
Decimal value can be negative if highest Bit, Entry 4 is
set.
Bit 15..12 11..8 7..4 3..0
Entry not used Exit not used
4321 0 4321 0
0011 0000 1100 0000
Program
Referencing Axis >REF
Drive to position 0 >G 0
Delete old calibration values (optional) >FC 0

Remove test objects, axis has to drive without obstacles. >FC 50000
Execute Force Calibration from 0 until 50000 Inc (one-time)
Force Calibration test, if slider is floating / in balance (optional) >FCT1
Back to position control (optional) >FCT0
Sector Offset is set to 0 (optional) >SSO 0

Selection of active sectors of 0. Only to be activated before test drive,
so the analysis SIFF is correct. >SSEC 0
Drive to position 30‘000 Inc >G 30000
Reduce Deviation Position, so the internal calculated desired position >DP100

does not deviate too much from the actual position of Drive I_Force.
Otherwise the slide would jump in position when
I_Force is increased. Only needed when there are long timeouts after
Drive I_Force is reached.
Drive I_Force 1 moves to touching position >DIF 1

Take Position as Sector Offset (touching position) >TPSO
Activate sectors 1-5 >SSEC11111
Change Limit I_FORCE to 150 x 10mA >CLIF 150
Verify tell process status registery, Bit 5 „IN FORCE“ >TPSR
Stop Drive I_Force with Stop Motion >SM

Shows faulting sectors. Response should be 0 >SIFF?
Reset Deviation Position to old value >DP1000
Drive to position 0 >G 0
93
13 Operating Status on 7-Segment Display
Description Display
No firmware, operating F
system is active
Firmware active, servo 0
controller OFF
Servo On, control loop 1
closed
Error refer chapter 14Error xx flashing
Handling)
No power supply logic or none
voltage on power supply
logic >27VDC
94
14 Error Handling
Errors are displayed on the XENAX® servo controller‘s

7-segment display by flashing a two digit number.
With the command „TE“ (Tell Error) they can be
retrieved.
There are 3 different categories to differentiate:
Information No 0-39 They do not change state of the servo controller. These are
simple status indicators.
Warnings No 40-49 They can trigger a stop of an active drive (e.g. driving in soft
limit). However, the drive can then be continued without the
need to switch off the output stage.
Errors No 50-99 Always cause the output stage to switch off. The drive can
only be continued after troubleshooting and error
acknowledgement (Power Quit).
The first information/warning/error is always displayed first. A possible follow-up error won’t be displayed. Each
warning can overwrite information and each error can overwrite a warning or information. The error history can
be retrieved with ASCII command „TEB“.
14.1 Error Codes
F-Number Description Note
Information
01 to 12 Waiting for input xx (Low od. High) Keeps driving, if status has been reached or restart with HO, REF,
SM, or PQ, PWC.
20 Command not allowed Command is not allowed, if an external PLC is controlling the axis.
The command priority of the overriding PLC can be deactivated if
the user set the CANopen Mode of operation to 0 (CANopen Object
0x6060)
21 Force license missing Calibration value are existing in motor,
but there is no force license active
22 Program start interrupted Program start is interrupted through input function “INTERRUPT
PROGRAM”
23 Starting position of motion profile is not Motion profile (ASCII command “PRF”) can only be started if linear
valid motor slide is positioned at or behind the starting position of the
motion profile.
24 Index Paramater not valid One or more parameters of the most previous selected index are
not valid. Please check Acceleration (ASCII-command „AIX“), Speed
(ASCII-command „SIX“) and type (ASCII-command „TYIX“) of index.
25 Bus module supervision disabled Bus module is only intended for development purposes. Change
bus module by Jenny Science.
26 Third party motor not configurated or For Jenny Science Motors (LINAX/ELAX/ROTAX):
DIP-switch setting wrong For all Jenny Science motors the DIP-switch has to be set on
„LINAX/ELAX/ROTAX“.
For third party motors:
Please make correct setting for the motor in WebMotion® under
setup  motor.
27 Swing Out Reduction Parameter A new calculation of the target trajectory for swing out reduction
inconsistency feature can only be initialized after a motor standstill
-> Motor has to be at standstill for at least 1000ms so that a new
set of parameters can be used.
95
30 Limit I Force reached Force proportional motor current reached “Limit I_Force Value”
(LIF). Motor current is limited to “Limit I_Force Value”. A possible
detected error 50 (position deviation to large) is suppressed.
32 I_Force Drift Compensation failed Automatic I_Force Drift Compensation drive was blocked or the
compensation position could not be held steady for 150ms (e.g.,
due to vibration)
35 Gantry Master Salve Offset Difference between automatically measured Gantry Master Slave
Offset and pre-set value through PGMSO greater than 0.5mm
Warnings
40 Driveway limitation due to soft limit Soft limits can be adjusted in WebMotion® in menu „move axis / by
values click“.
41 HW-Limit switch positive/negative active HW-Limit switches are defined as input function “LIMIT SWITCH
NEGATIVE” / “LIMIT SWITCH POSITIVE”
42 Remote Controller Command rejected One of the slave axes has an error or command for the slave could not
be executed
43 Remote Controller not recognized Master Slave configuration: Not all remote controllers defined in the
master were recognized. The programs in the master have to be
checked and the invalid remote controllers (Rem ID) have to be
deleted.
44 Remote controller communication error Check Master/Slave cable
45 AD Offset Error The AD-Offset for measuring the current could not be retrieved
correctly during the first drive. The linear motor has to be turned off
while the output stage is turned on for at least 0.5s, so the AD-Offset
can be retrieved correctly.
46 Cyclic data are not valid Cyclic data specified via the bus modules are not valid.
Check the Data S-Curve, Deviation position, Deviation Target position, I
Force Max, Speed and Acceleration. Or PDO cycle time it not correct
(only a multiple of 100us is valid).
47 Drive interrupted through SMU The current drive was interrupted through the functional safety SS2 or
SLS.
Errors
50 Position deviation is too large. The difference between the internal calculated position and the
present motor position (encoder) is larger than the value defined as DP
(deviation position) in Closed Loop setup.
Refer to chapter 14.2 Notes for Error 50
54 Excessive rise of temperature or weak Temperature rise too high/fast or the signal in the detector head of
signal of LINAX® read head or Measuring the measuring system is too weak.
system error of ROTAX® Check your drive profile or clean glass scale on LINAX® linear motor.
To ensure a correct start-up of the measuring system, the logic supply
must be switched off for >10s when restarting.
55 Excessive rise of temperature Temperature rise too high/fast.
Check our drive profile.
59 JSC Motor does not fit application data Connected JSC motor does not fit to the motor stored in application
data (e.g. if a new JSC motor type is connected to the servo
controller). Motor type reset (RESM) is required.
60 Over-temperature power stage Above 85° detected by separate temperature sensor on power stage.
Power stage will be switched off.
61 Overvoltage of power supply Power supply voltage or retarding energy from motor too high. Error
occurs only if power stage is turned off. If power stage is turned on,
please refer to error code 62.
62 Ballast circuit too long active The ballast circuit is still more than 5 sec continuously active: Retarding
energy too high or the power supply voltage is too high, the power
stage will be switched off.
63 Over-temperature LINAX®/ELAX®/ROTAX® Coil temperature above 80° in LINAX® / ELAX® linear motor or ROTAX®
rotative axis. Power stage will be switched off.
64 Under voltage of power supply Motor power supply voltage is too low. The power supply probably is
not able to temporary deliver the demanded current.
96
65 Field adjustment on the magnet poles The adjustment on the magnet pole was not successful, travel-plate of
LINAX® / ELAX® or rotor of the third party motor is blocked or encoder
/ motor cable is broken. If at multi-axis applications, all servo
controllers show error 65, then the D-sub encoder connector is
unplugged at one axis. Check the value payload (ML).
66 REF error Push the travel-plate by hand to a “free range”
and try “REF” again. Check the values I stop (IS) and I run (IR), maybe
you have to increase these values.
67 Z-Mark distance failure The measured distance of coded reference marks is not plausible.
Check the value payload (ML). Execute “REF” again.
68 Velocity too high during REF Execute REF again. Could be consecutive fault of vector field
adjustment on the magnet pole. Check the values I stop (IS) and I run
(IR), maybe you have to increase these values.
69 Error HALL signal Error in the consecutive order of HALL-signals, check Encoder cable.
70 Over-current power stage Potential short circuit or accidental ground in motor cable / coils.
71 Power stage disabled Release signal via PLC I/O Pin 9 not present (if activated) or power
stage is disabled by Safe Motion Unit (SMU)
72 Speed is too high Maximal speed. For 100nm measuring option
= 9’000’000 inc/s = 0.9m/s
73 Over-temperature (I2T) I2T calculation has detected over-temperature in the coil.
74 Electrical Angle Failure The calculated electrical angle differs more than 50° from the
estimated angle. Interrupt power and execute REF again. Cleaning
the measuring scale might also be necessary. Check the values I
stop (IS) and I run (IR), maybe you have to increase these values.
75 Reference pending REF has to be executed before motor can move
76 Gantry Master Salve Offset Difference between automatically measured Gantry Master Slave
Offset and pre-set value through PGMSO greater than 0.5mm
(Since firmware V5.08C Info 35)
77 communication error bus Depending on the operation mode, please check communication
module/serial port between servo controller and bus module or communication over
serial interface (RS232/Ethernet). For communication over serial
interface adjust Watchdog time if necessary (command „WD“)
78 MAC-address not valid The XENAX® MAC-address is not valid, please contact the Jenny
Science AG company
79 Wrong checksum of calibration data Force calibration or position of mechanical limit wrong. Restart
“Force calibration” (ASCII: fcxx) or “mechanical limit calibration
(ASCII: mlc).
80 Over-current PLC Output One or more outputs of the PLC interface are overloaded
In source configuration is Imaxout=100mA per channel, in sink
Configuration is Imaxout=400mA per channel.
Error can potentially occur due to inductive load without free-
wheeling diode. In this case please either insert free-wheeling
diode or select Sink/Source configuration with Imaxout=100mA per
channel.
82 Communication error I2C bus to the motor Check encoder and extension cables. Connect cable shields on
servo controller and motor with GND. Check Master / Slave cables
83 Internal FRAM error Permanent data storage not possible1. . Possible source of error like
in error display “L”.
84 Start-up key error Test with other key. Functionality in master-slave mode not
supported.
85 I2C switch error Test without master-slave cables.
86 wrong checksum of application data This error can appear after firmware download. Execute reset (RES)
87 Remote controller missing Master Slave configuration: One or more remote controllers
defined in master are missing. Check master programs for non-
existent controllers (RemID) and delete them out of programs.
88 General I2C error Check the cable to the motor or the master-slave cable
92 3-Phase Output frequency > 599Hz The output frequency of the 3-phase motor is over 599Hz. There
are only movements allowed, which do not lead to an output
frequency of >599Hz.
97
93 Encoder plausibility The encoder signals are not plausible. Possible causes: interruption
of strands in the encoder cable, or encoder signals are led
asymmetrically only. When encoder signals are led asymmetrically
by intention for rotary motors, the encoder plausibility check can
be turned off (refer to command ENCPD).
94 („EE“) Restart caused by exception XENAX® restarted due to software exception. Contact Jenny
Science for details.
95 License missing License error, a programmed function could not be started while
the necessary license is missing.
96 Firmware Checksum Failure Please try to reload the XENAX® firmware again. If the error
persists, please contact Jenny Science.
97 Interlaced warnings A new warning occurred before the state which led to the previous
warning was cleared. Please make sure process is setup in a way
where warnings cannot interlace (e.g. drive in soft limit and then
drive in limit switch, before soft limit was left).
98 AD Interrupt Nesting Fatal Error – Please restart the XENAX® servo controller.
99 Encoder cable unplugged/disconnected Motor encoder cable was disconnected. Please connect encoder
cable again and restart XENAX®.
„L“ Level I2C Bus The Level of the I2C bus is not ok. Bus is blocked. Rotary motor
connected to a XENAX® controller with linear axis setup (DIP
Switch)? Or servo controller encoder connector defect. Test
encoder: disconnect encoder; if XENAX® starts normally, connector
is defect. If still not working, please contact Jenny Science for
support.
„n“ Level I2C Bus I2C bus response is „nak“ (not acknowledged)
No communication on I2C bus, XENAX® internal or
LINAX®/ELAX®/ROTAX®, temperature check is not possible.
¹) Internal hardware failure of the device, please
contact Jenny Science
98
14.2 Notes for Error 50
Error 50 means that deviation from position target

value to actual position value is higher than
„DEVIATION POS ACT“ ( WebMotion®, setup, state
controller).
There are different possible causes which lead to this
error. Please check the following:
Test POSITION Encoder counter
Status Display XENAX® WebMotion®
When the carriage slider of a linear motor axis or the

rotary linear motor is being moved by hand, the
position encoder counter has to adjust accordingly. If
not check cable, signal encoder (check A/A* and
B/B*).
If a shaft of a rotary motor is being turned clockwise

(when looking at front shaft), the POSITION encoder
counter has to count positive. When turned counter
clockwise, the POSITION encoder counter has to
count negative. Compare to chapter 4.2.5 Definition
of Rotating Direction for Servo Motors.
Check parameters in setup
I STOP sufficient?
I RUN sufficient?
DEVIATION POS 2000 (Default)
DEVIATION TARGET POS 50 (Default)
Check power supply unit
Is there enough voltage and enough power supply?
For LINAX® rotating field adjustment

Lxc F04 at least 5,2A
Lxc F08 at least 6,1A
Lx F10 at least 5,5A
Lx F40 at least 6.0A
Lx F60 at least. 8.0A
For ELAX® rotating field adjustment

Ex F20 at least 5,5A
When using LINAX® linear motor axes and ELAX® electric

slides, we suggest executing the Quick Start function with
automatic system-check.
99
Test of brushless servo motors for hall signals encoder
A/B and motor phase (wiring and colors).
There is no common standardization for servo motor
connectors. Jenny Science is happy to support you
during the setup process.
Test if motor is running at low velocity

With WebMotion®
Menu Motion:
S-CURVE 20%
AC (x1‘000) 100
SPEED 10’000
Power
Rep Reverse 10’000
Menu Terminal:
SCRV20
AC100000
SP10000
WA10000
PWC
RR100
14.3 Arbitrary Display on 7-Segment
After turning on the logic supply (24V), typically a “0”

appears on the display. The green LED of the RJ45
connector lights up green when using active Ethernet
connection.
If there is an arbitrary sign e.g. “8.” or if the display is

flickering, there are the following causes possible:
14.3.1 Defective adapter for logic supply

For the logic supply the adapter should deliver 24V
DC and at least 300mA. Provides the adapter 24V DC
for the logic as well as the power, 5A are required.
Measure logic supply (24VDC), change adapter if
necessary.
100
14.3.2 Defective Firmware
If a wrong or corrupt firmware data was loaded or

another cause:
Delete XENAX® with DIP switch firmware recorder
and start boot loader:
DIP switch „LOAD“ ON

Logic supply ON, firmware recorder is being deleted,
wait until „F“ on display,
logic supply off,
DIP switch „LOAD“ OFF
Logic supply ON, display „F“ boot loader active,
Ethernet connection to PC/Laptop and load new
firmware with WebMotion®.
MRL 2006/42/EC notes
- Surfaces may become hot, up to 85°C
Copyright, Disclaimer
This data sheet contains proprietary information

protected by copyright. All rights are reserved. This
document may not be photocopied, reproduced or
translated in whole or in part without the prior
agreement of Jenny Science AG.
Jenny Science AG can neither guarantee nor be made

responsible for any consequences resulting from
incorrect information.
These manual is subject to change without notice.
Jenny Science AG
Sandblatte 11
CH-6026 Rain, Switzerland
Tel +41 (0) 41 255 25 25
www.jennyscience.ch
[email protected]
© Copyright Jenny Science AG 2022
101

MANUAL DATA SHEET XENAX® Xvi48V8

Uploaded by

Copyright:

Available Formats

MANUAL DATA SHEET XENAX® Xvi48V8

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

MANUAL DATA SHEET XENAX® Xvi48V8

Uploaded by

Copyright:

Available Formats

Manual XENAX® Xvi 48V8

Edition 25. August 2022

Parameterization over Web browser

Th e in t eg rat ed w eb s erv er al lo ws a s etu p

Cu s to m ary rota ry A C /D C /E C s e rv o mot ors

Mas t er - Sla v e fu n ct ion a n d Fo rc e

1 Characteristics XENAX® Xvi 48V8 6

1.1 Electronics / Firmware

1.2 Performance / Options

„LG“ logic supply 24VDC / max. 1.2 A

2.1 Linear Motor Axes and Electric Slides

LINAX® Linear Motors

3 phase synchronous linear motor with encoder

ELAX® Electric Slides with Linear

ELAX® is the evolutionary step of the widespread

2.2 Servo Motors in our Product Line

ROTAX® Rotary motor axes

Whether you choose the ROTAX® Rxvp with direct

AC-Servo motors with encoder A/A*, B/B* and Z/Z*

2.3 Customary Servo Motors

AC / DC / EC brushless servo motors with incremental

For brushless AC/EC servo motors there are hall

3.1 Environmental Conditions

Storage and transport No outdoor storage. Warehouses have to be well

3.2 Assembly and Installation

Assembly with two screws on an electrically

For a series mounting the distance between the

We recommend mounting the devices in vertical

It is recommended to install the XENAX® servo

XENAX® Xvi 48V8

4.1 Plug Arrangement

Description Plug Type

RS232 USB-B socket

4.2 Plug Pin Configuration

Wago 3 Pole LINAX® / ELAX® Servo motor DC Motor

4.2.3 Logic and Power Supply

For a fuse protection of the power supply, it must be

For a detailed calculation of the required power

In case of emission sensitivity, it is recommended to

15 pole D-Sub socket Signal Description

4.2.5 Definition of Rotating Direction for Servo

Sight on front surface motor shaft, turn the shaft clockwise,

The pulse/Dir and second encoder channel are

Signal D-SUB PLC Cable Socket PLC I/O / Analog

GND internal Pin 7 blue GND

Signal D-Sub PLC Cable Socket PLC I/O / Analog

GND intern Pin 7 blue GND

Signal D-Sub PLC Cable PLC I/O

24V Input, Ri 31k Pin 3 green Input 1

Enabling Power Stage

Activate the function with DIP-switch ON

DIP switch ON Always enabling power stage, Pin 9 inactive

2A Pin 10 violet GND

HIGH or LOW ACTIVITY programmable

SOT TYPE SOA ACTIVITY Output Output

4.4 Output Configuration

The XENAX® Servo Controller differentiates between

Jenny Science Motors: XENAX® Xvi 48V8

Motors from other manufacturers XENAX® Xvi 48V8

AC-Servo motors with encoder A/A, B/B and Z/Z*