Monitor the speed difference ............................................................................................ 75
External error / warning triggering..................................................................................... 77
Safety Stop from safety module ........................................................................................ 77
Error underpotential (UP / PUready) ................................................................................. 78
Overvoltage ....................................................................................................................... 82
Overspeed (ERROR overspeed / ERROR overspeed (EMF)) ......................................... 83
Encoder monitoring ........................................................................................................... 84
Limit switch ........................................................................................................................ 85
Input phases failure detection ........................................................................................... 88
Motor phase failure detection ............................................................................................ 89
UPS mode (Not available for compact cards) ................................................................... 92
Power off function ............................................................................................................. 92
Minimum switch-off times ................................................................................................ 101
Blockade handling ........................................................................................................... 103
Monitoring of the load ..................................................................................................... 108
Quickstop ........................................................................................................................ 113
Minimum current monitoring in the safety module .......................................................... 113
4.5 Braking transistor ......................................................................................................... 116
Braking transistor handling ............................................................................................. 116
Braking transistor protective functions ............................................................................ 119
Power and temperature calculation at the braking resistor ............................................ 120
Sub-mounted braking resistor protection ........................................................................ 121
4.6 Fan control ..................................................................................................................... 123
Fan control F6 ................................................................................................................. 123
Fan control S6-A / S6-K .................................................................................................. 124
4.7 Terminals short circuit protection............................................................................... 124
Control type K ................................................................................................................. 124
Control type A ................................................................................................................. 124
Control type P ................................................................................................................. 125
4.8 Operating modes........................................................................................................... 126
Operating mode 1: Profile position mode ....................................................................... 127
Operating mode 2: Velocity mode................................................................................... 142
Operating mode 6: Homing mode ................................................................................... 151
Cyclic referencing............................................................................................................ 161
Operating mode 8: Cyclic synchronous position mode................................................... 163
Operating mode 9: Cyclic synchronous velocity mode ................................................... 168
Operating mode 10: Cyclic synchronous torque mode ................................................... 172
Operating mode -2: jog mode in the cm customer modes group ................................... 178
Operating mode-independent functions .......................................................................... 184
4.9 Synchronisation ............................................................................................................ 187
Synchronous time ........................................................................................................... 187
Optimizing the PLL .......................................................................................................... 188
5 Display Parameters ..................................................................... 189
5.1 Overview of the ru parameters .................................................................................... 189
5.2 Speed displays .............................................................................................................. 193
5.3 Position displays........................................................................................................... 195
5.4 DC link displays ............................................................................................................ 196
5.5 Current displays ............................................................................................................ 196
5.6 Torque displays............................................................................................................. 196
5.7 Power/Energy Displays ................................................................................................ 197
5.8 Status displays .............................................................................................................. 198
ru75 global drive state ..................................................................................................... 198
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