Schneider Electric LXM32M manuel d'utilisation

LXM32M Modbus-TCP module Fieldbus manual V1.01, 01.2012 ETH www.schneider-electric.com 0198441113843, V1.01, 01.2012[...]

Important information This manual is part of the product. Carefully read this manual and observe all instructions. Keep this manual for future reference. Hand this manual and all other pertinent product documentation over to all users of the product. Carefully read and observe all safety instructions and the chapter "Before you begin - safety [...]

Table of contents Important information 2 Table of contents 3 About this manual 7 Further reading 8 1 Introduction 9 2 Before you begin - safety information 11 2.1 Qualification of personnel 11 2.2 Intended use 11 2.3 Hazard categories 12 2.4 Basic information 13 2.5 Standards and terminology 14 3 Basics 15 3.1 Modbus TCP technology 15 3.1.1 Functi[...]

4.1 Installation of the module 35 4.2 Electrical installation 36 5 Commissioning 37 5.1 Commissioning the device 37 5.2 "First Setup" 38 5.2.1 Manual assignment of the network address 39 5.2.2 Assignment of the network address via BOOTP 41 5.2.3 Assignment of the network address via DHCP 42 5.3 Setting the transmission rate 43 5.4 Setting[...]

7.2 Status LEDs 70 7.3 Error indication 72 8 Accessories and spare parts 75 8.1 Cables 75 9 Glossary 77 9.1 Units and conversion tables 77 9.1.1 Length 77 9.1.2 Mass 77 9.1.3 Force 77 9.1.4 Power 77 9.1.5 Rotation 78 9.1.6 Torque 78 9.1.7 Moment of inertia 78 9.1.8 Temperature 78 9.1.9 Conductor cross section 78 9.2 Terms and Abbreviations 79 10 In[...]

LXM32M 6 Modbus-TCP module 0198441113843, V1.01, 01.2012[...]

About this manual This manual applies to the module Modbus TCP for the product LXM32M, module identification ETH. The information provided in this manual supplements the product manual. Source manuals The latest versions of the manuals can be downloaded from the Inter- net at: http://www.schneider-electric.com Source CAD data For easier engineering[...]

Index List of keywords with references to the corresponding page numbers. Further reading User Association http://www.modbus.org About this manual LXM32M 8 Modbus-TCP module 0198441113843, V1.01, 01.2012[...]

1 Introduction 1 Different products with a Modbus TCP interface can be operated in the same fieldbus. Modbus TCP provides a common basis for inter- changing commands and data between the network devices. L N Figure 1: Fieldbus products on the network Features The product supports the following functions via Modbus TCP: • Automatic IP address assi[...]

1 Introduction LXM32M 10 Modbus-TCP module 0198441113843, V1.01, 01.2012[...]

2 Before you begin - safety information 2 2.1 Qualification of personnel Only appropriately trained persons who are familiar with and under- stand the contents of this manual and all other pertinent product docu- mentation are authorized to work on and with this product. In addition, these persons must have received safety training to recognize and[...]

2.3 Hazard categories Safety instructions to the user are highlighted by safety alert symbols in the manual. In addition, labels with symbols and/or instructions are attached to the product that alert you to potential hazards. Depending on the seriousness of the hazard, the safety instructions are divided into 4 hazard categories. DANGER DANGER ind[...]

2.4 Basic information WARNING LOSS OF CONTROL • The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop, overtravel stop, power outage and res[...]

2.5 Standards and terminology Technical terms, terminology and the corresponding descriptions in this manual are intended to use the terms or definitions of the perti- nent standards. In the area of drive systems, this includes, but is not limited to, terms such as "safety function", "safe state", "fault", "fault [...]

3 Basics 3 3.1 Modbus TCP technology 3.1.1 Function principle Modbus TCP is an Ethernet fieldbus. Modbus TCP describes the transmission of the Modbus protocol via the Ethernet interface and the TCP/IP transport and network layers. The Modbus TCP client (master) connects to the Modbus TCP server (slave). Once the connection is established, the clien[...]

3.1.3 Client / server model Modbus Client Modbus Server Request Indicati on Response Confirm ation Figure 2: Client / server model The Modbus messaging service implements client/server communica- tion between devices connected by means of a TCP/IP network. Mod- bus TCP does not use an object dictionary. The client/server model is based on 4 types o[...]

3.2 Modbus TCP protocol The Modbus protocol defines a so-called Modbus PDU (Protocol Data Unit) which is independent of the underlying communication layers. This Modbus PDU consists of the fields "Function Code" and "Data". Depending on the mapping to the different network protocols, the Modbus PDU is extended by additional fiel[...]

3.2.1 MBAP header The MBAP header contains the information allowing the recipient to uniquely identify a message. This is even possible if a message is split into several packets for transmission. Explicit and implicit length rules as well as the use of a CRC-32 error check code (on Ethernet) results in an infinitesimal chance of undetec- ted corru[...]

3.3 Modbus TCP communication 3.3.1 Connection management Establishing of a connection The Modbus TCP server allows for TCP connections via the default port 502. A client can establish a new connection via this port. If the client is to exchange data with a remote server, a new client connec- tion via remote port 502 must be established. Modbus data[...]

3.3.2 Modbus response to a Modbus request The Modus server generates a Modbus response after having pro- cessed a Modbus request. Depending on the type of processing, two types of Modbus responses are possible: • Positive Modbus response - The "Function Code" in the Modbus response corresponds to the "Function Code" in the Mod[...]

3.3.3 Reading and writing parameters Parameters are processed as 32 bit values. 16 bit values must also be processed as 32 bit values. Two consecutive 16 bit parameters must be read or written to process a 16 bit parameter. The first Modbus address must be specified. If several consecutive parameters are to be processed, a single Mod- bus command w[...]

3.3.4 I/O scanning to "Drive Profile Lexium" I/O scanning is used for cyclic interchange of data between master and slave. I/O scanning must be configured on the master. The master can use 2 different approaches for of I/O scanning: • "Function Code" 23 (17 h ), Read-Write Mulitple Registers • "Function Code" 3 (03[...]

3.3.4.1 I/O scanning Output The table below shows the structure of the cyclic data for the com- mands from the master to the product. See the product manual for a description of the parameters. Byte Meaning Data type Parameter address 0 ... 7 ParCh - Parameter channel 8 ... 9 dmControl INT - 10 ... 13 RefA32 DINT - 14 ... 17 RefB32 DINT - 18 ... 21[...]

3.3.4.2 I/O scanning Input The table below shows the structure of the cyclic data for the status messages from the product to the master. See the product manual for a description of the parameters. Byte Meaning Data type Parameter address 0 ... 7 ParCh - Parameter channel 8 ... 9 driveStat INT - 10 ... 11 mfStat INT - 12 ... 13 motionStat INT - 14 [...]

driveInput The word "driveInput" is used to indicate the status of the digital signal inputs. bit Signal Factory setting 0 DI0 Signal input function Freely Available 1 DI1 Signal input function Reference Switch (REF) 2 DI2 Signal input function Positive Limit Switch (LIMP) 3 DI3 Signal input function Negative Limit Switch (LIMN) 4 DI4 Sig[...]

3.3.4.3 Parameter channel The master can request a parameter value from the slave or change a parameter value via the parameter channel. Each parameter can be uniquely addressed via the index and subindex. 7 6 5 4 3 2 1 0 Byte Ctrl Subindex Index PV Figure 4: Parameter channel Ctrl Byte "Ctrl" contains the request to read or write a param[...]

PV The double word "PV" contains the parameter value. In the case of a read request, the value in the transmit data has no significance. The receive data contains the parameter value. In the case of a write request, the transmit data contains the value to be written to the parameter. The receive data contains the parameter value. If a rea[...]

3.4 Modbus services - "Function Code" The table below provides an overview of the available Modbus serv- ices: "Function Code" Meaning under Modbus Meaning from device per- spective 3 Read Multiple Registers Reading a parameter 8 Diagnostics Diagnostics 16 Write Multiple Registers Writing a parameter 23 Read/Write Multiple Regis[...]

3.4.2 "Function Code" 8 (Diagnostics) This "Function Code" 8 (Diagnostics) allows you to read diagnostics data of the slave. Modbus request Structure of the Modbus request: Field Bytes Value Meaning Function Code 1 8 = 08 h Diagnostics Sub-function Code 2 (various) Diagnostics function Data 2 (various) Data (depending on diagnos[...]

3.4.3 "Function Code" 16 (Write Multiple Registers) This "Function Code" 16 (Write Multiple Registers) allows you to write several consecutive parameters, starting at any address. Modbus request Structure of the Modbus request: Field Bytes Value Meaning Function Code 1 16 = 10 h Write Multiple Registers Starting Address 2 (vario[...]

3.4.4 "Function Code" 23 (ReadWrite Multiple Registers) This "Function Code" 23 (ReadWrite Multiple Registers) allows you to read and write several consecutive parameters, starting at any address. Modbus request Structure of the Modbus request: Field Bytes Value Meaning Function Code 1 23 = 17 h Read/Write Multiple Registers Rea[...]

3.4.5 "Function Code" 43 (Encapsulated Interface Transport) This "Function Code" 43 / 14 (Read Device Identification) allows you to read device-specific data. Modbus request Structure of the Modbus request: Field Bytes Value Meaning Function Code 1 43 = 2B h Encapsulated Interface Transport Modbus Encapsula- ted Interface Type 1[...]

3.4.6 Examples 3.4.6.1 Example of "Function Code" 3 Reading an error memory entry. Since the Modbus addresses of the parameters of an error memory entry are contiguous (ascending order), a single Modbus request is sufficient. Parameters _ERR_number (15362) , _ERR_class (15364) , _ERR_time (15366) and _ERR_qual (15368) . Modbus request Str[...]

3 Basics LXM32M 34 Modbus-TCP module 0198441113843, V1.01, 01.2012[...]

4 Installation 4 WARNING SIGNAL AND DEVICE INTERFERENCE Signal interference can cause unexpected responses of the device. • Install the wiring in accordance with the EMC requirements. • Verify compliance with the EMC requirements. Failure to follow these instructions can result in death, serious injury or equipment damage. 4.1 Installation of t[...]

4.2 Electrical installation Cable specifications Shield: Required, both ends grounded Twisted Pair: Required PELV: Required Cable composition: 8 * 0.25 mm 2 (8 * AWG 22) Maximum cable length: 100 m Special features: - ▶ Note the pertinent information on equipotential bonding conductors in the product manual. ▶ Use pre-assembled cables to reduce[...]

5 Commissioning 5 WARNING LOSS OF CONTROL The product is unable to detect an interruption of the network link if connection monitoring is not active. • Verify that connection monitoring is on. • The shorter the time for monitoring, the faster the detection of the interruption. Failure to follow these instructions can result in death, serious in[...]

5.2 "First Setup" A "First Setup" is required when the controller supply is switched on for the first time or after the factory settings have been restored. Switching on the device ■ The power stage supply is switched off. ▶ Disconnect the product from the the fieldbus during commissioning in order to avoid conflicts by simu[...]

Type of network address assign- ment ▶ Select the type of network address assignment. The type of network address assignment is set via the parameter EthIpMode ( iPMd ). Parameter name HMI menu HMI name Description Unit Minimum value Factory setting Maximum value Data type R/W Persistent Expert Parameter address via fieldbus EthIpMode ConF → Co[...]

Parameter name HMI menu HMI name Description Unit Minimum value Factory setting Maximum value Data type R/W Persistent Expert Parameter address via fieldbus EthIPmodule1 ConF → CoM- ConF → FSu- iPc1 IP address Ethernet module, byte 1 Changed settings become active the next time the product is switched on. - 0 0 255 UINT16 UINT16 UINT16 UINT16 R[...]

5.2.2 Assignment of the network address via BOOTP ■ EthIpMode has been set to BOOTP ( boot ). ▶ Verify that an accessible BOOTP server is available on the net- work. LXM32M 5 Commissioning Modbus-TCP module 41 0198441113843, V1.01, 01.2012[...]

5.2.3 Assignment of the network address via DHCP ■ EthIpMode has been set to DHCP ( dhcp ). ▶ Verify that an accessible DHCP server is available on the network. ▶ Set a number that is unique in the network via dhcn . NOTE: This setting is only required if you want to use an FDR server. The number is entered at the 13th, 14th and 15th digit of[...]

5.3 Setting the transmission rate The parameter EthRateSet lets you set the transmission rate. ▶ Set the desired transmission rate with the parameter EthRateSet . Parameter name HMI menu HMI name Description Unit Minimum value Factory setting Maximum value Data type R/W Persistent Expert Parameter address via fieldbus EthRateSet Transmission rate[...]

5.5 Setting the gateway The IP address of the gateway is set by means of the parameters EthIPgate1 ... EthIPgate4 . ▶ Set the IP address of the gateway with the parameters EthIPgate1 ... EthIPgate4 . Parameter name HMI menu HMI name Description Unit Minimum value Factory setting Maximum value Data type R/W Persistent Expert Parameter address via [...]

5.6 Master with Word Swap The IP address of a master with Word Swap is set by means of the parameters EthMbIPswap1 ... EthMbIPswap4 . You may not set an IP for a master without Word Swap. ▶ Check whether or not the master uses Word Swap. ▶ If the master uses Word Swap, set the IP address of the master with the parameters EthMbIPswap1 ... EthMbI[...]

5.7 Setting I/O-Scanning 5.7.1 Activating I/O scanning I/O scanning is activated/deactivated by means of the parameter EthMbScanner . ▶ If you do not want to use I/O scanning, set the parameter EthMbScanner to "Off". Parameter name HMI menu HMI name Description Unit Minimum value Factory setting Maximum value Data type R/W Persistent Ex[...]

Parameter name HMI menu HMI name Description Unit Minimum value Factory setting Maximum value Data type R/W Persistent Expert Parameter address via fieldbus EthIPmaster1 IP address master, byte 1 IP address of the master that is permitted to perform Modbus TCP I/O scanning. If set to 0.0.0.0 (default), any master can perform I/O scanning. Setting c[...]

Parameter name HMI menu HMI name Description Unit Minimum value Factory setting Maximum value Data type R/W Persistent Expert Parameter address via fieldbus EthOptMapInp1 Optionally mapped input parameter 1 (drive to PLC) Modbus address of parameter which is optionally mapped to Ethernet/IP assembly or Modbus TCP I/O scanner data (drive to PLC). Ch[...]

5.7.4 Setting communication monitoring for I/O scanning WARNING LOSS OF CONTROL The product is unable to detect an interruption of the network link if connection monitoring is not active. • Verify that connection monitoring is on. • The shorter the time for monitoring, the faster the detection of the interruption. Failure to follow these instru[...]

5 Commissioning LXM32M 50 Modbus-TCP module 0198441113843, V1.01, 01.2012[...]

6 Operation 6 WARNING UNINTENDED OPERATION • Do not write values to reserved parameters. • Do not write values to parameters unless you fully understand the function. • Run initial tests without coupled loads. • Verify the use of the word sequence with fieldbus communication. • Do not establish a fieldbus connection unless you have fully [...]

6.1 Operating states 6.1.1 Indication of the operating state The current operating state is indicated with the "driveStat" word. 15 X_ERR 14 X_END 13 X_ADD1 12 - 11 - 10 QS 9 RF 8 HAL T 7 W ARN 6 ERROR 5 - 4 - 3 S TAT E 2 S TAT E 1 S TAT E 0 S TAT E driveStat Figure 7: Structure of driveStat Bit Name Meaning 0 ... 3 STATE Current operatin[...]

6.1.2 Changing the operating state Bits 8 ... 15 of the word "dmControl" are used to set the operating state. 15 CU 14 CH 13 SH 12 - 11 FR 10 QS 9 EN 8 DS 7 MT 6 ACTION 5 ACTION 4 MODE 3 MODE 2 MODE 1 MODE 0 MODE dmControl Figure 8: Structure dmControl bits 8 ... 15 Bit Name Meaning Operating state 8 DS Disable power stage 6 Operation Ena[...]

6.2 Operating modes 6.2.1 Indicating and monitoring the operating mode The word "mfStat" is used to indicate the current operating mode. 15 - 14 - 13 - 12 - 11 CAP2 1 10 CAP2 0 9 CAP1 1 8 CAP1 0 7 MT 6 ME 5 DE 4 MODE 3 MODE 2 MODE 1 MODE 0 MODE mfStat Figure 9: Structure mfStat Bit Name Description 0 ... 4 MODE Indicates the current opera[...]

6.2.2 Starting and changing an operating mode Bits 0 ... 7 in the word "dmControl" are used to set the operating mode. 15 CU 14 CH 13 SH 12 - 11 FR 10 QS 9 EN 8 DS 7 MT 6 ACTION 5 ACTION 4 MODE 3 MODE 2 MODE 1 MODE 0 MODE dmControl Figure 10: Structure dmControl bits 0 ... 7 Bit Name Description 0 ... 4 MODE Operating mode Value 01 h : Pr[...]

6.2.3 Overview of operating modes The table below provides an overview of the operating modes. Detailed information can be found on the following pages. Operating mode Method dmControl Bits 0 ... 6 MODE+ACTION Reference value RefA32 Reference value RefB32 Jog 1F h Value 0: No movement Value 1: Slow movement in positive direction Value 2: Slow movem[...]

6.2.4 Operating mode Jog Starting the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). dmControl Bits 0 ... 6 MODE+ACTION Reference value RefA32 Reference value RefB32 1F h Value 0: No movement Value 1: Slow movement in positive direction Value 2: Slow movement in negative di[...]

6.2.5 Operating mode Electronic Gear Starting the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). Method dmControl Bits 0 ... 6 MODE+ACTION Reference value RefA32 Reference value RefB32 Position synchronization without compen- sation movement 1E h As GEARdenom As GEARnum Pos[...]

6.2.6 Operating mode Profile Torque Starting the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). dmControl Bits 0 ... 6 MODE+ACTION Reference value RefA32 Reference value RefB32 24 h As PTtq_target As RAMP_tq_slope Status information The word "driveStat" provides i[...]

6.2.7 Operating mode Profile Velocity Starting the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). dmControl Bits 0 ... 6 MODE+ACTION Reference value RefA32 Reference value RefB32 23 h As PVv_target - Status information The word "driveStat" provides information on [...]

6.2.8 Operating mode Profile Position Starting the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). Method dmControl Bits 0 ... 6 MODE+ACTION Reference value RefA32 Reference value RefB32 Absolute 01 h As PPv_target As PPp_target Relative with reference to the currently set t[...]

6.2.9 Operating mode Homing Starting the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). Method dmControl Bits 0 ... 6 MODE+ACTION Reference value RefA32 Reference value RefB32 Position setting 06 h - As HMp_setP Reference movement 26 h As HMmethod - Status information The w[...]

6.2.10 Operating mode Motion Sequence Starting the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave). Method dmControl Bits 0 ... 6 MODE+ACTION Reference value RefA32 Reference value RefB32 Start sequence 1D h Data set number Value 1: Use data set number Start individual data s[...]

6.3 Extended settings 6.3.1 Web server Functions The product features an integrated web server. The web server offers the following features: • Display status information • Display and change parameters • Display and change network settings • Display and change Modbus TCP settings • Display and change EtherNet/IP settings • Display and [...]

6.3.1.3 User interface Structure of the web server user interface: 1 2 3 Figure 11: User interface of the web server (1) Main menu (2) Submenu (3) Content Main menu Submenu Content Home English Homepage Documentation - Link to website www.schneider-electric.com Monitoring Drive monitor Status information Drive parameter Display and change parame- t[...]

6.3.2 FTP server Functions The product features an integrated FTP server. The FTP server lets you upload a CFG file and a JPG file to modify the content and appearance of the web server. The following items can be modified: • Product Name • Link under "Documentation..." • Product image (picture on the start page) 6.3.2.1 Accessing t[...]

6.3.3 FDR service (Fast Device Replacement) The FDR service uses standard DHCP and TFTP (Trivial File Transfer Protocol) technologies to simplify maintenance of Ethernet devices. For example, the FDR service is used to replace a defective device by a new device. The service allows for detection, configuration and auto- matic start of the new device[...]

6 Operation LXM32M 68 Modbus-TCP module 0198441113843, V1.01, 01.2012[...]

7 Diagnostics and troubleshooting 7 7.1 Fieldbus communication error diagnostics Connections for fieldbus mode If the product cannot be addressed via the fieldbus, first check the connections. The product manual contains the technical data of the device and information on network and device installation. Check the following: • 24V dc power supply[...]

7.2 Status LEDs The status of the module is indicated by four LEDs. A B 3 4 1 2 Figure 12: Overview of the LEDs at the module (1) Network activity interface A (2) Module status (3) Network activity interface B (4) Network status NOTE: The meaning of the flash signals depends on the selected pro- tocol. ▶ Check whether the protocol is set to "[...]

Module status LED 2 The table below shows the meaning of the flashing signals for the module status. Color LED Meaning for EtherNet/IP 1) Meaning for Modbus TCP 1) - Off No power supply No IP address or no power supply Green/yellow Flashing Start-up Start-up Green On Ready for operation Ready for operation Green Flashing Module is not configured or[...]

7.3 Error indication The last cause of error and the last 10 error messages are stored. You can display the last 10 error messages using the commissioning soft- ware and the fieldbus. Asynchronous errors Asynchronous errors are triggered by internal monitoring (for example, temperature) or by external monitoring (for example, limit switch). An erro[...]

Excep- tion Code Name Description 01 Illegal Function Code The "Function Code" is unknown to the server. 02 Illegal Data Address Depends on the Modbus request 03 Illegal Data Value Depends on the Modbus request 04 Server Failure The server was unable to properly termi- nate processing. 05 Acknowledge The server has accepted the Modbus req[...]

7 Diagnostics and troubleshooting LXM32M 74 Modbus-TCP module 0198441113843, V1.01, 01.2012[...]

8 Accessories and spare parts 8 8.1 Cables Description Order no. 2 m, 2 x RJ45, shielded twisted pair cable 490NTW00002 5 m, 2 x RJ45, shielded twisted pair cable 490NTW00005 12 m, 2 x RJ45, shielded twisted pair cable 490NTW00012 2 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00002U 5 m, 2 x RJ45, shielded twis[...]

8 Accessories and spare parts LXM32M 76 Modbus-TCP module 0198441113843, V1.01, 01.2012[...]

9 Glossary 9 9.1 Units and conversion tables The value in the specified unit (left column) is calculated for the desired unit (top row) with the formula (in the field). Example: conversion of 5 meters [m] to yards [yd] 5 m / 0.9144 = 5.468 yd 9.1.1 Length in ft yd m cm mm in - / 12 / 36 * 0.0254 * 2.54 * 25.4 ft * 12 - / 3 * 0.30479 * 30.479 * 304.[...]

9.1.5 Rotation min -1 (RPM) rad/s deg./s min -1 (RPM) - * π / 30 * 6 rad/s * 30 / π - * 57.295 deg./s / 6 / 57.295 - 9.1.6 Torque lb ‧ in lb ‧ ft oz ‧ in Nm kp ‧ m kp ‧ cm dyne ‧ cm lb ‧ in - / 12 * 16 * 0.112985 * 0.011521 * 1.1521 * 1.129*10 6 lb ‧ ft * 12 - * 192 * 1.355822 * 0.138255 * 13.8255 * 13.558*10 6 oz ‧ in / 16 / 19[...]

9.2 Terms and Abbreviations See chapter "2.5 Standards and terminology" for information on the pertinent standards on which many terms are based. Some terms and abbreviations may have specific meanings with regard to the stand- ards. CIP C ommon I ndustrial P rotocol, general specification for communication between fieldbus devices. Clien[...]

9 Glossary LXM32M 80 Modbus-TCP module 0198441113843, V1.01, 01.2012[...]

10 Index 10 A Abbreviations 79 Accessories and spare parts 75 B Before you begin Safety information 11 C Cables 75 CAD data 7 Commissioning 37 First setup 38 Commissioning the device 37 D Diagnostics 69 E Electrical installation 36 Electronic Gear 58 Error diagnostics Connections to for fieldbus operation 69 Error indication 72 Errors Troubleshooti[...]

O Operating mode Electronic Gear 58 Homing 62 Jog 57 Motion Sequence 63 Profile Position 61 Profile Torque 59 Profile Velocity 60 Operating modes 54 Operating modes, starting and chang- ing 55 Operating modes, starting and changing 55 Operating state, changing the 53 Operating states 52 Indicating operating states 52, 54 Operating state, changing t[...]