Serial Setup

Use Serial Setup at ctrlX DRIVE

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In the following we show to you how to use Serial Setup at ctrlX DRIVE.

Versions used

All the functions and screen shots are based on:

  • ctrlX DRIVE Engineering version 01V20.2
  • Runtime / Firmware version of drive AXS-V0308.03


A connection to the ctrlX DRIVE has been successfully established, the device is correctly wired and 24 V are successfully put on. As well the engineering tool ctrlX DRIVE Engineering has been started.

1. Description of the function

ctrlX DRIVE Serial Setup is a serial commissioning tool for drives available in two variants.

If using ctrlX DRIVE Serial Setup with user interface you are able to create a project from a sample machine and use this to start up identical machines.

The ctrlX DRIVE Serial Setup comand prompt tool IWDC.exe allows an automized commissioning of a single axis. This is done by the windows command prompt or batch file.

Fig. 1.: ctrlX DRIVE Engineering versionFig. 1.: ctrlX DRIVE Engineering version

Drive Version: Use firmware/runtime version AXS-V-0308 (or higher)


In order to use the Serial Setup tool and develop your own procedure for a serial start-up of drives of your machine you need to have a license key for the software.

In the following we are using a ctrlX DRIVE XMD for this HowTo.

2.  Start Serial Setup with user interface (in ctrlX DRIVE Engineering)

Fig. 2.: Start Serial SetupFig. 2.: Start Serial Setup

Start screen

Fig. 3.: Start ScreenFig. 3.: Start Screen

The activation of the software is done by a license key.

Call up in main menu “Tools -> Options”!

Fig. 4.: Call up Tools in Main MenueFig. 4.: Call up Tools in Main Menue

Check if the license is activated (if you don’t have a license key please contact your responsible sales contact)!

Fig. 5.: Check LicenseFig. 5.: Check License

Establish the connection to the drive(s) via:

  • Panel (connection to only one drive possible)
  • EtherNet to more than one drive

Fig. 6.: Setup ConnectionFig. 6.: Setup Connection

Start creating a new project

Create a new project!

Fig. 7.: Create A New ProjectFig. 7.: Create A New Project

Add drive(s) to the project with the + button (highlighted on the right side)

Fig. 8.: Add Drive(s) to ProjectFig. 8.: Add Drive(s) to Project

 Fig. 9.: Select Communication RouteFig. 9.: Select Communication Route

 Fig. 10.: Set IP AddressFig. 10.: Set IP Address

Search for drives with the button on the right side!

Fig. 11.: Search for DrivesFig. 11.: Search for Drives

Fig. 12.: ConnectionFig. 12.: Connection

By double click with left mouse on window “Device: File:” a new tab will open to configure and select the firmware to be downloaded, if needed.

Fig. 13.: Configure Firmware Download, if neededFig. 13.: Configure Firmware Download, if needed

  • Here you can choose a firmware file you want to download for Serial Setup.

Note: The “Reboot” command is only available with AXS-V-0308 or higher!

 Fig. 14.: Firmware File SelectionFig. 14.: Firmware File Selection

Be sure you select the proper fwa extension!

 Fig. 15.: Configure Firmware FileFig. 15.: Configure Firmware File

  • Select a parameter file for download to the axis, by clicking on the marked window in the screenshot.

Fig. 16.: Select Parameter File for Single AxisFig. 16.: Select Parameter File for Single Axis

Fig. 17.: Select Parameter Files for Double AxisFig. 17.: Select Parameter Files for Double Axis

Setting the Setup mode by clicking in the window marked in the screenshot

Fig. 18.: Select Setup ModeFig. 18.: Select Setup Mode

  • “Load only” downloads only selected parameter file(s)
  • “Standard” executes a Load defaults procedure without SMO parameters


Generate the project with the button “Fill project”!

Fig. 19.: Fill ProjectFig. 19.: Fill Project

  •  This will start an automatic procedure (saving the actual parameter files from the connected drives) for generating an project that can be executed for start up of drives

Fig. 20.: Save Actual Parameter SettingsFig. 20.: Save Actual Parameter Settings

  • You can skip this step if you already have stored and selected parameter files for the axes in the project.

Fig. 21.: Saving Actual Parameter SettingsFig. 21.: Saving Actual Parameter Settings

 Fig. 22.: Saved Actual Parameter SettingsFig. 22.: Saved Actual Parameter Settings

  • You are now ready to duplicate your machine!


Use the created project for a Serial Setup procedure (including firmware update and parameter file download):

  • Using a before generated project file

Fig. 23.: Start Serial Setup Procedure by Selecting Generated Project FileFig. 23.: Start Serial Setup Procedure by Selecting Generated Project File

Select the function to “skip firmware download if firmware is identical” by clicking on the small black arrow and start the Setup by clicking on the green button “Start setup”!

Fig. 24.: Start Serial Setup ProcedureFig. 24.: Start Serial Setup Procedure

  • Running firmware update

Fig. 25.: Running Firmware UpdateFig. 25.: Running Firmware Update

  • Be patient and wait for the rebooting of the drive(s)

 Fig. 26.: Rebooting of the DrivesFig. 26.: Rebooting of the Drives

  • Parameter file download started


If you are using EoE as engineering connection do not use the separator for executing the operation in parallel (e.g. Firmware download). The bandwith is limited.

In the screenshot the operation between the green lines (separator) will be executed in parallel.

Use Of Separator For Parallel ExecutionUse Of Separator For Parallel Execution

3.  Start Serial Setup with Command Prompt Tool

Command Prompt Tool IWDC.exe

Fig. 27.: Command Prompt MethodFig. 27.: Command Prompt Method

Execute the programm with Windows command prompt:

  1. Open Windows command prompt with admin rights
  2. Change to the correct folder by using command cd followed by the correct folder of iwdc.exe
    In a standard installation the following folder is used: C:\Program Files (x86)\Rexroth\ctrlX DRIVE Engineering\iwdc.exe
  3. Open/start  IWDC.exe
  4. The screen then looks like the following

Fig. 28.: Command Prompt MethodFig. 28.: Command Prompt Method
Type in help to get more information about the available commands

To us the function correctly follows the steps in the given order as following:

1. Firmware download (--firmwarefile
    Is only possible with communication via IP (S/IP) oder TwinCAT ADS
Reboot (--fwreboot)
    Available with AXS03V08 or higher
3. Load default parameter (--loaddefault)
Load parameter file to drive (--parameterfile)
5. Generate SMO report (if necessary) (--smoreport)
6. Reboot (--fwreboot)

Working with a Batch file

1. Generate a Batch file with your needs. Following an example for performing a firmware update and parameter download to an double axis:

C:\"Program Files (x86)"\"Rexroth"\"ctrlX DRIVE Engineering(3)"\iwdc.exe setup
Client=SIP;IP= Client=SIP;IP=
--fwreboot safe
--loaddefault Standard
--parameters Standard
C:\abc\Kunden\STS3_Themen\Serial_Setup\axis_1_add_3_v2.par --reboot Unsafe --logfile c:\Logfiles\iwdclog1.log

2. Explanation of single steps
    a. Calling the iwdc.exe (check your installation path)
        C:\"Program Files (x86)"\"Rexroth"\"ctrlX DRIVE Engineering(3)"\iwdc.exe setup
    b. Addressing the correct drive. In this example a double axis drive is used
       --addresses Client=SIP;IP= Client=SIP;IP=
    c. Naming the path for the firmwarefile
       --firmwarefile C:\abc\Bird\ctrlX\DRIVE\Firmware\AXS03\FWA-XD1-AXS-V-0314N-NN-00.fwa
    d. Starting the reboot
       --fwreboot safe
    e. Initiate a base parameter load
       --loaddefault Standard (all standard parameters without SMO, FKM, engineering)
       --loaddefault SMO (only SMO parameter)
       --loaddefailt All (without FKM and Engineering)
    f. Declare which parameters from the parameterfile should be loaded
       --parameters Standard (download parameters to be stored without SMO parameters)
       --parameters All (downlod all parameters)
       --parameters SMO (only SMO image)
   g. Download the prepared parameter file for the axis
       --parameterfile C:\abc\Kunden\STS3_Themen\Serial_Setup\axis_1_add_3_v2.par
   h. Initiate the reboot of the drive
       --reboot Unsafe
    i. Name the filename and path for the logfile
       --logfile c:\Logfiles\iwdclog1.log. This is generated automatically and gives you some information if the batch file was executed correct.

Upload Parameters from a drive

 With the command word upload you are able to upload parameters from a drive and store them in a file on your computer.

Example for a single axis

 C:\"Program Files (x86)"\"Rexroth"\"ctrlX DRIVE Engineering(3)"\iwdc.exe upload
--idnfile c:\projekt\ioconfigidns.txt
--allowcancel No

Explanation of single steps

1. Calling the iwdc.exe (check your installation path)
    C:\"Program Files (x86)"\"Rexroth"\"ctrlX DRIVE Engineering(3)"\iwdc.exe setup
2. Addressing the correct drive. In this example a single axis drive is used
    --addresses Client=SIP;IP=
3. Naming the path for the parameter file
    --parameterfile c:\ParFiles\Achse1.par
4. Configure wich parameters should be saved or use command --idnfile
    --idns All
    * All: All parameters of an axis (S-0-0017)
    * Application: List oft the parameters to be saved (S-0-0192)
    * A list of  ident numbers, separated by semicolon

5. Option if you want to store individual parameters mentioned in the text file ioconfigidns.txt
    --idnfile c:\projekt\ioconfigidns.txt
    In the file all parameters must be mentioned, separated by a semicolon.
6. Naming the file for logfile
    --logfile c:\Logfiles\iwdclog2.log


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