Manufacturer specific SDOs
Objects 5000h to 5999h
Index | SubIndex | Data Type | Float Scale | Access |
PDO map. |
Description | ASCII object |
---|---|---|---|---|---|---|---|
5000h | 0 | UINT32 | RW | no | Analog input low-pass filter cutoff frequency. |
AIN.CUTOFF
|
|
5001h | 0 | UINT32 | RW | no | Analog input signal deadband. |
AIN.DEADBAND
|
|
5002h | 0 | UINT32 | RW | no | Analog current scale factor. |
AIN.ISCALE
|
|
5003h | 0 | UINT32 | RW | no | Analog input offset. |
AIN.OFFSET
|
|
5009h | 0 | UINT32 | RW | no | Analog current scale factor. |
AOUT.ISCALE
|
|
500Bh | 0 | UINT32 | RW | no | Analog output offset. |
AOUT.OFFSET
|
|
5013h | 0 | UINT32 | RW | no | Controls how often the excitation is updated. |
BODE.EXCITEGAP
|
|
5015h | 0 | UINT32 | RW | no | Current command value used during the Bode procedure. |
BODE.IAMP
|
|
5016h | 0 | UINT32 | RW | no | Sets whether the excitation uses current or velocity excitation type. |
BODE.INJECTPOINT
|
|
5019h | 0 | UINT32 | RW | no | Length of the PRB signal before it repeats. |
BODE.PRBDEPTH
|
|
5060h | 0 | UINT32 | RW | no | Sets the fault relay mode. |
DOUT.RELAYMODE
|
|
5080h | 0 | UINT32 | RW | no | Default state of the software enable. |
DRV.ENDEFAULT
|
|
5083h | 0 | UINT32 | RW | no | Continuous rated current value. |
DRV.ICONT
|
|
5084h | 0 | UINT32 | RW | no | Peak rated current value. |
DRV.IPEAK
|
|
5085h | 0 | UINT32 | RW | no | Current that will be used during the DRV.ZERO procedure. |
DRV.IZERO
|
|
508Ch | 0 | UINT32 | RW | no | Number of Biss Sensor (Position) Bits for the BiSS Mode C encoder in use. |
FB1.BISSBITS
|
|
508Fh | 0 | UINT32 | RW | no | Initial feedback value as signed or unsigned. |
FB1.INITSIGNED
|
|
5096h | 0 | UINT32 | RW | no | Current value used during the phase finding procedure (PFB.PFIND=1) |
FB1.PFINDCMDU
|
|
5097h | 0 | UINT32 | RW | no | Number of feedback poles. |
FB1.POLES
|
|
5099h | 0 | UINT32 | RW | no | Resolver nominal transformation ratio. |
FB1.RESKTR
|
|
509Ah | 0 | UINT32 | RW | no | Electrical degrees of phase lag in the resolver. |
FB1.RESREFPHASE
|
|
509Ch | 0 | UINT32 | RW | no | Controls tracking calibration algorithm. |
FB1.TRACKINGCAL
|
|
50B1h | 0 | UINT32 | RW | no | Number of successful synchronized cycles needed to lock the PLL. |
FBUS.PLLTHRESH
|
|
50BBh | 0 | UINT32 | RW | no | Denominator of the electronic gearing ratio; active in opmode 2 (position) only. |
GEAR.IN
|
|
50BCh | 0 | UINT32 | RW | no | Electronic gearing mode; active in opmode 2 (position) only. |
GEAR.MODE
|
|
50BEh | 0 | UINT32 | RW | no | Numerator of the electronic gearing ratio; active in opmode 2 (position) only. |
GEAR.OUT
|
|
50C5h | 0 | UINT32 | RW | no | Homing direction |
HOME.DIR
|
|
50CBh | 0 | UINT32 | RW | no | Homing mode |
HOME.MODE
|
|
50E2h | 0 | UINT32 | RW | no | Current loops fieldbus injected feed-forward gain |
IL.KBUSFF
|
|
50FBh | 0 | UINT32 | RW | no | Motor pitch. |
MOTOR.PITCH
|
|
50FEh | 0 | UINT32 | RW | no | Type of thermal resistor inside the motor. |
MOTOR.RTYPE
|
|
5104h | 0 | UINT32 | RW | no | Motor type. |
MOTOR.TYPE
|
|
510Eh | 0 | UINT32 | RW | no | Motion task to be triggered after an emergency stop procedure; active in opmode 2 (position) only. |
MT.EMERGMT
|
|
5121h | 0 | UINT32 | RW | no | Type of following error warning and fault usage. |
PL.ERRMODE
|
|
5128h | 0 | UINT32 | RW | no | Feedback source for the position loop. |
PL.FBSOURCE
|
|
5175h | 0 | UINT32 | RW | no | Service motion current 1; active in opmode 0 (torque) only. |
SM.I1
|
|
5176h | 0 | UINT32 | RW | no | Service motion current 2; active in opmode 0 (torque) only. |
SM.I2
|
|
5177h | 0 | UINT32 | RW | no | Service motion mode. |
SM.MODE
|
|
5179h | 0 | UINT32 | RW | no | Service motion time 1. |
SM.T1
|
|
517Ah | 0 | UINT32 | RW | no | Service motion time 2. |
SM.T2
|
|
517Eh | 0 | UINT32 | RW | no | Enables and disables software travel limit switches. |
SWLS.EN
|
|
5184h | 0 | UINT32 | RW | no | Linear acceleration / deceleration units. |
UNIT.ACCLINEAR
|
|
5187h | 0 | UINT32 | RW | no | Linear position units. |
UNIT.PLINEAR
|
|
518Ah | 0 | UINT32 | RW | no | Linear velocity units. |
UNIT.VLINEAR
|
|
518Eh | 0 | UINT32 | RW | no | Voltage level for over voltage warning. |
VBUS.OVWTHRESH
|
|
51AEh | 0 | UINT32 | RW | no | Feedback source for the velocity loop; active in opmodes 1 (velocity) and 2 (position) only. |
VL.FBSOURCE
|
|
51B0h | 0 | UINT32 | RW | no | Mode of velocity generation (Observer, d/dt); active in opmodes 1 (velocity) and 2 (position) only. |
VL.GENMODE
|
|
51B3h | 0 | UINT32 | RW | no | Scales the observer velocity signal; active in opmodes 1 (velocity) and 2 (position) only. |
VL.KO
|
|
51B8h | 0 | UINT32 | RW | no | Ratio of the estimated load moment of inertia relative to the motor moment of inertia; active in opmodes 1 and 2 only. |
VL.LMJR
|
|
51BAh | 0 | UINT32 | RW | no | Bandwidth of the observer in Hz. |
VL.OBSBW
|
|
51BBh | 0 | UINT32 | RW | no | Observer operating mode. |
VL.OBSMODE
|
|
51CBh | 0 | UINT32 | RW | no | Filter mode for Digital In 1. |
DIN1.FILTER |
|
51CCh | 0 | UINT32 | RW | no | Filter mode for Digital In 2. |
DIN2.FILTER |
|
51CDh | 0 | UINT32 | RW | no | Filter mode for Digital In 3. |
DIN3.FILTER |
|
51CEh | 0 | UINT32 | RW | no | Filter mode for Digital In 4. |
DIN4.FILTER |
|
51CFh | 0 | UINT32 | RW | no | Filter mode for Digital In 5. |
DIN5.FILTER |
|
51D0h | 0 | UINT32 | RW | no | Filter mode for Digital In 6. |
DIN6.FILTER |
|
51D1h | 0 | UINT32 | RW | no | Filter mode for Digital In 7. |
DIN7.FILTER |
|
51E7h | 0 | UINT32 | RW | no | Modbus User Units Input parameter |
MODBUS.PIN |
|
51E8h | 0 | UINT32 | RW | no | Modbus User Units Output parameter. |
MODBUS.POUT |
|
51E9h | 0 | UINT32 | RW | no | Feedback Resolution (per rev) over Modbus. |
MODBUS.PSCALE |
|
51ECh | 0 | UINT32 | RW | no | Secondary feedback (FB2) resolution. |
FB2.ENCRES
|
|
51EDh | 0 | UINT32 | RW | no | Mode for the second feedback inputs and high speed digital inputs. |
FB2.MODE
|
|
51EEh | 0 | UINT32 | RW | no | Source for the second feedback input. |
FB2.SOURCE
|
|
51EFh | 0 | UINT32 | RW | no | Brake apply timeout for vertical axis. |
MOTOR.TBRAKETO
|
|
51F0h | 0 | UINT32 | RW | no | i.p. | MODBUS.MSGLOG | |
520Ch | 0 | UINT32 | RW | no | Scaling mode for Modbus values. |
MODBUS.SCALING
|
|
520Dh | 0 | UINT32 | RW | no | Encoder output pulse width for modes 6 to 7. |
DRV.EMUEPULSE- WIDTH
|
|
520Eh | 0 | UINT32 | RW | no | Enable/disable motor velocity vs. maximum emulated encoder velocity monitoring function. |
DRV.EMUECHECK- SPEED
|
|
5251h | 0 | UINT32 | RW | no | Analog input deadband mode. |
AIN.DEADBANDMODE
|
|
5252h | 0 | UINT32 | RW | no | Analog input mode |
AIN.MODE
|
|
5253h | 0 | UINT32 | RW | no | Direction of IOs from X9. |
DIO10.DIR
|
|
5254h | 0 | UINT32 | RW | no | Inverting the output voltage of the IO, when in the output direction. |
DIO10.INV |
|
5255h | 0 | UINT32 | RW | no | Direction of IOs from X9. |
DIO11.DIR
|
|
5256h | 0 | UINT32 | RW | no | Inverting the output voltage of the IO, when in the output direction. |
DIO11.INV |
|
5257h | 0 | UINT32 | RW | no | Direction of IOs from X9. |
DIO9.DIR
|
|
5258h | 0 | UINT32 | RW | no | Inverting the output voltage of the IO, when in the output direction. |
DIO9.INV
|
|
5259h | 0 | UINT32 | RW | no | Fault Action for Fault 130. |
FAULT130.ACTION
|
|
525Ah | 0 | UINT32 | RW | no | Fault Action for Fault 131. |
FAULT131.ACTION
|
|
525Bh | 0 | UINT32 | RW | no | Fault Action for Fault 132. |
FAULT132.ACTION
|
|
525Ch | 0 | UINT32 | RW | no | Fault Action for Fault 133. |
FAULT134.ACTION
|
|
525Dh | 0 | UINT32 | RW | no | Fault Action for Fault 702. |
FAULT702.ACTION
|
|
525Eh | 0 | UINT32 | RW | no | Method of acquiring IP Address. |
IP.MODE
|
|
525Fh | 0 | UINT32 | RW | no | Load inertia. |
LOAD.INERTIA
|
|
5260h | 0 | UINT32 | RW | no | Motor back EMF constant. |
MOTOR.KE
|
|
5261h | 0 | UINT32 | RW | no | Changing voltage thresholds. |
VBUS.HALFVOLT
|
|
5262h | 0 | UINT32 | RW | no | Direction for the second feedback input (X9 and X7). |
FB2.DIR
|
|
5263h | 0 | UINT32 | RW | no | Feedback for handwheel operation. |
DRV.HANDWHEELSRC
|
|
5264h | 0 | UINT32 | RW | no | Delay time between inactive Hardware Enable input and drive disable. |
DRV.HWENDELAY
|
|
5265h | 0 | UINT32 | RW | no | Index into the Current Loop Gain Scheduling Table. |
IL.KPLOOKUPINDEX
|
|
5266h | 0 | UINT32 | RW | no | Value of the current loop gain scheduling index. |
IL.KPLOOKUPVALUE
|
|
5267h | 0 | UINT32 | RW | no | Fault Action for Fault 451. |
FAULT451.ACTION
|
|
5268h | 0 | UINT32 | RW | no | Brake Immediately in the case of a drive disable. |
MOTOR.BRAKEIMM
|
|
5352h | 0 | UINT16 | RW | no | Amount of time a communication error must be present before an W&S-fault is thrown. |
WS.CHECKT
|
|
535Ch | 0 | UINT16 | RW | no | Sets the calming time of the motor for Wake & Shake mode 1. |
WS.TSTANDSTILL
|
|
535Dh | 0 | UINT16 | RW | no | Time for the ramp up current in Wake & Shake mode 1. |
WS.TIRAMP
|
|
535Eh | 0 | UINT8 | RW | no | Store additional multiturn information in non-volatile memory and restore it on power up. |
FB1.EXTENDEDMULTITURN |
|
5360h | 0 | UINT16 | RW | no | Rotor time constant. |
MOTOR.IMTR
|
|
5361h | 0 | UINT8 | RW | no | Sets the feedback source for the current loop for MOTOR.TYPE4. |
IL.FBSOURCE
|
|
5362h | 0 | UINT32 | RW | no | The direct-axis current set point used for induction machine closed-loop control. |
MOTOR.IMID
|
|
5375h | 0 | INT32 | RO | no | The last actual position before the AKD was switched off (24 V) |
FB1.INITPSAVED
|
|
5377h | 0 | UINT32 | RW | no | Initial position comparison window |
FB1.INITPWINDOW
|
|
5379h | 0 | UINT8 | RO | no | Result of initial position check |
FB1.INITPSTATUS
|
|
538Bh | 0 | UINT16 | RW | no | DRV.EMUESTEPMODE () | ||
538Ch | 0 | UINT16 | RW | no | DRV.EMUESTEPSTATUS | ||
538Dh | 0 | UINT16 | RW | no | DRV.EMUESTEPVMAX | ||
538Fh | 0 | INT8 | RW | no | Compare engine 0 source |
CMP0.SOURCE |
|
5390h | 0 | INT8 | RW | no | Compare engine 1 source |
CMP1.SOURCE |
|
5394h | 0 | U16 | RW | no | Compare engine 0 output mask |
CMP0.OUTMASK |
|
539Bh | 0 | U16 | RW | no | Compare engine 1 output mask |
CMP1.OUTMASK |
|
53A6h | 0 | U8 | RW | no | Compare engine 0 modulo enable |
CMP0.MODEN |
|
53ADh | 0 | U8 | RW | no | Compare engine 1 modulo enable |
CMP1.MODEN |
|
53B1h | 0 | U32 | RW | no | Compare engine 0 advance |
CMP0.ADVANCE |
|
53B2h | 0 | U32 | RW | no | Compare engine 1 advance |
CMP1.ADVANCE |
|
53C7h | 0 | UINT32 | RW | no | Sets the fault display mode |
DRV.FAULTDISPLAYMODE |
|
53D5h | 0 | UINT32 | RW | no | Sets the delay time for PL.CMD |
PL.PDELAY |
|
53D6h | 0 | UINT32 | RW | no | Sets the delay time for the velocity feedforward integrator component |
VL.FFDELAY |
|
53D7h | 0 | INT8 | RW | no | Allows a surface permanent magnet motor to operate as an interior permanent magnet motor |
MOTOR.FIELDWEAKENING |
|
53FCh | 0 | UINT32 | 1000:1 | RW | no | Sets the period of a "boxcar" moving average filter. | PL.FILTERTIME (see "PL.FILTERTIME") |
5403h | 0 | UINT32 | RW | no | Toggles between HOME.IPEAK and current loop limits during homing |
HOME.IPEAKACTIVE |
|
5404h | 0 | UINT32 | RW | no | Scaling factor (numerator) for the command DRV.EMUESTEPCMD |
DRV.EMUESTEPCMDPIN |
|
5405h | 0 | UINT32 | RW | no | Scaling factor (denominator) for the command DRV.EMUESTEPCMD |
DRV.EMUESTEPCMDPOUT |
|
5406h | 0 | UINT32 | RW | no | Sets the target position window for the homing procedure; active in opmode 2 (position) only |
HOME.TPOSWND |
|
541fh | 0 | UINT8 | RW | no | Disables the automatic Wake & Shake in special cases | WS.FORCEOFF (see "WS.FORCEOFF") | |
5420h | 0 | UINT8 | RW | no | Defines the behavior of fault 314. | FAULT314.ACTION (see "FAULT314.ACTION") | |
542Ch | 0 | UINT16 | RW | no | Input term of position loop gearing factor |
PL.GEARIN |
|
542Dh | 0 | UINT16 | RW | no | Output term of position loop gearing factor |
PL.GEAROUT |
|
5472h | 0 | UINT8 | RW | no | Enable EtherCAT emergency messages | ECAT.ENEMCYREQ |
|
5476h | 0 | U8 | RW | no | Allows operating an MKD-C without connecting an AC power supply |
VBUS.DCOPERATION |
|
547Ah | 0 | UINT8 | RW | no | Configure how the drive gathers cogging data during a cogging compensation teach move. |
COGCOMP.TEACHMODE |
|
547Bh | 0 | INT32 | 1000:1 | RO | yes | Reads the total power supplied to all strings. |
STRINGS.ACTIVEPOWER |
5481h | 0 | U8 | RW | no | Reads the number of communication errors on a SFD (Gen 2 and 3) feedback device. |
FB1.SFDCRCERRORCOUNT |