Manufacturer specific SDOs 5000h to 5999h

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

5000h

0

UINT32

RW

no

Analog input low-pass filter cutoff frequency.

AIN.CUTOFF (see "AIN.CUTOFF ")

5001h

0

UINT32

RW

no

Analog input signal deadband.

AIN.DEADBAND (see "AIN.DEADBAND")

5002h

0

UINT32

RW

no

Analog current scale factor.

AIN.ISCALE (see "AIN.ISCALE ")

5003h

0

UINT32

RW

no

Analog input offset.

AIN.OFFSET (see "AIN.OFFSET ")

5009h

0

UINT32

RW

no

Analog current scale factor.

AOUT.ISCALE (see "AOUT.ISCALE ")

500Bh

0

UINT32

RW

no

Analog output offset.

AOUT.OFFSET (see "AOUT.OFFSET ")

5013h

0

UINT32

RW

no

Controls how often the excitation is updated.

BODE.EXCITEGAP (see "BODE.EXCITEGAP")

5015h

0

UINT32

RW

no

Current command value used during the Bode procedure.

BODE.IAMP (see "BODE.IAMP")

5016h

0

UINT32

RW

no

Sets whether the excitation uses current or velocity excitation type.

BODE.INJECTPOINT (see "BODE.INJECTPOINT")

5019h

0

UINT32

RW

no

Length of the PRB signal before it repeats.

BODE.PRBDEPTH (see "BODE.PRBDEPTH")

5060h

0

UINT32

RW

no

Sets the fault relay mode.

DOUT.RELAYMODE (see "DOUT.RELAYMODE")

5080h

0

UINT32

RW

no

Default state of the software enable.

DRV.ENDEFAULT (see "DRV.ENDEFAULT")

5083h

0

UINT32

RW

no

Continuous rated current value.

DRV.ICONT (see "DRV.ICONT")

5084h

0

UINT32

RW

no

Peak rated current value.

DRV.IPEAK (see "DRV.IPEAK")

5085h

0

UINT32

RW

no

Current that will be used during the DRV.ZERO procedure.

DRV.IZERO (see "DRV.IZERO")

508Ch

0

UINT32

RW

no

Number of Biss Sensor (Position) Bits for the BiSS Mode C encoder in use.

FB1.BISSBITS (see "FB1.BISSBITS ")

508Fh

0

UINT32

RW

no

Initial feedback value as signed or unsigned.

FB1.INITSIGNED (see "FB1.INITSIGNED")

5096h

0

UINT32

RW

no

Current value used during the phase finding procedure (PFB.PFIND=1)

FB1.PFINDCMDU (see "FB1.PFINDCMDU")

5097h

0

UINT32

RW

no

Number of feedback poles.

FB1.POLES (see "FB1.POLES")

5099h

0

UINT32

RW

no

Resolver nominal transformation ratio.

FB1.RESKTR (see "FB1.RESKTR")

509Ah

0

UINT32

RW

no

Electrical degrees of phase lag in the resolver.

FB1.RESREFPHASE (see "FB1.RESREFPHASE")

509Ch

0

UINT32

RW

no

Controls tracking calibration algorithm.

FB1.TRACKINGCAL (see "FB1.TRACKINGCAL")

50B1h

0

UINT32

RW

no

Number of successful synchronized cycles needed to lock the PLL.

FBUS.PLLTHRESH (see "FBUS.PLLTHRESH")

50BBh

0

UINT32

RW

no

Denominator of the electronic gearing ratio; active in opmode 2 (position) only.

GEAR.IN (see "GEAR.IN")

50BCh

0

UINT32

RW

no

Electronic gearing mode; active in opmode 2 (position) only.

GEAR.MODE (see "GEAR.MODE")

50BEh

0

UINT32

RW

no

Numerator of the electronic gearing ratio; active in opmode 2 (position) only.

GEAR.OUT (see "GEAR.OUT")

50C5h

0

UINT32

RW

no

Homing direction

HOME.DIR (see "HOME.DIR")

50CBh

0

UINT32

RW

no

Homing mode

HOME.MODE (see "HOME.MODE")

50E2h

0

UINT32

RW

no

Current loops fieldbus injected feed-forward gain

IL.KBUSFF (see "IL.KBUSFF")

50FBh

0

UINT32

RW

no

Motor pitch.

MOTOR.PITCH (see "MOTOR.PITCH")

50FEh

0

UINT32

RW

no

Type of thermal resistor inside the motor.

MOTOR.RTYPE (see "MOTOR.RTYPE")

5104h

0

UINT32

RW

no

Motor type.

MOTOR.TYPE (see "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 (see "MT.EMERGMT")

5121h

0

UINT32

RW

no

Type of following error warning and fault usage.

PL.ERRMODE (see "PL.ERRMODE")

5128h

0

UINT32

RW

no

Feedback source for the position loop.

PL.FBSOURCE (see "PL.FBSOURCE")

5175h

0

UINT32

RW

no

Service motion current 1; active in opmode 0 (torque) only.

SM.I1 (see "SM.I1")

5176h

0

UINT32

RW

no

Service motion current 2; active in opmode 0 (torque) only.

SM.I2 (see "SM.I2")

5177h

0

UINT32

RW

no

Service motion mode.

SM.MODE (see "SM.MODE")

5179h

0

UINT32

RW

no

Service motion time 1.

SM.T1 (see "SM.T1")

517Ah

0

UINT32

RW

no

Service motion time 2.

SM.T2 (see "SM.T2")

517Eh

0

UINT32

RW

no

Enables and disables software travel limit switches.

SWLS.EN (see "SWLS.EN")

5184h

0

UINT32

RW

no

Linear acceleration / deceleration units.

UNIT.ACCLINEAR (see "UNIT.ACCLINEAR")

5187h

0

UINT32

RW

no

Linear position units.

UNIT.PLINEAR (see "UNIT.PLINEAR")

518Ah

0

UINT32

RW

no

Linear velocity units.

UNIT.VLINEAR (see "UNIT.VLINEAR")

518Eh

0

UINT32

RW

no

Voltage level for over voltage warning.

VBUS.OVWTHRESH (see "VBUS.OVWTHRESH")

51AEh

0

UINT32

RW

no

Feedback source for the velocity loop; active in opmodes 1 (velocity) and 2 (position) only.

VL.FBSOURCE (see "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 (see "VL.GENMODE")

51B3h

0

UINT32

RW

no

Scales the observer velocity signal; active in opmodes 1 (velocity) and 2 (position) only.

VL.KO (see "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 (see "VL.LMJR")

51BAh

0

UINT32

RW

no

Bandwidth of the observer in Hz.

VL.OBSBW (see "VL.OBSBW")

51BBh

0

UINT32

RW

no

Observer operating mode.

VL.OBSMODE (see "VL.OBSMODE")

51CBh

0

UINT32

RW

no

Filter mode for Digital In 1.

DIN1.FILTER (see "DIN1.FILTER TO DIN7.FILTER")

51CCh

0

UINT32

RW

no

Filter mode for Digital In 2.

DIN2.FILTER (see "DIN1.FILTER TO DIN7.FILTER")

51CDh

0

UINT32

RW

no

Filter mode for Digital In 3.

DIN3.FILTER (see "DIN1.FILTER TO DIN7.FILTER")

51CEh

0

UINT32

RW

no

Filter mode for Digital In 4.

DIN4.FILTER (see "DIN1.FILTER TO DIN7.FILTER")

51CFh

0

UINT32

RW

no

Filter mode for Digital In 5.

DIN5.FILTER (see "DIN1.FILTER TO DIN7.FILTER")

51D0h

0

UINT32

RW

no

Filter mode for Digital In 6.

DIN6.FILTER (see "DIN1.FILTER TO DIN7.FILTER")

51D1h

0

UINT32

RW

no

Filter mode for Digital In 7.

DIN7.FILTER (see "DIN1.FILTER TO DIN7.FILTER")

51E7h

0

UINT32

RW

no

Modbus User Units Input parameter

MODBUS.PIN (see "MODBUS.PIN")

51E8h

0

UINT32

RW

no

Modbus User Units Output parameter.

MODBUS.POUT (see "MODBUS.POUT")

51E9h

0

UINT32

RW

no

Feedback Resolution (per rev) over Modbus.

MODBUS.PSCALE (see "MODBUS.PSCALE")

51ECh

0

UINT32

RW

no

Secondary feedback (FB2) resolution.

FB2.ENCRES (see "FB2.ENCRES")

51EDh

0

UINT32

RW

no

Mode for the second feedback inputs and high speed digital inputs.

FB2.MODE (see "FB2.MODE")

51EEh

0

UINT32

RW

no

Source for the second feedback input.

FB2.SOURCE (see "FB2.SOURCE ")

51EFh

0

UINT32

RW

no

Brake apply timeout for vertical axis.

MOTOR.TBRAKETO (see "MOTOR.TBRAKETO")

51F0h

0

UINT32

RW

no

i.p.

MODBUS.MSGLOG

520Ch

0

UINT32

RW

no

Scaling mode for Modbus values.

MODBUS.SCALING (see "MODBUS.SCALING")

520Dh

0

UINT32

RW

no

Encoder output pulse width for modes 6 to 7.

DRV.EMUEPULSE- WIDTH (see "DRV.EMUEPULSEWIDTH")

520Eh

0

UINT32

RW

no

Enable/disable motor velocity vs. maximum emulated encoder velocity monitoring function.

DRV.EMUECHECK- SPEED (see "DRV.EMUECHECKSPEED")

5251h

0

UINT32

RW

no

Analog input deadband mode.

AIN.DEADBANDMODE (see "AIN.DEADBANDMODE")

5252h

0

UINT32

RW

no

Analog input mode

AIN.MODE (see "PL.FB")

5253h

0

UINT32

RW

no

Direction of IOs from X9.

DIO10.DIR (see "DIO9.DIR to DIO11.DIR ")

5254h

0

UINT32

RW

no

Inverting the output voltage of the IO, when in the output direction.

DIO10.INV (see "DIO9.INV to DIO11.INV ")

5255h

0

UINT32

RW

no

Direction of IOs from X9.

DIO11.DIR (see "DIO9.DIR to DIO11.DIR ")

5256h

0

UINT32

RW

no

Inverting the output voltage of the IO, when in the output direction.

DIO11.INV (see "DIO9.INV to DIO11.INV ")

5257h

0

UINT32

RW

no

Direction of IOs from X9.

DIO9.DIR (see "DIO9.DIR to DIO11.DIR ")

5258h

0

UINT32

RW

no

Inverting the output voltage of the IO, when in the output direction.

DIO9.INV (see "DIO9.INV to DIO11.INV ")

5259h

0

UINT32

RW

no

Fault Action for Fault 130.

FAULT130.ACTION (see "FAULTx.ACTION ")

525Ah

0

UINT32

RW

no

Fault Action for Fault 131.

FAULT131.ACTION (see "FAULTx.ACTION ")

525Bh

0

UINT32

RW

no

Fault Action for Fault 132.

FAULT132.ACTION (see "FAULTx.ACTION ")

525Ch

0

UINT32

RW

no

Fault Action for Fault 133.

FAULT134.ACTION (see "FAULTx.ACTION ")

525Dh

0

UINT32

RW

no

Fault Action for Fault 702.

FAULT702.ACTION (see "FAULTx.ACTION ")

525Eh

0

UINT32

RW

no

Method of acquiring IP Address.

IP.MODE (see "IP.MODE")

525Fh

0

UINT32

RW

no

Load inertia.

LOAD.INERTIA (see "LOAD.INERTIA")

5260h

0

UINT32

RW

no

Motor back EMF constant.

MOTOR.KE (see "MOTOR.KE")

5261h

0

UINT32

RW

no

Changing voltage thresholds.

VBUS.HALFVOLT (see "VBUS.HALFVOLT")

5262h

0

UINT32

RW

no

Direction for the second feedback input (X9 and X7).

FB2.DIR (see "FB2.DIR")

5263h

0

UINT32

RW

no

Feedback for handwheel operation.

DRV.HANDWHEELSRC (see "DRV.HANDWHEELSRC")

5264h

0

UINT32

RW

no

Delay time between inactive Hardware Enable input and drive disable.

DRV.HWENDELAY (see "DRV.HWENDELAY")

5265h

0

UINT32

RW

no

Index into the Current Loop Gain Scheduling Table.

IL.KPLOOKUPINDEX (see "IL.KPLOOKUPINDEX")

5266h

0

UINT32

RW

no

Value of the current loop gain scheduling index.

IL.KPLOOKUPVALUE (see "IL.KPLOOKUPVALUE")

5267h

0

UINT32

RW

no

Fault Action for Fault 451.

FAULT451.ACTION (see "FAULTx.ACTION ")

5268h

0

UINT32

RW

no

Brake Immediately in the case of a drive disable.

MOTOR.BRAKEIMM (see "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 (see "WS.CHECKT")

535Ch

0

UINT16

RW

no

Sets the calming time of the motor for Wake & Shake mode 1.

WS.TSTANDSTILL (see "WS.TSTANDSTILL")

535Dh

0

UINT16

RW

no

Time for the ramp up current in Wake & Shake mode 1.

WS.TIRAMP (see "WS.TIRAMP")

535Eh

0

UINT8

RW

no

Store additional multiturn information in non-volatile memory and restore it on power up.

FB1.EXTENDEDMULTITURN ((see "FB1.EXTENDEDMULTITURN"))

5360h

0

UINT16

RW

no

Rotor time constant.

MOTOR.IMTR (see "MOTOR.IMTR")

5361h

0

UINT8

RW

no

Sets the feedback source for the current loop for MOTOR.TYPE4.

IL.FBSOURCE (see "IL.FBSOURCE")

5362h

0

UINT32

RW

no

The direct-axis current set point used for induction machine closed-loop control.

MOTOR.IMID (see "MOTOR.IMID")

5375h

0

INT32

RO

no

The last actual position before the AKD was switched off (24 V)

FB1.INITPSAVED (see "FB1.INITPSAVED")

5377h

0

UINT32

RW

no

Initial position comparison window

FB1.INITPWINDOW (see "FB1.INITPWINDOW")

5379h

0

UINT8

RO

no

Result of initial position check

FB1.INITPSTATUS (see "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 (see "CMPx.SOURCE")

5390h

0

INT8

RW

no

Compare engine 1 source

CMP1.SOURCE (see "CMPx.SOURCE")

5394h

0

U16

RW

no

Compare engine 0 output mask

CMP0.OUTMASK (see "CMPx.OUTMASK")

539Bh

0

U16

RW

no

Compare engine 1 output mask

CMP1.OUTMASK (see "CMPx.OUTMASK")

53A6h

0

U8

RW

no

Compare engine 0 modulo enable

CMP0.MODEN (see "CMPx.MODEN")

53ADh

0

U8

RW

no

Compare engine 1 modulo enable

CMP1.MODEN (see "CMPx.MODEN")

53B1h

0

U32

RW

no

Compare engine 0 advance

CMP0.ADVANCE (see "CMPx.ADVANCE")

53B2h

0

U32

RW

no

Compare engine 1 advance

CMP1.ADVANCE (see "CMPx.ADVANCE")

53C7h

0

UINT32

RW

no

Sets the fault display mode

DRV.FAULTDISPLAYMODE (see "DRV.FAULTDISPLAYMODE")

53D5h

0

UINT32

RW

no

Sets the delay time for PL.CMD

PL.PDELAY (see "PL.PDELAY")

53D6h

0

UINT32

RW

no

Sets the delay time for the velocity feedforward integrator component

VL.FFDELAY (see "VL.FFDELAY")

53D7h

0

INT8

RW

no

Allows a surface permanent magnet motor to operate as an interior permanent magnet motor

MOTOR.FIELDWEAKENING (see "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 (see "HOME.IPEAKACTIVE")

5404h

0

UINT32

RW

no

Scaling factor (numerator) for the command DRV.EMUESTEPCMD

DRV.EMUESTEPCMDPIN (see "DRV.EMUESTEPCMDPIN")

5405h

0

UINT32

RW

no

Scaling factor (denominator) for the command DRV.EMUESTEPCMD

DRV.EMUESTEPCMDPOUT (see "DRV.EMUESTEPCMDPOUT")

5406h

0

UINT32

RW

no

Sets the target position window for the homing procedure; active in opmode 2 (position) only

HOME.TPOSWND (see "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 (see "PL.GEARIN")

542Dh

0

UINT16

RW

no

Output term of position loop gearing factor

PL.GEAROUT (see "PL.GEAROUT")

5472h

0

UINT8

RW

no

Enable EtherCAT emergency messages

ECAT.ENEMCYREQ (see "ECAT.ENEMCYREQ")

5476h

0

U8

RW

no

Allows operating an MKD-C without connecting an AC power supply

VBUS.DCOPERATION (see “VBUS.DCOPERATION”)

547Ah

0

UINT8

RW

no

Configure how the drive gathers cogging data during a cogging compensation teach move.

COGCOMP.TEACHMODE (see “COGCOMP.TEACHMODE”)

547Bh

0

INT32

1000:1

RO

yes

Reads the total power supplied to all strings.

STRINGS.ACTIVEPOWER (see “STRINGS.ACTIVEPOWER”)

5481h

0

U8

RW

no

Reads the number of communication errors on a SFD (Gen 2 and 3) feedback device.

FB1.SFDCRCERRORCOUNT (see FB1.SFDCRCERRORCOUNT)