Objects 5000h to 5999h

Index

Sub-
index

Data Type

Float Scale

Access

PDO
map.

Description

ASCII object

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 SensorClosedA sensor is a type of transducer that converts one type of energy into another for various purposes including measurement or information transfer (Position) Bits for the BiSSClosed"Bi-directional Serial Synchronous interface" An open-source communication protocol for feedback devices. With BiSS, all of the computation for interpolation in regard to position occurs on the ASIC directly in the encoder 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 (➜ p. 1)

50BCh

0

UINT32

 

RW

no

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

GEAR.MODE (➜ p. 1)

50BEh

0

UINT32

 

RW

no

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

GEAR.OUT (➜ p. 1)

50C5h

0

UINT32

 

RW

no

HomingClosedThe Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position direction

HOME.DIR (➜ p. 1)

50CBh

0

UINT32

 

RW

no

Homing mode

HOME.MODE (➜ p. 1)

50E2h

0

UINT32

 

RW

no

Current loops fieldbus injected feed-forwardClosedThis describes an element or pathway within a control system which passes a controlling signal from a source in the control system's external environment, often a command signal from an external operator, to a load elsewhere in its external environment gain

ILClosed"Instruction list" This is a low-level language and resembles assembly.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 (➜ p. 1)

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 (torqueClosedTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist) 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 (➜ p. 1)

5187h

0

UINT32

 

RW

no

Linear position units.

UNIT.PLINEAR (➜ p. 1)

518Ah

0

UINT32

 

RW

no

Linear velocity units.

UNIT.VLINEAR (➜ p. 1)

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

BandwidthClosedIn computer networking, bandwidth often refers to a data rate measured in bits/s, for example, network throughput. The reason for the connection of data rate with the term bandwidth is that the limit to the data rate of a physical communication link is related to its bandwidth in hertz 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

ModbusClosedModBus is a serial communications protocol and is now the most commonly available means of connecting industrial electronic devices. ModBus is often used to connect a supervisory computer with a remote terminal unit in supervisory control and data acquisition (SCADA) systems. Versions of the ModBus protocol exist for serial port and Ethernet (it is widely used with TCP/IP over Ethernet) User Units Input parameter

MODBUSClosedModBus is a serial communications protocol and is now the most commonly available means of connecting industrial electronic devices. ModBus is often used to connect a supervisory computer with a remote terminal unit in supervisory control and data acquisition (SCADA) systems. Versions of the ModBus protocol exist for serial port and Ethernet (it is widely used with TCP/IP over Ethernet).PIN (➜ p. 1)

51E8h

0

UINT32

 

RW

no

Modbus User Units Output parameter.

MODBUS.POUT(➜ p. 1)

51E9h

0

UINT32

 

RW

no

Feedback Resolution (per rev) over Modbus.

MODBUS.PSCALE(➜ p. 1)

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 (➜ p. 1)

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 (➜ p. 1)

5254h

0

UINT32

 

RW

no

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

DIO10.INV(➜ p. 1)

5255h

0

UINT32

 

RW

no

Direction of IOs from X9.

DIO11.DIR (➜ p. 1)

5256h

0

UINT32

 

RW

no

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

DIO11.INV(➜ p. 1)

5257h

0

UINT32

 

RW

no

Direction of IOs from X9.

DIO9.DIR (➜ p. 1)

5258h

0

UINT32

 

RW

no

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

DIO9.INV (➜ p. 1)

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")

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")

5403h

0

UINT32

  

RW

no

Toggles between HOME.IPEAK and current loop limits during homing

HOME.IPEAKACTIVE (➜ p. 1)

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 (➜ p. 1)

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")

 

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