MaxTune Intelligent Servo Drive

SYSTEMS
INTELLIGENT SERVO DRIVE

Varcom Reference Manual
Manual Revision: 5.0 Firmware Version: 1.3.2
www.pbasystems.com.sg
MaxTune
Revision History
Document Revision 5.0 4.1 4.0 3.0 2.2 2.1 2.0 1.2 1.1 Date Jan. 2013 Nov. 2012 Aug. 2012 Feb.2012 Jan. 2012 Jan. 2012 Dec. 2011 Sept 2011 July 2011 Remarks Firmware version 1.3.2 Firmware version 1.2.12; minor corrections Firmware version 1.2.12 Firmware version 1.0.6 Cross-reference links added; minor corrections Firmware version 0.0.13 Firmware version 0.0.13 (internal release) Documentation for firmware version 0.0.12
Firmware Revision 1.3.2
Important Notice
2013 PBA Systems Pte. Ltd All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of PBA Systems.
Disclaimer
The information in this manual was accurate and reliable at the time of its release. PBA Systems Pte. Ltd. reserves the right to change the specifications of the product described in this manual without notice at any time.
Trademarks
All marks in this manual are the property of their respective owners.
Contact Information
PBA Systems Pte. Ltd PBA Building, 505 Yishun, Industrial Park A, Singapore 7687332 Tel: (+65) 6576 6767 Fax: (+65) 6576 6768 Website: http://www.pbasystems.com.sg/ Email: sales@pbasystems.com.sg
VarCom Reference Manual
MaxTune
Customer Service
PBA Systems is committed to delivering quality customer service and support for all our products. Our goal is to provide our customers with the information and resources so that they are available, without delay, if and when they are needed. In order to serve in the most effective way, we recommend that you contact your local sales representative for order status and delivery information, product information and literature, and application and field technical assistance. If you are unable to contact your local sales representative for any reason, please use the most relevant of the contact details below: For technical support, contact: support@pbasystems.com.sg To order products, contact: sales@pbasystems.com.sg For all other inquiries regarding MaxTune drives or other PBA Systems products, contact: support@pbasystems.com.sg
MaxTune
Contents
1 Introduction __________________ 9 About This Manual .............................. 9 Documentation Set for the MaxTune ..... 9 Manual Format ................................... 9 Variable and Command Functions and Types ___________________ 11 Added in this Firmware Release ........... 11 Removed in this Firmware Release....... 11 Functions.......................................... 12 Activation and Faults ...................... 12 Bus Power .................................... 12 Communication ............................. 12 Commutation ................................ 12 Controller - Current ....................... 13 Controller - Position ....................... 13 Controller - Velocity ....................... 14 Direction ...................................... 14 Emergency Stop ............................ 14 Feedback ...................................... 14 Foldback ....................................... 15 Gearing ........................................ 15 HD Controller ................................ 15 Harmonic Correction ...................... 15 Homing ........................................ 15 Information................................... 16 I/Os - Analog ................................ 16 I/Os - Digital ................................. 16 Limits ........................................... 16 Linear System ............................... 16 Memory Non-volatile ................... 17 Motion .......................................... 17 Motor ........................................... 17 Recording ..................................... 17 Sensorless .................................... 18 Temperature ................................. 18 Unit - Configurable ........................ 18 Unit - Selectable ............................ 18 Types ............................................... 19 Status .......................................... 19 Information................................... 19 Modes .......................................... 19 Commands ................................... 19 Signals ......................................... 20 Motor ........................................... 20 Parameters ................................... 21 Gain ............................................. 22 Wizards ........................................ 22 3 Variables and Commands_______ 23 ABSOFFSET ......................................23 ACC .................................................24 ACTIVE.............................................25 ADDR ...............................................26 ANIN1 ..............................................27 ANIN1DB ..........................................28 ANIN1ISCALE ....................................29 ANIN1LPFHZ .....................................30 ANIN1OFFSET ...................................31 ANIN1VSCALE ...................................32 ANIN1ZERO ......................................33 ANIN2 ..............................................34 ANIN2DB ..........................................35 ANIN2ISCALE ....................................36 ANIN2LPFHZ .....................................37 ANIN2MODE......................................38 ANIN2OFFSET ...................................39 ANIN2ZERO ......................................40 ANOUT .............................................41 ANOUTCMD .......................................42 ANOUTISCALE ...................................43 ANOUTLIM ........................................44 ANOUTMODE .....................................45 ANOUTVSCALE ..................................46 AUTOHOME .......................................47 BAUDRATE ........................................48 BW ..................................................49 CANBITRATE .....................................50 CHECKSUM .......................................51 CLEARFAULTS ...................................52 CLTUNE ............................................53 CLTUNEST ........................................54 CLVD ...............................................55 CLVQ ...............................................56 COMMODE ........................................57 CONFIG ............................................58 DEC .................................................59 DECDIST ..........................................60 DECDIST2 ........................................61 DECSTOP ..........................................62 DECSTOPTIME ...................................63 DICONT ............................................64 DIPEAK ............................................65 DIR ..................................................66 DISMODE .........................................67 DISPLAYTEST ....................................68 DISSPEED ........................................69 DISTIME ...........................................70 DRIVENAME ......................................71 DRIVESCRIPT ....................................72 DRIVESCRIPTST ................................73
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MaxTune
DRIVETEMP ...................................... 74 DUMP ............................................... 75 ECHO ............................................... 76 ELECTANGLE ..................................... 77 EMBER ............................................. 78 EN ................................................... 79 ENCOUTMODE ................................... 80 ENCOUTRES...................................... 81 ENCOUTZPOS ................................... 82 ESTMOTORPARAM ............................. 83 ESTMOTORPARAMST .......................... 84 ESTOPILIM ....................................... 85 FACTORYRESTORE ............................. 86 FBGDS ............................................. 87 FBGMS ............................................. 88 FBITIDX ........................................... 89 FBITPRD ........................................... 90 FBSCALE .......................................... 91 FEEDBACKTYPE ................................. 92 FILTHZ1 ........................................... 94 FILTHZ2 ........................................... 95 FILTMODE ........................................ 96 FLT .................................................. 97 FLTHIST ........................................... 98 FLTHISTCLR ...................................... 99 FOLD ............................................. 100 FRICINEG ....................................... 101 FRICIPOS ....................................... 102 FRICNVHYST ................................... 103 FRICPVHYST ................................... 104 GEAR ............................................. 105 GEARACCTHRESH ............................ 106 GEARFILTAFF .................................. 107 GEARFILTMODE ............................... 108 GEARFILTT1 .................................... 109 GEARFILTT2 .................................... 110 GEARFILTVELFF ............................... 111 GEARIN .......................................... 112 GEARINMODE ................................. 113 GEARLIMITSMODE ........................... 114 GEARMODE ..................................... 115 GEAROUT ....................................... 116 GET ............................................... 117 GETMODE ....................................... 118 GETREC.......................................... 119 HALLS ............................................ 120 HALLSINV ....................................... 121 HALLSTYPE ..................................... 122 HCFB ............................................. 123 HCFB1............................................ 124 HCFB2............................................ 125 HCICMD ......................................... 126 HCICMD1 ....................................... 127 HCICMD2 ....................................... 128 HIFACEREAD ................................... 129 HOLD ............................................. 130 HOMEACC ....................................... 131
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HOMECMD ...................................... 132 HOMEIHARDSTOP ............................ 133 HOMEOFFSET .................................. 134 HOMESPEED1.................................. 135 HOMESPEED2.................................. 136 HOMESTATE.................................... 137 HOMETYPE ...................................... 138 HWPEXT ......................................... 140 HWPEXTCNTRLR .............................. 141 HWPEXTMACHN ............................... 142 HWPOS .......................................... 143 I .................................................... 144 ICMD ............................................. 145 ID .................................................. 146 IFFLPFHZ ........................................ 147 IFOLD ............................................ 148 IFOLDFTHRESH ............................... 149 IFOLDWTHRESH .............................. 150 IGRAV ............................................ 151 ILIM ............................................... 152 ILIMACT ......................................... 153 IMAX .............................................. 154 IN .................................................. 155 INDEXFIND ..................................... 156 INDEXFINDST ................................. 157 INDEXPFB ....................................... 158 INERTIAIDENTEN............................. 159 INERTIAIDENTEST ........................... 160 INFO .............................................. 161 ININV............................................. 162 INMODE ......................................... 163 INPOS ............................................ 164 INPUTS .......................................... 165 IQ.................................................. 166 IQCMD ........................................... 167 ISTOP ............................................ 168 IU .................................................. 169 IUOFFSET ....................................... 170 IV .................................................. 171 IVOFFSET ....................................... 172 IZERO ............................................ 173 J .................................................... 174 K ................................................... 175 KCBEMF ......................................... 176 KCD ............................................... 177 KCDQCOMP ..................................... 178 KCFF .............................................. 179 KCI ................................................ 180 KCIMEMD ....................................... 181 KCIMEMQ ....................................... 182 KCMODE ......................................... 183 KCP ............................................... 184 KNLD ............................................. 185 KNLI .............................................. 186 KNLIDV .......................................... 187 KNLIINT ......................................... 188 KNLIV ............................................ 189
MaxTune
KNLP .............................................. 190 KNLUSERGAIN ................................ 191 KPAFRC .......................................... 192 KPAFRV .......................................... 193 KPD ............................................... 194 KPE ............................................... 195 KPI ................................................ 196 KPISATIN ....................................... 197 KPISATOUT ..................................... 198 KPP................................................ 199 KPVFR ............................................ 200 KVFR ............................................. 201 KVI ................................................ 202 KVP ............................................... 203 LIMSWITCHNEG .............................. 204 LIMSWITCHPOS .............................. 205 LIST .............................................. 206 LMJR .............................................. 207 LOAD ............................................. 208 MB................................................. 209 MBST ............................................. 210 MECHANGLE ................................... 211 MEMBIT .......................................... 212 MEMF ............................................. 213 MEML ............................................. 214 MEMQ ............................................ 215 MEMW ............................................ 216 MENCRES ....................................... 217 MENCTYPE ...................................... 218 MENCZPOS ..................................... 220 MFBDIR .......................................... 221 MFBMODE....................................... 222 MFOLD ........................................... 223 MFOLDD ......................................... 224 MFOLDDIS ...................................... 225 MFOLDR ......................................... 226 MFOLDT ......................................... 227 MICONT ......................................... 228 MIFOLD .......................................... 229 MIFOLDFTHRESH ............................. 230 MIFOLDWTHRESH ............................ 231 MIPEAK .......................................... 232 MJ ................................................. 233 MKF ............................................... 234 MKT ............................................... 235 ML ................................................. 236 MLGAINC ........................................ 237 MLGAINP ........................................ 238 MMASS .......................................... 239 MOTORCOMMTYPE ........................... 240 MOTORNAME .................................. 241 MOTORPHASESCAN ......................... 242 MOTORSETUP ................................. 243 MOTORSETUPST .............................. 244 MOTORTYPE .................................... 245 MOVEABS ....................................... 246 MOVEINC ....................................... 247
MOVEINCCOUNTER .......................... 248 MOVEINCDELAY .............................. 249 MOVEINCDIST1 ............................... 250 MOVEINCDIST2 ............................... 251 MOVEINCSPEED1............................. 252 MOVEINCSPEED2............................. 253 MOVESMOOTHAVG .......................... 254 MOVESMOOTHLPFHZ........................ 255 MOVESMOOTHMODE ........................ 256 MPHASE ......................................... 257 MPITCH .......................................... 258 MPOLES.......................................... 259 MR ................................................. 260 MRESPOLES .................................... 261 MRT ............................................... 262 MSGPROMPT ................................... 263 MSPEED ......................................... 264 MTANGLC ....................................... 265 MTANGLP........................................ 266 MVANGLF ....................................... 267 MVANGLH ....................................... 268 NLAFFLPFHZ ................................... 269 NLANTIVIBGAIN .............................. 270 NLANTIVIBGAIN2 ............................ 271 NLANTIVIBHZ ................................. 272 NLANTIVIBHZ2 ................................ 273 NLANTIVIBKNLD .............................. 274 NLANTIVIBLMJR .............................. 275 NLANTIVIBN ................................... 276 NLANTIVIBSHARP ............................ 277 NLANTIVIBSHARP2 .......................... 278 NLFILTDAMPING .............................. 279 NLFILTT1 ........................................ 280 NLMAXGAIN .................................... 281 NLNOTCHBW ................................... 282 NLNOTCHCENTER ............................ 283 NLNOTCH2BW ................................. 284 NLNOTCH2CENTER .......................... 285 NLPEAFF ......................................... 286 NLPEDFFRATIO ................................ 287 NLSETTLEMODE .............................. 288 NLTUNE .......................................... 289 NLTUNEPARAM ................................ 290 NLTUNEST ...................................... 291 NLTUNETIME ................................... 292 OPMODE ......................................... 293 OUT ............................................... 294 OUTILVL1 ....................................... 295 OUTILVL2 ....................................... 296 OUTINV .......................................... 297 OUTMODE....................................... 298 OUTPLVL1....................................... 300 OUTPLVL2....................................... 301 OUTPUTS ........................................ 302 OUTVLVL1 ...................................... 303 OUTVLVL2 ...................................... 304 OVTHRESH ..................................... 305
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MaxTune
PASSWORD .................................... 306 PCMD ............................................. 307 PDEN ............................................. 308 PE ................................................. 309 PEINPOS ........................................ 310 PEINPOSTIME ................................. 311 PELOOP .......................................... 312 PEMAX ........................................... 313 PFB ................................................ 314 PFBBACKUP .................................... 315 PFBBACKUPMODE ............................ 316 PFBOFFSET ..................................... 317 PHASEFIND..................................... 318 PHASEFINDANGLE ........................... 319 PHASEFINDGAIN ............................. 320 PHASEFINDI ................................... 321 PHASEFINDMODE ............................ 322 PHASEFINDST ................................. 323 PHASEFINDTIME.............................. 324 PNUM ............................................. 325 POSCONTROLMODE ......................... 326 POSLIMMODE .................................. 327 POSLIMNEG .................................... 328 POSLIMPOS .................................... 329 PRBFRQ .......................................... 330 PRBMODE ....................................... 331 PRBPARAM...................................... 332 PTPTE ............................................ 333 PTPVCMD ....................................... 334 PWMFRQ ........................................ 335 PWMSATRATIO ................................ 336 READY ........................................... 337 RECDONE ....................................... 338 RECING .......................................... 339 RECLIST ......................................... 340 RECOFF .......................................... 341 RECORD ......................................... 342 RECRDY ......................................... 343 RECTRIG ........................................ 344 RECTRIGLIST .................................. 346 RELAY ............................................ 347 RELAYMODE.................................... 348 REMOTE ......................................... 349 RESAMPLRANGE .............................. 350 RESBW ........................................... 351 SAVE ............................................. 352 SININIT.......................................... 353 SININITMODE ................................. 354 SININITST ...................................... 355 SINPARAM ...................................... 356 SLEKFMKT ...................................... 357 SLEKFML ........................................ 358 SLEKFMR ........................................ 359 SLTFORCED .................................... 360 ST ................................................. 361 STALLTIME ..................................... 362 STALLVEL ....................................... 363
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STAT .............................................. 364 STATUS .......................................... 365 STEP .............................................. 366 STOP ............................................. 367 STOPPED ........................................ 368 SWEN ............................................ 369 SWENMODE .................................... 370 SYNCSOURCE.................................. 371 T ................................................... 372 TF .................................................. 373 THERM ........................................... 374 THERMCLEARLEVEL.......................... 375 THERMODE ..................................... 376 THERMREADOUT ............................. 377 THERMTIME .................................... 378 THERMTRIPLEVEL ............................ 379 THERMTYPE .................................... 380 TMTEMP ......................................... 381 TMTURNRESET ................................ 382 TRUN ............................................. 383 UNITSLINACC ................................. 384 UNITSLINPOS ................................. 385 UNITSLINVEL .................................. 386 UNITSROTACC ................................ 387 UNITSROTPOS ................................ 388 UNITSROTVEL ................................. 389 UVMODE......................................... 390 UVRECOVER .................................... 391 UVTHRESH...................................... 392 UVTIME .......................................... 393 V ................................................... 394 VBUS ............................................. 395 VBUSREADOUT................................ 396 VCMD ............................................. 397 VD ................................................. 398 VE ................................................. 399 VELCONTROLMODE .......................... 400 VELDESIGN..................................... 401 VELFILTFRQ .................................... 402 VELFILTMODE ................................. 403 VER ............................................... 404 VF ................................................. 405 VFI ................................................ 406 VH ................................................. 407 VLIM .............................................. 408 VMAX ............................................. 409 VR ................................................. 410 WNSERR ......................................... 411 WRN .............................................. 412 XENCRES ........................................ 413 ZERO ............................................. 414
MaxTune
Introduction
Introduction
About This Manual

MaxTune drive functionality is configured using various commands and variables, which are communicated over the serial port or over CAN bus. This manual details VarCom instructions, which are used with serial communications.
Documentation Set for the MaxTune

This manual is part of a documentation set. The entire set consists of the following: MaxTune Quick Start Guide. Basic setup and operation of the drive. MaxTune User Manual. Hardware installation, configuration and operation. MaxTune VarCom Reference Manual. Parameters and commands used to program the MaxTune. MaxTune CANopen for CAN and EtherCAT Drives Reference Manual. MaxTune implementation of CANopen protocol for CAN and EtherCAT.
Manual Format
The command and variable descriptions are presented here in alphabetical order. Command and variable descriptions use different formats, as described below. All commands and variables are presented as follows: Definition Type Short name, used in the graphical user interface software. Variable (R/W): A read/write variable. Variable (R): A read-only variable. Command Description Syntax Description of the command or variable. The command format, including any optional or required parameters. Commands are described using the following conventions: [ ] Indicates an optional parameter. { } Enclose two or more required alternative choices, separated by vertical bars. | A vertical bar separates two or more choices, either required arguments enclosed in braces { } or optional arguments enclosed in brackets [ ].
Variable parameters are italicized within < >. Firmware The earliest version, or specific versions, in which the described functionality is available.
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Introduction
MaxTune
Drive status
Enabled | Disabled Indicates the required state of the drive when the command or variable is issued or invoked.
Range
Discrete values and ranges of values. Parameter values can be written with up to 9 digits following the decimal point. When read, values will show only 3 digits following the decimal point. For example: -->acc 0.123456789 -->acc 0.123 [rpm/s] -->
Default value Unit Non-volatile
The parameters default value. When parameter values imply units of measure, these units are specified. Yes | No Indicates whether the value of the variable is stored in the non-volatile memory, and thereby available when the drive is rebooted. Not applicable for Command.
Example See also CANopen
Examples of use. Links to related commands and variables. Where applicable, the equivalent EtherCAT COE and CANopoen object code.
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MaxTune
Variable and Command Functions and Types
Added in this Firmware Release

BAUDRATE CANBITRATE ESTMOTORPARAM ESTMOTORPARAMST GEARFILTVELFF GETREC HOMEIHARDSTOP HWPEXTCNTRLR HWPEXTMACHN INERTIAIDENTEN INERTIAIDENTEST IQCMD KCD KCMODE KNLIDV KNLIINT MOVEINCDELAY MOVESMOOTHAVG MOVESMOOTHMODE NLANTIVIBGAIN NLANTIVIBGAIN2 NLANTIVIBHZ NLANTIVIBHZ2 NLANTIVIBKNLD NLANTIVIBLMJR NLANTIVIBN NLANTIVIBSHARP NLANTIVIBSHARP2 PFBBACKUP PFBBACKUPMODE SLEKFMKT SLEKFML SLEKFMR SLTFORCED STALLTIME STALLVEL VELFILTFRQ
Removed in this Firmware Release

GEARAGE GEARFILTVFF GEARPOS INESTOP KCFFSAT KCPISAT KCSAT KCVBUS KNLANTIRESHZ KNLANTIRESSHARP KNLANTIVIB KNLANTIVIBHZ KNLRESHZ KNLRESSHARP LMJRRES PWMSAT
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MaxTune
Functions
Activation and Faults
ACTIVE CLEARFAULTS DISMODE DISPLAYTEST EN FLT FLTHIST FLTHISTCLR K MOTORPHASESCAN READY RELAY RELAYMODE REMOTE ST STALLTIME STALLVEL STAT STATUS SWEN SWENMODE UVMODE UVRECOVER UVTHRESH UVTIME WRN
Bus Power
DICONT DIPEAK KCD OVTHRESH PWMFRQ PWMSATRATIO UVMODE UVRECOVER UVTHRESH UVTIME VBUS VBUSREADOUT
Communication
ADDR BAUDRATE CHECKSUM COMMODE DRIVESCRIPT ECHO FBGDS FBGMS FBITIDX FBITPRD FBSCALE GETMODE HIFACEREAD MSGPROMPT OPMODE SYNCSOURCE
Commutation
CANBITRATE CONFIG ELECTANGLE FEEDBACKTYPE GETREC HALLS HALLSINV HALLSTYPE INDEXFIND INDEXFINDST MENCRES MENCTYPE MENCZPOS MOTORCOMMTYPE MOTORSETUP MOTORSETUPST MPHASE MPITCH MPOLES MTANGLC MTANGLP MVANGLF MVANGLH PHASEFIND PHASEFINDANGLE PHASEFINDGAIN PHASEFINDI PHASEFINDMODE PHASEFINDST PHASEFINDTIME WNSERR
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MaxTune
Controller - Current
ANIN1ISCALE ANIN2ISCALE CLTUNE CLTUNEST CLVD CLVQ CONFIG ESTMOTORPARAM ESTMOTORPARAMST ESTOPILIM FRICINEG FRICIPOS FRICNVHYST FRICPVHYST I ICMD ID IFFLPFHZ IGRAV ILIM IMAX IQ IQCMD IU IUOFFSET IV IVOFFSET KCBEMF KCD KCDQCOMP KCFF KCI KCIMEMD KCIMEMQ KCMODE KCP MICONT MIPEAK ML MLGAINC MLGAINP MOTORPHASESCAN OPMODE OUTILVL1 OUTILVL2 PWMSATRATIO STOP T VBUS
Controller - Position
DIR FRICINEG FRICIPOS FRICNVHYST FRICPVHYST GEARIN GEARMODE GEAROUT HOLD HWPEXT HWPEXTCNTRLR HWPEXTMACHN HWPOS ICMD INPOS KPAFRC KPAFRV KPD KPE KPI KPISATIN KPISATOUT KPP KPVFR MECHANGLE MFBDIR MOVEABS MOVEINC OPMODE OUTPLVL1 OUTPLVL2 PCMD PE PEINPOS PEINPOSTIME PELOOP PEMAX PFB POSCONTROLMODE PTPTE PTPVCMD STOP STOPPED UNITSLINPOS UNITSROTPOS VCMD
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MaxTune
Controller - Velocity
ANIN1DB ANIN1LPFHZ ANIN1VSCALE ANIN2LPFHZ BW FILTHZ1 FILTHZ2 FILTMODE FRICINEG FRICIPOS FRICNVHYST FRICPVHYST ICMD J KVFR KVI KVP LMJR MJ MKT MSPEED OPMODE OUTVLVL1 OUTVLVL2 STEP STOP TF UNITSLINVEL UNITSROTVEL V VCMD VD VE VELCONTROLMODE VELDESIGN VELFILTFRQ VELFILTMODE VF VFI VH VLIM VMAX VR
Direction
DIR ELECTANGLE HWPOS MECHANGLE MFBDIR MOTORSETUP MPHASE PFB V
Emergency Stop
DECDIST DECDIST2 DECSTOP DECSTOPTIME DISMODE DISSPEED DISTIME ESTOPILIM HOLD ISTOP STOP
Feedback
ABSOFFSET DIR FEEDBACKTYPE HALLS HALLSINV HALLSTYPE HWPEXT HWPEXTCNTRLR HWPEXTMACHN HWPOS INDEXFIND INDEXFINDST INDEXPFB IZERO MECHANGLE MENCRES MENCTYPE MENCZPOS MFBDIR MFBMODE MOTORSETUP MOTORSETUPST MRESPOLES PFBBACKUP PFBOFFSET RESAMPLRANGE RESBW SININIT SININITMODE SININITST SINPARAM TMTEMP TMTURNRESET UNITSLINPOS UNITSROTPOS XENCRES ZERO
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MaxTune
Foldback
DICONT DIPEAK FOLD IFOLD IFOLDFTHRESH IFOLDWTHRESH MFOLD MFOLDD MFOLDDIS MFOLDR MFOLDT MICONT MIFOLD MIFOLDFTHRESH MIFOLDWTHRESH MIPEAK
Gearing
GEAR GEARACCTHRESH GEARFILTAFF GEARFILTT1 GEARFILTT2 GEARFILTMODE GEARFILTVELFF GEARIN GEARINMODE GEARLIMITSMODE GEARMODE GEAROUT HWPEXT HWPEXTCNTRLR HWPEXTMACHN OPMODE PCMD XENCRES
HD Controller
INERTIAIDENTEN INERTIAIDENTEST KNLD KNLI KNLIDV KNLIINT KNLIV KNLP KNLUSERGAIN MOVESMOOTHLPFHZ NLAFFLPFHZ NLANTIVIBGAIN NLANTIVIBGAIN2 NLANTIVIBHZ NLANTIVIBHZ2 NLANTIVIBKNLD NLANTIVIBLMJR NLANTIVIBN NLANTIVIBSHARP NLANTIVIBSHARP2 NLFILTDAMPING NLFILTT1 NLMAXGAIN NLNOTCH2BW NLNOTCH2CENTER NLNOTCHBW NLNOTCHCENTER NLPEAFF NLPEDFFRATIO NLSETTLEMODE NLTUNE NLTUNEPARAM NLTUNEST NLTUNETIME PELOOP
Harmonic Correction
HCFB HCFB1 HCFB2 HCICMD HCICMD1 HCICMD2
Homing
AUTOHOME HOMEACC HOMECMD HOMEIHARDSTOP HOMEOFFSET HOMESPEED1 HOMESPEED2 HOMESTATE HOMETYPE
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MaxTune
Information
ADDR DRIVENAME FLTHIST IMAX INFO LIST MOTORNAME RECLIST RECTRIGLIST TRUN VER VMAX WRN
I/Os - Analog
ANIN1 ANIN1DB ANIN1ISCALE ANIN1LPFHZ ANIN1OFFSET ANIN1VSCALE ANIN1ZERO ANIN2 ANIN2DB ANIN2ISCALE ANIN2LPFHZ ANIN2MODE ANIN2OFFSET ANIN2ZERO ANOUT ANOUTCMD ANOUTISCALE ANOUTLIM ANOUTMODE ANOUTVSCALE OPMODE
I/Os - Digital
ENCOUTMODE ENCOUTRES ENCOUTZPOS GEARIN GEARMODE GEAROUT HWPEXT HWPEXTCNTRLR HWPEXTMACHN IN ININV INMODE INPUTS OUT OUTILVL1 OUTILVL2 OUTINV OUTMODE OUTPLVL1 OUTPLVL2 OUTPUTS OUTVLVL1 OUTVLVL2 RELAY RELAYMODE SYNCSOURCE XENCRES
Limits
DICONT DIPEAK ESTOPILIM FOLD HOMEIHARDSTOP IFOLD ILIM ILIMACT IMAX LIMSWITCHNEG LIMSWITCHPOS MFOLD MFOLDDIS MICONT MIFOLD MIPEAK MSPEED POSLIMMODE POSLIMNEG POSLIMPOS STALLTIME STALLVEL VLIM VMAX
Linear System
MKF MMASS MOTORTYPE MPITCH UNITSLINACC UNITSLINPOS UNITSLINVEL
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MaxTune
Memory Non-volatile
DICONT DIPEAK DUMP EMBER FACTORYRESTORE LOAD OVTHRESH PFBBACKUP PFBBACKUPMODE SAVE UVTHRESH
Motion
ACC DEC DECSTOP HOLD J MB MBST MOVEABS MOVEINC MOVEINCCOUNTER MOVEINCDELAY MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2 MOVESMOOTHAVG MOVESMOOTHLPFHZ PDEN PEINPOSTIME PNUM PTPTE PTPVCMD STEP STOPPED UNITSLINACC UNITSLINPOS UNITSLINVEL UNITSROTACC UNITSROTPOS UNITSROTVEL VLIM
Motor
DIR ESTMOTORPARAM ESTMOTORPARAMST FEEDBACKTYPE MENCRES MENCTYPE MENCZPOS MFBDIR MFOLD MFOLDD MFOLDDIS MFOLDR MFOLDT MICONT MIFOLD MIFOLDFTHRESH MIFOLDWTHRESH MIPEAK MJ MKF MKT ML MLGAINC MLGAINP MMASS MOTORCOMMTYPE MOTORNAME MOTORSETUP MOTORSETUPST MOTORTYPE MPHASE MPITCH MPOLES MR MRESPOLES MRT MSPEED MTANGLC MTANGLP MVANGLF MVANGLH THERM THERMCLEARLEVEL THERMODE THERMREADOUT THERMTIME THERMTRIPLEVEL THERMTYPE
Recording
GET GETMODE PRBFRQ PRBMODE PRBPARAM RECDONE RECING RECLIST RECOFF RECORD RECRDY RECTRIG RECTRIGLIST
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MaxTune
Sensorless
SLEKFMKT SLEKFML SLEKFMR SLTFORCED
Temperature
DRIVETEMP THERM THERMCLEARLEVEL THERMODE THERMREADOUT THERMTIME THERMTRIPLEVEL THERMTYPE TMTEMP
Unit - Configurable
ABSOFFSET ACC ANIN1VSCALE ANOUTVSCALE DEC DECDIST DECDIST2 DECSTOP DISSPEED FRICNVHYST FRICPVHYST GEARACCTHRESH HCFB HCFB1 HCFB2 HOMEACC HOMEOFFSET HOMESPEED1 HOMESPEED2 INDEXPFB J KVP MOVEABS MOVEINC MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2 MSPEED NLTUNEPARAM OUTPLVL1 OUTPLVL2 OUTVLVL1 OUTVLVL2 PCMD PDEN PE PEINPOS PELOOP PEMAX PFB PFBOFFSET PNUM POSLIMNEG POSLIMPOS PTPTE PTPVCMD STALLVEL STEP V VCMD VE VLIM VMAX
Unit - Selectable
MOTORTYPE PDEN PNUM UNITSLINACC UNITSLINPOS UNITSLINVEL UNITSROTACC UNITSROTPOS UNITSROTVEL
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MaxTune
Types
Status
These are read-only variables, serving as status flags that indicate the state of the drive and certain procedures.
ACTIVE CLTUNEST DRIVESCRIPTST ESTMOTORPARAMST FLT HOMESTATE INDEXFINDST INPUTS LIMSWITCHNEG LIMSWITCHPOS MBST MOTORSETUP NLTUNEST PHASEFINDST READY RECDONE RECING RECRDY RELAY SININITST ST STAT STATUS SWEN WNSERR
Information
These are read-only variables that display utility information.
ADDR DRIVENAME FLTHIST IMAX INFO LIST MOTORNAME PFBBACKUP RECLIST RECTRIGLIST VELDESIGN VER VMAX WRN
Modes
These are variables that define modes of operation and control. Each variable has a set of discrete values, each of which defines a different mode. These variables are also referred to as switch variables.
ANIN2MODE ANOUTMODE AUTOHOME CHECKSUM COMMODE DIR DISMODE ENCOUTMODE FEEDBACKTYPE FILTMODE GEAR GEARFILTMODE GEARINMODE GEARLIMITSMODE GEARMODE GETMODE HALLSTYPE HOMETYPE INMODE KCMODE MENCTYPE MFBDIR MFBMODE MFOLDDIS MOTORCOMMTYPE MOTORPHASESCAN MOTORTYPE MOVESMOOTHMODE MSGPROMPT NLSETTLEMODE OPMODE OUTMODE PFBBACKUPMODE PHASEFINDMODE POSCONTROLMODE POSLIMMODE RELAYMODE SININITMODE SWENMODE SYNCSOURCE THERMODE THERMTYPE UNITSLINACC UNITSLINPOS UNITSLINVEL UNITSROTACC UNITSROTPOS UNITSROTVEL UVMODE VELCONTROLMODE VELFILTMODE
Commands
Commands are instructions sent to the drive for immediate execution.
ANIN1ZERO ANIN2ZERO ANOUTCMD BAUDRATE CLEARFAULTS CLTUNE CONFIG DISPLAYTEST DRIVESCRIPT
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DUMP EN ESTMOTORPARAM FACTORYRESTORE FLTHISTCLR GET GETREC HIFACEREAD HOLD HOMECMD INDEXFIND J K LOAD MB MEMBIT MEMF MEML MEMQ MEMW MOTORSETUP MOVEABS MOVEINC NLTUNE PASSWORD PHASEFIND PRBFRQ PRBMODE PRBPARAM RECOFF RECORD RECTRIG SAVE SININIT STEP STOP T TMTURNRESET ZERO
MaxTune
Signals
These are read-only variables that capture and display changing values (such as current and velocity).
ANIN1 ANIN2 ANOUT CLVD CLVQ DRIVETEMP ELECTANGLE FOLD HALLS HCFB HCICMD HWPEXT HWPEXTCNTRLR HWPEXTMACHN HWPOS I ICMD ID IFOLD ILIMACT IN INPOS IQ IQCMD IU IV KCIMEMD KCIMEMQ MECHANGLE MFOLD MIFOLD OUT OUTPUTS PCMD PE PELOOP PFB PTPTE PTPVCMD REMOTE STOPPED THERM THERMREADOUT TMTEMP TRUN V VBUSREADOUT VCMD VE
Motor
These are read-write variables that define motor properties.
FEEDBACKTYPE MENCRES MENCZPOS MFOLDD MFOLDR MFOLDT MICONT MIFOLDFTHRESH MIFOLDWTHRESH MIPEAK MJ MKT ML MLGAINC MLGAINP MOTORNAME MPHASE MPITCH MPOLES MRESPOLES MSPEED MTANGLC MTANGLP MVANGLF MVANGLH
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Parameters
These are read-write variables that define the drive configuration.
ABSOFFSET ACC ANIN1DB ANIN1ISCALE ANIN1LPFHZ ANIN1OFFSET ANIN1VSCALE ANIN2DB ANIN2ISCALE ANIN2LPFHZ ANIN2OFFSET ANOUTISCALE ANOUTLIM ANOUTVSCALE CANBITRATE DEC DECDIST DECDIST2 DECSTOP DECSTOPTIME DICONT DIPEAK DISSPEED DISTIME ECHO ENCOUTRES ENCOUTZPOS ESTOPILIM FBGDS FBGMS FBITIDX FBITPRD FBSCALE GEARACCTHRESH GEARIN GEAROUT HALLSINV HOMEACC HOMEIHARDSTOP HOMEOFFSET HOMESPEED1 HOMESPEED2 IFFLPFHZ IFOLDFTHRESH IFOLDWTHRESH IGRAV ILIM INDEXPFB ININV ISTOP IUOFFSET IVOFFSET IZERO KCD MENCRES MENCZPOS MFOLDD MFOLDR MFOLDT MICONT MIFOLDFTHRESH MIFOLDWTHRESH MIPEAK MJ MKF MKT ML MMASS MOVEINCCOUNTER MOVEINCDELAY MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2 MOVESMOOTHAVG MPHASE MPITCH MPOLES MR MRESPOLES MRT MSPEED NLTUNEPARAM NLTUNETIME OUTILVL1 OUTILVL2 OUTINV OUTPLVL1 OUTPLVL2 OUTVLVL1 OUTVLVL2 OVTHRESH PDEN PEINPOS PEINPOSTIME PEMAX PFBOFFSET PHASEFINDANGLE PHASEFINDTIME PNUM POSLIMNEG POSLIMPOS PWMFRQ PWMSATRATIO RESAMPLRANGE RESBW SINPARAM SLEKFMKT SLEKFML SLEKFMR STALLTIME STALLVEL THERMCLEARLEVEL THERMTIME THERMTRIPLEVEL UVRECOVER UVTHRESH UVTIME VBUS VLIM XENCRES
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Gain
These are read-write variables that define control gain and other parameters that require tuning.
BW FILTHZ1 FILTHZ2 FRICINEG FRICIPOS FRICNVHYST FRICPVHYST GEARFILTAFF GEARFILTT1 GEARFILTT2 GEARFILTVELFF HCFB1 HCFB2 HCICMD1 HCICMD2 KCBEMF KCDQCOMP KCFF KCI KCP KNLD KNLI KNLIDV KNLIINT KNLIV KNLP KNLUSERGAIN KPAFRC KPAFRV KPD KPE KPI KPISATIN KPISATOUT KPP KPVFR KVFR KVI KVP LMJR MLGAINC MLGAINP MOVESMOOTHLPFHZ MTANGLC MTANGLP MVANGLF MVANGLH NLAFFLPFHZ NLANTIVIBGAIN NLANTIVIBGAIN2 NLANTIVIBHZ NLANTIVIBHZ2 NLANTIVIBKNLD NLANTIVIBLMJR NLANTIVIBN NLANTIVIBSHARP NLANTIVIBSHARP2 NLFILTDAMPING NLFILTT1 NLMAXGAIN NLNOTCH2BW NLNOTCH2CENTER NLNOTCHBW NLNOTCHCENTER NLPEAFF NLPEDFFRATIO PHASEFINDGAIN PHASEFINDI SLTFORCED TF VD VELFILTFRQ VF VFI VH VR
Wizards
Variables and commands used by autotuning processes.
CLTUNE CLTUNEST ESTMOTORPARAM ESTMOTORPARAMST MOTORSETUP MOTORSETUPST NLTUNE NLTUNEPARAM NLTUNEST NLTUNETIME PHASEFIND PHASEFINDANGLE PHASEFINDGAIN PHASEFINDI PHASEFINDMODE PHASEFINDST PHASEFINDTIME WNSERR
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Variables and Commands
ABSOFFSET
Definition Type Description Syntax Firmware Drive status Range Default value Unit Absolute Feedback Offset Variable (R/W) The initial absolute position after power-cycle. Read: ABSOFFSET Write: ABSOFFSET <value> 1.2.12 Enabled | Disabled (231 -1) 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also CANopen 200Dh, sub-index 0 Yes [rev]
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ACC
Definition Type Description Acceleration Variable (R/W) Gets/sets the acceleration value for the commands J (jog) and STEP. In analog velocity mode, ACC serves as an acceleration limit on the velocity command (VCMD). Syntax Firmware Drive status Range Read: ACC Write: ACC <value> 1.0.6 Enabled | Disabled If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0.004 to 16666.666 UNITSROTACC 1 = 0.23 to 1000000 UNITSROTACC 2 = 1.38 to 6000000 UNITSROTACC 3 = 0.23 to 1000000 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 0.12 to 533333.333 UNITSLINACC 2 = 0.23 to 1000000 Default value If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 10.000 UNITSROTACC 1 = 600.000 UNITSROTACC 2 = 3600.000 UNITSROTACC 3 = 50.000 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 320.000 UNITSLINACC 2 = 10.000 Unit If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = rps/s UNITSROTACC 1 = rpm/s UNITSROTACC 2 = deg/s2 UNITSROTACC 3 = user/s2 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s2 UNITSLINACC 2 = user/s2 Non-volatile See also Yes ANIN1 DEC DECSTOP J STEP UNITSROTACC CANopen 6083h, sub-index 0
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ACTIVE
Definition Type Description Drive Active Status (Drive Enabled) Variable (R) Indicates whether the drive is enabled and power is being applied to the motor. This variable is the drives general operation status indicator. ACTIVE 1.0.6 Enabled | Disabled 0 = Drive is inactive 1 = Drive is enabled Default value Unit Non-volatile See also Not applicable Not applicable No EN FLT J READY REMOTE ST SWEN
Syntax Firmware Drive status Range
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ADDR
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile Example Rotary Address Switch Variable (R) Indicates the rotary switch position that defines the drives communication address. ADDR 1.0.6 Enabled | Disabled 00 to 99 Hardware defined Not applicable No -->addr 03 --> ECHO MSGPROMPT CANopen 20E1h, sub-index 0
See also
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ANIN1
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Input 1 Value Variable (R) Indicates the value of analog input 1. ANIN1 1.0.6 Enabled | Disabled 12.5 V Not applicable V No ANIN1DB ANIN1ISCALE ANIN1LPFHZ ANIN1OFFSET ANIN1VSCALE ANIN1ZERO ANIN2
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ANIN1DB
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Input 1 Deadband Variable (R/W) Gets/sets the deadband range of analog input 1. Read: ANINDB Write: ANINDB <value> 1.0.6 Enabled | Disabled 0 to 10 0.000 V Yes ANIN1 ANIN2LPFHZ
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ANIN1ISCALE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Input 1 Current Scaling Variable (R/W) Gets/sets the scaling value of the analog current command from input 1. Read: ANINSCALE Write: ANINSCALE <value> 1.0.6 Enabled | Disabled 0.001 to DIPEAK DIPEAK/100 A/V Yes OPMODE
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ANIN1LPFHZ
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Input 1 Filter Variable (R/W) Gets/sets the corner frequency of a first order filter that is applied to analog input 1. Read: ANIN1LPFZ Write: ANIN1LPFZ <value> 1.0.6 Enabled | Disabled 10 to 10000 1000 Hz Yes ANIN1 ANIN1DB
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ANIN1OFFSET
Definition Type Description Analog Input 1 Offset Variable (R/W) Gets/sets the offset voltage for analog input 1. The offset can also be set by a zeroing procedure, using the command ANIN1ZERO. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: ANIN1OFFSET Write: ANIN1OFFSET <value> 1.0.6 Enabled | Disabled 10 0.000 V Yes ANIN1 ANIN1ZERO
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ANIN1VSCALE
Definition Type Description Syntax Firmware Drive status Range Analog Input 1 Velocity Scaling Variable (R/W) Gets/sets the scaling of the analog velocity command from input 1. Read: ANIN1VSCALE Write: ANIN1VSCALE <value> 1.0.6 Enabled | Disabled If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = (0.001 to 3999.999) UNITSROTVEL 1 = (0.06 to 239999.94) UNITSROTVEL 2 = (0.36 to 1439999.64) If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = (0.032 to 127999.96) Default value If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 0.001 UNITSROTVEL 1 = 0.060 UNITSROTVEL 2 = 0.360 UNITSROTVEL 3 = 0.005 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 0.032 UNITSLINVEL 2 = 0.001 Unit If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps/V UNITSROTVEL 1 = rpm/V UNITSROTVEL 2 = (deg/s)/V UNITSROTVEL 3 = (user/s)/V If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = (mm/s)/V UNITSLINVEL 2 = (user/s)/V Non-volatile See also Yes OPMODE
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ANIN1ZERO
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Input 1 Zeroing Command Causes the value of the analog input 1 signal to become 0 by modifying the analog offset value (ANIN1OFFSET). ANIN1ZERO 1.0.6 Enabled | Disabled Not applicable Not applicable Not applicable Not applicable ANIN1OFFSET
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ANIN2
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Input 2 Value Variable (R) Indicates the value of analog input 2. ANIN2 1.0.6 Enabled | Disabled 12.5 Not applicable V No ANIN1 ANIN2MODE
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ANIN2DB
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Input 2 Deadband Variable (R/W) Gets/sets the deadband range of analog input 2. Read: ANIN2DB Write: ANIN2DB <value> 1.0.6 Enabled | Disabled 0 to 10 0.000 V Yes ANIN2 ANIN2LPFHZ
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ANIN2ISCALE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Input 2 Current (Torque) Scaling Variable (R/W) Gets/sets the scaling of the analog current command from input 2. Read: ANIN2SCALE Write: ANIN2SCALE <value> 1.0.6 Enabled | Disabled 0.001 to DIPEAK DIPEAK/100 A/V Yes ANIN2 ANIN2MODE
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ANIN2LPFHZ
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Input 2 Filter Variable (R/W) Gets/sets the corner frequency of a first order filter that is applied to analog input 2. Read: ANIN2LPFHZ Write: ANIN2LPFHZ <value> 1.0.6 Enabled | Disabled 10 to 10000 1000 Hz Yes ANIN2 ANIN2DB
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ANIN2MODE
Definition Type Description Syntax Firmware Drive status Range Analog Input 2 Mode Variable (R/W) Gets/sets a value that defines the function of analog input 2. Read: ANIN2MODE Write: ANIN2MODE <value> 1.0.6 Disabled -1= Hardware defined dual gain. ANIN2 is inactive, ANIN1 has a 16 bit resolution, ANIN2MODEis read only. 0 = Idle. ANIN2 input voltage is read only. 1 = Dual gain - external jumper connection between the analog inputs is required. 2 = Current limit mode - second input limits current command (uses ANIN2ISCALE) Note: Make sure hardware matches this configuration. Default value Unit Non-volatile See also 0 Not Applicable Yes ANIN2 ANIN2ISCALE
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ANIN2OFFSET
Definition Type Description Analog Input 2 Offset Variable (R/W) Gets/sets the offset voltage for analog input 2. The offset can also be set by a zeroing procedure, using the command ANIN2ZERO. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: ANIN2OFFSET Write: ANIN2OFFSET <value> 1.0.6 Enabled | Disabled 10 0.000 V Yes ANIN2 ANIN2ZERO
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ANIN2ZERO
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Input 2 Zero Command Command Causes the value of the analog input 2 signal to become 0 by modifying the analog offset value (ANIN2OFFSET). ANIN2ZERO 1.0.6 Enabled | Disabled Not applicable Not applicable Not applicable Not applicable ANIN2 ANIN2OFFSET
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ANOUT
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Output Value Variable (R) Indicates the analog output value, in volts, as set by ANOUTMODE. ANOUT 1.0.6 Enabled | Disabled Not Applicable Not Applicable V No ANOUTMODE ANOUTCMD
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ANOUTCMD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Output Command Command The analog output value set by user. Requires ANOUTMODE 6. ANOUTCMD 1.0.6 Enabled | Disabled Not Applicable 0 V No ANOUT ANOUTLIM ANOUTMODE
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ANOUTISCALE
Definition Type Description Analog Output Current Scaling Variable (R/W) Gets/sets the scaling of the analog output voltage that represents the motor current (I) or the current command (ICMD). For example, if ANOUTMODE=4 (current command monitoring): ANOUT [V] = ICMD [A] ANOUTISCALE [A/V] Syntax Firmware Drive status Range Default value Unit Non-volatile See also ANOUTISCALE 1.0.6 Enabled | Disabled 0 to 10 0 A/V Yes ANOUT ANOUTLIM ANOUTMODE
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ANOUTLIM
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Analog Output Voltage Limit Variable (R/W) Gets/sets the maximum voltage of the analog output command for all modes. ANOUTLIM 1.0.6 Enabled | Disabled 1 to 12 10 V Yes ANOUT ANOUTCMD ANOUTMODE
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ANOUTMODE
Definition Type Description Syntax Firmware Drive status Range Analog Output Mode Variable (R/W) Gets/sets a value that defines the function of the analog output. Read: ANOUTMODE Write: ANOUTMODE <value> 1.0.6 Enabled | Disabled 0 = User command. Uses value set by ANOUTCMD. 1 = Tachometer mode. For velocity feedback. 2 = Equivalent current monitoring. 3 = Velocity error monitoring. 4 = Current command monitoring. 5 = Triangle wave at low frequency (~1Hz). For testing. 6 = Current in-phase component (IQ) monitoring. 7 = Position error monitoring. 8 = Position feedback monitoring. 9 = Reserved (output 0). 10 = Reserved (output 0). Default value Unit Non-volatile See also 0 Not Applicable Yes ANOUT ANOUTCMD ANOUTISCALE ANOUTLIM ANOUTVSCALE
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ANOUTVSCALE
Definition Type Description Syntax Firmware Drive status Range Analog Output Velocity Scaling Variable (R/W) Gets/sets the scaling of the analog output voltage that represents the actual velocity (V) or the velocity error (VE). Read: ANOUTVSCALE Write: ANOUTVSCALE <value> 1.0.6 Enabled | Disabled If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 0 UNITSROTVEL 1 = 0 UNITSROTVEL 2 = 0 UNITSROTEVL 3 = 0 to to to to 33.333 2000 12000 2000
If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 0 to 2000 UNITSLINVEL 2 = 0 to 2000 Default value Unit 0 If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = rps/V UNITSROTVEL 1 = rpm/V UNITSROTVEL 2 = (deg/s)/V UNITSROTVEL 3 = (user/s)/V If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = (mm/s)/V UNITSLINVEL 2 = (user/s)/V Non-volatile See also Yes ANOUT ANOUTLIM ANOUTMODE
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AUTOHOME
Definition Type Description Syntax Firmware Drive status Range Automatic Homing Mode Variable (R/W) Gets/sets a value that defines the type of automatic homing that will be performed at power up. Read: AUTOHOME Write: AUTOHOME <value> 1.2.12 Enabled | Disabled 0 = No Action. User must initiate homing manually. 1 = Homing to be attempted after power up, regardless of other conditions 2 = Homing to be attempted after power up, when conditions are reasonable Default value Unit Non-volatile See also CANopen 0 Not Applicable Yes HOMECMD HOMETYPE 200Eh, sub-index 0
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BAUDRATE
Definition Type Description Serial Baud Rate Command Sets the communication bit rate during a work session. This parameter is not saved in the non-volatile memory, and is intended to enable more reliable communication in noisy environments. Changing the bit rate requires reestablishing communication with the PC software. BAUDRATE <value> 1.3.2 Enabled | Disabled 9600 to 115200 115200 bps Not Applicable
Syntax Firmware Drive status Range Default value Unit Non-volatile See also
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BW
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Velocity Loop Bandwidth for Pole Placement Variable (R/W) Gets/sets the velocity control loop bandwidth for the pole placement controller. (VELCONTROLMODE 2 or 4) Read: BW Write: BW <value> 1.0.6 Enabled | Disabled 10 to 600 30 Hz Yes FILTMODE LMJR MJ MKT TF VELCONTROLMODE CANopen 2010h, sub-index 0
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CANBITRATE
Definition Type Description CAN Bit Rate Variable (R/W) Gets/sets the CAN bit rate. When the drive is powered, it assumes the bit rate of any existing conversation on the communication bus. If no such communication is detected, the drive sets the communication rate to the CANBITRATE value. For the CANBITRATE setting to take effect, a SAVE command followed by a cycle power sequence must be executed. Syntax Firmware Drive status Range CANBITRATE CANBITRATE <value> 1.3.2 Enabled | Disabled 1 = 125 kbps 2 = 250 kbps 3 = 500 kbps 4 = 1000 kbps Default value Unit Non-volatile See also 3 Not Applicable Yes
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CHECKSUM
Definition Type Description CHECKSUM Variable (R/W) Enables/disables checksum protection on messages communicated between drive and host. The checksum is an 8-bit value, displayed within brackets <>. For example, 0x1F checksum is displayed as <1F> at the end of the message before the carriage return. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: CHECKSUM Write: CHECKSUM <value> 1.0.6 Enabled | Disabled 0 = Message checksum disabled 1 = Message checksum enabled 0 Not Applicable Yes COMMODE ECHO MSGPROMPT
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CLEARFAULTS
Definition Type Description Clear Faults Command Clears latched faults. Once all faults are cleared, the drive becomes ready for activation (READY). If clearing the faults causes the drive to re-enable, then software enable (SWEN) is disabled to prevent spontaneous re-enable. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CLEARFAULTS 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable DISMODE FLT FLTHIST FLTHISTCLR
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CLTUNE
Definition Type Description Current Loop Autotune Command Not intended for user unless instructed by Technical Support. Autotunes the current control loop parameters by executing a series of tests. Modifies the variables KCP, KCI, KCFF, KCBEMF to optimize the current control performance. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CLTUNE 1.0.6 Disabled Not Applicable Not Applicable Not Applicable Not Applicable CLTUNEST KCFF KCP KCI KCBEMF CANopen 2011h, sub-index 1
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CLTUNEST
Definition Type Description Current Loop Autotune Status Variable (R). Used by graphical software interface only. Not intended for user unless instructed by Technical Support. Reports the status and success of the CLTUNE current loop autotuning. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen CLTUNEST 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable CLTUNE 2012h, sub-index 0
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CLVD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Voltage Command D Component Variable (R) Shows the voltage command to the D component. CLVD 1.0.6 Enabled | Disabled Internal Not Applicable V No CLVQ 2013h, sub-index 0
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CLVQ
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Voltage Command Q Component Variable (R) Shows the voltage command to the Q component. CLVQ 1.0.6 Enabled | Disabled Internal Not Applicable V No CLVD 2014h, sub-index 0
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COMMODE
Definition Type Description Syntax Firmware Drive status Range Communication Mode Variable (R/W) Gets/sets the fieldbus communication mode. COMMODE 1 is applicable only for CAN and EtherCAT drives. COMMODE <value> 1.0.6 Disabled 0 = Serial RS232/USB communication enabled. CANopen communication disabled. Drive can be software enabled at power-up (SWENMODE). 1 = CANopen communication is enabled. Serial RS232/USB communication can be used as a utility for monitoring and changing parameters with limited functionality. Default value Unit Non-volatile See also 0 Not Applicable Yes CHECKSUM MSGPROMPT SWENMODE
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CONFIG
Definition Type Description Configure Drive Command Configures the current control and other internal drive mechanisms based on the configuration set. Since this configuration procedure depends on several variables, it is not executed automatically following parameter changes. When configuration is required, the 7-digital display shows -1. CONFIG is required after the value of any of the following parameters is modified: DIR ENCOUTMODE ENCOUTRES FEEDBACKTYPE KCBEMF KCD KCDQCOMP KCFF KCI KCIV KCP MENCRES MENCTYPE MFBDIR MFBINT MFBMODE MICONT MIPEAK MJ MKF MKT ML MLGAINC MLGAINP MOTORCOMMTYPE MOTORTYPE MPITCH MPOLES MR MRESPOLES MSPEED PWMFRQ PWMSATRATIO VBUS VLIM
CONFIG is also required after any of the following parameters is sent to the drive, even if its value has not been changed: FEEDBACKTYPE KCD MJ PWMFRQ VLIM Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen CONFIG 1.0.6 Disabled Not Applicable Not Applicable Not Applicable Not Applicable MENCTYPE ML 2002h, sub-index 0
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DEC
Definition Type Description Syntax Firmware Drive status Range Deceleration Variable (R/W) Gets/sets the deceleration value of the drive. Read: DEC Write: DEC <value> 1.0.6 Enabled | Disabled If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0.004 to 16666.666 UNITSROTACC 1 = 0.23 to 1000000 UNITSROTACC 2 = 1.38 to 6000000 UNITSROTACC 3 = 0.23 to 1000000 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 0.12 to 533333.333 UNITSLINACC 2 = 0.23 to 1000000 Default value If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 10.000 UNITSROTACC 1 = 600.000 UNITSROTACC 2 = 3600.000 UNITSROTACC 3 = 50.000 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 320.000 UNITSLINACC 2 = 10.000 Unit If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = rps/s UNITSROTACC 1 = rpm/s UNITSROTACC 2 = deg/s2 UNITSROTACC 3 = user/s2 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s2 UNITSLINACC 2 = user/s2 Non-volatile See also Yes ACC ANIN1 DECSTOP J STEP UNITSROTACC CANopen 6084h, sub-index 0
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DECDIST
Definition Type Description Deceleration Distance Variable (R/W) The target position offset value, relative to the position captured at a stop triggered by a digital input set to INMODE 16. When the input triggers a stop, a position capture occurs, and a deceleration ramp is generated to stop the motion at DECDIST relative to the captured position. DECDIST is in user defined position units. Syntax Firmware Drive status Range Default value Unit Read: DECDIST Write: DECDIST <value> 1.2.12 Disabled (231 - 1) 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also Yes DECDIST2 DISMODE INMODE CANopen 2047h, sub-index 0 [rev]
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DECDIST2
Definition Type Description Deceleration Distance 2 Variable (R/W) The target position offset value, relative to the position captured at a stop triggered by a digital input set to INMODE 16. When the input triggers a stop, a position capture occurs, and a deceleration ramp is generated to stop the motion at DECDIST2 relative to the captured position. DECDIST2 is in user defined position units. Syntax Firmware Drive status Range Default value Unit Read: DECDIST2 Write: DECDIST2<value> 1.2.12 Disabled (231 - 1) 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also Yes DECDIST DISMODE INMODE CANopen 2048h, sub-index 0 [rev]
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DECSTOP
Definition Type Description Syntax Firmware Drive status Range Active Disable Deceleration Variable (R/W) Gets/sets the deceleration value for an Active Disable or emergency stop. Read: DECSTOP Write: DECSTOP <value> 1.0.6 Enabled | Disabled If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0.004 to 16666.666 UNITSROTACC 1 = 0.23 to 1000000 UNITSROTACC 2 = 1.38 to 6000000 UNITSROTACC 3 = 0.23 to 1000000 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 0.12 to 533333.333 UNITSLINACC 2 = 0.23 to 1000000 Default value If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 10.000 UNITSROTACC 1 = 600.000 UNITSROTACC 2 = 3600.000 UNITSROTACC 3 = 50.000 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 320.000 UNITSLINACC 2 = 10.000 Unit If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = rps/s UNITSROTACC 1 = rpm/s UNITSROTACC 2 = deg/s2 UNITSROTACC 3 = user/s2 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s2 UNITSLINACC 2 = user/s2 Non-volatile See also Yes ACC DEC UNITSROTACC CANopen 6085h, sub-index 0
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DECSTOPTIME
Definition Type Description Active Disable Deceleration Time Variable (R/W) Gets/sets the deceleration time for an Active Disable or emergency stop. DECSTOP will override DECSTOPTIME if the resulting deceleration level exceeds DECSTOP. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: DECSTOPTIME Write: DECSTOPTIME <value> 1.2.12 Disabled 0 to 6500 0 ms Yes DECSTOP DISMODE 2049h, sub-index 0
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DICONT
Definition Type Description Drive Continuous Current Variable (R) The continuous rated current for the drive (sinusoidal peak). This is a hardware-defined read-only variable that is detected automatically by the drive. DICONT 1.0.6 Disabled Not Applicable Hardware defined A (peak) Yes DIPEAK FOLD IFOLD MICONT CANopen 207Ch, sub-index 0
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DIPEAK
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Drive Peak Current Variable (R) The peak rated current of the drive (sinusoidal peak). This is a hardware-defined read-only variable. DIPEAK 1.0.6 Disabled Not Applicable Hardware defined A (peak) Yes DICONT IMAX MIPEAK CANopen 207Bh, sub-index 0
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DIR
Definition Type Description Feedback Direction Variable (R/W) Gets/sets the feedback positive direction. When DIR is set to 1, the variable V is inverted and the positive direction of PFB is reversed. Other variables (MECHANGLE, ELECTANGLE, HWPOS) remain unchanged. Motor rotation is not changed. To reverse the direction of rotation, 180 degrees must be added to MPHASE. When the value of DIR is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: DIR Write: DIR <value> 1.0.6 Disabled 0 = Feedback direction not inverted 1 = Feedback direction inverted 0 Not applicable Yes MFBDIR MOTORSETUP MPHASE PFB V CANopen 2045h, sub-index 0
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DISMODE
Definition Type Description Disable Mode Variable (R/W) Gets/sets a value that defines the Disable mode. The Disable mode consists of two mechanisms: (1) active control of deceleration and disable; (2) dynamic brake by controlled motor short circuit (can operate in the event of feedback loss). Syntax Firmware Drive status Range Read: DISMODE Write: DISMODE <value> 1.0.6 Disabled 0 = No active disable; no dynamic braking. 1 = No active disable; dynamic braking on fault only. 2 = No active disable; dynamic braking on any disable. 3 = Active disable on supported faults*; no dynamic braking. 4 = Active disable on supported faults*; dynamic braking on fault only. 5 = Active disable on supported faults*; dynamic braking on any disable. * Faults that require immediate disable (to prevent drive damage) and feedback faults that might cause a runaway will not issue Active Disable. Default value Unit Non-volatile See also 0 Not Applicable Yes DECSTOP DISSPEED DISTIME FLT ISTOP CANopen 2046h, sub-index 0
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DISPLAYTEST
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Test 7-Segment Display Command Tests the 7-segment LED display on the front panel of the drive. DISPLAYTEST 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable ADDR 20E2h, sub-index 0
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DISSPEED
Definition Type Description Active Disable Speed Threshold Variable (R/W) Gets/sets the speed threshold for the Active Disable function. The Active Disable function ramps the motor to zero speed using DECSTOP. DISSPEED is compared to the actual motor speed; when the absolute speed drops below the threshold value, the active disable timer (DISTIME) begins timing. Once the timer times out, the drive is disabled. Note: To use the Active Disable function effectively, a position controller must be configured. Syntax Firmware Drive status Range Default value Read: DISSPEED Write: DISSPEED <value> 1.0.6 Enabled | Disabled 0 to VMAX If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 166.666 UNITSROTACC 1 = 9999.946 UNITSROTACC 2 = 59999.675 UNITSROTACC 3 = 833.329 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 5333.304 UNITSLINACC 2 = 166.666 Unit If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also Yes DECSTOP DISMODE DISTIME FLT CANopen 204Ah, sub-index 0
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DISTIME
Definition Type Description Active Disable Time Variable (R/W) Gets/sets the amount of time to wait after motor speed goes below DISSPEED before the drive is disabled by the Active Disable function. Note: To use the Active Disable function effectively, a position controller must be configured. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: DISTIME Write: DISTIME <value> 1.0.6 Enabled | Disabled 0 to 6500 10 ms Yes DECSTOP DISMODE DISSPEED FLT CANopen 204Bh, sub-index 0
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DRIVENAME
Definition Type Description Drive Name Variable (R/W) Gets/sets the name assigned to the drive unit. The name may contain up to 15 alphanumeric characters. A quotation mark () always precedes the name. Additional valid characters for use in the text string: ( ) /- . : Syntax Firmware Drive status Range Default value Unit Non-volatile Example Read: DRIVENAME Write: DRIVENAME <value> 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No -->drivename robot-axis1 -->drive name ROBOT-AXIS1 --> INFO MOTORNAME CANopen 2015h, sub-index 0
See also
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DRIVESCRIPT
Definition Type Description Drive Script Command Command Triggers a predefined sequence of terminal commands according to the combined status of defined digital inputs. The drive supports up to 32x2 scripts, each with a maximum of 128 characters. Up to 5 digital inputs can be defined to activate the scripts with an additional digital input that serves as a trigger to define whether the up or down of the address is to be used. Syntax DRIVESCRIPT n i "command1~command2~command3; remark n = The identifier of the script based on digital inputs i = The trigger input for script activation " = The start of the script string ~ = Command separator ; = Remark separator Firmware Drive status Range Default value Unit Non-volatile Example See also 1.2.12 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable -->drivescript 1 2 "k~opmode 0~en~j -10 ; Slowly Backward DRIVESCRIPTST
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DRIVESCRIPTST
Definition Type Description Drive Script Status Variable (R) Indicates the script that is being executed. If no script is defined for the digital input combination, nothing will run. Digital input definition: INMODE 5=9 INMODE 6=10 INMODE 7=11 INMODE 8=12 INMODE 9=13 INMODE 10=14 Script Script bit 0 Script bit 1 Script bit 2 Script bit 3 Script bit 4
Digital inputs 6-10 define which script to run. Digital input 5 triggers script execution. Syntax Firmware Drive status Range Default value Unit Non-volatile Example DRIVESCRIPTST 1.2.12 Enabled | Disabled Not Applicable Not Applicable Not Applicable No -->drivescriptst DriveScript [01][0] Start:J 100:DriveScript [01][0] Stop: --> DRIVESCRIPT INMODE
See also
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DRIVETEMP
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile Example Drive Temperature Variable (R) Indicates the temperature of the control and power boards in the drive, in Celsius degrees. DRIVETEMP 1.0.6 Enabled | Disabled Not Applicable Not Applicable C No -->drivetemp --> Control: 32[C] Power: 29[C[ --> See also FOLD IFOLD THERM CANopen 2044h, sub-index 0
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DUMP
Definition Type Description Dump Drive Parameter Values Command Returns the set of configuration parameters that defines the complete functionality of the drive. The command can be used to backup the configuration. Note: Some factory parameters, not intended for users, may appear in the list. Do not attempt to manipulate parameters that are not described in this manual, or are marked as not for users. Syntax Firmware Drive status Range Default value Unit Non-volatile See also DUMP 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable LOAD SAVE
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ECHO
Definition Type Description Serial Communication Character Echo Variable (R/W) Enables/disables the serial port character echo. If echo is enabled, characters received via the serial port are echoed back to the serial port and displayed on the computer monitor. ECHO 1 is required for proper operation of MaxLink. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: ECHO Write: ECHO <value> 1.0.6 Enabled | Disabled 0 = Serial port echo disabled 1 = Serial port echo enabled Not Applicable Not Applicable Yes ADDR MSGPROMPT
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ELECTANGLE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Electrical Position Variable (R) Indicates the electrical angle position in 16-bit resolution. ELECTANGLE 1.0.6 Enabled | Disabled 0 to 65535 Not Applicable 65536/electrical cycle No MECHANGLE MENCRES MPHASE PHASEFIND CANopen 2016h, sub-index 0
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EMBER
Definition Type Description Firmware Download Command Activates the Firmware Download mode. In this mode, new firmware can be downloaded to the drive. When this mode is activated, a steady E appears on the 7-segment display. Syntax Firmware Drive status Range Default value Unit Non-volatile See also EMBER 1.0.6 Disabled Not Applicable Not Applicable Not Applicable Not Applicable VER
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EN
Definition Type Description Software Enable Command Command Initiates a software enable of the drive. This command first attempts to reset any existing fault conditions, then sets SWEN to 1. If both READY and REMOTE have values of 1, the drive is in Active state. The value of ACTIVE indicates whether the EN command successfully enabled the drive. Syntax Firmware Drive status Range Default value Unit Non-volatile See also EN 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable ACTIVE FLT K READY REMOTE ST SWEN EN is the Software Enable command. It first attempts to clear any latched faults; if successful, the drive becomes Ready for enabling. When the drive is Ready and the Remote Enable (hardware) signal is on, the drive is enabled. READY (R) indicates whether a drive is ready to be enabled (waiting for Remote Enable ON signal). ACTIVE (R) indicates whether a drive is enabled.
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ENCOUTMODE
Definition Type Description Encoder Simulation Mode Variable (R/W) Gets/sets the value that indicates the state of encoder simulation. When the value of ENCOUTMODE is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: ENCOUTMODE Write: ENCOUTMODE <value> 1.0.6 Enabled | Disabled 0 = Encoder simulation not active 1 = A/B encoder simulation 0 Not Applicable Yes ENCOUTRES ENCOUTZPOS MENCRES CANopen 20E3h, sub-index 0
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ENCOUTRES
Definition Type Description Encoder Simulation Resolution Variable (R/W) Gets/sets the resolution, in number of lines, of the encoder equivalent output. Use plus for positive direction; minus for negative direction. When the value of ENCOUTRES is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: ENCOUTRES Write: ENCOUTRES <value> 1.0.6 Enabled | Disabled 10,000,000, but not 0. 2048 PPR lines (pulses per revolution) Yes ENCOUTMODE ENCOUTZPOS MENCRES CANopen 20E4h, sub-index 0
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ENCOUTZPOS
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Encoder Simulation Index Position Variable (R/W) Gets/sets the index offset value of the encoder simulation output. Read: ENCOUTZPOS Write: ENCOUTZPOS <value> 1.0.6 Enabled | Disabled 0 to 40000000 0 Count Yes ENCOUTMODE ENCOUTRES MENCRES CANopen 20E5h, sub-index 0
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ESTMOTORPARAM
Definition Type Description Motor Winding Estimation Command Executes a procedure that automatically measures motor winding properties. Line to line inductance and resistance are measured and reported in the status completion message. The variables ML and MR are not altered by the procedure. Before issuing the ESTOMOTORPARAM command, the drive must be successfully configured (CONFIG), disabled, and ready to be enabled. After issuing the ESTOMOTORPARAM command, enable the drive to start the procedure. The drive 7-segment display shows At3 while the procedure is running. Syntax Firmware Drive status Range Default value Unit Non-volatile See also ESTMOTORPARAM 1.3.2 Disabled Not Applicable Not Applicable Not Applicable Not Applicable ESTMOTORPARAMST
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ESTMOTORPARAMST
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile Example Motor Winding Estimation Procedure Status Variable (R) Reports the status of the ESTMOTORPARAM procedure. ESTMOTORPARAMST 1.3.2 Enabled | Disabled Not Applicable; see Examples below Not Applicable; see Examples below Not Applicable; see Examples below No During execution: -->estmotorparamst Process Running After a successful execution: -->estmotorparamst Process Done MR = 2.172[Ohm], ML = 4.442[mH], DT = 10 Example When motor phases were disconnected just before execution of ESTMOTOPARAM: -->estmotorparamst Process Done MR = 0.137[Ohm], ML = 12.660[mH], DT = 318 DT (deadtime voltage) of 318 indicates that the motor is not connected; it does not indicate a problem. See also ESTMOTORPARAM
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ESTOPILIM
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Emergency or Controlled Stop Current Limit Variable (R/W) Gets/sets the current limit during an emergency or controlled stop (expressed as factor of ILIM). Read: ESTOPILIM Write: ESTOPILIM <value> 1.2.12 Disabled 0.001 to 1 1 Not Applicable Yes DISMODE ILIM
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FACTORYRESTORE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Restore Factory Settings Command Restores all configuration variables to their factory default settings. FACTORYRESTORE 1.0.6 Disabled Not Applicable Not Applicable Not Applicable Not Applicable DUMP LOAD SAVE CANopen 204Ch, sub-index 0
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FBGDS
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Fieldbus CANopen Gear Driving Shaft Scaling Variable (R/W) Fieldbus CANopen gear ratio driving shaft revolution scaling factor (object 6091h sub-index 2). Read: FBGDS Write: FBGDS <value> 1.2.12 Enabled | Disabled 1 to 4294967295 1 Not Applicable Yes FBGMS FBITIDX FBSCALE CANopen 6091h, sub-index 2
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FBGMS
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Fieldbus CANopen Gear Motor Shaft Scaling Variable (R/W) Fieldbus CANopen gear ratio motor shaft revolution scaling factor (object 6091 sub-index 1) Read: FBGMS Write: FBGMS <value> 1.2.12 Enabled | Disabled 1 to 4294967295 1 Not Applicable Yes FBGDS FBITIDX FBSCALE CANopen 6091h, sub-index 1
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FBITIDX
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Fieldbus CANopen Interpolation Time Index Variable (R/W) Fieldbus CANopen interpolation time index for fieldbus cycle time calculation Read: FBITIDX Write: FBITIDX <value> 1.2.12 Disabled -128 to 64 -3 Not Applicable Yes FBGDS FBGMS FBSCALE CANopen 60C2h, sub-index 2
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FBITPRD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 60C2h, sub-index 1 Fieldbus CANopen Interpolation Time Variable (R/W) Fieldbus CANopen interpolation time period for fieldbus cycle time calculation. Read: FBITPRD Write: FBITPRD <value> 1.2.12 Disabled 1 to 255 1 Not Applicable Yes
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FBSCALE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Fieldbus Unit Scaling Variable (R/W) Fieldbus unit scaling for internal counts stating how many bits of 32-bit position are for number of revolutions. Read: FBSCALE Write: FBSCALE <value> 1.2.12 Enabled | Disabled 0 to 20 12 Not Applicable Yes
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FEEDBACKTYPE
Definition Type Description Feedback Type Variable (R/W) Gets/set the motor feedback type. When the value of FEEDBACKTYPE is changed, CONFIG is required. Syntax Firmware Drive status Range
Resolver Incremental Encoder A/B/Z/H Incremental Encoder A/B/Z Init by PHASEFIND command Incremental Encoder A/B/Z Init by ENABLE and PHASEFIND command Incremental Encoder A/B Init by PHASEFIND command Incremental Encoder A/B Init by ENABLE and PHASEFIND command Incremental Encoder A/B/H Sine Encoder A/B/Z/H Sine Encoder A/B/Z Init by PHASEFIND command Sine Encoder A/B/Z Init by ENABLE and PHASEFIND command Sine Encoder A/B Init by PHASEFIND command Sine Encoder A/B Init by ENABLE and PHASEFIND command Sine Encoder A/B/H Endat 2.2 Endat 2.1 with Sine Signals Hiperface with Sine Signals Nikon Encoder 17-bit ABS Single/Multi turn Tamagawa Incremental Encoder (8 wires) Tamagawa Encoder 17-bit ABS Single Turn Tamagawa Encoder 17-bit ABS Multi Turn NA=Not Applicable
Read: FEEDBACKTYPE Write: FEEDBACKTYPE <value> 1.0.6 Disabled

FEEDBACKTYPE MENCTYPE 1 2 2 2 2 2 2 3 3 3 3 3 3 11 3 3 4 2 7 6 NA 0 1 2 3 4 6 0 1 2 3 4 6 NA 9 10 NA 11 NA NA
Default value Unit Non-volatile
2 Not Applicable Yes
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See also
MENCTYPE MOTORTYPE MRESPOLES
CANopen
204Dh, sub-index 0
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FILTHZ1
Definition Type Description Velocity Loop Output Filter Parameter 1 Variable (R/W) Velocity loop output filter first parameter. A multi-function parameter for setting the output filter of the velocity controller. FILTMODE defines its functionality. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: FILTHZ1 Write: FILTHZ1 <value> 1.0.6 Enabled | Disabled 1 to 10000 200 Hz Yes FILTHZ2 FILTMODE 204Eh, sub-index 0
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FILTHZ2
Definition Type Description Velocity Loop Output Filter Parameter 2 Variable (R/W) Velocity loop output filter second parameter. A multi-function parameter for setting the output filter of the velocity controller. FILTMODE defines its functionality. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: FILTHZ2 Write: FILTHZ2 <value> 1.0.6 Enabled | Disabled 1 to 10000 200 Hz Yes FILTHZ1 FILTMODE 204Fh, sub-index 0
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FILTMODE
Definition Type Description Syntax Firmware Drive status Range Velocity Loop Output Filter Mode Variable (R/W) Gets/sets the value that defines the velocity loop output filter. Read: FILTMODE Write: FILTMODE <value> 1.0.6 Enabled | Disabled 0 = Transparent feed through; no filtering. 1 = First order low pass filter; sets FILTHZ1 as corner frequency. 2 = Double first order low pass filter; sets FILTHZ1 and FILTHZ2 as corner frequencies. 3 = Notch filter; sets FILTHZ2 as notch center frequency and FILTHZ1 as notch frequency width. 4 = High pass filter; sets FILTHZ1 as corner frequency. 5 = Band pass; sets FILTHZ2 as bandpass center frequency and FILTHZ1 as bandpass frequency width. 6 = User defined polynomial filter; sets VF. Default value Unit Non-volatile See also 0 Not applicable Yes FILTHZ1 FILTHZ2 VELCONTROLMODE VF CANopen 2050h, sub-index 0
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FLT
Definition Type Description Print Faults Variable (R) Returns a list of faults latched by the drive. Faults remain latched until cleared by CLEARFAULTS or EN, provided that the fault condition has been removed. FLT 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No DISMODE FLTHIST FLTHISTCLR WRN
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FLTHIST
Definition Type Description Fault History Variable (R) Returns a list of faults that have occurred since the fault buffer was last cleared. Causes the drive to transmit the fault history buffer to the serial port. The most recent fault is sent first. A time stamp in the format of hours:minutes:seconds is displayed along with each fault, indicating the time at which the fault occurred. Syntax Firmware Drive status Range Default value Unit Non-volatile Example FLTHIST 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No --> flthist 2:28:55 A/B Line Break 2:28:55 Illegal Halls 2:28:49 Illegal Halls --> FLT FLTHISTCLR WRN
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FLTHISTCLR
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Clear Fault History Command Clears the fault history buffer. FLTHISTCLR 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable CLEARFAULTS FLT FLTHISTCLR
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FOLD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Drive Foldback Status Variable (R) Indicates whether the drive foldback limit (IFOLD) has dropped below the applications current limits (ILIM). FOLD 1.0.6 Enabled | Disabled 0 = Foldback limit above ILIM 1 = Foldback limit below ILIM Not Applicable Not Applicable No DICONT IFOLD IFOLDFTHRESH IFOLDWTHRESH ILIM CANopen 2051h, sub-index 0
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FRICINEG
Definition Type Description Friction Compensation Negative Current Variable (R/W) Gets/sets the level of current to add to the current command when commanded velocity is negative. Subject to hysteresis of the friction compensation mechanism. Read: FRICINEG Write: FRICINEG <value> Firmware Drive status Range Default value Unit Non-volatile See also 1.0.6 Enabled | Disabled DIPEAK 0 A (peak) Yes FRICIPOS FRICNVHYST FRICPVHYST CANopen 2052h, sub-index 0
Syntax
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FRICIPOS
Definition Type Description Friction Compensation Positive Current Variable (R/W) Gets/sets the level of current to add to the current command when commanded velocity is positive. Subject to hysteresis of the friction compensation mechanism. Read: FRICIPOS Write: FRICIPOS <value> Firmware Drive status Range Default value Unit Non-volatile See also 1.0.6 Enabled | Disabled DIPEAK 0 A (peak) Yes FRICINEG FRICNVHYST FRICPVHYST CANopen 2053h, sub-index 0
Syntax
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FRICNVHYST
Definition Type Description Syntax Firmware Drive status Range Default value Unit Friction Compensation Negative Velocity Hysteresis Variable (R/W) Gets/sets the velocity hysteresis in the negative direction for the friction compensation mechanism. Read: FRICNVHYST Write: FRICNVHYST <value> 1.0.6 Enabled | Disabled VLIM 0.000 If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also Yes FRICINEG FRICIPOS FRICPVHYST CANopen 2054h, sub-index 0
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FRICPVHYST
Definition Type Description Syntax Firmware Drive status Range Default value Unit Friction Compensation Positive Velocity Hysteresis Variable (R/W) Gets/sets the velocity hysteresis in the positive direction for the friction compensation mechanism. Read: FRICPVHYST Write: FRICPVHYST <value> 1.0.6 Enabled | Disabled VLIM 0.000 If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also Yes FRICINEG FRICIPOS FRICNVHYST CANopen 2055h, sub-index 0
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GEAR
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Gear Variable (R/W) Engages/disengages the gearing. Read: GEAR Write: GEAR <value> 1.0.6 Enabled | Disabled 0 = Gearing disengaged 1 = Gearing engaged 0 Not Applicable Yes GEARMODE
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GEARACCTHRESH
Definition Type Description Gear Acceleration Threshold Variable (R/W) Maximum acceleration for gearing. Used for the combination of HD position controller (POSCONTROLMODE 1) and gearing input (OPMODE 4). This threshold is used to limit the HD position controller integrator. Syntax Firmware Drive status Range Read: GEARACCTHRESH Write: GEARACCTHRESH <value> 1.0.6 Enabled | Disabled If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 0 to 16666.666 UNITSROTACC 1 = 0 to 1000000 UNITSROTACC 2 = 0 to 6000000 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 0 to 533333.333 Default value If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = 16666.667 UNITSROTACC 1 = 1000000.000 UNITSROTACC 2 = 6000000.000 UNITSROTACC 3 = 8333.333 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = 533333.333 UNITSLINACC 2 = 16666.667 Unit If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = rps/s UNITSROTACC 1 = rpm/s UNITSROTACC 2 = deg/s2 UNITSROTACC 3 = user/s2 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s2 UNITSLINACC 2 = user/s2 Non-volatile See also Yes GEARMODE OPMODE POSCONTROLMODE
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GEARFILTAFF
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Gear Filter Acceleration Feedforward Variable (R/W) Gets/sets the value of the gear filter acceleration feedforward. Read: GEARFILTAFF Write: GEARFILTAFF <value> 1.0.6 Disabled 2 1 Not Applicable Yes GEARMODE
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GEARFILTMODE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Gear Filter Mode Variable (R/W) Defines whether or not the gear filter is activated. Read: GEARFILTMODE Write: GEARFILTMODE <value> 1.0.6 Disabled 0 = Gear filter not activated 1 = Gear filter activated 0 Not Applicable Yes GEARFILTT1 GEARFILTT2 GEARMODE
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GEARFILTT1
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Gear Filter Depth Variable (R/W) Gear filter depth. Read: GEARFILT1 Write: GEARFILT1 <value> 1.0.6 Disabled 0.75 to 60 2 ms Yes GEARMODE
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GEARFILTT2
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Gear Filter Velocity and Acceleration Depth Variable (R/W) Gear filter velocity and acceleration filter depth. Read: GEARFILT2 Write: GEARFILT2 <value> 1.0.6 Disabled 0 to 60 4 ms Yes GEARMODE
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GEARFILTVELFF
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Gear Filter Velocity Feedforward Variable (R/W) Gets/sets the gear filter velocity feedforward. (Note: Was GEARFILTVFF in previous firmware versions) Read: GEARFILTVELFF Write: GEARFILTVELFF <value> 1.3.2 Enabled | Disabled -200 to 200 0 ms Yes
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GEARIN
Definition Type Description Gear Ratio Multiplier Variable (R/W) Gets/sets the numerator of the gearbox equation. The gearing relationship is as follows: (GEARIN/GEAROUT) (1/XENCRES) Gearing sets up a relationship between the number of input pulses (HWPEXT counts) and the position increments of the motor shaft (or actual motor position, PFB). The rate at which position increments of the motor shaft (motor speed) occur is determined by the gearing relationship and the line frequency of the pulse train. The direction of rotation is determined by the sign of the variable GEARIN. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: GEARIN Write: GEARIN <value> 1.0.6 Disabled 32767 1 Not Applicable Yes GEARMODE GEAROUT
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GEARINMODE
Definition Type Description Gearing Input Interpolation Variable (R/W) Used for gearing that is fed through the Controller I/F connector only. Enables interpolation of the gearing signal and increase of resolution by a factor of 16. Read: GEARIN Write: GEARIN <value> Firmware Drive status Range Default value Unit Non-volatile See also 1.0.6 Enabled | Disabled 0 = Gearing input interpolation not activated 1 = Gearing input interpolation activated 0 Not Applicable Yes GEARMODE HWPEXT
Syntax
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GEARLIMITSMODE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Gear Following Limits Mode (STX only) Variable (R/W) Gets/sets the type of limits for gearing tracking. Read: GEARLIMITSMODE Write: GEARLIMITSMODE <value> 1.0.6 Disabled 0 = Gearing limits not active 1 = Gearing acceleration/deceleration limits 1 Not Applicable Yes GEARFILTMODE GEARMODE
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GEARMODE
Definition Type Description Syntax Firmware Drive status Range Gearing Operation Mode Variable (R/W) Gets/sets the gearing source and method. Read: GEARMODE Write: GEARMODE <value> 1.0.6 Disabled 0 = Encoder (quadrature) follower (controller interface). Signals are received on the Controller connector (C2) at pins 28 and 11 (Quadrature A), and pins 9 and 27 (Quadrature B). 1 = Pulse and direction (controller interface). Signals are received on the Controller connector (C2) at pins 28 and 11 (Pulse), and 9 and 27 (Direction). 2 = Up/down counting (controller interface). Signals are received on the Controller connector (C2) at pins 28 and 11 (Up) and pins 9 and 27 (Down). 3 = Encoder (quadrature) follower (secondary encoder). Signals are received on the Machine connector (C3) at pins 1 and 11 (Quadrature A) and pins 2 an 12 (Quadrature B). 4 = Pulse and direction (secondary encoder). Signals are received on the Machine connector (C3) at pins 1 and 11 (Pulse), and 2 and 12 (Direction). Default value Unit Non-volatile See also 3 Not Applicable Yes GEARIN GEAROUT OPMODE PCMD
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GEAROUT
Definition Type Description Gear Ratio Divider Variable (R/W) Gets/sets the denominator of the gearbox equation. The gearing relationship is as follows: (GEARIN/GEAROUT) (1/XENCRES) Gearing sets up a relationship between the number of input pulses (HWPEXT counts) and the position increments of the motor shaft (or actual motor position, PFB). The rate at which position increments of the motor shaft (motor speed) occur is determined by the gearing relationship and the line frequency of the pulse train. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: GEAROUT Write: GEAROUT <value> 1.0.6 Disabled 1 to 32767 1 Not Applicable Yes GEARIN GEARMODE
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GET
Definition Type Description Get Recording Data Command Gets the recorded data that was captured using the recording mechanism. The data is retrieved in ASCII or binary format according to the value of GETMODE. GET 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable GETMODE RECORD CANopen 20E7h, sub-index 1
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GETMODE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Record Get Mode Variable (R/W) Gets/sets the data transfer format used by the GET command. Read: GETMODE Write: GETMODE <value> 1.0.6 Enabled | Disabled 0 = ASCII data transfer format 3 = Binary data transfer format 0 Not Applicable Yes GET RECORD
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GETREC
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Packet Retransfer Management Command Packet Retransfer Management GETREC 1.3.2 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable
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HALLS
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile Example Hall Signals Variable (R) Indicates the current state of the Hall commutation sensors. HALLS 1.0.6 Enabled | Disabled 0 = Hall sensor in low position 1 = Hall sensor in high position Not Applicable Not Applicable No -->halls Hu Hv Hw 1 1 1 --> ELECTANGLE FEEDBACKTYPE MECHANGLE MENCTYPE CANopen 2056h, sub-index 1
See also
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HALLSINV
Definition Type Description Hall Signals Inversion Variable (R/W) Inverts the polarity of individual Hall signals associated with motor phases UVW, thereby providing correction for crossed wiring. This variable is set during the MOTORSETUP procedure. Read: HALLSINV Write: HALLSINV <0|1> <0|1> <0|1> Firmware Drive status Range Default value Unit Non-volatile Example 1.0.6 Enabled | Disabled 0 = Hall signal not inverted 1 = Hall signal inverted 0 Not Applicable Yes -->hallsinv 1 1 0 -->halls Hu Hv Hw 0 0 1 -->hallsinv 1 0 0 -->halls Hu Hv Hw 0 1 1 --> FEEDBACKTYPE HALLS HALLSTYPE MOTORSETUP MENCTYPE CANopen 2057h, sub-index 1
Syntax
See also
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HALLSTYPE
Definition Type Description Syntax Firmware Drive status Range Hall Signals Type Variable (R/W) Gets/sets the source and method used for Hall sensors. Read: HALLSTYPE Write: HALLSTYPE <value> 1.0.6 Enabled | Disabled 0 = Single-ended connection through the main Feedback connector 1 = Differential connection through the main Feedback connector. 2 = Differential connection through the Machine I/F connector. Refer to pinout documentation in product user manual. Default value Unit Non-volatile See also 0 Not Applicable Yes FEEDBACKTYPE HALLS HALLSINV MOTORSETUP MENCTYPE CANopen 2058h, sub-index 0
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HCFB
Definition Type Description Actual Harmonic Correction Feedback Variable (R) Not intended for user unless instructed by Technical Support. Harmonic correction feedback. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 2059h, sub-index 0 No HCFB 1.2.12 Still in development Enabled | Disabled Not Applicable Not Applicable
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HCFB1
Definition Type Description Harmonic Correction Feedback Parameter 1 Variable (R/W) Not intended for user unless instructed by Technical Support. Harmonic correction feedback parameter 1. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 205Ah, sub-index 1 Not Applicable Yes Read: HCFB1 Write: HCFB1<value> 1.2.12 Still in development Enabled | Disabled
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HCFB2
Definition Type Description Harmonic Correction Feedback Parameter 2 Variable (R/W) Not intended for user unless instructed by Technical Support. Harmonic correction feedback parameter 2. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 205Bh, sub-index 1 Not Applicable Yes Read: HCFB2 Write: HCFB2<value> 1.2.12 Still in development Enabled | Disabled
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HCICMD
Definition Type Description Harmonic Correction Current Variable (R) Not intended for user unless instructed by Technical Support. Harmonic correction current. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 205Ch, sub-index 0 HCICMD 1.2.12 Still in development Enabled | Disabled Not Applicable Not Applicable A No
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HCICMD1
Definition Type Description Harmonic Correction ICMD Parameter 1 Variable (R/W) Not intended for user unless instructed by Technical Support. Harmonic Correction ICMD Parameter 1. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 205Dh, sub-index 1 Yes Read: HCICMD1 Write: HCICMD1<value> 1.2.12 Still in development Enabled | Disabled
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HCICMD2
Definition Type Description Harmonic Correction ICMD Parameter 2 Variable (R/W) Not intended for user unless instructed by Technical Support. Harmonic Correction ICMD Parameter 2. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 205Eh, sub-index 1 Yes Read: HCICMD2 Write: HCICMD2<value> 1.2.12 Still in development Enabled | Disabled
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HIFACEREAD
Definition Type Description HIPERFACE Generic Command Command Not intended for user unless instructed by Technical Support. Sends a query or instruction to the HIPERFACE encoder. The command parameters must be entered according to the HIPERFACE communication standards. Information from the encoder is received and printed in the order received, and includes address, command, additional data (if any), and checksum. Syntax Firmware Drive status Range Default value Unit Non-volatile See also HIFACEREAD 1.2.12 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable
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HOLD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Hold Position Command Command Instructs motor whether to maintain its position. HOLD {0|1} 1.0.6 Enabled | Disabled 0 = Do not hold position 1 = Hold position 0 Not Applicable No J OPMODE MOVEINC STOPPED CANopen 2063h, sub-index 0
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HOMEACC
Definition Type Description Syntax Firmware Drive status Range Default value Unit Homing Acceleration Variable (R/W) Acceleration (and deceleration) for the homing procedure. Read: HOMEACC Write: HOMEACC <value> 1.2.12 Enabled | Disabled 0 to 1000000 4000 [rpm/sec] If MOTORTYPE 0 (Rotary): UNITSROTACC 0 = rps/s UNITSROTACC 1 = rpm/s UNITSROTACC 2 = deg/s2 UNITSROTACC 3 = user/s2 If MOTORTYPE 2 (Linear): UNITSLINACC 1 = mm/s2 UNITSLINACC 2 = user/s2 Non-volatile See also CANopen Yes HOMETYPE 609Ah, sub-index 0
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HOMECMD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Homing Command Command Starts the homing procedure. HOMECMD 1.2.12 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable HOMETYPE
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HOMEIHARDSTOP
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Current Level for Homing on Hard Stop Variable (R/W) Current level for homing on hard stop Read: HOMEIHARDSTOP Write: HOMEIHARDSTOP <value> 1.3.2 Enabled | Disabled 0 to 150 0 A Yes HOMETYPE
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HOMEOFFSET
Definition Type Description Syntax Firmware Drive status Range Default value Unit Home Offset Variable (R/W) The value of PFB when home position is reached. Read: HOMEOFFSET Write: HOMEOFFSET <value> 1.2.12 Enabled | Disabled (231 - 1) 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also CANopen Yes HOMETYPE 607Ch, sub-index 0 [rev]
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HOMESPEED1
Definition Type Description Syntax Firmware Drive status Range Default value Homing Speed 1 - Switch Search Variable (R/W) First homing speed, used when searching for switch (home or limit) Read: HOMESPEED1 Write: HOMESPEED1<value> 1.2.12 Disabled 0-VMAX If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = 8.333 If UNITSROTVEL 1 = 500.000 If UNITSROTVEL 2 = 3000.000 If UNITSROTVEL 3 = 41.667 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 266.667 UNITSLINVEL 2 = 8.333 Unit If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also CANopen Yes HOMETYPE 6099h, sub-index 1
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HOMESPEED2
Definition Type Description Syntax Firmware Drive status Range Default value Homing Speed 2 - Index Search Variable (R/W) Second homing speed, used when searching for zero (home switch or index). Read: HOMESPEED2 Write: HOMESPEED2<value> 1.2.12 Disabled 0-VMAX If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = 1.667 If UNITSROTVEL 1 = 100.000 If UNITSROTVEL 2 = 599.999 If UNITSROTVEL 3 = 8.333 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 53.333 UNITSLINVEL 2 = 1.667 Unit If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also CANopen Yes HOMETYPE 6099h, sub-index 2
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HOMESTATE
Definition Type Description Homing Status Variable (R) Indicates the state of the homing procedure (including errors). Typical states: 0= Idle state (reset by HOMECMD=0) 19 = Homing completed 20 = Homing failed other = Homing in progress or stuck (reset if necessary) Syntax Firmware Drive status Range HOMESTATE 1.2.12 Enabled | Disabled 0 = Homing idle 1 = Homing setup 2 = Homing configuration 3 = Homing initial state detection 4 = Homing initial direction move 5 = Homing seek first switch 6 = Homing flip first switch move 7 = Homing seek flip first switch 8 = Homing seek home switch move 9 = Homing seek home switch 10 = Homing off home switch move 11 = Homing seek off home switch 12 = Homing on home switch move 13 = Homing seek trigger conditions 14 = Homing trigger arming 15 = Homing seek trigger 16 = Homing set home offset 17 = Homing move zero position 18 = Homing reached 19 = Homing completed 20 = Homing failed Default value Unit Non-volatile See also 0 Not Applicable No HOMETYPE
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HOMETYPE
Definition Type Description Syntax Firmware Drive status Range Homing Type Variable (R/W) Gets/sets a value that defines the type homing that will be performed. Read: HOMETYPE Write: HOMETYPE <value> 1.2.12 Enabled | Disabled 1 = Homing on first index mark after disengaging from negative limit. 2 = Homing on first index mark after disengaging from positive limit. 3 = Homing on first index mark after disengaging from home switch (home switch at positive travel). 4 = Homing on first index mark after engaging home switch (home switch at positive travel). 5 = Homing on first index mark after disengaging from home switch (home switch at negative travel). 6 = Homing on first index mark after engaging home switch (home switch at negative travel). 7 = Homing on first index mark after disengaging from negative side of home switch; initial positive motion. 8 = Homing on first index mark after engaging negative side of home switch; initial positive move. 9 = Homing on first index mark after engaging positive side of home switch; initial positive move. 10 = Homing on first index mark after disengaging from positive side of home switch; initial positive move. 11 = Homing on first index mark after disengaging from positive side of home switch; initial negative motion. 12 = Homing on first index mark after engaging positive side of home switch; initial negative move. 13 = Homing on first index mark after engaging negative side of home switch; initial negative move. 14 = Homing on first index mark after disengaging from negative side of home switch; initial negative move. 15 = Reserved 16 = Reserved 17 = Homing on falling edge of negative limit. 18 = Homing on falling edge of positive limit. 19 = Homing on falling edge of home switch (home switch at positive travel). 20 = Homing on rising edge of home switch (home switch at positive travel). 21 = Homing on falling edge of home switch (home switch at
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negative travel). 22 = Homing on rising edge of home switch (home switch at negative travel). 23 = Homing on negative side falling edge of home switch; initial positive motion. 24 = Homing on negative side rising edge of home switch; initial positive motion. 25 = Homing on positive side rising edge of home switch; initial positive motion. 26 = Homing on positive side falling edge of home switch; initial positive motion. 27 = Homing on positive side falling edge of home switch; initial negative motion. 28 = Homing on positive side rising edge of home switch; initial negative motion. 29 = Homing on negative side rising edge of home switch; initial negative motion. 30 = Homing on negative side falling edge of home switch; initial negative motion. 31 = Reserved 32 = Reserved 33 = Homing on index mark, moving negative. 34 = Homing on index mark, moving positive. 35 = Declare present position as home. 36 = Homing on touch-probe. Default value Unit Non-volatile See also 1 Not Applicable Yes AUTOHOME HOMEACC HOMECMD HOMEOFFSET HOMESPEED1 HOMESPEED2 HOMESTATE CANopen 6098h, sub-index 0
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HWPEXT
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Hardware Position External Variable (R) Indicates the position as measured by an external feedback device. HWPEXT 1.0.6 Enabled | Disabled 0 to 65535 Not Applicable 65536/revolution No GEARMODE PCMD XENCRES CANopen 2064h, sub-index 0
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HWPEXTCNTRLR
Definition Type Description Hardware Position External (FPGA) Variable (R) Indicates the position as measured by an external feedback device (FPGA); 32 bit counter of the pulse and direction input from the controller interface connector. HWPEXTCNTRLR 1.3.2 Enabled | Disabled Not applicable Not applicable Count No -->hwpextcntrlr 4294943248 [Counts]
Syntax Firmware Drive status Range Default value Unit Non-volatile Example See also
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HWPEXTMACHN
Definition Type Description Hardware Position External (DSP) Variable (R) Indicates the position as measured by an external feedback device (DSP); 32 bit counter of the pulse and direction input from the machine interface connector. HWPEXTMACHN 1.3.2 Enabled | Disabled Not applicable Not applicable Count No -->hwpextmachn 4294943248 [Counts]
Syntax Firmware Drive status Range Default value Unit Non-volatile Example See also
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HWPOS
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Hardware Position Variable (R) Indicates the position, in counts, as measured by the feedback device. HWPOS 1.0.6 Enabled | Disabled 0 to 65535 Not Applicable count No ELECTANGLE FEEDBACKTYPE MECHANGLE MENCRES MENCTYPE MRESPOLES CANopen 2065h, sub-index 0
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I
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Motor Current Variable (R) Indicates the equivalent motor current (equivalent sinusoidal peak). I 1.0.6 Enabled | Disabled Not Applicable Not Applicable A No ICMD ID IFOLD ILIM IMAX IU CANopen 6077h, sub-index 0
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ICMD
Definition Type Description Current Command Variable (R) Indicates the current command, which is generated either directly (serial or analog), or as output of the position controller. ICMD 1.0.6 Enabled | Disabled Not Applicable Not Applicable A No I ID IFOLD ILIM IMAX IU
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ID
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Current D Axis Variable (R) In vector control, indicates the value perpendicular to IQ. ID 1.0.6 Enabled | Disabled Not Applicable Not Applicable A No I ILIM IMAX IQ IU CANopen 2066h, sub-index 0
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IFFLPFHZ
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Current Feedforward Low Pass Filter Variable (R/W) Gets/sets the corner frequency of a first-order filter of the feedforward low pass filter. Read: IFFLPFHZ Write: IFFLPFHZ <value> 1.0.6 Enabled | Disabled 10 to 1000 80 Hz Hz Yes KCBEMF MKT 2068h, sub-index 0
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IFOLD
Definition Type Description Drive Foldback Current Limit Variable (R) Indicates the current limit derived from the foldback mechanism. A foldback condition occurs when IFOLD drops below ILIM. This variable is useful for checking how close the current is to the foldback limit. Syntax Firmware Drive status Range Default value Unit Non-volatile See also IFOLD 1.0.6 Enabled | Disabled 0 to 300 Not applicable A No DICONT FOLD IFOLDFTHRESH IFOLDWTHRESH ILIM CANopen 2069h, sub-index 0
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IFOLDFTHRESH
Definition Type Description Drive Foldback Fault Threshold Variable (R/W) Gets/sets the current threshold level for declaring a fault due to foldback. The drive foldback threshold fault is declared when IFOLD drops below IFOLDFTHRESH. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: IFOLDFTHRESH Write: IFOLDFTHRESH <value> 1.0.6 Enabled | Disabled 0 to 300 DICONT A Yes DICONT FOLD IFOLD IFOLDWTHRESH ILIM CANopen 206Ah, sub-index 0
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IFOLDWTHRESH
Definition Type Description Drive Foldback Warning Threshold Variable (R/W) Gets/sets the current threshold level for declaring a warning due to foldback. The drive foldback threshold warning is declared when IFOLD drops below IFOLDWTHRESH. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: IFOLDWTHRESH Write: IFOLDWTHRESH <value> 1.0.6 Enabled | Disabled 0 to 300 DIPEAK A Yes DICONT FOLD IFOLD IFOLDFTHRESH ILIM CANopen 206Bh, sub-index 0
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IGRAV
Definition Type Description Gravity Compensation Variable (R/W) Gets/sets the value of the gravity compensation constant. IGRAV is added to the current loop command to compensate for gravity or similar constant interference. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: IGRAV Write: IGRAV <value> 1.0.6 Enabled | Disabled DIPEAK 0.000 A Yes I FRICINEG FRICIPOS ILIM DIPEAK CANopen 206Ch, sub-index 0
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ILIM
Definition Type Description User Current Limit Variable (R/W) Gets/sets the application current limit, allowing the user to limit the drives peak current. This variable limits the current command that will be accepted from the user (using the T command in OPMODE 2) or issued by the control loops (in OPMODE 0, 1, 3, and 4). ILIM is an independent variable that is not calculated from hardware parameters and is not dependent on any other variables. ILIM is similar to VLIM (which is used in OPMODE 0 and 1) and can be used to protect delicate load equipment. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: ILIM Write: ILIM <value> 1.0.6 Disabled 0 to IMAX 0.000 A (peak) Yes I IMAX
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ILIMACT
Definition Type Description Drive Actual Current Limit Variable (R) Reports the actual current limit. Useful when the limit is dynamic due to analog control over current limit. ILIMACT is the minimum between ILIM and the analog current limit (only for ANIN2MODE 2). Syntax Firmware Drive status Range Default value Unit Non-volatile See also ILIMACT 1.0.6 Enabled | Disabled Not Applicable Not Applicable A No ANIN2MODE ILIM IMAX
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IMAX
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Drive Current Limit Variable (R) Displays the maximum current limit for a drive and motor combination. IMAX 1.0.6 Enabled | Disabled Not Applicable Not Applicable A (peak) No DIPEAK I ILIM MIPEAK CANopen 6073h, sub-index 0
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IN
Definition Type Description Syntax Firmware Drive status Range Inputs Status Variable (R) Gets the state of the digital input. IN <input#> 1.0.6 Enabled | Disabled input# = 1 to 11 0 = Input off 1 = Input on Default value Unit Non-volatile Example See also Not Applicable Not Applicable No -->IN 1 0 ININV INMODE INPUTS CANopen 60FDh, sub-index 0
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INDEXFIND
Definition Type Description Encoder Index Initialization Command Encoder index initialization. Detects when the encoder index is crossed, and sets the index commutation offset (MENCZPOS). INDEXFIND 1.0.6 Disabled Not Applicable Not Applicable Not Applicable Not Applicable INDEXFINDST MENCRES MENCTYPE MENCZPOS PHASEFIND CANopen 206Dh, sub-index 0
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INDEXFINDST
Definition Type Description Encoder Initialization Status Variable (R) Indicates the state of the index search and initialization procedure (INDEXFIND). This variable is reset to 0 when the user manually sets the index position (MENCZPOS). Syntax Firmware Drive status Range INDEXFINDST 1.0.6 Enabled | Disabled 0 = Procedure not started 1 = Procedure in progress 2 = Procedure completed Default value Unit Non-volatile See also Not Applicable Not Applicable No INDEXFIND MENCRES MENCTYPE MENCZPOS PHASEFIND CANopen 206Eh, sub-index 0
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INDEXPFB
Definition Type Description Syntax Firmware Drive status Range Default value Encoder Index Position Feedback Variable (R) Indicates the position feedback (PFB) captured at the encoder index position. INDEXPFB 1.0.6 Enabled | Disabled (231 - 1) [rev]
If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = 0.309 UNITSROTPOS 1 = 2529.69 UNITSROTPOS 2 = 111.168 If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = 0.309 UNITSLINPOS 1 = 2529.69
Unit
If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN)
Non-volatile See also
No FEEDBACKTYPE HWPOS MENCTYPE MENCZPOS PFB UNITSROTPOS
CANopen
206Fh, sub-index 0
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INERTIAIDENTEN
Definition Type Description Not intended for user unless instructed by Technical Support. RT inertia identification algorithm enable. Syntax Firmware Drive status Range Default value Unit Non-volatile Example See also 1.3.2 - Still in development RT Inertia Identification Algorithm Enable
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INERTIAIDENTEST
Definition Type Description Not intended for user unless instructed by Technical Support. RT inertia identification value. Syntax Firmware Drive status Range Default value Unit Non-volatile Example See also 1.3.2 - Still in development RT Inertia Identification Value
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INFO
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile Example Drive Info Variable (R) Returns information about the drive. INFO 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable
See also
DRIVENAME MOTORNAME TRUN VER
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ININV
Definition Type Description Syntax Firmware Drive status Range Input Polarity Variable (R/W) Gets/sets the input polarity of the digital inputs. Read: ININV <input#> Write: ININV <input#> <invert> 1.0.6 Enabled | Disabled input# = 1 to 11 invert: 0 = Input not inverted 1 = Input inverted Default value Unit Non-volatile Example 0 Not applicable Yes -->ininv 1 0 -->ininv 1 1 -->ininv 1 1 --> IN INMODE INPUTS CANopen 2070h, sub-index 1
See also
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INMODE
Definition Type Description Syntax Firmware Drive status Range Input Mode Variable (R/W) Gets/sets a value that defines the digital input mode for each of the available digital inputs. Read: INMODE <input#> Write: INMODE <input#> <value> 1.0.6 Enabled | Disabled input# = 1 to 11 value: 0 = Idle 1 = Remote enable 2 = Clear fault 3 = Reserved 4 = Emergency stop, activates Active Disable 5 = Limit switch positive 6 = Limit switch negative 7 = Reserved 8 = Home switch 9 = Script 10 = Script bit 0 11 = Script bit 1 12 = Script bit 2 13 = Script bit 3 14 = Script bit 4 15 = Stop on input (with DECDIST as offset) 16 = Stop on input (with DECDIST2 as offset) 17 = Gearing pulse signal (only for digital input 5) 18 = Gearing direction signal (only for digital input 6) Default value Unit Non-volatile Example If INMODE 1 = 1 If INMODE 211 = 0 Not Applicable Yes -->INMODE 1 0 -->INMODE 1 0 --> GEARMODE IN ININV INPUTS SYNCSOURCE CANopen 20E0h, sub-index 1
See also
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INPOS
Definition Type Description In Position Indication Variable (R) Indicates that the position error PE has entered the allowed tolerance PEINPOS after the commanded move has been completed. INPOS 1.0.6 Enabled | Disabled 0 = Not in position 1 = In position Default value Unit Non-volatile See also Not Applicable Not Applicable Yes PEINPOS PEMAX STOPPED
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INPUTS
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile Example Input State Variable (R) Gets the state of all digital inputs. A header lines identifies each of the inputs. INPUTS 1.0.6 Enabled | Disabled 0 = Input off 1 = Input on Not Applicable Not Applicable No -->INPUTS 1 2 3 4 5 6 7 8 9 10 11 1 0 0 0 0 0 0 0 0 0 0 --> IN ININV INMODE
See also
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IQ
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Current Q Axis Variable (R) In vector control, indicates the current for the torque. This value is perpendicular to ID. IQ 1.0.6 Enabled | Disabled Not Applicable Not Applicable A No I ID ILIM IMAX IU CANopen 2067h, sub-index 0
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IQCMD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Q Axis Current Command Variable (R) Reads Q axis current command IQCMD 1.3.2 Enabled | Disabled Not Applicable Not Applicable A No
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ISTOP
Definition Type Description Dynamic Brake Current Variable (R/W) Gets/sets the maximum current allowed during the dynamic braking process. Dynamic braking is a mechanism by which the drive holds the motor during Disable mode, with only the motors back EMF used to apply the stopping current. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: ISTOP Write: ISTOP <value> 1.0.6 Enabled | Disabled 0 to 150 DIPEAK A Yes DISMODE DISSPEED FLT CANopen 2071h, sub-index 0
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IU
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Phase U Actual Current Variable (R) Indicates the actual current at Phase U (of UVW). IU 1.0.6 Enabled | Disabled Not Applicable Not Applicable A No I ID ICMD ILIM IUOFFSET IV CANopen 2072h, sub-index 0
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IUOFFSET
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Phase U Current Offset Variable (R) Indicates the current offset of phase U (of UVW).. IUOFFSET 1.0.6 Enabled | Disabled Not Applicable Not Applicable A Yes IU 2073h, sub-index 0
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IV
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Phase V Actual Current Variable (R) Indicates the actual current at phase V (of UVW). IV 1.0.6 Enabled | Disabled Not Applicable Not Applicable A No I ID ICMD ILIM IU IUOFFSET CANopen 2074h, sub-index 0
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IVOFFSET
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Phase V Current Offset Variable (R) Indicates the current offset of phase V (of UVW). IVOFSET 1.0.6 Enabled | Disabled Not Applicable Not Applicable A Yes IV 2075h, sub-index 0
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IZERO
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Zero Procedure Current Variable (R/W) Gets/sets the current for the ZERO procedure. IZERO 1.0.6 Enabled | Disabled 0 to DIPEAK 0.100 A (peak) Yes ILIM MIPEAK ZERO CANopen 2076h, sub-index 0
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J
Definition Type Description Jog Command Command Issues a velocity jog. If the drive has been disabled, the jog command is reset to zero. Syntax J Queries the command J speed Starts jog at a constant speed. J speed duration Starts jog at a constant speed for specified duration, after which a zero velocity command is issued. Firmware Drive status Range Default value Unit 1.0.6 Enabled Not Applicable Not Applicable speed: If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s duration: ms Non-volatile See also Not Applicable ACC OPMODE STEP STOP
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K
Definition Type Description Disable Command Command Disables the drive. The behavior of the drive upon disable command is defined by DISMODE. K removes the software enable condition (SWEN) from the activation chain. Syntax Firmware Drive status Range Default value Unit Non-volatile See also K 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable ACTIVE EN FLT READY REMOTE ST SWEN
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KCBEMF
Definition Type Description Current BEMF Compensation Gain Variable (R/W) Gets/sets the feedforward BEMF compensation ratio for the current control. When the value of KCBEMF is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: KCBEMF Write: KCBEMF <value> 1.0.6 Disabled 0 to 1000000 1.000 Not Applicable Yes IFFLPFHZ MKT 2003h, sub-index 0
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KCD
Definition Type Description Dead Time Compensation Minimal Level Variable (R/W) Not intended for user unless instructed by Technical Support. Minimal current level to start compensate dead time effect. When the value of KCD is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: KCD Write: KCD <value> 1.3.2 Disabled 0 to 10 1 Not Applicable Yes
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KCDQCOMP
Definition Type Description Current DQ Axis Compensation Variable (R/W) Gets/sets the current controller DQ axis compensation. When the value of KCDQCOMP is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: KCDQCOMP Write: KCDQCOMP <value> 1.0.6 Enabled | Disabled 0 to 10 1 Not Applicable Yes ID IQ KCIMEMD KCIMEMQ CANopen 2004h, sub-index 0
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KCFF
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Current KFF Gain Variable (R/W) Gets/sets the current controller feedforward (KFF) gain. When the value of KCFF is changed, CONFIG is required. Read: KCFF Write: KCFF <value> 1.0.6 Disabled 0 to 100 1.000 Not Applicable Yes KCBEMF KCI KCP
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KCI
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Current KI Gain Variable (R/W) Gets/sets the current controller integrator (Ki) gain. When the value of KCI is changed, CONFIG is required. Read: KCI Write: KCI <value> 1.0.6 Disabled 0 to 100 1.000 Not applicable Yes KCBEMF KCFF KCP CANopen 2006h, sub-index 0
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KCIMEMD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Current Controller D Integrator Variable (R) The value of the current controller D integrator. KCIMEMD 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No KCDQCOMP KCIMEMQ 2008h, sub-index 0
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KCIMEMQ
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Current Controller Q Integrator Variable (R) The value of the current controller Q integrator. KCIMEMQ 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No KCDQCOMP KCIMEMD 2009h, sub-index 0
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KCMODE
Definition Type Description Current Loop Mode Variable (R/W) Gets/sets the current control loop. Enables use of the new firmware version while maintaining the existing current control settings. Syntax Firmware Drive status Range Read: KCMODE Write: KCMODE <value> 1.3.2 Disabled 0 = Current control loop for firmware version 1.3.2 and higher 1 = Keeps the current control loop from a previous firmware version (SSV file). After changing KCMODE from 0 to 1, you must issue the command SAVE, and recycle the MaxTune AC power. Default value Unit Non-volatile See also 0 Not Applicable Yes
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KCP
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Current Kp Gain Variable (R/W) Gets/sets the current controller proportional (Kp) gain. When the value of KCP is changed, CONFIG is required. Read: KCP Write: KCP <value> 1.0.6 Disabled 0 to 1000000 1.000 Not Applicable Yes KCBEMF KCFF KCI CANopen 2007h, sub-index 0
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KNLD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also HD Derivative Gain Variable (R/W) HD derivative gain Read: KNLD Write: KNLD <value> 1.0.6 Enabled | Disabled 0 to 2000 0 Hz Yes KNLI KNLP KNLIV POSCONTROLMODE CANopen 2017h, sub-index 0
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KNLI
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also HD Integral Gain Variable (R/W) HD integral gain Read: KNLI Write: KNLI <value> 1.0.6 Enabled | Disabled 0 to 200 0 Hz Yes KNLD KNLP KNLIV POSCONTROLMODE CANopen 2018h, sub-index 0
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KNLIDV
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also HD Derivative- Gain Variable (R/W) HD derivative gain Read: KNLIDV Write: KNIDV <value> 1.3.2 Enabled | Disabled 0 to 2000 0 Hz Yes
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KNLIINT
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also HD Integral Gain Factor Variable (R/W) HD integral gain factor Read: KNLIINT Write: KNLIINT <value> 1.3.2 Enabled | Disabled 0 to 1 0 Not applicable Yes
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KNLIV
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also HD Derivative-Integral Gain Variable (R/W) HD derivative-integral gain Read: KNLIV Write: KNIV <value> 1.0.6 Enabled | Disabled 0 to 400 0 Hz Yes KNLD KNLI KNLP POSCONTROLMODE CANopen 2019h, sub-index 0
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KNLP
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also HD Proportional Gain Variable (R/W) Gets/sets the HD controller proportional gain. Read: KNLP Write: KNLP <value> 1.0.6 Enabled | Disabled 0 to 400 0 Hz Yes KNLD KNLI KNLIV POSCONTROLMODE CANopen 201Ah, sub-index 0
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KNLUSERGAIN
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 201Bh, sub-index 0 HD Global Gain Variable (R/W) HD adaptive gain scaling factor Read: KNLUSERGAIN Write: KNLUSERGAIN <value> 1.0.6 Enabled | Disabled 0.001 to 3.000 1.000 Not Applicable Yes
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KPAFRC
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 201Ch, sub-index 0 Position Acceleration Feedforward to Current Variable (R/W) Gets/sets the position acceleration feedforward to current loop Read: KPAFRC Write: KPAFRC <value> 1.2.12 Enabled | Disabled 1000 0 Not Applicable Yes
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KPAFRV
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 201Dh, sub-index 0 Position Acceleration Feedforward Variable (R/W) Gets/sets the position acceleration feedforward Read: KPAFR Write: KPAFR <value> 1.2.12 Enabled | Disabled 1000 0 Not Applicable Yes
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KPD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Position Derivative Gain Variable (R/W) Gets/sets the position controller derivative (Kd) gain. Read: KPD Write: KPD <value> 1.0.6 Enabled | Disabled 0 to 200000 0 Not Applicable Yes KPE KPI POSCONTROLMODE CANopen 201Eh, sub-index 0
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KPE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Position Proportional Adaptive Gain Variable (R/W) The position proportional adaptive gain Read: KPE Write: KPE <value> 1.0.6 Enabled | Disabled 0 0 Not Applicable Yes KPD KPI POSCONTROLMODE CANopen 201Fh, sub-index 0
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KPI
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Position Integral Gain Variable (R/W) Gets/sets the position controller integral gain. Read: KPI Write: KPI <value> 1.0.6 Enabled | Disabled 0 to 1000 0 Hz Yes KPE KPD POSCONTROLMODE CANopen 2020h, sub-index 0
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KPISATIN
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Position Integral Saturation Input Variable (R/W) The position integral saturation input Read: KPISATIN Write: KPISATIN <value> 1.0.6 Enabled | Disabled 0 to 10000 0 If MOTORTYPE 0 (Rotary): rps/s If MOTORTYPE 2 (Linear): mm/s2 Yes KPI KPISATOUT POSCONTROLMODE CANopen 2077h, sub-index 0
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KPISATOUT
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Position Integral Saturation Output Variable (R/W) The position integral saturation output Read: KPISATOUT Write: KPISATOUT <value> 1.0.6 Enabled | Disabled 0 to 10000 0 rps Yes KPI KPISATIN POSCONTROLMODE CANopen 2021h, sub-index 0
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KPP
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Position Proportional Gain Variable (R/W) Gets/sets the proportional gain for the linear position controller (POSCONTROLMODE=0) Read: KPP Write: KPP <value> 1.0.6 Enabled | Disabled 0 to 1200 1 rps/rev or (mm/sec) / mm Yes KPD KPE KPI KPVFR POSCONTROLMODE CANopen 2022h, sub-index 0
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KPVFR
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Position Velocity Feedforward Variable (R/W) The position control velocity feedforward. Read: KPVFR Write: KPVFR <value> 1.0.6 Enabled | Disabled 0 to 1000 0 Not Applicable Yes KPD KPE KPI KPP POSCONTROLMODE CANopen 2023h, sub-index 0
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KVFR
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Velocity Feedforward Ratio Variable (R/W) Gets/sets the velocity feedforward ratio. Read: KVFR Write: KVFR <value> 1.0.6 Enabled | Disabled 0.000 to 1.000 0.000 Not Applicable Yes KPD KPE KPI KPP POSCONTROLMODE CANopen 2025h, sub-index 0
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KVI
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Velocity Integral Gain Variable (R/W) Gets/sets the velocity integral gain Read: KVI Write: KVI <value> 1.0.6 Enabled | Disabled 0 to 200000 0.000 Hz Yes FILTMODE KVFR KVP VELCONTROLMODE CANopen 2026h, sub-index 0
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KVP
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Velocity Proportional Gain Variable (R/W) Gets/sets the velocity proportional gain. Read: KVP Write: KVP <value> 1.0.6 Enabled | Disabled 0 to 1000000 0.010 If MOTORTYPE 0 (Rotary): A/rps If MOTORTYPE 2 (Linear): A/(mm/s) Yes FILTMODE KVFR KVI VELCONTROLMODE CANopen 2027h, sub-index 0
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LIMSWITCHNEG
Definition Type Description Limit Switch Negative Status Variable (R) Indicate the status of the hardware limit switches as configured by the digital inputs (INMODE 5 and 6), in the negative direction. LIMSWITCHNEG 1.2.12 Enabled | Disabled Not Applicable Not Applicable Not Applicable No HOMETYPE INMODE LIMSWITCHPOS POSLIMMODE CANopen 2078h, sub-index 0
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LIMSWITCHPOS
Definition Type Description Limit Switch Positive Status Variable (R) Indicate the status of the hardware limit switches as configured by the digital inputs (INMODE 5 and 6), in the positive direction. LIMSWITCHNEG 1.2.12 Enabled | Disabled Not Applicable Not Applicable Not Applicable No HOMETYPE INMODE LIMSWITCHNEG POSLIMMODE CANopen 2079h, sub-index 0
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LIST
Definition Type Description List Commands Variable (R) Returns a list of valid variables and commands. Only the variables names, and not their values, are transmitted. Note: Some factory variables and commands, not intended for users, may appear in the list. Do not attempt to use commands and variables that are not described in this manual, or are marked as not for users. Syntax Firmware Drive status Range Default value Unit Non-volatile See also LIST 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No INFO RECLIST RECTRIGLIST
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LMJR
Definition Type Description Load to Motor Inertia Ratio Variable (R/W) Gets/sets the ratio of the load inertia to the motor inertia. If LMJR=2, for example, the total inertia is 3 times the inertia of the motor: Jtotal = MJ(1+LMJR) The motor rotor inertia (MJ) and the load moment of inertia ratio (LMJR) define the total system moment of inertia. The variables MJ and LMJR are used by the HD position controller POSCONTROLMODE 1) and the standard poleplacement velocity controller (POSCONTROLMODE 0, VELCONTROLMODE 2 and 4) to determine the controller gain. LMJR can be set by the user or determined by an autotuning procedure. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: LMJR Write: LMJR <value> 1.0.6 Enabled | Disabled 0 to 600 0 Not Applicable Yes BW MJ TF VELCONTROLMODE CANopen 207Ah, sub-index 0
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LOAD
Definition Type Description Load Commands to RAM Command Loads configuration variables from non-volatile memory to RAM. Any changes in configuration parameters which have been made since the last SAVE will be overwritten by the values loaded from the non-volatile memory. LOAD 1.0.6 Disabled Not Applicable Not Applicable Not Applicable Not Applicable DUMP FACTORYRESTORE SAVE
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MB
Definition Type Description Motion Buffer Command Command Activates the motion buffer sequence, as defined by: MOVEINCCOUNTER, MOVEINCDIST1, MOVEINCDIST2, MOVEINCSPEED1 and MOVEINCSPEED2. PEINPOS and PEINPOSTIME must also be defined. A set of two incremental position moves are repeated a number of times, as defined by the counter. The next move is performed when the PEINPOS condition is met. Syntax Firmware Drive status Range Default value Unit Non-volatile See also MB 1.0.6 Enabled Not Applicable Not Applicable Not Applicable Not Applicable MBST MOVEINCCOUNTER MOVEINCDELAY MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2
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MBST
Definition Type Description Motion Buffer Execution Status Variable (R) Returns the motion buffer repetition count during operation, and returns the total duration as soon as the motion sequence is completed. MBST 1.0.6 Enabled | Disabled Not Applicable; see Example below Not Applicable; see Example below Not Applicable; see Example below No Running the following command sequence produces the following MBST response. -->MOVEINCCOUNTER=5 -->MOVEINCDIST1=2 -->MOVEINCDIST2=-2 -->MOVEINCSPEED1=200 -->MOVEINCSPEED2=300 -->MB -->MBST Running. Iteration: 1/5 Execution Time: 8ms -->MBST Running. Iteration: 1/5 Execution Time: 1020ms -->MBST Running. Iteration: 2/5 Execution Time: 2033ms -->MBST Running. Iteration: 3/5 Execution Time: 3044ms -->MBST Running. Iteration: 4/5 Execution Time: 4056ms -->MBST Running. Iteration: 5/5 Execution Time: 5068ms -->MBST Done. Execution Time: 5501ms MB MOVEINCCOUNTER MOVEINCDIST1 MOVEINCDIST2 MOVEINCSPEED1 MOVEINCSPEED2
Syntax Firmware Drive status Range Default value Unit Non-volatile Example
See also
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MECHANGLE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Motor Mechanical Angle Variable (R) The position of the motor in revolutions MECHANGLE 1.0.6 Disabled 0 to 65535 Not applicable If MOTORTYPE 0 (Rotary): 65536/rev If MOTORTYPE 2 (Linear): 65536/pitch No ELECTANGLE FEEDBACKTYPE MENCRES MPHASE CANopen 2028h, sub-index 0
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MEMBIT
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Memory Bit (STX only) Password protected command, for PBA use only. Memory bit peek/poke command for direct RAM access. Read: MEMBIT <addr> Write: MEMBIT <addr> <bit#> {1|0} 1.0.6 Disabled Not Applicable Not Applicable 1 bit Not Applicable MEMF MEML MEMQ MEMW
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MEMF
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Memory Float (STX only) Password protected command, for PBA use only. Memory float peek/poke command for direct RAM access. Read: MEMF <addr> Write: MEMF <addr> <value> 1.0.6 Disabled Not Applicable Not Applicable Not Applicable No MEMBIT MEML MEMQ MEMW
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MEML
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Memory Long (STX only) Password protected command, for PBA use only. Memory long peek/poke command for direct RAM access. Read: MEML <addr> Write: MEML <addr> <value> 1.0.6 Enabled | Disabled Not Applicable Not Applicable 32 bit No MEMBIT MEMF MEMQ MEMW
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MEMQ
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Memory Quadlet (STX only) Password protected command, for PBA use only. Memory quadlet peek/poke command for direct RAM access. Read: MEMQ <addr> Write: MEMF <addr> <value> 1.0.6 Enabled | Disabled Not Applicable Not Applicable 64 bit No MEMBIT MEMF MEML MEMW
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MEMW
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Memory Word (STX only) Password protected command, for PBA use only. Memory word peek/poke command for direct RAM access. Read: MEMW <addr> Write: MEMW <addr> <value> 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No MEMBIT MEMF MEML MEMQ
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MENCRES
Definition Type Description Motor Encoder Resolution Variable (R/W) For encoder feedback systems, gets/sets the resolution of the motor encoder, in number of lines per revolution of the motor. When the value of MENCRES is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: MENCRES Write: MENCRES <value> 1.0.6 Disabled 100 to 10000000 2048 Rotary motor: lines per revolution (LPR) Linear motor: lines per pitch (LPP) Yes FEEDBACKTYPE MENCTYPE 608Fh, sub-index 1
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MENCTYPE
Definition Type Description Motor Encoder Type Variable (R/W) Gets/sets the motor encoder type. Incremental encoders: 0, 1, 2, 3, 4, 6, 11 Sine encoders: 1, 2, 3, 4 When the value of MENCTYPE is changed, CONFIG is required. Syntax Firmware Drive status Read: MENCTYPE Write: MENCTYPE <value> 1.0.6 Disabled
Range
Resolver Incremental Encoder A/B/Z/H Incremental Encoder A/B/Z Init by PHASEFIND command Incremental Encoder A/B/Z Init by ENABLE and PHASEFIND command Incremental Encoder A/B Init by PHASEFIND command Incremental Encoder A/B Init by ENABLE and PHASEFIND command Incremental Encoder A/B/H Sine Encoder A/B/Z/H Sine Encoder A/B/Z Init by PHASEFIND command Sine Encoder A/B/Z Init by ENABLE and PHASEFIND command Sine Encoder A/B Init by PHASEFIND command Sine Encoder A/B Init by ENABLE and PHASEFIND command Sine Encoder A/B/H Endat 2.2 Endat 2.1 with Sine Signals Hiperface with Sine Signals Nikon Encoder 17-bit ABS Single/Multi turn Tamagawa Incremental Encoder (8 wires) Tamagawa Encoder 17-bit ABS Single Turn Tamagawa Encoder 17-bit ABS Multi Turn
FEEDBACKTYPEMENCTYPE 1 2 2 2 2 2 2 3 3 3 3 3 3 11 3 3 4 2 7 6 NA 0 1 2 3 4 6 0 1 2 3 4 6 NA 9 10 NA 11 NA NA
Default value
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Unit Non-volatile See also
Not Applicable Yes FEEDBACKTYPE HALLS INDEXFIND PHASEFIND
CANopen
2029h, sub-index 0
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MENCZPOS
Definition Type Description Motor Encoder Index Position Variable (R/W) For encoder feedback systems only, gets/sets the encoder index position. This variable is expressed in units of encoder counts after quadrature; the range is 0 to (4 encoder resolution 1), or (4 MENCRES 1). This variable can be set automatically using INDEXFIND. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: MENCZPOS Write: MENCZPOS <value> 1.0.6 Disabled 0 to 359 0 Electrical degrees Yes INDEXFIND INDEXFINDST PHASEFIND MENCTYPE CANopen 202Ah, sub-index 0
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MFBDIR
Definition Type Description Motor and Feedback Direction Variable (R/W) Gets/sets several direction and polarity options. MFBDIR is set by the MOTORSETUP procedure. When the value of MFBDIR is changed, CONFIG is required. Syntax Firmware Drive status Range Read: MFBDIR Write: MFBDIR <value> 1.0.6 Disabled MFBDIR 0 1 2 3 4 5 6 7 = = = = = = = = Swap U-V No Yes No Yes No Yes No Yes Swap Halls No No Yes Yes No No Yes Yes Invert Index No No No No Yes Yes Yes Yes
Alternately, MFBDIR can be interpreted by its binary representation: Bit 1: SWAP U-V Bit 2: Swap Halls Bit 3: Invert Index Default value Unit Non-volatile See also 0 Not Applicable Yes DIR MOTORSETUP MPHASE PFB V CANopen 202Bh, sub-index 0
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MFBMODE
Definition Type Description Motor Feedback Mode Variable (R/W) Enables the resolution enhancement mechanism. MFBMODE is applicable only for incremental encoders (FEEDBACKTYPE 2, MENCTYPE 0, 1, 2, 3, 4, 6). When MFBMODE is enabled PFB is displayed with a decimal fraction. When the value of MFBMODE is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 202Dh, sub-index 0 Read: MFBMODE Write: MFBMODE <value> 1.0.6 Disabled 0 = Resolution enhancement disabled 1 = Resolution enhancement enabled 1 Not Applicable Yes
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MFOLD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Motor Foldback Status Variable (R) Indicates whether the motor foldback limit (MIFOLD) has dropped below the application current limits (ILIM). MFOLD 1.0.6 Enabled | Disabled 0 = Foldback limit above ILIM 1 = Foldback limit below ILIM Not Applicable Not Applicable No ILIM MIFOLD MIFOLDFTHRESH MIFOLDWTHRESH CANopen 202Eh, sub-index 0
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MFOLDD
Definition Type Description Motor Foldback Delay Time Variable (R/W) Gets/sets the time delay for motor foldback. This is the amount of time that the system current can exceed MICONT before the drive enters the motor foldback state (MFOLD=1). The timing units assume a worst-case scenario, in which the drive is applying MIPEAK current. A current level that is less than MIPEAK can be allowed for longer time. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: MFOLDD Write: MFOLDD <value> 1.0.6 Disabled 1 to 2400 5.000 second Yes MFOLDDIS MFOLDR MFOLDT MICONT MIPEAK CANopen 202Fh, sub-index 0
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MFOLDDIS
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Motor Foldback Disable Variable (R/W) Gets/sets a value that defines whether motor foldback protection is activated. Read: MFOLDDIS Write: MFOLDDIS <value> 1.0.6 Disabled 0 = Motor foldback protection activated. 1 = Motor foldback protection not activated. 0 Not Applicable Yes MFOLD MFOLDD MFOLDR MFOLDT MICONT MIFOLD MIPEAK CANopen 2030h, sub-index 0
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MFOLDR
Definition Type Description Motor Foldback Recovery Time Variable (R) Gets/sets the recovery time for motor foldback. After the drive enters the motor foldback state (MFOLD=1), and the current folds back to MICONT, this is the minimum amount of time that the current must be held at 0 before it can be MIPEAK for the full MFOLDD time. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: MFOLDR Write: MFOLDR <value> 1.0.6 Enabled | Disabled 5 to 3600 70.000 second Yes MFOLDD MFOLDDIS MFOLDT MICONT MIPEAK CANopen 2031h, sub-index 0
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MFOLDT
Definition Type Description Motor Foldback Time Constant Variable (R/W) Gets/sets the time constant for motor foldback. After the drive enters the motor foldback state (MFOLD 1), this variable defines how long it will take the drive to reduce the system current level to MICONT. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: MFOLDT Write: MFOLDT <value> 1.0.6 Disabled 1 to 1200 5.000 second Yes MFOLDD MFOLDDIS MFOLDR MICONT MIPEAK CANopen 2032h, sub-index 0
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MICONT
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Motor Continuous Current Variable (R/W) Gets/sets the motors continuous rated current. When the value of MICONT is changed, CONFIG is required. Read: MICONT Write: MICONT <value> 1.0.6 Disabled 0.1 to 150 0.000 A (peak) Yes DICONT ILIM MFOLD MIFOLD MIPEAK CANopen 6075h, sub-index 0
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MIFOLD
Definition Type Description Motor Foldback Current Variable (R) Indicates the current limit derived from the motor foldback mechanism. A foldback condition occurs when MIFOLD goes below ILIM. This variable is useful for checking how close the current is to the foldback limit. Syntax Firmware Drive status Range Default value Unit Non-volatile See also MIFOLD 1.0.6 Enabled | Disabled 0 to 300 Not Applicable A No ILIM MFOLD MIFOLDFTHRESH MIFOLDWTHRESH CANopen 2033h, sub-index 0
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MIFOLDFTHRESH
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Motor Foldback Fault Threshold Variable (R/W) Gets/sets the motor foldback fault threshold. Read: MIFOLDFTHRESH Write: MIFOLDFTHRESH <value> 1.0.6 Enabled | Disabled 0 to 300 0.000 A Yes ILIM MFOLD MIFOLD MIFOLDWTHRESH CANopen 2034h, sub-index 0
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MIFOLDWTHRESH
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Motor Foldback Warning Threshold Variable (R/W) Gets/sets the motor foldback fault warning threshold. Read: MIFOLDWTHRESH Write: MIFOLDWTHRESH <value> 1.0.6 Enabled | Disabled 0 to 300 0.000 A Yes ILIM MFOLD MIFOLD MIFOLDFTHRESH CANopen 2035h, sub-index 0
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MIPEAK
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Motor Peak Current Variable (R/W) Gets/sets the motors peak rated current. When the value of MIPEAK is changed, CONFIG is required. Read: MIPEAK Write: MIPEAK <value> 1.0.6 Disabled 0.1 to 150 0.000 A (peak) Yes DIPEAK ILIM IMAX MICONT MIFOLD CANopen 2036h, sub-index 0
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MJ
Definition Type Description Rotor Inertia Variable (R/W) Gets/sets the motors rotor inertia (rotary motors). The motor rotor inertia (MJ) and the load moment of inertia ratio (LMJR) define the total system moment of inertia. The variables MJ and LMJR are used by the HD position controller POSCONTROLMODE 1) and the standard poleplacement velocity controller (POSCONTROLMODE 0, VELCONTROLMODE 2 and 4) to determine the controller gain. When the value of MJ is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: MJ Write: MJ <value> 1.0.6 Disabled 0.000 to 2000000.000 0.02 kgm210-3 Yes LMJR MKT VELCONTROLMODE CANopen 2037h, sub-index 0
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MKF
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Torque Constant for Linear Motor Variable (R/W) Linear motor torque constant. When the value of MKF is changed, CONFIG is required. Read: MKF Write: MKF <value> 1.0.6 Disabled 0.001 to 1000 0.016 Newton/A Yes MKT MMASS MOTORTYPE MPITCH CANopen 2038h, sub-index 0
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MKT
Definition Type Description Torque Constant Variable (R/W) Gets/sets the motors torque constant (Kt) in metric units. This value is used for current loop controller design, KCBEMF, compensation algorithm, and standard pole-placement velocity controller design (VELCONTROLMODE 2 or 4). When the value of MKT is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: MKT Write: MKT <value> 1.0.6 Disabled 0.001 to 65 0.016 Nm/A Yes KCBEMF LMJR MJ VELCONTROLMODE CANopen 2039h, sub-index 0
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ML
Definition Type Description Motor Inductance Variable (R/W) Gets/sets the motors minimum line-to-line inductance. This variable is used for current loop controller design and as an input to the vector control algorithms. When the value of ML is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: ML Write: ML <value> 1.0.6 Disabled 0.001 to 1000 0.000 mH Yes KCP VBUS 203Ah, sub-index 0
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MLGAINC
Definition Type Description Adaptive Gain at Continuous Motor Current Variable (R/W) Gets/sets the current loop adaptive gain value at continuous motor current (MICONT). MLGAINC and MLGAINP define the adaptive gain algorithm that is based on motor current. When the value of MLGAINP is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: MLGAINC Write: MLGAINC <value> 1.0.6 Disabled 0.1 to 1 1.000 None Yes ML MLGAINP 203Bh, sub-index 0
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MLGAINP
Definition Type Description Adaptive Gain at Peak Motor Current Variable (R/W) Get/sets the current loop adaptive gain value at peak motor current (MIPEAK). MLGAINC and MLGAINP define the adaptive gain algorithm that is based on motor current. When the value of MLGAINP is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: MLGAINP Write: MLGAINP <value> 1.0.6 Disabled 0.1 to 1 1.000 None Yes ML MLGAINC 203Ch, sub-index 0
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MMASS
Definition Type Description Mass of Linear Motor Without Load Variable (R/W) Gets/sets the mass of the linear motor carriage without any additional payload. It is used as the base for estimating the total moving mass. Read: MMASS Write: MMASS <value> Firmware Drive status Range Default value Unit Non-volatile See also 1.0.6 Enabled | Disabled 0 to 10000 0 kg Yes MJ MKF MOTORTYPE MPITCH CANopen 203Dh, sub-index 0
Syntax
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MOTORCOMMTYPE
Definition Type Description Motor Commutation Type Variable (R/W) Gets/sets a variable that defines the type of motor commutation When the value of MOTOCOMMTYPE is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 203Eh, sub-index 0 Read: MOTORCOMMTYPE Write: MOTORCOMMTYPE <value> 1.2.12 Disabled 0 = Brushless motor 1 = Brush motor 0 Not Applicable Yes
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MOTORNAME
Definition Type Description Motor Name Variable (R/W) Gets/sets the name assigned to the motor. The name may contain up to 15 alphanumeric characters. A quotation mark () always precedes the name. Additional valid characters for use in the text string: ( ) /- . : Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: MOTORNAME Write: MOTORNAME <text> 1.0.6 Enabled | Disabled Not Applicable Not applicable Yes DRIVENAME FACTORYRESTORE MOTORTYPE CANopen 203Fh, sub-index 0
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MOTORPHASESCAN
Definition Type Description Phase Disconnect Scan Variable (R/W) Enables/disables detection of wire breaks in motor phases. When enabled, if a wire break is detected in one or more of the motor phases, this mechanism issues a fault: phase disconnected and the 7-segment display shows r27. Detection can occur only when drive is enabled and a current command is issued by the user, or by velocity or position controllers. Read: MOTORPHASESCAN Write: MOTORPHASESCAN <value> Firmware Drive status Range Default value Unit Non-volatile See also CANopen 1.0.6 Enabled | Disabled 0 = Motor phases wire break detection disabled 1 = Motor phases wire break detection enabled 0 Not Applicable Yes FLT ST 2040h, sub-index 0
Syntax
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MOTORSETUP
Definition Type Description Motor Setup Command Command Runs an automatic procedure for setting commutation related variables. The procedure involves finding the electrical phase and detecting the direction of motor movement, Hall switches and index crossing. MOTORSETUP sets MFBDIR, MENCRES, MPOLES, MPHASE, MENCZPOS. The procedure takes approximately 30 seconds and a motor rotation of about one revolution is expected. The procedure is supported for incremental encoders and sine encoder with MENCTYPE 0, 1, 2, 3, 4, 6, 11. While the Motor Setup procedure is in progress (even when the drive is disabled), the drives 7-segment display shows a flashing A. When the procedure finishes successfully, the display returns to its normal state. If the procedure fails, the display shows -5. Syntax Firmware Drive status Range Default value Unit Non-volatile See also MOTORSETUP 1.0.6 Disabled Not applicable Not applicable Not applicable Not applicable FEEDBACKTYPE MENCRES MENCTYPE MENCZPOS MFBDIR MOTORSETUPST MPHASE MPOLES CANopen 2041h, sub-index 0
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MOTORSETUPST
Definition Type Description Motor Setup Status Variable (R) Reports the internal stages of the MOTORSETUP procedure together with the message that includes the running state, actions taken or failure cause. MOTORSETUPST 1.0.6 Disabled Not Applicable; see Example below Not Applicable; see Example below Not Applicable; see Example below No -->motorsetupst Motor Setup Not Issued Stage: 0/27 --> 1->motorsetupst Motor Setup Active Stage: 20/36 1->motorsetupst Motor Setup Active Stage: 23/36 1->motorsetupst Motor Setup Active Stage: 24/36 1->motorsetupst Motor Setup Succeeded Current Pulse: 125 mA 195 ms Stage: 0/36 1-> INDEXFINDST MOTORSETUP PHASEFINDST CANopen 2042h, sub-index 0
Syntax Firmware Drive status Range Default value Unit Non-volatile Example
Example
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MOTORTYPE
Definition Type Description Motor Type Variable (R/W) Gets/sets a value that defines the motor type. When the value of MOTORTYPE is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: MOTORTYPE Write: MOTORTYPE <value> 1.0.6 Disabled 0 = Rotary motor 2 = Linear motor 0 Not Applicable Yes FEEDBACKTYPE
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MOVEABS
Definition Type Description Move Absolute Command Command Executes an absolute position movement according to the acceleration settings that are in effect. STOPPED and PEINPOS indicate completion of motion. Syntax Firmware Drive status Range Default value Unit Non-volatile See also MOVEABS {destination} {velocity} 1.0.6 Enabled Not Applicable Not Applicable Not Applicable Not Applicable MB MOVEINC OPMODE PFB
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MOVEINC
Definition Type Description Move Incremental Command Command Executes an incremental position movement according to the acceleration settings that are in effect. STOPPED and PEINPOS indicate completion of motion. Syntax Firmware Drive status Range Default value Unit Non-volatile See also MOVEINC {destination} {velocity} 1.0.6 Enabled Not Applicable Not Applicable Not Applicable Yes MB MOVEABS OPMODE PFB
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MOVEINCCOUNTER
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Move Incremental Iterations Variable (R/W) Gets/sets the number of repetitions which the motion buffer will execute. Read: MOVEINCCOUNTER Write: MOVEINCCOUNTER <value> 1.0.6 Enabled | Disabled 0 to 32767 1 Not Applicable Yes MB MBST MOVEINCDIST1 MOVEINCSPEED1
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MOVEINCDELAY
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile Example See also MB MBST MOVEINCCOUNTER Move Incremental Delay Variable (R/W) The delay between the preset incremental moves. Read: MOVEINCDELAY Write: MOVEINCDELAY <value> 1.3.2 Enabled | Disabled 0 to 100000 0 ms Yes
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MOVEINCDIST1
Definition Type Description Syntax Firmware Drive status Range Default value Unit Move Incremental Distance 1 Variable (R/W) Gets/sets the first incremental move distance for the motion buffer cycle. Read: MOVEINCDIST1 Write: MOVEINCDIST1 <value> 1.0.6 Enabled | Disabled (231 - 1) 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also Yes MB MBST MOVEINCCOUNTER MOVEINCSPEED1 [rev]
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MOVEINCDIST2
Definition Type Description Syntax Firmware Drive status Range Default value Unit Move Incremental Distance 2 Variable (R/W) Gets/sets the second incremental move distance for the motion buffer cycle. Read: MOVEINCDIST2 Write: MOVEINCDIST2 <value> 1.0.6 Enabled | Disabled (231 - 1) 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also Yes MB MBST MOVEINCCOUNTER MOVEINCSPEED2 [rev]
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MOVEINCSPEED1
Definition Type Description Move Incremental Speed 1 Variable (R/W) Gets/sets the first incremental move velocity for the motion buffer cycle. The actual move speed value will not exceed VLIM. Read: MOVEINCSPEED1 Write: MOVEINCSPEED1 <value> Firmware Drive status Range Default value 1.0.6 Enabled | Disabled 0 to 479999.999 If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 0.167 UNITSROTVEL 1 = 10.000 UNITSROTVEL 2 = 60.000 UNITSROTVEL 3 = 0.833 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 5.333 UNITSLINVEL 2 = 0.167 Unit If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also Yes MB MBST MOVEINCCOUNTER MOVEINCDIST1
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MOVEINCSPEED2
Definition Type Description Move Incremental Speed 2 Variable (R/W) Gets/sets the second incremental move velocity for the motion buffer cycle. The actual move speed value will not exceed VLIM. Read: MOVEINCSPEED2 Write: MOVEINCSPEED2 <value> Firmware Drive status Range Default value 1.0.6 Enabled | Disabled 0 to 479999.999 If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 0.167 UNITSROTVEL 1 = 10.000 UNITSROTVEL 2 = 60.000 UNITSROTVEL 3 = 0.833 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 5.333 UNITSLINVEL 2 = 0.167 Unit If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also Yes MB MBST MOVEINCCOUNTER MOVEINCDIST2
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MOVESMOOTHAVG
Definition Type Description Point-to-Point Move Averaging Number Variable (R/W) Not intended for user unless instructed by Technical Support. PTP move averaging number Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: MOVESMOOTHAVG Write: MOVESMOOTHAVG <value> 1.3.2 Still in development
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MOVESMOOTHLPFHZ
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Point-to-Point Move Low Pass Filter Variable (R/W) Gets/sets the low pass filter for point-to-point move Read: MOVESMOOTHLPFHZ Write: MOVESMOOTHLPFHZ <value> 1.2.12 Disabled 10 to 5000 5000 Hz Yes ACC DEC MOVEABS MOVEINC
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MOVESMOOTHMODE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Point-to-Point Move Smoothing Mode Variable (R/W) Defines the method of smoothing for the PTP move. Read: MOVESMOOTHMODE Write: MOVESMOOTHMODE <value> 1.3.2 Disabled 0 = No smoothing of profile 1 = LPF smoothing of profile based on MOVESMOOTHLPFHZ 0 Not Applicable Yes MOVEABS MOVEINC
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MPHASE
Definition Type Description Commutation Offset Variable (R/W) Gets/sets the resolver/encoder phase relative to the standard commutation table. This variable can be used to compensate for resolver offset and should be set to 0 if there is no resolver offset. Changing MPHASE shifts the internal commutation table without affecting the feedback reading. Read: MPHASE Write: MPHASE <value> Firmware Drive status Range Default value Unit Non-volatile See also 1.0.6 Disabled 0 to 359 0 electrical degree Yes MPHASE PHASEFIND ZERO CANopen 2043h, sub-index 0
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MPITCH
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Motor Pitch Variable (R/W) Gets/sets linear motors pitch. When the value of MPITCH is changed, CONFIG is required. Read: MPITCH Write: MPITCH <value> 1.0.6 Disabled 0 to 100000 30 mm Yes MENCRES MMASS MOTORTYPE PFB UNITSLINPOS CANopen 207Dh, sub-index 0
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MPOLES
Definition Type Description Motor Poles Variable (R/W) Gets/sets the number of motor poles. This variable is used for commutation control and represents the number of individual magnetic poles of the motor (not pole pairs). When MOTORTYPE =2 (linear motor), this variable will be forced to a value of 2. When the value of MPOLES is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: MPOLES Write: MPOLES <value> 1.0.6 Disabled 2 to 80 2 poles Yes ELECTANGLE MECHANGLE PHASEFIND ZERO CANopen 207Eh, sub-index 0
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MR
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Motor Resistance Variable (R/W) The motor resistance. When the value of MR is changed, CONFIG is required. Read: MR Write: MR <value> 1.2.12 Disabled 0 to 10 0 Ohm Yes ML 207Fh, sub-index 0
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MRESPOLES
Definition Type Description Motor Resolver Poles Variable (R/W) Gets/sets the number of individual poles in the resolver feedback device. This variable is used for the commutation function, as well as for velocity feedback scaling, and represents the number of individual poles, not pole pairs. When the value of MRESPOLES is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: MRESPOLES Write: MRESPOLES <value> 1.0.6 Disabled 2 to 80 2 Single poles Yes FEEDBACKTYPE HWPOS MECHANGLE CANopen 2080h, sub-index 0
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MRT
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Motor Rated Torque Variable (R/W) Motor rated torque Read: MRT Write: MRT <value> 1.2.12 Disabled 1 to 4294967295 2000 mNm Yes MKT 2081h, sub-index 0
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MSGPROMPT
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Drive Messages and Prompts Variable (R/W) Defines whether drive messages and prompts are enabled or disabled. Read: MSGPROMPT Write: MSGPROMPT <value> 1.0.6 Enabled | Disabled 0 = Messages and prompts disabled. 1 = Messages and prompts enabled. 1 Not applicable Yes ADDR ECHO
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MSPEED
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Motor Maximum Speed Variable (R/W) Gets/sets the maximum allowed velocity of the motor. When the value of MSPEED is changed, CONFIG is required. Read: MSPEED Write: MSPEED <value> 1.0.6 Disabled If MOTORTYPE 0 (Rotary): 0 to 239999.999 If MOTORTYPE 2 (Linear): 0 to 127999.999 If MOTORTYPE 0 (Rotary): 4500 If MOTORTYPE 2 (Linear): 0 If MOTORTYPE 0 (Rotary): rpm If MOTORTYPE 2 (Linear): mm/s Yes MVANGLF MVANGLH VLIM VMAX
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MTANGLC
Definition Type Description Torque Commutation Angle Advance at Motor Continuous Current Variable (R/W) Gets/sets the value of the torque-related commutation angle advance at the motors continuous current rating (MICONT). This variable helps increase reluctance torque. For surface magnet motors, a typical value is 5. For motors with embedded magnets, a typical value is 8 to 10. Read: MTANGLC Write: MTANGLC <value> Firmware Drive status Range Default value Unit Non-volatile See also 1.0.6 Disabled 0 to 45 0 Electrical degrees Yes MTANGLP MVANGLF MVANGLH CANopen 2083h, sub-index 0
Syntax
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MTANGLP
Definition Type Description Torque Commutation Angle Advance at Motor Peak Current Variable (R/W) Gets/sets the value of the torque-related commutation angle advance at the motors peak current (MIPEAK). This variable helps increase reluctance torque. For surface magnet motors, a typical value is 10. For motors with embedded magnets, a typical value is 23 to 25. Read: MTANGLP Write: MTANGLP <value> Firmware Drive status Range Default value Unit Non-volatile See also 1.0.6 Disabled 0 to 45 0 Electrical degrees Yes MTANGLC MVANGLF MVANGLH CANopen 2084h, sub-index 0
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MVANGLF
Definition Type Description Velocity Commutation Angle Advance at Motor Maximum Speed Variable (R/W) Gets/sets the value of the velocity-related commutation angle advance to be used when the motor is operating at motor maximum speed (MSPEED). Between MSPEED/2 and MSPEED, the angle advance will be linearly interpolated based on MVANGLH and MVANGLF. Read: MVANGLF Write: MVANGLF <value> Firmware Drive status Range Default value Unit Non-volatile See also 1.0.6 Disabled 0 to 90 0 Electrical degrees Yes MTANGLC MTANGLP MVANGLH CANopen 2085h, sub-index 0
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MVANGLH
Definition Type Description Velocity Commutation Angle Advance at Motor Maximum Speed/2 Variable (R/W) Gets/sets the value of the velocity-related commutation angle advance to be used when the motor is operating at motor maximum speed/s (MSPEED/2). Between 0 rpm and MSPEED/2, the angle advance will be linearly interpolated based on MVANGLH . Read: MVANGLH Write: MLVANGH <value> Firmware Drive status Range Default value Unit Non-volatile See also 1.0.6 Disabled 0 to 90 0 Electrical degrees Yes MTANGLC MTANGLP MVANGLF CANopen 2086h, sub-index 0
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NLAFFLPFHZ
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also HD Spring Filter Variable (R/W) HD spring filter Read: NLAFFLPFHZ Write: NLAFFLPFHZ <value> 1.0.6 Enabled | Disabled 10 to 7000 7000 Hz Yes NLNOTCHBW NLNOTCHCENTER NLPEAFF POSCONTROLMODE CANopen 2087h, sub-index 0
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NLANTIVIBGAIN
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 200Ch, sub-index 0 HD Anti-Vibration Gain Variable (R/W) Gets/sets the HD anti-vibration gain. Read: NLANTVIBGAIN Write: NLANTVIBGAIN <value> 1.3.2 Enabled | Disabled 0 to 10000 0 Rad10-3/Nm Yes
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NLANTIVIBGAIN2
Definition Type Description Not intended for user unless instructed by Technical Support. HD PE filter Syntax Firmware Drive status Range Default value Unit Non-volatile Example See also 0 to1000 0 Not Applicable 1.3.2 - Still in development HD PE Filter
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NLANTIVIBHZ
Definition Type Description HD Anti-Vibration Filter Variable (R/W) Not intended for user unless instructed by Technical Support. Gets/sets HD anti-vibration filter. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 200Ah, sub-index 0 Read: NLANTIVIBHZ Write: NLANTIVIBHZ <value> 1.3.2 Enabled | Disabled 0 to 500 500 Hz Yes
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NLANTIVIBHZ2
Definition Type Description Not intended for user unless instructed by Technical Support. HD PE filter Syntax Firmware Drive status Range Default value Unit Non-volatile Example See also 0 to 500 500 Hz 1.3.2 - Still in development HD PE Filter
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NLANTIVIBKNLD
Definition Type Description HD Anti-Vibration Reduced Factor for KNLD Variable (R/W) Not intended for user unless instructed by Technical Support. HD anti-vibration reduced factor for KNLD Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: NLANTIVIBKNLD Write: NLANTIVIBKNLD<value> 1.3.2 Enabled | Disabled 0 to 1 0 Not applicable
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NLANTIVIBLMJR
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Load to Motor Inertia Ratio for Anti-Vibration Only Variable (R/W) Load to motor inertia ratio for anti vibration only. Read: NLANTIVIBLMJR Write: NLANTIVIBLMJR <value> 1.3.2 Enabled | Disabled 0 to 600 0 Not Applicable Yes
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NLANTIVIBN
Definition Type Description HD Anti-Resonance Filter Divider Variable (R/W) Not intended for user unless instructed by Technical Support. HD anti-resonance filter divider. Syntax Firmware Drive status Range Default value Unit Non-volatile See also 0.01 to 100 2 Not Applicable Read: NLANTIVIBN Write: NLANTIVIBN <value> 1.3.2
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NLANTIVIBSHARP
Definition Type Description HD Anti-Resonance Sharpness Variable (R/W) Not intended for user unless instructed by Technical Support. Gets/sets HD anti-resonance sharpness. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 200Bh, sub-index 0 Read: NLANTIVIBSHARP Write: NLANTIVIBSHARP <value> 1.3.2 Enabled | Disabled 0.01 to 10 0.5 Not Applicable Yes
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NLANTIVIBSHARP2
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also HD PE Sharpness Variable (R/W) HD PE sharpness Read: NLANTIVIBSHARP2 Write: NLANTIVIBSHARP2 <value> 1.3.2 Enabled | Disabled 0.01 to 10 0.5 Not Applicable
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NLFILTDAMPING
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen HD Current Filter Damping Variable (R/W) HD current filter damping Read: NLFILTDAMPING Write: <value> 1.0.6 Enabled | Disabled 0 to 100 0 % Yes NLFILTT1 POSCONTROLMODE 2060h, sub-index 0
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NLFILTT1
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen HD Current Filter Low Pass Filter Rise Time Variable (R/W) HD current filter low pass filter rise time. Read: NLFILTT1 Write: NLFILTT1<value> 1.0.6 Enabled | Disabled 0 to 30 9 ms Yes NLFILTDAMPING POSCONTROLMODE 205Fh, sub-index 0
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NLMAXGAIN
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also HD Maximum Adaptive Gain Variable (R/W) HD maximum adaptive gain Read: NLMAXGAIN Write: NLMAXGAIN <value> 1.0.6 Enabled | Disabled 1 to 5 1 Not Applicable Yes KNLP KNLUSERGAIN POSCONTROLMODE CANopen 208Ah, sub-index 0
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NLNOTCHBW
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen HD Current Filter Notch Filter Bandwidth Variable (R/W) HD current filter notch filter bandwidth Read: NLNOTCHBW Write: NLNOTCHBW <value> 1.0.6 Enabled | Disabled 0 to 500 0 Hz Yes NLNOTCH2CENTER POSCONTROLMODE 2062h, sub-index 0
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NLNOTCHCENTER
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen HD Current Filter Notch Filter Center Variable (R/W) HD current filter notch filter center Read: NLNOTCHCENTER Write: NLNOTCHCENTER <value> 1.0.6 Enabled | Disabled 100 to 10000 100 Hz Yes NLNOTCH2BW POSCONTROLMODE 2061h, sub-index 0
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NLNOTCH2BW
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen HD Current Filter Second Notch Filter Bandwidth Variable (R/W) HD current filter second notch filter bandwidth Read: NLNOTCH2BW Write: NLNOTCH2BW <value> 1.0.6 Enabled | Disabled 0 to 500 0 Hz Yes NLNOTCH2CENTER POSCONTROLMODE 208Bh, sub-index 0
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NLNOTCH2CENTER
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen HD Current Filter Second Notch Filter Center Variable (R/W) HD current filter second notch filter center Read: NLNOTCHCENTER Write: NLNOTCHCENTER <value> 1.0.6 Enabled | Disabled 100 to 10000 100 Hz Yes NLNOTCH2BW POSCONTROLMODE 208Ch, sub-index 0
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NLPEAFF
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen HD Flexibility Compensation Variable (R/W) HD spring gain Read: NLPEAFF Write: NLPEAFF <value> 1.0.6 Enabled | Disabled 0 to 200000 0 Hz Yes NLAFFLPFHZ POSCONTROLMODE 208Fh, sub-index 0
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NLPEDFFRATIO
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 2091h, sub-index 0 HD Spring Deceleration Ratio Password protected variable (R/W), for PBA use only. Gets/sets HD spring deceleration ratio Read: NLPEDFFRATIO Write: NLPEDFFRATIO <value> 1.2.12 Enabled | Disabled 0.4 to 5 1 Not Applicable Yes
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NLSETTLEMODE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 0x2092h, sub-index 0 HD Settling Mode Variable (R/W) Defines the HD settling mode Read: NLSETTLEMODE Write: NLSETTLEMODE <value> 1.0.6 Enabled | Disabled 0 to 8 0 Not Applicable Yes
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NLTUNE
Definition Type Description HD Autotune Command (R/W) Not intended for user unless instructed by Technical Support. Starts the HD autotuning procedure. Syntax Firmware Drive status Range Default value Unit Non-volatile See also 0 Not Applicable Not Applicable KNLP NLNOTCHBW NLTUNEPARAM NLTUNEST NLTUNETIME POSCONTROLMODE CANopen 2093h, sub-index 0 Read: NLTUNE Write: NLTUNE {0|1|2|3} 1.0.6 Enabled | Disabled
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NLTUNEPARAM
Definition Type Description HD Autotune Procedure Parameter Variable (R/W) Not intended for user unless instructed by Technical Support. HD autotuning procedure parameter Syntax Firmware Drive status Range Default value Unit Read: NLTUNEPARAM Write: NLTUNEPARAM <value> 1.0.6 Enabled | Disabled Not Applicable 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also No LMJR NLTUNE NLTUNEST NLTUNETIME POSCONTROLMODE CANopen 2094h, sub-index 0
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NLTUNEST
Definition Type Description HD Autotune Status Variable (R/W) Not intended for user unless instructed by Technical Support. The state of the HD autotuning procedure. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Not Applicable No NLTUNE NLTUNEPARAM NLTUNETIME POSCONTROLMODE CANopen 20EDh, sub-index 1 NLTUNEST 1.0.6 Enabled | Disabled
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NLTUNETIME
Definition Type Description HD Autotune Timeout Variable (R/W) Not intended for user unless instructed by Technical Support. Timeout of HD autotuning procedure Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: NLTUNETIME Write: NLTUNETIME <value> 1.0.6 Enabled | Disabled 0 to 20000 0 ms No NLTUNE NLTUNEPARAM NLTUNEST POSCONTROLMODE CANopen 2098h, sub-index 0
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OPMODE
Definition Type Description Syntax Firmware Drive status Range Drive Operation Mode Variable (R/W) Gets/sets a value that defines the drive operation mode. Read: OPMODE Write: OPMODE <value> 1.0.6 Disabled 0 = Velocity control, using serial commands 1 = Velocity control, using analog input 2 = Current control, using serial commands 3 = Current control, using analog input 4 = Position control, using gearing input 8 = Position control, using serial commands Default value Unit Non-volatile See also 2 Not Applicable Yes ANIN2MODE COMMODE GEARMODE POSCONTROLMODE VELCONTROLMODE CANopen 6060h, sub-index 0
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OUT
Definition Type Description Syntax Firmware Drive status Range Output Status Variable (R); (R/W in OUTMODE 0) Gets/sets the state of a digital output. Read: OUT <output#> Write: OUT <output#> <value> 1.0.6 Disabled output# = 1 to 7 value: 0 = Output off 1 = Output on Default value Unit Non-volatile Exampled 0 Not Applicable No -->out 1 0 -->out 1 1 -->out 1 1 --> OUTINV OUTMODE OUTPUTS CANopen 60FEh, sub-index 1
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OUTILVL1
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Current Level 1 for Digital Output Definition Variable (R/W) Gets/sets the first current level used for a condition that controls a digital output. Read: OUTILVL1 Write: OUTILVL1<value> 1.0.6 Enabled | Disabled 0 to 150 0 A Yes OUTILVL2 OUTINV OUTMODE OUTPUTS CANopen 2099h, sub-index 0
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OUTILVL2
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Position Level 2 for Digital Output Definition Variable (R/W) Gets/sets the second current level used for a condition that controls a digital output. Read: OUTILVL2 Write: OUTILVL2<value> 1.0.6 Enabled | Disabled 0 to 150 0 A Yes OUTILVL1 OUTINV OUTMODE OUTPUTS CANopen 209Ah, sub-index 0
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OUTINV
Definition Type Description Syntax Firmware Drive status Range Output Inversion Variable (R/W) Gets/sets the inversion of each of the digital outputs. Read: OUTINV <output#> Write: OUTINV <output#> <invert> 1.0.6 Enabled | Disabled output# = 1 to 7 invert: 0 = Output not inverted 1 = Output inverted Default value Unit Non-volatile Example 0 Not Applicable Yes -->outinv 3 0 -->outinv 3 1 -->outinv 3 1 OUT OUTMODE OUTPUTS CANopen 209Bh, sub-index 1
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OUTMODE
Definition Type Description Syntax Firmware Drive status Range Output Mode Variable (R/W) Gets/sets a value that defines the condition which will activate the specified digital output. Read: OUTMODE <output#> Write: OUTMODE <output#> <condition> 1.0.6 Enabled | Disabled output# = condition: 0 = Idle 1 = Active (enabled) 2 = Brake 3 = Fault exists (alarm) 4 = In position indication matching INPOS 5 = Stopped indication (matching STOPPED=2) 6 = Foldback indication (motor or drive) (fault or FOLD) 7 = Average current exceeds OUTILVL1 8 = Average current is above OUTILVL1 and below OUTILVL2 9 = Velocity exceeds OUTVLVL1. Output will be activated when velocity exceeds the level set by OUTVLVL1. 10 = Velocity is above OUTLVL1 and below OUTVLVL2. Output will be activated when velocity is above the level set by OUTVLVL1 and below the level set by OUTVLVL2. 11 = Position (PFB) is above OUTPLVL1. Output will be activated when position exceeds the level set by OUTPLVL. 12 = Position (PFB) is above OUTPLVL1 and below OUTPLVL2. Output will be activated when position is above the level set by OUTPLVL1 and below the level set by OUTPLVL2. 13 = Battery low voltage warning 14 = Warning on 15 = Faults or disabled 16 = Battery low voltage fault 17 = Wake No Shake failed (Phase Ffind in Mode 2 failed) 18 = Over-current fault exists 19 = Over-voltage fault exists 20 = Under-voltage fault exists 21 = Phase Find failed 22= Alarm without a Phase Find failure Modes 9, 10, 11 and 12 accept negative values and operate accordingly; that is, they are direction-sensitive. 1 to 7
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Default value Unit Non-volatile See also
0 Not Applicable Yes OUT OUTINV OUTPUTS
CANopen
209Ch, sub-index 1
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OUTPLVL1
Definition Type Description Syntax Firmware Drive status Range Default value Unit Position Level 1 for Digital Output Definition Variable (R/W) Gets/sets the first position level used for a condition that controls a digital output. Read: OUTPLVL1 Write: OUTPLVL1 <value> 1.0.6 Enabled | Disabled (231 - 1) 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also Yes OUTINV OUTMODE OUTPLVL2 OUTPUTS CANopen 209Dh, sub-index 0 [rev]
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OUTPLVL2
Definition Type Description Syntax Firmware Drive status Range Default value Unit Position Level 2 for Digital Output Definition Variable (R/W) Gets/sets the second position level used for a condition that controls a digital output. Read: OUTPLVL2 Write: OUTPLVL2 <value> 1.0.6 Enabled | Disabled (231 - 1) 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also Yes OUTINV OUTMODE OUTPLVL1 OUTPUTS CANopen 209Eh, sub-index 0 [rev]
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OUTPUTS
Definition Type Description Syntax Firmware Drive status Range Outputs Status Variable (R) Indicates the state of all digital outputs. A header lines identifies each of the outputs. OUTPUTS 1.0.6 Enabled | Disabled 0 = Output off 1 = Output on X = Not configured (MaxTune 200V) Default value Unit Non-volatile Example Not Applicable Not Applicable No -->OUTPUTS 1 2 3 4 5 6 7 0 0 0 0 0 0 X OUT OUTINV OUTMODE
See also
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OUTVLVL1
Definition Type Description Syntax Firmware Drive status Range Default value Unit Velocity Level 1 for Digital Output Definition Variable (R/W) Gets/sets the first velocity level used for a condition that controls a digital output. Read: OUTVLVL1 Write: OUTVLVL1<value> 1.0.6 Enabled | Disabled 1000000 0 If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also Yes OUTINV OUTMODE OUTPUTS OUTVLVL2 CANopen 209Fh, sub-index 0
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OUTVLVL2
Definition Type Description Syntax Firmware Drive status Range Default value Unit Velocity Level 2 for Digital Output Definition Variable (R/W) Gets/sets the second velocity level used for a condition that controls a digital output. Read: OUTVLVL2 Write: OUTVLVL2<value> 1.0.6 Enabled | Disabled 1000000 0 If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also Yes OUTINV OUTMODE OUTPUTS OUTVLVL1 CANopen 20A0h, sub-index 0
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OVTHRESH
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Over-Voltage Threshold Variable (R) Indicates the threshold level for bus over-voltage detection. OVTHRESH 1.0.6 Enabled | Disabled Not Applicable 420 V Yes UVTHRESH VBUS VBUSREADOUT CANopen 20A1h, sub-index 0
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PASSWORD
Definition Type Description Password (STX only) Password protected command, for PBA use only. Sets the privilege level of the allowable commands. There are two levels of protection. "factory" allows all drive commands to be used. "master" allows certain additional commands to be used. Issue of incorrect password resumes password protection. Syntax Firmware Drive status Range Default value Unit Non-volatile See also PASSWORD {password} 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable
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PCMD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Position Command Variable (R) Gets the value of the position reference command. PCMD 1.0.6 Enabled | Disabled (231 - 1) [rev]
Not Applicable If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN)
No GEARMODE MOVEINC PE PFB
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PDEN
Definition Type Description Unit Conversion Denominator Variable (R/W) The variables UNITSLINACC, UNITSLINPOS, UNITSLINVEL, UNITSROTACC, UNITSROTPOS, UNITSROTVEL can have scalable user-defined position units (based on motor revolution) whose derivatives (velocity and acceleration) can also be expressed in user-defined units. PNUM and PDEN are used for scaling the user-defined unit; they multiply the motor revolution or motor pitch according to MOTORTYPE. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: PDEN Write: PDEN <value> 1.2.12 Enabled | Disabled 1 to 4294967295 20 Not Applicable Yes UNITSLINACC, UNITSLINPOS, UNITSLINVEL UNITSROTACC, UNITSROTPOS, UNITSROTVEL 6092h, sub-index 2
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PE
Definition Type Description Position Error Variable (R) Gets the value of the position tracking error. The position error is calculated as the difference between PCMD and PFB. Syntax Firmware Drive status Range Default value Unit PE 1.0.6 Enabled | Disabled (231 - 1) [rev]
No PCMD PFB PFBOFFSET
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PEINPOS
Definition Type Description In Position Error Tolerance Variable (R/W) Gets the error tolerance for declaring an in position state. The motor is considered settled when PE has remained below PEINPOS for a time defined by PEINPOSTIME. Syntax Firmware Drive status Range Default value Unit Read: PEINPOS Write: PEINPOS <value> 1.0.6 Enabled | Disabled (231 - 1) 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also Yes INPOS MOVEINC PEMAX STOPPED [rev]
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PEINPOSTIME
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also In Position Time Variable (R/W) Gets/sets the duration for which position error PE needs to be within PEINPOS before an INPOS status is declared. Read: PEINPOSTIME Write: PEINPOSTIME <value> 1.0.6 Enabled | Disabled 0 to 1000 1 ms Yes MOVEABS MOVEINC PE PEINPOS CANopen 20A2h, sub-index 0
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PELOOP
Definition Type Description Syntax Firmware Drive status Range Default value Unit Position Loop Position Error Variable (R) Position error value used by the position loop PELOOP 1.2.12 Enabled | Disabled (231 - 1) [rev]
Non-volatile See also CANopen
No
20A3h, sub-index 0
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PEMAX
Definition Type Description Syntax Firmware Drive status Range Default value Maximum Position Error Variable (R/W) Maximum allowed position error without producing a fault. Read: PEMAX Write: PEMAX <value> 1.0.6 Enabled | Disabled 0 to (231 -1) [rev]
If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = 1.000 UNITSROTPOS 1 = 8192.000 UNITSROTPOS 2 = 360.000 UNITSROTPOS 3 = 5 If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = 1.000 UNITSLINPOS 1 = 8192.000 UNITSLINPOS 3 = 32.000 UNITSLINPOS 4 = 5
Unit
If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN)
Yes INPOS MOVEINC PEINPOS STOPPED
CANopen
6065h, sub-index 0
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PFB
Definition Type Description Position Variable (R) Gets the value of the position feedback, in user-defined units, including any offsets that have been added. PFB is the actual motor position. Syntax Firmware Drive status Range Default value Unit PFB 1.0.6 Enabled | Disabled (231 - 1) [rev]
No PCMD PE PFBOFFSET
CANopen
6064h, sub-index 0
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PFBBACKUP
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen PFB Backup Command Reads the PFB values from non-volatile memory that were saved by the PFB backup process. PFBBACKUP 1.3.2 Enabled | Disabled Not Applicable Not Applicable Count Not Applicable PFB PFBBACKUPMODE 2088h, sub-index 0
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PFBBACKUPMODE
Definition Type Description PFB Backup Mode Variable (R/W) Enables and disables the PFB backup process. In the event of an emergency stop, the PFB backup process saves PFB to non-volatile memory, and restores it at the next power up. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: PFBBACKUPMODE Write: PFBBACKUPMODE<value> 1.3.2 Enabled | Disabled 0 = PFB backup process disabled 1 = PFB backup process enabled 0 Not Applicable Yes PFB PFBBACKUP 2089h, sub-index 0
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PFBOFFSET
Definition Type Description Position Offset Variable (R/W) Gets/sets a feedback offset that is added to the internal cumulative position counter, to give the value of PFB. When using count units, only integer values can be entered. Syntax Firmware Drive status Range Default value Unit Read: PFBOFFSET Write: PFBOFFSET <value> 1.0.6 Disabled (231 - 1) 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also Yes PCMD PE PFB CANopen 60B0h, sub-index 0 [rev]
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PHASEFIND
Definition Type Description Phase Find Command Command Initiates a procedure that initializes commutation for incremental encoder systems. See PHASEFINDMODE for the execution options. PHASEFIND 1.0.6 Disabled Not Applicable Not Applicable Not Applicable Not Applicable FEEDBACKTYPE INDEXFIND MENCRES MENCTYPE MPHASE PHASEFINDGAIN PHASEFINDI PHASEFINDMODE PHASEFINDST ZERO CANopen 20A4h, sub-index 0
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PHASEFINDANGLE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Forced Electrical Position Variable (R/W) Gets/sets the position in one revolution. Applicable only for MENCTYPE 11. Read: PHASEFINDANGLE Write: PHASEFINDANGLE <value> 1.0.6 Enabled | Disabled 0 to 65535 0 65536/electrical cycle Yes PHASEFIND PHASEFINDMODE 20A5h, sub-index 0
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PHASEFINDGAIN
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Phase Find Gain Variable (R/W) Adjusts the gain of the phase finding mechanism. Read: PHASEFINDGAIN Write: PHASEFINDGAIN <value> 1.0.6 Disabled 0 to 10 1 Not applcable Yes PHASEFIND PHASEFINDMODE 20A6h, sub-index 0
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PHASEFINDI
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Phase Find Current Variable (R/W) . Adjusts the current of the phase finding mechanism. Read: PHASEFINDI Write: PHASEFINDI <value> 1.0.6 Disabled 0 to 150 0 A Yes PHASEFIND PHASEFINDMODE 20A7h, sub-index 0
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PHASEFINDMODE
Definition Type Description Syntax Firmware Drive status Range Phase Find Mode Variable (R/W) Gets/sets a value that defines the commutation Phase Find mode. Read: PHASEFINDMODE Write: PHASEFINDMODE <value> 1.0.6 Enabled | Disabled 0 = Injects test signals and analyzes motor behavior to initialize commutation. 2 = Soft start - increases current at a known commutation angle (wake-no-shake) 11 = Manual commutation offset. Commutation offset is defined by the value of PHASEFINDANGLE. Default value Unit Non-volatile See also 0 Not applicable Yes FEEDBACKTYPE INDEXFIND MENCTYPE PHASEFIND PHASEFINDST ZERO CANopen 20A8h, sub-index 0
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PHASEFINDST
Definition Type Description Syntax Firmware Drive status Range Phase Find Status Variable (R) Indicates the state of the commutation Phase Find procedure for incremental encoders. PHASEFINDST 1.0.6 Disabled 0 = Not started 1 = Running 2 = Succeeded 3 = Failed Default value Unit Non-volatile See also Not applicable Not applicable No FEEDBACKTYPE INDEXFIND INDEXFINDST MENCTYPE PHASEFIND PHASEFINDMODE ZERO CANopen 20A9h, sub-index 0
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PHASEFINDTIME
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Time of Phase Finding Mechanism Variable (R/W) Gets/set the duration of the phase finding mechanism. Read: PHASEFINDTIME Write: PHASEFINDTIME <value> 1.0.6 Disabled 0 to 10000 100 ms Yes PHASEFIND PHASEFINDMODE 20AAh, sub-index 0
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PNUM
Definition Type Description Unit Conversion Numerator Variable (R/W) The variables UNITSLINACC, UNITSLINPOS, UNITSLINVEL, UNITSROTACC, UNITSROTPOS, UNITSROTVEL can have scalable user-defined position units (based on motor revolution) whose derivatives (velocity and acceleration) can also be expressed in user-defined units. PNUM and PDEN are used for scaling the user-defined unit; they multiply the motor revolution or motor pitch according to MOTORTYPE. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: PNUM Write: PNUM <value> 1.2.12 Enabled | Disabled 1 to 4294967295 100 Not Applicable Yes PFB UNITSLINPOS UNITSROTPOS CANopen 6092h, sub-index 1
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POSCONTROLMODE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Position Loop Controller Mode Variable (R/W) Gets/sets a value that defines the type of position loop controller. Read: POSCONTROLMODE Write: POSCONTROLMODE <value> 1.0.6 Disabled 0 = Standard cascaded position controller 1 = HD position controller 0 Not applicable Yes OPMODE VELCONTROLMODE 20ABh, sub-index 0
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POSLIMMODE
Definition Type Description Software Position Limit Mode Variable (R/W) Gets/sets a variable that defines whether the software position limits function is enabled. This function can be enabled only after a successful homing has been performed. When POSLIMMODE is set to 1, POSLIMNEG and POSLIMPOS serve as motion limits. When either limit is crossed, a deceleration occurs according to the value of DECSTOPTIME, unless it exceeds the value of DECSTOP. Once a limit is crossed, only motion commands in the return direction can be executed. When a software limit switch is engaged, the 7-segment LED display shows either L4 or L5. If both switches are engaged, the display shows L6. Software position limits and the Disable mode use the same deceleration settings. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: MOTORCOMMTYPE Write: MOTORCOMMTYPE <value> 1.2.12 Enabled | Disabled 0 = Software position limits disabled 1 = Software position limits enabled 0 Not Applicable Yes | No DECSTOP DECSTOPTIME POSLIMNEG POSLIMPOS CANopen 20ACh, sub-index 0
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POSLIMNEG
Definition Type Description Syntax Firmware Drive status Range Default value Unit Software Position Limit Minimum Variable (R/W) The minimum position for software limit Read: POSLIMNEG Write: POSLIMNEG <value> 1.2.12 Enabled | Disabled (231 - 1) 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also CANopen Yes POSLIMMODE POSLIMPOS 607Dh, sub-index 2 [rev]
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POSLIMPOS
Definition Type Description Syntax Firmware Drive status Range Default value Unit Software Position Limit Maximum Variable (R/W) The maximum position for software limit Read: POSLIMPOS Write: POSLIMPOS <value> 1.2.12 Enabled | Disabled (231 - 1) 0 If MOTORTYPE 0 (Rotary): UNITSROTPOS 0 = rev UNITSROTPOS 1 = count UNITSROTPOS 2 = deg UNITSROTPOS 3 = user-defined multiples of revolutions (PNUMPDEN) If MOTORTYPE 2 (Linear): UNITSLINPOS 0 = pitch UNITSLINPOS 1 = count UNITSLINPOS 3 = mm UNITSLINPOS 4 = user-defined multiples of pitch (PNUMPDEN) Non-volatile See also CANopen Yes POSLIMMODE POSLIMNEG 607Dh, sub-index 1 [rev]
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PRBFRQ
Definition Type Description PRB Generator Frequency Variable (R/W) Not intended for user unless instructed by Technical Support. Defines the frequency for PRB excitation. For pseudo binary noise (PRBPARAM 1), PRBFRQ has no effect. For sine and square wave generators (PRBPARAM 2, PRBPARAM 3), PRBFRQ defines the frequency of the sine and square wave generator, respectively. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: PRBFRQ Write: PRBFRQ <value> 1.0.6 Enabled | Disabled 1 to 4000 100 Hz No PRBMODE PRBPARAM 20ADh, sub-index 0
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PRBMODE
Definition Type Description PRB Activation Mode Variable (R/W) Not intended for user unless instructed by Technical Support. Get/sets the activation mode of the PRB signal generator. PRB can either be disabled (PRBMODE 0), continuously activated (PRBMODE 2), or activated only when recording has been triggered (PRBMODE 1). Syntax Firmware Drive status Range Read: PRBMODE Write: PRBMODE <value> 1.0.6 Enabled | Disabled 0 = PRB generator not activated 1 = PRB generator activated only during recording 2 = PRB generator activated continuously Default value Unit Non-volatile See also 0 Not Applicable No PRBFRQ PRBPARAM RECORD RECTRIG CANopen 20AEh, sub-index 0
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PRBPARAM
Definition Type Description PRB Generator Parameters Command The PRB generator enables several advanced tests on the controlled axis. These tests include injecting sine or square wave signals of specified frequency in addition to the current and velocity commands. The PRB noise generator is used to excite the system with a wide uniform spectrum signal for identification purposes. PRBPARAM {Signal_type} {Icmd_amp} {Vcmd_amp} {Update_ratio} 1.0.6 Enabled | Disabled Signal_type: 0 = Not activated 1 = Pseudo random binary 2 = Sine wave 3 = Square wave Icmd_amp = torque amplitude in [A]. Vcmd_amp = velocity amplitude in velocity units (as defined by UNITSROTVEL or UNITSLINVEL) Update_ratio = update ratio relative to current loop update rate. Default value Unit Non-volatile See also CANopen Not Applicable Not Applicable Not Applicable PRBFRQ PRBMODE 20AFh, sub-index 1
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PTPTE
Definition Type Description PTP Generator Target Error Variable (R) Reports the target error during a motion profile, which is the distance remaining to the destination in a point-to-point move. PTPTE 1.0.6 Enabled | Disabled (231 - 1) [rev]
Syntax Firmware Drive status Range Default value Unit
No MOVEABS MOVEINC PCMD PE PTPVCMD
CANopen
20B0h, sub-index 0
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PTPVCMD
Definition Type Description PTP Generator Velocity Command Variable (R) Reports the derivative of the position command profile in velocity units. PTPVCMD is useful for recording and viewing the actual velocity and the velocity command, which is available only as a derivative of the position profile. In HD control (POSCONTROLMODE 1), the variable VCMD is not used. In cascaded control (POSCONTROLMODE 0), the variable VCMD shows a value similar to PTPVCMD. However, since VCMD is issued by the position controller as a command to the velocity control, it is not strictly a reference signal (as it includes the response of the position control to PFB). Syntax Firmware Drive status Range Default value Unit PTPVCMD 1.0.6 Enabled | Disabled Not Applicable Not Applicable If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also No MOVEABS MOVEINC PCMD PTPTE VCMD CANopen 20B1h, sub-index 0
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PWMFRQ
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 20B2h, sub-index 0 PWM Frequency Variable (R) Variable (R/W) - Password protected (STX only) Indicates the frequency of the PWM signals. When the value of PWMFRQ is changed, CONFIG is required. PWMFRQ 1.0.6 Enabled | Disabled 16 16 kHz Yes
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PWMSATRATIO
Definition Type Description PWM Saturation Ratio Variable (R/W) Gets/sets the duration of current saturation within a commutation cycle. If the value of PWMSATRATIO is exceeded, a PWM limit is activated. When the value of PWMSATRATIO is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: PWMSATRATIO Write: PWMSATRATIO <value> 1.0.6 Disabled 0.5 to 1.5 1.5 Not Applicable Yes PWMFRQ VBUS 20B4h, sub-index 0
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READY
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Drive Ready Variable (R) Indicates whether the drive is ready for activation with only external remote enable still required (ACTIVE). READY 1.0.6 Enabled | Disabled 0 = Faults exist or SWEN 1 = No faults exist and SWEN Not Applicable Not Applicable No ACTIVE EN FLT K REMOTE ST SWEN
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RECDONE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Recording Done Variable (R) Indicates whether the RECORD command is done and data is available. RECDONE 1.0.6 Enabled | Disabled 0 = Recording not finished 1 = Recording done; data available Not Applicable Not Applicable No GET RECING RECOFF RECORD RECRDY RECTRIG CANopen 20E6h, sub-index 0
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RECING
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Recording Variable (R) Indicates if data recording is in progress. RECING 1.0.6 Enabled | Disabled 0 = Recording not in progress 1 = Recording in progress Not Applicable Not Applicable No RECDONE RECOFF RECORD RECRDY RECTRIG CANopen 20EBh, sub-index 0
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RECLIST
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Recordable Variables List Variable (R) Returns a list of all variables that can be recorded by the RECORD command. RECLIST 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No RECORD
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RECOFF
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Cancel Recording Command Cancels an active recording. RECOFF 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable RECDONE RECING RECORD RECRDY RECTRIG CANopen 20E9h, sub-index 0
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RECORD
Definition Type Description Record Command Captures real-time variables to memory for retrieval/ display by the GET command. RECORD must be set up before the RECTRIG command is used. RECLIST returns the list of the recordable variables. RECORD sample_time num_points var1 [var2 var6] sample_time = 1 to 1000000 (multiples of 31.25 s) num_points = 1 to 2000 var = Name of a recordable system variable that appears in RECTRIGLIST. System variables must be preceded by a quotation mark ("). Firmware Drive status Range Default value Unit Non-volatile Example 1.0.6 Enabled | Disabled Not Applicable Not Applicable Refer to Syntax, above No RECORD 32 100 "VCMD "V "ICMD Records 100 points for VCMD, V, and ICMD every 1 milliseconds See also GET RECDONE RECING RECLIST RECOFF RECRDY RECTRIG CANopen 20EAh, sub-index 1
Syntax
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RECRDY
Definition Type Description Ready to Record Variable (R) Indicates the ready status of the RECORD function. This variable can be polled after a RECORD command is issued to determine if the system is waiting for RECTRIG. RECRDY 1.0.6 Enabled | Disabled 0 = RECTRIG has been received and record function is armed. 1 = Record function is waiting to be armed by RECTRIG command. Default value Unit Non-volatile See also Not Applicable Not Applicable No RECDONE RECING RECOFF RECORD RECTRIG CANopen 20ECh, sub-index 0
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RECTRIG
Definition Type Description Trigger Recording Command Triggers the recorder. RECORD must be set up before a RECTRIG command is issued. The recording mechanism tracks the value of a system variable and starts the recording as soon as the value goes higher or lower than the specified value. The recorder can also record a specified number of points before the trigger condition occurs. Syntax RECTRIG var level pre-trig {above|under} var = Name of a recordable system variable that appears in RECTRIGLIST. System variables must be preceded by a quotation mark ("). level = Threshold value for the trigger pre-trig = number of points to be recorded prior to trigger above|under = defines whether trigger occurs when value is above or below the threshold RECTRIG IMM = starts the recording immediately RECTRIG CMD = starts the recording as soon as the next command is sent to the drive. Firmware Drive status Range Default value Unit Non-volatile See also 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No GET RECDONE RECING RECOFF RECORD RECRDY RECTRIGLIST Activation commands RECORD defines the variables to be recorded and the recording time span and sample time. RECTRIG defines the triggering condition for starting a recording, and also pre-trigger duration. RECOFF turns active recording off. Utility information RECLIST lists all the variables that can be recorded by the record function.
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RECTRIGLIST lists all the options for triggering the recording. Status flags RECRDY indicates that a recording is armed and ready. RECING indicates that a trigger condition has occurred and that a recording is active. RECDONE indicates that the recording is completed Data retrieval GETMODE defines the format for the recorded data (binary/ascii) GET retrieves the recorded data CANopen 20E8h, sub-index 1
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RECTRIGLIST
Definition Type Description Recording Trigger Variables List Variable (R) Returns a list of all trigger variables and options. The recording trigger is defined by RECTRIG. Note: Some factory variables and commands, not intended for users, may appear in the list. Do not attempt to use commands and variables that are not described in this manual, or are marked as not for users. Syntax Firmware Drive status Range RECTRIGLIST 1.0.6 Enabled | Disabled Dynamic signal variables: ANIN1 ANIN2 ANOUT CLVD CLVQ ELECTANGLE FOLD HWPEXT I ICMD ID Status variables: ACTIVE HOMESTATE LIMSWITCHNEG LIMSWITCHPOS Default value Unit Non-volatile See also Not Applicable Not Applicable No RECTRIG IFOLD ILIMACT IQ IQCMD IU IV MECHANGLE MFOLD MIFOLD PCMD PE PELOOP PFB PTPTE PTPVCMD REMOTE STOPPED THERM V VBUSREADOUT VCMD VE
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RELAY
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Fault Relay Status Variable (R) Indicates the state of the fault relay. RELAY 1.0.6 Enabled | Disabled 0 = Relay open 1 = Relay closed Not Applicable Not Applicable No ACTIVE CLEARFAULTS FLT RELAYMODE REMOTE CANopen 20B8h, sub-index 0
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RELAYMODE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Relay Fault Mode Variable (R/W) Gets/sets a value that defines how the fault relay operates. Read: RELAYMODE Write: RELAYMODE <value> 1.0.6 Enabled | Disabled 0 = Relay opens upon fault. 1 = Relay opens upon disable. 0 Not applicable Yes ACTIVE CLEARFAULTS FLT RELAY REMOTE CANopen 20B9h, sub-index 0
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REMOTE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Remote Hardware Enable Status Variable (R) Indicates the state of the external hardware enable input line. REMOTE 1.0.6 Enabled | Disabled 0 = Remote enable input off. 1 = Remote enable input on. Not Applicable Not Applicable No ACTIVE READY RELAY RELAYMODE CANopen 20BAh, sub-index 0
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RESAMPLRANGE
Definition Type Description Resolver Amplitude Range Variable (R/W) Gets/sets the acceptable range of resolver sine/cosine signals, expressed as a percentage, around their nominal value. The default value of 10% means the sine/cosine signals are allowed to deviate up to 10% from the nominal before an Out-Of-Range Fault is declared. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: RESAMPLRANGE Write: RESAMPLRANGE <value> 1.0.6 Enabled | Disabled 0 to 100 10 % Yes FEEDBACKTYPE RESBW SININIT SINPARAM CANopen 20BBh, sub-index 0
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RESBW
Definition Type Description Resolver Conversion Bandwidth Variable (R/W) Get/sets the resolver conversion bandwidth. High bandwidth produces better dynamic tracking and less phase lag in high frequencies. Lower bandwidth results in better noise reduction. Resolvers typically enable slower dynamic tracking than encoders. RESBW sets the most balanced value according to specific application requirements. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: RESBW Write: RESBW <value> 1.0.6 Disabled 200 to 800 300 Hz Yes FEEDBACKTYPE SININIT VELFILTMODE CANopen 20BCh, sub-index 0
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SAVE
Definition Type Description Save Parameters Command Copies all system configuration variables from working RAM to non-volatile memory. This command must be executed in order to retain setting changes during power cycling. Syntax Firmware Drive status Range Default value Unit Non-volatile See also SAVE 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable DUMP FACTORYRESTORE LOAD CANopen 20BDh, sub-index 0
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SININIT
Definition Type Description Sine/Cosine Calibration Command Command Activates a procedure that calibrates the resolver sine/cosine signals. The calibration serves to reduce harmonic errors in the resolver reading. The procedure averages resolver signals over several motor turns to determine the gain and offset correction. The progress of the procedure is reported by the SININITST command, and the resulting calibration gains and offsets are reported by SINPARAM. Syntax Firmware Drive status Range Default value Unit Non-volatile See also SININIT 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Not Applicable FEEDBACKTYPE RESBW SININITMODE SININITST SINPARAM CANopen 20BEh, sub-index 0
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SININITMODE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Sine/Cosine Calibration Mode Variable (R/W) Enables/disables the automatic calibration of the resolver sine/cosine signals at power up. Read: SININITMODE Write: SININITMODE <value> 1.0.6 Enabled | Disabled 0 = Automatic calibration of resolver disabled 1 = Automatic calibration of resolver enabled 0 Not Applicable Yes FEEDBACKTYPE RESBW SININITST SINPARAM CANopen 20BFh, sub-index 0
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SININITST
Definition Type Description Syntax Firmware Drive status Range Sine/Cosine Calibration Status Variable (R) Reports the status of the resolver calibration procedure. SININIT 1.0.6 Enabled | Disabled 0 = Not started, or completed 1 = In progress 2 = Failed Default value Unit Non-volatile See also Not Applicable Not Applicable No FEEDBACKTYPE HWPOS RESBW SINPARAM SININITMODE CANopen 20C0h, sub-index 0
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SINPARAM
Definition Type Description Sine/Cosine Calibration Parameters Variable (R) Returns the parameters that are used for calibration of the resolver sine and cosine signals. The parameters are in hexadecimal representation. SINPARAM 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No SINPARAM SININITST FEEDBACKTYPE CANopen 20C1h, sub-index 0
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SLEKFMKT
Definition Type Description Not intended for user unless instructed by Technical Support. Sensorless EKF Kt Syntax Firmware Drive status Range Default value Unit Non-volatile See also 1.3.2 Still in development Sensorless EKF Kt
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SLEKFML
Definition Type Description Not intended for user unless instructed by Technical Support. Sensorless EKF Inductance Syntax Firmware Drive status Range Default value Unit Non-volatile See also 1.3.2 Still in development Sensorless EKF Inductance
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SLEKFMR
Definition Type Description Not intended for user unless instructed by Technical Support. Sensorless EKF Resistance Syntax Firmware Drive status Range Default value Unit Non-volatile See also 1.3.2 Still in development Sensorless EKF Resistance
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SLTFORCED
Definition Type Description Not intended for user unless instructed by Technical Support. Forced Commutation Current Command Syntax Firmware Drive status Range Default value Unit Non-volatile See also 1.3.2 Still in development Forced Commutation Current Command
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ST
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Drive Status Messages Variable (R) Returns detailed drive status messages. ST 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No ACTIVE FLT FLTHIST READY REMOTE SWEN
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STALLTIME
Definition Type Description Stall Time Variable (R/W) The minimum length of time at which a stall condition generates a stall fault. A stall condition occurs when [I > MICONT] and [I > 0.9ILIM] and [V < STALLVEL]. A stall fault occurs whenever a stall condition persists for a duration greater than STALLTIME. The drives 7-segment display shows F3 when a stall fault occurs. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: STALLTIME Write: STALLTIME <value> 1.3.2 Enabled | Disabled 0 to 10000 0 = Fault inhibited ms Yes STALLVEL
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STALLVEL
Definition Type Description Stall Velocity Variable (R/W) The velocity threshold for entering a stall condition. A stall condition occurs when [I > MICONT] and [I > 0.9ILIM] and [V < STALLVEL]. A stall fault occurs whenever a stall condition persists for a duration greater than STALLTIME. Syntax Firmware Drive status Range Default value Unit Read: STALLVEL Write: STALLVEL<value> 1.3.2 Enabled | Disabled 0 to VMAX 10.000 rpm If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also Yes STALLTIME
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STAT
Definition Type Description Firmware Syntax Drive status Range Default value Unit Non-volatile Example Drive Status Summary Word Command Outputs a drive status summary word. 1.0.6 STAT Enabled | Disabled Not Applicable Not Applicable Hexadecimal No -->stat H0023 --> ST STATUS
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STATUS
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile Example Drive Status Detail Words Command Outputs a series of drive status summary words. STATUS 1.0.6 Enabled | Disabled Not Applicable Not Applicable Hexadecimal No -->status H0009 H0000000000060800 H00C0 H0000 H0000 H0000 --> ST STAT
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STEP
Definition Type Description Step Command Command Generates a step or square wave velocity command. This command is similar to the J command, but allows repetition of STEP to create a square wave velocity command. Syntax Firmware Drive status Range Default value Unit STEP {duration1} {velocity1} [duration2 velocity2] 1.0.6 Disabled Not Applicable Not Applicable Duration = Velocity = If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also Not Applicable ACC J OPMODE RECORD STOP VLIM ms
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STOP
Definition Type Description Stop Motion Command Command Stops motion in OPMODE 0 (J and STEP commands) and OPMODE 2 (T command). Unlike the K command, the drive is not disabled using the STOP command. In OPMODE 1 or 3, STOP is ignored. Syntax Firmware Drive status Range Default value Unit Non-volatile See also STOP 1.0.6 Disabled Not Applicable Not Applicable Not Applicable Not Applicable DEC DECSTOP J STEP
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STOPPED
Definition Type Description Position Motion Ended Variable (R) Reports whether the position profile generated by MOVEINC and MOVEABS has been completed, therefore allowing the next command to be issued. STOPPED 1.0.6 Enabled | Disabled -1 =Movement was interrupted (e.g., due to Disable) 0 = Not completed 1 = Profile completed 2 = Profile completed and drive is in position (INPOS) Default value Unit Non-volatile See also Not Applicable Not Applicable No HOLD PEINPOS PEMAX PTPVCMD V VCMD
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SWEN
Definition Type Description Syntax Firmware Drive status Range Software Enable Status Variable (R) Indicates the state of software enable. This condition can be toggled using the EN an K commands. SWEN 1.0.6 Enabled | Disabled 0 = Software enable switch disabled (K command has been issued) 1 = Software enable switch enabled (EN command has been issued) Default value Unit Non-volatile See also Not Applicable Not Applicable No ACTIVE EN FLT K READY REMOTE ST SWENMODE
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SWENMODE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Software Enable on Power-Up Variable (R/W) Gets/sets the state of the software enable switch when the drive is powered up. Read: SWENMODE Write: SWENMODE <value> 1.0.6 Enabled | Disabled 0 = Software enable is off at power-up 1 = Software enable is on at power-up 0 Not applicable Yes ACTIVE EN READY SWEN
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SYNCSOURCE
Definition Type Description Syntax Firmware Drive status Range Synchronization Mode Variable (R/W) Sets the method used to synchronize the drive clock to an external sync signal. Read: SYNCSOURCE Write: SYNCSOURCE <value> 1.0.6 Enabled | Disabled 0 = Disabled; no sync 1 = Sync drive clock to controller based on fast digital input 5 2 = Sync drive clock to controller based on fast digital input 6 3 = Sync drive clock based on pulse differential input (Pulse & Direction) 4 = Sync signal source is pulse input from Machine I/F 5 = Sync signal source is EtherCAT Default value Unit Non-volatile See also CANopen 0 Not Applicable Yes INMODE 20C2h, sub-index 0
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T
Definition Type Description Current Command Command Sets the current in OPMODE 2 (serial current mode). This command is subject to current limits, clamps, and digital filtering, and it is set to zero whenever the drive is enabled or disabled. The commands STOP and K, and changing the operating mode, also zero the value of T. Syntax Firmware Drive status Range Default value Unit Non-volatile See also T Queries the command T current [duration] 1.0.6 Enabled Not Applicable Not Applicable current = duration = A (peak) ms
Not Applicable I ICMD ILIM OPMODE
CANopen
6071h, sub-index 0
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TF
Definition Type Description Tracking Factor Variable (R/W) Gets/sets the derivative factor for tracking with PDFF velocity controller. 0 = No derivative factor 100 = Derivative factor to match bandwidth and not overshoot. 200 = Derivative factor to match PI control; may overshoot. Intermediate values are interpolated. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: TF Write: TF <value> 1.0.6 Enabled | Disabled 0 to 200 100 % Yes BW LMJR MJ VELCONTROLMODE CANopen 20C3h, sub-index 0
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THERM
Definition Type Description Syntax Firmware Drive status Range Motor Over-Temperature Variable (R) The state of the motor thermostat input, which indicates whether an over-temperature condition exists. Read: THERM Write: THERM <value> 1.0.6 Enabled | Disabled 0 = Thermostat input closed (normal) or ignored (THERMODE 3). 1 = Thermostat input open, indicating overheating Default value Unit Non-volatile See also Not Applicable Not applicable No THERMODE THERMREADOUT THERMTRIPLEVEL THERMCLEARLEVEL THERMTIME THERMTYPE CANopen 20C4h, sub-index 0
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THERMCLEARLEVEL
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Motor Over-Temperature Clear Fault Level Variable (R/W) Indicates the motor over-temperature fault level clearing. THERMCLEARLEVEL THERMCLEARLEVEL <value> 1.0.6 Enabled | Disabled 0 to 1000000 100 Ohm Yes THERMODE THERMTRIPLEVEL 20C5h, sub-index 0
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THERMODE
Definition Type Description Syntax Firmware Drive status Range Motor Over-Temperature Mode Variable (R/W) Gets/sets a value that defines how the drive will respond to an over-temperature fault. Read: THERMODE Write: THERMODE <value> 1.0.6 Enabled | Disabled 0 = Disable drive immediately. 3 = Ignore thermostat input. 4 = Issue warning only. 5 = Issue warning; if condition persists after THERMTIME, issue fault. Default value Unit Non-volatile See also 0 Not Applicable Yes THERM THERMCLEARLEVEL THERMREADOUT THERMTIME THERMTRIPLEVEL THERMTYPE CANopen 20C6h, sub-index 0
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THERMREADOUT
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Motor Temperature Variable (R) Indicates the value of the motor temperature. THERMREADOUT 1.0.6 Enabled | Disabled Not Applicable Not Applicable Ohm No THERM THERMODE THERMTIME THERMTYPE CANopen 20C7h, sub-index 0
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THERMTIME
Definition Type Description Motor Over-Temperature Time Variable (R/W) Gets/sets the number of seconds the drive will wait after motor over-temperature detection before it opens the fault relay. Read: THERMTIME Write: THERMTIME <value> Firmware Drive status Range Default value Unit Non-volatile See also 1.0.6 Enabled | Disabled 0 to 300 30 second Yes THERM THERMODE THERMREADOUT THERMTYPE CANopen 20C8h, sub-index 0
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THERMTRIPLEVEL
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Motor Over-Temperature Fault Level Variable (R/W) Indicates the motor over-temperature fault level. THERMTRIPLEVEL 1.0.6 Enabled | Disabled 0 to 1000000 150 Ohm Yes THERMCLEARLEVEL THERMODE 20C9h, sub-index 0
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THERMTYPE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Motor Over-Temperature Type Variable (R/W) Gets/sets the value that indicates the type of motor temperature sensor. Read: THERMTYPE Write: THERMTYPE <value> 1.0.6 Enabled | Disabled 0 = Positive temperature coefficient (PTC) 1 = Negative temperature coefficient (NTC) 0 Not Applicable Yes THERM THERMODE THERMREADOUT THERMTIME CANopen 20CAh, sub-index 0
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TMTEMP
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Tamagawa Temperature Variable (R) Indicates the temperature of the Tamagawa encoder. TMTEMP 1.2.12 Enabled | Disabled Not Applicable Not Applicable C No
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TMTURNRESET
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Tamagawa Multi-Turn Reset Command Resets the counter of a Tamagawa multi-turn encoder TMTURNRESET 1.2.12 Disabled Not Applicable Not Applicable Not Applicable Not Applicable FEEDBACKTYPE MENCTYPE 20CBh, sub-index 0
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TRUN
Definition Type Description Run Time Variable (R) A counter that reports the total elapsed runtime of the drive (in both enabled and disabled state) since production. Cannot be reset. TRUN 1.0.6 Enabled | Disabled Not Applicable Not Applicable hours:minutes:seconds No DRIVENAME 20CCh, sub-index 0
Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen
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UNITSLINACC
Definition Type Description Syntax Firmware Drive status Range Units Linear Acc/Dec Variable (R/W) Gets/sets a value that defines the units of acceleration and deceleration variables in a linear system. Read: UNITSLINACC Write: UNITSLINACC <value> 1.0.6 Enabled | Disabled 0 = rps/s 1 = mm/s2 2 = user/s2 Default value Unit Non-volatile See also 1 Not Applicable Yes MOTORTYPE UNITSLINPOS UNITSLINVEL UNITSROTACC
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UNITSLINPOS
Definition Type Description Syntax Firmware Drive status Range Units Linear Position Variable (R/W) Gets/sets a value that defines the units of position variables in a linear system. Read: UNITSLINPOS Write: UNITSLINPOS <value> 1.0.6 Enabled | Disabled 0 = pitch (motor cycles) 1 = count (pulses per revolution - PPR lines) 3 = mm 4 = user Default value Unit Non-volatile See also 1 Not Applicable Yes MOTORTYPE UNITSLINACC UNITSLINVEL UNITSROTPOS
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UNITSLINVEL
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Units Linear Velocity Variable (R/W) Gets/sets a value that defines the units of velocity variables in a linear system. Read: UNITSLINVEL Write: UNITSLINVEL <value> 1.0.6 Enabled | Disabled 1 = mm/s 2 = user/s 1 Not Applicable Yes MOTORTYPE UNITSLINACC UNITSLINPOS UNITSROTVEL
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UNITSROTACC
Definition Type Description Syntax Firmware Drive status Range Units Rotary Acc/Dec Variable (R/W) Gets/sets a value that defines the units of acceleration and deceleration variables in a rotary system. Read: UNITSROTACC Write: UNITSROTACC <value> 1.0.6 Enabled | Disabled 0 = rps/s 1 = rpm/s 2 = deg/s2 3 = user/s2 Default value Unit Non-volatile See also 1 Not Applicable Yes ACC DEC DECSTOP UNITSROTPOS UNITSROTVEL
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UNITSROTPOS
Definition Type Description Syntax Firmware Drive status Range Units Rotary Position Variable (R/W) Gets/sets a value that defines the units of position variables in a rotary system. Read: UNITSROTPOS Write: UNITSROTPOS <value> 1.0.6 Enabled | Disabled 0 = (rev) Motor revolutions 1 = (count) Motor feedback counts, multiplied as follows: Incremental motor feedback = multiplied by 4 (quad) Resolver motor feedback = multiplied by MRESPOLES Sine motor feedback = multiplied by 4 and the interpolation level of the sine encoder 2 = (deg) Degrees 3 = User Default value Unit Non-volatile See also 0 Not Applicable Yes UNITSROTACC UNITSROTVEL
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UNITSROTVEL
Definition Type Description Syntax Firmware Drive status Range Units Rotary Velocity Variable (R/W) Gets/sets a value that defines the units of velocity variables in a rotary system. Read: UNITSROTVEL Write: UNITSROTVEL <value> 1.0.6 Enabled | Disabled 0 = rps 1 = rpm 2 = deg/s 3 = user/s Default value Unit Non-volatile See also 1 Not Applicable Yes UNITSROTACC UNITSROTPOS V VCMD
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UVMODE
Definition Type Description Syntax Firmware Drive status Range Under-Voltage Mode Variable (R/W) Gets/sets a value that defines how the drive will respond to an under-voltage fault. Read: UVMODE Write: UVMODE <value> 1.0.6 Enabled | Disabled 0 = Latches fault immediately. 1 = Shows warning only (when disabled, does not display warning). 2 = Shows warning, then waits UVTIME before the fault is latched (when disabled, does not display warning). 3 = Fault only if under-voltage exists and drive is enabled. Default value Unit Non-volatile See also 0 Not Applicable Yes UVRECOVER UVTHRESH UVTIME VBUS VBUSREADOUT CANopen 20CDh, sub-index 0
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UVRECOVER
Definition Type Description Syntax Firmware Drive status Range Under-Voltage Recovery Mode Variable (R/W) Gets/sets a value that defines how the drive will recover from an under-voltage fault. Read: UVRECOVER Write: UVRECOVER <value> 1.0.6 Enabled | Disabled 0 = Recovers by toggling drive from disable to enable condition after the under-voltage condition clears. 1 = Automatically recovers when the under-voltage condition clears. Default value Unit Non-volatile See also 0 Not applicable Yes UVMODE UVTHRESH UVTIME VBUS VBUSREADOUT CANopen 20CEh, sub-index 0
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UVTHRESH
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Under-Voltage Threshold Variable (R/W) Gets/set the level for detection of an under-voltage condition. Read: UVTHRESH Write: UVTHRESH <value> 1.0.6 Enabled | Disabled Hardware defined Hardware defined V Yes UVMODE UVRECOVER UVTIME VBUS VBUSREADOUT CANopen 20CFh, sub-index 0
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UVTIME
Definition Type Description Under-Voltage Time Variable (R/W) Gets/sets the amount of time that an under-voltage warning will be displayed ("u") before it is latched in UVMODE 2. In UVMODE 3, the time begins when the drive is enabled. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: UVTIME Write: UVTIME <value> 1.0.6 Enabled | Disabled 0 to 300 30 second Yes UVMODE UVRECOVER UVTHRESH VBUS VBUSREADOUT CANopen 20D0h, sub-index 0
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V
Definition Type Description Syntax Firmware Drive status Range Default value Unit Velocity Variable (R) Indicates the velocity of the motor measured by the primary feedback. V 1.0.6 Enabled | Disabled Not Applicable Not Applicable If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also CANopen No UNITSROTVEL VCMD 606Ch, sub-index 0
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VBUS
Definition Type Description Bus Voltage (DC) Variable (R/W) Gets/sets the drive bus voltage, used for current controller design. VBUS also affects the value of VMAX. When the value of VBUS is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: VBUS Write: VBUS <value> 1.0.6 Disabled 10 to 850 320 V Yes OVTHRESH UVMODE UVTHRESH VBUSREADOUT CANopen 20D1h, sub-index 0
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VBUSREADOUT
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile See also Bus Voltage Measured Variable (R) Indicates the bus voltage measured by sensors on the power module. Read: VBUSREADOUT Write: VBUSREADOUT <value> 1.0.6 Disabled HW defined Not Applicable V No OVTHRESH UVMODE UVTHRESH VBUS CANopen 6079h, sub-index 0
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VCMD
Definition Type Description Syntax Firmware Drive status Range Default value Unit Velocity Command Variable (R) Indicates the velocity command generated either directly (serial or analog), or as the output of the position controller. VCMD 1.0.6 Enabled | Disabled Not Applicable Not Applicable If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also No OPMODE UNITSROTVEL V CANopen 6081h, sub-index 0
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VD
Definition Type Description Advanced Pole Placement D Polynomial Variable (R) Not intended for user unless instructed by Technical Support. D-polynomial extended velocity controller. Syntax Firmware Drive status Range Default value Unit Non-volatile See also VD 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Yes VELCONTROLMODE VF VH VR
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VE
Definition Type Description Syntax Firmware Drive status Range Default value Unit Velocity Error Variable (R) The velocity error of velocity loop VE 1.2.12 Enabled | Disabled Not Applicable Not Applicable If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also CANopen 20D3h, sub-index 0 No
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VELCONTROLMODE
Definition Type Description Syntax Firmware Drive status Range Velocity Loop Controller Variable (R/W) Gets/sets a value that defines the type of velocity loop controller. Read: VELCONTROMODE Write: VELCONTROMODE <value> 1.0.6 Disabled 0 = PI controller (uses KVP, KVI) 1 = PDFF controller (uses KVP, KVI, KVFR) 2 = Standard pole placement controller (uses MJ, MKT, BW, LMJR, TF) 3 = Extended polynomial controller (uses VR, VD, VH, VF) 4 = High frequency pole placement controller (uses MJ, MKT, BW, LMJR, TF) 5 = HD velocity control with integrator (KNLI, KNLIV) 6 = HD velocity control without integrator Default value Unit Non-volatile See also CANopen 0 Not applicable Yes FILTMODE 20D4h, sub-index 0
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VELDESIGN
Definition Type Description Velocity Design Conversion Variable (R) Returns a conversion of the internal velocity controller as set by one of the standard velocity control modes to a general extended polynomial controller structure. Applicable only to standard cascaded position controller (POSCONTROLMODE 0). Syntax Firmware Drive status Range Default value Unit Non-volatile Example VELDESIGN 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No -->veldesign VD = 0 0 0 0 0 32767 VH = 31644 20 0 0 0 0 0 0 VR = 31644 20 0 0 0 0 FILTMODE POSCONTROLMODE VD VELCONTROLMODE VF VH VR CANopen 20D5h, sub-index 0
See also
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VELFILTFRQ
Definition Type Description Velocity Filter Pole Frequency Variable (R/W) When VELFILTMODE=1, sets the first order filter, which is applied to the velocity feedback signal before applying the velocity controller. VELFILTMODE <value> 1.3.2 Disabled 20 to 500 440 Hz Yes
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VELFILTMODE
Definition Type Description Syntax Firmware Drive status Range Velocity Filter Mode Variable (R/W) Gets/sets the type of filter that is used for extraction of a velocity signal from the position feedback. Read: VELFILTMODE Write: VELFILTMODE <value> 1.0.6 Enabled | Disabled 0 = No filter 1 = First order filter 2 = Observer type I 3 = Observer type II Default value Unit Non-volatile See also 1 Not Applicable Yes FILTMODE V VELCONTROLMODE CANopen 20D6h, sub-index 0
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VER
Definition Type Syntax Description Firmware Drive status Range Default value Unit Non-volatile See also CANopen Drive Version Variable (R) VER Displays the firmware version. 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable No INFO 20D7h, sub-index 0
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VF
Definition Type Description Velocity Loop Output Filter Variable (R/W) Not intended for user unless instructed by Technical Support. User defined velocity loop output filter. Requires FILTMODE 6. or controller output filter in VELCONTROLMODE 3). Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: VF Write: VF 1 0 0 0 0 0 0 1.0.6 Enabled | Disabled Not Applicable 1000000 Not applicable Yes FILTMODE VD VELCONTROLMODE VH VR CANopen 20D8h, sub-index 1
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VFI
Definition Type Description Velocity Loop Input Filter Variable (R/W) Not intended for user unless instructed by Technical Support. User defined velocity loop input filter. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen 20D9h, sub-index 1 Read: VFI Write: VFI 1 0 0 0 0 0 0 1.2.12 Disabled Not Applicable 1000000 Not Applicable Yes
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VH
Definition Type Description Advanced Pole Placement H Polynomial Variable (R/W) Not intended for user unless instructed by Technical Support. Extended velocity controller H-polynomial. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: VH Write: VH <value> 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not applicable Yes VD VELCONTROLMODE VF VR CANopen 20DAh, sub-index 1
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VLIM
Definition Type Description User Velocity Limit Variable (R/W) Gets/sets the application velocity limit, allowing the user to limit the motors peak velocity. VLIM limits the velocity command that will be accepted from the user (using the J command in OPMODE 0) or issued by the control loops (in OPMODE 1). VLIM is an independent variable that is not calculated from hardware parameters and is not tied to any other variables. VLIM is similar to ILIM (used in OPMODE 2 and OPMODE 3) and can be used to protect delicate load equipment. When the value of VLIM is changed, CONFIG is required. Syntax Firmware Drive status Range Default value Read: VLIM Write: VLIM <value> 1.0.6 Disabled 0 to VMAX If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 16.667 UNITSROTVEL 1 = 1000.000 UNITSROTVEL 2 = 6000.000 UNITSROTVEL 3 = 83.333 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 533.333 UNITSLINVEL 2 = 16.667 Unit If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also CANopen Yes MSPEED VMAX 607Fh, sub-index 0
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VMAX
Definition Type Description Syntax Firmware Drive status Range Default value Maximum Velocity Variable (R) Displays the maximum velocity for a drive and motor combination. VMAX is based on maximum motor speed. VMAX 1.0.6 Enabled | Disabled 10 to MSPEED If MOTORTYPE 0 (Rotary): UNITSROTVEL 0 = 161.166 UNITSROTVEL 1 = 9669.946 UNITSROTVEL 2 = 58019.675 UNITSROTVEL 3 = 805.829 If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = 5157.304 UNITSLINVEL 2 = 161.166 Unit If MOTORTYPE 0 (Rotary): If UNITSROTVEL 0 = rps If UNITSROTVEL 1 = rpm If UNITSROTVEL 2 = deg/s If UNITSROTVEL 3 = user/s If MOTORTYPE 2 (Linear): UNITSLINVEL 1 = mm/s UNITSLINVEL 2 = user/s Non-volatile See also No MKT MSPEED VBUSVLIM CANopen 6080h, sub-index 0
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VR
Definition Type Description Advanced Pole Placement R Polynomial Variable (R/W) Not intended for user unless instructed by Technical Support. Extended velocity controller R-polynomial. Syntax Firmware Drive status Range Default value Unit Non-volatile See also CANopen Read: VR Write: VR <value> 1.0.6 Enabled | Disabled Not Applicable Not Applicable Not Applicable Yes VELCONTROLMODE 60DBh, sub-index 1
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WNSERR
Definition Type Description Wake No Shake Variable (R) Not intended for user unless instructed by Technical Support. PHASEFINDMODE 2 state. Syntax Firmware Drive status Range Default value Unit Non-volatile See also No PHASEFIND PHASEFINDMODE PHASEFINDST CANopen 60DCh, sub-index 0 WNSERR 1.0.6
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WRN
Definition Type Description Syntax Firmware Drive status Range Default value Unit Non-volatile Example Display Warnings Variable (R) Lists the warnings that have occurred since the buffer was last cleared. WRN 1.0.6 Enabled | Disabled Not applicable Not applicable Not applicable Not applicable <--wrn WRN 7 Encoder init: Halls switch not found WRN 8 Encoder init: Index not detected <-FLT FLTHIST CANopen 60DDh, sub-index 0
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XENCRES
Definition Type Description External Encoder Resolution Variable (R/W) Gets/sets the resolution of the external encoder, in number of pulses per revolution. For sine encoder, gets/sets the number of sine cycles per revolution of the motor. Syntax Firmware Drive status Range Default value Unit Non-volatile See also Read: XENCRES Write: XENCRES <value> 1.0.6 Disabled 100 to 10000000 2048 Rotary motor: lines per revolution (LPR) Linear motor: lines per pitch (LPP) Yes GEARIN GEARMODE GEAROUT CANopen 60DEh, sub-index 0
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MaxTune
ZERO
Definition Type Description Zeroing Command Command Enables and disables the resolver/encoder Zeroing mode. If Zeroing mode is enabled, the drive rotates the motor to an electrical null by placing IZERO current from motor terminal V to terminal W. Syntax Firmware Drive status Range Default value Unit Non-volatile See also ZERO {0|1} 1.0.6 Disabled 0 = Disables Zeroing mode 1 = Enables Zeroing mode (activates OPMODE 2) 0 Not Applicable Not applicable FEEDBACKTYPE MPOLES PHASEFIND CANopen 60DFh, sub-index 0
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MaxTune Intelligent Servo Drive

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MaxTune Intelligent Servo Drive

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SYSTEMS

INTELLIGENT SERVO DRIVE

Firmware Revision 1.3.2

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About This Manual

Documentation Set for the MaxTune

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Default value Unit Non-volatile

Example See also CANopen

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Variable and Command Functions and Types

Variable and Command Functions and Types

Added in this Firmware Release

Removed in this Firmware Release

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Variable and Command Functions and Types

VarCom Reference Manual

Variable and Command Functions and Types

VarCom Reference Manual

Variable and Command Functions and Types

VarCom Reference Manual

Variable and Command Functions and Types

VarCom Reference Manual

Variable and Command Functions and Types

VarCom Reference Manual

Variable and Command Functions and Types

VarCom Reference Manual

Variable and Command Functions and Types

VarCom Reference Manual

Variable and Command Functions and Types

VarCom Reference Manual

Variable and Command Functions and Types

VarCom Reference Manual

Variable and Command Functions and Types

VarCom Reference Manual

Variable and Command Functions and Types

VarCom Reference Manual

Variables and Commands

Variables and Commands

VarCom Reference Manual

Variables and Commands

VarCom Reference Manual

Variables and Commands

Syntax Firmware Drive status Range

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Variables and Commands

VarCom Reference Manual

Variables and Commands

VarCom Reference Manual

Variables and Commands

VarCom Reference Manual

Variables and Commands

VarCom Reference Manual

Variables and Commands

VarCom Reference Manual

Variables and Commands

VarCom Reference Manual

Variables and Commands

VarCom Reference Manual

Variables and Commands

VarCom Reference Manual