Sevcon CANopen Master Object Dictionary Monitoring

Sevcon CANopen Master Object Dictionary More this way
Column Reserved
Column Reserved
Sub- Access Access High Limit
Index
Index
Version [1]
Type [2] Level
Scaling Units Name Data Type Low Limit [3]
[4]
Value [5] Description Map to PDO? Object Flags [6] Object Specifiers Bit Splitting [7] ToolTips for macro. for macro.
Contains information about the device type. This actually describes profiles. One node can have
more than one profile (e.g. 1 or 2 Drives and Motion Control profiles and an I/O Module profile). The OBJECT=DEVICE_TYPE DESC=Type:HEX_MASK=0000FFFF:MIN=0:MAX=0xFFFF:NF=2:402=Electric Drive:401=Generic I/O:419=Battery charger:
1000h 0 1 Const N/A Device type Unsigned32 0 FFFFFFFFh FFFF0192h device type at this location is for the first profile. The device type for each profile is stored at 67FFh + No 0 SECTION=CANOPEN_PROFILEEND 418=Battery module:410 = inclinometer
(x * 800h), where x is the profile number. The value indicates it is a multiple profile device (FFFF) CATEGORY=MONITORING DESC=Additional data:HEX_MASK=FFFF0000:MIN=0:MAX=0xFFFF:NF=BASE16
and the 1st profile is drives and motion (402d = 192h).
DESC=Generic error:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Cleared:1=Set
DESC=Current error:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Cleared:1=Set
OBJECT=ERROR_REGISTER
Device error register. Gives details of the state of generic faults such as temperature, current, DESC=Voltage error:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Cleared:1=Set
SECTION=Emergency
1001h 0 1 RO N/A Error register Unsigned8 0 FFh No voltage, etc. Transmitted with the EMCY telegram. No 0 DESC=Temperature error:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Cleared:1=Set
NUMBER_FORMAT=BASE16
Note reserved bit deliberately excluded from bitsplitting to simplify user interface DESC=Comms error:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Cleared:1=Set
CATEGORY=MONITORING
DESC=Device Profile error:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Cleared:1=Set
DESC=Manf specific error:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Cleared:1=Set
OBJECT=HYSTER_STANDARD_ERROR
Stores Hyster Yale fault codes in their standard error format (fault code & occurance count). Stored
---- ---- ---- ---- Hyster Yale Fault Array N/A N/A ---- ---- ---- SECTION=HysterFault
as a FIFO with the most recent fault first in the list followed by gradually older faults.
CATEGORY=LOGGING
0 1 RW N/A Number of faults stored Unsigned8 0 FFh 0 No 0
1 1 RO N/A Standard Error Field 1 Unsigned32 0 FFFFFFFFh 0 No 0
1003h
OBJECT=COBID_SYNC
SECTION=SYNCCOB
EEPROM=comm.sync_id
1005h 0 1 RW 4 Synchronization (SYNC) message COB-ID Unsigned32 0 5FFFFFFFh 40000080h COB-ID and configuration of SYNC message. No 0
WRITE_IN_PREOPERATIONAL_ONLY=TRUE
CATEGORY=CONFIGURATION
OBJECT=COMM_CYCLE_PERIOD
SECTION=SYNCCOB
1006h 0 1 RW 4 0.001 ms Interval between SYNC messages (Communication cycle period) Unsigned32 00002711h 01F3FC18h 100000 Interval between SYNC messages in µs. No 0
EEPROM=comm.cycle_period
OBJECT=SYNC_WINDOW_LEN
Length of the time window for synchronous PDOs in µs. This is the maximum time to transmit SECTION=SYNCCOB
1007h 0 1 RW 4 us Synchronous (SYNC) window length Unsigned32 0 FFFFFFFFh 0 No 0
synchronous PDOs after receiving SYNC message. EEPROM=comm.sync_win
OBJECT=MANU_DEVICE_NAME
1008h 0 1 Const N/A Product name Visible String N/A N/A No Device name as a string. E.g.. Shiroko AC Controller. Device name will be stored in ROM. No 0 SECTION=Identity
CATEGORY=MONITORING
OBJECT=MANU_HW_VERSION
1009h 0 1 Const N/A Hardware version Visible String N/A N/A No Hardware version as a string. No 0 SECTION=Identity
CATEGORY=MONITORING
OBJECT=MANU_SW_VERSION
100Ah 0 1 Const N/A Software version Visible String N/A N/A No Software version as a string. Version string will be stored in ROM. No 0 SECTION=Identity
CATEGORY=MONITORING
OBJECT=GUARD_TIME
Used for Life Guarding Protocol. Time is in ms. Refer to Node Guarding Protocol (section 9.2.6.2.2 SECTION=Guarding
100Ch 0 1 RW 4 ms Guard time Unsigned16 0 7FFFh 0 No 0
in DS301). The default for the system is to use Heartbeats. EEPROM=comm.guard_time
OBJECT=LIFE_TIME_FACTOR
Multiplied with the Guard Time to give the Life Time. Refer to Node Guarding Protocol (section SECTION=Guarding
100Dh 0 1 RW 4 Life time factor Unsigned8 0 FFh 0 No 0
9.2.6.2.2 in DS301). EEPROM=comm.life_time
OBJECT=STORE
---- ---- ---- ---- Store command Array N/A N/A ---- This object must be written to store objects to non-volatile memory. ---- ---- SECTION=CANOpenStore
CATEGORY=MONITORING
0 1 RO N/A Number of entries Unsigned8 0 FFh 1 No 0
1010h
Write 65766173h to this object to save to EEPROM. The number represents "save" (i.e. 'e' = 65h; 'v'
NUMBER_FORMAT=2:0x0=Cancel:0x65766173=Save to
1 1 RW 4 Save all parameters Unsigned32 65766173h 65766173h No = 76h; 'a' = 61h; 's' = 73h). Reading this object will return 1 meaning values in the Object Dictionary No 1h
EEPROM
are only saved on command.
COMMS_TIMEOUT=10000
OBJECT=RESTORE
This object must be written to store objects in the range 1200h to 1FFFh to non-volatile memory. All
---- ---- ---- ---- Restore command Array N/A N/A ---- ---- ---- SECTION=CANOpenStore
other objects are stored autonomously.
CATEGORY=MONITORING
1011h
Write 64616F6Ch to this object to load from EEPROM. The number represents "load" (i.e. 'd' = 64h;
NUMBER_FORMAT=2:0x0=Cancel:0x64616F6C=Load from
1 1 RW 4 Load all parameters Unsigned32 64616F6Ch 64616F6Ch No 'a' = 61h; 'o' = 6Fh; 'l' = 6Ch). Reading this object will return 1 meaning values in the Object No 1h
EEPROM
Dictionary are restored.
COMMS_TIMEOUT=10000
OBJECT=COBID_EMCY
SECTION=Emergency
EEPROM=comm.emergency_id
1014h 0 1 RW 4 Emergency (EMCY) telegram COB-ID Unsigned32 0 1FFFFFFFh 0 COB-ID of EMCY object. If zero COB-ID will equal 80h + Node ID No 0
OBJECT=EMCY_INHIBIT_TIME
SECTION=Emergency
1015h 0 1 RW 4 0.1 ms EMCY Inhibit Time Unsigned16 0 FFFFh 0 Inhibit time for EMCY objects in 0.1ms / bit resolution. No 0
EEPROM=comm.inhibit_time
Defines the expected heartbeat cycle time for each node. Must be higher than the corresponding
producer heartbeat time. If the heartbeat time for a node is set to 0, then that node defaults to the OBJECT=CONSUMER_HBEAT_TIME
---- ---- ---- ---- Consumer heartbeat time Array N/A N/A ---- Node Guarding protocol. ---- ---- SECTION=Heartbeat
Format: 00NN TTTT h, where NN is the node ID and TTTT is the heartbeat time in 1ms/bit CATEGORY=CONFIGURATION
resolution. 75ms (4Bh) is the default time.

EEPROM=comm.con_heartbeat_0 DESC=1st node- Heartbeat time:HEX_MASK=FFFF:MIN=0:MAX=0xFFFF:NF=BASE10:UNITS=ms
1 1 RW 4 Consumer heartbeat time for 1st node Unsigned32 0 FFFFFFFFh 0 No 0
NUMBER_FORMAT=BASE16 DESC=1st node- Node ID:HEX_MASK=FF0000:MIN=0:MAX=127:NF=BASE10:
EEPROM=comm.con_heartbeat_1 DESC=2nd node- Heartbeat time:HEX_MASK=FFFF:MIN=0:MAX=0xFFFF:NF=BASE10:UNITS=ms
2 1 RW 4 Consumer heartbeat time for 2nd node Unsigned32 0 FFFFFFFFh 0 No 0
NUMBER_FORMAT=BASE16 DESC=2nd node- Node ID:HEX_MASK=FF0000:MIN=0:MAX=127:NF=BASE10
1016h
EEPROM=comm.con_heartbeat_2 DESC=3rd node- Heartbeat time:HEX_MASK=FFFF:MIN=0:MAX=0xFFFF:NF=BASE10:UNITS=ms
3 1 RW 4 Consumer heartbeat time for 3rd node Unsigned32 0 FFFFFFFFh 0 No 0
NUMBER_FORMAT=BASE16 DESC=3rd node- Node ID:HEX_MASK=FF0000:MIN=0:MAX=127:NF=BASE10
EEPROM=comm.con_heartbeat_3 DESC=4th node- Heartbeat time:HEX_MASK=FFFF:MIN=0:MAX=0xFFFF:NF=BASE10:UNITS=ms
4 1 RW 4 Consumer heartbeat time for 4th node Unsigned32 0 FFFFFFFFh 0 No 0
NUMBER_FORMAT=BASE16 DESC=4th node- Node ID:HEX_MASK=FF0000:MIN=0:MAX=127:NF=BASE10
OBJECT=PRODUCER_HBEAT_TIME
SECTION=Heartbeat
1017h 0 1 RW 4 ms Producer heartbeat time Unsigned16 0 7FFFh 500 Producer heartbeat time in ms. Default 50ms. No 0
EEPROM=comm.heartbeat_reload
OBJECT=IDENTITY
General device information. Note that LSS requires every sub-index be given a value, and that,
---- ---- ---- ---- Identity object Record N/A N/A ---- ---- ---- SECTION=Identity
when all four sub-indices are appended to give the LSS address, they generate a unique identifier.
CATEGORY=MONITORING
1 1 Const N/A Vendor ID Unsigned32 0 FFFFFFFFh 0000001Eh Sevcon's CiA CAN assigned vendor ID. No 0 NUMBER_FORMAT=BASE16
32-bit unsigned integer which can be used to identify the product.
2 1 RO N/A Product code Unsigned32 0 FFFFFFFFh 0101503ch Format: RRvv VVAAh, where RR is the product range (eg 1 = Shiroko), vv is the variant (e.g. 1 = No 0 NUMBER_FORMAT=BASE16
AC), VV is the voltage (eg 30h = 48V) and AA is the current (eg 46h = 700A).
1018h
Contains a CANopen revision number indicating the version of object dictionary for a given
3 1 Const N/A CANopen (Object Dictionary) revision Unsigned32 0 FFFFFFFFh 00010001h application build. In the format RRRRVVVV where RRRR is the build version i.e. 0007 and VVVV No 0 NUMBER_FORMAT=BASE16
indicates the version of the object dictionary for that build
32 bit unsigned integer containing the product serial number. Currently, Sevcon serial numbers have
the format YYYYMMNNNN, where YYYY is the year, MM is the month and NNNN is a unique
4 1 RO N/A Serial number Unsigned32 0 FFFFFFFFh No integer. A 32 bit number can go up to 4292967296, which allows our preferred serial number format No 0 NUMBER_FORMAT=BASE16
to fit.
Serial number will be stored in EEPROM.
OBJECT=SDO_PARAMETER
---- ---- ---- ---- Server SDO 1 (Default) parameters Record N/A N/A ---- ---- ---- SECTION=ClientServerSDOs
1200h
$NODEID+
1 1 RO N/A COB-ID Client->Server (rx) Unsigned32 0 9FFFFFFFh No 0 NUMBER_FORMAT=BASE16
0x600
$NODEID+
2 1 RO N/A COB-ID Server->Client (tx) Unsigned32 0 9FFFFFFFh No 0 NUMBER_FORMAT=BASE16
0x580
---- ---- ---- ---- Server SDO 2 parameters Record N/A N/A ---- ---- ---- SECTION=ClientServerSDOs
1201h
EEPROM=sdo_pdo.ssdo_1.tx_sdo_id
1 1 RW 4 COB-ID Client->Server (rx) Unsigned32 0 9FFFFFFFh 0 No 0
NUMBER_FORMAT=BASE16 [8]
EEPROM=sdo_pdo.ssdo_1.rx_sdo_id
2 1 RW 4 COB-ID Server->Client (tx) Unsigned32 0 9FFFFFFFh 0 No 0
1202h
1203h
---- ---- ---- ---- Client SDO 1 parameters Record N/A N/A ---- Required by Masters only.. ---- ---- SECTION=ClientServerSDOs
1280h EEPROM=sdo_pdo.csdo_0.tx_sdo_id
1 1 RW 4 COB-ID Client->Server (tx) Unsigned32 0 9FFFFFFFh 0 No 0
EEPROM=sdo_pdo.csdo_0.rx_sdo_id
2 1 RW 4 COB-ID Server->Client (rx) Unsigned32 0 9FFFFFFFh 0 No 0
3 1 RW 4 SDO server Node ID Unsigned8 1 7Fh 1 No 0 EEPROM=sdo_pdo.csdo_0.node_id
Sevcon
1282h
CANopen Master Object Dictionary More this way
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
OBJECT=PDO_COMMUNICATION
---- ---- ---- ---- Receive PDO communication parameters 1 Record N/A N/A ---- Communication setup for RPDO 1 ---- ---- SECTION=RECEIVEPDO1
1400h 0 1 RO N/A Largest sub-index supported Unsigned8 0 FFh 2 No 0
EEPROM=sdo_pdo.rpdo_comm_0.cob_id
1 1 RW 4 COB-ID used by PDO Unsigned32 00000001h 9FFFFFFFh 80000182h No 0
2 1 RW 4 Transmission type Unsigned8 0 FFh 255 No 0 EEPROM=sdo_pdo.rpdo_comm_0.trans_type
OBJECT=RPDO_MAPPING
---- ---- ---- ---- Receive PDO mapping parameters 1 Record N/A N/A ---- Mapping setup for RPDO 1 ---- ---- SECTION=RECEIVEPDO1
0 1 RW 4 Number of mapped objects Unsigned8 0 FFh 3 Maximum of 8 mappings allowed. No 0 EEPROM=sdo_pdo.rpdo_map_0.num_objects
EEPROM=sdo_pdo.rpdo_map_0.object[0]
1 1 RW 4 Map 1 Unsigned32 0 FFFFFFFFh 20210210h No 0
1600h
4 1 RW 4 Map 4 Unsigned32 0 FFFFFFFFh 6C110410h No 0
OBJECT=RPDO_MAPPING
1601h
OBJECT=RPDO_MAPPING
1602h
OBJECT=RPDO_MAPPING
1603h
OBJECT=RPDO_MAPPING
1604h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
1604h
OBJECT=RPDO_MAPPING
1605h
OBJECT=RPDO_MAPPING
1606h
OBJECT=RPDO_MAPPING
1607h
OBJECT=RPDO_MAPPING
1608h
---- ---- ---- ---- Transmit PDO communication parameters 1 Record N/A N/A ---- Communication setup for TPDO 1 ---- ---- SECTION=TRANSMITPDO1
0 1 RO N/A Largest sub-index supported Unsigned8 0 FFh 5 No 0
EEPROM=sdo_pdo.tpdo_comm_0.cob_id
1800h 1 1 RW 4 COB-ID used by PDO Unsigned32 00000001h 9FFFFFFFh 80000202h No 0
2 1 RW 4 Transmission type Unsigned8 0 FFh 1 No 0 EEPROM=sdo_pdo.tpdo_comm_0.trans_type
3 1 RW 4 0.1 ms Inhibit time Unsigned16 0 7FFFh 0 No 0 EEPROM=sdo_pdo.tpdo_comm_0.inhibit_time
5 1 RW 4 ms Event timer Unsigned16 0 7FFFh 0 No 0 EEPROM=sdo_pdo.tpdo_comm_0.w_event_timer_reload
2 1 RW 4 Transmission type Unsigned8 0 FFh FFh No 0 EEPROM=sdo_pdo.tpdo_comm_1.trans_type
OBJECT=TPDO_MAPPING
---- ---- ---- ---- Transmit PDO mapping parameters 1 Record N/A N/A ---- Mapping setup for TPDO 1 ---- ---- SECTION=TRANSMITPDO1
0 1 RW 4 Number of mapped objects Unsigned8 0 FFh 3 Maximum of 8 mappings allowed. No 0 EEPROM=sdo_pdo.tpdo_map_0.num_objects
1A00h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
EEPROM=sdo_pdo.tpdo_map_0.object[0]
1A00h
OBJECT=TPDO_MAPPING
1A01h
OBJECT=TPDO_MAPPING
1A02h
OBJECT=TPDO_MAPPING
1A03h
OBJECT=TPDO_MAPPING
1A04h
OBJECT=TPDO_MAPPING
1A05h
OBJECT=TPDO_MAPPING
1A06h
OBJECT=TPDO_MAPPING
1A07h
OBJECT=TPDO_MAPPING
1A08h
OBJECT=MOTOR_STATE
---- ---- ---- ---- Motor State Record N/A N/A ---- State information about the motor and controller ---- ---- SECTION=TractionStatus
CATEGORY=MONITORING
0 1 RO N/A Number of mapped objects Unsigned8 0 FFh 5 No 0
2010h 1 1 RO N/A 1 RPM Motor Speed Integer16 0 FFFFh No Yes 0
2 1 RO N/A 1 'C Motor Temp Integer16 0 FFFFh No Yes 0
3 1 RO N/A 0.01 V Batt Volts Unsigned16 0 FFFFh No Yes 0
4 1 RO N/A 1 'C Heatsink Temp Integer16 0 FFFFh No Yes 0
5 1 RO N/A 1 A RMS current Integer16 0 FFFFh No Yes 0
OBJECT=CONTROLER_STATE
---- ---- ---- ---- Controler State Record N/A N/A ---- Controller status information ---- ---- SECTION=TractionStatus
CATEGORY=MONITORING
2011h 1 1 RO N/A StatusWord Unsigned16 0 FFFFh No Yes 0
2 1 RO N/A 1 'C Heatsink Temp Integer16 0 FFFFh No Yes 0
3 1 RO N/A 1 s Key time Unsigned32 0 FFFFFFFFh No Yes 0
4 1 RO N/A 1 s Pulsing Time Unsigned32 0 FFFFFFFFh No Yes 0
6 1 RO N/A 1 A Battery current Integer16 0 FFFFh No Yes 0
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
OBJECT=CONTROLER_STATE
---- ---- ---- ---- Controler Input Record N/A N/A ---- Controller input ---- ---- SECTION=Control
2012h 1 1 RW 1 StatusWord Unsigned16 0 FFFFh 0 Yes 0
2 1 RW 1 1 RPM Acceeration Rate Unsigned8 0 FFh 10 Yes 0
3 1 RW 1 1 RPM Deceleration Rate Unsigned8 0 FFh 10 Yes 0
4 1 RW 1 1 RPM Target Speed Integer16 0 FFFFh 0 Yes 0
5 1 RW 1 0.001 s Rate Time Base Unsigned8 0 FFh 10 time base for rate increase. Must be a multiple of 10 and none 0. Yes 0
OBJECT=MOTORING_POWER_LIMIT_MAP
The power map relates torque (Nm) to speed (RPM). Changes to this object only take affect when
---- ---- ---- ---- Motor power limit map Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
the commit index is written to in 0x2015
EEPROM=motor_0.power_map[0].y
1 1 RW 4 0.0625 Nm Pt 1 Max Torque Unsigned16 0 FFFFh 0 Max Torque in 12.4 Nm. No 0
SOFT_HIGH=65535
2 1 RW 4 0.0625 Nm Pt 2 Max Torque Unsigned16 0 FFFFh 0 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
2014h EEPROM=motor_0.power_map[5].y
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
9 1 RW 4 RPM Pt 1 Speed Unsigned16 0 FFFFh 0 Speed in 16.0 RPM No 0 EEPROM=motor_0.power_map[0].x
10 1 RW 4 RPM Pt 2 Speed Unsigned16 0 FFFFh 0 No 0 EEPROM=motor_0.power_map[1].x
13 1 RW RPM Pt 5 Speed Unsigned16 0 FFFFh 0 No 0 EEPROM=motor_0.power_map[4].x
OBJECT=MOTOR_CHARACTERISTICS
---- ---- ---- ---- Motor Characterisation Record N/A N/A ---- ---- ---- SECTION=Configuration
2015h 0 1 RO N/A Number of entries Unsigned8 0 FFh 32 No 0
31 1 RO N/A Checksum Unsigned32 0 FFFFFFFFh No Checksum of motor table in 0x2014 No 0
32 1 WO N/A Commit Visible String 0 N/A No write a "EVAS" to commit the motor table in 0x2014 No 0
OBJECT=TRUCK_TIME
---- ---- ---- ---- Truck Time Record N/A N/A ---- ---- ---- SECTION=Status
CATEGORY=LOGGING
201Fh
1 1 RW N/A 0.0078125 hour Truck Hour Meter Unsigned32 0 FFFFFFFFh No No 0
2 1 RW N/A 1 s System Time Unsigned32 0 FFFFFFFFh No Time from a base of 12:00AM January 1st 2000 (J2000) No 0
OBJECT=MOTOR_DRIVE
SECTION=TractionStatus
---- ---- ---- ---- Motor drive left information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING
2020h 1 1 RO N/A controlword - left motor Unsigned16 0 FFFFh No Controls the drive state and operational mode of the left motor drive. Yes 0 NUMBER_FORMAT=BASE16
2 1 RWW N/A statusword - left motor Unsigned16 0 FFFFh No Indicates the current state of the left drive. [14] Yes 1h NUMBER_FORMAT=BASE16
3 1 RO N/A RPM Target velocity - left motor Integer32 -2147483648 2147483647 No In RPM. Yes 0
4 1 RWW N/A RPM Velocity actual value - left motor Integer32 -2147483648 2147483647 No In RPM. Yes 1h
5 1 RO N/A 0.001 Max torque - left motor Integer16 -32768 32767 No In 1/1000ths of motor rated torque (2916h,1). Yes 0
6 1 RWW N/A 0.001 Actual torque - left motor Integer16 -32768 32767 No In 1/1000ths of motor rated torque (2916h,1). Yes 1h
OBJECT=MOTOR_DRIVE
---- ---- ---- ---- Motor drive left information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=MOTOR_DRIVE
---- ---- ---- ---- Motor drive right information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING
2021h 1 1 RO N/A controlword - right motor Unsigned16 0 FFFFh No Controls the drive state and operational mode of the right motor drive. Yes 0 NUMBER_FORMAT=BASE16
2 1 RWW N/A statusword - right motor Unsigned16 0 FFFFh No Indicates the current state of the right drive. [16] Yes 1h NUMBER_FORMAT=BASE16
3 1 RO N/A RPM Target velocity - right motor Integer32 -2147483648 2147483647 No In RPM. Yes 0
4 1 RWW N/A RPM Velocity actual value - right motor Integer32 -2147483648 2147483647 No In RPM. Yes 1h
5 1 RO N/A 0.001 Max torque - right motor Integer16 -32768 32767 No In 1/1000ths of traction motor rated torque (2916h,1). Yes 0
6 1 RWW N/A 0.001 Actual torque - right motor Integer16 -32768 32767 No In 1/1000ths of traction motor rated torque (2916h,1). Yes 1h
OBJECT=MOTOR_DRIVE
---- ---- ---- ---- Motor drive right information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=MOTOR_DRIVE
---- ---- ---- ---- Motor drive left torque slave information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=MOTOR_DRIVE
---- ---- ---- ---- Motor drive left torque slave information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=MOTOR_DRIVE
---- ---- ---- ---- Motor drive right torque slave information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=MOTOR_DRIVE
---- ---- ---- ---- Motor drive right torque slave information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=MOTOR_DRIVE
SECTION=PumpStatus
---- ---- ---- ---- Motor drive pump information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING
2040h 1 1 RO N/A controlword - pump motor Unsigned16 0 FFFFh No Controls the drive state and operational mode of the pump motor drive. Yes 0 NUMBER_FORMAT=BASE16
2 1 RWW N/A statusword - pump motor Unsigned16 0 FFFFh No Indicates the current state of the pump drive. [22] Yes 1h NUMBER_FORMAT=BASE16
3 1 RO N/A RPM Target velocity - pump motor Integer32 -2147483648 2147483647 No In RPM. Yes 0
4 1 RWW N/A RPM Velocity actual value - pump motor Integer32 -2147483648 2147483647 No In RPM. Yes 1h
5 1 RO N/A 0.001 Max torque - pump motor Integer16 -32768 32767 No In 1/1000ths of pump motor rated torque (2A01h,1). Yes 0
6 1 RWW N/A 0.001 Actual torque - pump motor Integer16 -32768 32767 No In 1/1000ths of pump motor rated torque (2A01h,1). Yes 1h
OBJECT=MOTOR_DRIVE
SECTION=PumpStatus
---- ---- ---- ---- Motor drive pump information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING
2040h 1 2 RO N/A controlword - pump motor Unsigned16 0 FFFFh No Controls the drive state and operational mode of the pump motor drive. Yes 0 NUMBER_FORMAT=BASE16
2 2 RWW N/A statusword - pump motor Unsigned16 0 FFFFh No Indicates the current state of the pump drive. [23] Yes 1h NUMBER_FORMAT=BASE16
3 2 RO N/A RPM Target velocity - pump motor Integer16 -32768 32767 No In RPM. Yes 0
4 2 RWW N/A RPM Velocity actual value - pump motor Integer16 -32768 32767 No In RPM. Yes 1h
5 2 RO N/A 0.001 Max torque - pump motor Integer16 -32768 32767 No In 1/1000ths of pump motor rated torque (2A01h,1). Yes 0
6 2 RWW N/A 0.001 Actual torque - pump motor Integer16 -32768 32767 No In 1/1000ths of pump motor rated torque (2A01h,1). Yes 1h
OBJECT=MOTOR_DRIVE
SECTION=PSteerStatus
---- ---- ---- ---- Motor drive power steer information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING
2060h 1 1 RO N/A controlword - power steer motor Unsigned16 0 FFFFh No Controls the drive state and operational mode of the power steer motor drive. Yes 0 NUMBER_FORMAT=BASE16
2 1 RWW N/A statusword - power steer motor Unsigned16 0 FFFFh No Indicates the current state of the power steer drive. [24] Yes 1h NUMBER_FORMAT=BASE16
3 1 RO N/A RPM Target velocity - power steer motor Integer32 -2147483648 2147483647 No In RPM. Yes 0
4 1 RWW N/A RPM Velocity actual value - power steer motor Integer32 -2147483648 2147483647 No In RPM. Yes 1h
5 1 RO N/A 0.001 Max torque - power steer motor Integer16 -32768 32767 No In 1/1000ths of power steer motor rated torque (2B01h,1). Yes 0
6 1 RWW N/A 0.001 Actual torque - power steer motor Integer16 -32768 32767 No In 1/1000ths of power steer motor rated torque (2B01h,1). Yes 1h
OBJECT=MOTOR_DRIVE
SECTION=PSteerStatus
---- ---- ---- ---- Motor drive power steer information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING
2060h 1 2 RO N/A controlword - power steer motor Unsigned16 0 FFFFh No Controls the drive state and operational mode of the power steer motor drive. Yes 0 NUMBER_FORMAT=BASE16
2 2 RWW N/A statusword - power steer motor Unsigned16 0 FFFFh No Indicates the current state of the power steer drive. [25] Yes 1h NUMBER_FORMAT=BASE16
3 2 RO N/A RPM Target velocity - power steer motor Integer16 -32768 32767 No In RPM. Yes 0
4 2 RWW N/A RPM Velocity actual value - power steer motor Integer16 -32768 32767 No In RPM. Yes 1h
5 2 RO N/A 0.001 Max torque - power steer motor Integer16 -32768 32767 No In 1/1000ths of power steer motor rated torque (2B01h,1). Yes 0
6 2 RWW N/A 0.001 Actual torque - power steer motor Integer16 -32768 32767 No In 1/1000ths of power steer motor rated torque (2B01h,1). Yes 1h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
OBJECT=DIGITAL_SIGNAL_IN
SECTION=VehicleDI
2100h 0 1 RWW N/A Key switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=VehicleDI
2101h 0 1 RWW N/A Horn switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2120h 0 1 RWW N/A Drive enable switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2121h 0 1 RWW N/A Forward Switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2122h 0 1 RWW N/A Reverse Switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2123h 0 1 RWW N/A FS1 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2124h 0 1 RWW N/A Seat switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2125h 0 1 RWW N/A Handbrake switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2126h 0 1 RWW N/A Driveability Select 1 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2129h 0 1 RWW N/A Inch forward switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
212Ah 0 1 RWW N/A Inch reverse switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
212Bh 0 1 RWW N/A Inner left steer switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
212Ch 0 1 RWW N/A Outer left steer switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
212Dh 0 1 RWW N/A Inner right steer switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
212Eh 0 1 RWW N/A Outer right steer switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
212Fh 0 1 RWW N/A High speed switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2130h 0 1 RWW N/A Footbrake switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2131h 0 1 RWW N/A Regen Charging Enable Switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2132h 0 1 RWW N/A Overload switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2133h 0 1 RWW N/A Operational alarm trigger switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2134h 0 1 RWW N/A Tilt Switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2135h 0 1 RWW N/A Platform Up Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2136h 0 1 RWW N/A Traction Mode Select Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2137h 0 1 RWW N/A Traction Inhibit Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2138h 0 1 RWW N/A Pothole Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2139h 0 1 RWW N/A Belly Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
213Ah 0 1 RWW N/A Deadman switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=BeltDI
213Bh 0 1 RWW N/A Belt forward switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=BeltDI
213Ch 0 1 RWW N/A Belt reverse switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=BeltDI
213Dh 0 1 RWW N/A Belt STOP switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
213Eh 0 1 RWW N/A Disable START switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
213Fh 0 1 RWW N/A Shock Switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpDI
2140h 0 1 RWW N/A Pump 1 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpDI
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpDI
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpDI
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpDI
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpDI
MASTER=TRUE
CATEGORY=MONITORING
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
SECTION=PumpDI
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpDI
2150h 0 1 RWW N/A Pump Inhibit switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpDI
2152h 0 1 RWW N/A Pump Driveability 1 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpDI
2153h 0 1 RWW N/A Pump Driveability 2 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpDI
2154h 0 1 RWW N/A Pump Mode Select switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PSteerDI
2160h 0 1 RWW N/A Power steer trigger switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2161h 0 1 RWW N/A In Position switch [26] Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2162h 0 1 RWW N/A Diagnostic switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2163h 0 1 RWW N/A Pump Start/Stop switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2164h 0 1 RWW N/A Park Brake Set/Release switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2165h 0 1 RWW N/A Park Brake Pressure Switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2166h 0 1 RWW N/A Stop all PWM switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:1=Inactive:0=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2167h 0 1 RWW N/A Traction Assist switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2168h 0 1 RWW N/A Oil Level Low switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2169h 0 1 RWW N/A Tow Mode switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2169h 0 2 RWW N/A Battery voltage select switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
216Ah 0 1 RWW N/A Payload Speed limit switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
216Bh 0 1 RWW N/A Pump Cutback Pressure switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
216Ch 0 1 RWW N/A Counter switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
216Dh 0 1 RWW N/A Gear Config 1 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
216Eh 0 1 RWW N/A Gear Config 2 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
216Fh 0 1 RWW N/A Gear Config 3 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2170h 0 1 RWW N/A Gear Config 4 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2171h 0 1 RWW N/A Gear Config 5 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2172h 0 1 RWW N/A Tire Config 1 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2176h 0 1 RWW N/A Vehicle Type 1 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2177h 0 1 RWW N/A Vehicle Type 2 switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2178h 0 1 RWW N/A Traction Motor Configuration Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2179h 0 1 RWW N/A Hydraulic Filter switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
217Ah 0 1 RWW N/A CB Monitor Switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
217Bh 0 1 RWW N/A Traction Motor HP Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
217Ch 0 1 RWW N/A Hard Wired Stop Input Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:1=Inactive:0=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
217Dh 0 1 RWW N/A Trip Distance Reset Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:1=Inactive:0=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
217Eh 0 1 RWW N/A Footbrake switch 2 Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
217Fh 0 1 RWW N/A Slave Left Motor Invert Switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
SECTION=TractionDI
2180h 0 1 RWW N/A Drive assisted steering enable Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2181h 0 1 RWW N/A Drive assisted steering push Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2182h 0 1 RWW N/A Drive assisted steering pull Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2183h 0 1 RWW N/A Battery Electrolyte Level sensor Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2184h 0 1 RWW N/A Charger Interlock Switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionDI
2185h 0 1 RWW N/A Heater Switch Boolean 0 1 No Yes 1h NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=ANALOGUE_SIGNAL_IN
SECTION=TractionAI
2220h 0 1 RWW N/A 0.00390625 V Throttle Input Voltage Integer16 -32768 32767 No Yes 1h
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAI
2221h 0 1 RWW N/A 0.00390625 V Footbrake Pot Input Voltage Integer16 -32768 32767 No Yes 1h
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAI
2222h 0 1 RWW N/A 0.00390625 V Economy Input Voltage Integer16 -32768 32767 No Yes 1h
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAI
2223h 0 1 RWW N/A 0.00390625 V Steer Pot Input Voltage Integer16 -32768 32767 No Yes 1h
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAI
2224h 0 1 RWW N/A 0.00390625 V Throttle 2 Input Voltage Integer16 -32768 32767 No Yes 1h
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAI
2240h 0 1 RWW N/A 0.00390625 V Pump Throttle 1 Input Voltage Integer16 -32768 32767 No Yes 1h
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAI
2241h 0 1 RWW N/A 0.00390625 V Pump Throttle 2 Input Voltage Integer16 -32768 32767 No Yes 1h
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=DIGITAL_SIGNAL_OUT
SECTION=TractionDO
2320h 0 1 RO N/A Traction Drive Hour-meter output Boolean 0 1 No Yes 0 NUMBER_FORMAT=2:0=Inactive:1=Active
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=ANALOGUE_SIGNAL_OUT
SECTION=VehicleAO
2400h 0 1 RO N/A Line contactor Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=VehicleAO
2401h 0 1 RO N/A External LED Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=VehicleAO
2402h 0 1 RO N/A Alarm buzzer Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=VehicleAO
2403h 0 1 RO N/A Horn Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=VehicleAO
2404h 0 1 RO N/A Brake Lights Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=VehicleAO
2405h 0 1 RO N/A Service Due Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=VehicleAO
2406h 0 1 RO N/A System Cooling Fan Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=VehicleAO
2407h 0 1 RO N/A Secondary Line Contactor Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=VehicleAO
2408h 0 1 RO N/A Thermal Cutback Indication Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2420h 0 1 RO N/A Electro-mechanical brake Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2421h 0 1 RO N/A Traction Motor Cooling Fan Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2422h 0 1 RO N/A Motor Isolation Contactor Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2423h 0 1 RO N/A High / Low Speed Indication Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2424h 0 1 RO N/A UVR Coil Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2425h 0 1 RO N/A Electro-mechanical Park brake Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2426h 0 1 RO N/A Service Brake Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2427h 0 1 RO N/A External Precharge Circuit Control Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2428h 0 1 RO N/A Gear Select Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpAO
2440h 0 1 RO N/A Pump contactor Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2441h 0 1 RO N/A Pump Monitor Output Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2442h 0 1 RO N/A Precharge complete, CB closed indication Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpAO
2443h 0 1 RO N/A Pump Tilt Out Solenoid Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpAO
2444h 0 1 RO N/A Pump Tilt In Solenoid Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpAO
2445h 0 1 RO N/A Pump Lift Up Solenoid Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpAO
2446h 0 1 RO N/A Pump Lift Down Solenoid Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpAO
2447h 0 1 RO N/A Pump Lock Solenoid Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PSteerAO
2460h 0 1 RO N/A Power steer contactor Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
SECTION=VehicleAO
2470h 0 1 RO N/A Heater contactor Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=VehicleAO
2471h 0 1 RO N/A AC contactor Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=BeltAO
2480h 0 1 RO N/A Belt Electro-mechanical brake Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
SECTION=BeltAO
24A0h 0 1 RO N/A Belt ChangeOver-Contactor Integer16 0 32767 No Yes 0 NUMBER_FORMAT=BASE16
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=ANALOGUE_SIGNAL_VALUE
SECTION=TractionAO
2620h 0 1 RO N/A 0.00003051850948 Throttle Value Integer16 -32768 32767 No Yes 0
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2620h 0 2 RO N/A 0.0009765625 Throttle Value Integer16 -32768 32767 No Yes 0
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2621h 0 1 RO N/A 0.00003051850948 Footbrake Value Integer16 -32768 32767 No Yes 0
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2622h 0 1 RO N/A 0.00003051850948 Economy Value Integer16 -32768 32767 No Yes 0
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2623h 0 1 RO N/A 0.00003051850948 Steer Angle Integer16 -32768 32767 No Yes 0
MASTER=TRUE
CATEGORY=MONITORING
As 2923h but in 0.01 degree's/bit. Can also be overwritten to provide external twin motor steering SECTION=TractionValue
2624h 0 1 RWW N/A 0.01 Degrees Steer Angle (in degrees) Integer16 -9000 9000 No Yes 0
control. MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionValue
2625h 0 1 RWW N/A 0.01 Degrees Analogue tilt switch ( in degrees) Integer16 -32768 32767 No slope angle from analogue tilt switch ( already converted into degrees) Yes 0
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2626h 0 1 RO N/A 0.00003051850948 Secondary Throttle Value Integer16 -32768 32767 No Yes 0
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2626h 0 2 RO N/A 0.0009765625 Secondary Throttle Value Integer16 -32768 32767 No Yes 0
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2627h 0 1 RO N/A 0.00003051850948 Final throttle value Integer16 -32768 32767 No Final throttle value sent to vehicle control algorithms after throttle and direction checks. Yes 0
MASTER=TRUE
CATEGORY=MONITORING
SECTION=TractionAO
2627h 0 2 RO N/A 0.0009765625 Final throttle value Integer16 -32768 32767 No Final throttle value sent to vehicle control algorithms after throttle and direction checks. Yes 0
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpAO
2640h 0 1 RO N/A 0.00003051850948 Pump Throttle 1 Value Integer16 -32768 32767 No Yes 0
MASTER=TRUE
CATEGORY=MONITORING
SECTION=PumpAO
2641h 0 1 RO N/A 0.00003051850948 Pump Throttle 2 Value Integer16 -32768 32767 No Yes 0
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=TRACTION_STATUS
---- ---- ---- ---- Traction Application Status Record N/A N/A ---- Contains various status information about the Traction Application. Mainly used for debug purposes. ---- ----
MASTER=TRUE
CATEGORY=MONITORING

NUMBER_FORMAT=4
1 1 RO N/A Line contactor control state Unsigned8 0 FFh No Note - this is what BattApp is asking the system to do, not a measure of what is actually happening. Yes 0
0=Open:1=Charging:2=Closing:3=Closed
NUMBER_FORMAT=3
2 1 RO N/A Precharge control state Unsigned8 0 FFh No Note - this is what BattApp is asking the system to do, not a measure of what is actually happening. Yes 0
0=None:1=Precharging:2=Discharging
OBJECT=TRACTION_STATUS
---- ---- ---- ---- Traction Application Status Record N/A N/A ---- Contains various status information about the Traction Application. Mainly used for debug purposes. ---- ----
MASTER=TRUE
CATEGORY=MONITORING
Indicates if a driveability profile is active or not. Each bit corresponds to one profile. I.e.:
DESC=Baseline:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Inactive:1=Active
Bit 0: Baseline (should always be 1)
DESC=Driveability Select 1:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Inactive:1=Active
Bit 1: Driveability Select 1.
1 1 RO N/A Driveability Profile Status Unsigned16 0 FFFFh No Bit 2: Driveability Select 2. Yes 0
DESC=Low Speed:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=On:1=Off
Bit 3: Low Speed
DESC=BDI:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=On:1=Off
Bit 4: BDI
DESC=Service:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=On:1=Off
Bit 5: Service
DESC=Baseline:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Inactive:1=Active
DESC=Low Speed:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=On:1=Off
1 2 RO N/A Driveability Profile Status Unsigned16 0 FFFFh No Bit 3: Low Speed Yes 0
DESC=BDI:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=On:1=Off
Bit 4: BDI
DESC=Service:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=On:1=Off
Bit 5: Service
2720h NUMBER_FORMAT=11
0=OFF:1=FOOTBRAKING:2=DRIVE
2 1 RO N/A Traction Drive State Unsigned8 0 FFh No State of main Traction Drive FSM Yes 0 3=STOP_AT_CD_RATE:4=CD_DECEL:5=CD_ACCEL
6=NTRL_BRK_OR_COAST:7=HILL_HOLD:8=IDLE
9=POWER_OFF:10=CONTROLLED_ROLL_OFF
NUMBER_FORMAT=7
0=NO_DIR_SEL_NO_LDD
3 1 RO N/A Drive / Direction Change State Unsigned8 0 FFh No State of Drive/Direction Change FSM Yes 0 1=FWD_SEL_LDD_FWD:2=NO_DIR_SEL_LDD_FWD
3=REV_SEL_LDD_FWD:4=FWD_SEL_LDD_REV
5=NO_DIR_SEL_LDD_REV:6=REV_SEL_LDD_REV
NUMBER_FORMAT=5
0=NO_FS1_NO_DIR:1=NO_FS1_DIR_ACTIVE
4 1 RO N/A SRO State Unsigned8 0 FFh No State of SRO FSM Yes 0
2=FS1_ACTIVE_NO_DIR
3=FS1_ACTIVE_DIR_ACTIVE:4=SRO_FAULT
NUMBER_FORMAT=5
0=SEAT_SWITCH_INACTIVE
5 1 RO N/A Operator Presence (Seat) State Unsigned8 0 FFh No State of Operator Presence (Seat switch) FSM Yes 0
1=SEAT_SWITCH_ACTIVE:2=IN_DRIVE
3=SEAT_INACTIVE_IN_DRIVE:4=SEAT_FAULT
7 1 RO N/A P-Start State (Bucyrus) Unsigned8 0 FFh No State of Bucyrus P-Start FSM Yes 0
8 1 RO N/A P-Start State (Bucyrus) Unsigned8 0 FFh No State of Bucyrus park brake FSM Yes 0
9 1 RO N/A Set Direction State (Bucyrus) Unsigned8 0 FFh No State of Bucyrus direction selection FSM Yes 0
10 1 RO N/A Actual Park Brake State (Bucyrus) Unsigned8 0 FFh No Feedback from Bucyrus park brake Yes 0
OBJECT=VEHICLE_SPEED
2721h 0 1 RO N/A 0.0625 kph Vehicle Speed Integer16 -32768 32767 0 Gives the scaled vehicle speed in the units defined by the vehicle gear ratio Yes 1h EEPROM=app_stat.speed_info.vehicle_speed
MASTER=TRUE
CATEGORY=MONITORING
2722h 0 1 RO N/A User speed 1 Integer16 -32768 32767 0 Gives the scaled vehicle speed in the units defined by the user gear ratio 1 0x2915 subs 4 & 5 Yes 1h EEPROM=app_stat.speed_info.user_speed
MASTER=TRUE
CATEGORY=MONITORING
2723h 0 1 RO N/A User speed 2 Integer16 -32768 32767 0 Gives the scaled vehicle speed in the units defined by the user gear ratio 2, 0x2915 subs 7 & 8 Yes 1h EEPROM=app_stat.speed_info.user_speed_2
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=SSS_STATUS
SECTION=SSS_Status
---- ---- ---- ---- SSS Module Debug Information Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=MONITORING

1 1 RO N/A Left motor ramped torque demand Integer16 -32768 32767 0 No 0
2 1 RO N/A Left motor rev torque limit Integer16 -32768 32767 0 No 0
3 1 RO N/A Left motor rev torque integral Integer32 -2147483648 2147483647 0 No 0
4 1 RO N/A Left motor fwd torque limit Integer16 -32768 32767 0 No 0
5 1 RO N/A Left motor fwd torque integral Integer32 -2147483648 2147483647 0 No 0
2728h 6 1 RO N/A Left motor ramped speed demand Integer16 -32768 32767 0 No 0
7 1 RO N/A Left motor speed control integral Integer32 -2147483648 2147483647 0 No 0
8 1 RO N/A 0.0625 kW Rear motor driveshaft power Unsigned16 0 65535 0 No 0
9 1 RO N/A Right motor ramped torque demand Integer16 -32768 32767 0 No 0
10 1 RO N/A Right motor rev torque limit Integer16 -32768 32767 0 No 0
11 1 RO N/A Right motor rev torque integral Integer32 -2147483648 2147483647 0 No 0
12 1 RO N/A Right motor fwd torque limit Integer16 -32768 32767 0 No 0
13 1 RO N/A Right motor fwd torque integral Integer32 -2147483648 2147483647 0 No 0
14 1 RO N/A Right motor ramped speed demand Integer16 -32768 32767 0 No 0
15 1 RO N/A Right motor speed control integral Integer32 -2147483648 2147483647 0 No 0
16 1 RO N/A 0.0625 kW Front motor driveshaft power Unsigned16 0 65535 0 No 0
OBJECT=VEHICLE_SPEED_LIMITS
Maximum allowable vehicle speeds. Allows runtime limiting of vehicle speed in addition to the SECTION=TractionStatus
---- ---- ---- ---- Vehicle Maximum Speeds Record N/A N/A ---- ---- ----
driveability profile maximum speeds MASTER=TRUE
CATEGORY=MONITORING
2730h
1 1 RWW N/A 0.01 % Forward speed limit Unsigned16 0 FFFFh No Yes 1h
2 1 RWW N/A 0.01 % Reverse speed limit Unsigned16 0 FFFFh No Yes 1h
OBJECT=PUMP_STATUS
SECTION=PUMPSTATUS
---- ---- ---- ---- Pump Application Status Record N/A N/A ---- Contains various status information about the Pump Application. Mainly used for debug purposes. ---- ----
MASTER=TRUE
CATEGORY=MONITORING
1 1 RO N/A Pump Drive State Unsigned8 0 FFh No State of main Pump Drive FSM Yes 0 0=OFF:1=NEUTRAL:2=PUMP_REQ_BUT_INHIBITED
3=PUMP_INHIBIT:4=PUMP:5=PUMP_DURING_INHIBIT
DESC=Baseline:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=On:1=Off
2 1 RO N/A Pump Driveability Profile Status Unsigned16 0 FFFFh No Yes 0 DESC=Driveability Select 1:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=On:1=Off
DESC=Driveability Select 2:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=On:1=Off
OBJECT=PSTEER_STATUS
Contains various status information about the Power Steer Application. Mainly used for debug SECTION=PSTEERSTATUS
---- ---- ---- ---- Power Steer Application Status Record N/A N/A ---- ---- ----
purposes. MASTER=TRUE
CATEGORY=MONITORING
2760h
NUMBER_FORMAT=4
1 1 RO N/A Power Steer Drive State Unsigned8 0 FFh No State of main Power Steer Drive FSM Yes 0 0=OFF:1=NEUTRAL
2=WAIT_FOR_TIMEOUT:3=POWER_STEER
OBJECT=HOURS_COUNTER_OFFSETS
SECTION=HoursCounters
---- ---- ---- ---- Vehicle hours Record N/A N/A ---- Vehicle hours counter offsets. ---- ----
MASTER=TRUE
2780h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
2780h 1 1 RW 2 Hours Key hours counter offset Unsigned16 0 FFFFh 0 No 1h EEPROM=vehicle.vehicle_hrs_offsets_0

2 1 RW 2 Hours Traction hours counter offset Unsigned16 0 FFFFh 0 No 1h EEPROM=vehicle.vehicle_hrs_offsets_1
3 1 RW 2 Hours Pump hours counter offset Unsigned16 0 FFFFh 0 No 1h EEPROM=vehicle.vehicle_hrs_offsets_2
4 1 RW 2 Hours Power steer hours counter offset Unsigned16 0 FFFFh 0 No 1h EEPROM=vehicle.vehicle_hrs_offsets_3
5 1 RW 2 Hours Work hours counter offset Unsigned16 0 FFFFh 0 No 1h EEPROM=vehicle.vehicle_hrs_offsets_4
6 1 RW 2 Hours Charging hours counter offset Unsigned16 0 FFFFh 0 No 1h EEPROM=vehicle.vehicle_hrs_offsets_4
OBJECT=HOURS_COUNTER
---- ---- ---- ---- Key Hours Counter Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=LOGGING
2781h
1 1 RW N/A Hours Hours Unsigned16 0 FFFFh No 1 hour / bit. Shows the hours in the EEPROM + the offset in 2780h. Yes 1h
2 1 RW N/A 0.25 Minutes Minutes / Seconds Unsigned8 0 EFh No 15 secs / bit Yes 1h
---- ---- ---- ---- Traction Hours Counter Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=LOGGING
2782h
---- ---- ---- ---- Pump Hours Counter Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=LOGGING
2783h
---- ---- ---- ---- Power Steer Hours Counter Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=LOGGING
2784h
---- ---- ---- ---- Work Hours Counter Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=LOGGING
2785h
---- ---- ---- ---- Charging Hours Counter Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=LOGGING
2786h
---- ---- ---- ---- Battery Electrolyte Low Hours Counter Record N/A N/A ---- ---- ----
MASTER=TRUE
CATEGORY=LOGGING
2787h
DESC=Node Hours:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Stopped:1=Running
DESC=Pulsing Hours:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Stopped:1=Running
bit field representing each of the hours counters
OBJECT=HOURS_COUNTER DESC=Key Hours:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Stopped:1=Running
bit0 "Node Hrs", bit1 "Pulsing Hrs", bit2 "Key Hrs", bit3 "Trac Hrs", bit4 "Pump Hrs", bit5 "PS Hrs",
SECTION=HoursCounters DESC=Traction Hours:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Stopped:1=Running
278Fh 0 1 RO N/A Running indicators Unsigned16 0 FFFFh 0 bit6 "Work Hrs" Yes 1h
MASTER=TRUE DESC=Pump Hours:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Stopped:1=Running
The main use is to the tell CANopen display if an icon should be displayed for a particular activity
CATEGORY=MONITORING DESC=Power Steer Hours:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Stopped:1=Running
DESC=Work Hours:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Stopped:1=Running
OBJECT=BatteryStatus
SECTION=BatteryStatus
---- ---- ---- ---- Battery Status Record N/A N/A ---- ---- ----
MASTER=TRUE
2790h CATEGORY=MONITORING
0 1 RO N/A Number of parameters Unsigned8 0 FFh 1 No 0

1 1 RO N/A % BDI remaining charge Unsigned8 0 FFh No 1% / bit Yes 0
OBJECT=FORCE_TO_PREOP
SECTION=CANopenSetup
EEPROM=vehicle.force_to_pre_op
If set to 1, the Master will put itself and all the Slaves into pre-operational. The system is only NUMBER_FORMAT=2
2800h 0 1 RW 4 Force system to pre-operational state Boolean 0 1 0 No 1h
allowed to enter operational when this is set to 0. 0=Operational
1=Pre-Operational
MASTER=TRUE
CATEGORY=MONITORING
OBJECT=NODE_INDICATION
---- ---- ---- ---- Node Indication Record N/A N/A ---- Indicates to the MASTER controller which nodes are connected in the network. ---- ----
MASTER=TRUE
EEPROM=vehicle.number_slaves
0 1 RW 4 Number of slaves Unsigned8 0 7 0 Maximum of 7 slaves allowed. No 0
EEPROM=vehicle.slave_node_id_0
1 1 RW 4 1st slave node ID Unsigned8 1 7Fh 1 No 0
2 1 RW 4 2nd slave node ID Unsigned8 1 7Fh 1 No 0
2810h
3 1 RW 4 3rd slave node ID Unsigned8 1 7Fh 1 No 0
4 1 RW 4 4th slave node ID Unsigned8 1 7Fh 1 No 0
OBJECT=LINE_CONT_PARAM
SECTION=VehicleConfig
---- ---- ---- ---- Line Contactor Dropout Parameters Record N/A N/A ---- Parameters to configure line contactor dropout function ---- ----
MASTER=TRUE

EEPROM=vehicle.line_contactor_drop_enabled
2820h 1 1 RW 4 Line contactor drop out Boolean 0 1 1 0 = Disabled, 1 = Enabled No 0 NUMBER_FORMAT=2:0=Disabled:1=Enabled
2 1 RW 4 Seconds Line contactor drop out timer Unsigned8 0 FFh 10 1s/bit No 0 EEPROM=vehicle.line_contactor_drop_timer
Used to enable/disable line contactor features:
3 1 RW 4 Line contactor options Unsigned8 0 FFh 0 No 0 DESC=Line Contactor Welded Fault:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 0 - Disable line contactor welded test. PMAC variants only.
Target rate of charge of capacitors before line contactor is closed. A lower target causes capacitors
4 1 RW 2 0.0625 V/s Line contactor final rate of charge Integer16 20h 3C0h A0h No 0
to charge to a higher voltage, reducing inrush current, but increase start up time.
OBJECT=LINE_CONT_PARAM
---- ---- ---- ---- Line Contactor Control Parameters Record N/A N/A ---- Parameters to configure core line contactor control operation ---- ----
MASTER=TRUE

Line contactor will not open unless all motors that are protected by the contactor are below this
1 1 RW 4 1 rpm Line contactor open speed Unsigned16 0 7FFFh 1000 No 0
speed.
Line contactor will not open unless all motors that are protected by the contactor are below this
2821h 2 1 RW 4 1 rpm Line contactor close speed Unsigned16 0 7FFFh 1000 No 0
speed.
Used to identify motors that are configured, but not protected by a line contactor.
DESC=Left traction motor:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Protected:1=Not protected
Bit 0: Left traction motor
DESC=Right traction motor:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Protected:1=Not protected
3 1 RW 4 Motors not protected by line contactor Unsigned8 0 FFh 0 Bit 1: Right traction motor No 0
DESC=Pump motor:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Protected:1=Not protected
Bit 2: Pump motor
DESC=Power steer motor:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Protected:1=Not protected
Bit 3: Power steer motor
4 1 RW 4 0.0625 V Maximum line contactor arcing voltage Integer16 0 7FFFh 00A0h Line contactor will not close if the difference between Vcap and Vbat is greater than this. No 0
5 1 RW 4 0.0625 V Minimum capacitor charge level Integer16 0050h 7FFFh 0050h Line contactor will not close unless Vcap is above this level. No 0
OBJECT=NON_SEVCON_EMCY_LEVEL
EMCY telegrams from Sevcon nodes include the fault ID in the manufacturer specific bytes. The
SECTION=CANOPENSETUP
fault ID gives the fault severity. Non-sevcon nodes will not supply this information so any EMCY
Assumed fault severity level for EMCY received from non-sevcon EEPROM=vehicle.anon_emcy_severity
2830h 0 1 RW 4 Unsigned8 0 5 3 message received from these nodes will be given the severity level defined in this object. Severity No 0
nodes. WRITE_IN_PREOPERATIONAL_ONLY=TRUE
levels are: 0 - None, 1 - Warning, 2 - Drive Inhibit, 3 - Severe, 4 - Very severe and 5 - Return to
MASTER=TRUE
base.
OBJECT=BUZZER_CONFIG
---- ---- ---- ---- Alarm Buzzer Configuration Record N/A N/A ---- Parameters to configure alarm buzzer operation ---- ----
MASTER=TRUE
Set bit to enable buzzer source:

Bit 0 - Forward.
DESC=Forward:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 1 - Reverse.
DESC=Reverse:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 2 - Controlled Roll Off. EEPROM=vehicle.buzzer_enable
DESC=Roll off:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=No:1=Yes
1 1 RW 4 Alarm buzzer source enable flags. Unsigned8 0 FFh 0Fh Bit 3 - Fault. No 0 NUMBER_FORMAT=BASE16
DESC=Fault:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 4 - BDI Low. WRITE_IN_PREOPERATIONAL_ONLY=TRUE
DESC=BDI low:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 5 - Inching Forward.
DESC=ELYT low:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 6 - Inching Reverse.
Bit 7 - Electrolyte Low.
2 1 RW 4 0.1 Seconds Forward Cadence On Time Unsigned8 0 FFh 1 0.1s/bit. Buzzer on-time when vehicle is moving forward. No 0 EEPROM=vehicle.buzzer_cadance[0][0]
2840h 3 1 RW 4 0.1 Seconds Forward Cadence Off Time Unsigned8 0 FFh 4 0.1s/bit. Buzzer off-time when vehicle is moving forward. No 0 EEPROM=vehicle.buzzer_cadance[0][1]
4 1 RW 4 0.1 Seconds Reverse Cadence On Time Unsigned8 0 FFh 2 0.1s/bit. Buzzer on-time when vehicle is moving backwards. No 0 EEPROM=vehicle.buzzer_cadance[1][0]
5 1 RW 4 0.1 Seconds Reverse Cadence Off Time Unsigned8 0 FFh 3 0.1s/bit. Buzzer off-time when vehicle is moving backwards. No 0 EEPROM=vehicle.buzzer_cadance[1][1]
6 1 RW 4 0.1 Seconds Fault Cadence On Time Unsigned8 0 FFh 3 0.1s/bit. Buzzer on-time when a fault is active. No 0 EEPROM=vehicle.buzzer_cadance[2][0]
7 1 RW 4 0.1 Seconds Fault Cadence Off Time Unsigned8 0 FFh 2 0.1s/bit. Buzzer off-time when a fault is active. No 0 EEPROM=vehicle.buzzer_cadance[2][1]
8 1 RW 4 0.1 Seconds Controlled Roll Off Cadence On Time Unsigned8 0 FFh 4 0.1s/bit. Buzzer on-time when vehicle is rolling away. No 0 EEPROM=vehicle.buzzer_cadance[3][0]
9 1 RW 4 0.1 Seconds Controlled Roll Off Cadence Off Time Unsigned8 0 FFh 1 0.1s/bit. Buzzer off-time when vehicle is rolling away. No 0 EEPROM=vehicle.buzzer_cadance[3][1]
10 1 RW 4 0.1 Seconds BDI low Cadence On Time Unsigned8 0 FFh 3 0.1s/bit. Buzzer on-time when a fault is active. No 0 EEPROM=misc.bdi_cadence[0]
11 1 RW 4 0.1 Seconds BDI low Cadence Off Time Unsigned8 0 FFh 2 0.1s/bit. Buzzer off-time when a fault is active. No 0 EEPROM=misc.bdi_cadence[1]
12 1 RW 4 0.1 Seconds Inch Forward Cadence On Time Unsigned8 0 FFh 1 0.1s/bit. Buzzer on-time when vehicle is inching forward. No 0 EEPROM=misc.inch_fwd_cadence[0]
13 1 RW 4 0.1 Seconds Inch Forward Cadence Off Time Unsigned8 0 FFh 4 0.1s/bit. Buzzer off-time when vehicle is inching forward. No 0 EEPROM=misc.inch_fwd_cadence[1]
14 1 RW 4 0.1 Seconds Inch Reverse Cadence On Time Unsigned8 0 FFh 2 0.1s/bit. Buzzer on-time when vehicle is inching forward. No 0 EEPROM=misc.inch_rev_cadence[0]
15 1 RW 4 0.1 Seconds Inch Reverse Cadence Off Time Unsigned8 0 FFh 3 0.1s/bit. Buzzer off-time when vehicle is inching forward. No 0 EEPROM=misc.inch_rev_cadence[1]
16 1 RW 4 0.1 Seconds Electrolyte low Cadence On Time Unsigned8 0 FFh 5 0.1s/bit. Buzzer on-time when Battery Electrolyte is low. No 0 EEPROM=misc.btty_elyt_rev_cadence[1]
17 1 RW 4 0.1 Seconds Electrolyte low Cadence Off Time Unsigned8 0 FFh 5 0.1s/bit. Buzzer off-time when Battery Electrolyte is low. No 0 EEPROM=misc.btty_elyt_rev_cadence[1]
OBJECT=BUZZER_CONFIG
---- ---- ---- ---- Alarm Buzzer Configuration Record N/A N/A ---- Parameters to configure alarm buzzer operation ---- ----
MASTER=TRUE
Set bit to enable buzzer source:

DESC=Forward:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 0 - Forward.
DESC=Reverse:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 1 - Reverse.
DESC=Roll off:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 2 - Controlled Roll Off.
EEPROM=vehicle.buzzer_enable DESC=Fault:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 3 - Fault.
1 2 RW 4 Alarm buzzer source enable flags. Unsigned16 0 FFh 0Fh No 0 NUMBER_FORMAT=BASE16 DESC=BDI low:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 4 - BDI Low.
WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Inch Fwd:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 5 - Inching Forward.
DESC=Inch Rev:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 6 - Inching Reverse.
DESC=ELYT low:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 7 - Electrolyte Low.
DESC=Park Brk:HEX_MASK=100:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 8 - Park Brake.
2 2 RW 4 0.1 Seconds Forward Cadence On Time Unsigned8 0 FFh 1 0.1s/bit. Buzzer on-time when vehicle is moving forward. No 0 EEPROM=vehicle.buzzer_cadance[0][0]
3 2 RW 4 0.1 Seconds Forward Cadence Off Time Unsigned8 0 FFh 4 0.1s/bit. Buzzer off-time when vehicle is moving forward. No 0 EEPROM=vehicle.buzzer_cadance[0][1]
2840h 4 2 RW 4 0.1 Seconds Reverse Cadence On Time Unsigned8 0 FFh 2 0.1s/bit. Buzzer on-time when vehicle is moving backwards. No 0 EEPROM=vehicle.buzzer_cadance[1][0]
5 2 RW 4 0.1 Seconds Reverse Cadence Off Time Unsigned8 0 FFh 3 0.1s/bit. Buzzer off-time when vehicle is moving backwards. No 0 EEPROM=vehicle.buzzer_cadance[1][1]
6 2 RW 4 0.1 Seconds Fault Cadence On Time Unsigned8 0 FFh 3 0.1s/bit. Buzzer on-time when a fault is active. No 0 EEPROM=vehicle.buzzer_cadance[2][0]
7 2 RW 4 0.1 Seconds Fault Cadence Off Time Unsigned8 0 FFh 2 0.1s/bit. Buzzer off-time when a fault is active. No 0 EEPROM=vehicle.buzzer_cadance[2][1]
8 2 RW 4 0.1 Seconds Controlled Roll Off Cadence On Time Unsigned8 0 FFh 4 0.1s/bit. Buzzer on-time when vehicle is rolling away. No 0 EEPROM=vehicle.buzzer_cadance[3][0]
9 2 RW 4 0.1 Seconds Controlled Roll Off Cadence Off Time Unsigned8 0 FFh 1 0.1s/bit. Buzzer off-time when vehicle is rolling away. No 0 EEPROM=vehicle.buzzer_cadance[3][1]
10 2 RW 4 0.1 Seconds BDI low Cadence On Time Unsigned8 0 FFh 3 0.1s/bit. Buzzer on-time when a fault is active. No 0 EEPROM=misc.bdi_cadence[0]
11 2 RW 4 0.1 Seconds BDI low Cadence Off Time Unsigned8 0 FFh 2 0.1s/bit. Buzzer off-time when a fault is active. No 0 EEPROM=misc.bdi_cadence[1]
2840h

Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
12 2 RW 4 0.1 Seconds Inch Forward Cadence On Time Unsigned8 0 FFh 1 0.1s/bit. Buzzer on-time when vehicle is inching forward. No 0 EEPROM=misc.inch_fwd_cadence[0]
13 2 RW 4 0.1 Seconds Inch Forward Cadence Off Time Unsigned8 0 FFh 4 0.1s/bit. Buzzer off-time when vehicle is inching forward. No 0 EEPROM=misc.inch_fwd_cadence[1]
14 2 RW 4 0.1 Seconds Inch Reverse Cadence On Time Unsigned8 0 FFh 2 0.1s/bit. Buzzer on-time when vehicle is inching forward. No 0 EEPROM=misc.inch_rev_cadence[0]
15 2 RW 4 0.1 Seconds Inch Reverse Cadence Off Time Unsigned8 0 FFh 3 0.1s/bit. Buzzer off-time when vehicle is inching forward. No 0 EEPROM=misc.inch_rev_cadence[1]
16 2 RW 4 0.1 Seconds Electrolyte low Cadence On Time Unsigned8 0 FFh 5 0.1s/bit. Buzzer on-time when Battery Electrolyte is low. No 0 EEPROM=misc.btty_elyt_rev_cadence[1]
17 2 RW 4 0.1 Seconds Electrolyte low Cadence Off Time Unsigned8 0 FFh 5 0.1s/bit. Buzzer off-time when Battery Electrolyte is low. No 0 EEPROM=misc.btty_elyt_rev_cadence[1]
18 2 RW 4 0.1 Seconds Park Brake Cadence On Time Unsigned8 0 FFh 5 0.1s/bit. Buzzer on-time when Park Brake is active and throttle applied. No 0 EEPROM=misc.park_brk_cadence[0]
19 2 RW 4 0.1 Seconds Park Brake Cadence Off Time Unsigned8 0 FFh 5 0.1s/bit. Buzzer off-time when Park Brake is active and throttle applied. No 0 EEPROM=misc.park_brk_cadence[1]
OBJECT=SERVICE_CONFIG
---- ---- ---- ---- Servicing Record N/A N/A ---- Parameters to configure service alert. ---- ----
MASTER=TRUE
This automatically resets the service alert by setting the Next Service Due hours to the current hours
1 1 WO 1 Reset (write to reset next service time) Boolean 0 1h No No 1h NUMBER_FORMAT=2:0=Reset:1=Reset
+ Service Interval. Alternatively, the Next Service Due hours can be updated manually.
Bits are:
DESC=Enable Service:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Off:1=On
0 - Enable (set to enable service alert). EEPROM=vehicle.service_flags
2 1 RW 2 Flags Unsigned8 0 FFh 0 No 0 DESC=Activate Contactor Drive:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=No:1=Yes
1 - Active Contactor Drive output (2405h) WRITE_IN_PREOPERATIONAL_ONLY=TRUE
DESC=Flash LED:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=No:1=Yes
2850h 2 - Indicate service on controller LED (15FF).
Used to select the source hours counter to use for service:

00h - Device key hours.
01h - Device pulsing hours.
EEPROM=vehicle.service_source
80h - Vehicle key hours.
3 1 RW 2 Source Hours Counter Unsigned8 0 FFh 80h No 0 NUMBER_FORMAT=BASE16
81h - Vehicle traction hours
82h - Vehicle pump hours
83h - Vehicle power steer hours
84h - Vehicle work hours
4 1 RW 2 Hours Time between services (Service Interval) Unsigned16 0 FFFFh 0 1 hour / bit. This is the time before the next service is due. No 0 EEPROM=vehicle.service_interval
1 hour / bit. The hours when the next service will be flagged. This can be set automatically to the
5 1 RW 2 Hours Next Service Due time Unsigned16 0 FFFFh FFFFh No 1h EEPROM=vehicle.service_next_due
source hours + interval by writing to subindex 1.
OBJECT=SYSTEM_COOLING_FAN_CONFIG
---- ---- ---- ---- System Cooling Fan configuration Record N/A N/A ---- Parameters to configure system cooling fan. ---- ----
MASTER=TRUE
2860h
1 1 RW 4 0.00390625 V Half Speed output voltage Unsigned16 0 FFFFh 0 The output voltage set when the system cooling fan is running at half speed. No 0 EEPROM=misc.system_cooling_fan_half_speed_v
2 1 RW 4 0.00390625 V Full Speed output voltage Unsigned16 0 FFFFh 0 The output voltage set when the system cooling fan is running at full speed. No 0 EEPROM=misc.system_cooling_fan_full_speed_v
OBJECT=UVR_PARAM
---- ---- ---- ---- UVR config parameters Record N/A N/A ---- Parameters to configure systems using UVR contacts ---- ----
MASTER=TRUE
2860h
1 2 RW 2 0.001 Seconds UVR Timer Unsigned32 0 1200000 0 0.001s/bit No 0 EEPROM=misc.uvr_config_timeout
2 2 RW 2 0.001 Seconds Powerdown Timer Unsigned32 0 1200000 0 0.001s/bit No 0 EEPROM=misc.uvr_config_power_down_timeout
OBJECT=IBATT_LIMIT_PARAM
SECTION=TractionConfig
---- ---- ---- ---- Master Battery Current Limit Parameters Record N/A N/A ---- ---- ----
MASTER=TRUE
EEPROM=traction.traction_mode
NUMBER_FORMAT=5
0=Disabled:1=Use max currents only
1 1 RW 2 Battery current limit data source Unsigned8 0 4 0 No 0
2=Use Delaware BMS:3=Follow Profiles
4=Use max power
2 1 RW 2 A Maximum battery discharge current Integer16 0 32767 100 Yes 0

2870h 3 1 RW 2 A Maximum battery recharge current Integer16 -32768 0 FF9Ch Yes 0
Percentage of Battery Current limit in 0x2870 sub 2 that is applied when Driveability Profile 1 is
4 1 RW 2 % Maximum battery discharge current in Drive Profile 1 Integer16 0 100 100 Yes 0
active
active
Maximum battery discharge power in kW. Used to calculate max discharge current by dividing by
6 1 RW 2 0.00390625 kW Maximum battery discharge power Integer16 0 32767 100 Yes 0
Vbat.
7 1 RW 2 0.00390625 kW Maximum battery recharge power Integer16 -32768 0 FF9Ch Maximum battery charge power in kW. Used to calculate max charge current by dividing by Vbat. Yes 0
active
active
OBJECT=IBATT_LIMIT_STATUS
---- ---- ---- ---- Master Battery Current Limit Status Record N/A N/A ----
MASTER=TRUE
2871h
1 1 RO 2 A Available traction battery discharge current Integer16 0 32767 0 Yes 0
2 1 RO 2 A Available traction battery charge current Integer16 -32768 0 0 Yes 0
OBJECT=IBATT_LIMIT_PROTECTION
---- ---- ---- ---- Battery Current Limit Protection Parameters Record N/A N/A ----
MASTER=TRUE
2872h 0 1 RO N/A Number of parameters Unsigned8 0 FFh 2 No 0

Traction drive torque will be cut back linearly if available discharge current drops below this level.
1 1 RW 2 A Cutback range for low traction discharge current Integer16 0 32767 0 No 0
Set to zero to disable this function.
Traction drive torque will be cut back linearly if available charge current drops above this level. Set to
2 1 RW 2 A Cutback range for low traction charge current Integer16 -32768 0 0 No 0
zero to disable this function.
OBJECT=TRAC_CTRL_MODE
EEPROM=traction.traction_mode
Traction control mode (Torque/speed mode (0) or closed loop NUMBER_FORMAT=2
2900h 0 1 RW 4 Boolean 0 1 1 Torque / Speed mode (0) or Closed Loop Speed Control (1). No 0
speed control (1)) 0=Torque/Speed:1=Speed Control
MASTER=TRUE
OBJECT=HILL_HOLD_DELAY
2901h 0 1 RW 2 0.1 Seconds Hill hold delay Unsigned8 0 FFh 0 [27] 0.1s/bit No 0 EEPROM=traction.hill_hold_delay
MASTER=TRUE
OBJECT=SEAT_DELAY
2902h 0 1 RW 2 0.1 Seconds Seat Switch delay Unsigned8 0 FFh 20 0.1s/bit No 0 EEPROM=traction.seat_delay
MASTER=TRUE
OBJECT=EBRAKE_PARAM
---- ---- ---- ---- Electromechanical Brake parameters Record N/A N/A ---- ---- ----
MASTER=TRUE

Time between vehicle stopping (or entering hill hold or rolloff if configured) and the electrobrake
1 1 RW 4 0.1 Seconds Electromechanical brake apply delay Unsigned8 0 FFh 50 being applied. Set this value to zero if you do not want the electrobrake to be applied automatically No 0 EEPROM=traction.ebrake_apply_delay
when the vehicle stops.
Time between electrobrake being released and drive being allowed. Set this if the electrobrake takes
2 1 RW 4 0.1 Seconds Electromechanical brake release delay Unsigned8 0 FFh 0 No 0 EEPROM=traction.ebrake_release_delay
some time to physically release. Set to zero if you do not want a delay.
NUMBER_FORMAT=2:0=Release after motor started:1=Release
Used to select if the brake should remain applied until the motors are outputting torque or if it can
3 1 RW 4 Electromechanical brake control Boolean 0 1 0 No 0 immediately
release as soon as required.
2903h WRITE_IN_PREOPERATIONAL_ONLY=TRUE
Minimum current required to be seen in the electrobrake to validate that the doesn’t have a wiring
4 1 RW 4 0.00390625 Amps Electromechanical brake min current W/O limit Unsigned16 0 0200h 0 fault. If the current has not built up to the minimum level in 500ms then tracapp sets a drive inhibit No 0
fault. A value of 0 disables this feature.
5 1 RW 4 Electromechanical feature flags Unsigned16 0 1 0 Electromechanical feature selection. No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Severe fault applies Ebrake:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=immediately (default):1=when stopped
Minimum speed required that the vehicle must stay below in order that the electrobrake engages for
the duration of the ebrake closure delay. If the speed is speed is seen to be greater whilst the
6 1 RW 4 1 RPM Min speed to apply brake Integer16 0 7FFFh 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
ebrake timer is counting (i.e. the vehicle has been seen to stop) the ebrake doesn’t close. Set to
zero for normal operation i.e. apply brake regardless.
The duration in seconds that we attempt to apply electrobrake when it is still moving. The controller
will repeatedly attempt to apply/release the electrobrake. Once timeout has been reached, if vehicle
7 1 RW 4 0.1 Seconds Electromechanical timeout Unsigned16 0 FFFFh 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
has stopped, the E-Brake apply request will be actioned. If the vehicle is still moving, the request will
be cancelled.
OBJECT=HIGH_SPEED_PARAM
---- ---- ---- ---- High speed parameters Record N/A N/A ---- Configures High Speed function. TODO ---- ----
MASTER=TRUE
2904h
EEPROM=traction.high_speed_latched_momentary
1 1 RW 4 Latched / momentary operation Boolean 0 1 1 0 = Latched, 1 = Momentary No 0 NUMBER_FORMAT=2:0=Latched:1=Momentary
OBJECT=LOW_SPEED_PRO_CONFIG
---- ---- ---- ---- Low Speed Profile Configuration Record N/A N/A ---- Configures the low speed profile activation threshold ---- ----
MASTER=TRUE
2906h CATEGORY=CONFIGURATION

1 1 RW 4 RPM Speed below which low speed profile is active Unsigned16 0 FFFFh 0 The low speed profile is active below this velocity. No 0 EEPROM=misc.low_speed_threshold
OBJECT=SPEED_INDICATION_CONFIG
---- ---- ---- ---- High/Low Speed Indication Configuration Record N/A N/A ---- Configures the High/Low speed indication output ---- ----
MASTER=TRUE
2907h 0 1 RO N/A Number of parameters Unsigned8 0 FFh 3 No 0
1 1 RW 4 RPM Activation Speed Unsigned16 0 FFFFh 0 The high/low speed indication output activates based on this speed. No 0 EEPROM=misc.high_low_speed_ind_act_speed
2 1 RW 4 RPM Deactivation Speed Unsigned16 0 FFFFh 0 The high/low speed indication output deactivates based on this speed. No 0 EEPROM=misc.high_low_speed_ind_deact_speed
3 1 RW 4 0.00390625 V Analogue output voltage Unsigned16 0 FFFFh 0 The output voltage set when the output is activated No 0 EEPROM=misc.high_low_speed_ind_ao_voltage
OBJECT=DRIVE_TRQ_DISABLE_SPEED
EEPROM=misc.trac_drive_disable_speed
When in neutral brake, drive torque is disabled when the vehicle is above this speed to prevent drive
2908h 0 1 RW 4 RPM Drive torque disable speed Unsigned16 0 FFFFh 500 No 0 SECTION=TractionConfig
against footbrakes. Drive torque is reenabled below this speed to assist entry to hill hold.
MASTER=TRUE
OBJECT=DIR_CHANGE_DELAY
EEPROM=misc.trac_dir_change_delay
2909h 0 1 RW 4 0.1 Seconds Direction change delay Unsigned8 0 FFh 0 Enter delay to insert between direction changes No 0 SECTION=TractionConfig
MASTER=TRUE
OBJECT=S_CURVE_PARAM
---- ---- ---- ---- S-Curve Control N/A N/A ---- --- ---
MASTER=TRUE
290Ah 0 1 RO N/A Number of parameters Unsigned8 0 FFh 3 No 0

Enter value to determine the point at which the ramped speed will level out when approaching the
1 1 RW 4 Target speed approach curve Unsigned8 1 11 8 No 0 EEPROM=misc.s_curve_factor_a
demanded speed
2 1 RW 4 Ramp change delay Unsigned8 1 7Fh 7Fh Enter value to determine how quickly the system will change to a new ramp rate No 0 EEPROM=misc.s_curve_factor_b
3 1 RW 4 1 RPM Ramp change delay speed Integer16 0 1000 0 Changes in demand greater than this value will mean ramp change delay does not take effect Mo 0 EEPROM=misc.s_curve_speed
OBJECT=TILT_ALARM_DELAYS
---- ---- ---- ---- Tilt Alarm Delays N/A N/A ---- --- ---
MASTER=TRUE
290Bh
1 1 RW 4 0.1 Seconds Off delay Unsigned16 0 FFFFh 0 Time tilt signal needs to be inactive before tilt alarm output is deactivated. No 0
2 1 RW 4 0.1 Seconds On delay Unsigned16 0 FFFFh 0 Time tilt signal needs to be active before tilt alarm output is activated. No 0
OBJECT=STEERING_CUTBACK_CONTROL
---- ---- ---- ---- Bucyrus Steering and Power Balance Parameters N/A N/A ---- --- ---
MASTER=TRUE

1 2 RW 2 Kp for inner wheel cutback control Unsigned8 0 FFh 0 Enter Kp to control how inner wheel speed demand decreases as outer wheel overspeeds No 0 EEPROM=misc.drive_torque_cutback_kp
290Bh 2 2 RW 2 Ki for inner wheel cutback control Unsigned8 0 FFh 0 Enter Ki to control how inner wheel speed demand decreases as outer wheel overspeeds No 0 EEPROM=misc.drive_torque_cutback_ki
3 2 RW 4 Unused, for test purposes only Unsigned16 0 FFFFh 0 Unused parameter, for test purposes only. No 0
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
OBJECT=BELLY_CONFIGURATION
---- ---- ---- ---- Belly operation configuration ----
MASTER=TRUE
290Ch 0 1 RO N/A Number of parameters Unsigned8 N/A N/A 3 No 0
1 1 RW 4 0.00003051850948 Belly throttle value Unsigned16 0 32767 16384 Amount of throttle push applied during belly operation No 0 EEPROM=misc.belly_throttle
2 1 RW 4 1 RPM Belly max speed Unsigned16 0 5000 1000 Speed limit in belly operation No 0 EEPROM=misc.belly_max_speed
3 1 RW 4 0.1 Seconds Belly timeout Unsigned8 0 100 50 Belly operation timeout value No 0 EEPROM=misc.belly_timeout
OBJECT=NTRL_BRK_EXIT_DELAY
EEPROM=misc.ntrl_brk_exit_delay
Debounce delay for neutral braking exit. Neutral braking will only exit when vehicle has been
290Dh 0 1 RW 2 0.001 Seconds Neutral Braking Exit Timer Unsigned16 0 FFFFh 0 No 0 SECTION=TractionConfig
stopped for this time.
MASTER=TRUE
OBJECT=TRACTION_INFO
---- ---- ---- ---- Traction info configuration
MASTER=TRUE
0 2 RO N/A Number of parameters Unsigned8 N/A N/A 3 No 0

290Dh
Debounce delay for neutral braking exit. Neutral braking will only exit when vehicle has been
1 1 RW 2 0.001 Seconds Neutral Braking Exit Timer Unsigned16 0 FFFFh 0 No 0
stopped for this time.
Speed threshold for determining when to leave neutral braking to power off and calculating direction
2 1 RW 2 rpm Vehicle stopped threshold Unsigned16 2 FFFFh 2 No 0
of vehicle
Speed threshold for determining when to enter neutral braking from power off and calculating
3 1 RW 2 rpm Vehicle moving threshold Unsigned16 5 FFFFh 5 No 0
direction of vehicle
OBJECT=BRAKE_FEATHERING
---- ---- ---- ---- Brake Feathering N/A N/A ---- --- ---
MASTER=TRUE
290Eh 1 1 RW 4 1 RPM Brake feathering start speed Unsigned16 0 FFFFh 300 Speed at which braking torque starts to back off when vehicle is slowing to a stop No 0
2 1 RW 4 1 RPM Brake feathering end speed Unsigned16 0 FFFFh 50 Speed at which braking torque is completely removed when vehicle is slowing to a stop No 0
3 1 RW 4 0.001 Brake feathering end torque Integer16 0 1000 0 Torque applied in neutral braking below brake feather end speed No 0
3 2 RW 4 0.0625 Nm Brake feathering end torque Unsigned16 0 7FFFh 0 Torque applied in neutral braking below brake feather end speed No 0
4 1 RW 4 1 Brake feathering Entry ramp rate Integer16 0 32767 32767 slew rate to start Brake feathering condition No 0
5 1 RW 4 1 Brake feathering Exit ramp rate Integer16 0 32767 32767 slew rate recovery from Brake feathering condition No 0
OBJECT=SERVICE_BRAKE
---- ---- ---- ---- Service Brake Control Parameters N/A N/A ---- --- ---
MASTER=TRUE
290Fh
1 1 RW 4 1 RPM Brake On Speed Integer16 0 FFFFh 300 Speed over which service brake is applied No 0
2 1 RW 4 1 RPM Brake Off Speed Integer16 0 FFFFh 50 Speed below which service brake is released No 0
OBJECT=THROTTLE_PARAM
SECTION=TractionAIConfig
---- ---- ---- ---- Throttle parameters Record N/A N/A ---- Parameters to configure Throttle Input. ---- ----
MASTER=TRUE
Bit 0 - Direction braking proportional to throttle (0 = Not proportional, 1 = Proportional).

Bit 1 - Directional Throttle enable (0 = Non-directional throttle, 1 = Directional throttle).
DESC=Proportional Braking:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 2 - Proportional Speed Limit disable (0 = speed limit proportional to throttle, 1 = speed limit fixed)
DESC=Directional Throttle:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 3 - Braking Direction Throttle enable (0 = Directional throttle controls drive torque only, 1 =
DESC=Speed Limit Mode:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Proportional to throttle:1=Fixed at maximum
Directional throttle controls drive and brake torque)
EEPROM=traction.throttle_flags DESC=Braking Directional Throttle:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=No:1=Yes
1 1 RW 4 Throttle Flags Unsigned8 0 FFh 0 Bit 4 - Reverse speed limit encoding (0 = No encoding (default), 1 = Encoding active) No 0
WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Reverse Speed Limit Encoding:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 5 - Enable/disable handbrake fault.
DESC=Handbrake Fault:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 6 - Disable/enable Proportional speed limit during braking (0 - Speed limit proportional to throttle
DESC=Proportional Speed Limit in Braking:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
in drive and brake, 1 = Speed limit proportional to throttle in drive only)
DESC=Independent Drive Profiles (some builds only):HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 7 - Independent drive profiles (some builds only) (0 = Generic Gen4, 1 = Only active profile is
looked at, if none selected Baseline is used)

Bit 2 - Proportional Speed Limit disable (0 = speed limit proportional to throttle, 1 = speed limit fixed) DESC=Proportional Braking:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 3 - Braking Direction Throttle enable (0 = Directional throttle controls drive torque only, 1 = DESC=Directional Throttle:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=No:1=Yes
Directional throttle controls drive and brake torque) DESC=Speed Limit Mode:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Proportional to throttle:1=Fixed at maximum
Bit 4 - Reverse speed limit encoding (OL slip only) (0 = No encoding (default), 1 = Encoding active) DESC=Braking Directional Throttle:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 5 - Enable/disable handbrake fault DESC=Reverse Speed Limit Encoding:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 6 - Disable/enable Proportional speed limit during braking - if enabled in bit2 (OL slip only) (0 - DESC=Handbrake Fault:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Speed limit proportional to throttle in drive and brake, 1 = Speed limit proportional to throttle in drive DESC=Proportional Speed Limit in Braking:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
only) DESC=Driveability profile generation style (some builds only):HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Use lowest values:
Bit 7 - Driveability profile consolidation type (some builds only) EEPROM=traction.throttle_flags
1 2 RW 4 Throttle Flags Unsigned16 0 FFFFh 0 No 0 1=Use active profile only
Bit 8 - Allow step change in steer angle WRITE_IN_PREOPERATIONAL_ONLY=TRUE
DESC=Allow step change in steer angle:HEX_MASK=100:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 9 - Virtual FS1 enable DESC=Virtual FS1:HEX_MASK=200:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 10 - Enable Absolute Steer Angle for use in single traction systems. Motor mapped must be left DESC=Absolute Steer Angle in single traction:HEX_MASK=400:MIN=0;MAX=1:NF=2:0=Disabled:1=Enabled
motor DESC=Separate Seat Regen Braking settings:HEX_MASK=800:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 11 - Enable Separate Seat Regen Braking settings DESC=Slave Left Motor Speed Inversion:HEX_MASK=1000:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 12 - Enable Slave Left Motor Speed Inversion feature DESC=Brake Light when Neutral Braking:HEX_MASK=2000:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 13 - Enable Brake Light when Neutral Braking DESC=Inching functionality:HEX_MASK=4000:MIN=0:MAX=1:NF=2:0=Generic:1=With E.Park Brake
Bit 14 - Inching Mode (0 = Generic mode, 1 = Managing Electromechanical Park Brake) DESC=Proportional Speed Limit in Drive:HEX_MASK=8000:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 15 - Disable/enable Proportional speed limit during drive - if enabled in bit2 (FV only at present)
(0 - Speed limit proportional to throttle in drive and brake, 1 = Speed limit proportional to throttle in
braking only)
EEPROM=traction.throttle_char
NUMBER_FORMAT=4
2 1 RW 1 Throttle input characteristic Unsigned8 0 3 1 0 = User Defined (sub-indices 12-17), 1 = Linear, 2 = Curved, 3 = Crawl No 0
0=User Defd:1=Linear:2=Curved:3=Crawl
3 1 RW 1 0.00390625 V Throttle Start Voltage 1 Unsigned16 0 FFFFh 16 No 0 EEPROM=traction.throttle_0_start_voltage

3 2 RW 1 0.0009765625 Throttle Start Voltage 1 Unsigned16 0 FFFFh 0 No 0 EEPROM=traction.throttle_0_start_voltage
4 1 RW 2 0.00003051850948 Throttle Start Value 1 Integer16 -32768 32767 0 In range -32767 to 32767, where +/-32767 = Maximum demand in forward / reverse No 0 EEPROM=traction.throttle_0_start_value
5 1 RW 1 0.00390625 V Throttle End Voltage 1 Unsigned16 0 FFFFh 1309 As above No 0 EEPROM=traction.throttle_0_end_voltage
5 2 RW 1 0.0009765625 Throttle End Voltage 1 Unsigned16 0 FFFFh 0 As above No 0 EEPROM=traction.throttle_0_end_voltage
6 1 RW 2 0.00003051850948 Throttle End Value 1 Integer16 -32768 32767 32767 As above No 0 EEPROM=traction.throttle_0_end_value
7 1 RW 2 0.00390625 V Throttle Start Voltage 2 Unsigned16 0 FFFFh 0 As above No 0 EEPROM=traction.throttle_1_start_voltage
7 2 RW 2 0.0009765625 Throttle Start Voltage 2 Unsigned16 0 FFFFh 0 As above No 0 EEPROM=traction.throttle_1_start_voltage
8 1 RW 2 0.00003051850948 Throttle Start Value 2 Integer16 -32768 32767 0 As above No 0 EEPROM=traction.throttle_1_start_value
9 2 RW 2 0.0009765625 Throttle End Voltage 2 Unsigned16 0 FFFFh 0 As above No 0 EEPROM=traction.throttle_1_end_voltage
11 1 RW 4 0.0000152590219 User Defined Char Pt 1 Voltage Unsigned16 0 FFFFh 9830 Voltage is normalized 0 - 65535 No 0 EEPROM=traction.throttle_ud_map_0_voltage
12 1 RW 4 0.0000152590219 User Defined Char Pt 1 Value Unsigned16 0 FFFFh 9830 Value is normalized 0 - 65535 No 0 EEPROM=traction.throttle_ud_map_0_value
13 1 RW 4 0.0000152590219 User Defined Char Pt 2 Voltage Unsigned16 0 FFFFh 19660 As above No 0 EEPROM=traction.throttle_ud_map_1_voltage
14 1 RW 4 0.0000152590219 User Defined Char Pt 2 Value Unsigned16 0 FFFFh 32767 As above No 0 EEPROM=traction.throttle_ud_map_1_value
17 1 RW 2 0.00390625 V Dual Output Throttle Effective Start Voltage Unsigned16 0 FFFFh 0 As above No 0 EEPROM=traction.throttle_2_start_voltage
18 1 RW 2 0.00003051850948 Dual Output Throttle Effective Start Value Integer16 -32768 32767 0 As above No 0 EEPROM=traction.throttle_2_start_value
19 1 RW 2 0.00390625 V Dual Output Throttle Effective End Voltage Unsigned16 0 FFFFh 0 As above No 0 EEPROM=traction.throttle_2_end_voltage
20 1 RW 2 0.00003051850948 Dual Output Throttle Effective End Value Integer16 -32768 32767 0 As above No 0 EEPROM=traction.throttle_2_end_value
For dual track throttle the parameter represents the maximum difference in final value that the two
calculated throttle outputs report. If the new parameter is 0 then the software defaults to the legacy
behavior and applies a hardcoded of 5%. For standard linear throttle configurations the value
refers to a percentage of the maximum throttle voltage parameter. E.g. if the parameter is set to
21 1 RW 2 0.003051757813 % Throttle fault level Integer16 0 2666h 0 No 0 EEPROM=traction.throttle_fault
10% on a 0.5V(0%) – 4.5V(100%) configuration, the algorithm will fault if the throttle voltage exceeds
(4.5+(4.5*0.1))) = 4.95V. Conversely for a 9.0V(0%) – 1V(0%) accelerator configuration a (max)
throttle limit of 30% will cause a fault if the voltage drops below 1-(1*0.3)=0.7V. If the parameter is
set to zero then the legacy behavior of 0.5V is applied to either scenario.
Bit 0 - Direction bits in controlword latch and don't return to neutral in some states to prevent roll-
DESC=Latching direction bits to prevent rollback:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
back - when pressing the throttle briefly on an incline (FV only (gen4) / D8 / HVLP)
DESC=Seat latch for regen settings:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 1 - seat switch latch for seat regen settings
DESC=Brake feathering during seat regen:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 2 - Brake feathering during seat regen
EEPROM=traction.throttle_flags2 DESC=Disable Motor Low Voltage warning:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Off:1=On
22 1 RW 4 Throttle Flags 2 Unsigned16 0 FFFFh 0 Bit 3 - Disable Motor Low Voltage warning No 0
WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Opposing speed limit set to max (D8 / HVLP):HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 4 - Opposing speed limit set to max (D8 / HVLP)
DESC=Non CANOpen Footbrake option:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 5 - Non CANOpen Footbrake Option (0 = Disabled, 1 = Enabled)
DESC=BMS Type:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Bassi:1=Vantage
Bit 6 - BMS Type (0 = Bassi, 1 = Vantage)
DESC=Vantage Display:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Old:1=New
Bit 7 - Vantage Display (0 = Old, 1 = New)
OBJECT=FBRAKE_PARAM
---- ---- ---- ---- Footbrake parameters Record N/A N/A ---- Parameters to configure Footbrake Input. ---- ----
MASTER=TRUE

EEPROM=traction.drive_footbrake_priority
1 1 RW 2 Drive / footbrake priority Boolean 0 1 0 0 = Drive has priority, 1 = Footbrake has priority. No 0 NUMBER_FORMAT=2:0=Drive:1=Footbrake
Bits are assigned as follows:

EEPROM=traction.drive_footbrake_priority DESC=Drive/Footbrake Priority:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Drive:1=Footbrake
1 2 RW 2 Drive / footbrake priority mapping Unsigned8 0 FFh 0 Bit 0 - 0 = Drive has priority, 1 = Footbrake has priority. No 0
WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Idling Creep Torque/Footbrake Priority:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Idling Creep Torque:1=Footbrake
Bit 1 - 0 = Idle Creep torque has priority, 1 = Footbrake has priority.
2 1 RW 4 RPM Footbrake braking exit speed Unsigned16 0 6000 0 In RPM. No 0 EEPROM=traction.footbrake_minimum_speed
EEPROM=traction.footbrake_char
NUMBER_FORMAT=4
3 1 RW 4 Footbrake Input Characteristic Unsigned8 0 3 1 0 = User Defined (sub-indices 8-13), 1 = Linear, 2 = Curved, 3 = Crawl No 0
0=User Defined:1=Linear:2=Curved:3=Crawl
4 1 RW 2 0.00390625 V Footbrake Start Voltage 1 Unsigned16 0 FFFFh 100 Same units as 2201h No 0 EEPROM=traction.footbrake_start_voltage
2911h 5 1 RW 2 0.00003051850948 Footbrake Start Value 1 Integer16 0 32767 0 In range 0 to 32767, where 32767 = Maximum braking demand No 0 EEPROM=traction.footbrake_start_value
6 1 RW 2 0.00390625 V Footbrake End Voltage 1 Unsigned16 0 FFFFh 900 As above No 0 EEPROM=traction.footbrake_end_voltage
7 1 RW 2 0.00003051850948 Footbrake End Value 1 Integer16 0 32767 32767 As above No 0 EEPROM=traction.footbrake_end_value
8 1 RW 4 0.0000152590219 User Defined Char Pt 1 Voltage Unsigned16 0 FFFFh 9830 Voltage is normalized 0 - 65535 No 0 EEPROM=traction.footbrake_ud_map_0_voltage
9 1 RW 4 0.0000152590219 User Defined Char Pt 1 Value Unsigned16 0 FFFFh 9830 Value is normalized 0 - 65535 No 0 EEPROM=traction.footbrake_ud_map_0_value
10 1 RW 4 0.0000152590219 User Defined Char Pt 2 Voltage Unsigned16 0 FFFFh 19660 As above No 0 EEPROM=traction.footbrake_ud_map_1_voltage
11 1 RW 4 0.0000152590219 User Defined Char Pt 2 Value Unsigned16 0 FFFFh 32767 As above No 0 EEPROM=traction.footbrake_ud_map_1_value
12 1 RW 4 0.0000152590219 User Defined Char Pt 3 Voltage Unsigned16 0 FFFFh 52428 As above No 0 EEPROM=traction.footbrake_ud_map_2_voltage
13 1 RW 4 0.0000152590219 User Defined Char Pt 3 Value Unsigned16 0 FFFFh 62258 As above No 0 EEPROM=traction.footbrake_ud_map_2_value
Drive/Footbrake priority will oppose what is set in 0x2911,1 after this time when the footbrake switch
14 1 RW 2 1 Seconds Footbrake/Drive time out Unsigned8 0 FFh 0 No 0 EEPROM=misc.footbrake_timeout
is closed. Set zero to disable this feature.
OBJECT=ECONOMY_PARAM
---- ---- ---- ---- Economy parameters Record N/A N/A ---- Parameters to configure Economy Input. ---- ----
MASTER=TRUE
2912h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
EEPROM=traction.economy_function
1 1 RW 4 Economy function Unsigned8 0 2 1 0 = None, 1 = Maximum Torque, 2 = Acceleration Rate No 0
0=None:1=Max Torque:2=Accel Rate
2 1 RW 2 0.00390625 V Economy Start Voltage 1 Unsigned16 0 FFFFh 100 Same units as 2202h No 0 EEPROM=traction.economy_start_voltage
3 1 RW 2 0.00003051850948 Economy Start Value 1 Integer16 0 32767 0 In range 0 to 32767, where 32767 = Maximum economy No 0 EEPROM=traction.economy_start_value
4 1 RW 2 0.00390625 V Economy End Voltage 1 Unsigned16 0 FFFFh 900 As above No 0 EEPROM=traction.economy_end_voltage
5 1 RW 2 0.00003051850948 Economy End Value 1 Integer16 0 32767 32767 As above No 0 EEPROM=traction.economy_end_value
OBJECT=STEERING_PARAM
---- ---- ---- ---- Steering parameters Record N/A N/A ---- Parameters to configure steering ---- ----
MASTER=TRUE

1 1 RW 2 0.00390625 V Steer pot left voltage Unsigned16 0 FFFFh 100 Same units as 2203h No 0 EEPROM=traction.steer_left_voltage
2 1 RW 2 0.00390625 V Steer pot right voltage Unsigned16 0 FFFFh 900 Same units as 2203h No 0 EEPROM=traction.steer_right_voltage
3 1 RW 2 0.00390625 V Steer pot zero voltage Unsigned16 0 FFFFh 500 Same units as 2203h No 0 EEPROM=traction.steer_zero_voltage
4 1 RW 4 0.002746665853 Angle (Outer Wheel) Pt 1 Integer16 -32768 32767 0 In range 0 - 32767, where 32767 = Fully steering to left or right No 0 EEPROM=traction.steering_cutback_map_0_angle
5 1 RW 4 0.00003051850948 Cutback (Outer Wheel) Pt 1 Integer16 -32768 32767 32767 In range -32767 to 32767. No 0 EEPROM=traction.steering_cutback_map_0_speed
6 1 RW 4 0.002746665853 Angle (Outer Wheel) Pt 2 Integer16 -32768 32767 3276 As above No 0 EEPROM=traction.steering_cutback_map_1_angle
7 1 RW 4 0.00003051850948 Cutback (Outer Wheel) Pt 2 Integer16 -32768 32767 32767 As above No 0 EEPROM=traction.steering_cutback_map_1_speed
2913h 8 1 RW 4 0.002746665853 Angle (Outer Wheel) Pt 3 Integer16 -32768 32767 22937 As above No 0 EEPROM=traction.steering_cutback_map_2_angle
10 1 RW 4 0.002746665853 Angle (Outer Wheel) Pt 4 Integer16 -32768 32767 32767 As above No 0 EEPROM=traction.steering_cutback_map_3_angle
12 1 RW 4 0.002746665853 Angle (Inner Wheel) Pt 1 Integer16 -32768 32767 0 As above No 0 EEPROM=traction.steering_map_0_angle
13 1 RW 4 0.00003051850948 Cutback (Inner Wheel) Pt 1 Integer16 -32768 32767 32767 As above No 0 EEPROM=traction.steering_map_0_speed
19 1 RW 4 0.00003051850948 Cutback (Inner Wheel) Pt 4 Integer16 -32768 32767 -3276 As above No 0 EEPROM=traction.steering_map_3_speed
OBJECT=FS1_PARAM
---- ---- ---- ---- FS1 Parameters Record N/A N/A ---- Sets up FS1 related functions. ---- ----
MASTER=TRUE
2914h
Bit 0 - Not used EEPROM=traction.fs1_flags DESC=NOT_USED:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
1 1 RW 4 FS1 Flags Unsigned8 0 FFh 0 No 0
Bit 1 - FS1 Recycle enable (0 = Disabled, 1 = Enabled). WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=FS1 Recycle:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
2 1 RW 4 0.1 Seconds SRO delay Unsigned8 0 FFh 20 0.1s/bit (0 disables SRO) No 0 EEPROM=traction.sro_delay
OBJECT=GEAR_RATIO
---- ---- ---- ---- Motor to vehicle speed ratio Record N/A N/A ---- Used to convert velocity into user defined units. (e.g. RPM, KPH, MPH, m/s, etc). ---- ----
MASTER=TRUE

1 1 RW 4 Vehicle speed numerator Unsigned16 0 FFFFh 1 No 0 EEPROM=traction.gear_ratio_numerator
2 1 RW 4 Vehicle speed denominator Unsigned16 1 FFFFh 1 No 0 EEPROM=traction.gear_ratio_denominator
2915h 3 1 RW 4 Ignore vehicle speed ratio for driveability profiles Unsigned8 0 1 0 Set this to 1 to force units used by driveability profiles to be motor rpm, not vehicle speed. No 0 EEPROM=misc.gear_ratio_ignore_for_profiles
4 1 RW 4 User speed 1 numerator Unsigned16 0 FFFFh 1 No 0 EEPROM=misc.user_gear_ratio.numerator
5 1 RW 4 User speed 1 denominator Unsigned16 1 FFFFh 1 No 0 EEPROM=misc.user_gear_ratio.denominator
6 1 RW 4 Allow negative user speeds Boolean 0 1 1 Set this to 1 if negative user speeds are allowed. No 0 EEPROM=misc.allow_negative_user_speeds
7 1 RW 4 User speed 2 numerator Unsigned16 0 FFFFh 1 No 0 EEPROM=misc.user_2_gear_ratio.numerator
8 1 RW 4 User speed 2 denominator Unsigned16 1 FFFFh 1 No 0 EEPROM=misc.user_2_gear_ratio.denominator
9 1 RW 4 Allow negative user speeds for user speed 2 Boolean 0 1 1 Set this to 1 if negative user speeds are allowed. No 0 EEPROM=misc.allow_negative_user_speeds_2
OBJECT=TRAC_MOTOR_PARAM
Data on traction motors required by the Master node. Note: This information may be repeated in the SECTION=TractionConfig
---- ---- ---- ---- Traction Motor Parameters Record N/A N/A ---- ---- ----
Drives and Motion Control profile area. (6000h-9FFFh) MASTER=TRUE
2916h
Same value as entered into Motor Rated Torque (e.g. 6076h) for the traction motors. Torque is
1 1 RW 4 0.001 Nm Traction Motor Rated Torque Unsigned32 0 2000000 25000 No 0 EEPROM=traction.motor_rated_torque
specified in Nm.
OBJECT=TRACTION_SPEED_GAINS
---- ---- ---- ---- Traction Speed Limit/Control Gains Record N/A N/A ---- Used to configure the speed limit/control PI Loop ---- ----
MASTER=TRUE
2917h 1 1 RW 4 0.00001525878906 Speed Limit Kp Unsigned32 0 FFFFFFFFh 00010000h In 16.16 format No 0 EEPROM=misc.speed_limit_kp
2 1 RW 4 0.00001525878906 Speed Limit Ki Unsigned32 0 FFFFFFFFh 00010000h In 16.16 format No 0 EEPROM=misc.speed_limit_ki
3 1 RW 4 0.00001525878906 Speed Control Kp Unsigned32 0 FFFFFFFFh 00010000h In 16.16 format No 0 EEPROM=misc.speed_control_kp
4 1 RW 4 0.00001525878906 Speed Control Ki Unsigned32 0 FFFFFFFFh 00010000h In 16.16 format No 0 EEPROM=misc.speed_control_ki
5 1 RW 4 0.00001525878906 Controlled Roll-Off Kp Unsigned32 0 FFFFFFFFh 00010000h In 16.16 format No 0 EEPROM=misc.cro_kp
6 1 RW 4 0.00001525878906 Controlled Roll-Off Ki Unsigned32 0 FFFFFFFFh 00010000h In 16.16 format No 0 EEPROM=misc.cro_ki
Set bit to ignore input during power up sequence fault check:

DESC=Throttle direction:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 0: Throttle direction for directional throttle configuration
DESC=Forward:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 1: Forward switch.
DESC=Reverse:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 2: Reverse switch. OBJECT=TRAC_SEQ_FLT_MASK
DESC=FS1:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 3: FS1 switch. SECTION=TractionConfig
DESC=Inch Fwd:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Sequence Fault Mask (set bit to ignore input during sequence Bit 4: Inch Forward switch EEPROM=misc.seq_flt_mask
2918h 0 1 RW 4 Unsigned16 0 FFFFh 0 No 0 DESC=Inch Rev:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
fault check) Bit 5: Inch Reverse switch WRITE_IN_PREOPERATIONAL_ONLY=TRUE
DESC=Deadman:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 6: Deadman switch MASTER=TRUE
DESC=Belly:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 7: Belly switch CATEGORY=CONFIGURATION
DESC=Belt Fwd:HEX_MASK=100:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 8: Belt Forward switch
DESC=Belt Rev:HEX_MASK=200:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 9: Belt Reverse switch
DESC=Belt Stop:HEX_MASK=400:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 10: Belt stop switch
OBJECT=GEAR_RATIO
---- ---- ---- ---- Inching parameters Record N/A N/A ---- Configure vehicle inching behavior ---- ----
MASTER=TRUE
1 1 RW 2 rpm Inch speed Unsigned16 0 1500 100 Speed at which vehicle inch No 0 EEPROM=misc.traction_inch_speed
2 1 RW 2 ms Inch timeout Unsigned16 0 5000 5000 Maximum inch time No 0 EEPROM=misc.traction_inch_timeout
3 1 RW 2 0.00003051850948 Inch throttle Unsigned16 0 7FFFh 2000h Inching throttle value No 0 EEPROM=misc.inch_throttle
Set bit to ignore input during traction fault neutral check:

DESC=Throttle direction:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 0: Throttle direction for directional throttle configuration
OBJECT=TRAC_SEQ_FLT_MASK DESC=Forward:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 1: Forward switch.
SECTION=TractionConfig DESC=Reverse:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 2: Reverse switch.
Traction Fault Clear Mask (set bit to ignore input during traction EEPROM=misc.trc_flt_clear_mask DESC=FS1:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
291Ah 0 1 RW 4 Unsigned16 0 FFFFh 0 Bit 3: FS1 switch. No 0
fault neutral check) WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Inch Fwd:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 4: Inch Forward switch
MASTER=TRUE DESC=Inch Rev:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 5: Inch Reverse switch
CATEGORY=CONFIGURATION DESC=Deadman:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 6: Deadman switch
DESC=Belly:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Check:1=Ignore
Bit 7: Belly switch
OBJECT=SPEED_LIMIT
---- ---- ---- ---- Speed Limit Parameters Record N/A N/A ---- When in torque control mode, these parameters specify how quickly the speed limits can change. ---- ----
MASTER=TRUE
291Bh
1 1 RW 2 rpm/s Speed limit increase rate Unsigned16 0 5000 2000 Rate at which speed limit can increase No 0
2 1 RW 2 rpm/s Speed limit decrease rate Unsigned16 0 5000 300 Rate at which speed limit can decrease No 0
OBJECT=GEARBOX_OSC_REDUCTION
Used to slow down the torque ramp at the start of drive to prevent motor oscillation due to a loose SECTION=TractionConfig
---- ---- ---- ---- Gearbox oscillation reduction Record N/A N/A ---- ---- ----
gear box MASTER=TRUE
291Ch
1 1 RW 2 Torque to use slower ramp to Unsigned16 0 1000 0 Torque level up to which the slower ramp is used. No 0
2 1 RW 2 Gear mesh reduction ramp rate Unsigned16 10 10000 10000 Ramp rate No 0
OBJECT=GEARBOX_OSC_REDUCTION
Used to slow down the torque ramp at the start of drive to prevent motor oscillation due to a loose SECTION=TractionConfig
---- ---- ---- ---- Gearbox oscillation reduction Record N/A N/A ---- ---- ----
gear box MASTER=TRUE
291Ch
1 2 RW 2 0.0625 Nm Torque to use slower ramp to Unsigned16 0 FFFFh 0 Torque level up to which the slower ramp is used. No 0
2 2 RW 2 0.0625 Nm/s Gear mesh reduction ramp rate Unsigned16 10 7FFFh 10000 Ramp rate No 0
OBJECT=LIMP_MODE_MAX_THROTTLE
---- ---- ---- ---- Limp Mode Configuration Record N/A N/A ---- Configures the max percentage of throttle demand in limp mode ---- ----
MASTER=TRUE
291Dh CATEGORY=CONFIGURATION

1 1 RW 4 0.001 Limp Mode Throttle Percentage Unsigned16 0 1000 500 1/1000 * throttle demand being applied No 0 EEPROM=misc.limp_mode_max_throttle
OBJECT=MAX_SPEED_LIMIT_RAMP
---- ---- ---- ---- Speed Limit Configuration Record N/A N/A ---- Configures the maximum permissible change in speed limit ---- ----
MASTER=TRUE
291Eh 0 1 RO N/A Number of entries Unsigned8 0 FFh 2 No 0

Maximum rate speed limit may increase. Must be greater than or equal to speed limit ramp up rates
1 1 RW 2 rpm/s Maximum allowable speed limit increase rate Unsigned16 0 FFFFh FFFFh No 0
in all driveability profiles.
Maximum rate speed limit may decrease. Must be greater than or equal to speed limit ramp down
2 1 RW 2 rpm/s Maximum allowable speed limit decrease rate Unsigned16 0 FFFFh FFFFh No 0
rates in all driveability profiles.
OBJECT=CREEP_TORQUE
291Fh 0 1 RW 2 0.001 Creep Torque Unsigned16 0 500 0 Torque demand when throttle value of zero is established No 0
MASTER=TRUE
OBJECT=CREEP_TORQUE
291Fh 0 2 RW 2 0.0625 Nm Creep Torque Unsigned16 0 FFFFh 0 Torque demand when throttle value of zero is established No 0
MASTER=TRUE
OBJECT=CREEP_TORQUE
---- ---- ---- ---- Creep Configuration Record N/A N/A ---- Configures the maximum permissible change in speed limit ---- ----
MASTER=TRUE
291Fh 0 2 RO N/A Number of entries Unsigned8 0 FFh 3 No 0

1 2 RW 2 0.001 Creep Torque Unsigned16 0 500 0 Torque demand when throttle value of zero is established No 0
Set to 0x55 to enable idling creep torque. This outputs creep torque when a direction is selected in
2 2 RW 4 Idling Creep Torque Enable Unsigned8 0 55h 0 No 0 NUMBER_FORMAT=2:0=Disabled:85=Enabled
neutral up to the idling maximum speed.
3 2 RW 2 1 RPM Idling Creep Torque Maximum Speed Unsigned16 0 7FFFh 100 Maximum speed allowed when idling creep torque is output. No 0
OBJECT=DRIVEABILITY_PROFILE
SECTION=TractionDriveability
---- ---- ---- ---- Traction baseline profile Record N/A N/A ---- Baseline profile. This is always applied. ---- ----
MASTER=TRUE

1 1 RW 2 0.1 % Maximum Torque applied during drive Unsigned16 0 1000 1000 Maximum motor torque when in drive. No 0 EEPROM=traction.baseline_pro_0
Maximum motor torque when performing direction change braking; Low limit should be set to 1 for
2 1 RW 2 0.1 % Maximum Torque applied during a direction change Unsigned16 0 1000 500 No 0 EEPROM=traction.baseline_pro_1
DC-SEM only.
Maximum motor torque when performing neutral braking; Low limit should be set to 1 for DC-SEM
3 1 RW 2 0.1 % Maximum Torque applied when neutral braking Unsigned16 0 1000 100 No 0 EEPROM=traction.baseline_pro_2
only.
4 1 RW 2 0.1 % Maximum Torque applied when footbraking Unsigned16 0 1000 500 Maximum motor torque when performing footbraking; Low limit should be set to 1 for DC-SEM only. No 0 EEPROM=traction.baseline_pro_3
5 1 RW 2 rpm Maximum Speed in forward direction Unsigned16 0 20000 5000 Speed limit in forwards direction Yes 0 EEPROM=traction.baseline_pro_4
2920h 6 1 RW 2 rpm Maximum Speed in reverse direction Unsigned16 0 20000 1000 Speed limit in reverse direction Yes 0 EEPROM=traction.baseline_pro_5
7 1 RW 2 0.1 %/s Ramp up rate during drive Unsigned16 10 10000 10000 Rate at which demand increases when in drive No 0 EEPROM=traction.baseline_pro_6
8 1 RW 2 0.1 %/s Ramp up rate during direction change braking Unsigned16 10 10000 10000 Rate at which demand increases when in direction change braking No 0 EEPROM=traction.baseline_pro_7
9 1 RW 2 0.1 %/s Ramp up rate during neutral braking Unsigned16 10 10000 10000 Rate at which demand increases when in neutral braking No 0 EEPROM=traction.baseline_pro_8
10 1 RW 2 0.1 %/s Ramp up rate during footbraking Unsigned16 10 10000 10000 Rate at which demand increases when in footbraking No 0 EEPROM=traction.baseline_pro_9
11 1 RW 2 0.1 %/s Ramp down rate during drive Unsigned16 10 10000 10000 Rate at which demand decreases when in drive No 0 EEPROM=traction.baseline_pro_10
12 1 RW 2 0.1 %/s Ramp down rate during direction change braking Unsigned16 10 10000 10000 Rate at which demand decreases when in direction change braking No 0 EEPROM=traction.baseline_pro_11
13 1 RW 2 0.1 %/s Ramp down rate during neutral braking Unsigned16 10 10000 10000 Rate at which demand decreases when in neutral braking No 0 EEPROM=traction.baseline_pro_12
14 1 RW 2 0.1 %/s Ramp down rate during footbraking Unsigned16 10 10000 10000 Rate at which demand decreases when in footbraking No 0 EEPROM=traction.baseline_pro_13
rpm/s - when in torque mode, this is the rate at which the speed limit can increase. Not used in
15 1 RW 2 rpm/s Unsigned16 0 20000 2000 No 0 EEPROM=traction.baseline_pro_14
Speed limit ramp up rate when in torque mode speed mode.
rpm/s - when in torque mode, this is the rate at which the speed limit can decrease. Not used in
16 1 RW 2 rpm/s Unsigned16 0 20000 300 No 0 EEPROM=traction.baseline_pro_15
Speed limit ramp down rate when in torque mode speed mode.
---- ---- ---- ---- Traction baseline profile Record N/A N/A ---- Baseline profile. This is always applied. ---- ----
MASTER=TRUE

1 2 RW 2 0.0625 Nm Maximum Torque applied during drive Unsigned16 0 7FFFh 1000 Maximum motor torque when in drive. No 0 EEPROM=traction.baseline_pro_0
2920h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
2 2 RW 2 0.0625 Nm Maximum Torque applied during a direction change Unsigned16 0 7FFFh 500 No 0 EEPROM=traction.baseline_pro_1
DC-SEM only.
3 2 RW 2 0.0625 Nm Maximum Torque applied when neutral braking Unsigned16 0 7FFFh 100 No 0 EEPROM=traction.baseline_pro_2
only.
4 2 RW 2 0.0625 Nm Maximum Torque applied when footbraking Unsigned16 0 7FFFh 500 Maximum motor torque when performing footbraking; Low limit should be set to 1 for DC-SEM only. No 0 EEPROM=traction.baseline_pro_3
5 2 RW 2 rpm Maximum Speed in forward direction Unsigned16 10 7FFFh 5000 Speed limit in forwards direction Yes 0 EEPROM=traction.baseline_pro_4
2920h 6 2 RW 2 rpm Maximum Speed in reverse direction Unsigned16 10 7FFFh 1000 Speed limit in reverse direction Yes 0 EEPROM=traction.baseline_pro_5
7 2 RW 2 0.0625 Nm/s Ramp up rate during drive Unsigned16 10 7FFFh 10000 Rate at which demand increases when in drive No 0 EEPROM=traction.baseline_pro_6
8 2 RW 2 0.0625 Nm/s Ramp up rate during direction change braking Unsigned16 10 7FFFh 10000 Rate at which demand increases when in direction change braking No 0 EEPROM=traction.baseline_pro_7
9 2 RW 2 0.0625 Nm/s Ramp up rate during neutral braking Unsigned16 10 7FFFh 10000 Rate at which demand increases when in neutral braking No 0 EEPROM=traction.baseline_pro_8
10 2 RW 2 0.0625 Nm/s Ramp up rate during footbraking Unsigned16 10 7FFFh 10000 Rate at which demand increases when in footbraking No 0 EEPROM=traction.baseline_pro_9
11 2 RW 2 0.0625 Nm/s Ramp down rate during drive Unsigned16 10 7FFFh 10000 Rate at which demand decreases when in drive No 0 EEPROM=traction.baseline_pro_10
12 2 RW 2 0.0625 Nm/s Ramp down rate during direction change braking Unsigned16 10 7FFFh 10000 Rate at which demand decreases when in direction change braking No 0 EEPROM=traction.baseline_pro_11
13 2 RW 2 0.0625 Nm/s Ramp down rate during neutral braking Unsigned16 10 7FFFh 10000 Rate at which demand decreases when in neutral braking No 0 EEPROM=traction.baseline_pro_12
14 2 RW 2 0.0625 Nm/s Ramp down rate during footbraking Unsigned16 10 7FFFh 10000 Rate at which demand decreases when in footbraking No 0 EEPROM=traction.baseline_pro_13
15 2 RW 2 rpm/s Unsigned16 10 7FFFh 2000 No 0 EEPROM=traction.baseline_pro_14
16 2 RW 2 rpm/s Unsigned16 10 7FFFh 300 No 0 EEPROM=traction.baseline_pro_15
---- ---- ---- ---- Driveability Select 1 Profile Record N/A N/A ---- Applied when Driveability Select 1 switch is active. Units are same as Baseline. ---- ----
MASTER=TRUE

1 1 RW 2 0.1 % Maximum Torque applied during drive Unsigned16 0 1000 1000 Maximum motor torque when in drive No 0 EEPROM=traction.drv_sel_1_pro_0
2 1 RW 2 0.1 % Maximum Torque applied during a direction change Unsigned16 0 1000 500 No 0 EEPROM=traction.drv_sel_1_pro_1
DC-SEM only.
3 1 RW 2 0.1 % Maximum Torque applied when neutral braking Unsigned16 0 1000 100 No 0 EEPROM=traction.drv_sel_1_pro_2
only.
4 1 RW 2 0.1 % Maximum Torque applied when footbraking Unsigned16 0 1000 500 Maximum motor torque when performing footbraking; Low limit should be set to 1 for DC-SEM only. No 0 EEPROM=traction.drv_sel_1_pro_3
5 1 RW 2 rpm Maximum Speed in forward direction Unsigned16 0 20000 5000 Speed limit in forwards direction Yes 0 EEPROM=traction.drv_sel_1_pro_4
2921h 6 1 RW 2 rpm Maximum Speed in reverse direction Unsigned16 0 20000 1000 Speed limit in reverse direction Yes 0 EEPROM=traction.drv_sel_1_pro_5
7 1 RW 2 0.1 %/s Ramp up rate during drive Unsigned16 10 10000 10000 Rate at which demand increases when in drive No 0 EEPROM=traction.drv_sel_1_pro_6
8 1 RW 2 0.1 %/s Ramp up rate during direction change braking Unsigned16 10 10000 10000 Rate at which demand increases when in direction change braking No 0 EEPROM=traction.drv_sel_1_pro_7
9 1 RW 2 0.1 %/s Ramp up rate during neutral braking Unsigned16 10 10000 10000 Rate at which demand increases when in neutral braking No 0 EEPROM=traction.drv_sel_1_pro_8
10 1 RW 2 0.1 %/s Ramp up rate during footbraking Unsigned16 10 10000 10000 Rate at which demand increases when in footbraking No 0 EEPROM=traction.drv_sel_1_pro_9
11 1 RW 2 0.1 %/s Ramp down rate during drive Unsigned16 10 10000 10000 Rate at which demand decreases when in drive No 0 EEPROM=traction.drv_sel_1_pro_10
12 1 RW 2 0.1 %/s Ramp down rate during direction change braking Unsigned16 10 10000 10000 Rate at which demand decreases when in direction change braking No 0 EEPROM=traction.drv_sel_1_pro_11
13 1 RW 2 0.1 %/s Ramp down rate during neutral braking Unsigned16 10 10000 10000 Rate at which demand decreases when in neutral braking No 0 EEPROM=traction.drv_sel_1_pro_12
14 1 RW 2 0.1 %/s Ramp down rate during footbraking Unsigned16 10 10000 10000 Rate at which demand decreases when in footbraking No 0 EEPROM=traction.drv_sel_1_pro_13
15 1 RW 2 rpm/s Unsigned16 0 20000 2000 No 0 EEPROM=traction.drv_sel_1_pro_14
MASTER=TRUE

1 2 RW 2 0.0625 Nm Maximum Torque applied during drive Unsigned16 0 7FFFh 1000 Maximum motor torque when in drive No 0 EEPROM=traction.drv_sel_1_pro_0
2 2 RW 2 0.0625 Nm Maximum Torque applied during a direction change Unsigned16 0 7FFFh 500 No 0 EEPROM=traction.drv_sel_1_pro_1
DC-SEM only.
3 2 RW 2 0.0625 Nm Maximum Torque applied when neutral braking Unsigned16 0 7FFFh 100 No 0 EEPROM=traction.drv_sel_1_pro_2
only.
4 2 RW 2 0.0625 Nm Maximum Torque applied when footbraking Unsigned16 0 7FFFh 500 Maximum motor torque when performing footbraking; Low limit should be set to 1 for DC-SEM only. No 0 EEPROM=traction.drv_sel_1_pro_3
5 2 RW 2 rpm Maximum Speed in forward direction Unsigned16 10 7FFFh 5000 Speed limit in forwards direction Yes 0 EEPROM=traction.drv_sel_1_pro_4
2921h 6 2 RW 2 rpm Maximum Speed in reverse direction Unsigned16 10 7FFFh 1000 Speed limit in reverse direction Yes 0 EEPROM=traction.drv_sel_1_pro_5
7 2 RW 2 0.0625 Nm/s Ramp up rate during drive Unsigned16 10 7FFFh 10000 Rate at which demand increases when in drive No 0 EEPROM=traction.drv_sel_1_pro_6
8 2 RW 2 0.0625 Nm/s Ramp up rate during direction change braking Unsigned16 10 7FFFh 10000 Rate at which demand increases when in direction change braking No 0 EEPROM=traction.drv_sel_1_pro_7
9 2 RW 2 0.0625 Nm/s Ramp up rate during neutral braking Unsigned16 10 7FFFh 10000 Rate at which demand increases when in neutral braking No 0 EEPROM=traction.drv_sel_1_pro_8
10 2 RW 2 0.0625 Nm/s Ramp up rate during footbraking Unsigned16 10 7FFFh 10000 Rate at which demand increases when in footbraking No 0 EEPROM=traction.drv_sel_1_pro_9
11 2 RW 2 0.0625 Nm/s Ramp down rate during drive Unsigned16 10 7FFFh 10000 Rate at which demand decreases when in drive No 0 EEPROM=traction.drv_sel_1_pro_10
12 2 RW 2 0.0625 Nm/s Ramp down rate during direction change braking Unsigned16 10 7FFFh 10000 Rate at which demand decreases when in direction change braking No 0 EEPROM=traction.drv_sel_1_pro_11
13 2 RW 2 0.0625 Nm/s Ramp down rate during neutral braking Unsigned16 10 7FFFh 10000 Rate at which demand decreases when in neutral braking No 0 EEPROM=traction.drv_sel_1_pro_12
14 2 RW 2 0.0625 Nm/s Ramp down rate during footbraking Unsigned16 10 7FFFh 10000 Rate at which demand decreases when in footbraking No 0 EEPROM=traction.drv_sel_1_pro_13
15 2 RW 2 rpm/s Unsigned16 10 7FFFh 2000 No 0 EEPROM=traction.drv_sel_1_pro_14
MASTER=TRUE

DC-SEM only.
only.
MASTER=TRUE

1 2 RW 2 0.0625 Nm Maximum Torque applied during drive Unsigned16 0 7FFFh 1000 Maximum motor torque when in drive No 0 EEPROM=traction.drv_sel_2_pro_0
2 2 RW 2 0.0625 Nm Maximum Torque applied during a direction change Unsigned16 0 7FFFh 500 No 0 EEPROM=traction.drv_sel_2_pro_1
DC-SEM only.
3 2 RW 2 0.0625 Nm Maximum Torque applied when neutral braking Unsigned16 0 7FFFh 100 No 0 EEPROM=traction.drv_sel_2_pro_2
only.
4 2 RW 2 0.0625 Nm Maximum Torque applied when footbraking Unsigned16 0 7FFFh 500 Maximum motor torque when performing footbraking; Low limit should be set to 1 for DC-SEM only. No 0 EEPROM=traction.drv_sel_2_pro_3
5 2 RW 2 rpm Maximum Speed in forward direction Unsigned16 10 7FFFh 5000 Speed limit in forwards direction Yes 0 EEPROM=traction.drv_sel_2_pro_4
2922h 6 2 RW 2 rpm Maximum Speed in reverse direction Unsigned16 10 7FFFh 1000 Speed limit in reverse direction Yes 0 EEPROM=traction.drv_sel_2_pro_5
7 2 RW 2 0.0625 Nm/s Ramp up rate during drive Unsigned16 10 7FFFh 10000 Rate at which demand increases when in drive No 0 EEPROM=traction.drv_sel_2_pro_6
8 2 RW 2 0.0625 Nm/s Ramp up rate during direction change braking Unsigned16 10 7FFFh 10000 Rate at which demand increases when in direction change braking No 0 EEPROM=traction.drv_sel_2_pro_7
9 2 RW 2 0.0625 Nm/s Ramp up rate during neutral braking Unsigned16 10 7FFFh 10000 Rate at which demand increases when in neutral braking No 0 EEPROM=traction.drv_sel_2_pro_8
10 2 RW 2 0.0625 Nm/s Ramp up rate during footbraking Unsigned16 10 7FFFh 10000 Rate at which demand increases when in footbraking No 0 EEPROM=traction.drv_sel_2_pro_9
11 2 RW 2 0.0625 Nm/s Ramp down rate during drive Unsigned16 10 7FFFh 10000 Rate at which demand decreases when in drive No 0 EEPROM=traction.drv_sel_2_pro_10
12 2 RW 2 0.0625 Nm/s Ramp down rate during direction change braking Unsigned16 10 7FFFh 10000 Rate at which demand decreases when in direction change braking No 0 EEPROM=traction.drv_sel_2_pro_11
13 2 RW 2 0.0625 Nm/s Ramp down rate during neutral braking Unsigned16 10 7FFFh 10000 Rate at which demand decreases when in neutral braking No 0 EEPROM=traction.drv_sel_2_pro_12
14 2 RW 2 0.0625 Nm/s Ramp down rate during footbraking Unsigned16 10 7FFFh 10000 Rate at which demand decreases when in footbraking No 0 EEPROM=traction.drv_sel_2_pro_13
This profile is active when the High Speed function is in the Low Speed state. Units are same as SECTION=TractionDriveability
---- ---- ---- ---- Low Speed Profile Record N/A N/A ---- ---- ----
Baseline. MASTER=TRUE

1 1 RW 2 0.1 % Maximum Torque applied during drive Unsigned16 0 1000 1000 Maximum motor torque when in drive No 0 EEPROM=traction.low_speed_pro_0
2 1 RW 2 0.1 % Maximum Torque applied during a direction change Unsigned16 0 1000 500 No 0 EEPROM=traction.low_speed_pro_1
DC-SEM only.
3 1 RW 2 0.1 % Maximum Torque applied when neutral braking Unsigned16 0 1000 100 No 0 EEPROM=traction.low_speed_pro_2
only.
4 1 RW 2 0.1 % Maximum Torque applied when footbraking Unsigned16 0 1000 500 Maximum motor torque when performing footbraking; Low limit should be set to 1 for DC-SEM only. No 0 EEPROM=traction.low_speed_pro_3
5 1 RW 2 rpm Maximum Speed in forward direction Unsigned16 0 20000 5000 Speed limit in forwards direction No 0 EEPROM=traction.low_speed_pro_4
2923h 6 1 RW 2 rpm Maximum Speed in reverse direction Unsigned16 0 20000 1000 Speed limit in reverse direction No 0 EEPROM=traction.low_speed_pro_5
7 1 RW 2 0.1 %/s Ramp up rate during drive Unsigned16 10 10000 10000 Rate at which demand increases when in drive No 0 EEPROM=traction.low_speed_pro_6
8 1 RW 2 0.1 %/s Ramp up rate during direction change braking Unsigned16 10 10000 10000 Rate at which demand increases when in direction change braking No 0 EEPROM=traction.low_speed_pro_7
9 1 RW 2 0.1 %/s Ramp up rate during neutral braking Unsigned16 10 10000 10000 Rate at which demand increases when in neutral braking No 0 EEPROM=traction.low_speed_pro_8
10 1 RW 2 0.1 %/s Ramp up rate during footbraking Unsigned16 10 10000 10000 Rate at which demand increases when in footbraking No 0 EEPROM=traction.low_speed_pro_9
11 1 RW 2 0.1 %/s Ramp down rate during drive Unsigned16 10 10000 10000 Rate at which demand decreases when in drive No 0 EEPROM=traction.low_speed_pro_10
12 1 RW 2 0.1 %/s Ramp down rate during direction change braking Unsigned16 10 10000 10000 Rate at which demand decreases when in direction change braking No 0 EEPROM=traction.low_speed_pro_11
13 1 RW 2 0.1 %/s Ramp down rate during neutral braking Unsigned16 10 10000 10000 Rate at which demand decreases when in neutral braking No 0 EEPROM=traction.low_speed_pro_12
14 1 RW 2 0.1 %/s Ramp down rate during footbraking Unsigned16 10 10000 10000 Rate at which demand decreases when in footbraking No 0 EEPROM=traction.low_speed_pro_13
15 1 RW 2 rpm/s Unsigned16 0 20000 2000 No 0 EEPROM=traction.low_speed_pro_14
16 1 RW 2 rpm/s Unsigned16 0 20000 300 No 0 EEPROM=traction.low_speed_pro_15
---- ---- ---- ---- BDI Low Profile Record N/A N/A ---- Applied when BDI Remaining Charge has dropped below Cutout Level. Units are same as Baseline. ---- ----
MASTER=TRUE

1 1 RW 2 0.1 % Maximum Torque applied during drive Unsigned16 0 1000 1000 Maximum motor torque when in drive No 0 EEPROM=traction.bdi_low_pro_0
2 1 RW 2 0.1 % Maximum Torque applied during a direction change Unsigned16 0 1000 500 No 0 EEPROM=traction.bdi_low_pro_1
DC-SEM only.
3 1 RW 2 0.1 % Maximum Torque applied when neutral braking Unsigned16 0 1000 100 No 0 EEPROM=traction.bdi_low_pro_2
only.
4 1 RW 2 0.1 % Maximum Torque applied when footbraking Unsigned16 0 1000 500 Maximum motor torque when performing footbraking; Low limit should be set to 1 for DC-SEM only. No 0 EEPROM=traction.bdi_low_pro_3
5 1 RW 2 rpm Maximum Speed in forward direction Unsigned16 0 20000 5000 Speed limit in forwards direction No 0 EEPROM=traction.bdi_low_pro_4
2924h 6 1 RW 2 rpm Maximum Speed in reverse direction Unsigned16 0 20000 1000 Speed limit in reverse direction No 0 EEPROM=traction.bdi_low_pro_5
7 1 RW 2 0.1 %/s Ramp up rate during drive Unsigned16 10 10000 10000 Rate at which demand increases when in drive No 0 EEPROM=traction.bdi_low_pro_6
8 1 RW 2 0.1 %/s Ramp up rate during direction change braking Unsigned16 10 10000 10000 Rate at which demand increases when in direction change braking No 0 EEPROM=traction.bdi_low_pro_7
9 1 RW 2 0.1 %/s Ramp up rate during neutral braking Unsigned16 10 10000 10000 Rate at which demand increases when in neutral braking No 0 EEPROM=traction.bdi_low_pro_8
10 1 RW 2 0.1 %/s Ramp up rate during footbraking Unsigned16 10 10000 10000 Rate at which demand increases when in footbraking No 0 EEPROM=traction.bdi_low_pro_9
11 1 RW 2 0.1 %/s Ramp down rate during drive Unsigned16 10 10000 10000 Rate at which demand decreases when in drive No 0 EEPROM=traction.bdi_low_pro_10
12 1 RW 2 0.1 %/s Ramp down rate during direction change braking Unsigned16 10 10000 10000 Rate at which demand decreases when in direction change braking No 0 EEPROM=traction.bdi_low_pro_11
13 1 RW 2 0.1 %/s Ramp down rate during neutral braking Unsigned16 10 10000 10000 Rate at which demand decreases when in neutral braking No 0 EEPROM=traction.bdi_low_pro_12
14 1 RW 2 0.1 %/s Ramp down rate during footbraking Unsigned16 10 10000 10000 Rate at which demand decreases when in footbraking No 0 EEPROM=traction.bdi_low_pro_13
15 1 RW 2 rpm/s Unsigned16 0 20000 2000 No 0 EEPROM=traction.bdi_low_pro_14
16 1 RW 2 rpm/s Unsigned16 0 20000 300 No 0 EEPROM=traction.bdi_low_pro_15
---- ---- ---- ---- Service Profile Record N/A N/A ---- Applied when vehicle service is required. ---- ----
MASTER=TRUE

1 1 RW 2 0.1 % Maximum Torque applied during drive Unsigned16 0 1000 1000 Maximum motor torque when in drive No 0 EEPROM=traction.service_pro_0
2 1 RW 2 0.1 % Maximum Torque applied during a direction change Unsigned16 0 1000 500 No 0 EEPROM=traction.service_pro_1
DC-SEM only.
3 1 RW 2 0.1 % Maximum Torque applied when neutral braking Unsigned16 0 1000 100 No 0 EEPROM=traction.service_pro_2
only.
2925h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
4 1 RW 2 0.1 % Maximum Torque applied when footbraking Unsigned16 0 1000 500 Maximum motor torque when performing footbraking; Low limit should be set to 1 for DC-SEM only. No 0 EEPROM=traction.service_pro_3
5 1 RW 2 rpm Maximum Speed in forward direction Unsigned16 0 20000 5000 Speed limit in forwards direction No 0 EEPROM=traction.service_pro_4
2925h 6 1 RW 2 rpm Maximum Speed in reverse direction Unsigned16 0 20000 1000 Speed limit in reverse direction No 0 EEPROM=traction.service_pro_5
7 1 RW 2 0.1 %/s Ramp up rate during drive Unsigned16 10 10000 10000 Rate at which demand increases when in drive No 0 EEPROM=traction.service_pro_6
8 1 RW 2 0.1 %/s Ramp up rate during direction change braking Unsigned16 10 10000 10000 Rate at which demand increases when in direction change braking No 0 EEPROM=traction.service_pro_7
9 1 RW 2 0.1 %/s Ramp up rate during neutral braking Unsigned16 10 10000 10000 Rate at which demand increases when in neutral braking No 0 EEPROM=traction.service_pro_8
10 1 RW 2 0.1 %/s Ramp up rate during footbraking Unsigned16 10 10000 10000 Rate at which demand increases when in footbraking No 0 EEPROM=traction.service_pro_9
11 1 RW 2 0.1 %/s Ramp down rate during drive Unsigned16 10 10000 10000 Rate at which demand decreases when in drive No 0 EEPROM=traction.service_pro_10
12 1 RW 2 0.1 %/s Ramp down rate during direction change braking Unsigned16 10 10000 10000 Rate at which demand decreases when in direction change braking No 0 EEPROM=traction.service_pro_11
13 1 RW 2 0.1 %/s Ramp down rate during neutral braking Unsigned16 10 10000 10000 Rate at which demand decreases when in neutral braking No 0 EEPROM=traction.service_pro_12
14 1 RW 2 0.1 %/s Ramp down rate during footbraking Unsigned16 10 10000 10000 Rate at which demand decreases when in footbraking No 0 EEPROM=traction.service_pro_13
15 1 RW 2 rpm/s Unsigned16 0 20000 2000 No 0 EEPROM=traction.service_pro_14
16 1 RW 2 rpm/s Unsigned16 0 20000 300 No 0 EEPROM=traction.service_pro_15
OBJECT=BELT_SPEED
SECTION=BeltConfig
---- ---- ---- ---- Beltloader parameters Record N/A N/A ---- Configure vehicle Belt speed behavior ---- ----
MASTER=TRUE
1 1 RW 2 rpm Belt speed 1 Unsigned16 0 20000 100 Belt speed 1 No 0 EEPROM=misc.beltloader_speed_1
OBJECT=LIMP_MODE_MAX_THROTTLE
---- ---- ---- ---- Torque Limit Ramp Parameters Record N/A N/A ---- Configures the max percentage of throttle demand in limp mode ---- ----
MASTER=TRUE
2927h
1 1 RW 4 0.1 %/s Torque Limit Ramp Up Rate Unsigned16 0 FFFFh 500 Rate at which torque limit can increase when vehicle configured in speed mode No 0 EEPROM=misc.torque_limit_ramp_rate
1 2 RW 4 0.0625 Nm/s Torque Limit Ramp Up Rate Unsigned16 100 FFFFh 500 Rate at which torque limit can increase when vehicle configured in speed mode No 0 EEPROM=misc.torque_limit_ramp_rate
OBJECT=SEAT_REGEN
SECTION=SeatConfig
---- ---- ---- ---- Seat Regen Parameters Record N/A N/A ---- Configure vehicle Seat Regen behavior ---- ----
MASTER=TRUE

2928h
1 1 RW 2 0.1 % Maximum Torque applied during seat activated braking Unsigned16 0 1000 500 Maximum torque when in seat switch activated braking No 0 EEPROM=misc.seat_max_braking_torque
2 1 RW 2 0.1 %/s Ramp up rate during seat activated braking Unsigned16 0 10000 10000 Rate at which demand increases when in seat switch activated braking No 0 EEPROM=misc.seat_regen_ramp_up_rate
3 1 RW 2 0.1 %/s Ramp down rate during seat activated braking Unsigned16 0 10000 10000 Rate at which demand decreases when in seat switch activated braking No 0 EEPROM=misc.seat_regen_ramp_down_rate
4 1 RW 2 rpm vehicle stationary speed Unsigned16 0 1000 10 Speed at which the vehicle is considered stationary for activation of the seat switch regen settings No 0 EEPROM=misc.stationary_speed
OBJECT=SEAT_REGEN
SECTION=SeatConfig
---- ---- ---- ---- Seat Regen Parameters Record N/A N/A ---- Configure vehicle Seat Regen behavior ---- ----
MASTER=TRUE

2928h
1 2 RW 2 0.0625 Nm Maximum Torque applied during seat activated braking Unsigned16 0 FFFFh 500 Maximum torque when in seat switch activated braking No 0 EEPROM=misc.seat_max_braking_torque
2 2 RW 2 0.0625 Nm/s Ramp up rate during seat activated braking Unsigned16 0 FFFFh 10000 Rate at which demand increases when in seat switch activated braking No 0 EEPROM=misc.seat_regen_ramp_up_rate
3 2 RW 2 0.0625 Nm/s Ramp down rate during seat activated braking Unsigned16 0 FFFFh 10000 Rate at which demand decreases when in seat switch activated braking No 0 EEPROM=misc.seat_regen_ramp_down_rate
4 2 RW 2 rpm vehicle stationary speed Unsigned16 0 FFFFh 10 Speed at which the vehicle is considered stationary for activation of the seat switch regen settings No 0 EEPROM=misc.stationary_speed
OBJECT=DIR_CHANGE
SECTION=DirChangeConfig
---- ---- ---- ---- Direction change Parameters Record N/A N/A ---- Configure direction change behavior ---- ----
MASTER=TRUE
2929h
EEPROM=misc.dir_change_cfg.enabled
1 1 RW 4 Direction supervision enable Unsigned8 0 1 0 0 = Disabled, 1 = Enabled No 0
2 1 RW 2 rpm Max speed to allow direction change Unsigned16 0 1000 200 Speed below which direction change is allowed (in 16.0 RPM) No 0 EEPROM=misc.dir_change_cfg.max_speed_for_dir_change
OBJECT=ROLL_OFF_PARAM
---- ---- ---- ---- Controlled Roll Off parameters Record N/A N/A ---- ---- ----
MASTER=TRUE

2930h EEPROM=traction.roll_off_enabled
1 1 RW 2 Controlled Roll Off Boolean 0 1 1 0 = Disabled, 1 = Enabled No 0 NUMBER_FORMAT=2:0=Disabled:1=Enabled
2 1 RW 2 0.1 % Maximum torque applied in Controlled Roll Off Unsigned16 0 1000 1000 Vehicle torque limit when in rolloff No 0 EEPROM=traction.roll_off_maximum_torque
2 2 RW 2 0.0625 Nm Maximum torque applied in Controlled Roll Off Unsigned16 0 7FFFh 0050h Vehicle torque limit when in rolloff No 0 EEPROM=traction.roll_off_maximum_torque
3 1 RW 2 rpm Maximum speed allowed in Controlled Roll Off Unsigned16 0 6000 100 Vehicle speed limit when in rolloff No 0 EEPROM=traction.roll_off_maximum_speed
---- ---- ---- ---- Driveability Select Profile Triggers Record N/A N/A ---- ---- ----
MASTER=TRUE
Bit 0 - Low BDI activates profile DESC=Low BDI activates profile:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled

Bit 1 - Low speed activates profile DESC=Low speed activates profile:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 2 - Service interval activates profile EEPROM=misc.drv_sel_triggers_pro1 DESC=Service interval activates profile:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
1 1 RW 2 Driveability Select 1 Profile Triggers Unsigned8 0 FFh 0 No 0
Bit 3 - Battery Electrolyte Low activates profile WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Battery Electrolyte Low activates profile:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 4 - BDI Deep Discharge activates profile DESC=BDI Deep Discharge activates profile:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 5 - Drive Profile 3 switch activates profile DESC=Drive Profile 3 switch activates profile:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled

Bit 2 - Service interval activates profile EEPROM=misc.drv_sel_triggers_pro2 DESC=Service interval activates profile:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
2 1 RW 2 Driveability Select 2 Profile Triggers Unsigned8 0 FFh 0 No 0
Bit 3 - Battery Electrolyte Low activates profile WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Battery Electrolyte Low activates profile:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
2931h Bit 4 - BDI Deep Discharge activates profile DESC=BDI Deep Discharge activates profile:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 5 - Drive Profile 3 switch activates profile DESC=Drive Profile 3 switch activates profile:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
EEPROM=misc.use_active_profile_only
0=Standard profile consolidation, i.e. lowest value from each profile, 1=only use values from NUMBER_FORMAT=2:0=Use lowest values from all active
3 1 RW 2 Use active driveability values only Boolean 0 1 0 No 0
selected profile profiles:1=Use active profile only

EEPROM=misc.drv_sel_triggers_pro3
4 1 RW 2 Driveability Select 3 Profile Triggers Unsigned8 0 FFh 0 Bit 2 - Service interval activates profile No 0 DESC=Service interval activates profile:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 3 - Battery Electrolyte Low activates profile DESC=Battery Electrolyte Low activates profile:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled

EEPROM=misc.drv_sel_triggers_pro4
5 1 RW 2 Driveability Select 4 Profile Triggers Unsigned8 0 FFh 0 Bit 2 - Service interval activates profile No 0 DESC=Service interval activates profile:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 3 - Battery Electrolyte Low activates profile DESC=Battery Electrolyte Low activates profile:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
OBJECT=TOW_MODE
2932h 0 1 RW 2 Tow mode Boolean 0 1 0 Set to enable tow mode. Allows pump to run and releases brakes, but prevents drive. No 0
MASTER=TRUE
OBJECT=TORQUE_S_CURVE
2933h 0 1 RW 4 Torque demand S-curve Unsigned8 0 10 0 Configures s-curve value for torque demands No 0
MASTER=TRUE
OBJECT=DIRECTION_BRAKING_CONFIG
---- ---- ---- ---- Direction Braking Configuration Record N/A N/A ---- Miscellaneous configuration relating to direction braking. ---- ----
MASTER=TRUE
2934h
The direction braking torque is multiplied by this percentage to calculate the minimum braking torque
1 1 RW 2 1 % Minimum percentage for proportional direction braking. Unsigned8 5 100 50 No 0
when throttle = 0% for proportional direction braking.
OBJECT=GEAR_SELECT_CONFIG
---- ---- ---- ---- Gear Select Configuration Record N/A N/A ---- Configures Gear Select parameters ---- ----
MASTER=TRUE
2935h CATEGORY=CONFIGURATION

1 1 RW 4 0.00390625 V Analogue output voltage Unsigned16 0 FFFFh 0 The output voltage set when the output is activated No 0 EEPROM=misc.gear_select_ao_voltage
MASTER=TRUE

DC-SEM only.
only.
MASTER=TRUE

DC-SEM only.
only.
OBJECT=ODOMETER_COUNTER
---- ---- ---- ---- Odometer Counter Record N/A N/A ---- Odometer Counter ---- ---- SECTION=OdometerCounter
CATEGORY=LOGGING
29A0h
1 1 RO N/A 0.00390625 km Odometer distance in Km Unsigned32 0 FFFFFFFFh 0 Distance in Km recorded from vehicle speed 2721h in 24.8 format Yes 0
1 2 RW 4 0.00390625 km Odometer distance in Km Unsigned32 0 FFFFFFFFh 0 Distance in Km recorded from vehicle speed 2721h in 24.8 format. Can be increased only. Yes 1
2 1 RO N/A 0.1 km Odometer distance in Km Unsigned32 0 FFFFFFFFh 0 Distance in Km recorded from vehicle speed 2721h in 0.1km/bit Yes 0
3 1 RO N/A 0.1 miles Odometer distance in miles Unsigned32 0 FFFFFFFFh 0 Distance in miles recorded from vehicle speed 2721h in 0.1miles/bit Yes 0
OBJECT=TRIP_METER_COUNTER
---- ---- ---- ---- Trip Meter Counter Record N/A N/A ---- Trip Meter Counter ---- ---- SECTION=OdometerCounter
CATEGORY=LOGGING
29A1h 0 1 RO N/A Number of entries Unsigned8 0 FFh 2 No 0

1 1 RO N/A 0.00390625 km Trip Distance in km Unsigned32 FFFFFFFFh 0 Distance in Km recorded from vehicle speed 2721h in 24.8 format Yes 0
Column Reserved
Column Reserved
29A1h Sub- Access Access High Limit
Index
Index
Version [1]
Type [2] Level
[4]
2 1 RO N/A 0.1 km Trip Distance in km Unsigned32 0 FFFFFFFFh 0 Distance in Km recorded from vehicle speed 2721h in 0.1km/bit Yes 0
3 1 RO N/A 0.1 miles Trip Distance in miles Unsigned32 0 FFFFFFFFh 0 Distance in miles recorded from vehicle speed 2721h in 0.1miles/bit Yes 0
OBJECT=PUMP_PARAM
SECTION=PumpConfig
---- ---- ---- ---- General Pump Features Record N/A N/A ---- Enable/disable general pump features. ---- ----
MASTER=TRUE
Set bit to enable feature:

Bit 0 - Low BDI inhibits pump. DESC=BDI Inhibit:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Ignored:1=Inhibits pump
Bit 1 - Drive enable switch disables pump. DESC=Drive Enable:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Ignored:1=Disables pump
Bit 2 - Seat switch disables pump (after seat delay (0x2902) has expired). DESC=Seat Switch:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Ignored:1=Disables pump
1 1 RW 4 Pump Flags Unsigned8 0 FFh 0 Bit 3 - Ignore Line Contactor. Pump is allowed to run regardless of the line contactor state. Useful if No 0 DESC=Line Contactor:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Ignored:1=Disables pump
EEPROM=pump.general_flags
the pump provides power steering. DESC=Compensated Power Steer:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Off:1=On
Bit 4 - Include Power Steer target velocity DESC=Minimum speed without trigger:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 5 - Minimum speed without trigger (gives minimum speed regardless of trigger if true) DESC=Pump to stop on low battery:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 6 - Pump to stop on low battery

2A00h Bit 3 - Ignore Line Contactor. Pump is allowed to run regardless of the line contactor state. Useful if WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Line Contactor:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Ignored:1=Disables pump
1 2 RW 4 Pump Flags Unsigned8 0 FFh 0 No 0
the pump provides power steering. EEPROM=pump.general_flags DESC=Add Power Steer Speed to Pump Speed:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Off:1=On
Bit 4 - Power steer target velocity is added on to pump target velocity DESC=Minimum speed without trigger:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 6 - Pump to stop on low battery DESC=Use power steer speed as minimum pump speed:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Off:1=On
Bit 7 - Power steer target velocity is used as a minimum value for pump target velocity

Bit 3 - Ignore Line Contactor. Pump is allowed to run regardless of the line contactor state. Useful if DESC=Line Contactor:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disables pump:1=Ignored
1 3 RW 4 Pump Flags Unsigned16 0 FFFFh 0 the pump provides power steering. No 0 DESC=Add Power Steer Speed to Pump Speed:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Off:1=On
Bit 4 - Power steer target velocity is added on to pump target velocity DESC=Minimum speed without trigger:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 6 - Pump to stop on low battery DESC=Use power steer speed as minimum pump speed:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Off:1=On
Bit 7 - Power steer target velocity is used as a minimum value for pump target velocity DESC=Use power steer motor as 2nd pump motor:HEX_MASK=100:MIN=0:MAX=1:NF=2:0=Off:1=On
Bit 8 - Allow Power Steer Motor 0x2060 to be used as a 2nd Pump Motor
2 1 RW 2 0.390625 % Pump pressure switch cutback strength Unsigned8 0 FFh 80h Factor by which pump speed demand will reduce when pump pressure switch is closed No 0 EEPROM=misc.pump_pressure_cutback
3 1 RW 2 S Pump pressure switch cutback delay Unsigned8 0 FFh 5 Time between pump pressure switch closing and cutback activating No 0 EEPROM=misc.pump_pressure_cutback_delay
OBJECT=PUMP_MOTOR_PARAM
Data on pump motors required by the Master node. Note: This information may be repeated in the SECTION=PumpConfig
---- ---- ---- ---- Pump Motor Parameters Record N/A N/A ---- ---- ----

1 1 RW 2 1 RPM Pump Motor Maximum Speed Unsigned16 0 6000 2500 Values for throttle and switch inputs is multiplied by this to calculate the pump target velocity. No 0 EEPROM=pump.motor_max_speed
2A01h 2 1 RW 2 1 RPM Pump Motor Minimum Speed Unsigned16 0 6000 0 minimum speed for pump motor No 0 EEPROM=pump.motor_min_speed
3 1 RW 2 0.00390625 Hz Pump Motor Acceleration Rate Unsigned16 10 FFFFh 128 1/256 1/s/bit. Time taken to reach max pump speed from 0. No 0 EEPROM=pump.motor_acceleration
3 2 RW 2 1 rpm/s Pump Motor Acceleration Rate Unsigned16 10 FFFFh 1000 rpm/s. Rate at which pump speed increases No 0 EEPROM=pump.motor_acceleration
4 1 RW 2 0.00390625 Hz Pump Motor Deceleration Rate Unsigned16 10 FFFFh 1280 1/256 1/s/bit. Time taken to reach 0 from max pump speed. No 0 EEPROM=pump.motor_deceleration
4 2 RW 2 1 rpm/s Pump Motor Deceleration Rate Unsigned16 10 FFFFh 1000 rpm/s. Rate at which pump speed decreases No 0 EEPROM=pump.motor_deceleration
5 1 RW 2 0.001 Maximum Torque Applied in Baseline Profile Unsigned16 0 1000 1000 No 0 EEPROM=misc.pump_base_torque_limit
5 2 RW 2 0.0625 Nm Maximum Torque Applied in Baseline Profile Unsigned16 0 7FFFh 1000 No 0 EEPROM=misc.pump_base_torque_limit
OBJECT=PUMP_THROTTLE_PARAM
SECTION=PUMPCONFIG
---- ---- ---- ---- Pump Throttle 1 parameters Record N/A N/A ---- Parameters to configure pump throttle 1 input. ---- ----
MASTER=TRUE

1 1 RW 4 Priority Level / Additive Unsigned8 0 FFh 0 Sets input priority. The higher the value, the higher the priority. If set to 0, then input is additive. No 0
EEPROM=pump.throttles_0_priority
NUMBER_FORMAT=4
2 1 RW 1 Input Characteristic Unsigned8 0 3 1 0 = User Defined (sub-indices 7-12), 1 = Linear, 2 = Curved, 3 = Crawl No 0
EEPROM=pump.throttles_0_ip_char
2A10h
3 1 RW 1 0.00390625 V Pump throttle 1 Start Voltage Unsigned16 0 FFFFh 16 Same units as 2240h No 0 EEPROM=pump.throttles_0_ip_start_voltage
4 1 RW 2 0.00003051850948 Pump throttle 1 Start Value Integer16 0 32767 0 In range 0 to 32767, where 32767 = Maximum pump speed No 0 EEPROM=pump.throttles_0_ip_start_value
5 1 RW 1 0.00390625 V Pump throttle 1 End Voltage Unsigned16 0 FFFFh 1309 As above No 0 EEPROM=pump.throttles_0_ip_end_voltage
6 1 RW 2 0.00003051850948 Pump throttle 1 End Value Integer16 0 32767 32767 As above No 0 EEPROM=pump.throttles_0_ip_end_value
7 1 RW 4 0.0000152590219 User Defined Char Pt 1 Voltage Unsigned16 0 FFFFh 9830 Voltage is normalized 0 - 65535 No 0 EEPROM=pump.throttles_0_ud_map_0_voltage
8 1 RW 4 0.0000152590219 User Defined Char Pt 1 Value Unsigned16 0 FFFFh 9830 Value is normalized 0 - 65535 No 0 EEPROM=pump.throttles_0_ud_map_0_value
9 1 RW 4 0.0000152590219 User Defined Char Pt 2 Voltage Unsigned16 0 FFFFh 19660 As above No 0 EEPROM=pump.throttles_0_ud_map_1_voltage
10 1 RW 4 0.0000152590219 User Defined Char Pt 2 Value Unsigned16 0 FFFFh 32767 As above No 0 EEPROM=pump.throttles_0_ud_map_1_value
OBJECT=PUMP_THROTTLE_PARAM
SECTION=PUMPCONFIG
---- ---- ---- ---- Pump Throttle 2 parameters Record N/A N/A ---- Parameters to configure pump throttle 2 input. ---- ----
MASTER=TRUE

EEPROM=pump.throttles_1_priority
NUMBER_FORMAT=4
2 1 RW 2 Input Characteristic Unsigned8 0 3 1 0 = User Defined (sub-indices 7-12), 1 = Linear, 2 = Curved, 3 = Crawl No 0
EEPROM=pump.throttles_1_ip_char
2A11h
3 1 RW 2 0.00390625 V Pump throttle 2 Start Voltage Unsigned16 0 FFFFh 16 Same units as 2240h No 0 EEPROM=pump.throttles_1_ip_start_voltage
4 1 RW 2 0.00003051850948 Pump throttle 2 Start Value Integer16 0 32767 0 In range 0 to 32767, where 32767 = Maximum pump speed No 0 EEPROM=pump.throttles_1_ip_start_value
5 1 RW 2 0.00390625 V Pump throttle 2 End Voltage Unsigned16 0 FFFFh 1309 As above No 0 EEPROM=pump.throttles_1_ip_end_voltage
6 1 RW 2 0.00003051850948 Pump throttle 2 End Value Integer16 0 32767 32767 As above No 0 EEPROM=pump.throttles_1_ip_end_value
7 1 RW 4 0.0000152590219 User Defined Char Pt 1 Voltage Unsigned16 0 FFFFh 9830 Voltage is normalized 0 - 65535 No 0 EEPROM=pump.throttles_1_ud_map_0_voltage
8 1 RW 4 0.0000152590219 User Defined Char Pt 1 Value Unsigned16 0 FFFFh 9830 Value is normalized 0 - 65535 No 0 EEPROM=pump.throttles_1_ud_map_0_value
OBJECT=PUMP_SWITCH_PARAM
SECTION=PUMPCONFIG
---- ---- ---- ---- Pump Switch 1 parameters Record N/A N/A ---- Parameters to configure pump switch 1 input. ---- ----
MASTER=TRUE
2A20h
EEPROM=pump.switches_0_priority
2 1 RW 2 0.00003051850948 Pump Switch 1 Value Integer16 0 32767 0 In range 0 to 32767, where 32767 = Maximum pump speed No 0 EEPROM=pump.switches_0_value
SECTION=PUMPCONFIG
MASTER=TRUE
2A21h
SECTION=PUMPCONFIG
MASTER=TRUE
2A22h
SECTION=PUMPCONFIG
MASTER=TRUE
2A23h
SECTION=PUMPCONFIG
MASTER=TRUE
2A24h
SECTION=PUMPCONFIG
MASTER=TRUE
2A25h
SECTION=PUMPCONFIG
MASTER=TRUE
2A26h
OBJECT=PUMP_PROFILE_PARAM
SECTION=PUMPCONFIG
---- ---- ---- ---- Pump Driveability Profile 1 parameters Record N/A N/A ---- Pump driveability profile 1 parameter. Active when pump driveability profile 1 switch is active. ---- ----
MASTER=TRUE

1 1 RW 2 0.00390625 Hz Maximum Pump Motor Acceleration Rate Unsigned16 0 10000 10000 No 0 EEPROM=misc.pump_drv1_accel_rate
1 2 RW 2 1 rpm/s Maximum Pump Motor Acceleration Rate Unsigned16 0 10000 10000 No 0 EEPROM=misc.pump_drv1_accel_rate
2 1 RW 2 0.00390625 Hz Maximum Pump Motor Deceleration Rate Unsigned16 0 10000 10000 No 0 EEPROM=misc.pump_drv1_decel_rate
2 2 RW 2 1 rpm/s Maximum Pump Motor Deceleration Rate Unsigned16 0 10000 10000 No 0 EEPROM=misc.pump_drv1_decel_rate
3 1 RW 2 0.00003051850948 Maximum Pump Throttle 1 Value Integer16 0 32767 32767 No 0 EEPROM=misc.pump_drv1_value0
2A30h 4 1 RW 2 0.00003051850948 Maximum Pump Throttle 2 Value Integer16 0 32767 32767 No 0 EEPROM=misc.pump_drv1_value0
5 1 RW 2 0.00003051850948 Maximum Pump Switch 1 Value Integer16 0 32767 32767 No 0 EEPROM=misc.pump_drv1_value0
12 1 RW 2 0.001 Maximum Torque Applied in Pump Driveability Profile 1 Unsigned16 0 1000 1000 No 0 EEPROM=misc.pump_drv1_torque_limit
12 2 RW 2 0.0625 Nm Maximum Torque Applied in Pump Driveability Profile 1 Unsigned16 0 7FFFh 1000 No 0 EEPROM=misc.pump_drv1_torque_limit
OBJECT=PUMP_PROFILE_PARAM
SECTION=PUMPCONFIG
---- ---- ---- ---- Pump Driveability Profile 2 parameters Record N/A N/A ---- Pump driveability profile 2 parameter. Active when pump driveability profile 2 switch is active. ---- ----
MASTER=TRUE

1 1 RW 2 0.00390625 Hz Maximum Pump Motor Acceleration Rate Unsigned16 0 10000 10000 No 0 EEPROM=misc.pump_drv2_accel_rate
1 2 RW 2 1 rpm/s Maximum Pump Motor Acceleration Rate Unsigned16 0 10000 10000 No 0 EEPROM=misc.pump_drv2_accel_rate
2 1 RW 2 0.00390625 Hz Maximum Pump Motor Deceleration Rate Unsigned16 0 10000 10000 No 0 EEPROM=misc.pump_drv2_decel_rate
2 2 RW 2 1 rpm/s Maximum Pump Motor Deceleration Rate Unsigned16 0 10000 10000 No 0 EEPROM=misc.pump_drv2_decel_rate
2A31h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
2A31h

12 1 RW 2 0.001 Maximum Torque Applied in Pump Driveability Profile 2 Unsigned16 0 1000 1000 No 0 EEPROM=misc.pump_drv2_torque_limit
12 2 RW 2 0.0625 Nm Maximum Torque Applied in Pump Driveability Profile 2 Unsigned16 0 7FFFh 1000 No 0 EEPROM=misc.pump_drv2_torque_limit
OBJECT=PUMP_STEER_BOOST_PARAM
SECTION=PUMPCONFIG
---- ---- ---- ---- Hauler Pump Steering Assist Record N/A N/A ---- Applied increased pump speed when hauler is steering, intended to assist vehicle maneuvers. ---- ----
MASTER=TRUE
2A40h
1 1 RW 4 RPM Pump Speed Unsigned16 0 FFFFh 2000 Increased pump speed when hauler is steering No 0
2 1 RW 4 ms Timeout Unsigned16 0 FFFFh 500 Time boosted speed will remain active after steering No 0
OBJECT=DRIVE_ASSISTED_STEERING_PARAM
SECTION=PUMPCONFIG
---- ---- ---- ---- Hauler Steer Switch Parameters Record N/A N/A ---- ---- ----
MASTER=TRUE

1 1 RW 2 0.00152590219 % Inside wheel torque limit for forward motion Unsigned16 0 FFFFh 65535 Cutback factor for available torque when steering and travelling forward No 0
2A41h 2 1 RW 2 ms Steer switch delay Unsigned16 0 5000 0 Delay before steer switches take effect No 0
3 1 RW 2 0.00152590219 % Inner wheel steering cutback for forward motion Unsigned16 0 FFFFh 13107 Target speed for inside wheel when turning and travelling in forward No 0
4 1 RW 2 rpm Traction assist clip speed Integer16 0 7FFFh 0 Inside wheel does not cut back below this level when traction assist is active No 0
5 1 RW 2 0.00152590219 % Inside wheel torque limit for reverse motion Unsigned16 0 FFFFh 65535 Cutback factor for available torque when steering and travelling in reverse No 0
6 1 RW 2 0.00152590219 % Inner wheel steering cutback for reverse motion Unsigned16 0 FFFFh 13107 Target speed for inside wheel when turning and travelling in reverse No 0
7 1 RW 2 0.07629510948 %/s Inside wheel target speed cutback rate Unsigned16 0 FFFFh 2621 Rate at which speed demand cuts back for inside wheel No 0
8 1 RW 2 0.07629510948 %/s Inside wheel target speed recovery rate Unsigned16 0 FFFFh 2621 Rate at which target speed recovers when no longer steering No 0
OBJECT=PSTEER_PARAM
SECTION=PsteerConfig
---- ---- ---- ---- General Power steer features Record N/A N/A ---- ---- ----
MASTER=TRUE

1 1 RW 2 1 Seconds Power steer delay Unsigned8 0 FFh 0 1s/bit No 0 EEPROM=pwr_str.power_steer_delay
2B00h
Each bit defines a trigger:
DESC=Vehicle Moving:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Off:1=On
Bit 0: Vehicle moving (with Encoder) / Power applied to motor(without Encoder).
DESC=FS1 Switch:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Off:1=On
Bit 1: FS1 switch
EEPROM=pwr_str.internal_trigger DESC=Direction:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Off:1=On
2 1 RW 2 Power steer trigger (set bit to enable trigger) Unsigned8 0 FFh 1 Bit 2: Direction selected. No 0
WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Seat Switch:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Off:1=On
Bit 3: Seat switch
DESC=Footbrake:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Off:1=On
Bit 4: Footbrake
DESC=INCH switches:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Off:1=On
Bit 5: INCH switches
OBJECT=PSTEER_MOTOR_PARAM
---- ---- ---- ---- Power Steer Motor Speed Record N/A N/A ---- This is the target velocity for the power steer motor when the power steer triggers are active. ---- ----
MASTER=TRUE

1 1 RW 2 1 RPM Power Steer Motor Speed Unsigned16 0 6000 500 RPM. No 0 EEPROM=pwr_str.speed_demand
2B01h 2 1 RW 4 0.00390625 Hz Power Steer Motor Acceleration Rate Unsigned16 10 FFFFh 512 1/256 1/s/bit. Time taken to reach power steer motor speed. No 0 EEPROM=pwr_str.acceleration
2 2 RW 2 1 rpm/s Power Steer Motor Acceleration Rate Unsigned16 10 FFFFh 500 rpm/s. Power steer motor acceleration rate. No 0 EEPROM=pwr_str.acceleration
3 1 RW 4 0.00390625 Hz Power Steer Motor Deceleration Rate Unsigned16 10 FFFFh 2560 1/256 1/s/bit. Time taken to reach 0 motor speed. No 0 EEPROM=pwr_str.deceleration
3 2 RW 2 1 rpm/s Power Steer Motor Deceleration Rate Unsigned16 10 FFFFh 500 rpm/s. Power steer motor deceleration rate. No 0 EEPROM=pwr_str.deceleration
OBJECT=PSTEER_VAR_ASSIST_PARAM
Allows the power steering speed to be reduced at higher vehicle speeds to stiffen the steering and
---- ---- ---- ---- Variable Assist Power Steering Record N/A N/A ---- give more stability. The power steering speed is reduced linearly as the speed approaches the ---- ----
MASTER=TRUE
maximum assist speed. The cutback is constant above this speed,
2B02h
1 1 RW 2 1 RPM Power Steering Assist Maximum Speed Unsigned16 0 6000 0 Set to 0 to disable variable power steering assist No 0
Power steering speed (0x2B01,1) is scaled back by this factor (/32767) as speed approaches the
2 1 RW 2 0.00003051850948 Power Steering Assist Cutback Factor Unsigned16 0 32767 0 No 0
maximum assist speed.
OBJECT=NOM_BATT_V
SECTION=BatteryApplication
EEPROM=battery.nominal_battery
2C00h 0 1 RW 4 0.0625 V Nominal battery voltage Unsigned16 0180h 2bc0h 0300h 12.4V No 0
MASTER=TRUE
OBJECT=BATT_OVER_V_PROT
SECTION=BatteryProtection
---- ---- ---- ---- Battery over voltage protection Record N/A N/A ---- ---- ----
MASTER=TRUE
2C01h
1 1 RW 4 0.0625 V Over voltage start cutback Unsigned16 0 FFFFh 03A0h 12.4V No 0 EEPROM=battery.high_v_start_cutback
2 1 RW 4 0.0625 V Over voltage limit Unsigned16 0 FFFFh 0410h 12.4V No 0 EEPROM=battery.high_v_limit
OBJECT=BATT_UNDER_V_PROT
---- ---- ---- ---- Battery under voltage protection Record N/A N/A ---- ---- ----
MASTER=TRUE
2C02h
1 1 RW 4 0.0625 V Under voltage start cutback Unsigned16 0 FFFFh 01c0h 12.4V No 0 EEPROM=battery.low_v_start_cutback
2 1 RW 4 0.0625 V Under voltage limit Unsigned16 0 FFFFh 01a0h 12.4V No 0 EEPROM=battery.low_v_limit
OBJECT=NOM_BATT_V
2C03h 0 1 RW 4 0.1 Seconds Battery Protection Delay Unsigned8 0 FFh 10 1s in 0.1s/bit resolution No 0 EEPROM=battery.protection_delay
MASTER=TRUE
OBJECT=NOM_BATT_V
2C04h 0 1 RW 4 Hours Battery Electrolyte Protection Delay Unsigned8 0 FFFFh 0 1 hour / bit. This is the time before Electrolyte Low activates Cutout. No 0 EEPROM=battery.electrolyte_protection_delay
MASTER=TRUE
OBJECT=NOM_BATT_V
---- ---- ---- ---- Battery Electrolyte parameters Record N/A N/A ---- ---- ---- EEPROM=battery.electrolyte_parameters
MASTER=TRUE

EEPROM=battery.Elyt_flags
1 2 RW 4 Battery Electrolyte Flags Unsigned8 0 FFh 0 Bit 0 - Merge Alarm Buzzer to External LED if only Electrolyte low fault detected. No 0 DESC=Ext_LED_warning:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Off:1=On
EEPROM=battery.electrolyte_debounce_delay
2 2 RW 4 Seconds Battery Electrolyte Debounce Delay(obsolete) Unsigned8 Ah FFh 60 1 S / bit. Delay to validate Electrolyte Low Level changes No 0
MASTER=TRUE
EEPROM=battery.electrolyte_protection_delay
2C04h 3 2 RW 4 Minutes Battery Electrolyte Protection Delay Unsigned16 0 FFFFh 5 1 minute / bit. This is the time before Electrolyte Low activates warning. No 0
MASTER=TRUE
EEPROM=battery.electrolyte_protection_delay
4 2 RW 4 Minutes Battery Electrolyte Warning Delay Unsigned16 0 FFFFh 15 1 minute / bit. This is the time before Electrolyte Low activates Cutout. No 0
MASTER=TRUE
EEPROM=battery.electrolyte_debounce_OffOn_delay
5 2 RW 4 Seconds Battery Electrolyte Debounce Off-On Delay Unsigned8 Ah FFh 60 1 S / bit. Delay to validate Electrolyte Low Level changes from OFF to ON. No 0
MASTER=TRUE
EEPROM=battery.electrolyte_debounce_OnOff_delay
6 2 RW 4 Seconds Battery Electrolyte Debounce On-Off Delay Unsigned8 1h FFh 15 1 S / bit. Delay to validate Electrolyte Low Level changes from On to OFF. No 0
MASTER=TRUE
OBJECT=BATT_OVER_I_PROT
---- ---- ---- ---- Battery over current protection Record N/A N/A ---- ---- ----
MASTER=TRUE
2C10h CATEGORY=CONFIGURATION

1 1 RW 4 10 A Battery current limit Unsigned8 0 FFh 0 In 10A/bit resolution. 0 disables. TODO. No 0 EEPROM=battery.current_limit
OBJECT=BATT_CHARGING
---- ---- ---- ---- Battery charging parameters Record N/A N/A ---- ---- ----
MASTER=TRUE
0 1 RO N/A Number of parameters Unsigned8 0 FFh 9 0

NUMBER_FORMAT=2:0=Disabled:1=Enabled
1 1 RW 4 Enable charging Unsigned8 0 FFh 0 0 - disable 1 - enable 0
EEPROM=misc.reg_chrg_enabled
2 1 RW 4 RPM Minimum Speed Unsigned16 0 FFFFh 0 Minimum speed required for charging to start, if speed falls below this limit charging stops 0 EEPROM=misc.reg_chrg_min_speed
3 1 RW 4 RPM Maximum Speed Unsigned16 0 FFFFh 0 Maximum speed allowed for charging to start, if speed rises above this limit charging stops 0 EEPROM=misc.reg_chrg_max_speed
2C11h
4 1 RW 4 0.0625 A Bulk Charging Current Unsigned16 0 FFFFh 0 Initial phase constant charging current level 0 EEPROM=misc.reg_chrg_bulk_current
5 1 RW 4 0.00390625 V Completion Voltage Unsigned16 0 FFFFh 0 Required voltage battery must reach to enter second (completion) phase 0 EEPROM=misc.reg_chrg_completion_voltage
The above voltage is held until the current required to maintain this voltage falls to this level. After
6 1 RW 4 0.0625 A Completion phase minimum current Unsigned16 0 FFFFh 0 0 EEPROM=misc.reg_chrg_completion_min_i
which the final (equalization) phase starts
7 1 RW 4 0.00390625 V Equalization maximum voltage Unsigned16 0 FFFFh 0 The above current is held until the voltage rises to this level 0 EEPROM=misc.reg_chrg_eq_max_v
Then the battery is left to discharge to this level and is held here until a timeout occurs (half the time
8 1 RW 4 0.00390625 V Equalization minimum voltage Unsigned16 0 FFFFh 0 0 EEPROM=misc.reg_chrg_eq_min_v
to complete phase 1 and 2)
9 1 RW 4 Equalization timeout factor Unsigned16 0 FFFFh 0 Not Used No 0 EEPROM=misc.reg_chrg_eq_timeout
OBJECT=BATT_OVER_TEMP_PROT
---- ---- ---- ---- Battery over temperature protection Record N/A N/A ---- ---- ----
MASTER=TRUE
2C20h
1 1 RW 4 Parameters Unsigned8 0 FFh 0 TODO - Ben needs to decide what parameters are required for motor overtemperature protection. No 0 EEPROM=battery.temperature_limit
OBJECT=BDI_PARAM
SECTION=BDISetup
---- ---- ---- ---- BDI parameters Record N/A N/A ---- ---- ----
MASTER=TRUE

Bit 0 - Traction (If set, BDI Driveability Profile activated when BDI low) DESC=Traction:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Off:1=On
EEPROM=battery.bdi_flags
1 1 RW 2 BDI Flags Unsigned8 0 FFh 0 Bit 1 - Pump (If set, Pump inhibited when BDI low) No 0 DESC=Pump:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Off:1=On
Bit 2 - Use BDI Remaining Charge Map DESC=BDI Map:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Off:1=On
2 1 RW 2 0.01 V Reset voltage (V) Unsigned8 0 FFh 210 Minimum voltage required across battery cell to reset BDI to 100% at power up. 0.01V/bit. No 0 EEPROM=battery.bdi_reset_voltage_level
2C30h 3 1 RW 2 0.01 V Discharge voltage (V) Unsigned8 0 FFh 173 Sets discharge rate for BDI. 0.01V/bit No 0 EEPROM=battery.bdi_discharge_voltage_level
4 1 RW 2 % Cutout level (%) Unsigned8 0 100 0 BDI cutout level. 1% / bit No 0 EEPROM=battery.bdi_cutout_level
5 1 RW 2 % Warning level (%) Unsigned8 0 100 0 BDI warning level. 1% / bit No 0 EEPROM=battery.bdi_warning_level
EEPROM=battery.cell_count
6 1 RW 4 Cell count Unsigned8 0 FFh 24 Number of battery cells No 0
EEPROM=battery.bdi_discharge
7 1 RW 4 0.001 s/% BDI Discharge Rate Unsigned16 0 FFFFh 16800 Rate at which BDI discharges when the battery is below the calculated threshold No 0
8 1 RW 4 % BDI Reset Enable Level Unsigned8 10 100 100 Level below which BDI must fall in order for reset to be enabled No 0 EEPROM=battery.bdi_reset_enable_level
9 1 RW 4 0.01 V Deep Lockout Level Unsigned8 0 FFh 150 Sets Deep Lockout Level for BDI. 0.01V/bit No 0 EEPROM=battery.bdi_deep_lockout_level
10 1 RW 4 s Deep Discharge Delay Unsigned16 0 360 60 Deep Discharge Delay in seconds. No 0 EEPROM=battery.bdi_deep_discharge_delay
OBJECT=BDI_REMAINING_MAP
SECTION=BDISetup
---- ---- ---- ---- BDI Remaining Charge Map Record N/A N/A ---- Used to calculate the BDI Remaining Charge % against batter voltage. Map must be low to high.. ---- ----
MASTER=TRUE
2C31h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
EEPROM=battery.bdi_discharge.config[0].battery_voltage
1 1 RW 4 0.0625 V Pt 1 Voltage Unsigned16 0 FFFFh 42 Voltage in 12.4 No 0
EEPROM=battery.bdi_discharge.config[0].BDI_Charge
2 1 RW 4 % Pt1 BDI Remaining Charge Unsigned8 0 FFh 10 BDI Remaining Charge % No 0
2C31h 3 1 RW 4 0.0625 V Pt 2 Voltage Unsigned16 0 FFFFh 44 No 0
4 1 RW 4 % Pt 2 BDI Remaining Charge Unsigned8 0 FFh 30 No 0
5 1 RW 4 0.0625 V Pt 3 Voltage Unsigned16 0 FFFFh 46 No 0
OBJECT=SOC_CUTBACK
SECTION=SOCConfig
---- ---- ---- ---- Cutback profile based on SOC received Record N/A N/A ---- Configures cutback and cutout based on SOC value received from BMS ---- ----
MASTER=TRUE
2C32h 0 1 RO N/A Number of parameters Unsigned8 0 FFh 3 No 0
1 1 RW 2 % SOC Cutback Level Unsigned8 0 FFh 30 1%/bit No 0 EEPROM=misc.soc_cutback_start
2 1 RW 2 % SOC Cutout Level Unsigned8 0 FFh 27 1%/bit No 0 EEPROM=misc.soc_cutout
3 1 RW 2 % HVAC Minimum SOC Unsigned8 0 FFh 42 1%/bit No 0 EEPROM=misc.hvac_min_soc
OBJECT=CONTACTOR_PARAM
Configures the pull-in and hold in voltages for the contactor drive outputs. Used in conjunction with SECTION=VehicleConfig
---- ---- ---- ---- Contactor Output Configuration Record N/A N/A ---- ---- ----
2D01h and 2D02h. MASTER=TRUE
2D00h 0 1 RO N/A Number of parameters Unsigned8 0 FFh 3 No 0
1 1 RW 4 V Pull-In Voltage Unsigned8 0 FFh 48 1V/bit No 0 EEPROM=contactor.pull_in_voltage
2 1 RW 4 0.01 Seconds Pull-In Time Unsigned8 0 FFh 100 0.01s/bit No 0 EEPROM=contactor.pull_in_time
3 1 RW 4 V Hold-In Voltage Unsigned8 0 FFh 36 1V/bit No 0 EEPROM=contactor.hold_in_voltage
OBJECT=VOLTAGE_CTRL_ENABLE
If the appropriate bit is set, the contactor drive is controlled at the pull-in voltage when active. If the SECTION=VehicleConfig
---- ---- ---- ---- Voltage Control Enable Record N/A N/A ---- ---- ----
bit is clear, the contactor drive voltage is set to maximum when active. MASTER=TRUE
DESC=Line Contactor:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Pump Contactor:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Power Steer Contactor:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Off:1=On
Bits are Line Contactor (0); Pump (1); Power Steer (2); Ebrake (3); Ext LED (4); Trac Mtr Cooling EEPROM=contactor.voltage_control_enable_0 DESC=Electromechanical Brake:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Off:1=On
1 1 RW 4 Voltage Control Enable for Contactor Drives 1..8 Unsigned8 0 FFh FFh No 0
Fan (5); Alarm Buzzer (6); Horn (7). WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=External LED:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Traction Motor Cooling Fan:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Off:1=On
2D01h DESC=Buzzer:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Horn:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Lights:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Service:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Motor Isolation:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Off:1=On
Bits are Lights (0); Service (1); Motor Isolation (2); Precharge Output (3); Belt Ebrake (4); Belt EEPROM=contactor.voltage_control_enable_1
2 1 RW 4 Voltage Control Enable for Contactor Drives 9..16 Unsigned8 0 FFh FFh No 0 DESC=Precharge Output:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Off:1=On
ChangeOver Contactor (5); E park brake (6); Bit 7 is currently unused (7). WRITE_IN_PREOPERATIONAL_ONLY=TRUE
DESC=Belt Electromechanical Brake:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Belt ChangeOver Contactor:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Electro-mechanical Park brake:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Off:1=On
EEPROM=contactor.voltage_control_enable_2 DESC=Heater Contactor:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Off:1=On

3 1 RW 4 Voltage Control Enable for Contactor Drives 17..24 Unsigned8 0 FFh FFh Heater Contactor (0); AC Contactor (1) No 0
WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=AC Contactor:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Off:1=On
OBJECT=REDUCE_TO_HOLD_LEVEL
If the appropriate bit is set, the contactor drive drops to the hold-in level after it has been active for SECTION=VehicleConfig
---- ---- ---- ---- Reduce to Hold Level Enable Record N/A N/A ---- ---- ----
the pull-in time. If the bit is clear, the contactor drive voltage remains at the pull-in level. MASTER=TRUE
Bits are Line Contactor (0); Pump (1); Power Steer (2); Ebrake (3); Ext LED (4); Trac Mtr Cooling EEPROM=contactor.reduction_enable_0 DESC=Electromechanical Brake:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Off:1=On
1 1 RW 4 Reduce to Hold Level Enable for Contactor Drives 1..8 Unsigned8 0 FFh FFh No 0
Fan (5); Alarm Buzzer (6); Horn (7). WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=External LED:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Off:1=On
2D02h DESC=Traction Motor Cooling Fan:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Buzzer:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Service:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Motor Isolation:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Off:1=On
Bits are Lights (0); Service (1); Motor Isolation (2); Precharge Output (3); Belt Ebrake (4); Belt EEPROM=contactor.reduction_enable_1
2 1 RW 4 Reduce to Hold Level Enable for Contactor Drives 9..16 Unsigned8 0 FFh FFh No 0 DESC=Precharge Output:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Off:1=On
ChangeOver Contactor (5); E park brake (6).Bit 7 is currently unused. WRITE_IN_PREOPERATIONAL_ONLY=TRUE
DESC=Belt Electromechanical Brake:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Belt ChangeOver Contactor:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Electro-mechanical Park brake:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Off:1=On
EEPROM=contactor.reduction_enable_2 DESC=Heater Contactor:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Off:1=On

3 1 RW 4 Reduce to Hold Level Enable for Contactor Drives 17..24 Unsigned8 0 FFh FFh Heater Contactor (0); AC Contactor (1) No 0
WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=AC Contactor:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Off:1=On
OBJECT=CONTACTOR_PARAM
---- ---- ---- ---- Alternative Contactor Output Configuration Record N/A N/A ---- Configures alternative pull-in and hold in voltages for the contactor drive outputs. Used with 2D11h. ---- ----
MASTER=TRUE
2D10h 0 1 RO N/A Number of parameters Unsigned8 0 FFh 3 No 0
1 1 RW 4 V Pull-In Voltage Unsigned8 0 FFh 48 1V/bit No 0
2 1 RW 4 0.01 Seconds Pull-In Time Unsigned8 0 FFh 100 0.01s/bit No 0
3 1 RW 4 V Hold-In Voltage Unsigned8 0 FFh 36 1V/bit No 0
OBJECT=ALTERNATIVE_VOLTAGE_CTRL_SELECT
If the appropriate bit is set, the contactor drive is controlled at these pull-in and hold-in voltages SECTION=VehicleConfig
---- ---- ---- ---- Alternative Voltage Control Select Record N/A N/A ---- ---- ----
instead of those in 0x2D00. MASTER=TRUE
2D11h Bits are Line Contactor (0); Pump (1); Power Steer (2); Ebrake (3); Ext LED (4); Trac Mtr Cooling DESC=Electromechanical Brake:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Off:1=On
1 1 RW 4 Alternative Voltage Control Select for Contactor Drives 1..8 Unsigned8 0 FFh FFh No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
Fan (5); Alarm Buzzer (6); Horn (7). DESC=External LED:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Traction Motor Cooling Fan:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Buzzer:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Off:1=On
Bits are Lights (0); Service (1); Motor Isolation (2); Secondary Line Contactor (3). Bits 4 to 7 are DESC=Service:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Off:1=On
2 1 RW 4 Alternative Voltage Control Select for Contactor Drives 9..16 Unsigned8 0 FFh FFh No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
currently unused. DESC=Motor Isolation:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Off:1=On
DESC=Precharge Output:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Off:1=On
OBJECT=DISPLAY_CONFIGURATION
---- ---- ---- ---- Display Configuration Record N/A N/A ---- Configuration items for dashboard displays ---- ----
MASTER=TRUE
EEPROM=misc.display_config_type
NUMBER_FORMAT=3
0=No Display
1 1 RW 2 Display Type Unsigned8 0 3 0 Select display type: 0=No display; 1=Smartview, 2=Inpower, 3=Yogomo No 0
1=Smartview
2=Inpower
3=Yogomo
2E00h EEPROM=misc.display_config_hours_count
NUMBER_FORMAT=7
0=Key hours
1=Traction hours
Select hours counter to display: 0=Key hours; 1=Traction hours; 2=Pump hours; 3=Charging Hours;
2=Pump hours
2 1 RW 2 Display Information Unsigned8 0 7 0 4=Real Speed (0x2721,0); 5=Real Speed & Key hours ; 6=Real Speed & Traction hours; 7=Real No 0
3=Charging hours
Speed & Pump hours
4=Real Speed
5=Real Speed & Key hrs
6=Real Speed & Traction hrs
7=Real Speed & Pump hrs
3 1 RW 2 0.1 A Current offset for Inpower Display Unsigned16 0 FFFFh 0 This is the amount of current that will be fully applied at the peak point selected in sub 4. No 0
4 1 RW 2 0.1 A Peak point for current offset Unsigned16 0 FFFFh 0 the point at which the current offset is fully applied before decreasing back to 0 No 0
5 1 RW 2 0.1 A max point for current offset Unsigned16 0 FFFFh 0 the point at which the current offset will be 0 No 0
6 1 RW 2 50 ms cutback display mtime Unsigned8 0 FFh 0 cutbback display hysterissis time n * 50ms No 0
OBJECT=MARVINLAND_PARAMETERS
---- ---- ---- ---- Marvinland Parameters Record N/A N/A ---- Marvinland engine cranking / water fording parameters ---- ----
MASTER=TRUE

1 1 RW 2 ms Forward spin time Unsigned16 0 65535 30000 Time the motor spins forward when attempting to crank the engine No 0 EEPROM=traction.marvinland_1
2 1 RW 2 ms Reverse spin time Unsigned16 0 65535 4500 Time the motor spins in reverse if it detected a stall condition No 0 EEPROM=traction.marvinland_2
3 1 RW 2 0.1 % Forward torque Unsigned16 0 1000 100 Torque when motor spins forward No 0 EEPROM=traction.marvinland_3
4 1 RW 2 0.1 % Reverse torque Unsigned16 0 1000 100 Torque when motor spins in reverse No 0 EEPROM=traction.marvinland_4
2E01h 5 1 RW 2 rpm Run RPM Unsigned16 0 65535 1000 RPM at which the engine could be considered started No 0 EEPROM=traction.marvinland_5
6 1 RW 2 0.1 % Run torque Unsigned16 0 1000 1 Torque at which engine could be considered started No 0 EEPROM=traction.marvinland_6
7 1 RW 2 0.1 % About to start torque Unsigned16 0 1000 100 Torque level at which the engine is considered to be about to start No 0 EEPROM=traction.marvinland_7
8 1 RW 2 ms Stall time Unsigned16 0 65535 250 Time at Stall RPM after which motor is considered stalled No 0 EEPROM=traction.marvinland_8
9 1 RW 2 ms Persist time Unsigned16 0 65535 500 Time for which "engine cranked" conditions must be true in order to consider it so No 0 EEPROM=traction.marvinland_9
10 1 RW 2 rpm Position RPM Unsigned16 0 65535 40 RPM at which the engine turns during water fording procedure No 0 EEPROM=traction.marvinland_10
11 1 RW 2 0.1 % Position torque Unsigned16 0 1000 500 Torque applied during water fording procedure No 0 EEPROM=traction.marvinland_11
12 1 RW 2 0.1 % Position torque threshold Unsigned16 0 1000 500 Torque level at which water fording procedure is deemed completed No 0 EEPROM=traction.marvinland_12
13 1 RW 2 ms Position torque threshold persist time Unsigned16 0 65535 1000 Time for which "water fording complete" conditions must be true in order to consider it so No 0 EEPROM=traction.marvinland_13
14 1 RW 2 ms Position fail timer Unsigned16 0 65535 10000 Time allowed for the water fording procedure to complete No 0 EEPROM=traction.marvinland_14
OBJECT=GENAPP_CONFIG
---- ---- ---- ---- GenApp Basic Configuration Record N/A N/A ---- ---- ----
0 1 RO N/A Number of entries Unsigned8 N/A N/A 12 No 0
1 1 RO N/A Status flags Unsigned16 0 FFFFh 0 Status of GenApp - refer to GenApp application note for troubleshooting information No 0
2 1 RW 4 Control mode Unsigned8 0 2 0 Mode of operation for GenApp: 0=Disabled; 1=Digital I/O control; 2=J1939 control No 0
3 1 RW 4 Slave motor Source Address Unsigned8 1 FEh 1 Node ID of slave motor No 0
4 1 RW 4 0.0625 V Target voltage (for non-CAN driven systems) Unsigned16 0 7FFFH 0 Target voltage that will be set when digital input 1 is closed and bridge enabled No 0
2F00h 5 1 RW 4 0.0625 V/s Target voltage ramp rate Unsigned16 10h 7FFFh 10h Ramp rate for target voltage No 0
6 1 RW 4 rpm Generator enable speed Unsigned16 0 7FFFh 0 Motor speed that must be achieved before generation can start No 0
7 1 RW 4 rpm Generator disable speed Unsigned16 0 7FFFh 0 Motor speed below which generation will be stopped No 0
8 1 RW 4 rpm Underspeed warning Unsigned16 0 7FFFh 0 Motor speed below which underspeed warning flag is set No 0
9 1 RW 4 rpm Overspeed warning Unsigned16 0 7FFFh 0 Motor speed above which overspeed warning flag is set No 0
10 1 RW 4 A Max DC generating current (for non-CAN driven systems) Integer16 8000h 0 0 Maximum allowed generating current No 0
11 1 RW 4 A Max DC drive current (for non-CAN driven systems) Integer16 0 7fffh 0 Maximum allowed motor drive current No 0
12 1 RW 4 GenApp Source Address Integer16 1 FEh 1 Source address to use for GenApp messages No 0
---- ---- ---- ---- GenApp Generation Power Map Record N/A N/A ---- Generating Power Limit Map ---- ----
1 1 RW 4 rpm Speed point 0 Integer16 0 7FFFh 0 No 0
2 1 RW 4 0.0625 Nm Torque point 0 Integer16 8000h 0 0 No 0
2F01h 7 1 RW 4 rpm Speed point 3 Integer16 0 7FFFh 0 No 0
---- ---- ---- ---- GenApp Drive Power Map Record N/A N/A ---- Drive Power Limit Map ---- ----
2 1 RW 4 0.0625 Nm Torque point 0 Integer16 0 7FFFh 0 No 0
2F02h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
2F02h 7 1 RW 4 rpm Speed point 3 Integer16 0 7FFFh 0 No 0
OBJECT=LOCAL_MOTOR_MAPPING
SECTION=LocalMotorMapping
---- ---- ---- ---- Local Motor VPDO Mapping Record N/A N/A ---- Virtual PDO mapping from application master to local motors. ---- ---- DUMMY_VPDO=0x20FF
MASTER=TRUE
EEPROM=vpdos.motor_number
0 1 RW 4 Number of entries Unsigned8 0 2 1 No 0
EEPROM=vpdos.motor_0
1 1 RW 4 Local Motor 1 VPDO Mapping Unsigned16 2020h 20FFh 2020h Left Motor No 0 NUMBER_FORMAT=BASE16
EEPROM=vpdos.motor_1
2 1 RW 4 Local Motor 2 VPDO Mapping Unsigned16 2020h 20FFh 20FFh Unused. No 0 NUMBER_FORMAT=BASE16
OBJECT=HYSTER_FIRST_OCCURANCE_HOUR
---- ---- ---- ---- Hyster Yale Fault Log - First Occurance Hour Array N/A N/A ---- Hyster hour counter when a fault was stored to the log in 1003 ---- ---- SECTION=HysterFault
CATEGORY=LOGGING
0 1 RO N/A Number of faults stored Unsigned8 0 FFh 0 No 0
1 1 RO N/A Occurance Hour Fault 1 Unsigned32 0 FFFFFFFFh 0 First set hour for fault in 1003,1 No 0
3015h
OBJECT=HYSTER_FIRST_OCCURANCE_TIMESTAMP
---- ---- ---- ---- Hyster Yale Fault Log - First Occurance Timestamp Array N/A N/A ---- Hyster hour counter when a fault was stored to the log in 1003 ---- ---- SECTION=HysterFault
CATEGORY=LOGGING
1 1 RO N/A First occurance timestamp fault 1 Unsigned32 0 FFFFFFFFh 0 First set timestamp for fault in 1003,1 No 0
3016h
OBJECT=HYSTER_LAST_OCCURANCE_HOUR
---- ---- ---- ---- Hyster Yale Fault Log - Last Occurance Hour Array N/A N/A ---- Hyster hour counter when a fault in the log (1003) was last set ---- ---- SECTION=HysterFault
CATEGORY=LOGGING
1 1 RO N/A Last occurance hour fault 1 Unsigned32 0 FFFFFFFFh 0 Last set hour for fault in 1003,1 No 0
3017h
OBJECT=HYSTER_LAST_OCCURANCE_TIMESTAMP
---- ---- ---- ---- Hyster Yale Fault Log - Last Occurance Timestamp Array N/A N/A ---- Hyster timestamp when a fault in the log (1003) was last set ---- ---- SECTION=HysterFault
CATEGORY=LOGGING
1 1 RO N/A Last occurance timestamp fault 1 Unsigned32 0 FFFFFFFFh 0 Last set timestamp for fault in 1003,1 No 0
3018h
OBJECT=LOCAL_DIG_OUT_MAPPING
SECTION=LocalDOMapping
---- ---- ---- ---- Digital output VPDO Mapping Record N/A N/A ---- Virtual PDO mapping from application master to local digital outputs. ---- ---- DUMMY_VPDO=0x23FF
MASTER=TRUE
3100h
EEPROM=vpdos.dig_out_number
EEPROM=vpdos.dig_out_0
1 1 RW 4 Digital Output 1 VPDO Mapping Unsigned16 2320h 23FFh 2320h Hours Meter Output No 0 NUMBER_FORMAT=BASE16
OBJECT=LOCAL_ALG_OUT_MAPPING
SECTION=LocalAOMapping
---- ---- ---- ---- Analog output VPDO Mapping Record N/A N/A ---- Virtual PDO mapping from application master to local analog outputs. ---- ---- DUMMY_VPDO=0x24FF
MASTER=TRUE
EEPROM=vpdos.alg_out_number
EEPROM=vpdos.alg_out_0
1 1 RW 4 Analog Output 1 VPDO Mapping Unsigned16 2400h 24FFh 2400h Line Contactor No 0 NUMBER_FORMAT=BASE16
2 1 RW 4 Analog Output 2 VPDO Mapping Unsigned16 2400h 24FFh 2420h Electromechanical Brake output No 0 NUMBER_FORMAT=BASE16
3200h EEPROM=vpdos.alg_out_2
3 1 RW 4 Analog Output 3 VPDO Mapping Unsigned16 2400h 24FFh 2440h Pump Contactor No 0 NUMBER_FORMAT=BASE16
4 1 RW 4 Analog Output 4 VPDO Mapping Unsigned16 2400h 24FFh 2460h Power Steer Contactor No 0 NUMBER_FORMAT=BASE16
5 1 RW 4 Analog Output 5 VPDO Mapping Unsigned16 2400h 24FFh 2480h Belt Electromechanical Brake output No 0 NUMBER_FORMAT=BASE16
6 1 RW 4 Analog Output 6 VPDO Mapping Unsigned16 2400h 24FFh 24FFh Unused. No 0 NUMBER_FORMAT=BASE16
7 1 RW 4 Analog Output 7 VPDO Mapping Unsigned16 2400h 24FFh 24FFh Unused. No 0 NUMBER_FORMAT=BASE16
OBJECT=LOCAL_DIG_IN_MAPPING
SECTION=LocalDIMapping
---- ---- ---- ---- Digital input VPDO Mapping Record N/A N/A ---- Virtual PDO mapping from local digital inputs to application master. ---- ---- DUMMY_VPDO=0x21FF
MASTER=TRUE
EEPROM=vpdos.dig_in_number
EEPROM=vpdos.dig_in_0
1 1 RW 4 Digital Input 1 VPDO Mapping Unsigned16 2100h 21FFh 2121h Forward switch. No 0 NUMBER_FORMAT=BASE16
2 1 RW 4 Digital Input 2 VPDO Mapping Unsigned16 2100h 21FFh 2122h Reverse switch. No 0 NUMBER_FORMAT=BASE16
3 1 RW 4 Digital Input 3 VPDO Mapping Unsigned16 2100h 21FFh 2123h FS1 switch. No 0 NUMBER_FORMAT=BASE16
4 1 RW 4 Digital Input 4 VPDO Mapping Unsigned16 2100h 21FFh 2124h Seat switch. No 0 NUMBER_FORMAT=BASE16
5 1 RW 4 Digital Input 5 VPDO Mapping Unsigned16 2100h 21FFh 2125h Handbrake switch. No 0 NUMBER_FORMAT=BASE16
3300h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
6 1 RW 4 Digital Input 6 VPDO Mapping Unsigned16 2100h 21FFh 2126h Driveability Select 1 switch. No 0 NUMBER_FORMAT=BASE16
3300h EEPROM=vpdos.dig_in_6
7 1 RW 4 Digital Input 7 VPDO Mapping Unsigned16 2100h 21FFh 2140h Pump 1 switch. No 0 NUMBER_FORMAT=BASE16
8 1 RW 4 Digital Input 8 VPDO Mapping Unsigned16 2100h 21FFh 2160h Power Steer switch. No 0 NUMBER_FORMAT=BASE16
9 1 RW 4 Digital Input 9 VPDO Mapping Unsigned16 2100h 21FFh 21FFh Unused. No 0 NUMBER_FORMAT=BASE16
OBJECT=LOCAL_ALG_IN_MAPPING
SECTION=LocalAIMapping
---- ---- ---- ---- Analog input VPDO Mapping Record N/A N/A ---- Virtual PDO mapping from local analog inputs to application master. ---- ---- DUMMY_VPDO=0x22FF
MASTER=TRUE
EEPROM=vpdos.alg_in_number
EEPROM=vpdos.alg_in_0
1 1 RW 4 Analog Input 1 VPDO Mapping Unsigned16 2220h 22FFh 2220h Throttle. No 0 NUMBER_FORMAT=BASE16
3400h EEPROM=vpdos.alg_in_1
2 1 RW 4 Analog Input 2 VPDO Mapping Unsigned16 2220h 22FFh 2221h Footbrake No 0 NUMBER_FORMAT=BASE16
3 1 RW 4 Analog Input 3 VPDO Mapping Unsigned16 2220h 22FFh 2222h Economy No 0 NUMBER_FORMAT=BASE16
4 1 RW 4 Analog Input 4 VPDO Mapping Unsigned16 2220h 22FFh 22FFh Unused. No 0 NUMBER_FORMAT=BASE16
5 1 RW 4 Analog Input 5 VPDO Mapping Unsigned16 2220h 22FFh 22FFh Unused. No 0 NUMBER_FORMAT=BASE16
OBJECT=R_ALG_IN_MAPPING
SECTION=LocalAIMapping
---- ---- ---- ---- Ratiometric analog input VPDO Mapping Record N/A N/A ---- Virtual PDO mapping from ratiometric analog inputs to application master. ---- ---- DUMMY_VPDO=0x22FF
MASTER=TRUE
EEPROM=vpdos.r_alg_in_number
EEPROM=vpdos.r_alg_in_0
1 1 RW 4 Ratiometric Analog Input 1 VPDO Mapping Unsigned16 2220h 22FFh 2220h Throttle 1. No 0 NUMBER_FORMAT=BASE16
EEPROM=vpdos.r_alg_in_1
2 1 RW 4 Ratiometric Analog Input 2 VPDO Mapping Unsigned16 2220h 22FFh 2224h Throttle 2. No 0 NUMBER_FORMAT=BASE16
OBJECT=MIN_FREQ_ON_SLOPE
Used to calculate the minimum output frequency to the motor. This is used when on a slope to
---- ---- ---- ---- Minimum motor Frequency Record N/A N/A ---- ---- ---- SECTION=CUSTOMER_CONFIG
ensure enough motor torque to prevent excessive rollback when stopped
EEPROM=misc.min_slope_config[0].angle
1 1 RW 4 0.01 Degrees Pt 1 Slope Angle Unsigned16 0 FFFFh 200 Slope angle in 0.01 degrees/bit No 0
EEPROM=misc.min_slope_config[0].frequency
2 1 RW 4 RPM Pt 1 Min Speed Unsigned16 0 FFFFh 0 Minimum speed in 1RPM/bit No 0
3 1 RW 4 0.01 Degrees Pt 2 Slope Angle Unsigned16 0 FFFFh 250 No 0
4 1 RW 4 RPM Pt 2 Min Speed Unsigned16 0 FFFFh 80 No 0
3800h
OBJECT=MAX_FREQ_ON_SLOPE
Used to calculate the Maximum output frequency to the motor. This is used when on a slope to limit
---- ---- ---- ---- Maximum motor Frequency Record N/A N/A ---- ---- ---- SECTION=CUSTOMER_CONFIG
motor frequency to prevent torque reducing due to pull out.
EEPROM=misc.max_slope_config[0].angle
EEPROM=misc.max_slope_config[0].frequency
2 1 RW 4 RPM Pt 1 Max Speed Unsigned16 0 FFFFh 2000 Maximum speed in 1RPM/bit No 0
4 1 RW 4 RPM Pt 2 Max Speed Unsigned16 0 FFFFh 1080 No 0
3801h
OBJECT=AICHI_ERROR_CODE
3802h 0 1 RWW N/A Aich M6 Error Code Unsigned8 0 FFh No Yes 1h SECTION=CUSTOMER_STATUS
CATEGORY=MONITORING
OBJECT=MAG_I_FACTOR_ON_SLOPE
Used to boost the magnetizing current factor when the vehicle is on a slope to increase available
---- ---- ---- ---- Magnetizing Current Boost Factor on Slope Record N/A N/A ---- ---- ---- SECTION=CUSTOMER_CONFIG
torque
EEPROM=misc.slope_imag_factor[0].angle
EEPROM=misc.slope_imag_factor[0].factor
2 1 RW 4 0.00390625 Pt 1 Mag Current Factor Unsigned16 0 FFFFh 256 Magnetizing Current factor in 8.8. No 0
4 1 RW 4 0.00390625 Pt 2 Mag Current Factor Unsigned16 0 FFFFh 432 No 0
3803h
OBJECT=MAX_FREQ_DOWN_SLOPE
Used to calculate the Maximum output frequency to the motor. This is used when on a slope to limit
---- ---- ---- ---- Driving down slope - Maximum motor Frequency Record N/A N/A ---- ---- ---- SECTION=CUSTOMER_CONFIG
motor frequency to prevent torque reducing due to pull out.
2 1 RW 4 RPM Pt 1 Max Speed Unsigned16 0 FFFFh 2000 Maximum speed in 1RPM/bit No 0
3804h
Column Reserved
Column Reserved
3804h
Index
Index
Version [1]
Type [2] Level
[4]
OBJECT=MAX_I_CUTBACK_ON_SLOPE
Used to boost the magnetizing current factor when the vehicle is on a slope to increase available
---- ---- ---- ---- Current Cutback limit on Slope Record N/A N/A ---- ---- ---- SECTION=CUSTOMER_CONFIG
torque
2 1 RW 4 1 Amps Pt 1 Cutback Current Limit Unsigned16 0 FFFFh 256 Cutback current limit in 1A/bit : 16.0 No 0
4 1 RW 4 1 Amps Pt 2 Cutback Current Limit Unsigned16 0 FFFFh 432 No 0
3805h
OBJECT=MOTOR_FLUX_MAP
---- ---- ---- ---- Motor flux map (for auto-config additional motor) Record N/A N/A ---- The flux map relates flux (A) to torque demand (Nm). ---- ---- SECTION=AUTOCONFIG_MOTORCHARACTERIZATION
1 1 RW 4 0.0625 Nm Pt 1 Torque Unsigned16 0 FFFFh 0 Torque in 12.4 Nm No 0
2 1 RW 4 0.015625 A(RMS) Pt 1 Magnetizing Current Unsigned16 0 FFFFh 3840 Current in 10.6 A(RMS) No 0
3 1 RW 4 0.0625 Nm Pt 2 Torque Unsigned16 0 FFFFh 218 No 0
4 1 RW 4 0.015625 A(RMS) Pt 2 Magnetizing Current Unsigned16 0 FFFFh 3840 No 0
3806h
OBJECT=MOTOR_POWER_LIMIT_MAP
---- ---- ---- ---- Motor power limit map (for auto-config additional motor) Record N/A N/A ---- The power map relates torque (Nm) to speed (RPM). ---- ---- SECTION=AUTOCONFIG_MOTORCHARACTERIZATION
2 1 RW 4 RPM Pt 1 Speed Unsigned16 0 FFFFh 0 Speed in 16.0 RPM No 0 SOFT_HIGH=65535
4 1 RW 4 RPM Pt 2 Speed Unsigned16 0 FFFFh 420 No 0 SOFT_HIGH=65535
3807h
OBJECT=VOLTAGE_TRQ_CUTBACK_MAP
---- ---- ---- ---- Voltage Torque-Cutback Map (for auto-config additional motor) Record N/A N/A ---- The voltage torque-cutback map relates the voltage cutback gain (0-1) to voltage (V). ---- ---- SECTION=AUTOCONFIG_MOTORCHARACTERIZATION
1 1 RW 4 0.0625 V Pt 1 Voltage Unsigned16 0 FFFFh 0 Voltage in 12.4 No 0
2 1 RW 4 3.05E-05 Pt 1 Voltage Cutback Gain Unsigned16 0 7fffh 0 Gain in s.15 format. (i.e. 0-0.999) No 0 SOFT_HIGH=65535
4 1 RW 4 3.05E-05 Pt 2 Voltage Cutback Gain Unsigned16 0 7fffh 0 No 0 SOFT_HIGH=65535
3808h
18 1 RW 4 0.0000305175781 Pt 9 Voltage Cutback Gain Unsigned16 0 7fffh 0 No 0 SOFT_HIGH=65535
OBJECT=IMLM_SATURATION_MAP
The Im/Lm saturation map is used to calculate a dynamic value for gamma in the motor control,
---- ---- ---- ---- Im/Lm Saturation Map (for auto-config additional motor) Record N/A N/A ---- ---- ---- SECTION=AUTOCONFIG_MOTORCHARACTERIZATION
used when the motor is operating above its rated point.
1 1 RW 4 6.25E-02 A(RMS) Pt 1 Mag Current Unsigned16 0 FFFFh 0 Mag current in 12.4 A(RMS) No 0
2 1 RW 4 0.000244141 puH Pt 1 Mag Inductance Unsigned16 0 1000h 4587 Mag inductance in 4.12 H No 0 SOFT_HIGH=65535
3 1 RW 4 6.25E-02 A(RMS) Pt 2 Mag Current Unsigned16 0 FFFFh 500 No 0
4 1 RW 4 0.000244141 puH Pt 2 Mag Inductance Unsigned16 0 1000h 4301 No 0 SOFT_HIGH=65535
3809h
OBJECT=MOTOR_TEMP
---- ---- ---- ---- Motor Temperature Sensor (for auto-config additional motor) Record N/A N/A ---- Used to configure the temperature measuring analog input. ---- ---- SECTION=AUTOCONFIG_MOTORSETUP
Sets thermistor mode. Can be:

0 - None. Analog input can be used for general purpose. NUMBER_FORMAT=3
1 1 RW 4 Mode Unsigned8 0 2 0 1 - PTC thermistor. No 0 0=None:1=PTC:2=Switch
2 - Switch. WRITE_IN_PREOPERATIONAL_ONLY=TRUE
380Ah 3 - PTC Thermistor and switch
2 1 RW 4 0.00390625 V High Temperature Voltage Integer16 0 32767 0 PTC only. This is the voltage at the input when the temperature is 100 degrees C. No 0
3 1 RW 4 0.00390625 V Low Temperature Voltage Integer16 0 32767 0 PTC only. This is the voltage at the input when the temperature is 0 degrees C. No 0
Indicates the digital input to use for the motor temperature switch input. FFh indicates there is no NUMBER_FORMAT=BASE16
4 1 RW 4 Switch source Unsigned8 0 FFh 0 No 0
switch fitted. 0-7 maps to bits 0-7 in 6800,1; 8-15 maps to bits 0-7 in 6800,2; etc. WRITE_IN_PREOPERATIONAL_ONLY=TRUE
5 1 RW 4 Motor temperature estimate current constant Integer16 -32768 32767 0078h No 0
6 1 RW 4 Motor temperature estimate discretization Integer16 -32768 32767 7F4Bh No 0
7 1 RW 4 DegC Maximum allowable motor temperature Integer16 -32768 32767 005Ah No 0
OBJECT=ENCODER_CONFIG
---- ---- ---- ---- Encoder Configuration (for auto-config additional motor) Record N/A N/A ---- Used for encoder configuration parameters. ---- ---- SECTION=AUTOCONFIG_EncoderConfig
0 = Current Sink (e.g. Thalheim) or Open-Collector NUMBER_FORMAT=2:0=I Sink:1=V Driver
1 1 RW 4 Encoder Pull Up Boolean 0 1 0 No 0
1 = Voltage Driver (e.g. SKF) WRITE_IN_PREOPERATIONAL_ONLY=TRUE
Sets encoder polarity. Setting bit 6 (velocity polarity) to 0 multiplies encoder speed by 1. Setting to 1 NUMBER_FORMAT=2:0=normal:64=inverted
380Bh 2 1 RW 4 Encoder Polarity Unsigned8 0 40h 0 No 0
multiplies encoder speed by -1. Bit 7 (position polarity) is not used and bits 0-5 are reserved. WRITE_IN_PREOPERATIONAL_ONLY=TRUE
3 1 RW 4 Inc/s Increments per second Unsigned32 0 5000 64 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
Increments per second is the

4 1 RW 4 RPS Motor revolutions per second Unsigned32 1 1 1 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
same as encoder pulses per
revolution if motor revolutions
per second equals 1
OBJECT=NAME_PLATE_DATA
---- ---- ---- ---- Motor Nameplate Data (for auto-config additional motor) Record N/A N/A ---- Nameplate data ---- ---- SECTION=AUTOCONFIG_MotorPlateData
1 1 RW 4 0.0625 Vrms Rated line voltage Unsigned16 0 FFFFh 0 12.4 format No 0 SOFT_HIGH=65535
380Ch
2 1 RW 4 0.0625 Arms Rated phase current Unsigned16 0 FFFFh 0 12.4 format No 0 SOFT_HIGH=65535
3 1 RW 4 rpm Rated mechanical speed Unsigned16 0 FFFFh 0 16.0 format No 0 SOFT_HIGH=65535
4 1 RW 4 0.0625 Hz Rated frequency Unsigned16 0 FFFFh 0 12.4 format No 0 SOFT_HIGH=65535
5 1 RW 4 0.0625 Kw Rated power Unsigned16 0 FFFFh 0 12.4 format No 0 SOFT_HIGH=65535
6 1 RW 4 0.00003051757813 sin theta Power factor Unsigned16 0 FFFFh 0 1.15 format No 0 SOFT_HIGH=65535
OBJECT=ESPAC_MOTOR_DATA
Motor data (manufacturer specific) (for auto-config additional
---- ---- ---- ---- Record N/A N/A ---- Motor data. This is specific to the motor type. [28] ---- ---- SECTION=AUTOCONFIG_MotorPlateData
motor)
380Dh
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
1 1 WO 4 Commit Boolean 0 1 0 Write to this object to commit changes to all values in 4641h and the lookup tables (4610h to 4613h). No 1h WRITE_IN_PREOPERATIONAL_ONLY=TRUE
2 1 RW 4 A(RMS) Maximum Stator Current (Is_max) Unsigned16 0 2000 300 16.0 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
3 1 RW 4 0.00390625 A(RMS) Minimum Magnetizing Current (Im_min) Unsigned16 0 12800 1958 8.8 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4 1 RW 4 0.015625 A(RMS) Maximum Magnetizing/Direct Current (Id_max) Unsigned16 0 64000 3917 10.6 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
5 1 RW 4 Number of Pole Pairs (np) Unsigned16 1 127 2 Dimensionless No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
6 1 RW 4 0.244140625 mOhms Stator Resistance (Rs) Unsigned16 0 4096 82 4.12 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
7 1 RW 4 A(RMS) Rated Stator Current Unsigned16 0 2000 172 16.0 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
8 1 RW 4 0.244140625 mOhms Rotor Resistance (Rr) Unsigned16 0 4096 41 4.12 fixed point integer (TODO - No longer required) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
9 1 RW 4 15.25878906 uH Magnetizing Inductance (Lm) Unsigned16 0 655 125 0.16 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
10 1 RW 4 0.9536743164 uH Stator Leakage Inductance (Lls) Unsigned16 0 10486 1 -4.20 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
11 1 RW 4 0.9536743164 uH Rotor Leakage Inductance (Llr) Unsigned16 0 10486 21800 -4.20 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
12 1 RW 4 0.00390625 V Nominal battery voltage Unsigned16 6144 49152 12288 8.8 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
13 1 RW 4 0.003051757813 Current control proportional gain (Kp) Unsigned16 0 FFFFh 22938 1.15 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
14 1 RW 4 0.003051757813 Torque control integral gain Unsigned16 0 FFFFh 30342 1.15 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
15 1 RW 4 0.003051757813 Current control integral gain Unsigned16 0 FFFFh 28406 1.15 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
16 1 RW 4 0.00001525878906 Henry Reactive Gain Boost Unsigned16 0 FFFFh 0 0.16 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
380Dh
17 1 RW 4 RPM Limiter Gain Unsigned16 0 FFFFh 7864 No 0
Used for permanent magnet motors only, represents the back emf of the rotor with respect to speed.
18 1 RW 4 0.00003051757813 V/rads Voltage Constant (Ke) Unsigned16 0 FFFFh 7864 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
This can then be translated directly into Iq demand (1.15 format)
19 1 RW 4 0.0625 A Im rated Unsigned16 0 32000 160 12.4 format rated magnetizing current No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
20 1 RW 4 rad/s Maximum drive slip Unsigned16 0 500 100 16.0 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
21 1 RW 4 rad/s Maximum brake slip Unsigned16 0 500 100 16.0 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
22 1 RW 4 9.549296586 rpm Openloop start speed Unsigned16 0 2094 150 16.0 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
23 1 RW 4 9.549296586 rpm Openloop exit speed Unsigned16 0 2094 100 16.0 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
24 1 RW 4 Frequency Slope Unsigned16 0 FFFFh 0 16.0 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
25 1 RW 4 0.00003051757813 Frequency control Kp Unsigned16 0 FFFFh 0 1.15 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
26 1 RW 4 0.00003051757813 Frequency control Ki Unsigned16 0 FFFFh 0 1.15 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
27 1 RW 4 0.00003051757813 Slip control Kp Unsigned16 0 FFFFh 0 1.15 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
28 1 RW 4 0.00003051757813 Slip control Ki Unsigned16 0 FFFFh 0 1.15 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
29 1 RW 4 0.00390625 Slip control factor Unsigned16 0 FFFFh 256 8.8 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
30 1 RW 4 0.0244140625 Max drive mod index Unsigned16 0 1000h 3891 4.12 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
31 1 RW 4 0.0244140625 Max brake mod index Unsigned16 0 1000h 3482 4.12 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
32 1 RW 4 0.00390625 Ls/Ls' Unsigned16 0 FFFFh 0 8.8 fixed point (set to 0x0000 to use auto calculated value) No 0
33 1 RW 4 0.00003051757813 Voltage Control Kp Unsigned16 0 FFFFh 8192 1.15 Voltage Loop Control proportional gain No 0
34 1 RW 4 0.00003051757813 Voltage Control Ki Unsigned16 0 FFFFh 4096 1.15 Voltage Loop Control integral gain No 0
35 1 RW 4 0.0244140625 start of Frequency cutback Unsigned16 0 1000h 3481 4.12 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
36 1 RW 4 0.0244140625 start of Voltage cutback Unsigned16 0 1000h 3686 4.12 fixed point integer No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=VELOCITY_CONTROL_PARAM
---- ---- ---- ---- Speed control Gains (for auto-config additional motor) Record N/A N/A ---- Used to set up the pv control loop ---- ---- SECTION=AUTOCONFIG_MOTORSETUP
1 1 RW 4 0.000244140625 Proportional gain Unsigned16 0 FFFFh 80h No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
380Eh
2 1 RW 4 0.00390625 Integral gain Unsigned16 0 FFFFh 40h No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
3 1 RW 4 0.000244140625 Low Speed proportional gain Unsigned16 0 FFFFh 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4 1 RW 4 0.00390625 Rollback integral gain Unsigned16 0 FFFFh 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
5 1 RW 4 0.00390625 Low speed integral gain Unsigned16 0 FFFFh 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
6 1 RW 4 0.00390625 dw/dt gain Unsigned16 0 FFFFh 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=MISC_MOTOR_CONFIG
Miscellaneous Motor Configuration (for auto-config additional
---- ---- ---- ---- Record N/A N/A ---- Miscellaneous Motor Configuration ---- ---- SECTION=AUTOCONFIG_MOTORSETUP
motor)
Miscellaneous DSP configuration (for auto-config additional
1 1 RW 2 Unsigned16 0 FFFFh 0 No 0
motor)
NUMBER_FORMAT=2:3=speed:4=torque
2 1 RW 4 Mode of operation selection Integer8 3 4 4 Used to set pv (3) mode or tq (4) mode. No 0
3 1 RW 4 0.1 % of peak Maximum torque Unsigned16 0 1000 1000 Maximum Torque (Tmax) in 1/1000th's of Motor Rated Torque (6076h). No 0
4 1 RW 4 0.001 A(RMS) Current limit (for auto-config additional motor) Unsigned32 0 FFFFFFFFh 700000 Rated motor current in mA. No 0
380Fh
5 1 RW 4 0.001 Nm Peak torque (for auto-config additional motor) Unsigned32 0 2000000 25000 Rated motor torque in mNm. No 0
6 1 RW 4 RPM Maximum motor speed (for auto-config additional motor) Unsigned32 0 20000 2500 Maximum motor speed (ωnom) in RPM. It is unsigned and applies in both directions. No 0
Maximum acceleration and deceleration rates. Acceleration and Deceleration is controlled by the
7 1 RW 4 0.00390625 rpm/s Maximum acceleration rate (for auto-config additional motor) Unsigned32 0 00007FFFh 5 No 0
Master, so this is only a safety limit. Object format is 24.8 fixed point, units are Hz (i.e. 1/s).
Maximum rate of change of torque. Torque ramping is handled by the Master, so this is only a safety
8 1 RW 4 0.1 % rated/s Torque slope (for auto-config additional motor) Unsigned32 0 100000 40000 limit. Object resolution is 1000ths of Motor Rated Torque (6076h) / s. TODO - Need an appropriate No 0
value for this.
9 1 RW 4 0.000244140625 Cutback aggression Unsigned16 0 1000h 0400h Defines the current cutback curve No 0
10 1 RW 4 0.0625 Motor continuous torque Unsigned16 0 FFFFh 0100h Used to limit torque demands under cutback scenarios No 0
OBJECT=AUTO_CONFIG_ENABLE
Set to enable auto-configuration functionality. When set, unit is configured based on the state of its SECTION=AUTOCONFIG_MOTORSETUP
3810h 0 1 RW 4 Auto-configuration enable Boolean 0 1 0 No 0
digital inputs. NUMBER_FORMAT=2:0=Disable:1=Enable
OBJECT=EBRAKE_THERMAL_VOLTAGE_CONTROL
---- ---- ---- ---- Electro-brake control for thermal/voltage cutback Record N/A N/A ---- Used to control the electro-brake during thermal and voltage cutback of the motor. ---- ----
MASTER=TRUE

NUMBER_FORMAT=2:0=Disable:1=Enable
1 1 RW 4 Enable Boolean 0 1 0 No 0
3811h
2 1 RW 4 0.00003051757813 Low voltage cutback factor Unsigned16 0 FFFFh 0 Cutback factor below which the electromechanical brake is applied during low voltage cutback. No 0
3 1 RW 4 0.00003051757813 High voltage cutback factor Unsigned16 0 FFFFh 0 Cutback factor below which the electromechanical brake is applied during high voltage cutback. No 0
4 1 RW 4 0.00390625 Low temperature cutback factor Unsigned16 0 FFFFh 0 Cutback factor below which the electromechanical brake is applied during low temperature cutback. No 0
5 1 RW 4 0.00390625 High temperature cutback factor Unsigned16 0 FFFFh 0 Cutback factor below which the electromechanical brake is applied during high temperature cutback. No 0
OBJECT=HEARTBEAT_MONITORED_COB_IDS
Used to monitor heartbeats of additional nodes on CANbus. If no heartbeat is seen within 750ms an
---- ---- ---- ---- HeartBeat Monitored Values (Tailtruck Specific) Record N/A N/A ---- ---- ---- SECTION=VEHICLESTATUS
RPDO timeout fault is set. NMT Value is unmapped to these objects via RPDO.
CATEGORY=MONITORING
3812h
1 1 RWW N/A Slave Heartbeat Value Unsigned8 0 FFh No Yes 1h
2 1 RWW N/A PST Heartbeat Value Unsigned8 0 FFh No Yes 1h
OBJECT=CUSTOMER_PARAM
SECTION=CUSTOMER_CONFIG
---- ---- ---- ---- General parameters Record N/A N/A ---- Parameters to configure general application. ---- ----
MASTER=TRUE
Bit 0 - Customized Digital Inputs (0 = Generic DI, 1 = Customer DI). DESC=Customized Digital Inputs:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Generic:1=Customer
Bit 1 - Disable protocol fault DESC=Protocol Fault:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
1 1 RW 4 Configuration Flags Unsigned8 0 FFh 0 Bit 2 - Reserved No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Reserved:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Not used:1=Not used
Bit 3 - Disable boost mode DESC=Boost mode:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 4 - Clamp inconsistent throttle values to 0. DESC=Clamp inconsistent throttle values to 0:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
2 1 RW 2 1 ms Momentary switch delay Unsigned16 0 2710h 800 Enter minimum delay to confirm momentary switch validation No 0
3 1 RW 2 RPM Max speed to allow direction change Unsigned16 0 05DCh 0 Speed below witch direction change is allowed (in 16.0 RPM) No 0
4 1 RW 2 RPM Min Speed to allow Regen Braking Unsigned16 0 FFFFh 0 speed over witch regen braking is allowed (in 16.0 RPM) No 0
5 1 RW 2 0.00390625 m/s2 Brake Light Stop Acceleration Level Unsigned16 0040h 0400h 0100h Acceleration below witch ‘Brake Light’ is de-energized (in 8.8 format) No 0
6 1 RW 2 0.00390625 m/s2 Brake Light Start Acceleration Level Unsigned16 0040h 0400h 0100h Acceleration over witch ‘Brake Light’ is energized (in 8.8 format) No 0
7 1 RW 4 0.00003051850948 Footbrake Map Pt 1 - PU Torque Unsigned16 0 FFFFh 0 Foot Brake power map scaling torque (in pu) to speed (RPM) No 0
8 1 RW 4 RPM Footbrake Map Pt 1 - Speed Unsigned16 0 FFFFh 0 Foot Brake power map scaling torque (in pu) to speed (RPM) No 0
15 1 RW 4 RPM Max speed to allow traction inhibition Unsigned16 0 FFFFh 0 Speed below which traction inhibition is allowed (in 16.0 RPM) No 0
16 1 RW 4 ms Safety mode 1 timeout period Unsigned16 0 FFFFh 0 Timeout period for safety mode 1 fault No 0
17 1 RW 4 % Drive SOC point 1 Integer16 0 100 15 SOC cutback map for drive No 0
18 1 RW 4 % Drive SOC cutback 1 Integer16 0 100 50 SOC cutback map for drive No 0
19 1 RW 4 % Drive SOC point 2 Integer16 0 100 100 SOC cutback map for drive No 0
20 1 RW 4 % Drive SOC cutback 2 Integer16 0 100 100 SOC cutback map for drive No 0
21 1 RW 4 % Brake SOC point 1 Integer16 0 100 15 SOC cutback map for braking No 0
22 1 RW 4 % Brake SOC cutback 1 Integer16 0 100 50 SOC cutback map for braking No 0
23 1 RW 4 % Brake SOC point 2 Integer16 0 100 100 SOC cutback map for braking No 0
24 1 RW 4 % Brake SOC cutback 2 Integer16 0 100 100 SOC cutback map for braking No 0
17 2 RW 4 0.02 % Drive SOC point 1 Integer16 0 100 15 SOC cutback map for drive No 0
18 2 RW 4 0.02 % Drive SOC cutback 1 Integer16 0 100 50 SOC cutback map for drive No 0
19 2 RW 4 0.02 % Drive SOC point 2 Integer16 0 100 100 SOC cutback map for drive No 0
20 2 RW 4 0.02 % Drive SOC cutback 2 Integer16 0 100 100 SOC cutback map for drive No 0
21 2 RW 4 0.02 % Brake SOC point 1 Integer16 0 100 15 SOC cutback map for braking No 0
22 2 RW 4 0.02 % Brake SOC cutback 1 Integer16 0 100 50 SOC cutback map for braking No 0
3813h
23 2 RW 4 0.02 % Brake SOC point 2 Integer16 0 100 100 SOC cutback map for braking No 0
24 2 RW 4 0.02 % Brake SOC cutback 2 Integer16 0 100 100 SOC cutback map for braking No 0
25 1 RW 4 0.00390625 A Min current for line contactor coil Unsigned16 0 FFFFh 0 Minimum current for line contactor coil to indicate it is working. No 0
26 1 RW 4 Not used. Unsigned16 0 FFFFh 0 Not used No 0
27 1 RW 4 0.00003051850948 Neutral Braking Map Pt 1 - PU Torque Unsigned16 0 7FFFh 0 Neutral braking torque profile scaling (in pu) to speed (RPM) No 0
28 1 RW 4 RPM Neutral Braking Map Pt 1 - Speed Unsigned16 0 FFFFh 0 Neutral braking torque profile scaling (in pu) to speed (RPM) No 0
35 1 RW 4 0.00390625 kW Motor Peak Power Unsigned16 0 7FFFh 0 Available power when SOC table is not in cutback No 0
36 1 RW 4 0.00003051850948 Drive Mode Map Pt 1 - PU Torque Unsigned16 0 7FFFh 0 Drive Mode torque profile scaling (in pu) to speed (RPM) No 0
37 1 RW 4 RPM Drive Mode Map Pt 1 - Speed Unsigned16 0 FFFFh 0 Drive Mode torque profile scaling (in pu) to speed (RPM) No 0
44 1 RW 4 0.001 s Boost ramp rate Unsigned16 0 5000 0 Speed at which Drive mode transforms to boost mode No 0
45 1 RW 4 RPM Maximum motor speed Unsigned16 0 FFFFh 0 Maximum motor speed when in neutral, No 0
46 1 RW 4 0.00390625 kW/s GeneratedPower ramp rate Integer16 1 2560 1280 Speed at which GeneratedPower from BMS change No 0
47 1 RW 4 0.00390625 kW/s AvailablePower ramp rate Integer16 1 2560 1280 Speed at which AvailablePower from BMS change No 0
48 1 RW 4 0.390625 %/s Battery current recovery ramp rate Integer16 0 7FFFh 0a00h Ramp rate for battery current cutback factor to recover No 0
49 1 RW 4 0.390625 %/s Battery current cutback ramp rate Integer16 0 7FFFh 0019h Ramp rate for battery current cutback factor to ramp down No 0
50 1 RW 4 RPM Rolloff exit speed Unsigned16 0 7FFFh 1000 System will exit rolloff if vehicle speed exceeds this level No 0
51 1 RW 4 RPM Overspeed braking start speed Unsigned16 0 FFFFh 8000 Speed at which the vehicle will begin to apply braking torque to maintain speed limit No 0
52 1 RW 4 RPM Overspeed braking end speed Unsigned16 0 FFFFh 9000 Speed at which the vehicle will apply full torque in order to maintain speed limit No 0
53 1 RW 4 RPM Overspeed warning level Unsigned16 0 FFFFh 8000 Speed at which StopLampReq is set No 0
54 1 RW 4 0.0625 Nm Overspeed max braking torque Unsigned16 0 32000 0050h Maximum braking torque allowed to limit speed No 0
55 1 RW 4 RPM Rolloff entry speed Unsigned16 0 7FFFh 10 System will enter roll-off if vehicle speed is within this level of 0. No 0
56 1 RW 4 ms Ignition switch short circuit time out Unsigned16 0 7FFFh 1000 DTC 18 raised when ignition switch active for this time. No 0
57 1 RW 4 0.0625 Nm/s Overspeed braking torque ramp on rate Unsigned16 0 FFFFh 0050h Rate at which overspeed braking protection torque ramps on when overspeeding No 0
58 1 RW 4 0.0625 Nm/s Overspeed braking torque ramp off rate Unsigned16 0 FFFFh 0010h Rate at which overspeed braking protection torque ramps off when no longer overspeeding No 0
59 1 RW 4 RPM Overspeed torque output disable speed Unsigned16 0 FFFFh 8500 Speed at which torque output is disabled No 0
60 1 RW 4 RPM Overspeed torque output enable speed Unsigned16 0 FFFFh 7300 Speed at which torque output is re-enabled No 0
OBJECT=THROTTLE_AND_BRAKE
SECTION=CUSTOMER_CONFIG
---- ---- ---- ---- Throttle parameters Record N/A N/A ---- Parameters to configure throttle. ---- ----
MASTER=TRUE

1 1 RW 4 0.00390625 V Throttle 1 minimum voltage Unsigned16 0 FFFFh 0 Minimum allowed voltage for throttle 1. No 0
1 2 RW 4 0.0009765625 Throttle 1 minimum voltage Unsigned16 0 FFFFh 0 Minimum allowed voltage for throttle 1. No 0
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
2 1 RW 4 0.00390625 V Throttle 1 maximum voltage Unsigned16 0 FFFFh 0 Maximum allowed voltage for throttle 1. No 0
2 2 RW 4 0.0009765625 Throttle 1 maximum voltage Unsigned16 0 FFFFh 0 Maximum allowed voltage for throttle 1. No 0
3 1 RW 4 0.00390625 V Throttle 1 zero voltage Unsigned16 0 FFFFh 0 Zero voltage for throttle 1 for braking directional functionality. No 0
3 2 RW 4 0.0009765625 Throttle 1 zero voltage Unsigned16 0 FFFFh 0 Zero voltage for throttle 1 for braking directional functionality. No 0
4 1 RW 4 0.00390625 V Throttle 1 minimum power supply voltage Unsigned16 0 FFFFh 0 Minimum power supply voltage for throttle 1 No 0
5 1 RW 4 0.00390625 V Throttle 2 minimum voltage Unsigned16 0 FFFFh 0 Minimum allowed voltage for throttle 2. No 0
5 2 RW 4 0.0009765625 Throttle 2 minimum voltage Unsigned16 0 FFFFh 0 Minimum allowed voltage for throttle 2. No 0
6 1 RW 4 0.00390625 V Throttle 2 maximum voltage Unsigned16 0 FFFFh 0 Maximum allowed voltage for throttle 2. No 0
6 2 RW 4 0.0009765625 Throttle 2 maximum voltage Unsigned16 0 FFFFh 0 Maximum allowed voltage for throttle 2. No 0
7 1 RW 4 0.00390625 V Throttle 2 zero voltage Unsigned16 0 FFFFh 0 Zero voltage for throttle 2 for braking directional functionality. No 0
7 2 RW 4 0.0009765625 Throttle 2 zero voltage Unsigned16 0 FFFFh 0 Zero voltage for throttle 2 for braking directional functionality. No 0
8 1 RW 4 0.00390625 V Throttle 2 minimum power supply voltage Unsigned16 0 FFFFh 0 Minimum power supply voltage for throttle 2 No 0
9 1 RW 4 0.02 s Throttle fault debounce time Unsigned16 0 FFFFh 0 Debounce time for throttle faults to occur. No 0
10 1 RW 4 0.00003051850948 Throttle value disturbance filter Integer16 0 7FFFh 0 Changes in throttle value less than this are ignored. No 0
10 2 RW 4 0.0009765625 Throttle disturbance filter Integer16 0 7FFFh 0 Changes in throttle value less than this are ignored. No 0
11 1 RW 4 0.00003051850948 Throttle limp home value Integer16 0 7FFFh 0 Limp home throttle value used when throttle input fails No 0
12 1 RW 4 0.00003051850948 Throttle consistency map Pt 1 - Thr 1 Value Integer16 0 7FFFh 0 Consistency map to compare throttle 1+2 inputs. No 0
12 2 RW 4 0.0009765625 Throttle consistency map Pt 1 - Thr 1 Value Integer16 0 7FFFh 0 Consistency map to compare throttle 1+2 inputs. No 0
13 1 RW 4 0.00003051850948 Throttle consistency map Pt 1 - Max Difference Integer16 0 7FFFh 992 No 0
3814h
14 1 RW 4 0.00003051850948 Throttle consistency map Pt 2 - Thr 1 Value Integer16 0 7FFFh 4900 No 0

20 1 RW 4 0.00003051850948 Throttle safety case - Activation value Integer16 0 7FFFh 0 Safety case check is disabled below this throttle value. No 0
21 1 RW 4 0.00003051850948 Throttle safety case - Minimum delta Integer16 0 7FFFh 0 Changes in throttle value less than this indicate a stuck pedal No 0
22 1 RW 4 RPM Throttle safety case - Vehicle activation speed Unsigned16 0 FFFFh 0 Safety case check is disabled below this speed. No 0
23 1 RW 4 0.001 s Throttle safety case - Stuck time (T1) Unsigned16 0 FFFFh 0 Time for stuck accelerator pedal to be detected. No 0
24 1 RW 4 0.001 s Throttle safety case - Fault activation time (T2) Unsigned16 0 FFFFh 0 Time for safety case 1 fault to set when brake is applied No 0
25 1 RW 4 1 s Throttle safety case - Fault latch time (T3) Unsigned16 0 FFFFh 0 Time for safety case 2 fault (latched) to set SC1 is active. No 0
26 1 RW 4 0.00003051850948 Throttle fault maximum throttle Integer16 0 7FFFh 0 The maximum throttle value allowed when any throttle fault is active. Use to limit torque output. No 0
27 1 RW 4 1 RPM Throttle limp home maximum speed Integer16 0 7FFFh 0 Speed limit imposed when limp home mode is active due to throttle fault. No 0
28 1 RW 4 0.02 s Footbrake Impossible State time out Unsigned16 0 FFFFh 10 Time out for DTC to be set when footbrake is in impossible state (both switches closed) No 0
29 1 RW 4 1 s Footbrake Transition State time out Unsigned16 0 FFFFh 0 Time out for DTC to be set when footbrake is in transition state (both switches open) No 0
30 1 RW 4 1 RPM Footbrake Transition State min speed Unsigned16 0 FFFFh 0 Min speed for DTC to be set when footbrake is in transition state (both switches open) No 0
OBJECT=DTC_HISTORY
---- ---- ---- ---- DTC history Record N/A N/A ---- Used to reset and read DTC history ---- ---- SECTION=CUSTOMER_STATUS
CATEGORY=MONITORING
3815h
1 1 WO 2 Reset DTC history Boolean 0 1 No Write to reset DTC history No 3h
2 1 RO N/A DTC history Domain N/A N/A No DTC history No 1h
OBJECT=LIMP_HOME_PARAMS
SECTION=CUSTOMER_STATUS
---- ---- ---- ---- Customer-Specific parameters Record N/A N/A ---- Used to store limp home torque and footbrake fault voltages ---- ----
MASTER=TRUE
1 1 RW 4 rpm Limp-home maximum speed limit Unsigned16 0 20000 500 Maximum speed allowed when any throttle or footbrake fault is active. Used for forward and reverse No 0
3816h Voltages over this value from analog footbrake signal when digital footbrake switch inactive will
2 1 RW 4 0.00390625 V Footbrake Inactive Overvoltage Integer16 -32768 32767 0 No 0
trigger fault
Voltages under this value from analog footbrake signal when digital footbrake switch is Active will
3 1 RW 4 0.00390625 V Footbrake Active Undervoltage Integer16 -32768 32767 0 No 0
trigger fault
The temperature at which we send the command to turn on the externally connected low speed fan
4 1 RW 4 1 DegC Low Speed Fan Temperature Integer16 -32768 32767 0 No 0
in Customer specific CAN protocol message
5 1 RW 4 1 DegC High Speed Fan Temperature The temperature at which we send the command to turn on the externally connected high speed fan No 0
Integer16 -32768 32767 0
in Customer specific CAN protocol message
OBJECT=UVR_PARAM
---- ---- ---- ---- UVR config parameters (copy 0) Record N/A N/A ---- Parameters to configure systems using UVR contacts ---- ----
MASTER=TRUE
3940h
OBJECT=UVR_PARAM
MASTER=TRUE
3941h
OBJECT=UVR_PARAM
MASTER=TRUE
3942h
OBJECT=BDI_PARAM
SECTION=BDISetup
---- ---- ---- ---- BDI parameters (copy 0) Record N/A N/A ---- ---- ----
MASTER=TRUE

Bit 0 - Traction (If set, BDI Driveability Profile activated when BDI low) EEPROM=battery.bdi_flags DESC=Traction:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Off:1=On
1 1 RW 2 BDI Flags Unsigned8 0 FFh 0 No 0
Bit 1 - Pump (If set, Pump inhibited when BDI low) WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Pump:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Off:1=On
3950h 2 1 RW 2 0.01 V Reset voltage (V) Unsigned8 0 FFh 210 Minimum voltage required across battery cell to reset BDI to 100% at power up. 0.01V/bit. No 0 EEPROM=battery.bdi_reset_voltage_level
3 1 RW 2 0.01 V Discharge voltage (V) Unsigned8 0 FFh 173 Sets discharge rate for BDI. 0.01V/bit No 0 EEPROM=battery.bdi_discharge_voltage_level
7 1 RW 4 %/s BDI Discharge Rate Unsigned16 0 FFFFh 32 Rate at which BDI discharges when the battery is below the calculated threshold No 0
OBJECT=BDI_PARAM
SECTION=BDISetup
MASTER=TRUE

OBJECT=BDI_PARAM
SECTION=BDISetup
MASTER=TRUE

---- ---- ---- ---- Throttle parameters (copy 0) Record N/A N/A ---- Parameters to configure Throttle Input. ---- ----
MASTER=TRUE

Bit 2 - Proportional Speed Limit disable (0 = speed limit proportional to throttle, 1 = speed limit fixed) EEPROM=traction.throttle_flags
1 1 RW 4 Throttle Flags Unsigned8 0 FFh 0 No 0 DESC=Proportional Speed Limit:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 3 - Braking Direction Throttle enable (0 = Directional throttle controls drive torque only, 1 = WRITE_IN_PREOPERATIONAL_ONLY=TRUE
DESC=Braking Directional Throttle:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=No:1=Yes
DESC=Reverse Speed Limit Encoding:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=No:1=Yes
Bit 4 - Reverse speed limit encoding (0 = No encoding (default), 1 = Encoding active)
NUMBER_FORMAT=4
3960h
3 1 RW 1 0.00390625 V Throttle Start Voltage 1 Unsigned16 0 FFFFh 16 Same units as 2200h No 0 EEPROM=traction.throttle_0_start_voltage
MASTER=TRUE

NUMBER_FORMAT=4
3961h
3961h

Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
MASTER=TRUE

NUMBER_FORMAT=4
3962h
---- ---- ---- ---- Traction baseline profile (Configuration 0) Record N/A N/A ---- Baseline profile. This is always applied. ---- ----
MASTER=TRUE

1 1 RW 2 0.1 % Maximum Torque applied during drive Unsigned16 0 1000 1000 Maximum motor torque when in drive No 0 EEPROM=traction.baseline_pro_0
2 1 RW 2 0.1 % Maximum Torque applied during a direction change Unsigned16 0 1000 500 Maximum motor torque when performing direction change braking No 0 EEPROM=traction.baseline_pro_1
3 1 RW 2 0.1 % Maximum Torque applied when neutral braking Unsigned16 0 1000 100 Maximum motor torque when performing neutral braking No 0 EEPROM=traction.baseline_pro_2
4 1 RW 2 0.1 % Maximum Torque applied when footbraking Unsigned16 0 1000 500 Maximum motor torque when performing footbraking No 0 EEPROM=traction.baseline_pro_3
3970h 5 1 RW 2 rpm Maximum Speed in forward direction Unsigned16 0 20000 5000 Speed limit in forwards direction No 0 EEPROM=traction.baseline_pro_4
6 1 RW 2 rpm Maximum Speed in reverse direction Unsigned16 0 20000 1000 Speed limit in reverse direction No 0 EEPROM=traction.baseline_pro_5
MASTER=TRUE

MASTER=TRUE

MASTER=TRUE

MASTER=TRUE

MASTER=TRUE

---- ---- ---- ---- Driveability Select 1 Profile (Configuration 0) Record N/A N/A ---- Applied when Driveability Select 1 switch is active. Units are same as Baseline. ---- ----
MASTER=TRUE

2 1 RW 2 0.1 % Maximum Torque applied during a direction change Unsigned16 0 1000 500 Maximum motor torque when performing direction change braking No 0 EEPROM=traction.drv_sel_1_pro_1
3 1 RW 2 0.1 % Maximum Torque applied when neutral braking Unsigned16 0 1000 100 Maximum motor torque when performing neutral braking No 0 EEPROM=traction.drv_sel_1_pro_2
4 1 RW 2 0.1 % Maximum Torque applied when footbraking Unsigned16 0 1000 500 Maximum motor torque when performing footbraking No 0 EEPROM=traction.drv_sel_1_pro_3
3980h 5 1 RW 2 rpm Maximum Speed in forward direction Unsigned16 0 20000 5000 Speed limit in forwards direction No 0 EEPROM=traction.drv_sel_1_pro_4
6 1 RW 2 rpm Maximum Speed in reverse direction Unsigned16 0 20000 1000 Speed limit in reverse direction No 0 EEPROM=traction.drv_sel_1_pro_5
MASTER=TRUE

3981h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
MASTER=TRUE

MASTER=TRUE

MASTER=TRUE

MASTER=TRUE

---- ---- ---- ---- Low Speed Profile (Configuration 0) Record N/A N/A ---- ---- ----

2 1 RW 2 0.1 % Maximum Torque applied during a direction change Unsigned16 0 1000 500 Maximum motor torque when performing direction change braking No 0 EEPROM=traction.low_speed_pro_1
3 1 RW 2 0.1 % Maximum Torque applied when neutral braking Unsigned16 0 1000 100 Maximum motor torque when performing neutral braking No 0 EEPROM=traction.low_speed_pro_2
4 1 RW 2 0.1 % Maximum Torque applied when footbraking Unsigned16 0 1000 500 Maximum motor torque when performing footbraking No 0 EEPROM=traction.low_speed_pro_3
39A0h 5 1 RW 2 rpm Maximum Speed in forward direction Unsigned16 0 20000 5000 Speed limit in forwards direction No 0 EEPROM=traction.low_speed_pro_4
6 1 RW 2 rpm Maximum Speed in reverse direction Unsigned16 0 20000 1000 Speed limit in reverse direction No 0 EEPROM=traction.low_speed_pro_5


---- ---- ---- ---- BDI Low Profile (Configuration 0) Record N/A N/A ---- Applied when BDI Remaining Charge has dropped below Cutout Level. Units are same as Baseline. ---- ----
MASTER=TRUE

2 1 RW 2 0.1 % Maximum Torque applied during a direction change Unsigned16 0 1000 500 Maximum motor torque when performing direction change braking No 0 EEPROM=traction.bdi_low_pro_1
3 1 RW 2 0.1 % Maximum Torque applied when neutral braking Unsigned16 0 1000 100 Maximum motor torque when performing neutral braking No 0 EEPROM=traction.bdi_low_pro_2
4 1 RW 2 0.1 % Maximum Torque applied when footbraking Unsigned16 0 1000 500 Maximum motor torque when performing footbraking No 0 EEPROM=traction.bdi_low_pro_3
39B0h 5 1 RW 2 rpm Maximum Speed in forward direction Unsigned16 0 20000 5000 Speed limit in forwards direction No 0 EEPROM=traction.bdi_low_pro_4
6 1 RW 2 rpm Maximum Speed in reverse direction Unsigned16 0 20000 1000 Speed limit in reverse direction No 0 EEPROM=traction.bdi_low_pro_5
MASTER=TRUE

39B1h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
MASTER=TRUE

---- ---- ---- ---- Service Profile (Configuration 0) Record N/A N/A ---- Applied when vehicle service is required. ---- ----
MASTER=TRUE

2 1 RW 2 0.1 % Maximum Torque applied during a direction change Unsigned16 0 1000 500 Maximum motor torque when performing direction change braking No 0 EEPROM=traction.service_pro_1
3 1 RW 2 0.1 % Maximum Torque applied when neutral braking Unsigned16 0 1000 100 Maximum motor torque when performing neutral braking No 0 EEPROM=traction.service_pro_2
4 1 RW 2 0.1 % Maximum Torque applied when footbraking Unsigned16 0 1000 500 Maximum motor torque when performing footbraking No 0 EEPROM=traction.service_pro_3
39C0h 5 1 RW 2 rpm Maximum Speed in forward direction Unsigned16 0 20000 5000 Speed limit in forwards direction No 0 EEPROM=traction.service_pro_4
6 1 RW 2 rpm Maximum Speed in reverse direction Unsigned16 0 20000 1000 Speed limit in reverse direction No 0 EEPROM=traction.service_pro_5
MASTER=TRUE

MASTER=TRUE

Bucyrus Steering and Power Balance Parameters SECTION=TractionConfig
---- ---- ---- ---- N/A N/A ---- --- ---
(Configuration 0) MASTER=TRUE

39d0h 2 2 RW 2 Ki for inner wheel cutback control Unsigned8 0 FFh 0 Enter Ki to control how inner wheel speed demand decreases as outer wheel overspeeds No 0 EEPROM=misc.drive_torque_cutback_ki
3 2 RW 4 rpm Entry differential speed 1 Unsigned16 0 FFFFh 150 Speed differential where inner wheel enters cutback stage 1 No 0
5 2 RW 4 rpm Exit differential speed 1 Unsigned16 0 FFFFh 50 Speed differential where inner wheel exits cutback stage 1 No 0
7 2 RW 4 0.07629510948 %/s Cutback entry rate Unsigned16 0 FFFFh 13107 Rate at which inner wheel target speed is cut back No 0
8 2 RW 4 0.07629510948 %/s Cutback exit rate Unsigned16 0 FFFFh 13107 Rate at which inner wheel target speed recovers No 0
---- ---- ---- ---- N/A N/A ---- --- ---

---- ---- ---- ---- N/A N/A ---- --- ---

OBJECT=PUMP_PARAM
SECTION=PumpConfig
---- ---- ---- ---- General Pump Features (Configuration 0) Record N/A N/A ---- Enable/disable general pump features. ---- ----
MASTER=TRUE

39E0h Bit 1 - Drive enable switch disables pump. DESC=Drive Enable:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Ignored:1=Disables pump
OBJECT=PUMP_PARAM
SECTION=PumpConfig
MASTER=TRUE

OBJECT=PUMP_PARAM
SECTION=PumpConfig
MASTER=TRUE

OBJECT=PUMP_PARAM
SECTION=PumpConfig
MASTER=TRUE

39E3h

Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
OBJECT=PUMP_PARAM
SECTION=PumpConfig
MASTER=TRUE

OBJECT=PUMP_PARAM
SECTION=PumpConfig
MASTER=TRUE

---- ---- ---- ---- Pump Motor Parameters (Configuration 0) Record N/A N/A ---- ---- ----

39F0h 2 1 RW 2 1 RPM Pump Motor Minimum Speed Unsigned16 0 6000 0 minimum speed for pump motor No 0 EEPROM=pump.motor_min_speed





---- ---- ---- ---- Controlled Roll Off parameters (Configuration 0) Record N/A N/A ---- ---- ----
MASTER=TRUE

3a00h
EEPROM=traction.roll_off_enabled
1 1 RW 2 Controlled Roll Off enable Boolean 0 1 1 0 = Disabled, 1 = Enabled No 0 NUMBER_FORMAT=2:0=Disabled:1=Enabled
2 1 RW 2 0.001 Maximum torque applied in Controlled Roll Off Unsigned16 0 1000 1000 No 0 EEPROM=traction.roll_off_maximum_torque
3 1 RW 2 rpm Maximum speed allowed in Controlled Roll Off Unsigned16 0 6000 100 No 0 EEPROM=traction.roll_off_maximum_speed
---- ---- ---- ---- Controlled Roll Off parameters (Configuration1) Record N/A N/A ---- ---- ----
MASTER=TRUE

3a01h
---- ---- ---- ---- Controlled Roll Off parameters (Configuration2) Record N/A N/A ---- ---- ----
MASTER=TRUE

3a02h
The flux map relates flux (A) to torque demand (Nm). Changes to this object only take affect when
---- ---- ---- ---- Motor flux map (Configuration 0) Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
the commit sub-index in 6410h is written to.
1 1 RW 4 0.0625 Nm Pt 1 Torque Unsigned16 0 FFFFh 0 Torque in 12.4 Nm No 0 EEPROM=motor_0.flux_map[0].x
2 1 RW 4 0.015625 A(RMS) Pt 1 Magnetizing Current Unsigned16 0 FFFFh 3840 Current in 10.6 A(RMS) No 0 EEPROM=motor_0.flux_map[0].y
3 1 RW 4 0.0625 Nm Pt 2 Torque Unsigned16 0 FFFFh 218 No 0 EEPROM=motor_0.flux_map[1].x
4 1 RW 4 0.015625 A(RMS) Pt 2 Magnetizing Current Unsigned16 0 FFFFh 3840 No 0 EEPROM=motor_0.flux_map[1].y
3a10h
3a11h
3a12h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
3a12h
3a13h
---- ---- ---- ---- Motor power limit map (Configuration 0) Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
1 1 RW 4 0.0625 Nm Pt 1 Max Torque Unsigned16 0 FFFFh 1248 Max Torque in 12.4 Nm. No 0 EEPROM=motor_0.power_map[0].x
2 1 RW 4 RPM Pt 1 Speed Unsigned16 0 FFFFh 0 Speed in 16.0 RPM No 0
SOFT_HIGH=65535
3 1 RW 4 0.0625 Nm Pt 2 Max Torque Unsigned16 0 FFFFh 1200 No 0 EEPROM=motor_0.power_map[1].x
4 1 RW 4 RPM Pt 2 Speed Unsigned16 0 FFFFh 420 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
3a20h SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
---- ---- ---- ---- Motor power limit map 2 (Configuration 0) Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
3a25h

Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
---- ---- ---- ---- Motor power limit map 2 (Configuration 1) Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
The voltage torque-cutback map relates the voltage cutback gain (0-1) to voltage (V). Changes to
---- ---- ---- ---- Voltage Torque-Cutback Map (Configuration 0) Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
this object only take affect when the commit sub-index in 6410h is written to.
1 1 RW 4 0.0625 V Pt 1 Voltage Unsigned16 0 FFFFh 0 Voltage in 12.4 No 0 EEPROM=motor_0.torque_cutback[0].x
EEPROM=motor_0.torque_cutback[0].y
2 1 RW 4 3.05E-05 Pt 1 Voltage Cutback Gain Unsigned16 0 7fffh 0 Gain in s.15 format. (i.e. 0-0.999) No 0
SOFT_HIGH=65535
3 1 RW 4 0.0625 V Pt 2 Voltage Unsigned16 0 FFFFh 1382 No 0 EEPROM=motor_0.torque_cutback[1].x
4 1 RW 4 3.05E-05 Pt 2 Voltage Cutback Gain Unsigned16 0 7fffh 0 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
18 1 RW 4 0.0000305175781 Pt 9 Voltage Cutback Gain Unsigned16 0 7fffh 0 No 0
SOFT_HIGH=65535
---- ---- ---- ---- Voltage Torque-Cutback Map (Configuration 1) Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
---- ---- ---- ---- Im/Lm Saturation Map (Configuration 0) Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
1 1 RW 4 6.25E-02 A(RMS) Pt 1 Mag Current Unsigned16 0 FFFFh 0 Mag current in 12.4 A(RMS) No 0 EEPROM=misc.saturation_map[0].x
EEPROM=misc.saturation_map[0].y
2 1 RW 4 0.000244141 puH Pt 1 Mag Inductance Unsigned16 0 1000h 4587 Mag inductance in 4.12 H No 0
SOFT_HIGH=65535
3 1 RW 4 6.25E-02 A(RMS) Pt 2 Mag Current Unsigned16 0 FFFFh 500 No 0 EEPROM=misc.saturation_map[1].x
4 1 RW 4 0.000244141 puH Pt 2 Mag Inductance Unsigned16 0 1000h 4301 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
---- ---- ---- ---- Im/Lm Saturation Map (Configuration 1) Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
2 1 RW 4 0.000244141 puH Pt 1 Mag Inductance Unsigned16 0 1000h 4587 Mag inductance in 4.12 H No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
OBJECT=ALG_IN_MOTOR_TEMP
---- ---- ---- ---- Motor Temperature Sensor (Configuration 0) Record N/A N/A ---- Used to configure the temperature measuring analog input. ---- ---- SECTION=MOTOR1SETUP

EEPROM=motor_0.temp_meas_mode
0 - None. Analog input can be used for general purpose.
NUMBER_FORMAT=4
1 1 RW 4 Mode Unsigned8 0 3 0 1 - PTC thermistor. No 0
0=None:1=PTC:2=Switch:3=PTC and Switch
2 - Switch.
3 - PTC Thermistor and switch
3a50h
2 1 RW 4 0.00390625 V High Temperature Voltage Integer16 0 32767 0 PTC only. This is the voltage at the input when the temperature is 100 degrees C. No 0 EEPROM=motor_0.temp_meas_high_temp_voltage
3 1 RW 4 0.00390625 V Low Temperature Voltage Integer16 0 32767 0 PTC only. This is the voltage at the input when the temperature is 0 degrees C. No 0 EEPROM=motor_0.temp_meas_low_temp_voltage
EEPROM=motor_0.temp_meas_switch_source
Indicates the digital input to use for the motor temperature switch input. FFh indicates there is no
4 1 RW 4 Switch source Unsigned8 0 FFh 0 No 0 NUMBER_FORMAT=BASE16
switch fitted. 0-7 maps to bits 0-7 in 6800,1; 8-15 maps to bits 0-7 in 6800,2; etc.
NUMBER_FORMAT=2
Allows user defined thermistor range (using high and low temperature voltages in subs 2 and 3) or
5 1 RW 4 PTC type Unsigned8 0 1 0 No 0 0=User Defined:1=KTY84
predefined thermistor characteristic.
---- ---- ---- ---- Motor Temperature Sensor (Configuration 1) Record N/A N/A ---- Used to configure the temperature measuring analog input. ---- ---- SECTION=MOTOR1SETUP
3a51h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]

NUMBER_FORMAT=4
2 - Switch.
3a51h
NUMBER_FORMAT=2
OBJECT=MOTOR_TEMP_LIMIT
---- ---- ---- ---- Motor Temperature Setup (Configuration 0) Record N/A N/A ---- Used to setup the motor temperature input. ---- ---- SECTION=MOTOR1SETUP
1 1 RW 4 Motor temperature estimate current constant Integer16 -32768 32767 0078h No 0 EEPROM=motor_0.temp_meas_i_const
3a60h 2 1 RW 4 Motor temperature estimate discretization Integer16 -32768 32767 7F4Bh No 0 EEPROM=motor_0.temp_meas_discretisation
3 1 RW 4 DegC Maximum allowable motor temperature Integer16 -32768 32767 005Ah No 0 EEPROM=motor_0.temp_meas_maximum
4 1 RW 4 DegC Rotor resistance variation hot temperature Integer16 -32768 32768 140 Temperature at which Rr is varied by hot factor 16.0 format No 0
5 1 RW 4 DegC Rotor resistance variation cold temperature Integer16 -32768 32768 -40 Temperature at which Rr is varied by cold factor 16.0 format No 0
6 1 RW 4 0.00390625 Rotor resistance variation hot factor Unsigned16 0040h 0400h 0100h Value Rr multiplied by at hot temperature 8.8 format No 0
7 1 RW 4 0.00390625 Rotor resistance variation cold factor Unsigned16 0040h 0400h 0100h Value Rr multiplied by at cold temperature 8.8 format No 0
---- ---- ---- ---- Motor Temperature Setup (Configuration 1) Record N/A N/A ---- Used to setup the motor temperature input. ---- ---- SECTION=MOTOR1SETUP
3a61h 2 1 RW 4 Motor temperature estimate discretization Integer16 -32768 32767 7F4Bh No 0 EEPROM=motor_0.temp_meas_discretisation
4 1 RW 4 DegC Rotor resistance variation hot temperature Integer16 -32768 32768 140 Temperature at which Rr is varied by hot factor 16.0 format No 0
5 1 RW 4 DegC Rotor resistance variation cold temperature Integer16 -32768 32768 -40 Temperature at which Rr is varied by cold factor 16.0 format No 0
6 1 RW 4 0.00390625 Rotor resistance variation hot factor Unsigned16 0040h 0400h 0100h Value Rr multiplied by at hot temperature 8.8 format No 0
7 1 RW 4 0.00390625 Rotor resistance variation cold factor Unsigned16 0040h 0400h 0100h Value Rr multiplied by at cold temperature 8.8 format No 0
OBJECT=ENCODER_PULLUP
---- ---- ---- ---- Encoder Configuration (Configuration 0) Record N/A N/A ---- Used for encoder configuration parameters. ---- ---- SECTION=EncoderConfig
EEPROM=motor_0.encoder_pullup
0 = Current Sink (e.g. Thalheim) or Open-Collector
1 1 RW 4 Encoder Pull Up Boolean 0 1 0 No 0 NUMBER_FORMAT=2:0=I Sink:1=V Driver
1 = Voltage Driver (e.g. SKF)
3a70h EEPROM=motor_0.encoder_supply
0 = 10V
2 1 RW 4 Encoder Supply Boolean 0 1 0 No 0 NUMBER_FORMAT=2:0=10V:1=5V
1 = 5V
0 = AB encoder only (induction motors)

1 = AB and UVW (PMAC) NUMBER_FORMAT=5:0=AB only:1=AB and UVW:2=UVW only:
3 1 RW 4 Encoder Type Unsigned16 0 FFFFh 0 2 = UVW only (PMAC) No 0 3=AB and UVW invert:4=UVW invert only
3 = AB and UVW (inverted) (PMAC) WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4 = UVW only (inverted) (PMAC)
4 1 RW 4 0.00390625 Degrees UVW Offset Unsigned16 0 46080 0 0 to 180 degrees, value entered in 8.8 fmt No 0
---- ---- ---- ---- Encoder Configuration (Configuration 1) Record N/A N/A ---- Used for encoder configuration parameters. ---- ---- SECTION=EncoderConfig
3a71h EEPROM=motor_0.encoder_supply
0 = 10V
1 = 5V

OBJECT=ENCODER_POLARITY
SECTION=MOTOR1SETUP
Sets encoder polarity. Setting bit 6 (velocity polarity) to 0 multiplies encoder speed by 1. Setting to 1 EEPROM=motor_0.encoder_polarity
3a80h 0 1 RW 4 Encoder Polarity (Configuration 0) Unsigned8 0 40h 0 No 0
multiplies encoder speed by -1. Bit 7 (position polarity) is not used and bits 0-5 are reserved. NUMBER_FORMAT=2:0=normal:64=inverted
SECTION=MOTOR1SETUP
3a81h 0 1 RW 4 Encoder Polarity (Configuration 1) Unsigned8 0 40h 0 No 0
OBJECT=ENCODER_RESOLUTION
Used to set up encoder pulse per revolution. PPR = Incs/s / Rev/s. By setting Rev/s to 1, Incs/s can
---- ---- ---- ---- Encoder resolution (Configuration 0) Record N/A N/A ---- ---- ---- SECTION=ENCODERCONFIG
be used to set the PPR directly.
EEPROM=motor_0.encoder_incs_per_second
1 1 RW 4 Inc/s Increments per second Unsigned32 0 FFFFFFFFh 64 No 0
3a90h WRITE_IN_PREOPERATIONAL_ONLY=TRUE
EEPROM=motor_0.encoder_revs_per_second Increments per second is the

2 1 RW 4 RPS Motor revolutions per second Unsigned32 1 FFFFFFFFh 1 No 0
WRITE_IN_PREOPERATIONAL_ONLY=TRUE same as encoder pulses per
per second equals 1
---- ---- ---- ---- Encoder resolution (Configuration 1) Record N/A N/A ---- ---- ---- SECTION=ENCODERCONFIG
3a91h WRITE_IN_PREOPERATIONAL_ONLY=TRUE

per second equals 1
---- ---- ---- ---- Motor Nameplate Data (Configuration 0) Record N/A N/A ---- Nameplate data ---- ---- SECTION=Motor1PlateData
EEPROM=misc.nameplate_rated_line_volts
1 1 RW 4 0.0625 Vrms Rated line voltage Unsigned16 0 FFFFh 0 12.4 format No 0
SOFT_HIGH=65535
EEPROM=misc.nameplate_rated_phase_current
2 1 RW 4 0.0625 Arms Rated phase current Unsigned16 0 FFFFh 0 12.4 format No 0
SOFT_HIGH=65535
3aa0h
EEPROM=misc.nameplate_rated_mech_speed
3 1 RW 4 rpm Rated mechanical speed Unsigned16 0 FFFFh 0 16.0 format No 0
SOFT_HIGH=65535
EEPROM=misc.nameplate_rated_elec_freq
4 1 RW 4 0.0625 Hz Rated frequency Unsigned16 0 FFFFh 0 12.4 format No 0
SOFT_HIGH=65535
EEPROM=misc.nameplate_rated_power
5 1 RW 4 0.0625 Kw Rated power Unsigned16 0 FFFFh 0 12.4 format No 0
SOFT_HIGH=65535
EEPROM=misc.nameplate_power_factor
6 1 RW 4 0.00003051757813 sin theta Power factor Unsigned16 0 FFFFh 0 1.15 format No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
3aa1h
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
3aa2h
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
3aa3h
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
---- ---- ---- ---- Motor data (manufacturer specific) (configuration 0) Record N/A N/A ---- Motor data. This is specific to the motor type. [29] ---- ---- SECTION=Motor1PlateData
EEPROM=motor_0.max_stator_current
2 1 RW 4 A(RMS) Maximum Stator Current (Is_max) Unsigned16 0 2000 300 16.0 fixed point integer No 0
EEPROM=motor_0.min_flux_current
3 1 RW 4 0.00390625 A(RMS) Minimum Magnetizing Current (Im_min) Integer16 -32768 32767 1958 8.8 fixed point integer No 0
3 2 RW 4 A(RMS) Minimum Magnetizing Current (Im_min) Integer16 -32767 32767 50 16.0 fixed point integer No 0
EEPROM=motor_0.max_flux_current
4 1 RW 4 0.015625 A(RMS) Maximum Magnetizing/Direct Current (Id_max) Unsigned16 0 64000 3917 10.6 fixed point integer No 0
4 2 RW 4 0.005493164063 Degrees Current Control Gamma angle Integer16 0 8192 0 0.16 fixed point No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
EEPROM=motor_0.number_of_pole_pairs
5 1 RW 4 Number of Pole Pairs (np) Unsigned16 1 127 2 Dimensionless No 0
EEPROM=motor_0.stator_resistance
6 1 RW 4 0.244140625 mOhms Stator Resistance (Rs) Unsigned16 0 4096 82 4.12 fixed point integer No 0
EEPROM=motor_0.rated_stator_i
7 1 RW 4 A(RMS) Rated Stator Current Unsigned16 0 2000 172 16.0 fixed point integer No 0
EEPROM=motor_0.rotor_resistance
8 1 RW 4 0.244140625 mOhms Rotor Resistance (Rr) Unsigned16 0 4096 41 4.12 fixed point integer (TODO - No longer required) No 0
EEPROM=motor_0.flux_inductance
9 1 RW 4 15.25878906 uH Magnetizing Inductance (Lm) Unsigned16 0 655 125 0.16 fixed point integer No 0
9 2 RW 4 7.629394531 uH Magnetizing Inductance (Lm) Unsigned16 0 FFFFh 65 -1.17 fixed point No 0
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
EEPROM=motor_0.stator_leakage_inductance
10 1 RW 4 uH Stator Leakage Inductance (Lls) Unsigned16 0 10486 1 -4.20 fixed point integer No 0
0.9536743164 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
10 2 RW 4 uH Stator Inductance (Ls) Unsigned16 0 10486 1 -8.24 fixed point integer No 0
Stator Inductance PMAC (Ls) / Stator Leakage Inductance IM EEPROM=motor_0.stator_leakage_inductance
10 3 RW 4 uH Unsigned16 0 10486 1 -4.20 fixed point This parameter is Ls in PMAC and LLs in IM flux vector No 0
0.9536743164 (Lls) WRITE_IN_PREOPERATIONAL_ONLY=TRUE
EEPROM=motor_0.rotor_leakage_inductance
11 1 RW 4 uH Rotor Leakage Inductance (Llr) Unsigned16 0 10486 21800 -4.20 fixed point integer No 0
EEPROM=motor_0.nom_bat_v
12 1 RW 4 0.0625 V Nominal battery voltage Unsigned16 384 3072 768 12.4 fixed point integer No 0
EEPROM=motor_0.i_ctrl_gain
13 1 RW 4 0.003051757813 Current control proportional gain (Kp) Unsigned16 0 FFFFh 22938 1.15 fixed point integer No 0
13 2 RW 4 0.00390625 Current control proportional gain (Kp) Unsigned16 0 FFFFh 22938 8.8 fixed point No 0
EEPROM=motor_0.trq_ctrl_discretisation
14 1 RW 4 0.003051757813 Torque control integral gain Unsigned16 0 FFFFh 30342 1.15 fixed point integer No 0
1.15 fixed point integer representing a headroom factor that is applied to the calculated geometrically EEPROM=motor_0.iq_,max_headroom
14 2 RW 4 0.003051757813 % Iq max headroom (G-Mode IQM) Unsigned16 0 FFFFh 30342 No 0
calculated Iq max WRITE_IN_PREOPERATIONAL_ONLY=TRUE
EEPROM=motor_0.i_ctrl_discretisation
15 1 RW 4 0.003051757813 Current control integral gain Unsigned16 0 FFFFh 28406 1.15 fixed point integer No 0
15 2 RW 4 0.0625 Current control integral gain (Ki) Unsigned16 0 FFFFh 28406 12.4 fixed point No 0
EEPROM=motor_0.reactive_gain_boost
16 1 RW 4 Henry Reactive Gain Boost Unsigned16 0 FFFFh 0 0.16 fixed point integer No 0
17 1 RW 4 RPM Limiter Gain Unsigned16 0 FFFFh 7864 No 0 EEPROM=motor_0.rpm_limiter_gain
Used for permanent magnet motors only, represents the back emf of the rotor with respect to speed. EEPROM=misc.pm_ke
18 1 RW 4 0.00003051757813 V/rads Voltage Constant (Ke) Unsigned16 0 FFFFh 7864 No 0
This can then be translated directly into Iq demand (1.15 format) WRITE_IN_PREOPERATIONAL_ONLY=TRUE
EEPROM=misc.motor_im_rated
19 1 RW 4 0.0625 A Im rated Unsigned16 0 32000 160 12.4 format rated magnetizing current No 0
EEPROM=misc.motor_max_m_slip
20 1 RW 4 rad/s Maximum drive slip Unsigned16 0 500 100 16.0 fixed point integer No 0
20 2 RW 4 rad/s Low speed slip Unsigned16 0 500 30 16.0 fixed point integer No 0
20 3 RW 4 rad/s Maximum slip Unsigned16 0 500 100 16.0 fixed point - Maximum slip in both drive and braking No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
EEPROM=misc.motor_max_g_slip
21 1 RW 4 rad/s Maximum brake slip Unsigned16 0 500 100 16.0 fixed point integer No 0
3AB0h EEPROM=misc.motor_max_g_slip
21 2 RW 4 rad/s High speed slip Unsigned16 0 500 30 16.0 fixed point integer No 0
EEPROM=misc.motor_openloop_on_speed
22 1 RW 4 9.549296586 rpm Openloop start speed Unsigned16 0 3000 150 16.0 fixed point integer No 0
22 2 RW 4 0.003051757813 % Openloop start FW% Unsigned16 0 3000 150 16.0 fixed point integer No 0
EEPROM=misc.motor_openloop_off_speed
23 1 RW 4 9.549296586 rpm Openloop exit speed Unsigned16 0 3000 100 16.0 fixed point integer No 0
25 2 RW 4 0.00390625 Frequency/Mod index control Kp Unsigned16 0 FFFFh 0 8.8 fixed point No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
26 2 RW 4 0.00390625 Frequency/Mod index control Ki Unsigned16 0 FFFFh 0 8.8 fixed point No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
31 2 RW 4 0.0244140625 Iq max modindex (PI-Mode IQM) Unsigned16 0 1000h 3482 Max modindex which drives the PI controller to cutback Iq demand according to actual modindex. No 0
32 1 RW 4 0.00390625 Ls/Ls' Unsigned16 0 FFFFh 0 8.8 fixed point (set to 0x0000 to use auto calculated value) No 0 EEPROM=misc.ls_over_ls1
33 1 RW 4 0.00003051757813 Voltage Control Kp Unsigned16 0 FFFFh 8192 1.15 Voltage Loop Control proportional gain No 0 EEPROM=misc.ac_mtr0_voltage_kp
33 2 RW 4 0.00390625 D-axis current controller proportional gain Unsigned16 0 FFFFh 8192 8.8 D-axis Current Control proportional gain No 0 EEPROM=misc.ac_mtr0_voltage_kp
34 1 RW 4 0.00003051757813 Voltage Control Ki Unsigned16 0 FFFFh 4096 1.15 Voltage Loop Control integral gain No 0 EEPROM=misc.ac_mtr0_voltage_ki
34 2 RW 4 0.00003051757813 D-axis current controller integral gain Unsigned16 0 FFFFh 4096 1.15 D-axis Current Control integral gain No 0 EEPROM=misc.ac_mtr0_voltage_ki
16.0 fixed point integer. Above rated speed, this is the rate at which Id_ref will increase having been
37 1 RW 4 1 A/s Id recovery rate Unsigned16 1 20000 20000 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
reduced due to field weakening. Setting to 20000 effectively disables the ramp.
38 1 RW 4 0.00390625 Ud stabilization factor (open loop slip) Unsigned16 0 FFFFh 512 Value Ud_factor assumes when vehicle is travelling above 1000rpm (8.8 fixed point integer) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
39 1 RW 4 0.00390625 Iq_min factor (open loop slip) Unsigned16 0 FFFFh 64 Value Iq_factor is multiplied by at low slip values (8.8 fixed point integer) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
40 1 RW 4 0.00390625 vf gain (open loop slip) Unsigned16 0100h 0500h 512 Value used to reduce vf ratio with slip (8.8 fixed point integer) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
41 1 RO 4 0.244140625 mOhms Stored Rs estimation Unsigned16 0 FFFFh 0 Stored estimation for Rs (4.12 fixed point integer) No 0
42 1 RW 4 1 A/s Iq_ref slew rate Unsigned16 800 7FFFh 7FFFh Maximum rate of change of Iq_ref No 0 EEPROM=misc.iq_ref_slew
42 2 RW 4 1 A/s Iq_limit slew rate Unsigned16 0 7FFFh 7FFFh Maximum rate of change of Iq_limits (IM VF) (16.0 fixed point) No 0
43 1 RW 4 0.003051757813 % Percentage minimum allowed saturation of Ls Unsigned16 3333h 7FFFh 7FFFh Defines the minimum value that Ls can take when being calculated on line No 0
44 1 RW 4 0.0244140625 % Percentage maximum d-axis voltage Unsigned16 0800h 1000h 0B50h Defines the maximum percentage of link voltage allowed on the d-axis No 0
45 1 RW 4 0.00390625 Iq and Id Kp scaling factor for low-frequency PWM. Unsigned16 0h FFFFh 0040h Above zero user-defines how D and Q Kp are rescaled when in low-frequency PWM (8.8 fixed point) No 0
46 1 RW 4 0.00390625 Iq and Id Ki scaling factor for low-frequency PWM. Unsigned16 0h FFFFh 0040h Above zero user-defines how D and Q Ki are rescaled when in low-frequency PWM (8.8 fixed point) No 0
Above zero activates magnetic gearbox encoder skew and defines breakout torque in Nm. (15.1
47 1 RW 4 0.5 Nm Magnetic gearbox breakout torque Unsigned16 0h FFFFh 0h No 0
fixed point)
4.12 fixed point. Compensates Rs to give rated magnetizing current when stationary. Set to zero to
48 1 RW 4 0.000244140625 Rs temperature compensation Kp gain (IM V/f) Unsigned16 0h FFFFh 0h No 0
disable (used only for IM VF control)
49 1 RW 4 0.000244140625 Rs temperature compensation Ki gain (IM V/f) Unsigned16 0h FFFFh 0h No 0
4.12 fixed point. Limits the motor current by altering the applied frequency (used only for IM VF
50 1 RW 4 0.000244140625 V/f current limit Kp gain (IM V/f) Unsigned16 0h FFFFh 0h No 0
control)
51 1 RW 4 0.00001525878906 V/f current limit Ki gain (IM V/f) Unsigned16 0h FFFFh 0h No 0
control)
52 1 RW 4 1 rpm Current Control Gain Scheduling Low Speed Unsigned16 0h FFFFh 0h 16.0 Speed at which gain scheduling factor (0x4641, 54) is fully applied No 0
53 1 RW 4 1 rpm Current Control Gain Scheduling High Speed Unsigned16 0h FFFFh 0h 16.0 Speed at which no gain scheduling is applied No 0
4.12 Factor applied fully at speed 0x4641,52 and then ramped towards no factor applied (factor of 1)
54 1 RW 4 0.000244140625 Current Control Gain Scheduling Kp factor Unsigned16 0h FFFFh 1000h No 0
at the speed 0x4641,53. Must be enabled in 0x4650,2 bit 13.
55 1 RW 4 0.0625 A(RMS) Minimum Iq current level (absolute) Unsigned16 0h FFFFh 0h 12.4 minimum absolute Iq current to be used at zero torque (PFC Inverter - avoids regen pump-up) No 0
16.0 Speed equivalent threshold that current limit must have reduced applied frequency by
56 1 RW 4 1 rpm V/f stall detection speed threshold (IM V/f) Unsigned16 1h FFFFh 500 compared to demand before motor stall (pull-out) is triggered and restart attempted (used only for IM No 0
VF control - enable in 0x4650,2 bit5)
Time that motor stall conditions must have been met before motor stall (pull-out) warning is set and
57 1 RW 4 0.01 s V/f stall detection timeout (IM V/f) Unsigned16 1h FFFFh 500 No 0
restart attempted. Set in 10ms steps (used only for IM VF control - enable in 0x4650,2 bit5)
Timeout before motor stall (pull-out) restart attempted. Set in 10ms steps (used only for IM VF
58 1 RW 4 0.01 s V/f stall detection wait time (IM V/f) Unsigned16 1h FFFFh 500 No 0
control - enable in 0x4650,2 bit5)
3AB1h EEPROM=misc.motor_max_g_slip
3AB1h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
fixed point)
control)
control)
3AB2h 17 1 RW 4 RPM Limiter Gain Unsigned16 0 FFFFh 7864 No 0 EEPROM=motor_0.rpm_limiter_gain
3AB3h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
3AB3h 17 1 RW 4 RPM Limiter Gain Unsigned16 0 FFFFh 7864 No 0 EEPROM=motor_0.rpm_limiter_gain
OBJECT=TORQUE_CONDITIONER_1
---- ---- ---- ---- Torque conditioner setup 1 Record 0 N/A ---- ---- ---- SECTION=tc_pin_strapping
0 1 RO N/A Number of entries Unsigned8 0 N/A 91 No 0
1 1 RW 2 1 RPM/s Accel Limit Real32 0 N/A No Max rate at which speed limit magnitude can increase away from zero. No 0
2 1 RW 2 1 RPM/s Decel Limit Real32 0 N/A No Max rate at which speed limit magnitude can decrease towards zero. No 0
3 1 RW 2 1 RPM/s^2 Leaving Jerk Real32 0 N/A No Max rate of change in acceleration or deceleration when leaving S-Curve. No 0
4 1 RW 2 1 RPM/s^2 Approaching Jerk Real32 0 N/A No Max rate of change in acceleration or deceleration when approaching speed limit. No 0
5 1 RW 2 1 Nm/s Motoring Torque Increase Real32 0 N/A No Max rate at which input motoring torques can increase away from zero. No 0
6 1 RW 2 1 Nm/s Motoring Torque Decrease Real32 0 N/A No Max rate at which input motoring torques can decrease towards zero. No 0
7 1 RW 2 1 Nm/s Braking Torque Increase Real32 0 N/A No Max rate at which input braking torques can increase away from zero. No 0
8 1 RW 2 1 Nm/s Braking Torque Decrease Real32 0 N/A No Max rate at which input braking torques can decrease towards zero. No 0
9 1 RW 2 1 Nm/s Max Increasing Torque Out Real32 0 N/A No Drivetrain limit: Max rate at which torque magnitude can increase. No 0
10 1 RW 2 1 Nm/s Max Decreasing Torque Out Real32 0 N/A No Drivetrain limit: Max rate at which torque magnitude can decrease. No 0
11 1 RW 2 1 Nm/s Max Crossing Torque Out Real32 0 N/A No Drivetrain limit: Max rate at which torque magnitude can change near zero. No 0
12 1 RW 2 1 Nm Crossing Torque Band Real32 0 N/A No Drivetrain limit: Below this torque magnitude, the Max Crossing Torque Out rate is applied. No 0
13 1 RW 2 1 frac Vreg_Idcff Real32 0 N/A No Voltage Regulator: Fraction of DC current feedback to feed forward (usually 0.95) No 0
14 1 RW 2 1 A/V Vreg_Kp Real32 0 N/A No Proportional Gain: Idc out due to Vdc error No 0
15 1 RW 2 1 A/V/s Vreg_Ki Real32 0 N/A No Integral Gain: Idc increase or decrease due to Vdc error No 0
16 1 RW 2 1 frac Ireg_Tff Real32 0 N/A No Fraction of Torque feedforward estimate to use (usually 0.5) No 0
17 1 RW 2 1 Ireg_Tgainmax Real32 0 N/A No Limit Tff estimate at low speeds. Typically 10. No 0
18 1 RW 2 1 Nm/A Ireg_Kp Real32 0 N/A No Proportional Gain: Torque out due to Idc error No 0
3AB4h
19 1 RW 2 1 Nm/A/s Ireg_Ki Real32 0 N/A No Integral Gain: Torque increase or decrease due to Idc error No 0
20 1 RW 2 1 Enum Generator Application Boolean 0 1 No Yes for generator applications. Enables bi-polar operation of the voltage regulator No 0
21 1 RW 2 1 Rad/s Speed LPF cutoff Real32 0 N/A No Speed feedback low pass filter cutoff frequency No 0
22 1 RW 2 1 Rad/s Acceleration LPF cutoff Real32 0 N/A No Acceleration feedback low pass filter cutoff frequency No 0
23 1 RW 2 1 RPM Quadrant Threshold Real32 0 N/A No Speed below which the motoring/braking quadrant can be uncertain No 0
24 1 RW 2 1 % Quadrant Threshold delta Real32 0 N/A No Fraction above "Quadrant Threshold" where motoring/braking quadrant is certain No 0
25 1 RW 2 1 RPM Hi-Res Threshold Real32 0 N/A No Speed (feedback and refererence) below which the high resolution regulator limits the speed. No 0
26 1 RW 2 1 % Hi-Res Threshold delta Real32 0 N/A No Fraction above "Hi-res Threshold" where the conventional speed regulator limits the speed. No 0
27 1 RW 2 1 Nm/RPM Sreg_Kp Real32 0 N/A No Proportional Gain: Torque out due to speed error. No 0
28 1 RW 2 1 Nm/RPM/s Sreg_Ki Real32 0 N/A No Integral Gain: Torque increase or decrease due to speed error. No 0
29 1 RW 2 1 Nm/RPM Sreg_Hi-Res_Kp Real32 0 N/A No Proportional Gain: Torque out due to speed error. No 0
30 1 RW 2 1 Nm/RPM/s Sreg_Hi-Res_Ki Real32 0 N/A No Integral Gain: Torque increase or decrease due to speed error. No 0
Nm/RPM/s^
31 1 RW 2 1 Sreg_Hi-Res_Ki^2 Real32 0 N/A No Integral Gain: Torque increase or decrease due to position error. No 0
2
86 1 RW 2 1 Nm/RPM/s drivetrain compensator gain Real32 0 N/A No drivetrain dw/dt compensator gain No 0
87 1 RW 2 1 Rad/s drivetrain compensator filter cutoff Real32 0 N/A No drivetrain dw/dt compensator filter cutoff frequency No 0
88 1 RW 2 1 kgm2 Motor Inertia Real32 0 N/A No Motor Inertia used by the GUI for tuning No 0
89 1 RW 2 1 kgm2 Vehicle Inertia at the motor Real32 0 N/A No Vehicle Inertia with respect to motor used by the GUI for tuning No 0
90 1 RW 2 1 ohms Battery resistnace Real32 0 N/A No Battery resistance used but the GUI for tuning No 0
91 1 RW 2 1 Config vector Unsigned32 0 N/A No Configuration bitv ector used by the GUI for configuration No 0
OBJECT=TORQUE_CONDITIONER_2
---- ---- ---- ---- Torque conditioner setup 2 Record 0 N/A ---- ---- ---- SECTION=tc_pin_strapping
0 1 RO N/A Number of entries Unsigned8 0 N/A 91 No 0
3AB5h
Nm/RPM/s^
2
Used to set up the pv control loop. The gain and Ti are mandatory. TODO - add other data required
---- ---- ---- ---- Speed control Gains (Configuration 0, traction motors) Record N/A N/A ---- ---- ---- SECTION=MOTOR1SETUP
by the pv controller. Pv controller has not been designed yet.
EEPROM=motor_0.vel_ctrl_kp
1 1 RW 4 0.000244140625 Proportional gain Unsigned16 0 FFFFh 80h 0.16 fmt No 0
SOFT_HIGH=65535
EEPROM=motor_0.vel_ctrl_ki
2 1 RW 4 0.00390625 Integral gain Unsigned16 0 FFFFh 40h 8.8 fmt No 0
SOFT_HIGH=65535
EEPROM=misc.pv_config_vel_control_kp_low
3 1 RW 4 0.000244140625 Low Speed proportional gain Unsigned16 0 FFFFh 0 0.16 fmt No 0
3ac0h SOFT_HIGH=65535
EEPROM=misc.pv_config_vel_control_ki_rollback
4 1 RW 4 0.00390625 Rollback integral gain Unsigned16 0 FFFFh 0 8.8 fmt No 0
SOFT_HIGH=65535
EEPROM=misc.pv_config_vel_control_ki_low
5 1 RW 4 0.00390625 Low speed integral gain Unsigned16 0 FFFFh 0 8.8 fmt No 0
SOFT_HIGH=65535
EEPROM=misc.pv_config_vel_control_dw_dt
6 1 RW 4 0.00390625 dw/dt gain Unsigned16 0 FFFFh 0 8.8 fmt No 0
SOFT_HIGH=65535
Determines how speed limit integral (in torque mode) is initialized when starting to limit. Integral is
7 1 RW 4 0.000244140625 Integral initialization factor Unsigned16 0 FFFFh 1000h set equal to actual torque multiplied by this factor. Normally, integral is set equal to actual torque so No 0 EEPROM=misc.ac_mtr0_vel_ctrl_integral_init
this object is set to 1.0 (1000h). This object is not used in speed mode.
---- ---- ---- ---- Speed control Gains (Configuration 1, traction motors) Record N/A N/A ---- ---- ---- SECTION=MOTOR1SETUP
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
---- ---- ---- ---- Speed control Gains (Configuration 0, pump motors) Record N/A N/A ---- ---- ---- SECTION=MOTOR1SETUP
SOFT_HIGH=65535
SOFT_HIGH=65535
3ac2h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
---- ---- ---- ---- Speed control Gains (Configuration 1, pump motors) Record N/A N/A ---- ---- ---- SECTION=MOTOR1SETUP
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
Used to disable/enable various features on the DSP

DESC=Encoder wire-off detection:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 0: Disable encoder wire-off detection
DESC=Disable software over current:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 1 : Disable software over current OBJECT=DSP_MISC_CONFIG
DESC=Use low speed gains below:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=200rpm:1=50rpm
Bit 2 : Use low speed gains SECTION=MOTOR1SETUP
3ad0h 0 1 RW 2 Miscellaneous DSP configuration (Configuration 0) Unsigned16 0 FFFFh 0 No 0 DESC=Closed loop slip compensation:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 3 : Enable closed loop slip compensation EEPROM=misc.dsp_config
DESC=Scale max torque by power limit:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 4 : Scale max torque by power limit CATEGORY=CONFIGURATION
DESC=Used fanned I2t cutback profile:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 5 : Used fanned I2t cutback profile
DESC=Allow drv/brk trq inhibit to 0 RPM:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 6 : Allow drv/brk trq inhibit to 0 RPM



OBJECT=MODE_OF_OPERATION
SECTION=MOTOR1SETUP
EEPROM=motor_0.mode
3ae0h 0 1 RWW 4 Mode of operation selection (Configuration 0) Integer8 3 4 4 Used to set pv (3) mode or tq (4) mode. No 0
SECTION=MOTOR1SETUP
EEPROM=motor_0.mode
3ae1h 0 1 RWW 4 Mode of operation selection (Configuration 1) Integer8 3 4 4 Used to set pv (3) mode or tq (4) mode. No 0
OBJECT=MAX_TORQUE
SECTION=MOTOR1CONTROL
3af0h 0 1 RWW 4 0.1 % of peak Maximum torque (Configuration 0) Unsigned16 0 1000 1000 Maximum Torque (Tmax) in 1/1000th's of Motor Rated Torque (6076h). Yes 0
EEPROM=motor_0.maximum_torque
OBJECT=MAX_TORQUE
3af1h 0 1 RWW 4 0.1 % of peak Maximum torque (Configuration 1) Unsigned16 0 1000 1000 Maximum Torque (Tmax) in 1/1000th's of Motor Rated Torque (6076h). Yes 0
OBJECT=MOTOR_RATED_TORQUE
SECTION=MOTOR1SETUP
3b00h 0 1 RW 4 0.001 A(RMS) Current limit (Configuration 0) Unsigned32 0 FFFFFFFFh 700000 Rated motor current in mA. No 0
EEPROM=motor_0.rated_current
SECTION=MOTOR1SETUP
3b01h 0 1 RW 4 0.001 A(RMS) Current limit (Configuration 1) Unsigned32 0 FFFFFFFFh 700000 Rated motor current in mA. No 0
SECTION=MOTOR1SETUP
3b10h 0 1 RW 4 0.001 Nm Peak torque (Configuration 0) Unsigned32 0 2000000 25000 Rated motor torque in mNm. No 0
EEPROM=motor_0.rated_torque
SECTION=MOTOR1SETUP
SECTION=MOTOR1SETUP
SECTION=MOTOR1SETUP
OBJECT=MAX_MOTOR_SPEED
SECTION=MOTOR1SETUP
3b20h 0 1 RW 4 RPM Maximum motor speed (Configuration 0) Unsigned32 0 20000 2500 Maximum motor speed (ωnom) in RPM. It is unsigned and applies in both directions. No 0
EEPROM=motor_0.maximum_motor_speed
SECTION=MOTOR1SETUP
3b21h 0 1 RW 4 RPM Maximum motor speed (Configuration 1) Unsigned32 0 20000 2500 Maximum motor speed (ωnom) in RPM. It is unsigned and applies in both directions. No 0
OBJECT=PROFILE_ACCELERATION
Maximum acceleration and deceleration rates. Acceleration and Deceleration is controlled by the SECTION=MOTOR1SETUP
3b30h 0 1 RW 4 0.00390625 rpm/s Maximum acceleration rate (Configuration 0) Unsigned32 0 00007FFFh 5 No 0
Master, so this is only a safety limit. Object format is 24.8 fixed point, units are Hz (i.e. 1/s). EEPROM=motor_0.profile_accel
3b31h 0 1 RW 4 0.00390625 rpm/s Maximum acceleration rate (Configuration 1) Unsigned32 0 00007FFFh 5 No 0
OBJECT=TORQUE_SLOPE
SECTION=MOTOR1SETUP
3b40h 0 1 RW 4 0.1 % rated/s Torque slope (Configuration 0) Unsigned32 0 100000 40000 limit. Object resolution is 1000ths of Motor Rated Torque (6076h) / s. TODO - Need an appropriate No 0
EEPROM=motor_0.trq_slope
value for this.
OBJECT=TORQUE_SLOPE
SECTION=MOTOR1SETUP
3b41h 0 1 RW 4 0.1 % rated/s Torque slope (Configuration 1) Unsigned32 0 100000 40000 limit. Object resolution is 1000ths of Motor Rated Torque (6076h) / s. TODO - Need an appropriate No 0
value for this.
OBJECT=MAX_SLIPPAGE
SECTION=MOTOR1SETUP
If the motor slip reaches this value, bits 13 (pv only) and 14 (pv & tq) in the statusword are set. Units
EEPROM=motor_0.max_slippage
3b50h 0 1 RW 4 0.0006216989965 rads/s Maximum Motor Slippage (Configuration 0) Integer32 -804248 804248 0 are in Hz (24.8 fixed pt integer). NOTE: DSP402 specifies velocity units which is RPM in our system, No 0
SOFT_HIGH=2147483647
but this is not an appropriate unit for slip.
SOFT_LOW=-2147483648
OBJECT=MAX_SLIPPAGE
SECTION=MOTOR1SETUP
3b51h 0 1 RW 4 0.0006216989965 rads/s Maximum Motor Slippage (Configuration 1) Integer32 -804248 804248 0 are in Hz (24.8 fixed pt integer). NOTE: DSP402 specifies velocity units which is RPM in our system, No 0
SOFT_LOW=-2147483648
OBJECT=MOTOR_IBATT_CUTBACK
---- ---- ---- ---- Battery current limit (Configuration 0) Record N/A N/A ---- Allows configuration of battery current limit for this motor SECTION=MOTOR1SETUP
0 1 RO N/A Number of entries Unsigned8 0 FFh 4 0
3b60h
1 1 RWW 4 A Maximum battery charge current Integer16 8000h 0 0 Maximum allowed battery charge current for this motor Yes 0
2 1 RWW 4 A Maximum battery discharge current Integer16 0 7fffh 0 Maximum allowed battery discharge current for this motor Yes 0
3 1 RW 4 A Cutback range Integer16 0 7fffh 0 Specifies where battery current cutback begins No 0
4 1 RW 4 0.000244140625 Battery current estimation correction factor Integer16 0800h 1800h 1000h Correction factor for battery current estimation No 0
---- ---- ---- ---- Battery current limit (Configuration 1) Record N/A N/A ---- Allows configuration of battery current limit for this motor SECTION=MOTOR1SETUP
3b61h
OBJECT=NOM_BATT_V
3B70h 0 1 RW 4 0.0625 V Nominal battery voltage (configuration 0) Unsigned16 0180h 0C00h 0300h 12.4V No 0
MASTER=TRUE
OBJECT=NOM_BATT_V
3B71h 0 1 RW 4 0.0625 V Nominal battery voltage (configuration 1) Unsigned16 0180h 0C00h 0300h 12.4V No 0
MASTER=TRUE
---- ---- ---- ---- Battery over voltage protection (configuration 0) Record N/A N/A ---- ---- ----
MASTER=TRUE
3B80h
---- ---- ---- ---- Battery over voltage protection (configuration 1) Record N/A N/A ---- ---- ----
MASTER=TRUE
3B81h
---- ---- ---- ---- Battery under voltage protection (configuration 0) Record N/A N/A ---- ---- ----
MASTER=TRUE
3B90h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
---- ---- ---- ---- Battery under voltage protection (configuration 1) Record N/A N/A ---- ---- ----
MASTER=TRUE
3B91h
OBJECT=NOM_BATT_V
3BA0h 0 1 RW 4 0.1 Seconds Battery Protection Delay (configuration 0) Unsigned8 0 FFh 10 1s in 0.1s/bit resolution No 0 EEPROM=battery.protection_delay
MASTER=TRUE
OBJECT=NOM_BATT_V
3BA1h 0 1 RW 4 0.1 Seconds Battery Protection Delay (configuration 1) Unsigned8 0 FFh 10 1s in 0.1s/bit resolution No 0 EEPROM=battery.protection_delay
MASTER=TRUE
OBJECT=MOTOR_OVERSPEED_PROTECTION
3BB0h 0 1 RW 4 rpm Motor overspeed protection (configuration 0) Unsigned16 0 FFFFh 1000 Raises a severe "motor overspeed" fault if motor measured speed exceeds this value No 0 SECTION=MOTOR1SETUP
3BB1h 0 1 RW 4 rpm Motor overspeed protection (configuration 1) Unsigned16 0 FFFFh 1000 Raises a severe "motor overspeed" fault if motor measured speed exceeds this value No 0 SECTION=MOTOR1SETUP
SECTION=USERCODE
---- ---- ---- ---- Usercode integration, control and monitoring Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 ms Tik Unsigned16 5 1000 10 Periodic rate at which usercode will run, and the period a Sys.yield instruction will wait for No 0
2 1 RW 4 0.01 us Max period Unsigned32 100000 100000000 300000 Maximum period usercode is allowed to run for per tik No 0
3 1 RW 4 On/off Boolean 0 1 1 Enable/disable usercode execution No 0
4 1 RO 4 Usercode CRC Unsigned32 0 FFFFFFFFh 0 Usercode CRC No 0
3D00h 5 1 RO 4 0.01 us Max measured exec time Unsigned32 0 FFFFFFFFh 0 Maximum time per tik that usercode has executed for No 0
6 1 RO 4 0.01 us Avg measured exec time Unsigned32 0 FFFFFFFFh 0 Average time per tik that usercode executes for No 0
Indicates the number of times usercode execution has exceeded the max allowed period without a
7 1 RO 4 Period overflow count Unsigned32 0 FFFFFFFFh 0 No 0
yield
8 1 RO 4 Status Unsigned8 0 FFh 0 Status code - refer to JVM documentation for reference No 0
9 1 RO 4 Filename A Unsigned32 0 FFFFFFFFh 0 Contains characters 0-3 of usercode filename, encoded using ASCII in little endian format. No 0
10 1 RO 4 Filename B Unsigned32 0 FFFFFFFFh 0 Contains characters 4-7 of usercode filename, encoded using ASCII in little endian format. No 0
11 1 RO 4 Filename C Unsigned32 0 FFFFFFFFh 0 Contains characters 8-11 of usercode filename, encoded using ASCII in little endian format. No 0
12 1 RO 4 Filename D Unsigned32 0 FFFFFFFFh 0 Contains characters 12-15 of usercode filename, encoded using ASCII in little endian format. No 0
SECTION=USERCODE
---- ---- ---- ---- General purpose usercode PDO mappable floats Record N/A N/A ---- ---- ---- MASTER=TRUE
CATEGORY=MONITORING
1 1 RW 1 Float 1 Real32 0 FFFFFFFFh 0 General purpose object provided for use by JVM Yes 0
3D10h
SECTION=USERCODE
---- ---- ---- ---- General purpose usercode PDO mappable int8 Record N/A N/A ---- ---- ---- MASTER=TRUE
CATEGORY=MONITORING
1 1 RW 1 Int8 1 Integer8 0 FFh 0 General purpose object provided for use by JVM Yes 0
3D11h
SECTION=USERCODE
CATEGORY=MONITORING
1 1 RW 1 Int16 1 Integer16 0 FFFFh 0 General purpose object provided for use by JVM Yes 0
3D12h
SECTION=USERCODE
CATEGORY=MONITORING
1 1 RW 1 Int32 1 Integer32 0 FFFFFFFFh 0 General purpose object provided for use by JVM Yes 0
3D13h
SECTION=USERCODE
---- ---- ---- ---- General purpose usercode PDO mappable uint8 Record N/A N/A ---- ---- ---- MASTER=TRUE
CATEGORY=MONITORING
1 1 RW 1 Uint8 1 Unsigned8 0 FFh 0 General purpose object provided for use by JVM Yes 0
3D14h
SECTION=USERCODE
CATEGORY=MONITORING
1 1 RW 1 Uint16 1 Unsigned16 0 FFFFh 0 General purpose object provided for use by JVM Yes 0
3D15h
SECTION=USERCODE
CATEGORY=MONITORING
1 1 RW 1 Uint32 1 Unsigned32 0 FFFFFFFFh 0 General purpose object provided for use by JVM Yes 0
3D16h
SECTION=USERCODE
---- ---- ---- ---- General purpose usercode PDO mappable floats Record N/A N/A ---- ---- ---- MASTER=TRUE
CATEGORY=MONITORING
1 1 RW 2 Float 1 Real32 0 FFFFFFFFh 0 General purpose object provided for use by JVM No 0
3D20h
SECTION=J1939
---- ---- ---- ---- J1939 Configuration Record N/A N/A ---- ---- ---- MASTER=TRUE
3E00h
1 1 RW 4 Source Address Unsigned8 1 FEh 71h Source address for data being sent using J1939 based protocols No 0
2 1 RW 4 Transmit without request Unsigned8 0 1 0 Set to 1 to allow data to be transmitted without a J1939 request message No 0
SECTION=J1939
---- ---- ---- ---- Vehicle Application Mapping Loopback Test Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 1 Handle 1 Unsigned16 0 FFFFh 0 Set to the handle of the IO item that you wish to test No 0
2 1 RO 1 Value 1 Unsigned16 0 FFFFh 0 Operational value of item with specified handle No 0
3E01h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
SECTION=J1939
---- ---- ---- ---- Application Motor Maps Record N/A N/A ---- ---- ---- MASTER=TRUE
3E10h
1 1 RW 4 Left traction motor Unsigned8 0 FEh 0 Set to the left motor controller's node address No 0
2 1 RW 4 Right traction motor Unsigned8 0 FEh 0 Set to the right motor controller's node address No 0
3 1 RW 4 Pump motor Unsigned8 0 FEh 0 Set to the pump motor controller's node address No 0
4 1 RW 4 Power steer motor Unsigned8 0 FEh 0 Set to the power steer motor controller's node address No 0
SECTION=J1939
---- ---- ---- ---- Analogue output set 1 Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 Destination address Unsigned8 0 FEh 0 Set to the node address of the analogue output controller No 0
2 1 RW 4 Function of analogue output 1 Unsigned16 0 FFFFh 0 Set to the IO handle value that represents the function to attach to analogue output 1 No 0
3E20h 3 1 RW 4 Function of analogue output 2 Unsigned16 0 FFFFh 0 Set to the IO handle value that represents the function to attach to analogue output 2 No 0
SECTION=J1939
---- ---- ---- ---- Analogue output set 2 Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 Destination address Unsigned8 0 FEh 0 Set to the node address of the analogue output controller No 0
3E21h 3 1 RW 4 Function of analogue output 2 Unsigned16 0 FFFFh 0 Set to the IO handle value that represents the function to attach to analogue output 2 No 0
SECTION=J1939
---- ---- ---- ---- Analogue input set 1 Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 Source Address Unsigned8 0 FEh 0 Set to the node address of the analogue input controller No 0
2 1 RW 4 Function of analogue input 1 Unsigned16 0 FFFFh 0 Set to the IO handle value that represents the function to attach to analogue input 1 No 0
3E40h 7 1 RW 4 Function of analogue input 6 Unsigned16 0 FFFFh 0 Set to the IO handle value that represents the function to attach to analogue input 6 No 0
SECTION=J1939
---- ---- ---- ---- Analogue input set 2 Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 Source Address Unsigned8 0 FEh 0 Set to the node address of the analogue input controller No 0
3E41h 7 1 RW 4 Function of analogue input 6 Unsigned16 0 FFFFh 0 Set to the IO handle value that represents the function to attach to analogue input 6 No 0
SECTION=J1939
---- ---- ---- ---- Digital input set 1 Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 Source Address Unsigned8 0 FEh 0 Set to the node address of the digital input controller No 0
2 1 RW 4 Function of digital input 1 Unsigned16 0 FFFFh 0 Set to the IO handle value that represents the function to attach to digital input 1 No 0
3E50h 7 1 RW 4 Function of digital input 6 Unsigned16 0 FFFFh 0 Set to the IO handle value that represents the function to attach to digital input 6 No 0
SECTION=J1939
---- ---- ---- ---- Digital input set 2 Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 Source Address Unsigned8 0 FEh 0 Set to the node address of the digital input controller No 0
3E51h 7 1 RW 4 Function of digital input 6 Unsigned16 0 FFFFh 0 Set to the IO handle value that represents the function to attach to digital input 6 No 0
SECTION=J1939
---- ---- ---- ---- H-Protocol Configuration Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 Transmit message priority Unsigned8 0 7 6 No 0
2 1 RW 4 J1939 Data Page Unsigned8 0 1 1 No 0
3 1 RW 4 PF for message HC1 Unsigned8 00h FFh 10h No 0
3F00h 7 1 RW 4 PF for message HS1 Unsigned8 00h FFh 18h No 0
8 1 RW 4 PF for message HS2 Unsigned8 00h FFh 19h No 0
9 1 RW 4 PF for message HS3 Unsigned8 00h FFh 1Ah No 0
10 1 RW 4 PF for message HS4 Unsigned8 00h FFh 1Bh No 0
11 1 RW 4 PF for message HS5 Unsigned8 00h FFh 1Ch No 0
12 1 RW 4 PF for message HD1 Unsigned8 00h FFh 28h No 0
13 1 RW 4 PF for message HD2 Unsigned8 00h FFh 29h No 0
14 1 RW 4 PF for message HD3 Unsigned8 00h FFh 2Ah No 0
15 1 RW 4 PF for message HD4 Unsigned8 00h FFh 2Bh No 0
16 1 RW 4 PF for message HD5 Unsigned8 00h FFh 2Ch No 0
17 1 RW 4 PF for message HD6 Unsigned8 00h FFh 2Dh No 0
SECTION=J1939
---- ---- ---- ---- I-Protocol Configuration Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 1 ms Digital input transmit period Unsigned8 0 FFh 50 Configures rate at which digital input signal data is transmitted (set to zero to disable) No 0
2 1 RW 4 1 ms Analogue input transmit period Unsigned8 0 FFh 50 Configures rate at which analogue input signal data is transmitted (set to zero to disable) No 0
3 1 RW 4 Enable checksum/counter message protection Unsigned8 0 1 0 No 0
4 1 RW 4 Transmit message priority Unsigned8 1 7 6 No 0
3F01h
5 1 RW 4 J1939 Data Page Unsigned8 0 1 1 No 0
7 1 RW 4 PF for message UO1 Unsigned8 0 FFh 40h No 0
8 1 RW 4 PF for message UO2 Unsigned8 0 FFh 41h No 0
9 1 RW 4 PF for message UF1 Unsigned8 0 FFh 48h No 0
10 1 RW 4 PF for message UI1 Unsigned8 0 FFh 49h No 0
11 1 RW 4 PF for message UI2 Unsigned8 0 FFh 4Ah No 0
12 1 RW 4 PF for message UI3 Unsigned8 0 FFh 4Bh No 0
13 1 RW 4 PF for message UI4 Unsigned8 0 FFh 4Ch No 0
SECTION=J1939
---- ---- ---- ---- HVIL Record N/A N/A ---- No 0 MASTER=TRUE
3F02h CATEGORY=CONFIGURATION
1 1 RW 4 Enable Boolean 0 1 0 Enables feature No 0
SECTION=J1939
---- ---- ---- ---- ProCAN-Protocol Configuration Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 0 none en_transmission Boolean 0 FFh 1 enable ProCAN sending messages No 0
2 1 RW 4 1 none en_hipm Boolean 0 7 1 enable high intergrity protection mechanisms No 0
dev_byte development byte: 1 bit:0 - h-protocol enabled; 1 - ProCAN enabled; 2 bit: 0 - old lmc buffer, 1 - new
3 1 RW 4 1 none Unsigned8 0 FFh 1 lmc buffer No 0
4 1 RW 4 1 none err_tres Unsigned8 00h FFh 3 error treshold for report and heal errors No 0
5 1 RW 4 1 none msg_prio Unsigned8 0 7 3 priority for messages No 0
6 1 RW 4 1 none data_page Boolean 0 1 1 message data page No 0
7 1 RW 4 1 none msg_cycle_time_1 Unsigned16 00h FFFFh 5 message cycle time 1 (VC_Trq) No 0
8 1 RW 4 1 none msg_cycle_time_2 Unsigned16 00h FFFFh 5 message cycle time 2 (VC_SpdCmd) No 0
9 1 RW 4 1 none msg_cycle_time_3 Unsigned16 00h FFFFh 5 message cycle time 3 (VC_Bat) No 0
10 1 RW 4 1 none msg_cycle_time_4 Unsigned16 00h FFFFh 5 message cycle time 4 (VC_Bat_2) No 0
11 1 RW 4 1 none msg_cycle_time_5 Unsigned16 00h FFFFh 5 message cycle time 5 (VC_TrqSafety) No 0
12 1 RW 4 1 none msg_cycle_time_6 Unsigned16 00h FFFFh 5 message cycle time 6 (MC_Trq) No 0
13 1 RW 4 1 none msg_cycle_time_7 Unsigned16 00h FFFFh 5 message cycle time 7 (MC_Vel) No 0
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
14 1 RW 4 1 none msg_cycle_time_8 Unsigned16 00h FFFFh 5 message cycle time 8 (MC_Sts) No 0
15 1 RW 4 1 none msg_cycle_time_9 Unsigned16 00h FFFFh 5 message cycle time 9 (MC_Sts_2) No 0
16 1 RW 4 1 none msg_cycle_time_10 Unsigned16 00h FFFFh 100 message cycle time 10 (MC_Sts_3) No 0
17 1 RW 4 1 none msg_id_1 Unsigned8 80h 9Fh 80h message identification 1 (VC_Trq) No 0
18 1 RW 4 1 none msg_id_2 Unsigned8 80h 9Fh 81h message identification 2 (VC_SpdCmd) No 0
19 1 RW 4 1 none msg_id_3 Unsigned8 80h 9Fh 82h message identification 3 (VC_Bat) No 0
20 1 RW 4 1 none msg_id_4 Unsigned8 80h 9Fh 83h message identification 4 (VC_Bat_2) No 0
21 1 RW 4 1 none msg_id_5 Unsigned8 80h 9Fh 84h message identification 5 (VC_TrqSafety) No 0
22 1 RW 4 1 none msg_id_6 Unsigned8 80h 9Fh 85h message identification 6 (MC_Trq) No 0
23 1 RW 4 1 none msg_id_7 Unsigned8 80h 9Fh 86h message identification 7 (MC_Vel) No 0
24 1 RW 4 1 none msg_id_8 Unsigned8 80h 9Fh 87h message identification 8 (MC_Sts) No 0
25 1 RW 4 1 none msg_id_9 Unsigned8 80h 9Fh 88h message identification 9 (MC_Sts_2) No 0
26 1 RW 4 1 none msg_id_10 Unsigned8 80h 9Fh 89h message identification 10 (MC_Sts_3) No 0
27 1 RW 4 1 none msg_hash_num_1 Unsigned8 0 255 11 Seed for CRC calculation of message VC_Trq No 0
28 1 RW 4 1 none msg_hash_num_2 Unsigned8 0 255 23 Seed for CRC calculation of message VC_SpdCmd No 0
29 1 RW 4 1 none msg_hash_num_3 Unsigned8 0 255 35 Seed for CRC calculation of message VC_Bat No 0
30 1 RW 4 1 none msg_hash_num_4 Unsigned8 0 255 47 Seed for CRC calculation of message VC_Bat_2 No 0
31 1 RW 4 1 none msg_hash_num_5 Unsigned8 0 255 59 Seed for CRC calculation of message VC_TrqSafety No 0
32 1 RW 4 1 none msg_hash_num_6 Unsigned8 0 255 61 Seed for CRC calculation of message MC_Trq No 0
33 1 RW 4 1 none msg_hash_num_7 Unsigned8 0 255 73 Seed for CRC calculation of message MC_Vel No 0
34 1 RW 4 1 none msg_hash_num_8 Unsigned8 0 255 85 Seed for CRC calculation of message MC_Sts No 0
3F03h 35 1 RW 4 1 none msg_hash_num_9 Unsigned8 0 255 97 Seed for CRC calculation of message MC_Sts_2 No 0
36 1 RW 4 1 none msg_hash_num_10 Unsigned8 0 255 109 Seed for CRC calculation of message MC_Sts_3 No 0
37 1 RW 4 1 none sig_offset_1 Unsigned16 0 65535 2048 VC_Trq_TrqTrgt No 0
38 1 RW 4 1 none sig_offset_2 Unsigned16 0 65535 0 VC_Trq_DrvTrqLmt No 0
39 1 RW 4 1 none sig_offset_3 Unsigned16 0 65535 0 VC_Trq_BrkTrqLmt No 0
40 1 RW 4 1 none sig_offset_4 Unsigned16 0 65535 0 VC_SpdCmd_FrwdSpdLim No 0
41 1 RW 4 1 none sig_offset_5 Unsigned16 0 65535 0 VC_SpdCmd_RvrsSpdLim No 0
42 1 RW 4 1 none sig_offset_6 Unsigned16 0 65535 0 VC_Bat_I_DCLinkReLim No 0
43 1 RW 4 1 none sig_offset_7 Unsigned16 0 65535 0 VC_Bat_I_DCLinkDisLim No 0
44 1 RW 4 1 none sig_offset_8 Unsigned16 0 65535 0 VC_Bat_2_U_DCLinkHighLim No 0
45 1 RW 4 1 none sig_offset_9 Unsigned16 0 65535 0 VC_Bat_2_U_DCLinkLowLim No 0
46 1 RW 4 1 none sig_offset_10 Unsigned16 0 65535 2048 MC_Trq_EstTrq No 0
47 1 RW 4 1 none sig_offset_11 Unsigned16 0 65535 0 MC_Trq_MaxAvaDrvTrq No 0
48 1 RW 4 1 none sig_offset_12 Unsigned16 0 65535 0 MC_Trq_MaxAvaBrkTrq No 0
49 1 RW 4 1 none sig_offset_13 Unsigned16 0 65535 32768 MC_Vel_MotVel No 0
50 1 RW 4 1 none sig_offset_14 Unsigned16 0 65535 2048 MC_Sts_I_DClink No 0
51 1 RW 4 1 none sig_offset_15 Unsigned16 0 65535 2048 MC_Sts_U_DClink No 0
52 1 RW 4 1 none sig_offset_16 Unsigned16 0 65535 40 MC_Sts_2_MotTempAct No 0
53 1 RW 4 1 none sig_offset_17 Unsigned16 0 65535 40 MC_Sts_2_MotTempDerDelta No 0
54 1 RW 4 1 none sig_offset_18 Unsigned16 0 65535 40 MC_Sts_3_InvTempAct No 0
55 1 RW 4 1 none sig_offset_19 Unsigned16 0 65535 40 MC_Sts_3_InvTempDerDelta No 0
56 1 RW 4 1 none sig_factor_1 Unsigned16 0 65535 16 VC_Trq_TrqTrgt No 0
57 1 RW 4 1 none sig_factor_2 Unsigned16 0 65535 16 VC_Trq_DrvTrqLmt No 0
58 1 RW 4 1 none sig_factor_3 Unsigned16 0 65535 16 VC_Trq_BrkTrqLmt No 0
59 1 RW 4 1 none sig_factor_4 Unsigned16 0 65535 1 VC_SpdCmd_FrwdSpdLim No 0
60 1 RW 4 1 none sig_factor_5 Unsigned16 0 65535 1 VC_SpdCmd_RvrsSpdLim No 0
61 1 RW 4 1 none sig_factor_6 Unsigned16 0 65535 1 VC_Bat_I_DCLinkReLim No 0
62 1 RW 4 1 none sig_factor_7 Unsigned16 0 65535 1 VC_Bat_I_DCLinkDisLim No 0
63 1 RW 4 1 none sig_factor_8 Unsigned16 0 65535 4 VC_Bat_2_U_DCLinkHighLim No 0
64 1 RW 4 1 none sig_factor_9 Unsigned16 0 65535 4 VC_Bat_2_U_DCLinkLowLim No 0
65 1 RW 4 1 none sig_factor_10 Unsigned16 0 65535 16 MC_Trq_EstTrq No 0
66 1 RW 4 1 none sig_factor_11 Unsigned16 0 65535 16 MC_Trq_MaxAvaDrvTrq No 0
67 1 RW 4 1 none sig_factor_12 Unsigned16 0 65535 16 MC_Trq_MaxAvaBrkTrq No 0
68 1 RW 4 1 none sig_factor_13 Unsigned16 0 65535 1 MC_Vel_MotVel No 0
69 1 RW 4 1 none sig_factor_14 Unsigned16 0 65535 16 MC_Sts_I_DClink No 0
70 1 RW 4 1 none sig_factor_15 Unsigned16 0 65535 16 MC_Sts_U_DClink No 0
71 1 RW 4 1 none sig_factor_16 Unsigned16 0 65535 16 MC_Sts_2_MotTempAct No 0
72 1 RW 4 1 none sig_factor_17 Unsigned16 0 65535 16 MC_Sts_2_MotTempDerDelta No 0
73 1 RW 4 1 none sig_factor_18 Unsigned16 0 65535 16 MC_Sts_3_InvTempAct No 0
74 1 RW 4 1 none sig_factor_19 Unsigned16 0 65535 16 MC_Sts_3_InvTempDerDelta No 0
SECTION=J1939
---- ---- ---- ---- ProCAN-Protocol Common Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 1 none enable ProCAN sending messages Boolean 0 1 1 en_transmission No 0
3F10h 2 1 RW 4 1 none enable high intergrity protection mechanisms Boolean 0 1 1 en_hipm No 0
development byte dev_byte: 0 bit ->0 - h-protocol enabled, 1 - ProCAN enabled; 1 bit -> 0 - old
3 1 RW 4 1 none Unsigned32 0 FFFFFFFFh 0x00000001 No 0
lmc buffer, 1 - new lmc buffer; 7 bit -> 0 - default, 1 - NEVS
4 1 RW 4 1 none error treshold for report and heal errors Unsigned8 00h FFh 3 err_tres No 0
5 1 RW 4 1 none priority of messages Unsigned8 0 7 6 msg_prio No 0
6 1 RW 4 1 none message data page Boolean 0 1 1 data_page No 0
SECTION=J1939
---- ---- ---- ---- ProCAN-Protocol Message Timing Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 1 none message timeout VC_Trq Unsigned16 00h FFFFh 40 msg_timeout_vc_trq No 0
2 1 RW 4 1 none message timeout VC_SpdCmd Unsigned16 00h FFFFh 40 msg_timeout_vc_spdcmd No 0
3 1 RW 4 1 none message timeout VC_Bat Unsigned16 00h FFFFh 40 msg_timeout_vc_bat No 0
3F11h 4 1 RW 4 1 none message timeout VC_Bat_2 Unsigned16 00h FFFFh 40 msg_timeout_vc_bat_2 No 0
5 1 RW 4 1 none message timeout VC_TrqSafety Unsigned16 00h FFFFh 40 msg_timeout_vc_trqsafety No 0
6 1 RW 4 1 none message timeout VC_Airbag Unsigned16 00h FFFFh 300 msg_timeout_vc_airbag No 0
7 1 RW 4 1 none message cycle time MC_Trq Unsigned16 00h FFFFh 10 msg_cycle_time_mc_trq No 0
8 1 RW 4 1 none message cycle time MC_Vel Unsigned16 00h FFFFh 10 msg_cycle_time_mc_vel No 0
9 1 RW 4 1 none message cycle time MC_Sts Unsigned16 00h FFFFh 10 msg_cycle_time_mc_sts No 0
10 1 RW 4 1 none message cycle time MC_Sts_2 Unsigned16 00h FFFFh 100 msg_cycle_time_mc_sts_2 No 0
11 1 RW 4 1 none message cycle time MC_Sts_3 Unsigned16 00h FFFFh 100 msg_cycle_time_mc_sts_3 No 0
SECTION=J1939
---- ---- ---- ---- ProCAN-Protocol Message IDs Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 1 none message indetification VC_Trq Unsigned32 80h 9Fh 0x00000080 msg_id_vc_trq No 0
2 1 RW 4 1 none message indetification VC_SpdCmd Unsigned32 80h 9Fh 0x00000081 No 0

msg_id_vc_spdcmd
3 1 RW 4 1 none message indetification VC_Bat Unsigned32 80h 9Fh 0x00000082 No 0
msg_id_vc_bat
4 1 RW 4 1 none message indetification VC_Bat_2 Unsigned32 80h 9Fh 0x00000083 No 0
msg_id_vc_bat_2
3F12h 5 1 RW 4 1 none message indetification VC_TrqSafety Unsigned32 80h 9Fh 0x00000084 No 0

msg_id_vc_trqsafety
6 1 RW 4 1 none message indetification VC_Airbag Unsigned32 0 1FFFFFFFh 0x000004F4 No 0
msg_id_vc_airbag
7 1 RW 4 1 none message indetification MC_Trq Unsigned32 80h 9Fh 0x00000085 No 0
msg_id_mc_trq
8 1 RW 4 1 none message indetification MC_Vel Unsigned32 80h 9Fh 0x00000086 No 0
msg_id_mc_vel
9 1 RW 4 1 none message indetification MC_Sts Unsigned32 80h 9Fh 0x00000087 No 0
msg_id_mc_sts
10 1 RW 4 1 none message indetification MC_Sts_2 Unsigned32 80h 9Fh 0x00000088 No 0
msg_id_mc_sts_2
11 1 RW 4 1 none message indetification MC_Sts_3 Unsigned32 80h 9Fh 0x00000089 No 0
msg_id_mc_sts_3
SECTION=J1939
---- ---- ---- ---- ProCAN-Protocol Message Seeds Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 1 none message seed number VC_Trq Unsigned8 0 255 10 msg_seed_num_vc_trq No 0
2 1 RW 4 1 none message seed number VC_SpdCmd Unsigned8 0 255 20 msg_seed_num_vc_spdcmd No 0
3 1 RW 4 1 none message seed number VC_Bat Unsigned8 0 255 30 msg_seed_num_vc_bat No 0
3F13h 4 1 RW 4 1 none message seed number VC_Bat_2 Unsigned8 0 255 40 msg_seed_num_vc_bat_2 No 0
5 1 RW 4 1 none message seed number VC_TrqSafety Unsigned8 0 255 50 msg_seed_num_vc_trqsafety No 0
6 1 RW 4 1 none message seed number VC_Airbag Unsigned8 0 255 60 msg_seed_num_vc_airbag No 0
7 1 RW 4 1 none message seed number MC_Trq Unsigned8 0 255 70 msg_seed_num_mc_trq No 0
8 1 RW 4 1 none message seed number MC_Vel Unsigned8 0 255 80 msg_seed_num_mc_vel No 0
9 1 RW 4 1 none message seed number MC_Sts Unsigned8 0 255 90 msg_seed_num_mc_sts No 0
10 1 RW 4 1 none message seed number MC_Sts_2 Unsigned8 0 255 100 msg_seed_num_mc_sts_2 No 0
11 1 RW 4 1 none message seed number MC_Sts_3 Unsigned8 0 255 110 msg_seed_num_mc_sts_3 No 0
SECTION=J1939
---- ---- ---- ---- ProCAN-Protocol Signal Offsets Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 1 none signal offset VC_Trq_TrqTrgt Unsigned16 0 65535 32768 sig_offset_vc_trq_trqtrgt No 0
2 1 RW 4 1 none signal offset VC_Trq_DrvTrqLmt Unsigned16 0 65535 0 sig_offset_vc_trq_drvtrqlmt No 0
3 1 RW 4 1 none signal offset VC_Trq_BrkTrqLmt Unsigned16 0 65535 0 sig_offset_vc_trq_brktrqlmt No 0
4 1 RW 4 1 none signal offset VC_SpdCmd_FrwdSpdLim Unsigned16 0 65535 0 sig_offset_vc_spdcmd_frwdspdlim No 0
5 1 RW 4 1 none signal offset VC_SpdCmd_RvrsSpdLim Unsigned16 0 65535 0 sig_offset_vc_spdcmd_rvrsspdlim No 0
6 1 RW 4 1 none signal offset VC_Bat_I_DCLinkReLim Unsigned16 0 65535 0 sig_offset_vc_bat_i_dclinkrelim No 0
7 1 RW 4 1 none signal offset VC_Bat_I_DCLinkDisLim Unsigned16 0 65535 0 sig_offset_vc_bat_i_dclinkdislim No 0
3F14h 8 1 RW 4 1 none signal offset VC_Bat_2_U_DCLinkHighLim Unsigned16 0 65535 0 sig_offset_vc_bat_2_u_dclinkhighlim No 0
9 1 RW 4 1 none signal offset VC_Bat_2_U_DCLinkLowLim Unsigned16 0 65535 0 sig_offset_vc_bat_2_u_dclinklowlim No 0
10 1 RW 4 1 none signal offset MC_Trq_EstTrq Unsigned16 0 65535 32768 sig_offset_mc_trq_esttrq No 0
11 1 RW 4 1 none signal offset MC_Trq_MaxAvaDrvTrq Unsigned16 0 65535 0 sig_offset_mc_trq_maxavadrvtrq No 0
12 1 RW 4 1 none signal offset MC_Trq_MaxAvaBrkTrq Unsigned16 0 65535 0 sig_offset_mc_trq_maxavabrktrq No 0
13 1 RW 4 1 none signal offset MC_Vel_MotVel Unsigned16 0 65535 32768 sig_offset_mc_vel_motvel No 0
14 1 RW 4 1 none signal offset MC_Sts_I_DClink Unsigned16 0 65535 32768 sig_offset_mc_sts_i_dclink No 0
15 1 RW 4 1 none signal offset MC_Sts_U_DClink Unsigned16 0 65535 32768 sig_offset_mc_sts_u_dclink No 0
16 1 RW 4 1 none signal offset MC_Sts_2_MotTempAct Unsigned16 0 65535 640 sig_offset_mc_sts_2_mottempact No 0
17 1 RW 4 1 none signal offset MC_Sts_2_MotTempDerDelta Unsigned16 0 65535 640 sig_offset_mc_sts_2_mottempderdelta No 0
18 1 RW 4 1 none signal offset MC_Sts_3_InvTempAct Unsigned16 0 65535 640 sig_offset_mc_sts_3_invtempact No 0
19 1 RW 4 1 none signal offset MC_Sts_3_InvTempDerDelta Unsigned16 0 65535 640 sig_offset_mc_sts_3_invtempderdelta No 0
SECTION=J1939
---- ---- ---- ---- ProCAN-Protocol Signal Gains Record N/A N/A ---- ---- ---- MASTER=TRUE
1 1 RW 4 1 none signal gain VC_Trq_TrqTrgt Real32 0 FFFFFFFFh 0.0625 sig_gain_vc_trq_trqtrgt No 0
2 1 RW 4 1 none signal gain VC_Trq_DrvTrqLmt Real32 0 FFFFFFFFh 0.0625 sig_gain_vc_trq_drvtrqlmt No 0
3 1 RW 4 1 none signal gain VC_Trq_BrkTrqLmt Real32 0 FFFFFFFFh 0.0625 sig_gain_vc_trq_brktrqlmt No 0
4 1 RW 4 1 none signal gain VC_SpdCmd_FrwdSpdLim Real32 0 FFFFFFFFh 1.0000 sig_gain_vc_spdcmd_frwdspdlim No 0
5 1 RW 4 1 none signal gain VC_SpdCmd_RvrsSpdLim Real32 0 FFFFFFFFh 1.0000 sig_gain_vc_spdcmd_rvrsspdlim No 0
6 1 RW 4 1 none signal gain VC_Bat_I_DCLinkReLim Real32 0 FFFFFFFFh 1.0000 sig_gain_vc_bat_i_dclinkrelim No 0
7 1 RW 4 1 none signal gain VC_Bat_I_DCLinkDisLim Real32 0 FFFFFFFFh 1.0000 sig_gain_vc_bat_i_dclinkdislim No 0
3F15h 8 1 RW 4 1 none signal gain VC_Bat_2_U_DCLinkHighLim Real32 0 FFFFFFFFh 0.2500 sig_gain_vc_bat_2_u_dclinkhighlim No 0
9 1 RW 4 1 none signal gain VC_Bat_2_U_DCLinkLowLim Real32 0 FFFFFFFFh 0.2500 sig_gain_vc_bat_2_u_dclinklowlim No 0
10 1 RW 4 1 none signal gain MC_Trq_EstTrq Real32 0 FFFFFFFFh 0.0625 sig_gain_mc_trq_esttrq No 0
11 1 RW 4 1 none signal gain MC_Trq_MaxAvaDrvTrq Real32 0 FFFFFFFFh 0.0625 sig_gain_mc_trq_maxavadrvtrq No 0
12 1 RW 4 1 none signal gain MC_Trq_MaxAvaBrkTrq Real32 0 FFFFFFFFh 0.0625 sig_gain_mc_trq_maxavabrktrq No 0
13 1 RW 4 1 none signal gain MC_Vel_MotVel Real32 0 FFFFFFFFh 1.0000 sig_gain_mc_vel_motvel No 0
14 1 RW 4 1 none signal gain MC_Sts_I_DClink Real32 0 FFFFFFFFh 0.0625 sig_gain_mc_sts_i_dclink No 0
15 1 RW 4 1 none signal gain MC_Sts_U_DClink Real32 0 FFFFFFFFh 0.0625 sig_gain_mc_sts_u_dclink No 0
16 1 RW 4 1 none signal gain MC_Sts_2_MotTempAct Real32 0 FFFFFFFFh 0.0625 sig_gain_mc_sts_2_mottempact No 0
17 1 RW 4 1 none signal gain MC_Sts_2_MotTempDerDelta Real32 0 FFFFFFFFh 0.0625 sig_gain_mc_sts_2_mottempderdelta No 0
18 1 RW 4 1 none signal gain MC_Sts_3_InvTempAct Real32 0 FFFFFFFFh 0.0625 sig_gain_mc_sts_3_invtempact No 0
19 1 RW 4 1 none signal gain MC_Sts_3_InvTempDerDelta Real32 0 FFFFFFFFh 0.0625 sig_gain_mc_sts_3_invtempderdelta No 0
SECTION=J1939
---- ---- ---- ---- ProCAN-Protocol Signal for MC tool Record N/A N/A ---- ---- ---- MASTER=TRUE
0xFFFFFFF
1 1 RO 4 1 none signal VC_Trq_TrqTrgt Real32 0 FFFFFFFFh No 0
E sig_vc_trq_trqtrgt
3F16h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
0xFFFFFFF
2 1 RO 4 1 none signal VC_Trq_DrvTrqLmt Real32 0 FFFFFFFFh No 0
E sig_vc_trq_drvtrqlmt
0xFFFFFFF
3 1 RO 4 1 none signal VC_Trq_BrkTrqLmt Real32 0 FFFFFFFFh No 0
E sig_vc_trq_brktrqlmt
0xFFFFFFF
4 1 RO 4 1 none signal VC_SpdCmd_FrwdSpdLim Real32 0 FFFFFFFFh No 0
E sig_vc_spdcmd_frwdspdlim
0xFFFFFFF
5 1 RO 4 1 none signal VC_SpdCmd_RvrsSpdLim Real32 0 FFFFFFFFh No 0
E sig_vc_spdcmd_rvrsspdlim
0xFFFFFFF
6 1 RO 4 1 none signal VC_Bat_I_DCLinkReLim Real32 0 FFFFFFFFh No 0
E sig_vc_bat_i_dclinkrelim
0xFFFFFFF
7 1 RO 4 1 none signal VC_Bat_I_DCLinkDisLim Real32 0 FFFFFFFFh No 0
E sig_vc_bat_i_dclinkdislim
0xFFFFFFF
8 1 RO 4 1 none signal VC_Bat_2_U_DCLinkHighLim Real32 0 FFFFFFFFh No 0
E sig_vc_bat_2_u_dclinkhighlim
0xFFFFFFF
9 1 RO 4 1 none signal VC_Bat_2_U_DCLinkLowLim Real32 0 FFFFFFFFh No 0
E sig_vc_bat_2_u_dclinklowlim
0xFFFFFFF
10 1 RO 4 1 none signal VC_SpdCmd_Cmd Real32 0 FFFFFFFFh No 0
E sig_vc_cmd
0xFFFFFFF
11 1 RO 4 1 none signal VC_Aux_ActShrtCrct Real32 0 FFFFFFFFh No 0
E sig_vc_activate_short_circuit
3F16h 0xFFFFFFF
12 1 RO 4 1 none signal VC_Airbag_AirbagDeployed Real32 0 FFFFFFFFh No 0
E sig_vc_airbag_deployed
0xFFFFFFF
13 1 RO 4 1 none signal MC_Trq_EstTrq Real32 0 FFFFFFFFh No 0
E sig_mc_trq_esttrq
0xFFFFFFF
14 1 RO 4 1 none signal MC_Trq_MaxAvaDrvTrq Real32 0 FFFFFFFFh No 0
E sig_mc_trq_maxavadrvtrq
0xFFFFFFF
15 1 RO 4 1 none signal MC_Trq_MaxAvaBrkTrq Real32 0 FFFFFFFFh No 0
E sig_mc_trq_maxavabrktrq
0xFFFFFFF
16 1 RO 4 1 none signal MC_Vel_MotVel Real32 0 FFFFFFFFh No 0
E sig_mc_vel_motvel
0xFFFFFFF
17 1 RO 4 1 none signal MC_Sts_I_DClink Real32 0 FFFFFFFFh No 0
E sig_mc_sts_i_dclink
0xFFFFFFF
18 1 RO 4 1 none signal MC_Sts_U_DClink Real32 0 FFFFFFFFh No 0
E sig_mc_sts_u_dclink
0xFFFFFFF
19 1 RO 4 1 none signal MC_Sts_2_MotTempAct Real32 0 FFFFFFFFh No 0
E sig_mc_sts_2_mottempact
0xFFFFFFF
20 1 RO 4 1 none signal MC_Sts_2_MotTempDerDelta Real32 0 FFFFFFFFh No 0
E sig_mc_sts_2_mottempderdelta
0xFFFFFFF
21 1 RO 4 1 none signal MC_Sts_3_InvTempAct Real32 0 FFFFFFFFh No 0
E sig_mc_sts_3_invtempact
0xFFFFFFF
22 1 RO 4 1 none signal MC_Sts_3_InvTempDerDelta Real32 0 FFFFFFFFh No 0
E sig_mc_sts_3_invtempderdelta
0xFFFFFFF
23 1 RO 4 1 none signal MC_Sts_3_StateAndStatus Real32 0 FFFFFFFFh No 0
E sig_mc_sts_3_state_and_status
0xFFFFFFF
24 1 RO 4 1 none signal MC_Sts_3_AuthSeed Real32 0 FFFFFFFFh No 0
E sig_mc_sts_3_auth_seed
25 1 RO 4 1 none sig_mc_sts_3_auth_seed Real32 0 FFFFFFFFh FFFFFFFEh signal MC_Sts_3_AuthSeed No 0
OBJECT=ALL_LOGS_CTRL
---- ---- ---- ---- Logging Control Record N/A N/A ---- Used to control all the logs. At present there is only one control item, the global reset. ---- ---- SECTION=LogsReset
CATEGORY=LOGGING
4000h
Writing to this index will reset all the logs. This reset can be performed differently to the individual log
NUMBER_FORMAT=2:0=Reset:1=Reset
1 1 RW 5 Reset (write to reset all logs) Boolean 0 1 0 reset items in that it also initializes the EEPROM for log usage. This will need to be done after new No 1h
COMMS_TIMEOUT=20000
software has been programmed into the controller. Read back a zero indicates log has been reset
OBJECT=SYSTEM_FIFO_CTRL
---- ---- ---- ---- System FIFO Control Record N/A N/A ---- Used to monitor and configure the System FIFO ---- ---- SECTION=SystemLog
CATEGORY=LOGGING
4100h Writing to this index will reset the System FIFO. Only items with a log level less than of equal to the NUMBER_FORMAT=2:0=Reset:1=Reset
1 1 WO 2 Reset (write to reset system FIFO) Boolean 0 1 0 No 1h
current logged in user access level will be deleted. COMMS_TIMEOUT=20000
2 1 RO N/A Number of items in System FIFO Unsigned16 0 FFFFh No The current length of the System FIFO No 0
Event Group Filter (set bit to inhibit logging events from this EEPROM=logging.system_fifo_group_filter
3 1 RW 2 Unsigned16 0 FFFFh FFFFh Each bit corresponds to a group. Setting a bit allows events in that group to be logged. No 0
group) NUMBER_FORMAT=BASE16
OBJECT=SYSTEM_FIFO_IN
4101h 0 1 RW 2 Select System FIFO item to read in 4102h Unsigned16 0 FFFFh 0 The item to be returned when reading the System FIFO Output object. No 1h SECTION=SystemLog
CATEGORY=LOGGING
OBJECT=SYSTEM_FIFO_OUT
---- ---- ---- ---- System FIFO Output Record N/A N/A ---- Outputs the FIFO entry selected in the input object. ---- ---- SECTION=SystemLog
CATEGORY=LOGGING
1 1 RO 2 Event ID Unsigned16 0 FFFFh No 16-bit event ID No 0 NUMBER_FORMAT=BASE16
4102h
2 1 RO 2 Hours Hours Unsigned16 0 FFFFh No Controller key hours when event was logged. No 0
3 1 RO 2 0.25 Minutes Minutes / Seconds Unsigned8 0 EFh No Controller key minutes / seconds when event was logged. No 0
4 1 RO 2 Data Byte 1 Unsigned8 0 FFh No Each event can have up to 3 bytes of data logged with it. No 0 NUMBER_FORMAT=BASE16
5 1 RO 2 Data Byte 2 Unsigned8 0 FFh No Ditto No 0 NUMBER_FORMAT=BASE16
OBJECT=FAULTS_FIFO_CTRL
---- ---- ---- ---- Faults FIFO Control Record N/A N/A ---- Used to monitor and configure the Faults FIFO ---- ---- SECTION=FaultLog
CATEGORY=LOGGING
4110h Writing to this index will reset the Faults FIFO. Only items with a log level less than of equal to the NUMBER_FORMAT=2:0=Reset:1=Reset
1 1 WO 2 Reset (write to reset faults FIFO) Boolean 0 1 0 No 1h
current logged in user access level will be deleted. COMMS_TIMEOUT=20000
2 1 RO N/A Number of items in Faults FIFO Unsigned16 0 FFFFh No The current length of the Faults FIFO No 0
Event Group Filter (set bit to inhibit logging events from this EEPROM=logging.faults_fifo_group_filter
3 1 RW 2 Unsigned16 0 FFFFh FFFFh Each bit corresponds to a group. Setting a bit allows events in that group to be logged. No 0
group) NUMBER_FORMAT=BASE16
OBJECT=FAULTS_FIFO_IN
4111h 0 1 RW 2 Select Faults FIFO item to read in 4112h Unsigned16 0 FFFFh 0 The item to be returned when reading the Faults FIFO Output object. No 1h SECTION=FaultLog
CATEGORY=LOGGING
OBJECT=FAULTS_FIFO_OUT
---- ---- ---- ---- Faults FIFO Output Record N/A N/A ---- Outputs the FIFO entry selected in the input object. ---- ---- SECTION=FaultLog
CATEGORY=LOGGING
1 1 RO 2 Event ID Unsigned16 0 FFFFh No 16-bit event ID No 0 NUMBER_FORMAT=BASE16
4112h
2 1 RO 2 Hours Hours Unsigned16 0 FFFFh No Controller key hours when event was logged. No 0
3 1 RO 2 0.25 Minutes Minutes / Seconds Unsigned8 0 EFh No Controller key minutes / seconds when event was logged. No 0
4 1 RO 2 Data Byte 1 Unsigned8 0 FFh No Each event can have up to 3 bytes of data logged with it. No 0 NUMBER_FORMAT=BASE16
OBJECT=OTHER_EventLog_CTRL
---- ---- ---- ---- Other Event Log Control Record N/A N/A ---- Used to control the other event log. ---- ---- SECTION=EventLog
CATEGORY=LOGGING
4200h
Writing to this index will reset the Other Event logs. Events can only be cleared from the log if the NUMBER_FORMAT=2:0=Reset:1=Reset
1 1 WO 2 Reset (write to reset event counters) Boolean 0 1 0 No 1h
logged in users access level is high enough. COMMS_TIMEOUT=20000
OBJECT=EVENT_COUNTER
---- ---- ---- ---- Other Event Counter 1 Record N/A N/A ---- ---- ---- SECTION=EventLog
CATEGORY=LOGGING
EEPROM=logging.ev_ctrs[0].mask
1 1 RW 2 Event ID Unsigned16 0 FFFFh 0 This is the event current being logged by this counter. 0 indicates an unused counter. No 1h
4201h
2 1 RO 2 Hours First Event Hours Unsigned16 0 FFFFh No 1 Hour/bit No 0
3 1 RO 2 0.25 Minutes First Event Minutes / Seconds Unsigned8 0 EFh No 15s / bit No 0
4 1 RO 2 Hours Last Event Hours Unsigned16 0 FFFFh No 1 Hour/bit No 0
5 1 RO 2 0.25 Minutes Last Event Minutes / Seconds Unsigned8 0 EFh No 15s / bit No 0
6 1 RO 2 Counter Unsigned16 0 FFFFh No Number of events No 0
CATEGORY=LOGGING
4202h
CATEGORY=LOGGING
4203h
CATEGORY=LOGGING
4204h
CATEGORY=LOGGING
4205h
CATEGORY=LOGGING
4206h
CATEGORY=LOGGING
4207h
CATEGORY=LOGGING
4208h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
4208h
CATEGORY=LOGGING
4209h
CATEGORY=LOGGING
420Ah
OBJECT=CUST_OPERATIONAL_MONITOR
---- ---- ---- ---- Operational Monitor - Customer Copy Record N/A N/A ---- Used to monitor minimum and maximum values for various items. ---- ---- SECTION=OperationalLog
CATEGORY=LOGGING
1 1 WO 2 Reset Boolean 0 1 0 Writing to this sub-index will reset this log. No 1h NUMBER_FORMAT=2:0=Reset:1=Reset
2 1 RO N/A 0.00390625 V Minimum Battery Voltage Integer16 -32768 32767 No No 0
3 1 RO N/A 0.00390625 V Maximum Battery Voltage Integer16 -32768 32767 No No 0
4 1 RO N/A 0.00390625 V Minimum Capacitor Voltage Integer16 -32768 32767 No No 0
5 1 RO N/A 0.00390625 V Maximum Capacitor Voltage Integer16 -32768 32767 No No 0
6 1 RO N/A A(RMS) Minimum Motor Current 1 Integer16 -32768 32767 No No 0
7 1 RO N/A A(RMS) Maximum Motor Current 1 Integer16 -32768 32767 No No 0
4300h 8 1 RO N/A A(RMS) Minimum Motor Current 2 Integer16 -32768 32767 No No 0
6 2 RO N/A 0.0625 A(RMS) Minimum Motor Current 1 Integer16 -32768 32767 No No 0
7 2 RO N/A 0.0625 A(RMS) Maximum Motor Current 1 Integer16 -32768 32767 No No 0
10 1 RO N/A RPM Minimum Motor Speed Integer16 -32768 32767 No No 0
11 1 RO N/A RPM Maximum Motor Speed Integer16 -32768 32767 No No 0
12 1 RO N/A DegC Minimum Device Temperature Integer16 -32768 32767 No No 0
13 1 RO N/A DegC Maximum Device Temperature Integer16 -32768 32767 No No 0
12 2 RO N/A 0.0625 DegC Minimum Device Temperature Integer16 -32768 32767 No No 0
13 2 RO N/A 0.0625 DegC Maximum Device Temperature Integer16 -32768 32767 No No 0
OBJECT=SEVCON_OPERATIONAL_MONITOR
---- ---- ---- ---- Operational Monitor - Sevcon Copy Record N/A N/A ---- Same as customer copy, but can only be reset by users with level 5 access (i.e. by Sevcon). ---- ---- SECTION=OperationalLog
CATEGORY=LOGGING
1 1 WO 5 Reset Boolean 0 1 0 Writing to this sub-index will reset this log. No 1h NUMBER_FORMAT=2:0=Reset:1=Reset
2 1 RO N/A 0.00390625 V Minimum Battery Voltage Integer16 -32768 32767 No No 0
3 1 RO N/A 0.00390625 V Maximum Battery Voltage Integer16 -32768 32767 No No 0
4 1 RO N/A 0.00390625 V Minimum Capacitor Voltage Integer16 -32768 32767 No No 0
5 1 RO N/A 0.00390625 V Maximum Capacitor Voltage Integer16 -32768 32767 No No 0
6 1 RO N/A A(RMS) Minimum Motor Current 1 Integer16 -32768 32767 No No 0
4301h 8 1 RO N/A A(RMS) Minimum Motor Current 2 Integer16 -32768 32767 No No 0
10 1 RO N/A RPM Minimum Motor Speed Integer16 -32768 32767 No No 0
11 1 RO N/A RPM Maximum Motor Speed Integer16 -32768 32767 No No 0
12 1 RO N/A DegC Minimum Device Temperature Integer16 -32768 32767 No No 0
13 1 RO N/A DegC Maximum Device Temperature Integer16 -32768 32767 No No 0
12 2 RO N/A 0.0625 DegC Minimum Device Temperature Integer16 -32768 32767 No No 0
13 2 RO N/A 0.0625 DegC Maximum Device Temperature Integer16 -32768 32767 No No 0
OBJECT=ADD_MOTOR_STATUS
---- ---- ---- ---- Additional Motor Measurements Record N/A N/A ---- Additional Motor Measurement information for profile 1. ---- ---- SECTION=Motor1Status
CATEGORY=MONITORING
1 1 RO N/A 0.00390625 rads/s Slip Frequency Integer16 -32768 32767 No In rads/s. (8.8 fixed pt integer) Yes 0
3 1 RO N/A DegC Motor Temperature 1 (Measured - T1) Integer16 -50 250 No 1 degree C / bit. Only valid if a PTC thermistor is set in 4620h. Yes 0
4 1 RO N/A Temperature (Measured - Switch) Boolean 0 1 No State of motor temperature switch. Yes 0 NUMBER_FORMAT=2:0=Motor OK:1=Motor Too Hot
5 1 RO N/A 0.0625 A Target Id (If) Integer16 -32000 32000 No Motor Id Reference (Field current ref for DC) Yes 0
6 1 RO N/A 0.0625 A Target Iq (Ia) Integer16 -32000 32000 No Motor Iq Reference (Armature current ref for DC) Yes 0
7 1 RO N/A 0.0625 A Id (If) Integer16 -32768 32767 No Motor Id Actual (Field current for DC) Yes 0
8 1 RO N/A 0.0625 A Iq (Ia) Integer16 -32768 32767 No Motor Iq Actual (Armature current for DC) Yes 0
4600h
9 1 RO N/A 0.0625 V Ud (Uf) Integer16 -3200 3200 No Motor Ud Actual (Field volts applied for DC) Yes 0
10 1 RO N/A 0.0625 V Uq (Ua) Integer16 -3200 3200 No Motor Uq Actual (Armature volts applied for DC) Yes 0
11 1 RO N/A 0.3921568627 % Voltage modulation Integer16 0 255 No Motor SVM Index Yes 0
12 1 RO N/A 1 A Actual AC Motor Current Integer16 -32768 32767 No Average motor stator current Yes 0
12 2 RO N/A 0.0625 A Actual AC Motor Current Integer16 -32768 32767 No Average motor stator current Yes 0
13 1 RO N/A 0.0625 V Actual AC Motor Voltage Integer16 -32768 32767 No Average motor phase voltage Yes 0
14 1 RO N/A 1 RPM Motor velocity for 2nd motor Integer32 -20000 20000 No Velocity measurement for 2nd motor if 2 motors are controlled using 1 AC motor controller. Yes 0
15 1 RO N/A 0.0625 rads/s Electrical output frequency Integer16 -2048 2047 No Electrical output frequency (12.4 fixed point) Yes 0
15 2 RO N/A rads/s Electrical output frequency Integer16 -2048 2047 No Electrical output frequency Yes 0
16 1 RWW N/A DegC Temperature (Measured - Remote) Integer16 -50 250 No 1 degree C / bit. Only valid if a EXTERNAL (measurement) is set in 4620h. Yes 0
OBJECT=PULSING_HOURS
---- ---- ---- ---- Pulsing Hours Counter Record N/A N/A ---- Pulsing hours counter ---- ---- SECTION=HoursCounters
CATEGORY=LOGGING
4601h
1 1 RW N/A Hours Hours Unsigned16 0 FFFFh No 1 Hour/bit Yes 1h
2 1 RW N/A 0.25 Minutes Minutes / Seconds Unsigned8 0 EFh No 15s / bit Yes 1h
OBJECT=MOTOR_DEBUG
---- ---- ---- ---- AC Motor Debug Information Record N/A N/A ---- A summary of all data which can stop the DSP from controlling the motor. ---- ---- SECTION=Motor1Debug
CATEGORY=MONITORING
Amount of torque cutback due to motor / device overtemperature. This value is between 0 (100%
1 1 RO N/A 0.00390625 Motor Temperature/Torque Cutback (DWork.Tj_cutback_factor) Unsigned16 0 65535 No Yes 0
cutback) to 1 (no cutback) in 1.15 format. The cutback is done by the DSP.
2 1 RO N/A 1 DegC Junction Temperature 1 (DWork.Tj[0]) Integer16 -32768 32767 No DSP Estimated MOSFET junction temperature in 16.0 DegC. Yes 0
8 1 RO N/A 1 DegC Motor Temperature Estimate (DWork.T_motor) Integer16 -32768 32767 No Estimated Motor Temperature. In 16.0 DegC Yes 0
9 1 RO N/A 1 DegC Heatsink Temperature (U.DSP_Ts) Integer8 -128 127 No Heatsink temperature in 8.0 DegC. Yes 0
9 2 RO N/A 0.0625 DegC Heatsink Temperature (U.DSP_Ts) Integer8 -128 127 No Heatsink temperature in 8.0 DegC. Yes 0
10 1 RO N/A 1 DegC Overall DSP Maximum Motor Temperature (Y.Temp_max) Integer16 -32768 32767 No Highest temperature from all sources (heatsink, motor, etc).. In 16.0 DegC Yes 0
10 2 RO N/A 0.0625 DegC Overall DSP Maximum Motor Temperature (Y.Temp_max) Integer16 -32768 32767 No Highest temperature from all sources (heatsink, motor, etc).. In 12.4 DegC Yes 0
11 1 RO N/A 0.0625 Nm Torque demand value (U.T_d) Integer16 -32768 32767 No Torque demand in 12.4Nm Yes 0
12 1 RO N/A 0.0625 Nm Torque actual value (DWork.Td) Integer16 -32768 32767 No Torque actual in 12.4Nm Yes 0
13 1 RO N/A 0.0625 Nm Maximum torque (DWork.Td_max) Integer16 -32768 32767 No Maximum torque sent to DSP in 12.4Nm Yes 0
14 1 RO N/A 0.0625 Nm Maximum power limit torque (Y.T_power_limit) Integer16 -32768 32767 No Maximum torque sent to DSP in 12.4Nm Yes 0
15 1 RO N/A 0.00390625 V Trip Voltage (DWork.Vtrip) Unsigned16 0 65535 No Absolute voltage limit in 8.8V Yes 0
15 2 RO N/A 0.00003051757813 Brake torque voltage cutback factor Unsigned16 0 65535 No Voltage cutback factor for drive torque (from 4619h) in 1.15 Yes 0
16 1 RO N/A 0.00003051757813 Drive torque voltage cutback factor Unsigned16 0 65535 No Voltage cutback factor for drive torque (from 4612h) in 1.15 Yes 0
17 1 RO N/A 0.0625 V Battery Voltage Unsigned16 0 65535 No Battery voltage in 12.4V Yes 0
18 1 RO N/A 0.0625 V Capacitor Voltage Unsigned16 0 65535 No Capacitor voltage in 12.4V Yes 0
Value of I2t integrator. At 100%, current limit will be reduced to powerframe's continuous current
19 1 RO N/A 0.001 % Powerframe I2t integrator value Unsigned16 0 65535 No Yes 0
rating.
19 2 RO N/A 1 DegC Capacitor short term temperature estimate Unsigned16 0 65535 No This is an estimated value of the aggregate capacitor temperature. Yes 0
19 3 RO N/A 1 DegC Boost temperature measurement Integer16 -32768 32767 No Boost stage measured temperature Yes 0
19 4 RO N/A 0.0625 DegC PFC temperature measurement Integer16 -32768 32767 No Boost stage measured temperature Yes 0
20 1 RO N/A 0.0625 A Powerframe I2t current limit Unsigned16 0 65535 No Stator current limit as calculated by I2t algorithm Yes 0
20 2 RO N/A 1 DegC PCB Track Temperature Estimate Integer16 -32768 32767 No This is the estimated value of PBC track temperature. Yes 0
20 3 RO N/A 0.0625 DegC PCB Track Temperature Integer16 -32768 32767 No This is the estimated value of PBC track temperature. Yes 0
Value of the long term capacitor temperature estimate, this is regarded as the temperature rise over
21 1 RO N/A 1 DegC Capacitor long term temperature estimate Unsigned16 0 65535 No Yes 0
an hour at the maximum current which would cause acceptable ripple current capacitor degradation
22 1 RO N/A 0.0625 A Current sensor autozero value (M1) Integer16 0 65535 No Current sensor autozero value (M1) in 12.4 Yes 0
25 1 RO N/A 0.0625 A Current sensor value (M1) Integer16 0 65535 No Current sensor value (M1) in 12.4 Yes 0
28 1 RO N/A 0.00003051757813 Vll/rads Measured Ke Integer16 0 65535 No Ke is displayed as the controller sees it when the measurement criteria are met Yes 0
29 1 RO N/A 0.05960464478 uH Measured inductance Unsigned16 0 65535 No Stator inductance is displayed as the controller sees it when the measurement criteria are met Yes 0
29 2 RO N/A 0.9536743164 uH Measured inductance Unsigned16 0 65535 No Stator inductance is displayed as the controller sees it when the measurement criteria are met Yes 0
30 1 RO N/A 0.00390625 Degrees Measured encoder offset Integer16 0 65535 No Encoder Offset is displayed as the controller sees it when the measurement criteria are met Yes 0
Voltage limit circle magnitude, this combined with the maximum fluxing current governs the required
31 1 RO N/A 0.0625 A Voltage limit circle magnitude Integer16 0 65535 No amount of field weakening at a given speed and DC link. Also describes the power limit map across Yes 0
the speed range
Voltage limit circle magnitude, this combined with the maximum fluxing current governs the required
4602h 31 2 RO N/A 1 A Voltage limit circle magnitude Integer16 0 65535 No amount of field weakening at a given speed and DC link. Also describes the power limit map across Yes 0
the speed range
32 1 RO N/A 0.0625 A Maximum fluxing current Integer16 0 65535 No The maximum possible field weakening current and the origin of the Voltage limit circle Yes 0
32 2 RO N/A 1 A Maximum fluxing current Integer16 0 65535 No The maximum possible field weakening current and the origin of the Voltage limit circle Yes 0
33 1 RO N/A 0.0625 A Maximum iq allowed Integer16 0 65535 No Maximum value of iq that can be demanded with the current value of minimum field weakening. Yes 0
33 2 RO N/A 1 A Maximum iq allowed Integer16 0 65535 No Maximum value of iq that can be demanded with the current value of minimum field weakening. Yes 0
34 1 RO N/A 1 OL mode indicator Boolean 0 1 No Indicates that the system is operating in open loop mode Yes 0
35 1 RO N/A 1 Encoder debug flags Unsigned16 0 65535 No Status flags for encoder Yes 0
36 1 RO N/A 0.00006103515625 Voltage cutback factor positive torque Unsigned16 0 65535 No 2.14 Cutback factor for positive torques (0 to 1) - slewed Yes 0
36 2 RO N/A 0.00006103515625 Voltage cutback factor drive torque Unsigned16 0 65535 No 2.14 Cutback factor for drive torques (0 to 1) Yes 0
37 1 RO N/A 0.00006103515625 Voltage cutback factor negative torque Unsigned16 0 65535 No 2.14 Cutback factor for negative torques (0 to 1) - slewed Yes 0
37 2 RO N/A 0.00006103515625 Voltage cutback factor braking torque Unsigned16 0 65535 No 2.14 Cutback factor for braking torques (0 to 1) Yes 0
38 1 RO N/A 0.00006103515625 Motor temperature cutback factor (drive/brake) Integer16 -32768 32767 No 2.14 Cutback factor for motor temperature cutback (-1 to 1) - not slewed Yes 0
DESC=Is max clamp:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Inactive:1=Active

DESC=Iq max clamp:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Inactive:1=Active
DESC=User power limit:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Inactive:1=Active
DESC=DC link power limit:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Inactive:1=Active
39 1 RO N/A Torque Cutback Flags Unsigned16 0 65535 No PFC inverter. Indication of torque cutback in effect Yes 0
DESC=AC IN power limit:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Inactive:1=Active
DESC=User trq/spd map limit:HEX_MASK=12:MIN=0:MAX=1:NF=2:0=Inactive:1=Active
DESC=Thermal cutback:HEX_MASK=14:MIN=0:MAX=1:NF=2:0=Inactive:1=Active
DESC=Speed limit:HEX_MASK=18:MIN=0:MAX=1:NF=2:0=Inactive:1=Active
4602h

Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
HVLP + D8. Indication of torque cutback in effect (0 none, 1 max power, 2 power limit map, 3
39 2 RO N/A Torque Cutback Flags Unsigned16 0 65535 No thermals, 4 user limits H-protocol, 5 3D LUT, 6 bridge disabled, 7 DC voltage map, 8 DC current Yes 0
limit, 9 speed limit)
40 1 RO N/A 0.00001525878906 Battery current limit motoring cutback factor Unsigned16 0 65535 No Amount of cutback applied from battery current limiter when motoring Yes 0
41 1 RO N/A 0.00001525878906 Battery current limit regen cutback factor Unsigned16 0 65535 No Amount of cutback applied from battery current limiter when in regen Yes 0
42 1 RO N/A 0.0625 A Id reference current from PMAC predictive scheme Integer16 -4096 4095 No Id reference from PMAC model (ls, ke etc), before frequency PI adds to it. Yes 0
43 1 RO N/A 0.0625 Nm Fault ride through cutback limit. Unsigned16 -4096 4095 No Torque limit from fault ride through cutback. Yes 0
44 1 RO N/A Bridge state Unsigned16 0 65535 No Bridge state flags Yes 0
45 1 RO N/A 1 Hz Bridge switching frequency Unsigned16 0 65535 No Bridge switching frequency in Hz Yes 0
46 1 RO N/A 0.0625 A Id positive limit Integer16 -32768 32767 No 12.4 Positive d-axis current limit (IM VF only) Yes 0
47 1 RO N/A 0.0625 A Id negative limit Integer16 -32768 32767 No 12.4 Negative d-axis current limit (IM VF only) Yes 0
48 1 RO N/A 0.0625 A Iq positive limit Integer16 -32768 32767 No 12.4 Positive q-axis current limit (IM VF only) Yes 0
49 1 RO N/A 0.0625 A Iq negative limit Integer16 -32768 32767 No 12.4 Negative q-axis current limit (IM VF only) Yes 0
50 1 RO N/A 0.0625 V Lookup table voltage index Integer16 -32768 32767 No 12.4 Lookup table voltage index (post PI) Yes 0
51 1 RO N/A 1 Angle comms error count Unsigned16 0 65535 No Angle comms error count Yes 0
52 1 RO N/A 7.629394531 uH User specified magnetizing inductance (Lm) Unsigned16 0 FFFFh No Lm value in use (via cold value in 4641 and saturation map) - Flux-vector (HVLP/D8) Yes 0
53 1 RO N/A 7.629394531 uH Controller estimated magnetizing inductance (Lm) Unsigned16 0 FFFFh No Lm estimate - Flux-vector (HVLP/D8) Yes 0
54 1 RO N/A 0.0625 A Current sensor autozero value (B+) Integer16 0 65535 No Current sensor autozero value (B+ / DC link) in 12.4 Yes 0
55 1 RO N/A 0.0625 A Current sensor value (B+) Integer16 0 65535 No Current sensor value (B+ / DC link) in 12.4 Yes 0
56 1 RO N/A 0.244140625 mOhms Controller estimated stator resistance (Rs) Unsigned16 0 FFFFh No Rs estimate - V/f (HVLP/D8) Yes 0
57 1 RO N/A 0.244140625 mOhms Controller estimated rotor resistance (Rr) Unsigned16 0 FFFFh No Rr estimate - Flux-vector (HVLP/D8) Yes 0
58 1 RO N/A 0.0625 A Id Current Control Error Unsigned16 0 FFFFh No 12.4 Id Current Error Variance Yes 0
59 1 RO N/A 0.0625 A Iq Current Control Error Unsigned16 0 FFFFh No 12.4 Iq Current Error Variance Yes 0
60 1 RO N/A 0.00003051757813 torq factor Unsigned16 0 FFFFh No scaling factor from power limit Pi Yes 0
60 2 RO N/A voltage vector angle Unsigned16 0 FFFFh No Yes 0
61 1 RO N/A voltage vector angle Unsigned16 0 FFFFh No Yes 0
61 2 RO N/A voltage vector status Unsigned16 0 FFFFh No Yes 0
62 1 RO N/A voltage vector status Unsigned16 0 FFFFh No Yes 0
62 2 RO N/A filtered speed Unsigned16 0 FFFFh No Yes 0
63 1 RO N/A filtered speed Unsigned16 0 FFFFh No Yes 0
64 1 RO N/A Lookup table indication Integer8 0 FFh No Which lookup table is being used: 1 for motoring, -1 for regen, 0 for none. Yes 0
Additional Motor Measurement information for profile 1 for second motor, where 2 motors are
---- ---- ---- ---- Additional Motor 2 Measurements Record N/A N/A ---- ---- ---- SECTION=Motor1Status
controlled using 1 motor controller.
4603h CATEGORY=MONITORING
1 1 RO N/A DegC Temperature (Measured - PTC) Integer16 -50 250 No 1 degree C / bit. Only valid if a PTC thermistor is set in 4620h. Yes 0
OBJECT=MOTOR_DEBUG
---- ---- ---- ---- DC Motor Debug Information Record N/A N/A ---- A summary of all data which can stop the DSP from controlling the motor. ---- ---- SECTION=Motor1Debug
CATEGORY=MONITORING
1 1 RO N/A 0.0625 V V cap Unsigned16 0 65535 No 12.4 Capacitor voltage used by motor algorithm Yes 0
2 1 RO N/A 0.0625 V Armature voltage feed forward Integer16 -32768 32767 No 12.4 Feedforward voltage applied to armature in open loop mode Yes 0
3 1 RO N/A 0.0625 A Armature current positive limit Integer16 -32768 32767 No 12.4 Positive armature current limit in open loop mode Yes 0
4 1 RO N/A 0.0625 A Armature current negative limit Integer16 -32768 32767 No 12.4 Negative armature current limit in open loop mode Yes 0
5 1 RO N/A 0.0625 A Max field current after cutbacks Integer16 -32768 32767 No 12.4 Max field current after cutbacks - if not in cutback will be equal to if_max Yes 0
6 1 RO N/A 0.000244140625 Wb Motor mutual flux est. Integer16 -32768 32767 No 4.12 Motor mutual flux calculated from = field current x Lad x saturation map (closed loop modes) Yes 0
7 1 RO N/A 0.0625 V Back EMF estimate Integer16 -32768 32767 No 12.4 Motor BEMF estimate calculated from = Ua - (Ia x R) (closed loop modes) Yes 0
12.4 Calculated potential max motor torque from motor parameters and fluxing level (closed loop
8 1 RO N/A 0.0625 Nm Estimated available torque from motor fluxing level Integer16 -32768 32767 No Yes 0
modes)
4604h 9 1 RO N/A 0.0625 Nm Torque clamp Integer16 -32768 32767 No 12.4 Torque clamp applied to torque limits (positive and negative) Yes 0
10 1 RO N/A 0.0625 Nm Torque estimate from armature current magnitude Integer16 -32768 32767 No 12.4 Torque estimate which is equal to proportion of armature current from its limit (0x4643 2) Yes 0
12.4 Torque estimate calculated from motor parameters and motor fluxing level - main parameter
11 1 RO N/A 0.0625 Nm Torque estimate from motor fluxing level Integer16 -32768 32767 No Yes 0
determining this is mutual inductance (0x4643 5) (closed loop modes)
12 1 RO N/A 1 RPM Velocity estimate from armature voltage magnitude Integer16 -32768 32767 No 16.0 Velocity estimate which is equal to proportion of armature PWM duty Yes 0
16.0 Velocity estimate calculated from motor parameters and motor fluxing levels - main parameter
13 1 RO N/A 1 RPM Velocity estimate from motor fluxing level Integer16 -32768 32767 No Yes 0
determining this is mutual inductance (0x4643 5) (closed loop modes)
14 1 RO N/A Motor direction Integer16 -1 1 No Motor direction either equal to 1, 0 or -1 Yes 0 NUMBER_FORMAT=3:-1=Reverse:0=Neutral:1=Forward
15 1 RO N/A Regenerative braking indication Integer16 -1 1 No Flag to indicate regen status (no longer used) Yes 0 NUMBER_FORMAT=3:-1=Regen:0=Neutral:1=Drive
16 1 RO N/A 0.0625 Nm Positive torque limit Integer16 0 32767 No 12.4 Positive torque limit - after volts, temperature and torque clamp (0x4604 9) applied Yes 0
17 1 RO N/A 0.0625 Nm Negative torque limit Integer16 -32768 0 No 12.4 Negative torque limit - after volts, temperature and torque clamp (0x4604 9) applied Yes 0
2.14 Over voltage cutback factor calculated in current control loop (this cutback map is not
18 1 RO N/A 0.00006103515625 Over voltage cutback factor Unsigned16 0 16384 No Yes 0
configurable)
19 1 RO N/A 0.000244140625 Ohms Motor Armature Resistance (compensated) Unsigned16 0 65535 No 4.12 Armature resistance after thermal compensation is applied Yes 0
OBJECT=ENCODER_DEBUG
---- ---- ---- ---- Pulsed encoder debug counters Record N/A N/A ---- ---- ---- SECTION=Mncoder1Debug
CATEGORY=MONITORING
4605h 1 1 RO N/A Encoder Channel A Debug Unsigned16 0 65535 0 Encoder Channel A Debug counter Yes 0
2 1 RO N/A Encoder Channel B Debug Unsigned16 0 65535 0 Encoder Channel B Debug counter Yes 0
3 1 RO N/A Encoder Channel U Debug Unsigned16 0 65535 0 Encoder Channel U Debug counter Yes 0
4 1 RO N/A Encoder Channel V Debug Unsigned16 0 65535 0 Encoder Channel V Debug counter Yes 0
5 1 RO N/A Encoder Channel W Debug Unsigned16 0 65535 0 Encoder Channel W Debug counter Yes 0
---- ---- ---- ---- Motor flux map Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
4610h
The Id factor map sets the d-axis voltage for a range of slips, used to give additional torque at low
---- ---- ---- ---- Id factor map Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
speed
1 2 RW 4 0.0625 p.u. slip Pt 1 Slip Integer16 0 FFFFh 0000h Per-unit slip in 12.4 No 0 EEPROM=motor_0.flux_map[0].x
2 2 RW 4 0.015625 p.u. Id Pt 1 Id factor Integer16 0 FFFFh Id factor in 10.6 No 0 EEPROM=motor_0.flux_map[0].y
4610h
11 2 RW 4 0.0625 p.u. slip Pt 6 Slip Integer16 0 FFFFh 000ah Per-unit slip in 12.4 No 0 EEPROM=motor_0.flux_map[5].x
13 2 RW 4 0.0625 p.u. slip Pt 7 Slip Integer16 0 FFFFh 000ch Per-unit slip in 12.4 No 0 EEPROM=motor_0.flux_map[6].x
15 2 RW 4 0.0625 p.u. slip Pt 8 Slip Integer16 0 FFFFh 000eh Per-unit slip in 12.4 No 0 EEPROM=motor_0.flux_map[7].x
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
4611h SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
---- ---- ---- ---- Motor max slip map Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
1 2 RW 4 0.0625 rad/s Pt 1 Max Slip Unsigned16 0 FFFFh 160 Max slip in 12.4 rad/s No 0 EEPROM=motor_0.power_map[0].x
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
---- ---- ---- ---- Voltage Torque-Cutback Map Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
2 1 RW 4 3.05E-05 Pt 1 Voltage Cutback Gain Unsigned16 0 7FFFh 0 Gain in s.15 format. (i.e. 0-0.999) No 0
SOFT_HIGH=65535
4 1 RW 4 3.05E-05 Pt 2 Voltage Cutback Gain Unsigned16 0 7FFFh 0 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
18 1 RW 4 0.0000305175781 Pt 9 Voltage Cutback Gain Unsigned16 0 7FFFh 0 No 0
SOFT_HIGH=65535
The voltage torque-cutback map relates the voltage cutback gain (0-1) to voltage (V) when
---- ---- ---- ---- Voltage Torque-Cutback Map (drive only) Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
outputting drive torques. The map cannot exceed the ratings for the powerframe
Voltage in 12.4 - this must be increasing continuously or the same along the map, it should not be
less than the minimum or greater than the maximum for the hardware
2 2 RW 4 6.10E-05 Pt 1 Voltage Cutback Gain Unsigned16 0 0 0 Gain in 2.14 format - This gain must be 0 No 0
SOFT_HIGH=65535
3 2 RW 4 0.0625 V Pt 2 Voltage Unsigned16 0 FFFFh 480 Voltage in 12.4 - default 30V No 0 EEPROM=motor_0.torque_cutback[1].x
4 2 RW 4 6.10E-05 Pt 2 Voltage Cutback Gain Unsigned16 0 4000h 0 Gain in 2.14 format - must be between 0 and 1 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
4612h 8 2 RW 4 6.10E-05 Pt 4 Voltage Cutback Gain Unsigned16 0 4000h 16384 Gain in 2.14 format - must be between 0 and 1 No 0
SOFT_HIGH=65535
10 2 RW 4 6.10E-05 Pt 5 Voltage Cutback Gain Unsigned16 0 4000h 16384 Gain in 2.14 format - This gain must be 1 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
OBJECT=FIELD_WEAKENING_MAP
The field weakening map relates the field weakening gain (0-1) to speed (RPM). Changes to this
---- ---- ---- ---- Field weakening map Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
object only take affect when the commit sub-index in 6410h is written to.
1 1 RW 4 9.77E-04 A(RMS)/V Pt 1 Field Weakening Gain Unsigned16 0 FFFFh 1384 Gain in 6.10 A(RMS)/V. No 0 EEPROM=motor_0.field_weak[0].x
EEPROM=motor_0.field_weak[0].y
SOFT_HIGH=65535
3 1 RW 4 9.77E-04 A(RMS)/V Pt 2 Field Weakening Gain Unsigned16 0 FFFFh 692 No 0 EEPROM=motor_0.field_weak[1].x
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
---- ---- ---- ---- Im/Lm Saturation Map Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
2 1 RW 4 0.000244140625 puH Pt 1 Mag Inductance Unsigned16 0 FFFFh 4587 Mag inductance in 4.12 H No 0
SOFT_HIGH=65535
4 1 RW 4 0.000244140625 puH Pt 2 Mag Inductance Unsigned16 0 FFFFh 4301 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
The saturation map is used to saturate the mutual inductance Lad, the map is in PU so will
automatically scale with new values of If max and Lad, this map is range check to ensure that (field
---- ---- ---- ---- Saturation Map PU Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
current PU x mutual inductance PU) for each point is always increasing or the same. Must be in the
range 0.001PU to 1PU

1 2 RW 4 6.10E-05 Pt 1 Mag/Field Current PU Unsigned16 0 0 0 default 0.0 - Field current in PU amps of If max 0x4643, sub2 (2.14) No 0 EEPROM=misc.saturation_map[0].x
2 2 RW 4 6.10E-05 Pt 1 Mag/Mutual Inductance PU Unsigned16 4000h 4000h 16384 default 1.0 - Mutual inductance in PU H of Lad 0x4643, sub5 (2.14) No 0
SOFT_HIGH=65535
3 2 RW 4 6.10E-05 Pt 2 Mag/Field Current PU Unsigned16 0 4000h 3277 default 0.2 No 0 EEPROM=misc.saturation_map[1].x
4 2 RW 4 6.10E-05 Pt 2 Mag/Mutual Inductance PU Unsigned16 0010h 4000h 16384 default 1.0 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
4614h 8 2 RW 4 6.10E-05 Pt 4 Mag/Mutual Inductance PU Unsigned16 0010h 4000h 12288 default 0.75 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
---- ---- ---- ---- Motor power limit map 2 Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
1 1 RW 4 0.0625 Nm Secondary Pt 1 Max Torque Unsigned16 0 FFFFh 1248 Max Torque in 12.4 Nm. No 0 EEPROM=motor_0.power_map[0].x
2 1 RW 4 RPM Secondary Pt 1 Speed Unsigned16 0 FFFFh 0 Speed in 16.0 RPM No 0
SOFT_HIGH=65535
3 1 RW 4 0.0625 Nm Secondary Pt 2 Max Torque Unsigned16 0 FFFFh 1200 No 0 EEPROM=motor_0.power_map[1].x
4 1 RW 4 RPM Secondary Pt 2 Speed Unsigned16 0 FFFFh 420 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
---- ---- ---- ---- Motor max slip map 2 Record N/A N/A ---- The power map relates torque (Nm) to speed (RPM). ---- ---- SECTION=MOTOR1CHARACTERIZATION
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
---- ---- ---- ---- Motor max slip map 3 Record N/A N/A ---- The power map relates slip (rad/s) to speed (RPM). ---- ---- SECTION=MOTOR1CHARACTERIZATION
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
1 2 RW 4 0.0625 Nm Ternary Pt 1 Max Torque Unsigned16 0 FFFFh 1248 Max Torque in 12.4 Nm. No 0 EEPROM=motor_0.power_map[0].x
2 2 RW 4 RPM Ternary Pt 1 Speed Unsigned16 0 FFFFh 0 Speed in 16.0 RPM No 0
SOFT_HIGH=65535
3 2 RW 4 0.0625 Nm Ternary Pt 2 Max Torque Unsigned16 0 FFFFh 1200 No 0 EEPROM=motor_0.power_map[1].x
4 2 RW 4 RPM Ternary Pt 2 Speed Unsigned16 0 FFFFh 420 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
OBJECT=PROG_USR_DATA
---- ---- ---- ---- Programmable User Data Record N/A N/A Programmable User Data ---- ---- SECTION=MOTOR1SETUP
0 1 RO N/A Number of entries Unsigned8 0 FFh 4 Number of entries No 0
1 1 RW 4 Data Domain 0 FFFFh 0000h Variable length binary Data appropriately formatted No 0
4617h 2 1 RO 4 Description of data Visible String 0 FFFFh 0000h Textual Description of data No 0
3 1 RO 4 Version of Data Unsigned16 0 FFFFh 0000h Version Number of Data No 0
4 1 RO 4 Checksum of Data Unsigned16 0 FFFFh 0000h Validation Checksum of Data No 0
10 1 RO 4 Lookup table debug item 1 Unsigned16 0 FFFFh 0000h No 0
11 1 RO 4 Lookup table debug item 2 Integer16 0 FFFFh 0000h No 0
12 1 RO 4 Lookup table debug item 3 Integer16 0 FFFFh 0000h No 0
OBJECT=MOTOR_SPEED_ESTIMATE_MAP
---- ---- ---- ---- Speed estimate map Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
1 1 RW 4 1 RPM Pt 1 Uncalibrated speed Integer16 -20000 0 -10000 Uncalibrated speed in 16.0 RPM No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
2 1 RW 4 0.00006103515625 Pt 1 Calibration factor Integer16 4096 28672 16384 Calibration factor in 2.14 to apply at this speed. (must be in the range 0.25 to 1.75 - default is 1) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
3 1 RW 4 1 RPM Pt 2 Uncalibrated speed Integer16 -20000 0 -7500 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE

4 1 RW 4 0.00006103515625 Pt 2 Calibration factor Integer16 4096 28672 16384 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4618h
This point must always be the zero speed point, the speeds must decrease for points 4 to 1 and
9 1 RW 4 1 RPM Pt 5 Uncalibrated speed Integer16 0 0 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
increase for points 5 to 9
The voltage torque-cutback map relates the voltage cutback gain (0-1) to voltage (V) when in regen
---- ---- ---- ---- Voltage Torque-Cutback Map (regen braking only) Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
braking. The map cannot exceed the ratings for the powerframe
Voltage in 12.4 - default 40V - this must be increasing continuously or the same along the map, it
should not be less than the minimum or greater than the maximum for the hardware
2 1 RW 4 6.10E-05 Pt 1 Voltage Cutback Gain Unsigned16 0 4000h 4915 Gain in 2.14 format - must be between 0 and 1 (default 0.3) No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
4619h 8 1 RW 4 6.10E-05 Pt 4 Voltage Cutback Gain Unsigned16 0 4000h 4915 Gain in 2.14 format - must be between 0 and 1 (default 0.3) No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
18 1 RW 4 6.10E-05 Pt 9 Voltage Cutback Gain Unsigned16 0 0 0 Gain in 2.14 format - This gain must be zero No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
4619h
SOFT_HIGH=65535

SOFT_HIGH=65535
SOFT_HIGH=65535
4619h

Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
SOFT_HIGH=65535
SOFT_HIGH=65535
OBJECT=SPEED_ANGLEOFFSET_MAP
---- ---- ---- ---- Sensorless Angle Offset Map Record N/A N/A ---- User definable angle offset map for sensorless only. Used to compensate for variable filter lag ---- ---- SECTION=MOTOR1CHARACTERIZATION
1 1 RW 4 1 RPM Pt 1 Speed Unsigned16 0 65535 0 Speed in RPM No 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
2 1 RW 4 0.0054933317 Degrees Pt 1 Offset Integer16 -32768 32767 0 Sensorless angle offset in degrees No 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
3 1 RW 4 1 RPM Pt 2 Speed Unsigned16 0 65535 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
4 1 RW 4 0.0054933317 Degrees Pt 2 Offset Integer16 -32768 32767 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
461Ah
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
461Bh SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535

SOFT_HIGH=65535
461Ch 8 1 RW 4 RPM Pt 4 Speed Unsigned16 0 FFFFh 1356 No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
OBJECT=UD_EXT_IP_CUTBACK_MAP
---- ---- ---- ---- User Definable motor cutback Map Record N/A N/A User definable Cutback map for external inputs (Motor, coolant, Winding) SECTION=MOTOR1CHARACTERIZATION
1 1 RW 4 Degrees C Temperature Point 1 Unsigned16 0 200 110 16.0 No 0
2 1 RW 4 0.000244140625 Cutback Gain Point 1 Unsigned16 0 1000h 1000h 4.12 No 0
4 1 RW 4 0.000244140625 Cutback Gain Point 2 Unsigned16 0 1000h 0ccch 4.12 No 0
461Eh
OBJECT=UD_THERMISTOR_MAP
Used when 4620, 2 and 3 are set to zero, all 8 entries must be present, and resistance must be in
---- ---- ---- ---- User Definable Thermistor Map Record N/A N/A SECTION=MOTOR1CHARACTERIZATION
ascending order.
1 1 RW 4 Ohms Resistance Point 1 Unsigned16 0 65535 0000h No 0
2 1 RW 4 Degrees C Temperature Point 1 Integer16 -32768 32767 0000h No 0
461Fh
---- ---- ---- ---- Motor Temperature 1 (Measured - T1) Record N/A N/A ---- Used to configure the temperature measuring analog input. ---- ---- SECTION=MOTOR1SETUP

0 - None. Analog input can be used for general purpose. EEPROM=motor_0.temp_meas_mode
1 - PTC thermistor. NUMBER_FORMAT=5
1 1 RW 4 Mode Unsigned8 0 4 0 No 0
2 - Switch. 0=None:1=PTC:2=Switch:3=PTC and Switch:4=Remote
3 - PTC Thermistor and switch WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4 - Remote
2 1 RW 4 0.00390625 V High Temperature Voltage (PTC) Integer16 0 32767 0 PTC only. This is the voltage at the input when the temperature is 100 degrees C. No 0 EEPROM=motor_0.temp_meas_high_temp_voltage
2 2 RW 4 0.00390625 V High Temperature Voltage (Switch) Integer16 0 32767 0 Motor thermal switch only. This is the voltage at the input when the switch is in the on-state. No 0 EEPROM=motor_0.temp_meas_high_temp_voltage
3 1 RW 4 0.00390625 V Low Temperature Voltage (PTC) Integer16 0 32767 0 PTC only. This is the voltage at the input when the temperature is 0 degrees C. No 0 EEPROM=motor_0.temp_meas_low_temp_voltage
3 2 RW 4 0.00390625 V Low Temperature Voltage (Switch) Integer16 0 32767 0 Motor thermal switch only. This is the voltage at the input when the switch is in the off-state. No 0 EEPROM=motor_0.temp_meas_low_temp_voltage
Selects the analogue/digital input to which a motor thermal switch is connected. EEPROM=motor_0.temp_meas_switch_source
4 2 RW 4 Thermal switch input source Unsigned8 0 FFh 0 If bit 7 is 1 an analog input is selected, otherwise a digital input is selected. No 0 NUMBER_FORMAT=BASE16
Bits 6..0 specify the input identifier. WRITE_IN_PREOPERATIONAL_ONLY=TRUE
5 1 RW 4 PTC type Unsigned8 0 FFh 0 No 0 0=User Defined:1=KTY84:2=KTY83
predefined thermistor characteristic. Set to 0 = Pre-Defined, 1 = KTY84 or 2 = KTY83.
KTY84 PTC only. Rate at which torque demand is cutback when the thermistor is out of range (<-
6 1 RW 4 0.0625 s Failure torque cutback rate Unsigned16 1 19200 1920 No 0
40C or >200C) indicating a wire-off condition.
7 1 RW 4 0.0625 s Failure torque recovery rate Unsigned16 1 19200 80 KTY84 PTC only. Rate at which torque demand recovers when a wire-off condition has gone. No 0
Selects the analogue input to which a user defined analogue motor temperature sensor is connected
8 1 RW 4 User defined temperature sensor analogue Unsigned8 0 FFh 0 No 0
(0 = use default)
9 1 RW 4 Use second motor thermistor Unsigned8 0 1 1 Used to specify if the second motor thermistor is used. No 0
This over temperature cutback factor is used to scale back the torque demand if the switching
10 1 RW 4 0.00390625 Motor thermal switch cutback factor Unsigned16 0 256 171 No 0
voltage is greater than high temperature voltage.
11 1 RW 4 0.00000095 pu Cutback target Integer32 0 1 0 cutback target in 12.20 format No 0
DESC=Read PTC 2:HEX_MASK=2:MIN=0:MAX=1:NF=2:1=True:0=False

Bitmap used to configure multiple motor thermistors. Only used when mode (4620, 1) is set to PTC DESC=Read PTC 3:HEX_MASK=4:MIN=0:MAX=1:NF=2:1=True:0=False
12 1 RW 4 Multiple Thermistor Configuration Unsigned16 0 FFFFh 0 No 0
thermistor. PTC1 is always read and cutback calculated. DESC=Calculate cutback from PTC 2:HEX_MASK=200:MIN=0:MAX=1:NF=2:1=True:0=False
DESC=Calculate cutback from PTC 3:HEX_MASK=400:MIN=0:MAX=1:NF=2:1=True:0=False
---- ---- ---- ---- Motor Temperature Setup Record N/A N/A ---- Used to setup the motor temperature input. ---- ---- SECTION=MOTOR1SETUP
1 1 RW 4 0.5 Motor temperature estimate current constant Integer16 -32768 32767 0078h No 0 EEPROM=motor_0.temp_meas_i_const
2 1 RW 4 Motor temperature estimate discretization Integer16 -32768 32767 7F4Bh No 0 EEPROM=motor_0.temp_meas_discretisation
Temperature at which resistance (Rr FluxVector, Ra DC or Rs V/f Induction) is varied by hot factor
4 1 RW 4 DegC Resistance variation hot temperature Integer16 -32768 32768 140 No 0
16.0 format
4621h
Temperature at which resistance (Rr FluxVector, Ra DC or Rs V/f Induction) is varied by cold factor
5 1 RW 4 DegC Resistance variation cold temperature Integer16 -32768 32768 -40 No 0
16.0 format
Value resistance (Rr FluxVector, Ra DC or Rs V/f Induction) multiplied by at hot temperature 8.8
6 1 RW 4 0.00390625 Resistance variation hot factor Unsigned16 0040h 0400h 0100h No 0
format
Value resistance (Rr FluxVector, Ra DC or Rs V/f Induction) multiplied by at cold temperature 8.8
7 1 RW 4 0.00390625 Resistance variation cold factor Unsigned16 0040h 0400h 0100h No 0
format
8 1 RO 4 Ohms Motor PTC resistance Unsigned16 0000h FFFFh No Resistance value of the motor PTC No 0
9 1 RO 4 Ohms Motor PTC 2 resistance Unsigned16 0000h FFFFh No Resistance value of the motor PTC 2 No 0
4621h

Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
10 1 RO 4 Ohms Motor PTC 3 resistance Unsigned16 0000h FFFFh No Resistance value of the motor PTC 3 No 0
OBJECT=MOTOR_I2T_CUTBACK
---- ---- ---- ---- Powerframe I2t cutback Record N/A N/A Used to configure the powerframe I2t cutback ---- ---- SECTION=MOTOR1SETUP
4622h
---- ---- ---- ---- Battery current limit Record N/A N/A ---- Allows configuration of battery current limit for this motor SECTION=MOTOR1SETUP
4623h
Sets battery current limit, encodes upper and lower current limits into one 32-bit value, scaled as
1 1 RWW 4 Current limits Unsigned32 0 FFFFFFFFh 0 Yes 0
1A/bit
2 1 RW 4 A Cutback range Integer16 0 7FFFh 50 Specifies where battery current cutback begins No 0
---- ---- ---- ---- Battery current limit Record N/A N/A ---- Allows configuration of battery current limit for this motor SECTION=MOTOR1SETUP
4623h
5 2 RW 4 0.00390625 Battery current cutback ramp up rate Unsigned16 10 32767 0019h ramp rate for cutback on battery current limit No 0
6 2 RW 4 0.00390625 Battery current cutback ramp down rate Unsigned16 10 32767 0a00h ramp rate for cutback on battery current limit No 0
7 2 RW 4 Battery current limit integral gain Integer16 0 7fffh 0 Integral gain for battery current limit cutback No 0
8 2 RW 4 1 rpm Minimum battery charge current speed Unsigned16 0 500 0 speed below which discharge current limit is used instead of charge current limit No 0
4624h 0 1 RW 4 rpm Motor overspeed protection Unsigned16 0 FFFFh 1000 Raises a severe "motor overspeed" fault if motor measured speed exceeds this value No 0 SECTION=MOTOR1SETUP
OBJECT=EXTERNAL_PDO_INPUTS_CONFIGURATION
---- ---- ---- ---- Evo 5 External Inputs Control via PDO Record N/A N/A ---- Allows configuration of external inputs via PDO SECTION=MOTOR1SETUP
4625h
EEPROM=external_pdo_inputs_configuration
1 1 RW 4 PDO configuration Unsigned16 0 FFFFh 0 Bit 0 - Configure Battery Voltage via PDO No 0 DESC=Battery_Voltage:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=No:1=Yes
2 1 RW 4 0.0625 V Battery Voltage Unsigned16 0 FFFFh 0 Battery Voltage to be sent via PDO Yes 0
OBJECT=MOTOR_STALL_PROTECTION
Disables torque output and sets "No Speed Signal" fault if speed measured is 0 and torque output is
---- ---- ---- ---- Motor Stall Protection Setup Record N/A N/A ---- SECTION=MOTOR1SETUP
greater than set torque level (0x4626,1) for timeout period (0x4626,2)
4626h 0 1 RO N/A Number of entries Unsigned8 0 FFh 2 0
EEPROM=motor_stall_protection_configuration
1 1 RW 4 1 % Torque Output Trip Level Unsigned8 0 100 0 Motor Stall Protection Torque Trip %. Set to 0 to disable motor stall protection No 0
2 1 RW 4 0.001 Seconds Stall Protection Timeout Period Unsigned16 0 FFFF 0 Motor Stall Protection Timeout period 0.001s/bit No 0
Sets thermistor mode. Can be: NUMBER_FORMAT=2
1 1 RW 4 Mode Unsigned8 0 1 0 0 - None. Analog input can be used for general purpose. No 0 0=None:1=PTC
1 - PTC thermistor. WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4627h 2 1 RW 4 0.00390625 V High Temperature Voltage Integer16 0 32767 0 PTC only. This is the voltage at the input when the temperature is 100 degrees C. No 0
3 1 RW 4 0.00390625 V Low Temperature Voltage Integer16 0 32767 0 PTC only. This is the voltage at the input when the temperature is 0 degrees C. No 0
NUMBER_FORMAT=3
(0 = use default)
6 1 RW 4 degC Maximum coolant temperature Integer16 0 32767 65 Temperature at which torque output will be cut back to zero No 0
OBJECT=T_MEASURED_CORRECTION_FACTOR
4628h 0 1 RW 4 0.00003051757813 Measured torque correction factor Unsigned16 16384 49152 32768 Correction factor for torque output determined from actual currents, 1.15 format No 0 SECTION=MOTOR1SETUP
Sets thermistor mode. Can be: NUMBER_FORMAT=2
1 1 RW 4 Mode Unsigned8 0 1 0 0 - None. Analog input can be used for general purpose. No 0 0=None:1=PTC
1 - PTC thermistor. WRITE_IN_PREOPERATIONAL_ONLY=TRUE
2 1 RW 4 0.00390625 V High Temperature Voltage Integer16 0 32767 0 PTC only. This is the voltage at the input when the temperature is 100 degrees C. No 0
4629h 3 1 RW 4 0.00390625 V Low Temperature Voltage Integer16 0 32767 0 PTC only. This is the voltage at the input when the temperature is 0 degrees C. No 0
NUMBER_FORMAT=3
(0 = use default)
6 1 RW 4 degC Maximum winding temperature Integer16 0 32767 65 Temperature at which torque output will be cut back to zero No 0
OBJECT=DC_LINK_VOLTAGE_CONTROL
---- ---- ---- ---- DC Voltage Control Parameters Record N/A N/A ---- Used to configure the DC voltage control loops for use in generators ---- ---- SECTION=MOTOR1SETUP
0 1 RO 4 Number of entries Unsigned8 0 FFh 6 No 0
1 1 RW 4 0.00390625 DC Control Proportional Gain Unsigned16 0 FFFFh 0 Proportional gain for DC-bus voltage control No 0
462Ah
2 1 RW 4 0.00001525878906 DC Control Integral Gain Unsigned16 0 FFFFh 0 Integral gain for DC-bus voltage control No 0
3 1 RW 4 0.00390625 DC Control Feed-forward Gain Unsigned16 0 FFFFh 0 Feed-forward gain for DC-bus voltage control No 0
4 1 RW 4 0.00001525878906 Ohms Internal resistance Unsigned16 0 FFFFh 0 Resistance term used for balancing parallel supplies No 0
5 1 RW 4 1/32768 Filter pole for battery current Unsigned16 0 8000h 7E64h Filter pole, based on a 4kHz control loop, in 1.15 format. (Zero to disable) No 0
6 1 RW 4 DC Control Feature Enable Unsigned16 0 FFFFh 0 Set this to 0xA1E5 to allow voltage control. Set to zero for traction applications. No 0
OBJECT=VLOCK_RESET_TIME
When enabled with a non zero value, the undervoltage lockout fault will cause a system reset if the WRITE_IN_PREOPERATIONAL_ONLY=TRUE
462Bh 0 1 RW 4 ms Under voltage lockout reset timer Unsigned16 0 FFFFh 0 No 0
voltage is above the lockout voltage for the configured time. MASTER=TRUE
---- ---- ---- ---- Encoder Configuration Record N/A N/A ---- Used for encoder configuration parameters. ---- ---- SECTION=EncoderConfig
0 = Pullup disabled (encoder is voltage driver e.g. SKF)
1 1 RW 4 Encoder Pull Up Boolean 0 1 0 No 0 NUMBER_FORMAT=2:0=Disabled:1=Enabled
1 = Pullup enabled (encoder is open-collector or current sink, e.g. Thalheim)
EEPROM=motor_0.encoder_supply
0 = 10V
1 = 5V

1 = AB and UVW (PMAC)
2 = UVW only (PMAC)
NUMBER_FORMAT=10:0=AB only:1=AB and UVW:2=UVW
3 = AB and UVW (inverted) (PMAC)
only:3=AB and UVW invert:4=UVW invert only:5=SIN/COS:
3 1 RW 4 Encoder Type Unsigned16 0 FFFFh 0 No 0 6=Single channel:7=Single pole pair resolver:8=Multi pole pair
5 = SIN/COS (PMAC)
resolver:9=Sensorless Mode
6 = Single channel (induction motors)
7 = Single pole pair resolver
8 = Multi pole pair resolver
9 = Sensorless
4 1 RW 4 0.00390625 Degrees Encoder Offset Integer16 0 46080 0 -127 to 127 degrees, value entered in 8.8 fmt No 0
4 2 RW 4 0.005493331706 Degrees Encoder Offset Integer16 -32768 32767 0 -180 to 180 degrees encoder offset No 0
5 1 RW 4 0.001465201465 V Sin input minimum (trough) voltage Unsigned16 0 0FFFh 0 Sin-cos encoder configuration No 0
6 1 RW 4 0.001465201465 V Sin input maximum (peak) voltage Unsigned16 0 0FFFh 0 Sin-cos encoder configuration No 0
4630h 7 1 RW 4 0.001465201465 V Cos input minimum (trough) voltage Unsigned16 0 0FFFh 0 Sin-cos encoder configuration No 0
8 1 RW 4 0.001465201465 V Cos input maximum (peak) voltage Unsigned16 0 0FFFh 0 Sin-cos encoder configuration No 0
9 1 RO 4 0.001465201465 V Actual sin minimum (trough) voltage Unsigned16 0 0FFFh No Sin-cos encoder monitoring Yes 0
10 1 RO 4 0.001465201465 V Actual sin maximum (peak) voltage Unsigned16 0 0FFFh No Sin-cos encoder monitoring Yes 0
11 1 RO 4 0.001465201465 V Actual cos minimum (trough) voltage Unsigned16 0 0FFFh No Sin-cos encoder monitoring Yes 0
12 1 RO 4 0.001465201465 V Actual cos maximum (peak) voltage Unsigned16 0 0FFFh No Sin-cos encoder monitoring Yes 0
13 1 RW 4 0.00390625 V Variable Encoder Supply Unsigned16 500h A00h 500h Adjustable encoder supply from 5V to 10V No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
14 1 RW 4 Multipole Sin-cos / Resolver waves per mechanical rotation Unsigned16 1 7FFFh 1 Number of waves from sin-cos or multi-pole resolver per mechanical rotation No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
15 1 RW 4 0.00001525878906 Sin-cos encoder latency correction factor Integer16 -32768 32768 231 Compensation factor for sin-cos encoder latency No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
16 1 RW 4 0.0625 Degrees Encoder offset Integer16 -32767 32768 0 Additional offset, in case sub 4 does not provide sufficient range No 0
EEPROM=motor_0.encoder_delta_change_check
0 = Enabled
17 1 RW 4 Encoder delta change check Boolean 0 1 0 No 0 NUMBER_FORMAT=2:0=Enabled:1=Disabled
1 = Disabled
0 = Renishaw, latency of 231us

1 = Sumida, latency of 90us
18 1 RW 4 Sin-cos/UVW latency select Unsigned8 0 1 0 no 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
2 = Sentron, latency of 130us
3 = Allow UVW latency adjust via 0x4641,19
19 1 RW 4 1 us Sin-cos/UVW latency fine adjust Integer8 -50 50 0 additional fine-tuning of latency no 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
20 1 RW 4 0.00390625 V Sin-cos min warning voltage Integer16 -32768 32767 0000h minimum voltage level for tracking warning 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
21 1 RW 4 0.00390625 V Sin-cos max warning voltage Integer16 -32768 32767 0000h maximum voltage level for tracking warning, set this and sub 20 to 0x0000 to use legacy values 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
22 1 RW 4 Encoder Options Unsigned16 0000h FFFFh 0000h Bit 0 = Ignore quadrature status for wire-off fault. No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=ENCODER_FAULT_ACTION
SECTION=EncoderConfig
4631h 0 1 RO 4 Encoder fault action Unsigned16 0 FFFFh 0 Used to indicate what the default encoder fault action is. No 0
NUMBER_FORMAT=2
0=Disable drive and open line
1=Disable drive only
OBJECT=HVLP_encoder
---- ---- ---- ---- HVLP/Dragon8 encoder generic parameters Record N/A N/A ---- Used for encoder configuration parameters. ---- ---- SECTION=EncoderConfig
0 = Resolver
1 = Sine-Cosine NUMBER_FORMAT=4:0=Resolver:1=Sin-Cos:2=UVW:3=AB
1 2 RW 4 Encoder type Unsigned8 0 03h 0 No 0
2 = UVW WRITE_IN_PREOPERATIONAL_ONLY=TRUE
3 = AB
2 2 RO N/A Encoder status Unsigned16 0 FFFFh 0 Overall fault status of encoder system No 0
3 2 RO N/A 0.005493164063 Degrees Encoder angle Unsigned16 0 FFFFh 0 Primary encoder electrical angle Yes 0
4 2 RW 4 Primary encoder tracking loop PLL gain Unsigned16 0 FFFFh 40000 Primary encoder tracking loop gain. Set to zero to disable PLL. No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
5 2 RW 4 Primary encoder tracking loop PLL K1 Unsigned16 0 FFFFh 65000 Primary encoder tracking loop IIR filter K1. No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
6 2 RW 4 Primary encoder tracking loop PLL K2 Unsigned16 0 FFFFh 40000 Primary encoder tracking loop IIR filter K2 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
7 2 RW 4 Secondary encoder tracking loop PLL gain Unsigned16 0 FFFFh 40000 Secondary encoder tracking loop gain. Set to zero to disable PLL No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
8 2 RW 4 Secondary encoder tracking loop PLL K1 Unsigned16 0 FFFFh 65000 Secondary encoder tracking loop filter IIR K1 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
9 2 RW 4 Secondary encoder tracking loop PLL K2 Unsigned16 0 FFFFh 40000 Secondary encoder tracking loop filter IIR K2 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
10 2 RW 4 1 us Primary encoder latency Unsigned16 0 FFFFh 0 Latency to apply to primary encoder. Firmware internally limited to 1000us No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4631h Primary encoder controlword:
0x0001 flips angle direction DESC=Invert Angle Direction:HEX_MASK=1:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
0x0002 reserved DESC=Encoder 5V pullup:HEX_MASK=4:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
11 2 RW 4 Primary encoder control word Unsigned16 0 FFFFh 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
0x0004 Encoder 5V pullup (if present) DESC=Encoder auto-align test:HEX_MASK=8:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
0x0008 Perform encoder auto-align test DESC=Encoder speed filter:HEX_MASK=f0:MIN=0:MAX=3:NF=4:3=100Hz:2=200Hz:1=500Hz:0=1000Hz
Bits 4-7 (0x00f0) Adjustable speed filter
Primary encoder controlword:

DESC=Invert Angle Direction:HEX_MASK=1:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
0x0001 flips angle direction
DESC=Invert Speed Direction:HEX_MASK=2:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
0x0002 flips speed direction
12 2 RW 4 Secondary encoder control word Unsigned16 0 FFFFh 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Encoder 5V pullup:HEX_MASK=4:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
0x0004 Encoder 5V pullup (if present)
DESC=Encoder auto-align test:HEX_MASK=8:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
0x0008 Perform encoder auto-align test
DESC=Encoder speed filter:HEX_MASK=f0:MIN=0:MAX=3:NF=4:3=100Hz:2=200Hz:1=500Hz:0=1000Hz
Bits 4-7 (0x00f0) Adjustable speed filter
13 2 RO N/A 0.005493164063 degrees Electrical Angle Accumulator Integer32 80000000h FFFFFFFFh 0 Electrical angle rotated since power on (from -32768 cycles to +32767 cycles) Yes 0
14 2 RO N/A RPM Raw Encoder Speed Integer16 0 FFFFh 0 Unfiltered encoder speed from IOP Yes 0
Status of auto-alignment routine.

DESC=New Data:HEX_MASK=100:MIN=0:MAX=1:NF=2:1=ToggleHi:0=ToggleLo
0x00FF: a progress counter: new angle produced at 16 (0x10), resets at 4 if no motion detected.
15 2 RO N/A Auto-align status Unsigned16 0 FFFFh 0 Yes 0 DESC=Invert Sequence:HEX_MASK=1000:MIN=0:MAX=1:NF=2:1=Invert:0=No_Invert
0x0100 : flips every time a new result is present.
0xF000: set if sequence is wrong (reverse it and repeat test).
16 2 RO N/A 0.005493164063 degrees Auto-align sensor angle result Integer16 0 FFFFh 0 Suggested change to encoder offset Yes 0 Encoder offset change from value in 4630.
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
OBJECT=HVLP_encoder
---- ---- ---- ---- HVLP/Dragon8 encoder - resolver parameters Record N/A N/A ---- Used for resolver encoder configuration parameters. ---- ---- SECTION=EncoderConfig
Invalid poles = 0x0001 DESC=Invalid poles:HEX_MASK=1:MIN=0:MAX=1:NF=2:1=True:0=False
1 1 RO N/A Status word Unsigned16 0 FFFFh 0 Amplitude fail = 0x0002 No 0 DESC=Amplitude fail:HEX_MASK=2:MIN=0:MAX=1:NF=2:1=True:0=False
Auto gain/phase active = 0x0004 DESC=Autotune active:HEX_MASK=4:MIN=0:MAX=1:NF=2:1=True:0=False
Auto-gain test = 0x0001 DESC=Auto-gain test:HEX_MASK=1:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
2 1 RW 4 Control word Unsigned16 0 FFFFh 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
Auto-phase test = 0x0002 DESC=Auto-phase test:HEX_MASK=2:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
3 1 RW 4 Pole pairs Resolver pole pairs Unsigned8 0 FFh 1 Waves for one mechanical rotation of sensor No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4 1 RW 4 0.001525878906 % Excitation magnitude Unsigned16 0 FFFFh 28000 Excitation amplitude (adjust for different resolver gains), where 0xFFFF is full output. No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
5 1 RW 4 Excitation phase compensation Integer8 -8 8 0 Phase adjust to obtain peak signal amplitudes. No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
+- 1.0x ADC
6 1 RO N/A 0.00003051757813 Sine feedback for 30 degrees (50% point) Integer16 8000h 7FFFh 0 Sampled, demodulated, signal at specific point of excitation waveform No 0
range
+- 1.0x ADC
4632h 7 1 RO N/A 0.00003051757813 Sine feedback for 90 degrees (100% point) Integer16 8000h 7FFFh 0 Sampled, demodulated, signal at specific point of excitation waveform No 0
range
+- 1.0x ADC
8 1 RO N/A 0.00003051757813 Sine feedback for 150 degrees (50% point) Integer16 8000h 7FFFh 0 Sampled, demodulated, signal at specific point of excitation waveform No 0
range
+- 1.0x ADC
9 1 RO N/A 0.00003051757813 Cosine feedback for 30 degrees (50% point) Integer16 8000h 7FFFh 0 Sampled, demodulated, signal at specific point of excitation waveform No 0
range
+- 1.0x ADC
range
+- 1.0x ADC
range
12 1 RO N/A 1 raw Offset feedback Unsigned16 0 FFFFh 0 Sampled internal ADC sin/cos zero-point offset signal No 0
13 1 RO N/A Auto-tune phase result Integer8 -8 8 0 Suggested phase adjust as a result of auto-tune No 0
14 1 RO N/A 0.001525878906 % Auto-tune gain result Unsigned16 0 FFFFh 0 Suggested gain as a result of auto-tune (perform after phase adjust) No 0
15 1 RO N/A 0.005493164063 degrees Raw sensor angle (mechanical) Unsigned16 0 FFFFh 0 The sensor angle. Will cycle for every pole pair of the sensor. No 0
OBJECT=HVLP_encoder
---- ---- ---- ---- HVLP/Dragon8 encoder - Sine-Cosine sensor parameters Record N/A N/A ---- Used for sin-cos encoder configuration parameters. ---- ---- SECTION=EncoderConfig
Invalid poles = 0x0001 DESC=Invalid poles:HEX_MASK=1:MIN=0:MAX=1:NF=2:1=True:0=False
Signal phase error = 0x0002 DESC=Signal phase error:HEX_MASK=2:MIN=0:MAX=1:NF=2:1=True:0=False
1 1 RO N/A Status word Unsigned16 0 FFFFh 0 No 0
Amplitude too small = 0x0004 DESC=Amplitude too small:HEX_MASK=4:MIN=0:MAX=1:NF=2:1=True:0=False
Amplitude warning level exceeded = 0x0100 DESC=Amplitude warning level exceeded:HEX_MASK=256:MIN=0:MAX=1:NF=2:1=True:0=False
Disable tracking = 0x0001 DESC=Min-max tracking:HEX_MASK=1:MIN=0:MAX=1:NF=2:1=Disabled:0=Enabled

2 1 RW 4 Control word Unsigned16 0 FFFFh 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
Show tracking min/max in measured items = 0x0002 DESC=Display tracked values in measured items:HEX_MASK=2:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
3 1 RW 4 Waves per revolution Unsigned8 0 FFh 1 Waves for one mechanical rotation of sensor No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4633h 4 1 RW 4 0.00009294128418 V Cold value sine minimum (trough) Unsigned16 0 FFFFh 0 Expected minimum signal amplitude at power-on No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
5 1 RW 4 0.00009294128418 V Cold value sine maximum (peak) Unsigned16 0 FFFFh 65535 Expected maximum signal amplitude at power-on No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
6 1 RW 4 0.00009294128418 V Cold value cosine minimum (trough) Unsigned16 0 FFFFh 0 Expected minimum signal amplitude at power-on No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
7 1 RW 4 0.00009294128418 V Cold value cosine maximum (peak) Unsigned16 0 FFFFh 65535 Expected maximum signal amplitude at power-on No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
8 1 RO N/A 0.00009294128418 V Measured sine minimum (trough) Unsigned16 0 FFFFh 0 Sampled signal at specific point of excitation waveform No 0
9 1 RO N/A 0.00009294128418 V Measured sine maximum (peak) Unsigned16 0 FFFFh 0 Sampled signal at specific point of excitation waveform No 0
10 1 RO N/A 0.00009294128418 V Measured cosine minimum (trough) Unsigned16 0 FFFFh 0 Sampled signal at specific point of excitation waveform No 0
11 1 RO N/A 0.00009294128418 V Measured cosine maximum (peak) Unsigned16 0 FFFFh 0 Sampled signal at specific point of excitation waveform No 0
12 1 RO N/A 0.005493164063 degrees Raw sensor angle (mechanical) Unsigned16 0 FFFFh 0 The sensor angle. Will cycle for every cycle of the sensor. No 0
13 1 RW 4 0.00009294128418 V Warning level, upper threshold Unsigned16 0 FFFFh 0 Sine-cosine warning level No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
14 1 RW 4 0.00009294128418 V Warning level lower threshold Unsigned16 0 FFFFh 0 Sine-cosine warning level No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=HVLP_encoder
---- ---- ---- ---- HVLP/Dragon8 encoder - UVW sensor parameters Record N/A N/A ---- Used for UVW encoder configuration parameters. ---- ---- SECTION=EncoderConfig
4634h Invalid state: 0x0001 DESC=Invalid state:HEX_MASK=1:MIN=0:MAX=1:NF=2:1=True:0=False
1 1 RO N/A Status word Unsigned16 0 FFFFh 0 No 0
Invalid sequence: 0x0002 DESC=Invalid sequence:HEX_MASK=2:MIN=0:MAX=1:NF=2:1=True:0=False
2 1 RW 4 Control word Unsigned16 0 FFFFh 0 Invert: 0x0001 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Invert:HEX_MASK=1:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
3 1 RO N/A Pin state Unsigned8 0 FFh 0 Bits 0-2 are the U,V,W pin states No 0
4 1 RO N/A DSP clocks Last sector time Unsigned16 0 FFFFh 0 Debug item - last measured time between edges (DSP clocks) No 0
OBJECT=HVLP_encoder
---- ---- ---- ---- HVLP/Dragon8 encoder - AB sensor parameters Record N/A N/A ---- Used for AB encoder configuration parameters. ---- ---- SECTION=EncoderConfig
Invalid PPR: 0x0001 DESC=Invalid PPR:HEX_MASK=1:MIN=0:MAX=1:NF=2:1=True:0=False
4635h 1 1 RO N/A Status word Unsigned16 0 FFFFh 0 Invalid poles: 0x0002 No 0 DESC=Invalid poles:HEX_MASK=2:MIN=0:MAX=1:NF=2:1=True:0=False
Wire off: 0x0004 DESC=Wire off:HEX_MASK=4:MIN=0:MAX=1:NF=2:1=True:0=False
2 1 RW 4 Control word Unsigned16 0 FFFFh 0 Invert: 0x0001 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Invert:HEX_MASK=1:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
Pulses per
3 1 RW 4 PPR Unsigned16 16 FFFFh 0 Pulses per revolution No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
revolution
4 1 RO N/A AB counter Unsigned16 0 FFFFh 0 AB counter No 0
Used to select what the motor is: CATEGORY=CONFIGURATION
0x0000 = NONE NUMBER_FORMAT=49
0x0001 = DC SEM (separately excited DC) - Gen4 DC 0=NONE
0x0002 = DC PM (permanent magnet DC) - Gen4 DC 1=DC-SEM(Gen4DC)
0x0011 = PMAC (permanent magnet AC) - HVLP/D8 2=DC-PM(Gen4DC)
4639h 0 1 RW 4 Motor Type Unsigned16 0 FFFFh 0 No 0
0x0012 = PMAC LUT (permanent magnet AC with lookup tables) - HVLP/D8 17=PMAC(HVLP/D8)
0x0021 = IM VF (Induction machine open loop V/F) - HVLP 18=PMAC-LUT(HVLP/D8)
0x0022 = IM VF (Induction V/F with encoder) - HVLP 33=IM-VF(HVLP)
0x0023 = IM FV (Induction flux vector) - HVLP/D8 34=IM-VF-encoder(HVLP)
0x0031 = IM VF (induction machine open loop single phase - HVLP 35=IM-FV(HVLP/D8)
49=IM-VF-1phase(HVLP)
---- ---- ---- ---- Motor Nameplate Data Record N/A N/A ---- Nameplate data ---- ---- SECTION=Motor1PlateData
SOFT_HIGH=65535
SOFT_HIGH=65535
4640h
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
---- ---- ---- ---- AC Motor data (manufacturer specific) Record N/A N/A ---- Motor data. This is specific to the motor type. [33] ---- ---- SECTION=Motor1PlateData
2 1 RW 4 A(RMS) Maximum Stator Current (Is_max) Unsigned16 0 2000 300 16.0 fixed point No 0
3 1 RW 4 0.00390625 A(RMS) Minimum Magnetizing Current (Im_min) Integer16 -32768 32767 1958 8.8 fixed point No 0
3 2 RW 4 A(RMS) Minimum Magnetizing Current (Im_min) Integer16 -32767 32767 50 16.0 fixed point No 0
4 1 RW 4 0.015625 A(RMS) Maximum Magnetizing/Direct Current (Id_max) Unsigned16 0 64000 3917 10.6 fixed point No 0
6 1 RW 4 0.244140625 mOhms Stator Resistance (Rs) Unsigned16 0 4096 82 4.12 fixed point No 0
7 1 RW 4 A(RMS) Rated Stator Current Unsigned16 0 2000 172 16.0 fixed point No 0
8 1 RW 4 0.244140625 mOhms Rotor Resistance (Rr) Unsigned16 0 4096 41 4.12 fixed point No 0
9 1 RW 4 15.25878906 uH Magnetizing Inductance (Lm) Unsigned16 0 FFFFh 125 0.16 fixed point No 0
10 1 RW 4 uH Stator Leakage Inductance (Lls) Unsigned16 0 10486 1 -4.20 fixed point No 0
10 2 RW 4 uH Stator Inductance (Ls) Unsigned16 0 10486 1 -8.24 fixed point No 0
11 1 RW 4 uH Rotor Leakage Inductance (Llr) Unsigned16 0 10486 21800 -4.20 fixed point No 0
12 1 RW 4 0.0625 V Nominal battery voltage Unsigned16 384 3072 768 12.4 fixed point No 0
14 1 RW 4 0.003051757813 Torque control integral gain Unsigned16 0 FFFFh 30342 1.15 fixed point No 0
1.15 fixed point representing a headroom factor that is applied to the calculated geometrically EEPROM=motor_0.iq_,max_headroom
16 1 RW 4 Henry Reactive Gain Boost Unsigned16 0 FFFFh 0 0.16 fixed point No 0
V/rads (line,
18 1 RW 4 0.00003051757813 rms, Voltage Constant (Ke) Unsigned16 0 FFFFh 7864 No 0
elec_frq)
20 1 RW 4 rad/s Maximum drive slip Unsigned16 0 500 100 16.0 fixed point No 0
20 2 RW 4 rad/s Low speed slip Unsigned16 0 500 30 16.0 fixed point No 0
21 1 RW 4 rad/s Maximum brake slip Unsigned16 0 500 100 16.0 fixed point No 0
21 2 RW 4 rad/s High speed slip Unsigned16 0 500 30 16.0 fixed point No 0
4641h EEPROM=misc.motor_openloop_on_speed
22 1 RW 4 9.549296586 rpm Openloop start speed Unsigned16 0 3000 150 16.0 fixed point No 0
22 2 RW 4 0.003051757813 % Openloop start FW% Unsigned16 0 3000 150 16.0 fixed point No 0
23 1 RW 4 9.549296586 rpm Openloop exit speed Unsigned16 0 3000 100 16.0 fixed point No 0
24 1 RW 4 Frequency Slope Unsigned16 0 FFFFh 0 16.0 fixed point No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
27 1 RW 4 0.00003051757813 Slip control Kp Unsigned16 0 FFFFh 0 1.15 fixed point No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
28 1 RW 4 0.00003051757813 Slip control Ki Unsigned16 0 FFFFh 0 1.15 fixed point No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
29 1 RW 4 0.00390625 Slip control factor Unsigned16 0 FFFFh 256 8.8 fixed point No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
30 1 RW 4 0.0244140625 % Max drive mod index Unsigned16 0 1000h 3891 4.12 fixed point No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
31 1 RW 4 0.0244140625 % Max brake mod index Unsigned16 0 1000h 3482 4.12 fixed point No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
Max modindex which drives the PI controller to cutback Iq demand according to actual modindex.
31 2 RW 4 0.0244140625 Iq max modindex (PI-Mode IQM) Unsigned16 0 1000h 3482 No 0
(4.12 fixed point)
4641h

Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
35 1 RW 4 0.0244140625 start of Frequency cutback Unsigned16 0 1000h 3481 4.12 fixed point No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
36 1 RW 4 0.0244140625 start of Voltage cutback Unsigned16 0 1000h 3686 4.12 fixed point No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
16.0 fixed point. Above rated speed, this is the rate at which Id_ref will increase having been
38 1 RW 4 0.00390625 Ud stabilization factor (open loop slip) Unsigned16 0 FFFFh 512 Value Ud_factor assumes when vehicle is travelling above 1000rpm (8.8 fixed point) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
39 1 RW 4 0.00390625 Iq_min factor (open loop slip) Unsigned16 0 FFFFh 64 Value Iq_factor is multiplied by at low slip values (8.8 fixed point) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
40 1 RW 4 0.00390625 vf gain (open loop slip) Unsigned16 0100h 0500h 512 Value used to reduce vf ratio with slip (8.8 fixed point) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
41 1 RO 4 0.244140625 mOhms Stored Rs estimation Unsigned16 0 FFFFh 0 Stored estimation for Rs (4.12 fixed point) No 0
42 1 RW 4 1 A/s Iq_ref slew rate Unsigned16 800 7FFFh 7FFFh Maximum rate of change of Iq_ref (16.0 fixed point) No 0 EEPROM=misc.iq_ref_slew
43 1 RW 4 0.003051757813 % Percentage minimum allowed saturation of Ls Unsigned16 3333h 7FFFh 7FFFh Defines the minimum value that Ls can take when being calculated on line (1.15 fixed point) No 0
44 1 RW 4 0.0244140625 % Percentage maximum d-axis voltage Unsigned16 0800h 1000h 0B50h Defines the maximum percentage of link voltage allowed on the d-axis (4.12 fixed point) No 0
fixed point)
control)
control)
OBJECT=PMAC_SENSORLESS_CONFIGURATION
---- ---- ---- ---- Sensorless PMAC configuration Record N/A N/A ---- Configuration for sensorless PMAC motors ---- ---- SECTION=MOTOR1SETUP
1 1 RW 4 0.9536743164 uH Stator Inductance (Ls) Unsigned16 0 FFFFh 3d71h Stator inductance in -4.20 format No 0
2 1 RW 4 0.0625 Kslide Unsigned16 0 FFFFh 0A00h Kslide in 12.4 format No 0
3 1 RW 4 0.00390625 E0 Unsigned16 0 FFFFh 0600h E0 in 8.8 format No 0
4 1 RW 4 EMF Filter Unsigned16 0 FFFFh 147Bh EMF Filter in -4.20 format No 0

0.9536743164
4642h
5 1 RW 4 1 rpm Target speed Unsigned16 0 FFFFh 800 Target speed No 0
5 2 RW 4 1 rpm running offset speed Unsigned16 0 FFFFh 800 Speed at beyond which offset in 4630 is used No 0
6 1 RW 4 1 rpm Holding speed Unsigned16 0 FFFFh 800 Holding speed No 0

7 1 RW 4 0.00390625 Nm Target torque Unsigned16 0 FFFFh 00E1h Target torque in 8.8 format No 0
8 1 RW 4 0.00390625 Nm Holding torque Unsigned16 0 FFFFh 0071h Holding torque in 8.8 format No 0
9 1 RW 4 0.0625 s Start ramp time Unsigned16 0 FFFFh 500h Ramp time in 8.8 format No 0
9 2 RW 4 0.005493331706 degrees Starting offset Integer16 -32768 32767 500h Offset used at sensorless transition No 0
SOFT_HIGH=65535
SOFT_HIGH=65535
OBJECT=ESPAC_DC_MOTOR_DATA
---- ---- ---- ---- DC Motor data (manufacturer specific) Record N/A N/A ---- Configuration for DC motors ---- ---- SECTION=DCMotor1Data
0 1 RO N/A Number of entries Unsigned8 0 FFh 15 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
12.4 Max armature current (Amps) - default 350A - used to scale field-armature maps - can't exceed
1 1 RW 4 0.0625 A Maximum armature current Unsigned16 16 65535 15e0h No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
hardware rating or be less than 1A
12.4 Max field current (Amps) - default 25A - used to scale field-armature maps - can't exceed
2 1 RW 4 0.0625 A Maximum field current (DC-SEM only) Unsigned16 16 65535 0190h No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
hardware rating or be less than 1A. Used for DC-SEM only
s16.0 Field slew up rate (Amps/sec) - default 20,000A/s - used to limit rate of increase in field current
3 1 RW 4 1 A/s Field current up slew rate limit (DC-SEM only) Integer16 1 32767 4e20h No 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
reference. Used for DC-SEM only
s16.0 Field slew down rate (Amps/sec) - default -20,000A/sec - used to limit rate of decrease in field
4 1 RW 4 1 A/s Field current down slew rate limit (DC-SEM only) Integer16 -32768 -1 b1e0h No 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
current reference. Used for DC-SEM only
0.16 Mutual armature inductance (H) - default 0.00H - if set to zero will be calculated automatically at
5 1 RW 4 0.00001525878906 H Motor mutual armature inductance (DC-SEM only) Unsigned16 0 65535 0h No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
power on. Used for DC-SEM in closed loop modes only
4.12 Armature resistance (Ohm) - default 0.00Ohm - if set to a non-zero value this will be used to
help determine direction if no directional motor encoder is configured. WARNING if this is set too
6 1 RW 4 0.000244140625 Ohms Motor armature resistance Unsigned16 0 65535 0h No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
high the wrong motor direction will be reported only use if required. It can be compensated with
temperature using the parameters in 0x4621, 4-7
4643h
12.4 Battery voltage when fully charged (V) - default 48V - cant exceed hardware rating or be less
7 1 RW 4 0.0625 V Fully charged battery voltage Unsigned16 16 65535 0300h No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
than 1V - set this to the maximum expected battery voltage (fully charged with no load)
16.0 Maximum motor speed (RPM) - default 5000 - cant be zero - this should match the speeds in
8 1 RW 4 1 RPM Maximum speed Unsigned16 10 20000 1388h No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
0x6080 and the maximum speed in the driveability profiles 0x2920, 0x2921, 0x2922
9 1 RW 4 0.000244140625 Field current proportional gain (DC-SEM only) Unsigned16 1 65535 0800h 4.12 Field current proportional gain - default 0.5. Used for DC-SEM only No 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
10 1 RW 4 0.000244140625 Field current integral gain (DC-SEM only) Unsigned16 1 65535 00cch 4.12 Field current integral gain - default 0.05. Used for DC-SEM only No 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
11 1 RW 4 0.000244140625 Armature current proportional gain Unsigned16 1 65535 0400h 4.12 Armature current proportional gain - default 0.25 No 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
12 1 RW 4 0.000244140625 Armature current integral gain Unsigned16 1 65535 0066h 4.12 Armature current integral gain - default 0.025 No 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
4.12 Minimum applied voltage to field (V), this should be set very small (sufficient voltage to give 1A
13 1 RW 4 0.000244140625 V Minimum applied field voltage (DC-SEM only) Unsigned16 0 65535 0000h field current), if set too high will cause current control faults, should only be used if roll off is enabled No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
otherwise leave set at zero. Used for DC-SEM only
2.14 Voltage constant - default 0V/rads - Represents the back emf of the rotor with respect to speed.
14 1 RW 4 0.00006103515625 V/rads Voltage Constant (Ke) (DC-PM only) Unsigned16 0 65535 0000h No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
Used for DC permanent magnet motors in closed loop modes only
16.0 Armature current trip level (1000A/sec) - default 2,000,000 A/sec - if this di/dt is exceeded 3
15 1 RW 4 1000 A/s Armature di/dt trip level Unsigned16 1 65535 07d0h times in a second a fault will be set. This threshold can be increased if a low inductance motor is No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
used.
Used to disable/enable various features on the DSP DESC=Encoder wire-off detection:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled

Bit 0: Disable encoder wire-off detection DESC=Software overcurrent:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 1 : Disable software over current DESC=Use low speed gains below:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=200rpm:1=50rpm
Bit 2 : Use low speed gains DESC=Sin-cos PLL (PMAC) / Closed loop slip compensation (IM):HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:
Bit 3 : Enable sin-cos encoder PLL filter (PMAC), Closed loop slip compensation (GPAC pump IM) 1=Enabled
Bit 4 : Decouple Kp and Ki current control gains (PMAC, Size 2-6) DESC=Scale max torque by power limit:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 5 : Enable Gain Scheduling (PMAC only) DESC=Gain Scheduling:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
OBJECT=DSP_MISC_CONFIG
Bit 6 : Allow drv/brk trq inhibit to 0 RPM DESC=Allow drv/brk trq inhibit to 0 RPM:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
SECTION=MOTOR1SETUP
Bit 7 : Enable motor open circuit detection(Nano only) DESC=Motor open circuit detection:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
4650h 0 1 RW 2 Miscellaneous DSP configuration (Gen4) Unsigned16 0 FFFFh 0 No 0 EEPROM=misc.dsp_config
Bit 8: Enable speed dependent field weakening DESC=Speed dependent field weakening:HEX_MASK=100:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 9: Short/Open circuit motor during severe fault DESC=Motor fault state (PMAC only):HEX_MASK=200:MIN=0:MAX=1:NF=2:0=Open Circuit:1=Short Circuit
Bit 10: Bypass DC link discharge DESC=Bypass DC link discharge at power on (PMAC Only):HEX_MASK=400:MIN=0:MAX=1:NF=2:0=Discharge:1=Bypass
Bit 11 : Use lookup tables for demands DESC=Use lookup tables for demand (IMPM PMAC only):HEX_MASK=800:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 12 : Disable variable switching frequency (PMAC / DC-SEM), Enable bridge disable when DESC=Switching freq allowed to change to - reduce thermal losses (PMAC) / control low field currents (DC-SEM):
spinning (IM FV) HEX_MASK=1000:MIN=0:MAX=1:NF=2:0=Yes:1=No
Bit 13: Make fwd+rev speed limits equal and opposite DESC=Motor Forward and Reverse Speed Limits:HEX_MASK=2000:MIN=0:MAX=1:NF=2:0=Applied in drive direction only:
Bit 14: Not used 1=Equal and opposite
Bit 15: Disable SINCOS MINMAX Tracking DESC=SinCos MinMax Tracking:HEX_MASK=8000:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
SECTION=MOTOR1SETUP
---- ---- ---- ---- Miscellaneous DSP configuration (Gen4) Record N/A N/A ---- Miscellaneous DSP configuration ---- ----
0 2 RO N/A Number of entries Unsigned8 0 FFh 2
4650h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]

DESC=Software overcurrent:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 1 : Disable software over current
DESC=Sin-cos PLL (PMAC) / CL slip compensation (GPAC pump IM):HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:
Bit 2 : Use low speed gains
1=Enabled
Bit 3 : Enable sin-cos encoder PLL filter (PMAC), Closed loop slip compensation (GPAC pump IM)
Bit 4 : Decouple Kp and Ki current control gains (PMAC, Size 2-6)
DESC=Gain Scheduling:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 5 : Enable Gain Scheduling (PMAC only)
OBJECT=DSP_MISC_CONFIG DESC=Allow drv/brk trq inhibit to 0 RPM:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
SECTION=MOTOR1SETUP DESC=Motor open circuit detection:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 7 : Enable motor open circuit detection(Nano only)
1 2 RW 4 Miscellaneous DSP configuration 1 (Gen4) Unsigned16 0 FFFFh 0 No 0 EEPROM=misc.dsp_config DESC=Speed dependent field weakening:HEX_MASK=100:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 8: Enable speed dependent field weakening
CATEGORY=CONFIGURATION DESC=Motor fault state (PMAC only):HEX_MASK=200:MIN=0:MAX=1:NF=2:0=Open Circuit:1=Short Circuit
Bit 9: Short/Open circuit motor during severe fault
WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Bypass DC link discharge at power on (PMAC Only):HEX_MASK=400:MIN=0:MAX=1:NF=2:0=Discharge:1=Bypass
Bit 10: Bypass DC link discharge
DESC=Use lookup tables for demand (IMPM PMAC only):HEX_MASK=800:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 11 : Use lookup tables for demands
DESC=Switching freq allowed to change to - reduce thermal losses (PMAC) / control low field currents (DC-SEM):
Bit 12 : Disable variable switching frequency (PMAC / DC-SEM), Enable bridge disable when
HEX_MASK=1000:MIN=0:MAX=1:NF=2:0=Yes:1=No
4650h spinning (IM FV)
DESC=Motor Forward and Reverse Speed Limits:HEX_MASK=2000:MIN=0:MAX=1:NF=2:0=Applied in drive direction only:
Bit 13: Make fwd+rev speed limits equal and opposite
1=Equal and opposite
Bit 14: Allow 5V full-scale sin-cos sensor (L.V. PMAC)
DESC=SinCos full-scale 5V sensor support:HEX_MASK=4000:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 15: Disable SINCOS MINMAX Tracking
DESC=SinCos MinMax Tracking:HEX_MASK=8000:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled

Bit 0: Armature PWM percentage mode (DC-SEM / DC-PM voltage mode only 0x6060 = 5)
Bit 1: Torque demand generated from peak torque or power limit map output.
Bit 2: Disable Steer cutback. DESC=Armature PWM percentage mode (DC voltage mode only):HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Disabled:
Bit 3: Disable capacitors charged check 1=Enabled
OBJECT=DSP_MISC_CONFIG2
Bit 4: Use saturation in slip and rotor time constant calculation (IM FV) DESC=Torque based on peak or power limit map:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Peak:1=Power Limit map
SECTION=MOTOR1SETUP
Bit 5: Not used in this software DESC=Steer cutback:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
2 2 RW 4 Miscellaneous DSP configuration 2 (Gen4) Unsigned16 0 FFFFh 0 No 0 EEPROM=misc.dsp_config2
Bit 6: Not used in this software DESC=Capacitors charged check:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 7: Not used in this software DESC=Use saturation in slip and iq constant calculation (IM FV):HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Disabled:
Bit 8: Not used in this software 1=Enabled
Bit 9: Not used in this software DESC=Voltage vector can move in 4Q (PFCI only):HEX_MASK=4000:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit10: Not used in this software
Bit11: Not used in this software
Bit14: Allow PMAC voltage vector to move in all quadrants (PFC inverter only)
SECTION=MOTOR1SETUP
---- ---- ---- ---- Miscellaneous DSP configuration (HVLP / D8) Record N/A N/A ---- Miscellaneous DSP configuration ---- ----
0 3 RO N/A Number of entries Unsigned8 0 FFh 2

Bit 0: Not used in this software
Bit 1 : Not used in this software
Bit 5 : Not used in this software OBJECT=DSP_MISC_CONFIG
Bit 6 : Not used in this software SECTION=MOTOR1SETUP
1 3 RW 4 Miscellaneous DSP configuration 1 (HVLP / D8) Unsigned16 0 FFFFh 0 Bit 7 : Not used in this software No 0 EEPROM=misc.dsp_config
Bit 8: Not used in this software CATEGORY=CONFIGURATION
Bit 9: Not used in this software WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4650h

Bit 2: Not used in this software DESC=Detect stalled conditions and attempt to restart (IM VF):HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 3: Not used in this software DESC=Output s/c tests when flying start (PMAC):HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 4: Not used in this software DESC=Supplementary id injection (Genus lookup tables):HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 5: Disable stall (pull-out) detection and restart (IM VF) OBJECT=DSP_MISC_CONFIG2 DESC=Filter Torque (Genus lookup tables):HEX_MASK=100:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 6: Disable output short circuit tests when unable to carry out due to motor BEMF (PMAC) SECTION=MOTOR1SETUP DESC=Filter Speed (Genus lookup tables):HEX_MASK=200:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
2 3 RW 4 Miscellaneous DSP configuration 2 (HVLP / D8) Unsigned16 0 FFFFh 0 Bit 7: Supplementary Id injection with lookup tables (HVLP/Dragon8 lookup tables) No 0 EEPROM=misc.dsp_config2 DESC=Filter Vcap (Genus lookup tables):HEX_MASK=400:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 8: Filter torque reference to tables (HVLP/Dragon8 lookup tables) CATEGORY=CONFIGURATION DESC=Reserved (Genus lookup tables):HEX_MASK=800:MIN=0:MAX=1:NF=2:0=Disabled:1=Disabled
Bit 9: Filter speed reference to tables (HVLP/Dragon8 lookup tables) WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Filter Vcap (voltage cutback map):HEX_MASK=1000:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit10: Filter Vcap reference to tables (HVLP/Dragon8 lookup tables) DESC=Current Control Gain Scheduling:HEX_MASK=2000:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit11: Reserved for HVLP/Dragon8 lookup tables DESC=Voltage vector can move in 4Q (PMAC):HEX_MASK=4000:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit12: Filter Vcap for voltage cutback map (0x4612 & 0x4619) DESC=Use Gen5 Torque Conditioner:HEX_MASK=8000:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit13: Current control gain scheduling enabled (configure in 0x4641, 52-54)
Bit14: Allow PMAC voltage vector to move in all quadrants
Bit15: Disable Genix torque conditioner
---- ---- ---- ---- Speed control Gains Record N/A N/A ---- Used to set up the pv control loop ---- ---- SECTION=MOTOR1SETUP
1 1 RW 4 0.000244140625 Proportional gain Unsigned16 0 7FFFh 80h No 0 EEPROM=motor_0.vel_ctrl_kp
1 3 RW 4 0.00001525878906 Proportional gain Unsigned16 0 7FFFh 80h No 0 EEPROM=motor_0.vel_ctrl_kp
1 4 RW 4 0.00000005960464478 Proportional gain Unsigned32 0 FFFFFFFFh 80h No 0 EEPROM=motor_0.vel_ctrl_kp
2 1 RW 4 0.00390625 Integral gain Unsigned16 0 7FFFh 40h No 0 EEPROM=motor_0.vel_ctrl_ki
2 5 RW 4 0.00000005960464478 Integral gain Unsigned32 0 FFFFFFFFh 40h No 0 EEPROM=motor_0.vel_ctrl_ki
3 1 RW 4 0.000244140625 Low Speed proportional gain Unsigned16 0 7FFFh 0 No 0 EEPROM=misc.pv_config_vel_control_kp_low
4 1 RW 4 0.00390625 Rollback integral gain Unsigned16 0 7FFFh 0 No 0 EEPROM=misc.pv_config_vel_control_ki_rollback
5 1 RW 4 0.00390625 Low speed integral gain Unsigned16 0 7FFFh 0 No 0 EEPROM=misc.pv_config_vel_control_ki_low
6 1 RW 4 0.00390625 dw/dt gain Unsigned16 0 7FFFh 0 No 0 EEPROM=misc.pv_config_vel_control_dw_dt
4651h 7 1 RW 4 0.000244140625 Integral initialization factor Unsigned16 0 1000h 1000h set equal to actual torque multiplied by this factor. Normally, integral is set equal to actual torque so No 0 EEPROM=misc.ac_mtr0_vel_ctrl_integral_init
Used to filter speed measurement passed to speed limit and speed control loop. When enabled it will
bypass any existing filtering within hal_encoder to allow full control of the speed feedback and find a
compromise between noise and lag. Setting to zero disables this filter and uses the default in
8 1 RW 4 0.00001525878906 Speed calculation filter pole Unsigned16 0 FFFFh F384h No 0 EEPROM=misc.ac_mtr0_trq_ctrl_speed_filter
hal_encoder (3Hz for sin-cos, 9Hz for UVW, none for AB). It is calculated P = e^(-0.005*2*pi*f_c)
where f_c is the desired cut-off frequency (Hz). Calculation is P = e^(-0.001*2*pi*f_c) for HVLP and
D8
9 1 RW 4 1 rpm Pre-limit speed Unsigned16 0 1000 100 Allow user definable speed pre-limits. This object is not used in speed mode. No 0 EEPROM=misc.ac_mtr0_pre_limit_speed
Maximum ramp down rate allowed for speed limit when attempting to ramp speed limit back to 0
10 1 RW 4 1 rpm/s Maximum speed limit ramp down rate Integer16 10 32767 32767 No 0 EEPROM=misc.ac_mtr0_safe_decel_rate
RPM. Only applied to opposing speed limit. See 0x6083,0 for normal speed limit ramp rate.
Speed at which low speed gains are applied. Gains are ramped to high speed gains as speed
11 1 RW 4 1 rpm Low gains speed threshold Unsigned16 0 7FFFh 50 No 0
approaches high gains speed threshold.
Speed at which high speed gains are applied. Gains are ramped to low speed gains as speed
12 1 RW 4 1 rpm High gains speed threshold Unsigned16 0 7FFFh 200 No 0
approaches low gains speed threshold.
13 1 RW 4 0.00000005960464478 Speed limit kd Unsigned32 0 FFFFFFFFh 0 No 0
14 1 RW 4 0.00390625 Nm minimum speed limit intergral value Unsigned16 0 FFFFh 0 No 0
15 1 RW 4 0.00390625 Nm maximum speed limit intergral value Unsigned16 0 FFFFh FFFFh No 0
OBJECT=Autoconfig
SECTION=TRACTIONCONFIG
---- ---- ---- ---- Automatic configuration setup Record N/A N/A ---- GpAC Autoconfiguration Options ---- ----
MASTER=TRUE
DESC=CANopen setup:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=user:1=auto
DESC=Gear Box setup:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=user:1=auto
DESC=Tire Size setup:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=user:1=auto
DESC=Motor Type setup:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=user:1=auto
1 2 RW 4 Enable automatic configuration Unsigned8 0 FFh 0 Allows individual parts of the automatic configuration to be set up No 0 EEPROM=misc.autoconfig_control
DESC=Use real speed in driveability profiles:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=no:1=yes
DESC=Detect secondary motor configuration:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=no:1=yes
DESC=Determine vehicle series type:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=no:1=yes
DESC=Enable traction repeaters (VT680 mode):HEX_MASK=20:MIN=0:MAX=1:NF=2:0=no:1=yes
values other than "disabled"

DESC=CANopen autoconfig status:HEX_MASK=3:MIN=0:MAX=2:NF=3:0=disabled(e2 default):1=is auxiliary (hardcoded
2 2 RO N/A CANopen Configuration indication Unsigned8 0 FFh 0 indicates which CANopen configuration is in effect. no indicate that the system has
settings):2=is supervisor (e2 default settings)
automatically configured itself
EEPROM=misc.gear_ratio
NUMBER_FORMAT=32
0=50.48-1:1=56.01-1:2=62.29-1:3=67.27-1:4=69.43-1:5=73-1:
6=75.53-1:7=76.36-1:8=79.99-1:9=83-1:10=87.47-1:11=89.21-1:
3 2 RW N/A Gear ratio Unsigned16 0 FFFFh 0 indicates which configuration is in effect. Yes 12=92.52-1:13=94.22-1:14=97.85-1:15=102.55:16=105.02-1:
4651h 17=108.27-1:18=111.77-1: 19=116.55-1:20=120.05-1:21=120.68-
1:22=125.85-1:23=129.19-1:24=132.31-1:25=135.81-1:26=139.
31-1:27=142.81:28=146.31-1:29=149.81-1:30=152.04-1:31=155.
54-1
EEPROM=misc.tyre_size
NUMBER_FORMAT=16
4 2 RW N/A Tire size Unsigned16 0 FFFFh 0 indicates size of tires fitted Yes
0=24:1=28 :2=32 :3=35:4=38:5=42:6=44:7=46:8=48:9=51:10=52:
11=54:12=55:13=59:14=60:15=SPARE
DESC=Motor Size:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=75:1=100:UNITS=HP
5 2 RW N/A Motor Type Unsigned8 0 FFh 0 motor type and configuration Yes EEPROM=misc.motor_type
DESC=Number of Motors:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Dual:1=Single
NUMBER_FORMAT=4
0=Un-A-Hauler (800 series):1=Un-A-Trac (400 series):2=Vers-A-
6 2 RO N/A Vehicle Type Unsigned8 0 FFh No 0=dual motor hauler,1=single motor hauler etc. Yes
Trac (600 series):3=SPARE
NUMBER_FORMAT=2
7 2 RO N/A Software build type Unsigned8 0 FFh 0 0=Standard build, 1=Build for simplified wiring No 0=Standard
1=Simplified
8 2 RO N/A Motor Count Unsigned8 0 FFh 0 Number of motors present in the system No
NUMBER_FORMAT=2
9 2 RW 1 Battery config selection Unsigned8 0 1 0 Select which battery configuration is used No 0=Battery config 0
1=Battery config 1
OBJECT=DSP_2ND_PL_TRIGGER
SECTION=MOTOR1SETUP
Used to select the trigger for the 2nd power limit map. Can be None, Drv Sel 1, Braking state or
4652h 0 1 RW 4 2nd Power Limit Map (0x4615) trigger Unsigned8 0 3 0 No 0 CATEGORY=CONFIGURATION
braking torque.
NUMBER_FORMAT=4
0=None:1=Driveability Select 1:2=Braking state:3=Braking torque
OBJECT=DSP_PL_TRIGGER
---- ---- ---- ---- Power Limit Maps triggers Record N/A N/A ---- Configures mechanism for reporting of motor position ---- ---- SECTION=MOTOR1SETUP
OBJECT=DSP_2ND_PL_TRIGGER
SECTION=MOTOR1SETUP
Used to select the trigger for the 2nd power limit map. Can be None, Drv Sel 1, Braking state or
1 2 RW 4 2nd Power Limit Map (0x4615) trigger Unsigned8 0 03h 0 No 0 CATEGORY=CONFIGURATION
braking torque.
NUMBER_FORMAT=4
0=None:1=Driveability Select 1:2=Braking state:3=Braking torque
OBJECT=DSP_3RD_PL_TRIGGER
SECTION=MOTOR1SETUP
4652h 2 2 RW 4 3rd Power Limit Map (0x4616) trigger Unsigned8 0 01h 0 Used to select the trigger for the 3rd power limit map. Can be None, Drv Sel 2 No 0 CATEGORY=CONFIGURATION
NUMBER_FORMAT=4
0=None:1=Driveability Select 2
OBJECT=DSP_4TH_PL_TRIGGER
SECTION=MOTOR1SETUP
3 2 RW 4 4th Power Limit Map (0x461B) trigger Unsigned8 0 01h 0 Used to select the trigger for the 4th power limit map. Can be None, Drv Sel 3 No 0 CATEGORY=CONFIGURATION
NUMBER_FORMAT=4
OBJECT=DSP_5TH_PL_TRIGGER
SECTION=MOTOR1SETUP
4 2 RW 4 5th Power Limit Map (0x461C) trigger Unsigned8 0 01h 0 Used to select the trigger for the 5th power limit map. Can be None, Drv Sel 4 No 0 CATEGORY=CONFIGURATION
NUMBER_FORMAT=4
Used to temporarily disable/enable various features on the DSP

DESC=Current Control Quality Monitor (PMAC / DC only):HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 0: Disable current control quality monitor (PMAC / DC only)
OBJECT=DSP_MISC_CONFIG DESC= Force low-frequency PWM mode (DC-SEM field and PMAC Gen4 size8/10 only):HEX_MASK=2:MIN=0:MAX=1:
Bit 1: Force low-frequency PWM mode (DC-SEM and PMAC Gen4 size8/10 only)
4653h 0 1 RW 4 Temporary DSP Configuration (Gen4) Unsigned16 0 FFFFh 0 No 0 SECTION=MOTOR1SETUP NF=2:1=Enabled:0=Disabled
Bit 2: Force field established to be TRUE (DC-SEM only)
CATEGORY=CONFIGURATION DESC=Force Field Established (DC-SEM only):HEX_MASK=4:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
Bit 3: Force motor short circuit tests to run (DC only) - for testing spurious di/dt trips
DESC=Force Motor Short Circuit Test to run (DC only):HEX_MASK=8:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
Used to temporarily disable/enable various features on the DSP

Bit 0: Disable current control quality monitor
DESC=Current Control Quality Monitor:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 1: Force low-frequency PWM mode OBJECT=DSP_MISC_CONFIG
DESC= Force low-frequency PWM mode:HEX_MASK=2:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
4653h 0 2 RW 4 Temporary DSP Configuration (HVLP/D8) Unsigned16 0 FFFFh 0 Bit 2: Not used in this software No 0 SECTION=MOTOR1SETUP
DESC=Voltage vector allowed in any quadrant:HEX_MASK=10:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
Bit 3: Not used in this software CATEGORY=CONFIGURATION
DESC=Flux-vector self characterize mode:HEX_MASK=20:MIN=0:MAX=1:NF=2:1=Enabled:0=Disabled
Bit 4: Allow voltage vector in any quadrant (PMAC geometric)
Bit 5: Flux-vector self characterize mode
OBJECT=MOTOR_AZ_RANGE_CONFIG
4654h 0 1 RW 4 1 A Current sensor autozero range Unsigned16 0 60 60 Allowed autozeroing range for motor current sensors. No 0 SECTION=MOTOR1SETUP
OBJECT=HPROTOCOL_CONFIG
---- ---- ---- ---- H-Protocol Configuration Parameters Record N/A N/A ---- Configures the behaviour of H-Protocol subsystems ---- ----
1 1 RW 4 Forward rotation definition Unsigned16 0 FFFFh 0 Set to 0x5533 for normal operation, set to 0xCCAA to invert motor direction of rotation No 0
2 1 RW 4 Protocol checksum disable Unsigned16 0 FFFFh 0 Set to 0xE38E to disable comms protocol checksum validation No 0
3 1 RW 4 Rx message timeout multiplier Unsigned8 1 255 3 Multiplier applied to the default message reception rate, allowing control at slower rates. No 0
4 1 RW 4 Tx status message period multiplier Unsigned8 1 255 1 Multiplier applied to the default status message transmission periods No 0
5 1 RW 4 Tx debug message period multiplier Unsigned8 0 255 1 Multiplier applied to the default debug message transmission periods (set to zero to disable) No 0
4655h 6 1 RO 4 Status flags Unsigned16 0 FFh 0 Status flags for H-protocol No 0
7 1 RW 4 Line contactor output Unsigned8 0 FFh 0 Analogue output used to drive line contactor, or zero to disable No 0
8 1 RW 4 0.00390625 V Line contactor pull-in voltage Unsigned16 0 FFFFh 0 Line contactor pull in voltage No 0
9 1 RW 4 0.00390625 V Line contactor hold-in voltage Unsigned16 0 FFFFh 0 Line contactor hold in voltage No 0
10 1 RW 4 ms Line contactor pull-in time Unsigned16 0 FFFFh 0 Line contactor pull in time No 0
11 1 RW 4 Preferred transmit SA Unsigned8 0 FFh 0 Preferred source address to use for status messages No 0
12 1 RW 4 0.00001525878906 Motor speed feedback filter pole Unsigned16 0 FFFFh 0 P = e^-(0.005 / tau ) where tau is the filter time constant in seconds No 0
13 1 RW 4 1 V torque conditioner low voltage Unsigned16 0 FFFFh 0 Voltage low for torque conditioner No 0
14 1 RW 4 1 V torque conditioner High voltage Unsigned16 0 FFFFh 0 Voltage high for torque conditioner No 0
SECTION=MOTOR1SETUP
Allows different modes of operation to be selected within the motor control subsystem CATEGORY=CONFIGURATION
0x0000 = Standard operation NUMBER_FORMAT=4
4656h 0 1 RW 4 Motor control mode of operation Unsigned16 0 FFFFh 0 0x0103 = Direct Id/Iq control No 0 0x0000=Standard operation
0x7050 = PMAC 2D torque accuracy tables 0x0103=Direct Id/Iq control
0x8060 = PMAC 3D IMPM tables 0x7050=PMAC 2D torque accuracy tables
0x8060=PMAC 3D IMPM tables
OBJECT=WATT_PROTOCOL_CONFIG
---- ---- ---- ---- Watt Protocol Configuration Parameters Record N/A N/A ---- Configured the behaviour of the Watt Protocol subsystems ---- ----
1 1 RW 4 Protocol enable Unsigned8 0 4 0 A non-zero value her enables Watt protocol, up to the number of Rx source address ranges. No 0
3 1 RW 4 Transmit priority Unsigned8 0 7 6 Priority of transmitted status messages (lower value = higher priority) No 0
4 1 RW 4 Checksum disable Unsigned16 0 FFFFh 0 Set to code 0x51EA to disable checksum verification No 0
5 1 RW 4 Receive source address range 1 lower Unsigned8 0 FFh 128 Source address lower limit for received data No 0
6 1 RW 4 Receive source address range 1 upper Unsigned8 0 FFh 128 Source address upper limit for received data No 0
4657h 11 1 RW 4 Receive source address range 4 lower Unsigned8 0 FFh 131 Source address lower limit for received data No 0
13 1 RW 4 0.0625 Nm Peak torque Integer16 0 7FFFh 0 Reference torque level that 100% demand represents No 0
14 1 RW 4 A Peak DC current Integer16 0 7FFFh 0 Reference DC current level that 100% demand represents No 0
15 1 RO 4 A Digital Source Address Integer16 239 242 0 ECU Digital Source Address No 0
16 1 RW 4 BMS Receive source address range 1 lower Unsigned8 0 FFh 128 BMS Source address upper limit for received data No 0
17 1 RW 4 BMS Receive source address range 1 upper Unsigned8 0 FFh 128 BMS Source address upper limit for received data No 0
18 1 RW 4 BMS Receive source address range 2 lower Unsigned8 0 FFh 129 BMS Source address lower limit for received data No 0
SECTION=MOTOR1SETUP
4658h 0 1 RW 4 Active Short configured Unsigned16 0 FFFFh 0 Allow Enable/Disable Active Short Functionality within the motor control subsystem No 0
SECTION=MOTOR1SETUP
4659h 0 1 RW 4 Active Short Lower Speed Threshold Unsigned32 0 FFFFFFFFh 0 Sets Lower Speed Threshold to quit Active Short within the motor control subsystem No 0
SECTION=MOTOR1SETUP
4660h 0 1 RW 4 Active Short Upper Speed Threshold Unsigned32 0 FFFFFFFFh 0 Sets Upper Speed Threshold to enter Active Short within the motor control subsystem No 0
SECTION=MOTOR1SETUP
---- ---- ---- ---- Motor Position Reporting Configuration Record N/A N/A ---- Configures mechanism for reporting of motor position ---- ----
1 1 RW 4 Gear ratio divider Unsigned16 0 FFFFh 0 Gear ratio divider for position reporting No 0
4661h
2 1 RW 4 Zero position sync digital input Unsigned16 0 FFFFh 0 Digital input to use for synching zero position (set to zero to disable) No 0
3 1 RW 4 Minimum angle correction range Integer16 0 7FFFh 0 Minimum error that must be present to allow zero offset to be corrected No 0
4 1 RW 4 Maximum angle correction range Integer16 0 7FFFh 0 Maximum error that can be present to allow zero offset to be corrected No 0
5 1 RW 4 Maximum zero angle step Integer16 0 7FFFh 0 Maximum allowable step size that can be used when adjusting zero offset No 0
OBJECT=WATT_PROTOCOL_CONFIG
---- ---- ---- ---- ECU Id part numbers Record N/A N/A ---- Configures mechanism for reporting of motor position ---- ----
4662h 1 1 RW 4 Vehicle Identification Visible String N/A N/A N/A Customer Vehicle identification number No 0
2 1 RW 4 Unprogrammed part number Visible String N/A N/A N/A Customer Unprogrammed hardware part number No 0
3 1 RW 4 programmed part number Visible String N/A N/A N/A Customer Programmed hardware part number No 0
4 1 RW 4 Software number Visible String N/A N/A N/A Customer Software part number No 0
OBJECT=MOTOR_FIELD_ARM_MAP_IA
This is the X axis containing PU armature currents for all the field maps in 0x4671 to 0x4674. Must
---- ---- ---- ---- Armature/Field maps (DC-SEM only) - PU Armature current axis Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
be in the range -1PU to 1PU
1 1 RW 4 0.00006103515625 Pt 1 PU Armature Regen Current Integer16 -16384 0 -16384 Pt 1 PU Armature Current in 2.14 (regen current) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
2 1 RW 4 0.00006103515625 Pt 2 PU Armature Regen .Current Integer16 -16384 0 -12288 Pt 2 PU Armature Current in 2.14 (regen current) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4670h
Pt 5 PU Armature Current in 2.14 (MUST be zero and increase negatively points 4 to 1 and
5 1 RW 4 0.00006103515625 Pt 5 PU Armature Zero Current Integer16 0 0 0 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
positively points 5 to 9)
6 1 RW 4 0.00006103515625 Pt 6 PU Armature Drive Current Integer16 0 16384 4096 Pt 6 PU Armature Current in 2.14 (drive current) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=MOTOR_FIELD_ARM_MAP_IF_HIGH_SPD
Armature/Field maps (DC-SEM only) - High Speed PU Field This is the Y1 axis containing PU high speed field currents for all the armature currents in 0x4670.
---- ---- ---- ---- Record N/A N/A ---- ---- ---- SECTION=MOTOR1CHARACTERIZATION
current axis Must be in the range 0.005PU to 1PU. Should also not give a field current less than 2A.
1 1 RW 4 0.00006103515625 Pt 1 PU High Speed Field Current - used in regen Integer16 81 16384 16384 Pt 1 PU High Speed Field Current in 2.14 (used in regen) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4671h
Pt 5 PU High Speed Field Current in 2.14 (must be the lowest point, increasing positive in both
5 1 RW 4 0.00006103515625 Pt 5 PU High Speed Field Current - used in neutral Integer16 81 16384 3277 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
directions)
6 1 RW 4 0.00006103515625 Pt 6 PU High Speed Field Current - used in drive Integer16 81 16384 6554 Pt 6 PU High Speed Field Current in 2.14 (used in drive) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=MOTOR_FIELD_ARM_MAP_IF_LOW_SPD
Armature/Field maps (DC-SEM only) - Low Speed PU Field This is the Y2 axis containing PU low speed field currents for all the armature currents in 0x4670.
current axis Must be in the range 0.005PU to 1PU. Should also not give a field current less than 2A.
1 1 RW 4 0.00006103515625 Pt 1 PU Low Speed Field Current - used in regen Integer16 81 16384 16384 Pt 1 PU Low Speed Field Current in 2.14 (used in regen) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4672h
Pt 5 PU Low Speed Field Current in 2.14 (must be the lowest point, increasing positive in both
5 1 RW 4 0.00006103515625 Pt 5 PU Low Speed Field Current - used in neutral Integer16 81 16384 3277 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
directions)
6 1 RW 4 0.00006103515625 Pt 6 PU Low Speed Field Current - used in drive Integer16 81 16384 6554 Pt 6 PU Low Speed Field Current in 2.14 (used in drive) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
This is the Y3 axis containing PU roll off field currents for all the armature currents in 0x4670, point 5
OBJECT=MOTOR_FIELD_ARM_MAP_IF_LOW_SPD
Armature/Field maps (DC-SEM only) - Roll off PU Field current should be set very low (but 2A or more) to save power and field winding heating whilst the vehicle is
axis stationary, setting all other points to 1 will provide the strongest roll off torque. Must be in the range
0.005PU to 1PU. Should also not give a field current less than 2A.

1 1 RW 4 0.00006103515625 Pt 1 PU Roll off Field Current - used in roll off Integer16 81 16384 16384 Pt 1 PU Roll Off Field Current in 2.14 (used in roll off) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
4673h
Pt 5 PU Roll Off Field Current in 2.14 (roll off detection level - must be the lowest point, increasing
5 1 RW 4 0.00006103515625 Pt 5 PU Roll off Field Current - roll off detection Integer16 81 16384 819 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
positive in both directions)
6 1 RO 4 0.00006103515625 Pt 6 PU Roll off Field Current - used in roll off Integer16 81 16384 No Pt 6 PU Roll Off Field Current in 2.14 (used in roll off - will be the same as point 4) No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=DIG_IN_CONFIG
---- ---- ---- ---- General Digital Input Configuration Record N/A N/A ---- Configurations which affect all digital inputs ---- ---- SECTION=DIConfiguration
EEPROM=io.lcl_di_pullup
1 1 RW 4 Inputs active Boolean 0 1 0 Set to 0 for connection to 0V and 1 for connection to battery. No 0 NUMBER_FORMAT=2:0=Low:1=High
OBJECT=DIG_IN_WIRE_OFF_CONFIG
---- ---- ---- ---- Digital Input Wire-Off Detection Enable Record N/A N/A ---- Digital Wire-Off Enable ---- ---- SECTION=DIConfiguration
4681h
EEPROM=io.lcl_di_wire_off_enable_0 DESC=Digital Input Wire-Off 1:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
1 1 RW 4 Digital Input wire-off enable Unsigned8 0 FFh 0 Set a bit to enable the corresponding digital wire-off input No 0
WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Digital Input Wire-Off 2:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
OBJECT=ALG_IN_CONFIG
---- ---- ---- ---- General Analog Input Configuration Record N/A N/A ---- Configurations which affect all analog inputs ---- ---- SECTION=AIConfiguration
4690h
1 1 RW 4 0.0625 V Analog input as Digital - Inactive Voltage Unsigned8 0 FFh 8 4.4 V/bit. Voltage below which a digital signal into an analog input is set inactive. No 0 EEPROM=io.lcl_ai_dig_off_v
2 1 RW 4 0.0625 V Analog input as Digital - Active Voltage Unsigned8 0 FFh 56 4.4 V/bit. Voltage above which a digital signal into an analog input is set active. No 0 EEPROM=io.lcl_ai_dig_on_v
OBJECT=ALG_IN_CONFIG
---- ---- ---- ---- General Analog Input Configuration Record N/A N/A ---- Configurations which affect all analog inputs ---- ---- SECTION=AIConfiguration
1 2 RW 4 0.0625 V Analog input 1 as Digital - Inactive Voltage Unsigned8 0 FFh 8 4.4 V/bit. Voltage below which a digital signal into analog input 1 is set inactive. No 0 EEPROM=io.lcl_ai_dig_off_v
2 2 RW 4 0.0625 V Analog input 1 as Digital - Active Voltage Unsigned8 0 FFh 56 4.4 V/bit. Voltage above which a digital signal into analog input 1 is set active. No 0 EEPROM=io.lcl_ai_dig_on_v
4690h
7 2 RW 4 0.0625 V Analog input 4 as Digital - Inactive Voltage Unsigned8 0 FFh 8 4.4 V/bit. Voltage below which a digital signal into analog input is 4 set inactive. No 0 EEPROM=io.lcl_ai_dig_off_v
8 2 RW 4 0.0625 V Analog input 4 as Digital - Active Voltage Unsigned8 0 FFh 56 4.4 V/bit. Voltage above which a digital signal into analog input is 4 set active. No 0 EEPROM=io.lcl_ai_dig_on_v
OBJECT=ALG_IN_WIRE_OFF_ENABLE
---- ---- ---- ---- Analog Input Wire-Off Detection Enable Record N/A N/A ---- ---- ---- SECTION=AIConfiguration
Bit 0: Analog input 1 (1 = enabled) EEPROM=io.lcl_ai_wire_off_enable_0
Analog inputs 1..8 wire-off detection enable (not all inputs
1 1 RW 4 Unsigned8 0 FFh 0 …. No 0 NUMBER_FORMAT=BASE16
support wire-off detection, refer to user manual).
Bit n: Analog input n+1 (1 = enabled) WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=ALG_IN_3WIRE_ENABLE
---- ---- ---- ---- Analog Input - 2 Wire / 3 Wire Record N/A N/A ---- ---- ---- SECTION=AIConfiguration
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
4692h
Bit 0: Analog input 1 (1 = 3 wire) EEPROM=io.lcl_ai_wire_2_or_3_0
Analog inputs 1..8, 2-wire / 3-wire selection (not all inputs support
1 1 RW 4 Unsigned8 0 FFh 0 …. No 0 NUMBER_FORMAT=BASE16
wire-off detection, refer to user manual).
Bit n: Analog input n+1 (1 = 3 wire) WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=ALG_IN_SUPPLIES
---- ---- ---- ---- Analog Input - Variable supplies Record N/A N/A ---- ---- ---- SECTION=AIConfiguration
4693h
1 1 RW 4 0.00390625 V Analogue Input 1 Supply Unsigned16 0h A00h A00h Adjustable analogue input 1 supply from 0V to 10V No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
2 1 RW 4 0.00390625 V Analogue Input 2 Supply Unsigned16 0h A00h A00h Adjustable analogue input 2 supply from 0V to 10V No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=ALG_OUT_I_MODE_ENABLE
---- ---- ---- ---- Analog Output Current / Voltage mode Record N/A N/A ---- ---- ---- SECTION=AOConfiguration
Bit 0: Analog output 1 (1 = Current mode) EEPROM=io.lcl_ao_v_or_i_mode_0
1 1 RW 4 Analog Outputs 1..8, current / voltage mode selection. Unsigned8 0 FFh 0 …. No 0 NUMBER_FORMAT=BASE16
Bit n: Analog output n+1 (1 = Current mode) WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=ALG_OUT_AUX_FREQ
The analog outputs can have one of two frequencies. One is fixed at 16kHz and the other is
---- ---- ---- ---- Analog Output Auxiliary Frequency Record N/A N/A ---- ---- ---- SECTION=AOConfiguration
configurable between 40Hz and 1kHz using this item.
46A2h CATEGORY=CONFIGURATION
1 1 RW 4 Hz Analog Output Auxiliary Frequency Unsigned16 40 1000 40 1Hz/bit. No 0 EEPROM=io.lcl_ao_aux_freq
OBJECT=ALG_OUT_FREQ_SELECT
---- ---- ---- ---- Analog Output Frequency Selection Record N/A N/A ---- Used to select between 16kHz and the frequency defined in 46A2h. ---- ---- SECTION=AOConfiguration
Bit 0: Analog output 1 (0 = 16kHz, 1 = Aux Freq (46A2h)) EEPROM=io.lcl_ao_freq_select
1 1 RW 4 Analog Outputs 1..8, 16kHz or auxiliary frequency selection. Unsigned8 0 FFh 0 …. No 0 NUMBER_FORMAT=BASE16
Bit n: Analog output n+1(0 = 16kHz, 1 = Aux Freq (46A2h)) WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=ALG_OUT_SPEED_PULSE
---- ---- ---- ---- Analog Output as Speed Pulse Record N/A N/A ---- ---- ---- SECTION=AOConfiguration
46A4h
1 1 RW 4 Enable Unsigned8 0h 01h 00h none zero to enable the speed pulse output on Cont3 No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
2 1 RW 4 Pulses per kph Unsigned8 1h FFh 0Ah number of pulses per kph No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=ALG_OUT_FAILSAFE_TEST_ENABLE
---- ---- ---- ---- Analogue Output Failsafe Tests Record N/A N/A ---- ---- ---- SECTION=AOConfiguration
Analog Outputs 1..8, failsafe test enable Bit 0: Analog output 1 (1 = Failsafe test enabled)
1 1 RW 4 Minimum value of 0x01, since at least one output must be tested Unsigned8 01h FFh FFh …. No 0
to validate failsafe circuit. Bit n: Analog output n+1 (1 = Failsafe test enabled)
OBJECT=ALG_OUT_DIRECT_CTRL
Used to configure analog output 1 to be controlled directly by a local analog input. Analog output
---- ---- ---- ---- Analog Output 1 Direct Control Record N/A N/A ---- ---- ---- SECTION=AODirectControl
varies linearly between start and end value with analog input.
EEPROM=io.lcl_ao_dir_ctrl[0].enable
1 1 RW 4 Enable Boolean 0 1 0 Enables local control of analog output No 0 NUMBER_FORMAT=2:0=Disabled:1=Enabled
46B0h
EEPROM=io.lcl_ao_dir_ctrl[0].source
2 1 RW 4 Source Unsigned8 0 5 0 Analog Input used to control the output No 0
3 1 RW 4 0.00390625 V Analog Input Start Voltage Integer16 0 7FFFh 0 8.8V No 0 EEPROM=io.lcl_ao_dir_ctrl[0].start_voltage
4 1 RW 4 0.00390625 V_or_A Analog Output Start Value Integer16 0 7FFFh 0 8.8V or A No 0 EEPROM=io.lcl_ao_dir_ctrl[0].start_value
5 1 RW 4 0.00390625 V Analog Input End Voltage Integer16 0 7FFFh 0 8.8V No 0 EEPROM=io.lcl_ao_dir_ctrl[0].end_voltage
6 1 RW 4 0.00390625 V_or_A Analog Output End Value Integer16 0 7FFFh 0 8.8V or A No 0 EEPROM=io.lcl_ao_dir_ctrl[0].end_value
46B1h
46B2h
46B3h
46B4h
46B5h
46B6h
OBJECT=ALG_IN_VOLTAGE_RANGE
Used to set the allowed range for analogue inputs. A wire off fault will be raised if the analogue input
---- ---- ---- ---- Analogue Input 1 Range ---- ---- ---- SECTION=AIConfiguration
goes outside this range.
46C0h
EEPROM=misc.analogue_input_min_vals[0]
1 1 RW 2 0.00390625 V Minimum allowed voltage Unsigned16 0 FFFFh 0 Minimum allowed voltage on analogue input 1 No 0
EEPROM=misc.analogue_input_max_vals[0]
2 1 RW 2 0.00390625 V Maximum allowed voltage Unsigned16 0 FFFFh FFFFh Maximum allowed voltage on analogue input 1 No 0
46C1h
46C2h
46C3h
46C4h
46C5h
46C6h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
46C7h
OBJECT=READ_ALG_IN_RESISTANCE_16_BIT
---- ---- ---- ---- Analog input resistances Array N/A N/A ---- Analog inputs as resistance in Ohms. ---- ---- SECTION=AIStatus
CATEGORY=MONITORING
0 1 RO N/A Number of analog inputs Unsigned8 0 FFh 8 No 0
1 1 RO N/A 1 Ohms Analog input 1 resistance Unsigned16 0 FFFFh No Yes 0
46D0h
OBJECT=READ_ALG_OUT_TEMPERATURE_16_BIT
---- ---- ---- ---- Analog output temperatures Array N/A N/A ---- Analog output temperatures in degrees C ---- ---- SECTION=AOStatus
CATEGORY=MONITORING
1 1 RO N/A 1 DegC Analog output 1 temperature Integer16 -32768 32767 No Yes 0
46E0h 2 1 RO N/A 1 DegC Analog output 2 temperature Integer16 -32768 32767 No Yes 0
OBJECT=READ_ALG_IN_16_BIT
---- ---- ---- ---- Digital input voltages. Array N/A N/A ---- Digital inputs Voltage in 1/256 V/bit. (DS401 does not define any units for this). ---- ---- SECTION=DIStatus
CATEGORY=MONITORING
0 1 RO N/A Number of digital inputs Unsigned8 0 FFh 8 No 0
1 1 RO N/A 0.00390625 V Digital input 1 voltage Integer16 -32768 32767 No Yes 0
46F0h
CATEGORY=MONITORING
3 1 RO N/A DegC Temperature (Measured - PTC) Integer16 -50 250 No 1 degree C / bit. Only valid if a PTC thermistor is set in 4620h. Yes 0
4 1 RO N/A Temperature (Measured - Switch) Boolean 0 1 No State of motor temperature switch. Yes 0 NUMBER_FORMAT=2:0=Motor OK:1=Motor Too Hot
5 1 RO N/A 0.0625 A Target Id Integer16 -32000 32000 No Motor Id Reference Yes 0
4700h
6 1 RO N/A 0.0625 A Target Iq Integer16 -32000 32000 No Motor Iq Reference Yes 0
7 1 RO N/A 0.0625 A Id Integer16 -32768 32767 No Motor Id Actual Yes 0
8 1 RO N/A 0.0625 A Iq Integer16 -32768 32767 No Motor Iq Actual Yes 0
9 1 RO N/A 0.0625 V Ud Integer16 -3200 3200 No Motor Ud Actual Yes 0
10 1 RO N/A 0.0625 V Uq Integer16 -3200 3200 No Motor Uq Actual Yes 0
11 1 RO N/A 0.3921568627 % Voltage modulation Integer16 0 255 No Motor SVM Index Yes 0
12 1 RO N/A 1 A Actual AC Motor Current Integer16 -32768 32767 No Average motor stator current Yes 0
13 1 RO N/A 0.0625 V Actual AC Motor Voltage Integer16 -32768 32767 No Average motor phase voltage Yes 0
CATEGORY=LOGGING
4701h
OBJECT=MOTOR_DEBUG
---- ---- ---- ---- Motor Debug Information Record N/A N/A ---- A summary of all data which can stop the DSP from controlling the motor. ---- ---- SECTION=Motor2Debug
CATEGORY=MONITORING
1 1 RO 4 0.00003051757813 Motor Temperature/Torque Cutback (DWork.Tj_cutback_factor) Unsigned16 0 65535 No No 0
cutback) to 1 (no cutback) in 1.15 format. The cutback is done by the DSP.
2 1 RO 4 1 DegC Junction Temperature 1 (DWork.Tj[0]) Integer16 -32768 32767 No DSP Estimated MOSFET junction temperature in 16.0 DegC. No 0
8 1 RO 4 1 DegC Motor Temperature Estimate (DWork.T_motor) Integer16 -32768 32767 No Estimated Motor Temperature. In 16.0 DegC No 0
4702h
9 1 RO 4 1 DegC Heatsink Temperature (U.DSP_Ts) Integer8 -128 127 No Heatsink temperature in 8.0 DegC. No 0
10 1 RO 4 1 DegC Overall DSP Maximum Motor Temperature (Y.Temp_max) Integer16 -32768 32767 No Highest temperature from all sources (heatsink, motor, etc).. In 16.0 DegC No 0
11 1 RO 4 0.015625 Nm Torque demand value (U.T_d) Integer16 -32768 32767 No Torque demand in 12.4Nm No 0
12 1 RO 4 0.015625 Nm Torque actual value (DWork.Td) Integer16 -32768 32767 No Torque actual in 12.4Nm No 0
13 1 RO 4 0.015625 Nm Maximum torque (DWork.Td_max) Integer16 -32768 32767 No Maximum torque sent to DSP in 12.4Nm No 0
14 1 RO 4 0.015625 Nm Maximum power limit torque (Y.T_power_limit) Integer16 -32768 32767 No Maximum torque from motor power limit map (4611h) in 12.4Nm No 0
15 1 RO 4 0.00390625 V Trip Voltage (DWork.Vtrip) Unsigned16 0 65535 No Absolute voltage limit in 8.8V No 0
16 1 RO 4 0.00003051757813 Cutback Voltage factor (Y.Y_k) Unsigned16 0 65535 No Voltage cutback factor from (4612h) in 1.15 No 0
17 1 RO 4 0.00390625 V Battery Voltage Unsigned16 0 65535 No Battery voltage in 8.8V No 0
18 1 RO 4 0.00390625 V Capacitor Voltage Unsigned16 0 65535 No Capacitor voltage in 8.8V No 0
Value of I2t integrator. At 100%, current limit will be reduced to powerframe's continuous current
19 1 RO N/A 0.001 % Powerframe I2t integrator value Unsigned16 0 65535 No Yes 0
rating.
20 1 RO N/A 0.0625 A Powerframe I2t current limit Unsigned16 0 65535 No Stator current limit as calculated by I2t algorithm Yes 0
---- ---- ---- ---- Motor flux map Record N/A N/A ---- ---- ---- SECTION=MOTOR2CHARACTERIZATION
EEPROM=motor_1.flux_map[0].x
1 1 RW 4 0.0625 Nm Pt 1 Torque Unsigned16 0 FFFFh 0 Torque in 12.4 Nm No 0
EEPROM=motor_1.flux_map[0].y
2 1 RW 4 0.015625 A(RMS) Pt 1 Magnetizing Current Unsigned16 0 FFFFh 3840 Current in 10.6 A(RMS) No 0
4710h
EEPROM=motor_1.power_map[0].x
2 1 RW 4 RPM Pt 1 Speed Unsigned16 0 20000 0 Speed in 16.0 RPM No 0
4 1 RW 4 RPM Pt 2 Speed Unsigned16 0 20000 420 No 0
4711h
EEPROM=motor_1.torque_cutback[0].x
1 1 RW 4 0.015625 V Pt 1 Voltage Unsigned16 0 FFFFh 0 Voltage in 10.6 V No 0
4712h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
4712h
---- ---- ---- ---- Im/Lm Saturation Map Record N/A N/A ---- ---- ---- SECTION=MOTOR2CHARACTERIZATION
EEPROM=misc.saturation_map[0].x
1 1 RW 4 6.25E-02 A(RMS) Pt 1 Mag Current Unsigned16 0 FFFFh 0 Mag current in 12.4 A(RMS) No 0
2 1 RW 4 0.000244141 puH Pt 1 Mag Inductance Unsigned16 0 FFFFh 4587 Mag inductance in 4.12 H No 0
4714h
---- ---- ---- ---- Motor Temperature Sensor Record N/A N/A ---- Used to configure the temperature measuring analog input. ---- ---- SECTION=MOTOR2SETUP

NUMBER_FORMAT=4
2 - Switch.
4720h
NUMBER_FORMAT=2
---- ---- ---- ---- Motor Temperature Setup Record N/A N/A ---- Used to setup the motor temperature input. ---- ---- SECTION=MOTOR2SETUP

OBJECT=MOTOR_I2T_CUTBACK
---- ---- ---- ---- Powerframe I2t cutback Record N/A N/A Used to configure the powerframe I2t cutback ---- ---- SECTION=MOTOR2SETUP
4722h
---- ---- ---- ---- Additional Encoder Configuration Record N/A N/A ---- Used for additional encoder configuration parameters. ---- ---- SECTION=EncoderConfig
4730h EEPROM=motor_1.encoder_supply
0 = 10V
1 = 5V

---- ---- ---- ---- Motor Nameplate Data Record N/A N/A ---- Nameplate data ---- ---- SECTION=Motor2PlateData
1 1 RW 4 0.00390625 Vrms Rated line voltage Unsigned16 0 FFFFh 0 8.8 format No 0 EEPROM=misc.nameplate_rated_line_volts
4740h
2 1 RW 4 0.0625 Arms Rated phase current Unsigned16 0 FFFFh 0 12.4 format No 0 EEPROM=misc.nameplate_rated_phase_current
3 1 RW 4 rpm Rated mechanical speed Unsigned16 0 FFFFh 0 16.0 format No 0 EEPROM=misc.nameplate_rated_mech_speed
4 1 RW 4 0.0625 Hz Rated frequency Unsigned16 0 FFFFh 0 12.4 format No 0 EEPROM=misc.nameplate_rated_elec_freq
5 1 RW 4 0.0625 Kw Rated power Unsigned16 0 FFFFh 0 12.4 format No 0 EEPROM=misc.nameplate_rated_power
6 1 RW 4 0.00003051757813 sin theta Power factor Unsigned16 0 FFFFh 0 1.15 format No 0 EEPROM=misc.nameplate_power_factor
---- ---- ---- ---- Motor data (manufacturer specific) Record N/A N/A ---- Motor data. This is specific to the motor type. [34] ---- ---- SECTION=Motor2PlateData
4741h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
Used to disable/enable various features on the DSP DESC=Encoder wire-off detection:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled

Bit 0: Disable encoder wire-off detection DESC=Software overcurrent:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 1 : Disable software over current DESC=Use low speed gains below:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=200rpm:1=50rpm
Bit 2 : Use low speed gains DESC=Sin-cos PLL (PMAC) / Closed loop slip compensation (IM):HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:
Bit 3 : Enable sin-cos encoder PLL filter (PMAC), Closed loop slip compensation (GPAC pump IM) 1=Enabled
Bit 4 : Decouple Kp and Ki current control gains (PMAC, Size 2-6) DESC=Scale max torque by power limit:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 5 : Enable Gain Scheduling (PMAC only) DESC=Gain Scheduling:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 6 : Allow drv/brk trq inhibit to 0 RPM OBJECT=DSP_MISC_CONFIG DESC=Allow drv/brk trq inhibit to 0 RPM:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 7 : Enable motor open circuit detection(Nano only) SECTION=MOTOR2SETUP DESC=Motor open circuit detection:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
4750h 0 1 RW 4 Miscellaneous DSP configuration Unsigned16 0 FFh 0 No 0
Bit 8: Enable speed dependent field weakening EEPROM=misc.dsp_config DESC=Speed dependent field weakening:HEX_MASK=100:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 9: Short/Open circuit motor during severe fault CATEGORY=CONFIGURATION DESC=Motor fault state (PMAC only):HEX_MASK=200:MIN=0:MAX=1:NF=2:0=Open Circuit:1=Short Circuit
Bit 10: Bypass DC link discharge DESC=Bypass DC link discharge at power on (PMAC Only):HEX_MASK=400:MIN=0:MAX=1:NF=2:0=Discharge:1=Bypass
Bit 11 : Use lookup tables for demands DESC=Use lookup tables for demand (IMPM PMAC only):HEX_MASK=800:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 12 : Disable variable switching frequency (PMAC / DC-SEM), Enable bridge disable when DESC=Switching freq allowed to change to - reduce thermal losses (PMAC) / control low field currents (DC-SEM):
spinning (IM FV) HEX_MASK=1000:MIN=0:MAX=1:NF=2:0=Yes:1=No
Bit 13: Make fwd+rev speed limits equal and opposite DESC=Motor Forward and Reverse Speed Limits:HEX_MASK=2000:MIN=0:MAX=1:NF=2:0=Applied in drive direction only:
Bit 14: Not used 1=Equal and opposite
Bit 15: Disable SINCOS MINMAX Tracking DESC=SinCos MinMax Tracking:HEX_MASK=8000:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
---- ---- ---- ---- Speed control Gains Record N/A N/A ---- Used to set up the pv control loop ---- ---- SECTION=MOTOR1SETUP
1 1 RW 4 0.000244140625 Proportional gain Unsigned16 0 FFFFh 80h No 0
2 1 RW 4 0.00390625 Integral gain Unsigned16 0 FFFFh 40h No 0
4751h
3 1 RW 4 0.000244140625 Low Speed proportional gain Unsigned16 0 FFFFh 0 No 0
4 1 RW 4 0.00390625 Rollback integral gain Unsigned16 0 FFFFh 0 No 0
5 1 RW 4 0.00390625 Low speed integral gain Unsigned16 0 FFFFh 0 No 0
6 1 RW 4 0.00390625 dw/dt gain Unsigned16 0 FFFFh 0 No 0
CATEGORY=MONITORING
4780h
1 1 RO N/A 0.01 % Actual duty cycle Integer16 -32768 32767 No In 0.01%/bit. Basically a 16-bit equivalent of 786Ch,0. Yes 0
2 1 RO N/A 1 A Actual DC Motor Current Integer16 -32768 32767 No Average motor current Yes 0
CATEGORY=LOGGING
4781h
OBJECT=MOTOR_DEBUG
---- ---- ---- ---- Motor Debug Information Record N/A N/A ---- A summary of all data which can stop the DSP from controlling the motor. ---- ---- SECTION=Motor3Debug
CATEGORY=MONITORING
1 1 RO 4 0.00003051757813 Motor Temperature/Torque Cutback (DWork.Tj_cutback_factor) Unsigned16 0 65535 No Yes 0
cutback) to 1 (no cutback) in 1.15 format.
4782h
2 1 RO 4 1 DegC Junction Temperature (DWork.Tj[0]) Integer16 -32768 32767 No Estimated bottom MOSFET junction temperature in 16.0 DegC. Yes 0
3 1 RO 4 1 DegC Motor Temperature Estimate (DWork.T_motor) Integer16 -32768 32767 No Estimated Motor Temperature. In 16.0 DegC Yes 0
4 1 RO 4 1 A Maximum current (DWork.Ia_max) Integer16 -32768 32767 No Maximum current sent in A Yes 0
5 1 RO 4 0.00003051757813 Cutback Voltage factor (DWork.V_cutback_factor) Unsigned16 0 65535 No Voltage cutback factor from (4792h) in 1.15 Yes 0
6 1 RO 4 1 DegC Junction Temperature (DWork.Tj[1]) Integer16 -32768 32767 No Estimated top MOSFET junction temperature in 16.0 DegC. Yes 0
OBJECT=MOTOR3_CTRL_AUX
---- ---- ---- ---- Motor Auxiliary Control Record N/A N/A ---- Alternative and/or auxiliary control objects ---- ---- SECTION=Motor3CtrlAux
CATEGORY=MONITORING
4783h
1 1 RWW N/A 0.01 % Target speed Integer16 -20000 20000 No Motor target velocity in pv mode. 16-bit equivalent to 78FFh,0 Yes 1h
2 1 RWW N/A 1 ms Ramp rate Unsigned16 0 7FFFh No Target velocity ramp rate in ms. 16-bit equivalent to 7883h, 0. Yes 1h
---- ---- ---- ---- Voltage Torque-Cutback Map (for DC motor) Record N/A N/A ---- ---- ---- SECTION=MOTOR3CHARACTERIZATION
this object only take affect when the commit sub-index in 47C1h is written to.
1 1 RW 4 0.0625 V Pt 1 Voltage Unsigned16 0 FFFFh 0 Voltage in 10.6 V No 0
4792h
---- ---- ---- ---- Motor Temperature Setup (for DC motor) Record N/A N/A ---- Used to setup the motor temperature input. ---- ---- SECTION=MOTOR3SETUP

47C1h 1 1 WO 4 Commit Boolean 0 1 0 Write to this object to commit changes to all values in 4741h and the lookup table (4792h). No 1h WRITE_IN_PREOPERATIONAL_ONLY=TRUE
EEPROM=motor_2.dc_dp
2 1 RW 4 0.003051757813 Current limit proportional gain (DC_Kp) Unsigned16 0 FFFFh 22938 1.15 fixed point integer No 0
EEPROM=motor_2.dc_ki
3 1 RW 4 0.003051757813 Current limit integral gain (DC_Ki) Unsigned16 0 FFFFh 28406 1.15 fixed point integer No 0
OBJECT=PFC_STATUS
---- ---- ---- ---- PFC Inverter status info Record N/A N/A ---- SECTION=PFCSETUP
0 1 RO 1 0 Number of entries Unsigned8 0 FFh 0
1 1 RO 1 0.0625 V Mains RMS V Integer16 0 FFh 0 Attached Mains Voltage in 12.4V Yes 0
2 1 RO 1 0.0625 A Mains RMS I Integer16 0 FFFFh 0 Estimated Mains Current in 12.4A Yes 0
4800h NUMBER_FORMAT=3:0=Mains disconnected:1=Mains brown-
3 1 RO 1 Mains Detect Status Unsigned8 0 FFh 0 Status of mains attached Yes 0
out:2=Mains connected
NUMBER_FORMAT=10:0=Initialising:1=Mains is applied
charging caps:2=Waiting for relay to close:3=Starting PFC:
4 1 RO 1 PFC control status Unsigned8 1 FFh 0 State of the PFC control state machine Yes 0 4=PFC OK:5=PFC Fault:6=Mains Brown Out:7=Discharging
Caps:8=Waiting for mains to be applied:9=Mains off caps
discharged
OBJECT=PFC_SETUP
---- ---- ---- ---- Gyro Inverter Config Record N/A N/A ---- Used to setup the PFC Inverter ---- ---- SECTION=PFCSETUP
NUMBER_FORMAT=2:0=Mains PFC Stage:170=External DC
1 1 RW 4 DC Link Supply Source Unsigned8 0 FFh 0 No 0
supply
2 1 RW 4 % Inverter loss Unsigned16 0 100 No 0
4801h 3 1 RW 4 0.00003051757813 Power Limit PI control kp term Unsigned16 0 FFFFh 0.01 No 0 EEPROM=motor_0.power_lim_kp
4 1 RW 4 0.00003051757813 Power Limit PI control ki term Unsigned16 0 FFFFh 0.001 No 0 EEPROM=motor_0.power_lim_ki
5 1 RW 4 0.00003051757813 Power Limit PI control ff term Unsigned16 0 FFFFh 0 No 0 EEPROM=motor_0.power_lim_ff
6 1 RW 4 0.00003051757813 i2t_filter_pole Unsigned16 0 FFFFh 0 No 0
7 1 RW 4 0.00003051757813 i2t_filter_ki Unsigned16 0 FFFFh 0 No 0
8 1 RW 4 1 s Speed limit filter Time constant Unsigned16 0 FFFFh 1 non zero to set time constant, 0 to disable. No 0
8 2 RW 4 1 ms Speed limit filter Time constant Unsigned16 0 FFFFh 1 non zero to set time constant, 0 to disable. No 0
OBJECT=PFC_SETUP
---- ---- ---- ---- Gyro Inverter status info Record N/A N/A ---- Used to setup the Gyro Sensorless control SECTION=PFCSETUP
0 1 RO 1 0 Number of entries Unsigned8 0 FFh 12
1 1 RW 4 0.00001525878906 sc_observation_mode_time Integer32 0 FFFFFFFFh 0 No 0
2 1 RW 4 0.00001525878906 sc_observation_min_current Integer32 0 FFFFFFFFh 0 No 0
3 1 RW 4 0.00001525878906 sc_observation_fly_speed Integer32 0 FFFFFFFFh 0 No 0
4 1 RW 4 0.00001525878906 min_trq_for_scom Integer32 0 FFFFFFFFh 0 No 0
5 1 RW 4 0.00001525878906 min_speed_for_sensorless Integer32 0 FFFFFFFFh 0 No 0
4802h
6 1 RW 4 0.00001525878906 maximum_allowed_hf_time Integer32 0 FFFFFFFFh 0 No 0
7 1 RW 4 0.00001525878906 high_freq_injection Integer32 0 FFFFFFFFh 0 No 0

8 1 RW 4 0.00001525878906 hf_to_sc_time Integer32 0 FFFFFFFFh 0 No 0
9 1 RW 4 0.00001525878906 hf_time Integer32 0 FFFFFFFFh 0 No 0
10 1 RW 4 0.00001525878906 lf_time Integer32 0 FFFFFFFFh 0 No 0
11 1 RW 4 0.00001525878906 hf_to_sc_speed Integer32 0 FFFFFFFFh 0 No 0
12 1 RW 4 0.00001525878906 hf_angle_tolerance_degrees Integer32 1 FFFFFFFFh 0 No 0
OBJECT=SENSORLESS_STATUS
---- ---- ---- ---- Sensorless status Record N/A N/A ---- ---- ---- SECTION=SENSORLESS_STAT
CATEGORY=MONITORING

1 1 RO N/A pm_ac_fsm_state Unsigned8 0 FFh 0 state of the motor control state machine Yes 0
2 1 RO N/A s_mode Unsigned8 0 FFh 0 state of the sensorless state machine Yes 0
3 1 RO N/A boost control state machine Unsigned8 0 FFh 0 state of the boost state machine Yes 0
---- ---- ---- ---- PFC Hours Counter Record N/A N/A ---- PFC hours counter ---- ---- SECTION=HoursCounters
CATEGORY=LOGGING
4820h
OBJECT=UD_EXT_IP_CUTBACK_MAP_2
---- ---- ---- ---- User Definable motor cutback Map 2 Record N/A N/A User definable Cutback map PTC input 2 SECTION=MOTOR1CHARACTERIZATION
4880h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
4880h
OBJECT=UD_THERMISTOR_MAP_2
Used when 4620, 1 is in dual thermistor mode, all 8 entries must be present, and resistance must
---- ---- ---- ---- User Definable Thermistor Map 2 Record N/A N/A SECTION=MOTOR1CHARACTERIZATION
be in ascending order.
4881h
OBJECT=INPUT_VOLTAGE_DRIVE_CUTBACK
---- ---- ---- ---- Input voltage drive cutback map Record N/A N/A SECTION=MOTOR1CHARACTERIZATION
1 1 RW 4 1 V Pt1 Input Voltage Unsigned16 0 20h 8 Voltage in 16.0 format No 0 EEPROM=motor_0.vbat_map[0].x
2 1 RW 4 1 Power Pt1 Output Power Unsigned16 0 2000h 0 Power in 16.0 format No 0 EEPROM=motor_0.vbat_map[0].y
4883h
OBJECT=INPUT_VOLTAGE_REGEN_CUTBACK
---- ---- ---- ---- Input voltage regen cutback map Record N/A N/A SECTION=MOTOR1CHARACTERIZATION
1 1 RW 4 1 V Pt1 Input Voltage Unsigned16 0 3Ch 8 Voltage in 16.0 format No 0 EEPROM=motor_0.vbat_map_regen_only[0].x
2 1 RW 4 1 Power Pt1 Regen Power Unsigned16 0 2000h 50 Power in 16.0 format No 0 EEPROM=motor_0.vbat_map_regen_only[0].y
4884h
OBJECT=UD_EXT_IP_CUTBACK_MAP_3
---- ---- ---- ---- User Definable motor cutback Map 3 Record N/A N/A User definable Cutback map PTC input 3 SECTION=MOTOR1CHARACTERIZATION
4885h
OBJECT=UD_THERMISTOR_MAP_3
Used when 4620, 1 is in dual thermistor mode, all 8 entries must be present, and resistance must
---- ---- ---- ---- User Definable Thermistor Map 3 Record N/A N/A SECTION=MOTOR1CHARACTERIZATION
be in ascending order.
4886h
OBJECT=SOC_MAP
---- ---- ---- ---- User Definable SOC Torque cutback map (Drive only) Record N/A N/A SOC torque mode for drive SECTION=MOTOR1CHARACTERIZATION
1 1 RW 4 0.0625 % SOC Point 1 Unsigned16 0 65535 0000h No 0
2 1 RW 4 0.000244140625 Torque percentage gain 1 Unsigned16 0 65535 0000h No 0
4887h
16 1 RW 4 0.000244140625 Torque percentage gain 8 Unsigned16 0 65535 0000h
17 1 RW 4 0.0625 % SOC Point 9 Unsigned16 0 65535 0000h
18 1 RW 4 0.000244140625 Torque percentage 9 Unsigned16 0 65535 0000h No 0
OBJECT=PFC_SETUP
---- ---- ---- ---- PFCI DCF ID Info Record N/A N/A ---- Used to setup the PFC Inverter ---- ---- SECTION=PFCSETUP

1 1 RW 4 ID Unsigned8 0 FFh 0 No 0
2 1 RW 4 Version Unsigned16 0 FFFFh 0 No 0
3 1 RW 4 Compatibility Index Unsigned8 0 FFh 0 No 0
OBJECT=PFC_SETUP
4901h 0 1 RW 4 SK Protocol Version Unsigned8 0 FFh 0 Protocol used by the Gyro Inverter No 0 SECTION=PFCSETUP
OBJECT=PASSWORD
---- ---- ---- ---- Password Entry Record N/A N/A ---- Allows user to change the access level. ---- ---- SECTION=Security
CATEGORY=MONITORING
NUMBER_FORMAT=6
0=Not logged in
1=User
Gives an indication of the current access level. 0 is the lowest level (majority of objects cannot be
1 1 RO N/A Access Level Indication Unsigned8 0 5 0 No 0 2=Dealer
read/written), 5 is the highest level.
3=Production
5000h 4=Engineering
5=SEVCON
2 1 WO N/A Password (16-bit) Unsigned16 0 FFFFh 0 No 3h NUMBER_FORMAT=BASE16

3 1 RW N/A User ID Unsigned16 0 FFFFh 0 No 3h NUMBER_FORMAT=BASE16
4 1 WO N/A Password (32-bit) Unsigned32 0 FFFFFFFFh 0 No 3h NUMBER_FORMAT=BASE32
5 1 WO N/A Customer Password (32-bit) Level 1 Unsigned32 0 FFFFFFFFh 0 No 0 NUMBER_FORMAT=BASE32
OBJECT=PASSWORD_KEY
SECTION=Security
5001h 0 1 RW 5 Password Key Unsigned16 0 FFFFh 0 Determines the password codes. No 0
CATEGORY=MONITORING
OBJECT=PASSWORD_KEY
SECTION=Security
5001h 0 2 RW 4 Password Key Unsigned16 0 FFFFh 0 Determines the password codes. No 0
CATEGORY=MONITORING
OBJECT=DEVICE_MEASUREMENTS
---- ---- ---- ---- Device Measurements Record N/A N/A ---- Measurement values ---- ---- SECTION=VEHICLESTATUS
CATEGORY=MONITORING
1 1 RO N/A 0.0625 V Battery Voltage Unsigned16 0 FFFFh No Yes 0
2 1 RO N/A 0.0625 A Battery Current Integer16 8000h 7FFFh No Calculated battery current based on power measurement in motor Yes 0
3 1 RO N/A 0.0625 V Capacitor Voltage Unsigned16 0 FFFFh No Yes 0
4 1 RO N/A DegC Heatsink Temperature Integer8 -128 127 No Yes 0
4 2 RO N/A DegC Heatsink Temperature Integer16 -32768 32767 No Yes 0
4 3 RO N/A 0.0625 DegC Heatsink Temperature Integer16 -32768 32767 No Yes 0
5100h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
5 1 RO N/A 0.0625 V Logic supply input Unsigned16 0 FFFFh No logic supply voltage Yes 0
5 2 RO N/A 0.0625 V Boost output voltage Unsigned16 0 FFFFh No Output voltage from boost stage Yes 0
6 1 RO N/A 1 V Battery Voltage (8-bit) Unsigned8 0 FFh No Yes 0
6 2 RO N/A 0.25 V Battery Voltage (8-bit) Unsigned8 0 FFh No Yes 0
7 1 RO N/A 1 V Capacitor Voltage (8-bit) Unsigned8 0 FFh No Yes 0
7 2 RO N/A 0.25 V Capacitor Voltage (8-bit) Unsigned8 0 FFh No Yes 0
8 1 RO N/A 0.00390625 V Logic 12V supply Unsigned8 0 FFh No 12V supply used for analogue input pull-up Yes 0
9 1 RO N/A DegC Logic Temperature Integer16 -40 150 No Yes 0
10 1 RO N/A 0.00390625 kW Input Power Integer16 -127 128 No Input power calculated as Vcap*Ibat Yes 0
11 1 RO N/A 0.00390625 V MCP 3V3 Integer16 -127 128 No Yes 0
12 1 RO N/A 0.00390625 V MCP 5V Integer16 -127 128 No Yes 0
13 1 RO N/A 0.00390625 V MCP DCCT 5V Integer16 -127 128 No Yes 0
14 1 RO N/A 0.00390625 V MCP 18V Integer16 -127 128 No Yes 0
5100h 15 1 RO N/A 0.00390625 V IOP 3V3 Integer16 -127 128 No Yes 0
16 1 RO N/A 0.00390625 V IOP 5V Integer16 -127 128 No Yes 0
17 1 RO N/A 0.00390625 V IOP 15V Integer16 -127 128 No Yes 0
18 1 RO N/A 0.00390625 V IOP encoder 1 supply Integer16 -127 128 No Yes 0
19 1 RO N/A 0.00390625 V IOP encoder 2 supply Integer16 -127 128 No Yes 0
20 1 RO N/A 0.00390625 V IOP analogue 1 supply Integer16 -127 128 No Yes 0
21 1 RO N/A 0.00390625 V IOP analogue 2 supply Integer16 -127 128 No Yes 0
22 1 RO N/A 0.00390625 V IOP PTC 1 supply Integer16 -127 128 No Yes 0
23 1 RO N/A 0.00390625 V IOP PTC 2 supply Integer16 -127 128 No Yes 0
24 1 RO N/A 0.00390625 V KL15 monitor Integer16 -127 128 No Yes 0
25 1 RO N/A 0.00390625 V KL30 monitor Integer16 -127 128 No Yes 0
26 1 RO N/A 0.00390625 V Supply Rail 12v Integer16 -127 128 No Yes 0
27 1 RO N/A 0.00390625 V Supply Rail 20v Integer16 -127 128 No Yes 0
28 1 RO N/A 0.00001525878906 Vout DAC calibration multiplier Integer32 0 FFFFFFFFh No No 0
29 1 RO N/A 0.00001525878906 Vout DAC calibration offset Integer32 0 FFFFFFFFh No No 0
30 1 RO N/A 0.00001525878906 Vout measurement calibration multiplier Integer32 0 FFFFFFFFh No No 0
31 1 RO N/A 0.00001525878906 Vout measurement calibration offset Integer32 0 FFFFFFFFh No No 0
32 1 RO N/A 0.00001525878906 Iout measurement calibration multiplier Integer32 0 FFFFFFFFh No No 0
33 1 RO N/A 0.00001525878906 Iout measurement calibration offset Integer32 0 FFFFFFFFh No No 0
34 1 RO N/A 1 Disable Reason Unsigned16 0 FFFFh No Reason for output disable Yes 0
35 1 RO N/A 1 Primary Fault Flags Unsigned16 0 FFFFh No Primary side fault flags Yes 0
36 1 RO N/A 0.00390625 V MCP HV 15V KL30 Integer16 -127 128 No Yes 0
37 1 RO N/A 0.00390625 V MCP HV 15V KL40 Integer16 -127 128 No Yes 0
OBJECT=DEVICE_MEASUREMENTS
---- ---- ---- ---- Power Module Temperatures Record N/A N/A ---- Individual measurements for power module temperatures ---- ---- SECTION=VEHICLESTATUS
CATEGORY=MONITORING
1 1 RO N/A 1 DegC Power Module 1 Temperature Integer8 -128 127 No 8.0 Temperature of power module 1 Yes 0
1 2 RO N/A 0.0625 DegC Heatsink Temperature Measured 1 Integer16 -32768 32767 No 12.4 Heatsink Temperature Measured 1 Yes 0
4 1 RO N/A 0.0625 DegC PCB Track Measured Temperature Integer16 -32768 32767 No 12.4 PCB Track Measured Temperature Yes 0
5 1 RO N/A 0.0625 DegC Junction Temperature Estimate 1 (M1L) Integer16 -32768 32767 No 12.4 Junction Temperature Estimate 1 (M1/A1 lower) Yes 0
6 1 RO N/A 0.0625 DegC Junction Temperature Estimate 2 (M2L) Integer16 -32768 32767 No 12.4 Junction Temperature Estimate 2 (M2/F lower) Yes 0
7 1 RO N/A 0.0625 DegC Junction Temperature Estimate 3 (M3L) Integer16 -32768 32767 No 12.4 Junction Temperature Estimate 3 (M3/A2 lower) Yes 0
8 1 RO N/A 0.0625 DegC Junction Temperature Estimate 4 (M1U) Integer16 -32768 32767 No 12.4 Junction Temperature Estimate 4 (M1/A1 upper) Yes 0
9 1 RO N/A 0.0625 DegC Junction Temperature Estimate 5 (M2U) Integer16 -32768 32767 No 12.4 Junction Temperature Estimate 5 (M2/F upper) Yes 0
10 1 RO N/A 0.0625 DegC Junction Temperature Estimate 6 (M3U) Integer16 -32768 32767 No 12.4 Junction Temperature Estimate 6 (M3/A2 upper) Yes 0
11 1 RO N/A 0.0625 DegC Track Temperature Estimate 1 (M1L / M1) Integer16 -32768 32767 No 12.4 Track Temperature Estimate 1 (M1/A1 lower or M1) Yes 0
12 1 RO N/A 0.0625 DegC Track Temperature Estimate 2 (M2L / M2) Integer16 -32768 32767 No 12.4 Track Temperature Estimate 2 (M2/F lower or M2) Yes 0
13 1 RO N/A 0.0625 DegC Track Temperature Estimate 3 (M3L / M3) Integer16 -32768 32767 No 12.4 Track Temperature Estimate 3 (M3/A2 lower or M3) Yes 0
14 1 RO N/A 0.0625 DegC Track Temperature Estimate 4 (M1U / B-) Integer16 -32768 32767 No 12.4 Track Temperature Estimate 4 (M1/A1 upper or B-) Yes 0
15 1 RO N/A 0.0625 DegC Track Temperature Estimate 5 (M2U / B+) Integer16 -32768 32767 No 12.4 Track Temperature Estimate 5 (M2/F upper or B+) Yes 0
16 1 RO N/A 0.0625 DegC Track Temperature Estimate 6 (M3U) Integer16 -32768 32767 No 12.4 Track Temperature Estimate 6 (M3/A2 upper) Yes 0
17 1 RO N/A 0.0625 DegC Capacitor short term temperature estimate Integer16 -32768 32767 No 12.4 Capacitor short term temperature estimate Yes 0
18 1 RO N/A 0.0625 DegC Capacitor long term temperature estimate Integer16 -32768 32767 No 12.4 Capacitor long term temperature estimate Yes 0
19 1 RO N/A 0.00006103515625 Hardware & junctions cutback factor (torque) Integer16 -32768 32767 No 2.14 Hardware and junctions cutback factor Yes 0
20 1 RO N/A 0.00390625 V Logic 5V supply Integer16 -32768 32767 No 8.8 Logic 5V supply Yes 0
21 1 RO N/A 0.00390625 V DCCT 5V supply Integer16 -32768 32767 No 8.8 DCCT 5V supply Yes 0
22 1 RO N/A 0.00390625 V Logic 9.4V supply Integer16 -32768 32767 No 8.8 Logic 9.4V supply Yes 0
5101h 25 1 RO N/A 0.00390625 V Motor thermistor supply Integer16 -32768 32767 No 8.8 Motor thermistor supply Yes 0
26 1 RO N/A 0.0625 DegC Diode Temperature Estimate 1 (M1L) Integer16 -32768 32767 No 12.4 Diode Temperature Estimate 1 (M1 lower) Yes 0
29 1 RO N/A 0.0625 DegC Diode Temperature Estimate 4 (M1U) Integer16 -32768 32767 No 12.4 Diode Temperature Estimate 4 (M1 upper) Yes 0
32 1 RO N/A 0.0625 DegC PCB (IOP) Track Measured Temperature Integer16 -32768 32767 No 12.4 PCB (I/O) Track Measured Temperature Yes 0
33 1 RO N/A 0.0625 DegC Capacitor Measured Temperature Integer16 -32768 32767 No 12.4 Capacitor Measured Temperature Yes 0
34 1 RO N/A 0.0625 DegC MCP Die Temperature Integer16 -32768 32767 No 12.4 MCP CPU Die Temperature Yes 0
35 1 RO N/A 0.0625 DegC IOP Die Temperature Integer16 -32768 32767 No 12.4 IO CPU Die Temperature Yes 0
36 1 RO N/A 0.00006103515625 Hardware & junctions cutback factor (frequency) Integer16 -32768 32767 No 2.14 Hardware and junctions cutback factor (switching frequency) Yes 0
37 1 RO N/A 0.00006103515625 Hardware & junctions cutback factor (current) Integer16 -32768 32767 No 2.14 Hardware and junctions cutback factor (torque / current) Yes 0
38 1 RO N/A 0.0625 DegC Battery Switch Temperature Estimate Integer16 -32768 32767 No 12.4 Battery Switch Temperature Estimate Yes 0
39 1 RO N/A 0.0625 DegC Junction Temperature Delta Estimate 1 (M1L) Integer16 -32768 32767 No 12.4 Estimated temperature difference between junctions and heatsink 1 (M1 lower) Yes 0
42 1 RO N/A 0.0625 DegC Junction Temperature Delta Estimate 4 (M1U) Integer16 -32768 32767 No 12.4 Estimated temperature difference between junctions and heatsink 4 (M1 upper) Yes 0
45 1 RO N/A 1 Hottest Overtemperature Device Code Unsigned8 0 256 No ID code to identify which thermal cutback is active (different for each product) Yes 0
46 1 RO N/A 0.0625 DegC Secondary Temperature Integer16 -32768 32767 No Secondary Heatsink Temperature Yes 0
47 1 RO N/A 0.0625 DegC PCB Temperature Integer16 -32768 32767 No Secondary PCB Temperature Yes 0
48 1 RO N/A 0.0625 DegC Primary Temperature Integer16 -32768 32767 No Primary Temperature Yes 0
49 1 RO N/A 0.0625 DegC Estimate terminal temperature Integer16 -32768 32767 No estimated temperature of the terminals Yes 0
50 1 RO N/A 0.0625 Terminal cutback factor Integer16 -32768 32767 No Cutback factor from the terminal temperature Yes 0
reason for thermal cutback

heatsink too hot 0x01
heatsink too cold 0x02
51 1 RO N/A Temperature cutback reason Unsigned8 0 255 No Yes 0
track too hot 0x04
boost too hot 0x08
terminals too hot 0x10
OBJECT=IOP_START_DEBUG
---- ---- ---- ---- IOP Startup Debug Record N/A N/A ---- Objects to debug IOP resets ---- ---- SECTION=StartDebug
CATEGORY=MONITORING
5102h
1 1 RO N/A IOP Boot Count Unsigned32 0 FFFFh No Number of times the IOP has booted up whilst the MCP has been turned on. Yes 1h
2 1 RO N/A IOP Last Startup Reset Reason Unsigned32 0 EFh No Reset reason bitfield of the IOP Yes 1h
OBJECT=NMT_STATE
SECTION=CANOPEN_GENERALSTATUS
Contains the current NMT state of the node. Valid values are
5110h 0 1 RO N/A NMT State Unsigned8 0 FFh No No 0 NUMBER_FORMAT=3
4h - Stopped, 5h - Operational or 7Fh - Pre-Operational.
4=Stopped:5=Operational:127=Pre-Operational
CATEGORY=MONITORING
OBJECT=NODE_CAP_PRECHARGE
Write a non-zero value to this object to start the capacitor precharge cycle. Reading this object will
5180h 0 1 WO N/A Capacitor Precharge activate Unsigned8 0 FFh No No 3h SECTION=VEHICLECONFIG
return 1 during a precharge and 0 all other times.
CATEGORY=MONITORING
OBJECT=CONTROLLER_HOURS
---- ---- ---- ---- Controller key hours Record N/A N/A ---- Local node key hours counters ---- ---- SECTION=HoursCounters
CATEGORY=LOGGING
5200h
OBJECT=NODE_FAULT_INFO
---- ---- ---- ---- Node fault information Record N/A N/A ---- Fault information for the current node ---- ---- SECTION=ActiveFaultLog
CATEGORY=LOGGING
5300h
1 1 RO N/A Number of faults currently active. Unsigned16 0 FFFFh No Returns the number of active faults. No 1h
When faults are active this is used to select a position in the list of faults (most severe being at index
2 1 RW N/A Select position in fault list to read from 5300h, 3 Unsigned16 0 FFFFh No No 1h
0) to display in the next index.
3 1 RO N/A ID of Fault at position selected in 5300h, 2. Unsigned16 0 FFFFh No ID of fault at index selected in sub-index 1 No 0 NUMBER_FORMAT=BASE16
TRUE if RPDOs are being received as expected, or no RPDOs are expected. FALSE if any OBJECT=NODE_FAULT_INFO
5301h 0 1 RO N/A RPDO Reception Status Ok Boolean 0 FFh No Yes 0
expected RPDO is not being received. CATEGORY=MONITORING
OBJECT=GENERAL_ABORT_CODE
NUMBER_FORMAT=21
0=None:1=General:2=Nothing to Transmit
3=Invalid Service:4=Not In Preoperational
5=Not In Operational:6=Cannot goto Preoperational
7=Cannot goto Operational:8=Access Level too low
Provides more information when the controller returns a CANopen General Abort Error
5310h 0 1 RO N/A CANopen General Error Abort Code Unsigned16 0 FFFFh No No 1h 9=Login Failed:10=Range Underflow
(0x08000000)
11=Range Overflow:12=Invalid Value
13=EEPROM Update Failed
14=Cannot reset Service Time:15=Cannot Reset Log
16=Cannot Read Log:17=Invalid Store Command
18=Bootloader Failure:19=DSP Update Failed
20=GIO Update Failed
CATEGORY=MONITORING
OBJECT=NODE_HIGHEST_PRIORITY_FAULT
5320h 0 1 RO N/A Currently active highest priority fault Unsigned16 0 FFFFh No Fault ID of currently active highest priority fault Yes 0 SECTION=ActiveFaultLog
CATEGORY=MONITORING
OBJECT=BOOTLOADER_INIT
SECTION=CANOPEN_GENERALCONTROL
5400h 0 1 RW 2 Bootloader Activate Unsigned8 0 FFh 0 Write a non-zero value to this object to initiate the bootloader. No 3h
COMMS_TIMEOUT=1
CATEGORY=MONITORING
OBJECT=NVM_FORMAT
5500h 0 1 RO N/A NVM Format Unsigned32 0 FFFFFFFFh No Displays the format version for the NVM (EEPROM) layout. No 3h SECTION=Identity
CATEGORY=MONITORING
OBJECT=INTERNAL_ROM_CHECKSUM
SECTION=Identity
5501h 0 1 RO N/A Internal ROM Checksum Unsigned16 0 FFFFh No Internal ROM Checksum No 3h
CATEGORY=MONITORING
OBJECT=INTERNAL_ROM_CHECKSUM
SECTION=Identity
5501h 0 2 RO N/A Internal ROM CRC Unsigned32 0 FFFFFFFFh No Internal ROM CRC No 3h
CATEGORY=MONITORING
OBJECT=EXTERNAL_ROM_CHECKSUM
SECTION=Identity
5502h 0 1 RO N/A External ROM Checksum Unsigned16 0 FFFFh No External ROM Checksum No 3h
CATEGORY=MONITORING
OBJECT=SOFTWARE_REVISION
5503h 0 1 RO N/A Software Build Revision Unsigned32 0 FFFFFFFFh No Used for internal development only. No 0 SECTION=Identity
CATEGORY=MONITORING
OBJECT=SOFTWARE_CONSISTENCY
5504h 0 1 RO N/A Software Build Consistency Check Boolean 0 FFh No Used for internal development only. No 0 SECTION=Identity
CATEGORY=MONITORING
OBJECT=CUST_PRODUCT_CODE
Customer product code is a 20-character length (writable) string. I requires access level 4 to write
5510h 0 1 RW N/A Customer Product Code. Visible String N/A N/A No No 0 SECTION=Identity
and it can be read with any access level.
CATEGORY=MONITORING
OBJECT=DOMAIN_UPLOAD
Each sub-index is a domain object which can be used to upload a typically large block of data in one
---- ---- ---- ---- Node domain uploads Record N/A N/A ---- ---- ---- SECTION=DomainLogs
SDO read.
CATEGORY=MONITORING
1 1 RO N/A System FIFO Domain N/A N/A No System FIFO. This can also be accessed using objects 4100h to 4102h No 1h COMMS_TIMEOUT=20000
2 1 RO N/A Faults FIFO Domain N/A N/A No Faults FIFO. This can also be accessed using objects 4110h to 4112h No 1h COMMS_TIMEOUT=20000
3 1 RO N/A Event Counters Domain N/A N/A No Event counters. These can also be accessed using objects 4200h to 420Ah No 1h COMMS_TIMEOUT=20000
5600h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
5600h 4 1 RO N/A Customer Operational Monitor Domain N/A N/A No Customer Operational Monitor. Can also be accessed using 4300h No 1h COMMS_TIMEOUT=20000
5 1 RO N/A Sevcon Operational Monitor Domain N/A N/A No Sevcon Operational Monitor. Can also be accessed using 4301h No 1h COMMS_TIMEOUT=20000
6 1 RO N/A Active Fault List Domain N/A N/A No Active Fault List. Can also be accessed using 5300h No 1h COMMS_TIMEOUT=20000
7 1 RO N/A Debug Domain N/A N/A No Various debug information (e.g. application FSM states) No 1h COMMS_TIMEOUT=20000
8 1 WO N/A CLI In Domain N/A N/A No Used to write ASCII CLI command. No 1h COMMS_TIMEOUT=20000
Used to read back ASCII CLI output. Similar to reading serial port on controller. Can contain up to
9 1 RO N/A CLI Out Domain N/A N/A No No 3h COMMS_TIMEOUT=20000
1024 characters. The buffer is reset after reading.
10 1 RO N/A Event List Domain N/A N/A No Returns a list of every event ID known by the controller. No 1h COMMS_TIMEOUT=40000
OBJECT=INDIRECT_OBJECT_UPDATE
---- ---- ---- ---- Indirect Object Update Record N/A N/A ---- Used to access objects indirectly ---- ---- SECTION=CANOPEN_GENERALCONTROL
CATEGORY=MONITORING
5601h 1 1 RW N/A Index Unsigned16 0 FFFFh No Object index No 3h NUMBER_FORMAT=BASE16
2 1 RW N/A Sub-Index Unsigned8 0 FEh No Object sub-index No 3h NUMBER_FORMAT=BASE16
3 1 RW N/A New Value Unsigned32 0 FFFFFFFFh No New value No 3h NUMBER_FORMAT=BASE16
4 1 RW N/A Seed/Unlock code Unsigned16 0 FFFFh No Read seed, scramble and write back unlock code. No 3h NUMBER_FORMAT=BASE16
5 1 RO N/A Result Unsigned32 0 FFFFFFFFh No Result of write. Uses same values as SDO return code. No 3h NUMBER_FORMAT=BASE16
OBJECT=DEBUG_CONTROL
---- ---- ---- ---- Debug object Record N/A N/A ---- ---- ---- SECTION=CANOPEN_GENERALCONTROL
CATEGORY=MONITORING
1 1 RO N/A Debug value 1 Unsigned32 0 FFFFFFFFh No Debug value from DSP Yes 0
5 1 RW N/A Enable debug output Unsigned16 0 FFFFh No Enables debug output from controller No 3h
Specifies the time base of programmable detailed trace capture, if zero no detailed trace occurs.
6 1 RW N/A Debug sample rate count Unsigned8 0 FFh No No 3h
Units depend on rate at which auto-trace run function is called and is build specific.
7 1 RW N/A Debug item 1 address Unsigned32 0 FFFFFFFFh No Pointer to static RAM No 3h
Data type and format information. Bits 0..4 provide a right shift value to convert 32-bit integers and
12 1 RW N/A Data type and format for debug item 1 Unsigned8 0 FFh No floats into 16-bit format. Bit 5 is set if the data is 8-bit, bit 7 is set if the data is a float. If shift is > 16, No 3h
the data type is assumed as 16-bit and no shift is applied.
5602h 13 1 RW N/A Data type and format for debug item 2 Unsigned8 0 FFh No floats into 16-bit format. Bit 5 is set if the data is 8-bit, bit 7 is set if the data is a float. If shift is > 16, No 3h
17 1 RW N/A Trigger value Unsigned32 0 FFFFFFFFh No if debug item 1 is greater than this value if >0 or less than this value is <0 or 0 if zero No 3h
Allows you to configure how the trigger value is used (overriding the default operation): OBJECT=DEBUG_CONTROL
0 = default operation (see sub-index 17 description) SECTION=CANOPEN_GENERALSTATUS
1 = debug item 1 > trigger value NUMBER_FORMAT=5
20 1 RW N/A Trigger mode Unsigned8 0 FFh No No 3h
2 = debug item 1 < trigger value 0=Default:1=Greater than:2=Less than
3 = debug item 1 non-zero 3=Non-zero:4=Zero
4 = debug item 1 zero CATEGORY=MONITORING
OBJECT=MEMORY_PEEK
---- ---- ---- ---- Host/DSP Memory peek Record N/A N/A ---- ---- SECTION=CANOPEN_GENERALCONTROL
CATEGORY=MONITORING
1 1 RW 5 Host address Unsigned32 0 FFFFFFFFh No Write host address to be peeked No 3h
Selects which processor to peek or poke
1 2 RW 5 Processor selection index Unsigned8 0 FFh 0 0 = MCP No 3h
1 = IOP
5603h
2 1 RO 5 Host value Unsigned8 0 FFh No Read peeked host value No 3h
2 2 RO 5 Host value Unsigned16 0 FFFFh No Read peeked host value No 3h
2 3 RO 5 Slave 32-bit value Unsigned32 0 FFFFFFFFh No Read peeked 32-bit value. After writing to the object it will be cleared to zero. No 3h
3 1 RW 5 Slave address Unsigned32 0 FFFFFFFFh No Write slave address to be peeked No 3h
4 1 RO 5 Slave 16-bit value Unsigned16 0 FFFFh No Read peeked slave 16-bit value No 3h
4 2 RW 5 Slave 16-bit value Unsigned16 0 FFFFh No Read peeked slave 16-bit value, write poke 16-bit value No 3h
5 1 RW 5 Slave 8-bit value Unsigned8 0 FFFFh No Read peeked slave 8-bit value, write poke 8-bit value No 3h
OBJECT=DSP_DETAILED_TRACE
---- ---- ---- ---- DSP Trace Object Record N/A N/A ---- Used to upload detailed trace capture ---- ---- SECTION=CANOPEN_GENERALSTATUS
CATEGORY=MONITORING
5604h
1 1 RW 4 Trace Index Unsigned16 0 FFFFh No Index of trace item to upload No 3h
2 1 RO N/A Trace Data Domain N/A N/A No Data at specified index No 3h
Used to monitor interrupt timings. Code must have CONFIG_ENABLE_TIMING_ANALYSIS for this
OBJECT=TIMING_ANALYSIS
to be enabled. Two times are calculated, a periodic time which indicates the rate at which code is
---- ---- ---- ---- Timing Analysis Record N/A N/A ---- ---- ---- SECTION=NODE_STATUS
called, and an interval time which indicates how long the code takes to execute. There is a min/max
CATEGORY=MONITORING
and average for each time.

1 1 RW N/A ID Unsigned8 0 FFh No Id of code to be timed. No 3h
Sample rate for the average time. This is specified as a shift to simplify the code. So a sample rate
2 1 RW N/A Sample rate Unsigned8 0 FFh No No 3h
of 3 equates to 2^3 = 8 samples.
5605h
3 1 RO N/A 0.4 us Periodic Minimum Time Unsigned16 0 FFFFh No Minimum time between periodic calls of the code. Yes 3h
4 1 RO N/A 0.4 us Periodic Maximum Time Unsigned16 0 FFFFh No Maximum time between periodic calls of the code. Yes 3h
5 1 RO N/A 0.4 us Periodic Average Time Unsigned16 0 FFFFh No Average time between periodic calls of the code. Yes 3h
6 1 RO N/A 0.4 us Interval Minimum Time Unsigned16 0 FFFFh No Minimum time for code to execute. Yes 3h
7 1 RO N/A 0.4 us Interval Maximum Time Unsigned16 0 FFFFh No Maximum time for code to execute. Yes 3h
8 1 RO N/A 0.4 us Interval Average Time Unsigned16 0 FFFFh No Average time for code to execute. Yes 3h
9 1 RO N/A Interval Overflow Counter Unsigned16 0 FFFFh No Number of times code execution has exceed allowed maximum. Yes 3h
to be enabled. A period (rate at which code is called), average and maximum interval (execution)
times and overflow of allowed maximum times are measured. All interrupts are measured
CATEGORY=MONITORING
simultaneously.

1 2 RW N/A ID Unsigned8 0 FFh No Id of code whose data is read back in rest of object. Set to 0xFF to reset all current times. No 3h
5605h 5 2 RO N/A 0.266 us Periodic Average Time Unsigned16 0 FFFFh No Average time between periodic calls of the code. Yes 3h
10 2 RO N/A 0.266 us Expected period Unsigned16 0 FFFFh No Expected period for interrupt Yes 3h
11 2 RO N/A 0.266 us Maximum allowed interval time Unsigned16 0 FFFFh No Maximum allowed time for interval. Overflow counter increments if time is above this. Yes 3h
to be enabled. A period (rate at which code is called), average and maximum interval (execution)
times and overflow of allowed maximum times are measured. All interrupts are measured
CATEGORY=MONITORING
simultaneously.

1 3 RW N/A ID Unsigned8 0 FFh No Id of code whose data is read back in rest of object. Set to 0xFF to reset all current times. No 3h
5605h 5 3 RO N/A 0.266 us Periodic Average Time Unsigned16 0 FFFFh No Average time between periodic calls of the code. Yes 3h
10 3 RO N/A 0.266 us Expected period Unsigned16 0 FFFFh No Expected period for interrupt Yes 3h
11 3 RO N/A 0.266 us Maximum allowed interval time Unsigned16 0 FFFFh No Maximum allowed time for interval. Overflow counter increments if time is above this. Yes 3h
OBJECT=QUEUE_METRICS
---- ---- ---- ---- Queue Metrics Record N/A N/A ---- Used to monitor Queue metrics ---- ---- SECTION=NODE_STATUS
CATEGORY=MONITORING

1 1 RW N/A ID Unsigned8 0 FFh No ID of queue to monitor No 3h
2 1 RO N/A Queue Depth (Actual) Unsigned16 0 FFFFh No Current queue depth No 3h
3 1 RO N/A Queue Depth (Maximum) Unsigned16 0 FFFFh No Worst case queue depth seen since start of program No 3h
OBJECT=EVENT_ID_DESCRIPTION
---- ---- ---- ---- Event information Record N/A N/A ---- Used to get the description for each event id. ---- ---- SECTION=DomainLogs
CATEGORY=MONITORING
5610h
1 1 RW N/A Event ID Unsigned16 0 FFFFh No Event ID to query. The name of this ID is displayed at sub-index 2. No 1h NUMBER_FORMAT=BASE16
2 1 RO N/A Event Name Visible String N/A N/A No Name of event ID selected in sub-index 1 No 0
OBJECT=CONFIG_CHECKSUM
5620h 0 1 RO N/A Configuration Checksum Unsigned16 0 FFFFh No 16-bit checksum of all configuration items. No 0
CATEGORY=MONITORING
OBJECT=RANGE_CHECK_FAILED_OBJECT
---- ---- ---- ---- Range Check Failed Objects Record N/A N/A ---- Gives the index and sub-index of the first object to fail a range check ---- ---- SECTION=VEHICLESTATUS
CATEGORY=MONITORING
5621h
1 1 RO N/A Index Unsigned16 0 FFFFh 0 Index of object to fail range check No 1h NUMBER_FORMAT=BASE16
2 1 RO N/A Sub-index Unsigned8 0 FFh 0 Sub-index of object to fail range check No 0 NUMBER_FORMAT=BASE16
OBJECT=EDS_UPLOAD
---- ---- ---- ---- EDS Upload Record N/A N/A ---- Used to upload object dictionary list for automatic generation of the EDS file ---- ---- SECTION=CANOPEN_GENERALSTATUS
CATEGORY=MONITORING
Use to select item in object dictionary table to read back from other subindices. Reading this item
1 1 RW N/A OD table index Unsigned16 0 FFFFh No No 3h
returns the total number of items in the OD tables.
2 1 RO N/A Index Unsigned16 0 FFFFh No Index of selected object No 3h
3 1 RO N/A Sub-Index Unsigned8 0 FFh No Sub-Index of selected object No 3h
4 1 RO N/A Object Type Unsigned8 0 FFh No Object type of selected object No 3h
NUMBER_FORMAT=15
0=Boolean
5630h 1=Integer8:2=Integer16:3=Integer32:4=Integer64
5 1 RO N/A Data Type Unsigned8 0 FFh No Data type of selected object No 3h 5=Unsigned8:6=Unsigned16:7=Unsigned32
8=Unsigned64:9=VisibleString:10=Domain
11=OctetString:12=Real32:13=Real64
14=Void:15=Domain
NUMBER_FORMAT=4
6 1 RO N/A Access Unsigned8 0 FFh No Access type of selected object No 3h
0=ro:1=wo:2=rw:3=const
7 1 RO N/A Low Limit Unsigned32 0 FFFFh No Min allowed value. Must be converted to correct data type using value in subindex 5 No 3h
8 1 RO N/A High Limit Unsigned32 0 FFFFh No Max allowed value. Must be converted to correct data type using value in subindex 5 No 3h
9 1 RO N/A PDO Mappable? Unsigned8 0 FFh No Is selected object PDO mappable? No 3h
10 1 RO N/A Object Version Unsigned16 0 FFFFh No Version of selected object No 3h
11 1 RO N/A Object Flags Unsigned8 0 FFh No Provide a mechanism to provide alternative object flags other than that supplied in the OD No 3h
OBJECT=EDS_UPLOAD_INFO
---- ---- ---- ---- EDS Upload - Information Record N/A N/A ---- General information used to create EDS file ---- ---- SECTION=CANOPEN_GENERALSTATUS
CATEGORY=MONITORING
DESC=10kHz:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=No:1=Yes
1 1 RO N/A Supported Baudrates Unsigned16 0 FFFFh No Supported baudrates of controller No 3h
5631h DESC=1MHz:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=No:1=Yes
NUMBER_FORMAT=2
2 1 RO N/A LSS supported? Unsigned8 0 FFh No Indicates if LSS is supported or not. No 3h
0=No:1=Yes
DESC=BOOLEAN:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=No:1=Yes
DESC=INTEGER8:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=No:1=Yes
DESC=INTEGER16:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=No:1=Yes
3 1 RO N/A Supported Dummy RPDO maps Unsigned16 0 FFFFh No Supported Dummy RPDO maps No 3h DESC=INTEGER32:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=No:1=Yes
DESC=UNSIGNED8:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=No:1=Yes
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
OBJECT=CLI_INTERFACE
---- ---- ---- ---- Obd Cli interface Record N/A N/A ---- Allows Cli functions to be used through the object dictionary ---- ---- SECTION=CANOPEN_GENERALSTATUS
CATEGORY=MONITORING

1 1 RW N/A Command Unsigned16 0 FFFFh No Command number - all currently implemented commands are in obd_cli.tcl No 3h
2 1 RW N/A Argument 1 Unsigned32 0 FFFFFFFFh No Argument 1 No 3h
3 1 RW N/A Argument 2 Unsigned32 0 FFFFFFFFh No Argument 2 No 3h
OBJECT=TORQUE_CONDITIONER
---- ---- ---- ---- Record 0 N/A ---- ---- ---- SECTION=Torque_conditioner_Config
0 1 RO N/A Number of entries Unsigned8 0 N/A 87 Note subs from 47 to 82 are not shown No 0
Nm/RPM/s^
2
32 1 RO N/A 1 Nm Torque Conditioner Output Real32 0 N/A No Torque required to respect STIV inputs Yes 0
DESC=Active STIV:HEX_MASK=0xFF0000:MIN=0:MAX=43:NF=2:0=Unknown :11= Braking Torque:12=Demand Torque:
13=Motoring Torque:21=Forward Speed:22=Reverse Speed:31=Charge Current:33=Discharge Current:41=Upper voltage:
33 1 RO N/A 1 Enum Active Unsigned32 0 N/A No Composite value showing what STIV input and other limits determined the Torque Demand Yes 0
43=Lower Voltage
34 1 RO N/A 1 Nm Torque Demand Rate Limited Real32 0 N/A No Torque Demand Rate Limited Yes 0
35 1 RO N/A 1 Nm Motoring Torque Rate Limted Real32 0 N/A No Motoring Torque Rate Limted Yes 0
36 1 RO N/A 1 Nm Braking Torque Rate Limted Real32 0 N/A No Braking Torque Rate Limted Yes 0
37 1 RO N/A 1 RPM Forward Speed Rate Limited Real32 0 N/A No Forward Speed Rate Limited Yes 0
38 1 RO N/A 1 RPM Reverse Speed Rate Limited Real32 0 N/A No Reverse Speed Rate Limited Yes 0
39 1 RO N/A 1 A Upper Vdc Loop Output Real32 0 N/A No Upper Vdc Loop Output Yes 0
40 1 RO N/A 1 A Lower Vdc Loop Output Real32 0 N/A No Lower Vdc Loop Output Yes 0
5702h
41 1 RO N/A 1 Nm Upper Torque Feed Forward Real32 0 N/A No Upper Torque Feed Forward Yes 0
42 1 RO N/A 1 Nm Lower Torque Feed Forward Real32 0 N/A No Lower Torque Feed Forward Yes 0
43 1 RO N/A 1 Nm Upper Idc Loop Output Real32 0 N/A No Upper Idc Loop Output Yes 0
44 1 RO N/A 1 Nm Lower Idc Loop Output Real32 0 N/A No Lower Idc Loop Output Yes 0
45 1 RO N/A 1 Nm Fwd Speed Loop Output Real32 0 N/A No Fwd Speed Loop Output Yes 0
46 1 RO N/A 1 Nm Rvs Speed Loop Output Real32 0 N/A No Rvs Speed Loop Output Yes 0
47 1 RO N/A 1 Debug Real32 0 N/A No Debug Yes 0

83 1 RO N/A 0.00001525878906 Filtered Electrical Angle Unsigned32 0 N/A No Filtered and truncated (to 12.12) Electrical Angle (Electrical revolutions) Yes 0
84 1 RO N/A 0.00001525878906 Forward Angle Reference Unsigned32 0 N/A No Forward Angle Reference (Electrical revolutions) Yes 0
85 1 RO N/A 0.00001525878906 Reverse Angle Reference Unsigned32 0 N/A No Reverse Angle Reference (Electrical revolutions) Yes 0
OBJECT=MASTER_SLAVE_CONFIG
1 (TRUE) – NMT Master (MASTER) EEPROM=node.is_master
5800h 0 1 RW 4 Master / Slave configuration Boolean 0 1 1 No 0
0 (FALSE) – NMT Slave (SLAVE) NUMBER_FORMAT=2:0=Slave:1=Master
OBJECT=PHYSICAL_LAYER_SETTINGS
---- ---- ---- ---- Automatic Configuration Set Up Record N/A N/A ---- ---- ---- SECTION=CANopenSetup
DESC=CANopen Auto Configuration:HEX_MASK=3:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled

DESC=Digital Input Auto Configuration:HEX_MASK=0C:MIN=0:MAX=3:NF=2:0=Disabled:1=VPDO Only:2=PDO Only:
3=Both PDO and VPDO
DESC=Digital Output Auto Configuration:HEX_MASK=30:MIN=0:MAX=3:NF=2:0=Disabled:1=VPDO Only:2=PDO Only: Select the options which suit
3=Both PDO and VPDO you setup best of all. An all
Bit field describing which parts of the system should be autoconfigured and which parts should be
1 1 RW 4 Ctrl Flags Unsigned16 0 FFFFh 0 No 0 DESC=Analogue Input Auto Configuration:HEX_MASK=C0:MIN=0:MAX=3:NF=2:0=Disabled:1=VPDO Only:2=PDO Only: Sevcon system should have
configured per standard espAC
3=Both PDO and VPDO all of these options enabled to
DESC=Analogue Output Auto Configuration:HEX_MASK=300:MIN=0:MAX=3:NF=2:0=Disabled:1=VPDO Only:2=PDO Only: facilitate the quickest setup
3=Both PDO and VPDO
DESC=Motor Auto Configuration:HEX_MASK=C00:MIN=0:MAX=3:NF=2:0=Disabled:1=VPDO Only:2=PDO Only:3=Both
PDO and VPDO
5810h DESC=This node is a:HEX_MASK=1F:MIN=0:MAX=6:NF=6:0=Slave:1=Master(local is left traction):2=Master(local is right

traction):3=Master(local is pump):4=Master(local is power steer):5=Master(io module or other) If this node is a master then
DESC=Left Traction:HEX_MASK=20:MIN=0:MAX=1:NF=2:0=No:1=Yes any number of slaves can be
DESC=Right Traction:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=No:1=Yes selected. If this node is a
2 1 RW 4 CANopen Network Description Unsigned16 0 FFFFh 0 Bit field describing the CANopen network and master function No 0
DESC=Pump:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=No:1=Yes slave then then its function is
DESC=Power Steer:HEX_MASK=100:MIN=0:MAX=1:NF=2:0=No:1=Yes set here, a slave can only
DESC=not used:HEX_MASK=200:MIN=0:MAX=1:NF=2:0=No:1=Yes assume one function.
DESC=Sevcon PST Module:HEX_MASK=400:MIN=0:MAX=1:NF=2:0=No:1=Yes
Refer to the manual for a

3 1 RW 4 Digital Input Configuration Unsigned8 0 FFh 0 IO choice for the system digital inputs No 0
description of this IO choice
4 1 RW 4 Digital Output Configuration Unsigned8 0 FFh 0 IO choice for the system digital outputs No 0
5 1 RW 4 Analogue Input Configuration Unsigned8 0 FFh 0 IO choice for the system analogue inputs No 0
6 1 RW 4 Analogue Output Configuration Unsigned8 0 FFh 0 IO choice for the system analogue outputs No 0
7 1 RO 4 Valid configurations Domain N/A N/A 0 A domain describing which configurations are valid for the chosen CANopen network No 0
---- ---- ---- ---- Automatic Configuration Set Up Record N/A N/A ---- ---- ---- SECTION=CANopenSetup
input used by the master to tell the slave how much of this type of IO to transmit based on the
1 1 RW 4 Digital Input Slave Config Unsigned16 0 FFFFh 0 No 0
current setup
input used by the master to tell the slave how much of this type of IO it can expect to receive based
2 1 RW 4 Digital Output Slave Config Unsigned16 0 FFFFh 0 No 0
on the current setup
5811h
input used by the master to tell the slave how much of this type of IO to transmit based on the
3 1 RW 4 Analogue Input Slave Config Unsigned8 0 FFh 0 No 0
current setup
input used by the master to tell the slave how much of this type of IO it can expect to receive based
4 1 RW 4 Analogue Output Slave Config Unsigned8 0 FFh 0 No 0
on the current setup
5 1 RW 4 Motors slave config Unsigned8 0 FFh 0 No 0
6 1 RW 4 Display Options Unsigned8 0 FFh 0 Used by the display to control what pdos are transmitted for its benefit No 0
Used by the master to notify the salve that is has finished notifying it and can now autoconfigure its
7 1 WO 4 Complete Unsigned8 N/A N/A 0 No 0
own pdos
OBJECT=FINAL_PRECHARGE_LEVEL
5820h 0 1 RW 2 1 % Final precharge level Unsigned8 50 125 90 The final requested capacitor precharge level (in % of battery voltage) No 0 SECTION=NodeSetup
The minimum capacitor voltage that must be achieved by the precharge circuit before allowing the
5821h 0 1 RW 2 0.0625 V Minimum precharge level Unsigned16 0050h FFFFh 00A0h No 0 SECTION=NodeSetup
line contactor to close
If the cap voltage rate of change does not fall below the max rate in this time then the system will
5822h 0 1 RW 2 0.001 s Precharge Timeout Unsigned16 0 FFFFh 00A0h No 0 SECTION=NodeSetup
give a precharge fault
5823h 0 1 RW 2 0.08 V/s Max precharge rate Unsigned16 0 FFFFh 00A0h This is the maximum precharge rate above which the line contactor will not close No 0 SECTION=NodeSetup
This is the maximum difference between Vbat and Vcap for line contactor to close. Will override the
5824h 0 1 RW 2 0.0625 V Maximum line contactor arcing voltage Unsigned16 0 0320h 0000h No 0 SECTION=NodeSetup
setting in 0x5821 unless set to 0 (disabled).
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
When precharging, once the voltage difference between Vbat and Vcap drops below this level, the
5825h 0 1 RW 2 0.0625 V Line contactor close voltage Unsigned16 0 0320h 00A0h No 0 SECTION=NodeSetup
line contactor will close.
OBJECT=DSP_MISC_CONFIG DESC=PWM Switching Frequency:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=8kHz:1=12kHz

Bits 2 and 3 engineering test
SECTION=NodeSetup DESC=Deadtime Compensation:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
5830h 0 1 RW 4 PWM Configuration Unsigned8 0 FFh 0 No 0 only. Bit 3 = 6kHz, Bit 4 =
CATEGORY=CONFIGURATION DESC=Reserved PWM mode :HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Off:1=On
alternative SVM switching.
WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Reserved PWM mode :HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Off:1=On
SECTION=NodeSetup
---- ---- ---- ---- Bridge Control Parameters Record 0 FFh 0 No ----
1 1 RW 4 0.015625 Seconds Bridge disable time Integer16 0 7FFFh 0020h Time out after which the bridge is disabled, this must be longer than the line contactor drop out time 0
Time out after which the bridge is disabled, this must be longer than the line contactor drop out time.
1 2 RW 4 0.01 Seconds Bridge disable time Unsigned16 0 FFFFh 0032h 0
(default 500ms)
2 1 RW 4 1 rpm Bridge disable speed Integer16 000ah 7FFFh 0010h This is the speed at which the bridge will disable if there is no torque demand 0
This is the speed at which the bridge will disable if there is no torque/speed demand and torque
2 2 RW 4 1 rpm Bridge disable speed Unsigned16 0 FFFFh 0010h 0
output is below the threshold in sub-index 6. (default 16rpm)
5831h
3 1 RW 4 1 Hz Minimum switching frequency Unsigned16 07d0h 2ee0h 07d0h Default 2000Hz (16.0) - must be smaller than the maximum below and in the range 2-12kHz 0
4 1 RW 4 1 Hz Maximum switching frequency Unsigned16 07d0h 2ee0h 1f40h Default 8000Hz (16.0) - must be larger than the minimum above and in the range 2-12kHz 0
Bit 0: Set to disable deadtime compensation DESC=Deadtime Compensation:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
5 1 RW 4 PWM configuration Unsigned8 00h FFh 00h Bit 1: Set to disable bridge disable timeout / speed 0 DESC=Bridge disable timeout:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Enabled:1=Disabled
Bit 2: Set to enable bus clamping modulation (reduce switching losses) DESC=Bus clamping modulation:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
The torque output level at which the bridge will disable if there is no torque/speed demand and the
6 1 RW 4 0.1 % Bridge disable torque output Unsigned16 0 FFFFh 000Ah 0
motor speed is below the threshold in sub-index 2. (default 1%)
7 1 RW 4 1 Jitter steps Unsigned8 0 FFh 0 The number of frequency steps through which we will jitter the switching frequency for EMC reasons 0
The change made to the switching frequency each jitter step. Note we jitter downwards from the
8 1 RW 4 1 Hz Jitter frequency Unsigned16 0 FFFFh 0000h 0
current swiching frequency. We honour the minimum switching frequency parameter
OBJECT=FAULT_RIDE_THROUGH
SECTION=NodeSetup
---- ---- ---- ---- Fault Ride-Through Configuration Unsigned16 0 FFFFh 0 No ----
Bits to enable fault ride through for various faults.

DESC=Powerframe fault ride-through:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 0: Powerframe fault (hardware overcurrent)
DESC=Overvoltage fault ride-through:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 1: Overvoltage fault
DESC=Software overcurrent fault ride-through:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 2: Software overcurrent fault
1 1 RW 4 Ride-through flags Unsigned16 0 FFFFh 0 No 0 DESC=Current control fault ride-through:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
5840h Bit 3: Current control fault
DESC=Encoder fault ride-through:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 4: Encoder fault
DESC=Allow encoder fault retry after x ms settle period:HEX_MASK=100:MIN=0:MAX=1:NF=2:0=Disabled:1=Enabled
Bit 8: Use a retry if encoder fault persists after 100/250ms rather than set a fault and shutdown.
DESC=Encoder retry settle period time:HEX_MASK=200:MIN=0:MAX=1:NF=2:0=100ms:1=250ms
Bit 9: Toggle 250/100ms for bit 8 (1 = 250ms)
2 1 RW 4 1 Retries Unsigned8 0 FFh 0 Number of ride-throughs before a suppressed fault disables controller. No 0
3 1 RW 4 0.39215686 % Cutback amount Unsigned8 0 FFh 0 Amount of max power to remove on a fault event (0 = none). No 0
4 1 RW 4 0.5 Nm Minimum torque Unsigned16 0 FFFFh 0 Minimum torque to cut back to (if zero is too low). No 0
5 1 RW 4 0.0244140625 %/s Recovery gradient Unsigned16 0 FFFFh 0 Amount of max power to recover over time. No 0
% base
6 1 RW 4 0.0244140625 Re-enable speed Unsigned16 0 FFFFh 0 Specify a speed above which controller cannot re-enable. 0 = 80% default. No 0
speed
SECTION=NodeSetup
---- ---- ---- ---- HV SMPS Control Record 0 FFh 0 No ----
5832h
1 1 RW 4 1 V HV SMPS Enable Voltage Unsigned16 0 FFFFh 0 Voltage at which the HV SMPS will be enabled. 0
2 1 RW 4 1 V HV SMPS Disable Voltage Unsigned16 0 FFFFh 0 Voltage at which the HV SMPS will be disabled. 0
---- ---- ---- ---- Physical layer settings Record N/A N/A ---- ---- ---- SECTION=CANopenSetup
EEPROM=node.node_id
1 1 RW 4 Node ID Unsigned8 1 127 1 Node ID of the device. No 0
EEPROM=node.bit_rate
NUMBER_FORMAT=8
CANopen bit rate code (in kHz):
5900h 2 1 RW 4 Bit rate Unsigned16 0 7 0 No 0 0=1Mb:1=500kb:2=250kb:3=125kb
0=1000, 1=500, 2=250, 3=125, 4=100, 5=50, 6=20, 7=10
4=100kb:5=50kb:6=20kb:7=10kb
EEPROM=node.bit_rate
NUMBER_FORMAT=8
CANopen bit rate code (in kHz):
2 2 RW 4 Bit rate Unsigned8 0 7 0 No 0 0=1Mb:1=500kb:2=250kb:3=125kb
0=1000, 1=500, 2=250, 3=125, 4=100, 5=50, 6=20, 7=10
4=100kb:5=50kb:6=20kb:7=10kb
3 1 RW 4 Node ID (IO processor) Unsigned8 1 127 16 Node ID of the IO processor. No 0 WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=MASTER_SLAVE_CONFIG
Set to TRUE to enable CAN fault detection on standalone units. Units configured on multi-node EEPROM=misc.enable_can_faults
5901h 0 1 RW 4 CANbus fault detection on Standalone units Boolean 0 1 1 No 0
systems always have CAN fault detection enabled. NUMBER_FORMAT=2:0=Disabled:1=Enabled
OBJECT=RPDO_TIMEOUT_SCHEME
Used to select an RPDO timeout fault scheme. There are 4 options:
0 - RPDO time out disabled
NUMBER_FORMAT=4
1 - RPDO time out sets a warning fault and activates driveability select 2 profile to limit vehicle
5902h 0 1 RW 4 RPDO timeout scheme Unsigned8 0 3 0 No 0 0=Disabled:1=Warn and Slow Down
speed.
2=Inhibit Drive:3=Severe
2 - RPDO time out sets a drive inhibit fault. Vehicle enters neutral.
3 - RPDO time out sets a severe fault. Line contactor opens and motor stops immediately.
OBJECT=RPDO_TIMEOUT_TIME
5902h 0 2 RW 4 0.1 s RPDO timeout Unsigned8 0 3 0 RPDO timeout time, 0 disables rpdo timeout this is only applicable for PFCI No 0 SECTION=CANopenSetup
OBJECT=PIN_STRAP
Used to setup the desired heatsink fan profile. Note that subindices 3..10 are only used if
---- ---- ---- ---- Pin strapping configuration Record N/A N/A ---- ---- ---- SECTION=CANSetup
performance is set to User Defined.
1 1 RW 4 Pin Strapping pin mask Unsigned16 0 FFh 0 Mask for which digital inputs are used as part of the pin strapping identity No 0
2 1 RW 4 Pin configuration 1 Unsigned16 0 FFFFh 0 Pin configuration for the first identiy No 0
3 1 RW 4 Node address 1 Unsigned8 0 FFh 0 Node address for the first identify No 0
4 1 RW 4 Source address 1 Unsigned8 0 FFh 0 Source address of the first identity No 0
5 1 RW 4 Pin configuration 2 Unsigned16 0 FFFFh 0 etc. No 0
6 1 RW 4 Node address 2 Unsigned8 0 FFh 0 No 0
7 1 RW 4 Source address 2 Unsigned8 0 FFh 0 No 0
8 1 RW 4 Pin configuration 3 Unsigned16 0 FFFFh 0 No 0
5903h 11 1 RW 4 Pin configuration 4 Unsigned16 0 FFFFh 0 No 0
DESC=Pin configuration 1 :HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Default Config :1=Alternative Config

This set of flags determines if the alternative motor configuration and tables should be used to DESC=Pin configuration 4 :HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Default Config :1=Alternative Config
26 1 RW 4 Alternative motor configuration flags Unsigned8 0 FFh 0 No 0
control the motor. DESC=Pin configuration 5 :HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Default Config :1=Alternative Config
OBJECT=PIN_ALT_ONE
---- ---- ---- ---- Alternative data 1 for pinstrapping Record N/A N/A ---- ---- ---- SECTION=PinAltOne
1 1 RW 4 A Maximum battery discharge current Integer16 0 32767 0 No 0
2 1 RW 4 A Maximum battery recharge current Integer16 -32768 0 0 No 0
3 1 RW 4 rpm Motor overspeed protection Unsigned16 0 FFFFh 1000 Raises a severe "motor overspeed" fault if motor measured speed exceeds this value No 0
5904h
10 1 RW 4 0.0625 Nm Peak torque Unsigned16 0 32000 0 Rated motor torque in Nm (12.4 scaling) No 0
OBJECT=PIN_ALT_TWO
---- ---- ---- ---- Alternative data 2 for pinstrapping Record N/A N/A ---- ---- ---- SECTION=PinAltTwo
1 1 RW 4 A Maximum battery discharge current Integer16 0 32767 0 No 0
2 1 RW 4 A Maximum battery recharge current Integer16 -32768 0 0 No 0
1 3 1 RW 4 rpm Motor overspeed protection Unsigned16 0 FFFFh 1000 Raises a severe "motor overspeed" fault if motor measured speed exceeds this value No 0
5905h
1 9 1 RW 4 0.00003051757813 sin theta Power factor Unsigned16 0 FFFFh 0 1.15 format No 0
10 1 RW 4 0.0625 Nm Peak torque Unsigned16 0 32000 0 Rated motor torque in Nm (12.4 scaling) No 0
OBJECT=HEATSINK_FAN
Used to setup the desired heatsink fan profile. Note that subindices 3..10 are only used if
---- ---- ---- ---- Heatsink Fans Record N/A N/A ---- ---- ---- SECTION=FansConfig
performance is set to User Defined.
FAN Control performance. Can be set to: EEPROM=node.fan_performance

0. User Defined (FAN profile setup using si 3..10) NUMBER_FORMAT=4
1 1 RW 4 Fan Performance selection Unsigned8 0 3 0 1. Maximum Performance (Give maximum cooling) No 0 0=User Defd:1=Max Perform
2. General Purpose. 2=Gen Purpose:3=Min Noise
3. Minimal Noise (Reduced noise, but also less cooling). WRITE_IN_PREOPERATIONAL_ONLY=TRUE
2 1 RW 4 1 DegC Cold Temperature Threshold Integer8 -30 127 25 Temperature below which heatsink is deemed to be cold. No 0 EEPROM=node.fan_temp[0]
3 1 RW 4 1 DegC Warming Temperature Threshold Integer8 -30 127 50 Temperature above which heatsink is deemed to be warm. No 0 EEPROM=node.fan_temp[1]
4 1 RW 4 1 DegC Hot Temperature Threshold Integer8 -30 127 60 Temperature above which heatsink is deemed to be hot. No 0 EEPROM=node.fan_temp[2]
5 1 RW 4 1 DegC Cooling Temperature Threshold Integer8 -30 127 40 Temperature below which heatsink is deemed to be cool. No 0 EEPROM=node.fan_temp[3]
Cool Down Time (after this time, the heatsink is assumed to be If Cold Temperature Threshold is near room temperature, the heatsink temperature may never reach
6 1 RW 4 1 Seconds Unsigned16 0 FFFFh 600 No 0 EEPROM=node.fan_cool_down_time
cold) it. This provides a time out after which the heatsink state changes from Cooling to Cold
5A00h
EEPROM=node.fan_speed[0]
7 1 RW 4 Fan Speed when cold Unsigned8 0 2 0 Speed of fans when the heatsink is cold. Can be Off (0), Half Speed (1) or Full Speed (2). No 0 NUMBER_FORMAT=3
0=Off:1=Half Speed:2=Full Speed
8 1 RW 4 Fan Speed when warm Unsigned8 0 2 1 Speed of fans when the heatsink is warming. States as above. No 0 NUMBER_FORMAT=3
9 1 RW 4 Fan Speed when hot Unsigned8 0 2 2 Speed of fans when the heatsink is hot. States as above. No 0 NUMBER_FORMAT=3
10 1 RW 4 Fan Speed when cooling down Unsigned8 0 2 1 Speed of fans when the heatsink is cooling. States as above. No 0 NUMBER_FORMAT=3
EEPROM=misc.fan_type
Heatsink Fan configuration. Can be None (0), Pulsed Feedback (1) or Digital Feedback (2). Pulsed
NUMBER_FORMAT=3
11 1 RW 4 Fan Type Unsigned8 0 2 0 feedback refers to Fans with encoder feedback. Digital feedback refers to Fans with stopped/moving No 0
0=None:1=Pulsed Feedback:2=Digital Feedback
signal.
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
OBJECT=HEATSINK_FAN
---- ---- ---- ---- External heat sink fans Record N/A N/A ---- Used to set up external fan output ---- ---- SECTION=FansConfig
EEPROM=misc.fan_output
1 1 RW 4 External fan analogue output Unsigned8 0 FFh 0 Analogue output used to drive fans. Set to zero to disable external fans. No 0
2 1 RW 2 1 DegC External fan turn on temperature Integer8 -30 127 50 External fans are turned on when heat sink temperature is above this value No 0 EEPROM=misc.fan_on_temperature
5A01h
3 1 RW 2 1 DegC External fan turn off temperature Integer8 -30 127 40 External fans are turned off when heat sink temperature is below this value No 0 EEPROM=misc.fan_off_temperature
4 1 RW 2 0.00390625 V Fan voltage Unsigned16 0 FFFFh 1800h Voltage required to drive external fans No 0 EEPROM=misc.fan_voltage
EEPROM=misc.fan_temperature_selection
NUMBER_FORMAT=2
Fan Temperature Source. Set to 0 for controller heatsink temperature or 1 for motor thermistor
5 1 RW 4 Fan Temperature Source Unsigned8 0 FFh 0 No 0 0=Controller heatsink
temperature
1=Motor temperature sensor
OBJECT=HEATSINK_FAN
---- ---- ---- ---- Internal heat sink fans Record N/A N/A ---- Used to set up Internal fan output ---- ---- SECTION=FansConfig
1 1 RW 4 Number of Internal fans Unsigned8 0 2 0 Number of fans connected internally. Set to zero to disable internal fans. No 0 EEPROM=misc.int_fan_count
2 1 RW 2 1 DegC Internal fan turn on temperature Integer8 -30 127 50 Internal fans are turned on when heat sink temperature is above this value No 0 EEPROM=misc.int_fan_on_temperature
3 1 RW 2 1 DegC Internal fan turn off temperature Integer8 -30 127 40 Internal fans are turned off when heat sink temperature is below this value No 0 EEPROM=misc.int_fan_off_temperature
5A02h
EEPROM=misc.int_fan_feedback
NUMBER_FORMAT=2
4 1 RW 2 Fan feedback Unsigned8 0 1 1 Type of feedback on fans No 0
0=No feedback
1=encoder feedback
EEPROM=misc.int_fan_fail_speed
5 1 RW 2 1 RPM Fan Fault speed Unsigned16 0 FFFFh 1000 speed below which the fan is considered to be faulty when running. No 0
EEPROM=misc.fan_protection_disable
6 1 RW 2 Fan keyswitch voltage protection Unsigned8 0 FFh 0 if zero the fans will not operate above 15V keyswitch voltage No 0
OBJECT=SGMW_CONFIG
---- ---- ---- ---- SGMW Application Configuration Record N/A N/A ---- Used to configure behavior of SGMW application handler ---- ---- SECTION=SGMW_Config
1 1 RW 4 Enable Unsigned16 0 FFFFh 0 Set to a non-zero value to enable SGMW application (set to 0x14A5 to disable checksums) No 0
2 1 RW 4 1 V Under voltage flag threshold Unsigned16 0 FFFFh 60 Voltage at which under voltage signal is flagged No 0
3 1 RW 4 1 V Over voltage flag threshold Unsigned16 0 FFFFh 85 Voltage at which over voltage signal is flagged No 0
4 1 RW 4 degC Motor over temperature flag threshold Unsigned16 0 FFFFh 100 Motor temperature at which over temperature is flagged No 0
5 1 RW 4 1 A Over current flag threshold Unsigned16 0 FFFFh 300 DC current at which over current is flagged No 0
6 1 RW 4 1 rpm Over speed flag threshold Unsigned16 0 FFFFh 6000 Speed at which over speed is flagged No 0
7 1 RW 4 0.0625 Nm Demand torque limit Integer16 0 7FFFh 1600 Torque limit sent to motor control No 0
8 1 RW 4 1 rpm Forward speed limit Integer16 0 7FFFh 5000 Motor forward speed limit No 0
9 1 RW 4 1 rpm Reverse speed limit Integer16 8000h 0 -1000 Motor reverse speed limit No 0
5B00h 10 1 RW 4 1 A Max Ibat discharge Integer16 0 7FFFh 300 DC battery current discharge limit No 0
11 1 RW 4 1 A Max Ibat recharge Integer16 8000h 0 -100 DC battery current recharge limit No 0
12 1 RW 4 0.0625 degC MCU over temperature flag threshold Unsigned16 0 FFFFh 1120 MCU temperature at which over temperature is flagged No 0
13 1 RW 4 1 rpm RPM deadzone Unsigned16 0 FFFFh 0 Speeds lower than this will be reported as 0rpm in the SGMW protocol No 0
14 1 RW 4 1 Disable battery switch over temperature warning Boolean 0 1 0 Set to 1 to disable setting the device too hot warning if caused only by the battery switch No 0
15 1 RW 4 1 Enable debug message Boolean 0 1 0 Set to 1 to enable the debug message in the OTS2 protocol No 0
Set to 1 to enable the torque validity checks. Set to 0 to disable (torque always valid while receiving
16 1 RW 4 1 Enable torque validity checking Boolean 0 1 0 No 0
H Protocol data)
The percentage above/below requested torque that actual torque can be before it is regarded as
17 1 RW 4 1 % Torque validity limit Unsigned8 0 FFh 0 No 0
invalid
18 1 RW 4 1 Milliseconds Torque validity debounce time Unsigned32 0 FFFFFFFFh 0 The amount of time torque must be invalid before setting the torque validity flag to invalid No 0
The amount of time in milliseconds after recovering from a CAN bus off event to wait before
19 1 RW 4 1 Milliseconds CAN bus recover time Unsigned16 0 FFFFh 0 resuming motor control. Setting this object to 0 will prevent recovering motor control until a key No 0
recycle.
20 1 RW 4 1 Milliseconds Torque ramp down time Unsigned16 0 FFFFh 0 Amount of time taken to ramp down torque from current level during CAN faults. No 0
OBJECT=HG_CONFIG
---- ---- ---- ---- HG Application Configuration Record N/A N/A ---- Used to configure behavior of the HG application ---- ---- SECTION=SGMW_Config
5B00h
1 2 RW 4 Enable Unsigned16 0 FFFFh 0 Set to a non-zero value to enable HG application No 0
Flags to enable PWM on the contactor drives DESC=Proportional Braking:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=No PWM:1=PWM
2 2 RW 4 Contactor PWM enable flags Unsigned16 0 FFFFh 0 Bit 0 - Output 1 No 0 DESC=Directional Throttle:HEX_MASK=2:MIN=0:MAX=1:NF=2:0=No PWM:1=PWM
Bit 1 - Output 2
OBJECT=HY_CONFIG
---- ---- ---- ---- Hyster-Yale Application Configuration Record N/A N/A ---- Used to configure behavior of the HG application ---- ---- SECTION=HY_Config
1 1 RW 4 Enable Boolean 0 1 0 Set to a non-zero value to enable HG application No 0
set to swap the direction of the target speed coming htrough the protocol. For use with dual traction
2 1 RW 4 Direction swap Boolean 0 1 No 0
systems
3 1 RW 4 1 RPM Maximum roll off speed Unsigned16 0 FFFFh 0 maximum speed when in roll off ( target speed = 0. No 0
5B01h 4 1 RW 4 1 RPM Direction change speed limit Unsigned16 0 FFFFh 10 initial speed limit for the new direction, used to prevent braking at 0 speed No 0
5 1 RW 4 0.0625 Nm Forward drive torque limit Unsigned16 0 FFFFh 200 torque limit for driving in the forward direction No 0
6 1 RW 4 0.0625 Nm Reverse drive torque limit Unsigned16 0 FFFFh 200 torque limit for driving in the reverse direction No 0
7 1 RW 4 0.0625 Nm Forward brake torque limit Unsigned16 0 FFFFh 200 torque limit for braking in the forward direction No 0
8 1 RW 4 0.0625 Nm Reverse brake torque limit Unsigned16 0 FFFFh 200 torque limit for braking in the reverse direction No 0
9 1 RW 4 1 Nm/10ms Torque limit ramp rate Unsigned8 0 FFh 20 ramp rate for the torque limit No 0
10 1 RW 4 1 Nm/10ms Torque demand ramp rate Unsigned8 0 FFh 20 ramp rate for the torque demand No 0
11 1 RW 4 0.00003051757813 Heatsink temperature filter pole Unsigned16 0 FFFFh 0 filter pole for PDO heatsink temperature No 0
OBJECT=HY_CONFIG_ONE
---- ---- ---- ---- Hyster-Yale Application Configuration 1 for pin strap Record N/A N/A ---- Used to configure behavior of the HG application ---- ---- SECTION=HY_Config_one
systems
OBJECT=HY_CONFIG_TWO
---- ---- ---- ---- Hyster-Yale Application Configuration 2 for pin strap Record N/A N/A ---- Used to configure behavior of the HG application ---- ---- SECTION=HY_Config_two
systems
OBJECT=YOGOMO_STATUS
---- ---- ---- ---- YOGOMO bms informaton Record N/A N/A ---- ---- SECTION=Yogomo_Status
1 1 RW 4 Enable Unsigned16 0 1 0 Set to a non-zero value to enable YOGOMO BMS No 0
2 1 RO 4 Regen control Boolean 0 1 1 Regen current allow by BMS No 0
3 1 RO 4 Limit mode Boolean 0 1 0 Cutback request by BMS No 0
5B04h
4 1 RO 4 Fault code Unsigned8 0 FFh 0 BMS fault code No 0
5 1 RO 4 Fault level Unsigned8 0 FFh 0 Fault code level No 0
6 1 RO 4 SOC Unsigned8 0 FFh 100 State of charge reported by BMS No 0
7 1 RO 4 Max discharge Integer16 0 7FFFh 0 Maximum discharge current limit No 0
8 1 RO 4 Batt discharge Integer16 0 7FFFh 0 Current battery discharge current No 0
9 1 RO 4 Max regen Integer16 0 7FFFh 0 Maximum regen current limit No 0
10 1 RO 4 Power Cut Boolean 0 1 0 Power Cut request No 0
OBJECT=YOGOMO_CONFIGURATION
---- ---- ---- ---- YOGOMO mcu informaton Record N/A N/A ---- ---- SECTION=Yogomo_Config
1 1 RW 4 RPM scale numerator Unsigned16 0 1 0 Numerator of RPM scaling factor No 0
5B05h 2 1 RW 4 RPM scale denominator Unsigned16 0 1 1 Denominator of scaling factor No 0
3 1 RW 4 ms Display debounce time Unsigned16 0 1 0 Time in ms for LED debounce No 0
4 1 RW 4 ms RPM smoothing period Unsigned16 0 FFh 0 time in ms to smooth rpms over No 0
5 1 RW 4 RPM READY indicator max RPM Unsigned16 0 FFFFh 250 Maximum RPM's under which to display the READY indicator No 0
6 1 RW 4 % C/B indicator max SOC Unsigned8 0 100 15 SOC level under which to show the cutback indicator
7 1 RW 4 RPM RPM speed for effective gear signal Integer16 0 7FFFh 100 RPM speed for effective gear signal No 0
OBJECT=DCDC_CONFIGURATION
---- ---- ---- ---- DCDC Secondary Application Configuration Record N/A N/A ---- ---- ---- SECTION=DCDC_Config
0 1 RW N/A Number of entries Unsigned8 0 FFh 7 No 0
1 1 RW N/A 1 PSON Unsigned8 0 1 0 Controls whether the converter should be enabled or not Yes 0
5C00h 2 1 RW 4 1 Use CAN PSON Unsigned8 0 1 0 Controls whether the PSON signal is taken from the hardware input or the CAN signal No 0
3 1 RW N/A 0.00001525878906 V Vout Unsigned32 0 FFFFFFFFh 0 Controls Vout target Yes 0
4 1 RW N/A 0.00001525878906 A Imax Unsigned32 0 FFFFFFFFh 0 Controls Imax target Yes 0
5 1 RW 4 0.00001525878906 V Vout default Unsigned32 0 FFFFFFFFh 0 The default Vout target used in case of a timeout No 0
6 1 RW 4 0.00001525878906 A Imax default Unsigned32 0 FFFFFFFFh 0 The default Imax target used in case of a timeout No 0
7 1 RW 4 1 Milliseconds Timeout Unsigned32 0 FFFFFFFFh 1000 The amount of time to wait after losing a control signal before switching to the default value No 0
OBJECT=DCDC_STATUS
---- ---- ---- ---- DCDC Secondary Application Status Record N/A N/A ---- ---- ---- SECTION=DCDC_Status
CATEGORY=MONITORING
1 1 RO N/A 1 PSON Boolean 0 1 0 Indicates the current state of PSON Yes 0
2 1 RO N/A 1 Boost OK Boolean 0 1 0 Indicates the current state of the boost ok feedback line Yes 0
3 1 RO N/A 0.00001525878906 V Vout Unsigned32 0 FFFFFFFFh 0 Indicates the current Vout target Yes 0
4 1 RO N/A 0.00001525878906 A Imax Unsigned32 0 FFFFFFFFh 0 Indicates the current Imax target Yes 0
5 1 RO N/A 0.00001525878906 V Vout Int. measured Unsigned32 0 FFFFFFFFh 0 Measured internal output voltage Yes 0
5C01h
6 1 RO N/A 0.00001525878906 A Iout measured Integer32 80000000h 7FFFFFFFh 0 Measured output current value Yes 0
7 1 RO N/A 0.00001525878906 V Vout Ext. measured Unsigned32 0 FFFFFFFFh 0 Measured external output voltage value Yes 0
8 1 RO N/A 0.00001525878906 V Vin measured Unsigned32 0 FFFFFFFFh 0 Measured input voltage value Yes 0
9 1 RO N/A 0.00001525878906 V Vboost measured Unsigned32 0 FFFFFFFFh 0 Measured boost voltage value Yes 0
10 1 RO N/A 0.00001525878906 V Vorfet measured Unsigned32 0 FFFFFFFFh 0 Measured orfet voltage value Yes 0
11 1 RO N/A 1 Shutdown Low Boolean 0 1 0 Indicates the current state of the "shutdown low" signal Yes 0
12 1 RO N/A 1 PSOK Boolean 0 1 0 Indicates the current state of the PSOK signal Yes 0
13 1 RO N/A 1 I Limit Boolean 0 1 0 Flag set when output current exceeds current limit but is less than trip limit Yes 0
14 1 RO N/A 1 P Limit Boolean 0 1 0 Flag set when output power limit is reached Yes 0
OBJECT=IN_APP_PROD_TEST_ENABLE
5D00h 0 1 RO 5 1 In-Application Production Test Enable Unsigned32 0 FFFFFFFFh 0 Used to enable production test mode. Set to 0 to enable normal application mode. No 0 SECTION=Prod_Test_Config
CATEGORY=MONITORING
OBJECT=CONTROLWORD
6040h 0 1 RWW N/A controlword Unsigned16 0 FFFFh No Controls the drive state and operational mode. Yes 1h
CATEGORY=MONITORING
DESC=Device status:HEX_MASK=6F:MIN=0:MAX=0x6F:NF=2:0x20=not ready to switch on:0x0=not ready to switch on:

0x40=switch on disabled:0x60=switch on disabled:0x21=ready to switch on:0x31=ready to switch on:0x23=switched on:
0x33=switched on:0x27=Operation enabled:0x37=Operation enabled:0x7=Quick stop active:0x17=Quick stop active:0xF=
OBJECT=STATUSWORD Fault reaction active:0x2F=Fault reaction active:0x8=Fault:0x28=Fault
SECTION=Motor1Status DESC=Voltage enabled:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=disabled:1=enabled
6041h 0 1 RO N/A statusword Unsigned16 0 FFFFh No Indicates the current state of the drive. Yes 0
NUMBER_FORMAT=BASE16 DESC=Warning:HEX_MASK=80:MIN=0:MAX=1:NF=2:0=cleared:1=set
CATEGORY=MONITORING DESC=Remote:HEX_MASK=200:MIN=0:MAX=1:NF=2:0=disabled:1=enabled
DESC=Target reached:HEX_MASK=400:MIN=0:MAX=1:NF=2:0=not reached:1=reached
DESC=Internal limit active:HEX_MASK=800:MIN=0:MAX=1:NF=2:0=cleared:1=active
DESC=Operation mode specific:HEX_MASK=3000:MIN=0:MAX=1:NF=2:
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
SECTION=MOTOR1SETUP
EEPROM=motor_0.mode
6060h 0 1 RWW 4 Mode of operation selection Integer8 3 5 4 Used to set pv (3) mode, tq (4) mode or OL spd / voltage (5) mode (DC SEM only) No 0
NUMBER_FORMAT=3:3=speed:4=torque:5=voltage
OBJECT=MODE_OF_OPERATION_DISPLAY
SECTION=Motor1Status
6061h 0 1 RO N/A Operational mode Integer8 3 4 No Returns operational mode. No 0 NUMBER_FORMAT=2
3=speed:4=torque
CATEGORY=MONITORING
This is the unformatted output from the encoder. In DSP402, the units are increments. They are OBJECT=VELOCITY_SENSOR_ACTUAL
6069h 0 1 RO N/A Inc/s Encoder count Integer32 -400000 400000 No converted to inc/s using Velocity Factor 2 (6096h). However, for simplicity, Velocity Factor 2 is fixed No 0 SECTION=Motor1Status
at 1, so these units are also inc/s. CATEGORY=MONITORING
OBJECT=VELOCITY_DEMAND
This is the output from the pv trajectory generator. The pv trajectory generator only performs a safety Velocity demand after velocity
606Bh 0 1 RO N/A RPM Velocity demand Integer32 -20000 20000 No No 0 SECTION=Motor1Status
function so this object will equal Target Velocity (60FFh) most of the time. Its units are RPM slope applied
CATEGORY=MONITORING
OBJECT=VELOCITY_ACTUAL
606Ch 0 1 RO N/A RPM Velocity Integer32 -20000 20000 No Actual velocity in RPM. Yes 0 SECTION=Motor1Status
CATEGORY=MONITORING
CATEGORY=MONITORING
OBJECT=TARGET_TORQUE
6071h 0 1 RWW N/A 0.1 % of peak Target torque Integer16 -1000 1000 0 Target Torque in 1/1000th's of Motor Rated Torque (6076h). Calculated by the Application Master. Yes 1h SOFT_LOW=-32768
SOFT_HIGH=32767
CATEGORY=MONITORING
OBJECT=MAX_TORQUE
6072h 0 1 RWW 4 0.1 % of peak Maximum torque Unsigned16 0 1000 1000 Maximum Torque (Tmax) in 1/1000th's of Motor Rated Torque (6076h). Yes 0
OBJECT=MAX_TORQUE_DIRECTIONAL
Used to set maximum torque individually in each direction in 1/1000th's of Motor Rated Torque
---- ---- ---- ---- Maximum torque (directional) Record N/A N/A ---- ---- ---- SECTION=MOTOR1CONTROL
(6076h).
6073h
1 1 RW 4 0.1 % of peak Maximum positive torque Integer16 0 1000 1000 Maximum positive torque in 1/1000th's of Motor Rated Torque (6076h). Yes 0
2 1 RW 4 0.1 % of peak Maximum negative torque Integer16 -1000 0 -1000 Maximum negative torque in 1/1000th's of Motor Rated Torque (6076h). Yes 0
OBJECT=MAX_TORQUE_DIRECTIONAL
---- ---- ---- ---- Maximum torque (directional) Record N/A N/A ---- ---- ---- SECTION=MOTOR1CONTROL
(6076h).
6073h
1 2 RW 4 0.1 % of peak Maximum motoring torque Integer16 0 1000 1000 Maximum motoring (drive) torque in 1/1000th's of Motor Rated Torque (6076h). Yes 0
2 2 RW 4 0.1 % of peak Maximum braking torque Integer16 -1000 0 -1000 Maximum braking (regen) torque in 1/1000th's of Motor Rated Torque (6076h). Yes 0
OBJECT=TORQUE_DEMAND
Torque demand after torque
6074h 0 1 RO N/A 0.1 % of peak Torque demand Integer16 -1000 1000 0 Output from the tq controller. Value is in 1/1000th's of Motor Rated Torque (6076h). No 0 SECTION=Motor1Status
slope applied
CATEGORY=MONITORING
SECTION=MOTOR1SETUP
6075h 0 1 RW 4 0.001 A(RMS) Current limit Unsigned32 0 FFFFFFFFh 700000 Rated motor current in mA. No 0
SECTION=MOTOR1SETUP
6076h 0 1 RW 4 0.001 Nm Peak torque Unsigned32 0 2000000 25000 Rated motor torque in mNm. No 0
SECTION=MOTOR1SETUP
6076h 0 2 RW 4 0.0625 Nm Peak torque Unsigned16 0 32000 0190h Rated motor torque in Nm (12.4 scaling) No 0
OBJECT=TORQUE_ACTUAL
6077h 0 1 RO N/A 0.1 % of peak Torque Integer16 -1000 1000 0 Actual Motor Torque in 1/1000th's of Motor Rated Torque (6076h). Yes 0 SECTION=Motor1Status
CATEGORY=MONITORING
6078h 0 1 RO N/A 1 A(RMS) Current Integer16 -1000 1000 0 Actual Motor Current in Amps Yes 0 SECTION=Motor1Status
CATEGORY=MONITORING
OBJECT=DC_LINK_V
Voltage in mV applied to power frame. Referred to as Capacitor Voltage in previous Sevcon
6079h 0 1 RO N/A 0.001 V Capacitor Voltage Unsigned32 0 400000 0 No 0 SECTION=Motor1Status
controllers.
CATEGORY=MONITORING
SECTION=MOTOR1SETUP
607Eh 0 1 RW 4 Encoder Polarity Unsigned8 0 40h 0 No 0
SECTION=MOTOR1SETUP
6080h 0 1 RW 4 RPM Maximum motor speed Unsigned32 0 20000 2500 Maximum motor speed (ωnom) in RPM. It is unsigned and applies in both directions. Yes 0
SECTION=MOTOR1SETUP
6080h 0 2 RW 4 RPM Maximum motor speed Unsigned16 0 20000 2500 Maximum motor speed (ωnom) in RPM. It is unsigned and applies in both directions. Yes 0
OBJECT=MAX_MOTOR_SPEED_DIRECTIONAL
---- ---- ---- ---- Maximum speed (directional) Record N/A N/A ---- ---- ---- SECTION=MOTOR1SETUP
(6076h).
6081h
1 1 RW 4 RPM Maximum positive speed Integer16 0 20000 2500 Maximum positive speed in RPM Yes 0
2 1 RW 4 RPM Maximum negative speed Integer16 -20000 0 -2500 Maximum negative speed in RPM Yes 0
6083h 0 1 RW 4 1 rpm/s Maximum acceleration rate Unsigned32 0 00007FFFh 7FFFh No 0
Master, so this is only a safety limit. Object format is 32.0 fixed point, units are rpm/s. EEPROM=motor_0.profile_accel
6083h 0 2 RW 4 1 rpm/s Maximum acceleration rate Unsigned16 0 65535 5000h No 0
Master, so this is only a safety limit. Object format is16.0 fixed point, units are rpm/s. EEPROM=motor_0.profile_accel
OBJECT=ACCELERATION_DECELERATION
---- ---- ---- ---- Maximum acceleration/deceleration rate Record N/A N/A ---- ---- ----
Master, so this is only a safety limit. Object format is16.0 fixed point, units are rpm/s. EEPROM=motor_0.spd_rate

1 3 RW 4 1 rpm/s Maximum acceleration rate Unsigned16 0 65535 5000 Maximum rate of change for increasing magnitude of speed demand. Yes 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
2 3 RW 4 1 rpm/s Maximum deceleration rate Unsigned16 0 65535 5000 Maximum rate of change for decreasing magnitude of speed demand. Yes 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
This parameter limits the rate of change of acceleration rate for increasing magnitude of speed
3 3 RW 4 1 rpm/s/s Maximum change in acceleration rate Unsigned16 0 65535 5000 Yes 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
demand. It is used to create an s-curve profile for the acceleration rate.
OBJECT=MOTION_PROFILE_TYPE
Defines how motor speed is accelerated / decelerated to the target velocity. 0 = Linear characteristic.
SECTION=MOTOR1STATUS
6086h 0 1 RO 4 Motion profile type Integer16 0 0 0 Options 1, 2 and 3 (sin2, jerk-free and limited) are not supported. Since only linear is supported, this No 0
NUMBER_FORMAT=1:0=Linear
object is RO.
OBJECT=TORQUE_SLOPE
SECTION=MOTOR1SETUP
6087h 0 1 RW 4 0.1 % rated/s Torque slope Unsigned32 0 100000 40000 limit. Object resolution is 1000ths of Motor Rated Torque (6076h) / s. TODO - Need an appropriate No 0
value for this.
OBJECT=TORQUE_SLOPE
SECTION=MOTOR1SETUP
---- ---- ---- ---- Torque slope Record N/A N/A ---- limit. Object resolution is 100ths of Motor Rated Torque (6076h) / s. NOTE: this is 10 times larger ---- ----
than the version 1 object above as this object is only 16bit.
6087h
1 2 RW 4 1 % rated/s Maximum torque ramp up rate Unsigned16 10 65535 1000 Maximum rate of change for increasing torque. Default 1000 (full torque range in 100msec) Yes 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
2 2 RW 4 1 % rated/s Maximum torque ramp down rate Unsigned16 100 65535 1000 Maximum rate of change for decreasing torque. Default 1000 (full torque range in 100msec) Yes 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
OBJECT=TORQUE_SLOPE
Maximum rate of change of torque. Torque ramping is handled by the Master, so this is only a safety SECTION=MOTOR1SETUP
---- ---- ---- ---- Torque slope Record N/A N/A ---- ---- ----
limit. Object resolution is Nm/sec EEPROM=motor_0.trq_slope
6087h
1 3 RW 4 1 Nm/s Maximum torque ramp up rate Unsigned16 1 65535 1000 Maximum rate of change for increasing torque. Yes 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
2 3 RW 4 1 Nm/s Maximum torque ramp down rate Unsigned16 1 65535 1000 Maximum rate of change for decreasing torque. Yes 0 WRITE_IN_PREOPERATIONAL_ONLY=FALSE
OBJECT=TORQUE_PROFILE_TYPE
Defines how torque is ramped to target. 0 = Linear. Option 1 (sin2) is not supported. Since only SECTION=MOTOR1STATUS
6088h 0 1 RO N/A Torque profile type Integer16 0 0 0 No 0
Linear is supported, this object is RO. NUMBER_FORMAT=1:0=Linear
CATEGORY=MONITORING
OBJECT=VELOCITY_NOTATION_INDEX
608Bh 0 1 RO N/A Velocity notation index Integer8 -128 127 0 Velocity units are in RPM. No 0 SECTION=MOTOR1SETUP
CATEGORY=MONITORING
OBJECT=VELOCITY_DIMENSION_INDEX
608Ch 0 1 RO N/A Velocity dimension index Unsigned8 0 FFh A4h Velocity units are in RPM. No 0 SECTION=MOTOR1SETUP
CATEGORY=MONITORING
OBJECT=ACCELERATION_NOTATION_INDEX
608Dh 0 1 RO N/A Acceleration notation index Integer8 -128 127 0 CANopen does not have any suitable units for acceleration. Define as having no units for now. No 0 SECTION=MOTOR1SETUP
CATEGORY=MONITORING
OBJECT=ACCELERATION_DIMENSION_INDEX
608Eh 0 1 RO N/A Acceleration dimension index Unsigned8 0 FFh 0 CANopen does not have any suitable units for acceleration. Define as having no units for now. No 0 SECTION=MOTOR1SETUP
CATEGORY=MONITORING
---- ---- ---- ---- Encoder resolution Record N/A N/A ---- ---- ---- SECTION=ENCODERCONFIG
6090h 1 1 RW 4 PPR Pulses per revolution Unsigned32 0 FFFFFFFFh 64 No 0

2 1 RW 4 RPS Motor revolutions per second Unsigned32 1 FFFFFFFFh 1 No 0 same as encoder pulses per
per second equals 1
OBJECT=VELOCITY_FACTOR1
This factor is used to convert RPM into velocity units. However, in this system, velocity units are in
---- ---- ---- ---- Velocity factor 1 Record N/A N/A ---- ---- ---- SECTION=MOTOR1STATUS
RPM, so the factor is fixed at 1.
CATEGORY=MONITORING
6095h
1 1 RO N/A Numerator Unsigned32 0 100 1 No 0
2 1 RO N/A Denominator Unsigned32 0 100 1 No 0
---- ---- ---- ---- Velocity factor 2 Record N/A N/A ---- This factor is used to convert increments into incs/s. This is fixed at 1. ---- ---- SECTION=MOTOR1STATUS
CATEGORY=MONITORING
6096h
OBJECT=MAX_SLIPPAGE
SECTION=MOTOR1SETUP
60F8h 0 1 RW 4 0.0006216989965 rads/s Maximum Motor Slippage Integer32 -804248 804248 0 are in Hz (24.8 fixed pt integer). NOTE: DSP402 specifies velocity units which is RPM in our system, No 0
SOFT_LOW=-2147483648
---- ---- ---- ---- Speed control Gains Record N/A N/A ---- ---- ---- SECTION=MOTOR1SETUP
SOFT_HIGH=65535
SOFT_HIGH=65535
60F9h SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
SOFT_HIGH=65535
7 1 RW 4 0.000244140625 Integral initialization factor Unsigned16 0 1000h 1000h set equal to actual torque multiplied by this factor. Normally, integral is set equal to actual torque so No 0 EEPROM=misc.ac_mtr0_vel_ctrl_integral_init
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
OBJECT=TARGET_VELOCITY
60FFh 0 1 RWW N/A rpm Target speed Integer32 -20000 20000 No In RPM. Motor target velocity in pv mode. Yes 1h SOFT_HIGH=2147483647
SOFT_LOW=-2147483648
CATEGORY=MONITORING
60FFh 0 2 RWW N/A rpm Target speed Integer16 -20000 20000 No In RPM. Motor target velocity in pv mode. Yes 1h SOFT_HIGH=32767
SOFT_LOW=-32768
CATEGORY=MONITORING
6410h
OBJECT=SUPPORTED_DRIVE_MODES
DESC=Drive modes- Torque:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=not supported:1=supported
6502h 0 1 RO N/A Supported drive modes Unsigned32 0 FFFFFFFFh 0000000Ch Pv and tq modes supported. No 0 SECTION=MOTOR1STATUS
DESC=Drive modes- Speed:HEX_MASK=4:MIN=0:MAX=1:NF=2:0=not supported:1=supported
CATEGORY=MONITORING
OBJECT=DEVICE_TYPE DESC=Type:HEX_MASK=0000FFFF:MIN=0:MAX=0xFFFF:NF=2:402=Electric Drive:401=Generic I/O:419=Battery charger:

67FFh 0 1 RO N/A Device type Unsigned32 0 FFFFFFFFh 00010192h Device is a frequency converter. Profile number is 402 (192h). No 0 SECTION=CANOPEN_PROFILEEND 418=Battery module:410 = inclinometer
CATEGORY=MONITORING DESC=Additional data:HEX_MASK=FFFF0000:MIN=0:MAX=0xFFFF:NF=BASE16
OBJECT=READ_DIG_IN_8
---- ---- ---- ---- Digital Input states Array N/A N/A ---- Reads state of local inputs. Each input state is 1 bit in a byte. ---- ---- SECTION=DIStatus
CATEGORY=MONITORING
6800h
0 1 RO N/A Number of digital input bytes Unsigned8 0 FFh 2 There are 8 digital inputs per byte. No 0
1 1 RO N/A Digital Inputs 1..8 states Unsigned8 0 FFh No Yes 0 NUMBER_FORMAT=BASE16
2 1 RO N/A Digital Inputs 9..16 states Unsigned8 0 FFh No Yes 0 NUMBER_FORMAT=BASE16
OBJECT=DIG_IN_POLARITY
Digital Input Polarity (if set, input is active when switch is open (i.
---- ---- ---- ---- Array N/A N/A ---- Setting a bit inverts the corresponding input state. ---- ---- SECTION=DIConfiguration
e. Normally closed))
0 1 RO N/A Number of digital input bytes Unsigned8 0 FFh 2 There are 8 digital inputs per byte. No 0
DESC=Digital Input 1 Polarity:HEX_MASK=1:MIN=0:MAX=1:NF=2:0=Normally Open:1=Normally Closed

Digital Inputs 1..8 normally open/closed (set 1 for normally EEPROM=io.lcl_di_polarity_0 DESC=Digital Input 4 Polarity:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Normally Open:1=Normally Closed
1 1 RW 4 Unsigned8 0 FFh 0 No 0
closed) WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Digital Input 5 Polarity:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Normally Open:1=Normally Closed
6802h DESC=Digital Input 7 Polarity:HEX_MASK=40:MIN=0:MAX=1:NF=2:0=Normally Open:1=Normally Closed

Digital Inputs 9..15 normally open/closed (set 1 for normally EEPROM=io.lcl_di_polarity_1 DESC=Digital Input 12 Polarity:HEX_MASK=8:MIN=0:MAX=1:NF=2:0=Normally Open:1=Normally Closed
closed) WRITE_IN_PREOPERATIONAL_ONLY=TRUE DESC=Digital Input 13 Polarity:HEX_MASK=10:MIN=0:MAX=1:NF=2:0=Normally Open:1=Normally Closed
OBJECT=WRITE_DIG_OUT_8
---- ---- ---- ---- Digital Output states Array N/A N/A ---- Sets states of local digital outputs. Each output state is 1 bit in a byte. ---- ---- SECTION=DOStatus
6A00h CATEGORY=MONITORING
0 1 RO N/A Number of digital output bytes Unsigned8 0 FFh 1 There are 8 digital outputs per byte. No 0
1 1 RWW N/A Digital Outputs 1..8 states Unsigned8 0 FFh 0 Yes 1h NUMBER_FORMAT=BASE16
OBJECT=DIG_OUT_POLARITY
---- ---- ---- ---- Digital Output Polarity (if set, output is active when its state is 0) Array N/A N/A ---- Setting a bit inverts the corresponding output state. ---- ---- SECTION=DOConfiguration
6A02h 0 1 RO N/A Number of digital output bytes Unsigned8 0 FFh 1 There are 8 digital outputs per byte. No 0
EEPROM=io.lcl_do_polarity_0
1 1 RW 4 Digital Outputs 1..8 active when state is set to 0. Unsigned8 0 FFh 0 No 0 NUMBER_FORMAT=BASE16
OBJECT=DIG_OUT_ERROR_MODE
---- ---- ---- ---- Digital Output error modes Array N/A N/A ---- Setting a bit sets the output state to the corresponding bit in 6A07h. ---- ---- SECTION=DOStatus
6A06h 0 1 RO N/A Number of digital output bytes Unsigned8 0 FFh 1 There are 8 digital outputs per byte. No 0
EEPROM=io.lcl_do_error_mode_0
Digital Outputs 1..8 error modes (if set, output goes to state set in
1 1 RW 4 Unsigned8 0 FFh 0 No 0 NUMBER_FORMAT=BASE16
6A07h if CAN communication is lost)
OBJECT=DIG_OUT_ERROR_VALUE
---- ---- ---- ---- Digital Output error values Array N/A N/A ---- Output states if CANbus fault active and corresponding bit in 6A06h set. ---- ---- SECTION=DOConfiguration
6A07h
0 1 RO N/A Number of digital output bytes Unsigned8 0 FFh 1 There are 8 digital outputs per byte. No 0
Digital Outputs 1..8 error values (digital output goes to this state if EEPROM=io.lcl_do_error_value_0
enabled in 6A06h when CAN communication is lost) NUMBER_FORMAT=BASE16
OBJECT=READ_ALG_IN_16_BIT
---- ---- ---- ---- Analog input values. Array N/A N/A ---- Analog inputs in 1/256 V/bit. (DS401 does not define any units for this). ---- ---- SECTION=AIStatus
CATEGORY=MONITORING
0 1 RO N/A Number of analog inputs Unsigned8 0 FFh 8 No 0
1 1 RO N/A 0.00390625 V Analog input 1 voltage Integer16 -32768 32767 No Yes 0
6C01h
OBJECT=READ_R_ALG_IN_16_BIT
---- ---- ---- ---- Ratiometric analog Input values Array N/A N/A ---- Ratiometric analogue inputs in 8.8 format. ---- ---- SECTION=AIStatus
CATEGORY=MONITORING
6C04h 0 1 RO N/A Number of ratiometric analog inputs Unsigned8 0 FFh 2 No 0
1 1 RO N/A 0.00390625 Ratiometric analog Input 1 voltage Integer16 -32768 32767 No the value = Analog input 1 / Analog input 3 Yes 0
the value = Analog input 2 / Analog input 3 if only one supply supported, otherwise the value =
2 1 RO N/A 0.00390625 Ratiometric analog Input 2 voltage Integer16 -32768 32767 No Yes 0
Analog input 2 / Analog input 4
OBJECT=WRITE_ALG_OUT_16_BIT
Analog output targets in 8.8 format. Target in Amps or Volts depending on Current/Voltage Mode
---- ---- ---- ---- Analog output (contactor drive) values. Array N/A N/A ---- ---- ---- SECTION=AOStatus
(46A1h).
CATEGORY=MONITORING
0 1 RO N/A Number of analog outputs Unsigned8 0 FFh 7 No 0
Analog output 1 value (in amps or volts depending on current /
1 1 RWW N/A 0.00390625 V_or_A Integer16 -32768 32767 0 Yes 1h
voltage mode (46A1h)).
6C11h Analog output 3 value (in amps or volts depending on current /

6C11h
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
OBJECT=ALG_OUT_ERROR_MODE
Analog output error mode. Set to 0 to use value in 6C11h or 1 to use value in 6C44h when a
---- ---- ---- ---- Analog output (contactor drive) error modes Array N/A N/A ---- ---- ---- SECTION=AOConfiguration
CANbus fault is active.
EEPROM=io.lcl_ao_error_mode_0
Analog output 1 error mode (output goes to value in 6C44h if
1 1 RW 4 Unsigned8 0 1h 0 No 0 NUMBER_FORMAT=2:0=Disabled:1=Enabled
CAN communication is lost)
6C43h WRITE_IN_PREOPERATIONAL_ONLY=TRUE
OBJECT=ALG_OUT_ERROR_VALUE
Analog output targets to be applied when a CANbus is active. Target in Amps or Volts depending on
---- ---- ---- ---- Analog output error value Array N/A N/A ---- ---- ---- SECTION=AOConfiguration
Current/Voltage Mode (46A1h). Only top 16-bits is used, bottom 16-bits are ignored.
Analog output 1 error value (analog output goes to this value if
1 1 RW 4 0.00000005960464478V_or_A Integer32 -2147483648 2147483647 0 No 0 EEPROM=io.lcl_ao_error_value_0
enabled in 6C43h when CAN communication is lost)
6C44h Analog output 3 error value (analog output goes to this value if

6FFFh 0 1 RO N/A Device Type Unsigned32 0 FFFFFFFFh 000F0191h Device supports Digital I/O and Analog I/O. Profile number is 401 (191h). No 0 SECTION=CANOPEN_PROFILEEND 418=Battery module:410 = inclinometer
OBJECT=CONTROLWORD
CATEGORY=MONITORING

SECTION=MOTOR2SETUP
EEPROM=motor_1.mode
7060h 0 1 RWW 4 Mode of operation selection Integer8 3 4 4 Used to set pv (3) mode or tq (4) mode. No 0
3=speed:4=torque
CATEGORY=MONITORING
This is the unformatted output from the encoder. In DSP402, the units are increments. They are OBJECT=VELOCITY_SENSOR_ACTUAL
7069h 0 1 RO N/A Inc/s Encoder count Integer32 -400000 400000 No converted to inc/s using Velocity Factor 2 (6096h). However, for simplicity, Velocity Factor 2 is fixed No 0 SECTION=Motor2Status
at 1, so these units are also inc/s. CATEGORY=MONITORING
706Bh 0 1 RO N/A RPM Velocity demand Integer32 -20000 20000 No No 0 SECTION=Motor2Status
function so this object will equal Target Velocity (60FFh) most of the time. Its units are RPM slope applied
CATEGORY=MONITORING
CATEGORY=MONITORING
OBJECT=TARGET_TORQUE
7071h 0 1 RWW N/A 0.1 % of peak Target torque Integer16 -1000 1000 0 Target Torque in 1/1000th's of Motor Rated Torque (6076h). Calculated by the Application Master. Yes 1h SECTION=MOTOR2CONTROL
CATEGORY=MONITORING
OBJECT=MAX_TORQUE
7072h 0 1 RWW 4 0.1 % of peak Maximum torque Unsigned16 0 1000 1000 Maximum Torque (Tmax) in 1/1000th's of Motor Rated Torque (6076h). Yes 0
OBJECT=TORQUE_DEMAND
Torque demand after torque
7074h 0 1 RO N/A 0.1 % of peak Torque demand Integer16 -1000 1000 0 Output from the tq controller. Value is in 1/1000th's of Motor Rated Torque (6076h). No 0 SECTION=Motor2Status
slope applied
CATEGORY=MONITORING
SECTION=MOTOR2SETUP
7075h 0 1 RW 4 0.001 A(RMS) Current limit Unsigned32 0 FFFFFFFFh 700000 Rated motor current in mA. No 0
SECTION=MOTOR2SETUP
7076h 0 1 RW 4 0.001 Nm Peak torque Unsigned32 0 2000000 25000 Rated motor torque in mNm. No 0
SECTION=MOTOR2SETUP
7076h 0 2 RW 4 0.0625 Nm Peak torque Unsigned16 1 32000 400h 12.4 Rated motor torque in Nm (default 25Nm) No 0
7077h 0 1 RO N/A 0.1 % of peak Torque Integer16 -1000 1000 0 Actual Motor Torque in 1/1000th's of Motor Rated Torque (6076h). Yes 0 SECTION=Motor2Status
CATEGORY=MONITORING
% of current
7078h 0 1 RO N/A 0.1 Current Integer16 -1000 1000 0 Actual Motor Current in 1/1000th's of Motor Rated Current (6075h). No 0 SECTION=Motor2Status
limit
CATEGORY=MONITORING
OBJECT=DC_LINK_V
controllers.
CATEGORY=MONITORING
SECTION=MOTOR2SETUP
707Eh 0 1 RW 4 Encoder Polarity Unsigned8 0 40h 0 No 0
SECTION=MOTOR2SETUP
7080h 0 1 RW 4 RPM Maximum motor speed Unsigned32 0 20000 2500 Maximum motor speed (ωnom) in RPM. It is unsigned and applies in both directions. No 0
7083h 0 1 RW 4 0.00390625 rpm/s Maximum acceleration rate Unsigned32 0 00007FFFh 5 No 0
OBJECT=MOTION_PROFILE_TYPE
Defines how motor speed is accelerated / decelerated to the target velocity. 0 = Linear characteristic.
SECTION=MOTOR2STATUS
7086h 0 1 RO 4 Motion profile type Integer16 0 0 0 Options 1, 2 and 3 (sin2, jerk-free and limited) are not supported. Since only linear is supported, this No 0
NUMBER_FORMAT=1:0=Linear
object is RO.
OBJECT=TORQUE_SLOPE
SECTION=MOTOR2SETUP
7087h 0 1 RW 4 0.1 % rated/s Torque slope Unsigned32 0 100000 40000 limit. Object resolution is 1000ths of Motor Rated Torque (6076h) / s. TODO - Need an appropriate No 0
value for this.
OBJECT=TORQUE_PROFILE_TYPE
Defines how torque is ramped to target. 0 = Linear. Option 1 (sin2) is not supported. Since only SECTION=MOTOR2STATUS
7088h 0 1 RO N/A Torque profile type Integer16 0 0 0 No 0
Linear is supported, this object is RO. NUMBER_FORMAT=1:0=Linear
CATEGORY=MONITORING
708Bh 0 1 RO N/A Velocity notation index Integer8 -128 127 0 Velocity units are in RPM. No 0 SECTION=MOTOR2SETUP
CATEGORY=MONITORING
708Ch 0 1 RO N/A Velocity dimension index Unsigned8 0 FFh A4h Velocity units are in RPM. No 0 SECTION=MOTOR2SETUP
CATEGORY=MONITORING
CATEGORY=MONITORING
CATEGORY=MONITORING
---- ---- ---- ---- Encoder resolution Record N/A N/A ---- ---- ---- SECTION=ENCODERCONFIG

per second equals 1
This factor is used to convert RPM into velocity units. However, in this system, velocity units are in
---- ---- ---- ---- Velocity factor 1 Record N/A N/A ---- ---- ---- SECTION=MOTOR2STATUS
RPM, so the factor is fixed at 1.
CATEGORY=MONITORING
7095h
---- ---- ---- ---- Velocity factor 2 Record N/A N/A ---- This factor is used to convert increments into incs/s. This is fixed at 1. ---- ---- SECTION=MOTOR2STATUS
CATEGORY=MONITORING
7096h
OBJECT=MAX_SLIPPAGE
SECTION=MOTOR2SETUP
70F8h 0 1 RW 4 0.0006216989965 rads/s Maximum Motor Slippage Integer32 -804248 804248 0 are in Hz (24.8 fixed pt integer). NOTE: DSP402 specifies velocity units which is RPM in our system, No 0
70FFh 0 1 RWW N/A rpm Target speed Integer32 -20000 20000 No In RPM. Motor target velocity in pv mode. Yes 1h SECTION=MOTOR2CONTROL
CATEGORY=MONITORING
7502h 0 1 RO N/A Supported drive modes Unsigned32 0 FFFFFFFFh 0000000Ch Pv and tq modes supported. No 0 SECTION=MOTOR2STATUS
CATEGORY=MONITORING

77FFh 0 1 RO N/A Device type Unsigned32 0 FFFFFFFFh 00010192h Device is a frequency converter. Profile number is 402 (192h). No 0 SECTION=CANOPEN_PROFILEEND 418=Battery module:410 = inclinometer
Column Reserved
Column Reserved
Index
Index
Version [1]
Type [2] Level
[4]
OBJECT=CONTROLWORD
CATEGORY=MONITORING

SECTION=MOTOR3SETUP
EEPROM=motor_1.mode
7860h 0 1 RWW 4 Mode of operation selection Integer8 3 3 3 Only pv (3) mode supported No 0
NUMBER_FORMAT=1:3=Duty Cycle
3=Duty Cycle
CATEGORY=MONITORING
786Bh 0 1 RO N/A 0.01 % Velocity demand Integer32 -20000 20000 No Yes 0 SECTION=Motor3Status
function so this object will equal Target Velocity (78FFh) most of the time. slope applied
CATEGORY=MONITORING
786Ch 0 1 RO N/A 0.01 % Velocity Integer32 -20000 20000 No Actual velocity in %. Yes 0 SECTION=Motor3Status
CATEGORY=MONITORING
OBJECT=MAX_CURRENT
% of peak SECTION=MOTOR3CONTROL
7873h 0 1 RW 4 0.1 Current limit Unsigned16 0 1000 1000 Maximum current (Ia_max) in 1/1000th's of Motor Rated Current (7875h). Yes 0
current EEPROM=motor_2.maximum_current
OBJECT=MOTOR_RATED_CURRENT
SECTION=MOTOR3SETUP
7875h 0 1 RW 4 0.001 A Peak current Unsigned32 0 FFFFFFFFh 700000 Rated motor current in mA. No 0
% of peak
7878h 0 1 RO N/A 0.1 Current Integer16 -1000 1000 0 Actual Motor Current in 1/1000th's of Motor Rated Current (7875h). No 0 SECTION=Motor3Status
current
CATEGORY=MONITORING
OBJECT=DC_LINK_V
controllers.
CATEGORY=MONITORING
OBJECT=MAX_PROFILE_MOTOR_SPEED
SECTION=MOTOR3SETUP
787Fh 0 1 RW 4 0.01 % Maximum motor speed Unsigned32 0 10000 10000 Maximum motor speed (ωnom) in 0.01%/bit. It is unsigned and applies in both directions. No 0
Maximum acceleration and deceleration rates. Acceleration and Deceleration is controlled by the
SECTION=MOTOR3SETUP
7883h 0 1 RW 4 0.390625 %/s Maximum acceleration rate Unsigned32 50 2560 256 Master, so this is only a safety limit. Object format is 24.8 fixed point. NOTE: A 16-bit, PDO No 0
EEPROM=motor_2.profile_accel
mappable runtime equivalent value is available at 4783h,2 in ms.
788Bh 0 1 RO N/A Velocity notation index Integer8 -128 127 FEh Velocity units are in 0.01%. No 0 SECTION=MOTOR3SETUP
CATEGORY=MONITORING
788Ch 0 1 RO N/A Velocity dimension index Unsigned8 0 FFh ABh Velocity units are in 0.01%. No 0 SECTION=MOTOR3SETUP
CATEGORY=MONITORING
CATEGORY=MONITORING
CATEGORY=MONITORING
78FFh 0 1 RWW N/A 0.01 % Target velocity Integer32 -20000 20000 No Motor target velocity in pv mode. NOTE: A 16-bit, equivalent value is available at 4783h,1. Yes 1h SECTION=MOTOR3CONTROL
CATEGORY=MONITORING
7D02h 0 1 RO N/A Supported drive modes Unsigned32 0 FFFFFFFFh 00000004h Pv mode only is supported. No 0 SECTION=MOTOR3STATUS
CATEGORY=MONITORING

7FFFh 0 1 RO N/A Device type Unsigned32 0 FFFFFFFFh 00010192h Device is a frequency converter. Profile number is 402 (192h). No 0 SECTION=CANOPEN_PROFILEEND 418=Battery module:410 = inclinometer
Yes 0
Yes 0
[1] The top level object has the same version as subindex 0. i.e. 1010h has the same version as 1010h,0.
[2] RO - Read Only

WO - Write Only
RW - Read / Write
RWR - RW (mappable to TPDO)
RWW - RW (mappable to RPDO)
[3] Can be decimal or hex (append with 'h').
[4] Can be decimal or hex (append with 'h').
[5] Values can be decimal or hex (append with 'h'). When protected, only cells containing configuration parameters can be edited. These cells are
unlocked. Any value in an unlocked cell is added to the DCF as a parameter value.
[6] Bit 0 = Inhibit write during download.

Bit 1 = Inhibit read during upload.
[7] DESC=Description
HEX_MASK=Bit field mask in hex (w/o 0x)
MIN=Min value (dec)
MAX=Max value (dec)
NF=Number format
[8] chris.hauxwell:
The way Ixxat implement this means the server stores its RX COBID in the TX field and vice versa.
[9] chris.hauxwell:
[10] chris.hauxwell:
[14] PAULS:
TODO - update this with information from Canspec v0.7/v0.8
[15] PAULS:
[16] PAULS:
[17] PAULS:
[18] PAULS:
[19] PAULS:
[20] PAULS:
[21] PAULS:
[22] PAULS:
[23] PAULS:
[24] PAULS:
[24] PAULS:
[25] PAULS:
[26] CMP, 15/09/08, US0063, ESP819 - Merged DBT control parameters.
[27] Paul Shipley:

Caution - setting this value to other than zero seems to give strange effects when returning to neutral.
[28] PAULS:
TODO :
Different data meanings for different motors. Need some way of expressing this.
[29] PAULS:
TODO :
[30] PAULS:
TODO :
[31] PAULS:
TODO :
[32] PAULS:
TODO :
[33] PAULS:
TODO :
[34] PAULS:
TODO :
[35] PAULS:
TODO :
[36] PAULS:
TODO :

Sevcon CANopen Master Object Dictionary Monitoring

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Sevcon CANopen Master Object Dictionary Monitoring

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Sevcon CANopen Master Object Dictionary More this way

0 1 RO N/A Number of entries Unsigned8 0 FFh 7 No 0

5 1 RW 4 ms Event timer Unsigned16 0 7FFFh 0 No 0 EEPROM=sdo_pdo.tpdo_comm_0.w_event_timer_reload

5 1 RW 4 ms Event timer Unsigned16 0 7FFFh 0 No 0 EEPROM=sdo_pdo.tpdo_comm_1.w_event_timer_reload

5 1 RW 4 ms Event timer Unsigned16 0 7FFFh 0 No 0 EEPROM=sdo_pdo.tpdo_comm_2.w_event_timer_reload

5 1 RW 4 ms Event timer Unsigned16 0 7FFFh 0 No 0 EEPROM=sdo_pdo.tpdo_comm_3.w_event_timer_reload

5 1 RW 4 ms Event timer Unsigned16 0 7FFFh 0 No 0 EEPROM=sdo_pdo.tpdo_comm_4.w_event_timer_reload

5 1 RW 4 ms Event timer Unsigned16 0 7FFFh 0 No 0 EEPROM=sdo_pdo.tpdo_comm_5.w_event_timer_reload

5 1 RW 4 ms Event timer Unsigned16 0 7FFFh 0 No 0 EEPROM=sdo_pdo.tpdo_comm_6.w_event_timer_reload

5 1 RW 4 ms Event timer Unsigned16 0 7FFFh 0 No 0 EEPROM=sdo_pdo.tpdo_comm_7.w_event_timer_reload

5 1 RW 4 ms Event timer Unsigned16 0 7FFFh 0 No 0 EEPROM=sdo_pdo.tpdo_comm_8.w_event_timer_reload

0 1 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

0 2 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

0 1 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

0 2 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

0 1 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

0 2 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

0 1 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

0 2 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

0 1 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

0 2 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

0 1 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

0 2 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

2700h 0 1 RO N/A Number of entries Unsigned8 0 FFh 2 No 0

0 1 RO N/A Number of entries Unsigned8 0 FFh 5 No 0

0 1 RO N/A Number of entries Unsigned8 0 FFh 16 No 0

0 1 RO N/A Number of entries Unsigned8 0 FFh 1 No 0

2780h 1 1 RW 2 Hours Key hours counter offset Unsigned16 0 FFFFh 0 No 1h EEPROM=vehicle.vehicle_hrs_offsets_0

0 1 RO N/A Number of parameters Unsigned8 0 FFh 1 No 0

0 1 RO N/A Number of parameters Unsigned8 0 FFh 4 No 0

0 1 RO N/A Number of parameters Unsigned8 0 FFh 5 No 0

0 1 RO N/A Number of parameters Unsigned8 0 FFh 17 No 0

Set bit to enable buzzer source:

0 2 RO N/A Number of parameters Unsigned8 0 FFh 19 No 0

Set bit to enable buzzer source:

Sevcon CANopen Master Object Dictionary More this way

0 1 RO N/A Number of parameters Unsigned8 0 FFh 5 No 0

Used to select the source hours counter to use for service:

0 1 RO N/A Number of parameters Unsigned8 0 FFh 7 No 0

2 1 RW 2 A Maximum battery discharge current Integer16 0 32767 100 Yes 0

2872h 0 1 RO N/A Number of parameters Unsigned8 0 FFh 2 No 0

0 1 RO N/A Number of parameters Unsigned8 0 FFh 7 No 0

0 1 RO N/A Number of parameters Unsigned8 0 FFh 1 No 0

290Ah 0 1 RO N/A Number of parameters Unsigned8 0 FFh 3 No 0

0 2 RO N/A Number of parameters Unsigned8 0 FFh 8 No 0

0 2 RO N/A Number of parameters Unsigned8 N/A N/A 3 No 0

0 1 RO N/A Number of parameters Unsigned8 0 FFh 5 No 0

0 1 RO N/A Number of parameters Unsigned8 0 FFh 22 No 0

Bit 0 - Direction braking proportional to throttle (0 = Not proportional, 1 = Proportional).

Bit 0 - Direction braking proportional to throttle (0 = Not proportional, 1 = Proportional).

3 1 RW 1 0.00390625 V Throttle Start Voltage 1 Unsigned16 0 FFFFh 16 No 0 EEPROM=traction.throttle_0_start_voltage

0 1 RO N/A Number of parameters Unsigned8 0 FFh 13 No 0

Bits are assigned as follows:

7 1 RW 2 0.00003051850948 Footbrake End Value 1 Integer16 0 32767 32767 As above No 0 EEPROM=traction.footbrake_end_value

0 1 RO N/A Number of parameters Unsigned8 0 FFh 5 No 0

0 1 RO N/A Number of parameters Unsigned8 0 FFh 19 No 0

0 1 RO N/A Number of entries Unsigned8 0 FFh 6 No 0

0 1 RO N/A Number of entries Unsigned8 0 FFh 2 No 0

Set bit to ignore input during power up sequence fault check:

Set bit to ignore input during traction fault neutral check:

0 1 RO N/A Number of parameters Unsigned8 0 FFh 1 No 0

291Eh 0 1 RO N/A Number of entries Unsigned8 0 FFh 2 No 0

291Fh 0 2 RO N/A Number of entries Unsigned8 0 FFh 3 No 0