3.0 en_US

CiA402 Communications Commutation Control loop Feedback Filters Homing Product Identification Internal Inputs / Outputs Limits Monitoring Motor and Brake Others Profiler Protections Reporting Targets Thresholds Device type Device type Error register Error register Pre-defined error field Number of errors Standard error field 1 Standard error field 2 Standard error field 3 Standard error field 4 COB-ID SYNC message COB-ID SYNC message Manufacturer Device Name Manufacturer Device Name Guard time Guard time Life time factor Life time factor Store parameters Highest sub-index supported Save all parameters Restore default parameters Highest sub-index supported Restore all default parameters COB-ID time stamp message COB-ID time stamp message COB-ID emergency message COB-ID emergency message Consumer heartbeat time Highest sub-index supported Consumer heartbeat time Producer heartbeat time Producer heartbeat time Identity object Highest sub-index supported Vendor-ID Product code Revision number Serial number Error behavior Highest sub-index supported Communication error SDO server parameters Highest sub-index supported COB-ID Client->Server COB-ID Server->Client RPDO 1 Highest sub-index supported COB-Id used Transmission type Inhibit time Event timer SYNC start value RPDO 2 Highest sub-index supported COB-Id used Transmission type Inhibit time Event timer SYNC start value RPDO 3 Highest sub-index supported COB-Id used Transmission type Inhibit time Event timer SYNC start value RPDO 4 Highest sub-index supported COB-Id used Transmission type Inhibit time Event timer SYNC start value RPDO 1 mapping parameter Number of mapped objects RPDO 1 mapping parameter Element 1 RPDO 1 mapping parameter Element 2 RPDO 1 mapping parameter Element 3 RPDO 1 mapping parameter Element 4 RPDO 1 mapping parameter Element 5 RPDO 1 mapping parameter Element 6 RPDO 1 mapping parameter Element 7 RPDO 1 mapping parameter Element 8 RPDO 2 mapping parameter Number of mapped objects RPDO 2 mapping parameter Element 1 RPDO 2 mapping parameter Element 2 RPDO 2 mapping parameter Element 3 RPDO 2 mapping parameter Element 4 RPDO 2 mapping parameter Element 5 RPDO 2 mapping parameter Element 6 RPDO 2 mapping parameter Element 7 RPDO 2 mapping parameter Element 8 RPDO 3 mapping parameter Number of mapped objects RPDO 3 mapping parameter Element 1 RPDO 3 mapping parameter Element 2 RPDO 3 mapping parameter Element 3 RPDO 3 mapping parameter Element 4 RPDO 3 mapping parameter Element 5 RPDO 3 mapping parameter Element 6 RPDO 3 mapping parameter Element 7 RPDO 3 mapping parameter Element 8 RPDO 4 mapping parameter Number of mapped objects RPDO 4 mapping parameter Element 1 RPDO 4 mapping parameter Element 2 RPDO 4 mapping parameter Element 3 RPDO 4 mapping parameter Element 4 RPDO 4 mapping parameter Element 5 RPDO 4 mapping parameter Element 6 RPDO 4 mapping parameter Element 7 RPDO 4 mapping parameter Element 8 TPDO 1 Highest sub-index supported COB-Id used Transmission type Inhibit time Event timer SYNC start value TPDO 2 Highest sub-index supported COB-Id used Transmission type Inhibit time Event timer SYNC start value TPDO 3 Highest sub-index supported COB-Id used Transmission type Inhibit time Event timer SYNC start value TPDO 4 Highest sub-index supported COB-Id used Transmission type Inhibit time Event timer SYNC start value TPDO 1 mapping parameter Number of mapped objects TPDO 1 mapping parameter Element 1 TPDO 1 mapping parameter Element 2 TPDO 1 mapping parameter Element 3 TPDO 1 mapping parameter Element 4 TPDO 1 mapping parameter Element 5 TPDO 1 mapping parameter Element 6 TPDO 1 mapping parameter Element 7 TPDO 1 mapping parameter Element 8 TPDO 2 mapping parameter Number of mapped objects TPDO 2 mapping parameter Element 1 TPDO 2 mapping parameter Element 2 TPDO 2 mapping parameter Element 3 TPDO 2 mapping parameter Element 4 TPDO 2 mapping parameter Element 5 TPDO 2 mapping parameter Element 6 TPDO 2 mapping parameter Element 7 TPDO 2 mapping parameter Element 8 TPDO 3 mapping parameter Number of mapped objects TPDO 3 mapping parameter Element 1 TPDO 3 mapping parameter Element 2 TPDO 3 mapping parameter Element 3 TPDO 3 mapping parameter Element 4 TPDO 3 mapping parameter Element 5 TPDO 3 mapping parameter Element 6 TPDO 3 mapping parameter Element 7 TPDO 3 mapping parameter Element 8 TPDO 4 mapping parameter Number of mapped objects TPDO 4 mapping parameter Element 1 TPDO 4 mapping parameter Element 2 TPDO 4 mapping parameter Element 3 TPDO 4 mapping parameter Element 4 TPDO 4 mapping parameter Element 5 TPDO 4 mapping parameter Element 6 TPDO 4 mapping parameter Element 7 TPDO 4 mapping parameter Element 8 Program data Program data Program control Program control Program control 1 Program software identification Program software identification Program software identification 1 Flash status identification Flash status identification Flash status identification 1 Last error Last error Control word Control word Status word Status word Modes of operation Modes of operation Voltage Current amplifier Current Cyclic current Velocity Cyclic velocity Profile velocity Position Cyclic position Profile position Profile position S-curve PVT Homing Modes of operation display Modes of operation display Voltage Current amplifier Current Cyclic current Velocity Cyclic velocity Profile velocity Position Cyclic position Profile position Profile position S-curve PVT Homing Voltage quadrature set-point Voltage quadrature set-point Voltage direct set-point Voltage direct set-point Current quadrature set-point Current quadrature set-point Current direct set-point Current direct set-point Current A set-point Current A set-point Current B set-point Current B set-point Position set-point Position set-point Target velocity Target velocity Torque set-point Torque set-point Position option code Position option code Profiler max. velocity Profiler max. velocity Profiler max. acceleration Profiler max. acceleration Profiler max. deceleration Profiler max. deceleration Profiler end velocity Profiler end velocity Actual torque Actual torque Position actual value Position actual value Velocity actual value Velocity actual value Auxiliary feedback value Auxiliary feedback value Bus voltage current counts Bus voltage current counts Current A value Current A value Current B value Current B value Current C value Current C value Current quadrature value Current quadrature value Current direct value Current direct value Current A counts Current A counts Current B counts Current B counts Current C counts Current C counts Commutation angle value Commutation angle value Reference angle value Reference angle value User commutation angle offset User commutation angle offset Primary Absolute Slave 1 - Position Primary Absolute Slave 1 - Position Primary Absolute Slave 1 - Full frame Primary Absolute Slave 1 - Full frame Primary Absolute Slave 1 - Compensated position Primary Absolute Slave 1 - Compensated position Generator value Generator value Secondary Absolute Slave 1 - Position Secondary Absolute Slave 1 - Position Primary Absolute Slave 2 - Position Primary Absolute Slave 2 - Position Torque demand Torque demand Secondary Absolute Slave 1 - Full frame Secondary Absolute Slave 1 - Full frame Primary Absolute Slave 2 - Full frame Primary Absolute Slave 2 - Full frame Secondary Absolute Slave 1 - Compensated position Secondary Absolute Slave 1 - Compensated position Power stage temperature 3 value Power stage temperature 3 value Power stage temperature 3 counts Power stage temperature 3 counts Bus voltage counts Bus voltage counts Bus voltage value Bus voltage value Power stage temperature 1 value Power stage temperature 1 value Power stage temperature 1 counts Power stage temperature 1 counts Motor temperature value Motor temperature value Power stage temperature 2 value Power stage temperature 2 value Power stage temperature 2 counts Power stage temperature 2 counts Power stage max. actual temperature Power stage max. actual temperature Voltage phase A Voltage phase A Voltage phase B Voltage phase B Voltage phase C Voltage phase C Voltage direct command Voltage direct command Voltage quadrature command Voltage quadrature command Voltage quadrature demand Voltage quadrature demand Voltage direct demand Voltage direct demand Current quadrature demand Current quadrature demand Current direct demand Current direct demand Current A demand Current A demand Current B demand Current B demand Current actual value Current actual value Current command value Current command value Position demand Position demand Velocity demand Velocity demand Acceleration demand Acceleration demand Velocity loop input offset Velocity loop input offset Current quadrature loop input offset Current quadrature loop input offset Current direct loop input offset Current direct loop input offset Torque loop input offset Torque loop input offset Analog input 1 - Counts Analog input 1 - Counts Analog input 1 - Value Analog input 1 - Value Position loop control command Position loop control command Velocity loop control command Velocity loop control command Current quadrature / A control loop command Current quadrature / A control loop command Current direct / B control loop command Current direct / B control loop command Motor rated torque Motor rated torque Torque control loop command Torque control loop command Motor rated current Motor rated current Peak current Peak current Peak current time Peak current time User I2t value User I2t value Motor pole pairs Motor pole pairs Motor temp. protection threshold Motor temp. protection threshold Motor temp. sensor type Motor temp. sensor type NTC PTC Linear voltage RTD Silicon Switch None Motor temp. sensor resistance Motor temp. sensor resistance Motor temp. sensor Beta (25-85) Motor temp. sensor Beta (25-85) Motor temp. sensor external resistance Motor temp. sensor external resistance Motor temp. sensor gain Motor temp. sensor gain Motor temp. sensor offset Motor temp. sensor offset Motor temperature sensor voltage reference Motor temperature sensor voltage reference Motor temperature sensor Temperature 0 Motor temperature sensor Temperature 0 Motor temperature sensor Resistance 0 Motor temperature sensor Resistance 0 Motor temperature sensor Temperature 1 Motor temperature sensor Temperature 1 Motor temperature sensor Resistance 1 Motor temperature sensor Resistance 1 Internal shunt enable voltage Internal shunt enable voltage Internal shunt disable voltage Internal shunt disable voltage External shunt enable voltage External shunt enable voltage External shunt disable voltage External shunt disable voltage Brake activation voltage percentage Brake activation voltage percentage Brake holding voltage percentage Brake holding voltage percentage Delay before release brake Delay before release brake Delay after enable brake Delay after enable brake Activation brake time Activation brake time Brake override Brake override Override disabled Release brake Enable brake Brake activation current Brake activation current Brake holding current Brake holding current Brake current control Kp Brake current control Kp Brake current control Ki Brake current control Ki Brake control mode Brake control mode Voltage control Current control None Brake current error window Brake current error window Brake current error timeout Brake current error timeout Brake max current Brake max current Brake current actual value Brake current actual value Brake current feedback source Brake current feedback source No feedback General purpose analog input 1 Angle integrity check 1 angle deviation Angle integrity check 1 angle deviation Angle integrity check 1 calibration angle Angle integrity check 1 calibration angle Angle integrity check 1 commutation calibration angle Angle integrity check 1 commutation calibration angle Angle integrity check 1 latched commutation angle Angle integrity check 1 latched commutation angle Brake current command Brake current command Control mode Control mode Three-phase field-oriented control Three-phase trapezoidal control Single-phase control Commutation angle offset Commutation angle offset Commutation feedback sensor Commutation feedback sensor Primary Absolute Slave 1 Internal generator Incremental encoder 1 Digital halls Secondary Absolute Slave 1 Primary Absolute Slave 2 Reference angle offset Reference angle offset Reference feedback sensor Reference feedback sensor Primary Absolute Slave 1 Internal generator Incremental encoder 1 Digital halls Secondary Absolute Slave 1 Primary Absolute Slave 2 Phasing mode Phasing mode Non-forced Forced No phasing Max. current on phasing sequence Max. current on phasing sequence Phasing timeout Phasing timeout Phasing accuracy Phasing accuracy Angle integrity check 1 threshold Angle integrity check 1 threshold Angle integrity check 2 threshold Angle integrity check 2 threshold Restart all feedbacks Restart all feedbacks Set feedback power supply status Set feedback power supply status Feedbacks disabled Feedbacks enabled Interpolation data record - Position input Interpolation data record - Position input Interpolation data record - Velocity input Interpolation data record - Velocity input Interpolation data record - Time input Interpolation data record - Time input Interpolation data record - Integrity check Interpolation data record - Integrity check Interpolation data record - Status Interpolation data record - Status Power stage maximum duty cycle Power stage maximum duty cycle Profiler latching mode Profiler latching mode Velocity threshold Velocity threshold Velocity threshold time Velocity threshold time Velocity following error window Velocity following error window Velocity following error timeout Velocity following error timeout Min position range limit Min position range limit Max position range limit Max position range limit Max current Max current Position control loop error Position control loop error Velocity control loop error Velocity control loop error Torque control loop error Torque control loop error Current direct control loop error Current direct control loop error Current quadrature control loop error Current quadrature control loop error Max. velocity Max. velocity Min position Min position Max position Max position Position following error window Position following error window Following error time out Following error time out Following error Following error Interpolation time mantissa Interpolation time mantissa Interpolation time exponent Interpolation time exponent Position window Position window Position window time Position window time Velocity window Velocity window Velocity window time Velocity window time Quick stop deceleration Quick stop deceleration Interpolation data record - Force clear Interpolation data record - Force clear Interpolation buffer size Interpolation buffer size Interpolation buffer number of elements Interpolation buffer number of elements Interpolation buffer maximum size Interpolation buffer maximum size Command source 1 Command source 1 Network Command source 2 Command source 2 Network Analog input 1 - Gain Analog input 1 - Gain Analog input 1 - Offset Analog input 1 - Offset Abs feedback 1 compensation table enable Abs feedback 1 compensation table enable Disabled Enabled Abs feedback 1 compensation table index Abs feedback 1 compensation table index Abs feedback 1 compensation table value Abs feedback 1 compensation table value Abs feedback 2 compensation table enable Abs feedback 2 compensation table enable Disabled Enabled Abs feedback 2 compensation table index Abs feedback 2 compensation table index Abs feedback 2 compensation table value Abs feedback 2 compensation table value Cogging compensation table enable Cogging compensation table enable Disabled Enabled Cogging compensation table index Cogging compensation table index Cogging compensation table value Cogging compensation table value Power limit Power limit Peak power limit Peak power limit Peak power time Peak power time Power limiter Kp Power limiter Kp Power limiter Ki Power limiter Ki Output power value Output power value Enabled feedbacks mask Enabled feedbacks mask Velocity feedback sensor Velocity feedback sensor Primary Absolute Slave 1 Internal generator Incremental encoder 1 Digital halls Secondary Absolute Slave 1 Primary Absolute Slave 2 Position feedback sensor Position feedback sensor Primary Absolute Slave 1 Internal generator Incremental encoder 1 Digital halls Secondary Absolute Slave 1 Primary Absolute Slave 2 Auxiliary feedback sensor Auxiliary feedback sensor Primary Absolute Slave 1 Internal generator Incremental encoder 1 Digital halls Secondary Absolute Slave 1 Primary Absolute Slave 2 Position to velocity sensor ratio Position to velocity sensor ratio Primary Absolute Slave 1 - Protocol Primary Absolute Slave 1 - Protocol BiSS C SSI Endat2.2 Serial Synchronous 1 Primary Absolute Slave 1 - Frame size Primary Absolute Slave 1 - Frame size Primary Absolute Slave 1 - Error tolerance Primary Absolute Slave 1 - Error tolerance Primary Absolute Slave 1 - Polarity Primary Absolute Slave 1 - Polarity Standard Reversed Primary Absolute Slave 1 - Frame type Primary Absolute Slave 1 - Frame type Raw Raw gray Zettlex - SSI1 BiSS-C BP3 BiSS-C BP3 Gray Endat2.2 Primary Absolute Slave 1 - Position bits Primary Absolute Slave 1 - Position bits Primary Absolute Slave 1 - Single-turn bits Primary Absolute Slave 1 - Single-turn bits Primary Absolute Slave 1 - Position start bit Primary Absolute Slave 1 - Position start bit Secondary Absolute Slave 1 - Frame size Secondary Absolute Slave 1 - Frame size Secondary Absolute Slave 1 - Error tolerance Secondary Absolute Slave 1 - Error tolerance Secondary Absolute Slave 1 - Polarity Secondary Absolute Slave 1 - Polarity Standard Reversed Secondary Absolute Slave 1 - Frame type Secondary Absolute Slave 1 - Frame type Raw Raw gray Zettlex - SSI1 BiSS-C BP3 BiSS-C BP3 Gray Secondary Absolute Slave 1 - Position bits Secondary Absolute Slave 1 - Position bits Secondary Absolute Slave 1 - Single-turn bits Secondary Absolute Slave 1 - Single-turn bits Secondary Absolute Slave 1 - Position start bit Secondary Absolute Slave 1 - Position start bit Generator mode Generator mode Constant Saw tooth Square Generator frequency Generator frequency Generator gain Generator gain Generator offset Generator offset Generator cycle number Generator cycle number Generator rearm Generator rearm Rearm generator Primary Absolute Slave 1 - Baudrate Primary Absolute Slave 1 - Baudrate 1000 2000 5000 10000 Secondary Absolute Slave 1 - Baudrate Secondary Absolute Slave 1 - Baudrate 1000 2000 5000 10000 Incremental encoder 1 - Resolution Incremental encoder 1 - Resolution Incremental encoder 1 - Polarity Incremental encoder 1 - Polarity Standard Reversed Incremental encoder 1 - Filter Incremental encoder 1 - Filter Disabled 10 ns 20 ns 40 ns 80 ns 160 ns 320 ns 640 ns 1.28 us 2.56 us 5.12 us Incremental encoder 1 - Value Incremental encoder 1 - Value Dig. hall polarity Dig. hall polarity Standard Reversed Dig. hall filter Dig. hall filter Disabled 10 ns 20 ns 40 ns 80 ns 160 ns 320 ns 640 ns 1.28 us 2.56 us 5.12 us Dig. hall pole pairs Dig. hall pole pairs Dig. hall value Dig. hall value Feedback runaway source Feedback runaway source Primary Absolute Slave 1 Incremental encoder 1 Secondary Absolute Slave 1 Primary Absolute Slave 2 Primary Absolute Feedback - Topology Primary Absolute Feedback - Topology Single feedback Two BiSS C feedbacks in daisy-chain Dual BiSS C Primary Absolute - Maximum refresh rate Primary Absolute - Maximum refresh rate Secondary Absolute - Maximum refresh rate Secondary Absolute - Maximum refresh rate Primary Absolute - Actual refresh rate Primary Absolute - Actual refresh rate Secondary Absolute - Actual refresh rate Secondary Absolute - Actual refresh rate Digital halls offset compensation enable Digital halls offset compensation enable Disabled Enabled Digital halls offset compensation index Digital halls offset compensation index Digital halls offset compensation value Digital halls offset compensation value Digital halls Last transition angle Digital halls Last transition angle Primary Absolute Slave 2 - Frame size Primary Absolute Slave 2 - Frame size Primary Absolute Slave 2 - Error tolerance Primary Absolute Slave 2 - Error tolerance Primary Absolute Slave 2 - Polarity Primary Absolute Slave 2 - Polarity Standard Reversed Primary Absolute Slave 2 - Frame type Primary Absolute Slave 2 - Frame type Raw Raw gray Zettlex - SSI1 BiSS-C BP3 BiSS-C BP3 Gray Primary Absolute Slave 2 - Position bits Primary Absolute Slave 2 - Position bits Primary Absolute Slave 2 - Single-turn bits Primary Absolute Slave 2 - Single-turn bits Primary Absolute Slave 2 - Position start bit Primary Absolute Slave 2 - Position start bit Primary Absolute Slave 1 - CRC polynomial Primary Absolute Slave 1 - CRC polynomial Primary Absolute Slave 1 - CRC number of bits Primary Absolute Slave 1 - CRC number of bits Primary Absolute Slave 2 - CRC polynomial Primary Absolute Slave 2 - CRC polynomial Primary Absolute Slave 2 - CRC number of bits Primary Absolute Slave 2 - CRC number of bits Primary Absolute Slave 1 - CRC seed Primary Absolute Slave 1 - CRC seed Primary Absolute Slave 2 - CRC seed Primary Absolute Slave 2 - CRC seed Primary Absolute Slave 1 - Position offset Primary Absolute Slave 1 - Position offset Primary Absolute Slave 2 - Position offset Primary Absolute Slave 2 - Position offset Secondary Absolute Slave 1 - Position offset Secondary Absolute Slave 1 - Position offset Torque constant Torque constant Secondary Absolute Slave 1 - Protocol Secondary Absolute Slave 1 - Protocol BiSS C SSI Serial Synchronous 1 Secondary Absolute Slave 1 - CRC polynomial Secondary Absolute Slave 1 - CRC polynomial Secondary Absolute Slave 1 - CRC seed Secondary Absolute Slave 1 - CRC seed Secondary Absolute Slave 1 - CRC number of bits Secondary Absolute Slave 1 - CRC number of bits Primary absolute interface - Register address Primary absolute interface - Register address Primary absolute interface - Register data Primary absolute interface - Register data Primary absolute interface - Operation status Primary absolute interface - Operation status Primary absolute interface - Control Primary absolute interface - Control Secondary absolute interface - Register address Secondary absolute interface - Register address Secondary absolute interface - Register data Secondary absolute interface - Register data Secondary absolute interface - Operation status Secondary absolute interface - Operation status Secondary absolute interface - Control Secondary absolute interface - Control Homing supported methods mask Homing supported methods mask Homing mode Homing mode On current position On positive switch limit On negative switch limit On positive index pulse On negative index pulse On the positive limit switch and index pulse On the negative limit switch and index pulse Homing offset Homing offset Homing timeout Homing timeout Homing limit search speed Homing limit search speed Homing zero search speed Homing zero search speed Positive homing switch Positive homing switch None GPI1 GPI2 GPI3 GPI4 Negative homing switch Negative homing switch None GPI1 GPI2 GPI3 GPI4 Homing index pulse source Homing index pulse source Incremental encoder 1 Current loop rate Current loop rate Current scaling gain factor Current scaling gain factor Sensor gain 1 Sensor gain 2 Sensor gain 3 Sensor gain 4 Current quadrature loop Kp Current quadrature loop Kp Current quadrature loop Ki Current quadrature loop Ki Current quadrature loop max. out Current quadrature loop max. out Current quadrature loop min. out Current quadrature loop min. out Current direct loop Kp Current direct loop Kp Current direct loop Ki Current direct loop Ki Current direct loop max. out Current direct loop max. out Current direct loop min. out Current direct loop min. out Velocity loop Kp Velocity loop Kp Velocity loop Ki Velocity loop Ki Velocity loop Kd Velocity loop Kd Velocity loop Kd filter Velocity loop Kd filter Velocity loop max. output Velocity loop max. output Velocity loop min. output Velocity loop min. output Control loops feedback options Control loops feedback options Position loop Kp Position loop Kp Position loop Ki Position loop Ki Position loop Kd Position loop Kd Position loop Kd filter Position loop Kd filter Position loop max. output Position loop max. output Position loop min. output Position loop min. output Current loop status Current loop status Velocity loop status Velocity loop status Position loop status Position loop status STO status STO status Velocity loop integral reset Velocity loop integral reset Position loop integral reset Position loop integral reset Velocity loop integral value Velocity loop integral value Position loop integral value Position loop integral value Maximum voltage bus utilization Maximum voltage bus utilization Position & velocity loop rate Position & velocity loop rate Power stage frequency Power stage frequency 20 kHz 50 kHz 100 kHz 200 kHz Control loops option code Control loops option code Torque loop Kp Torque loop Kp Torque loop Ki Torque loop Ki Torque loop max. output Torque loop max. output Torque loop min. output Torque loop min. output Position feedback filter 1 type Position feedback filter 1 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Position feedback filter 1 frequency Position feedback filter 1 frequency Position feedback filter 1 Q-factor Position feedback filter 1 Q-factor Position feedback filter 1 gain Position feedback filter 1 gain Position feedback filter 2 type Position feedback filter 2 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Position feedback filter 2 frequency Position feedback filter 2 frequency Position feedback filter 2 Q-factor Position feedback filter 2 Q-factor Position feedback filter 2 gain Position feedback filter 2 gain Position reference filter 1 type Position reference filter 1 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Position reference filter 1 frequency Position reference filter 1 frequency Position reference filter 1 Q-factor Position reference filter 1 Q-factor Position reference filter 1 gain Position reference filter 1 gain Position reference filter 2 type Position reference filter 2 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Position reference filter 2 frequency Position reference filter 2 frequency Position reference filter 2 Q-factor Position reference filter 2 Q-factor Position reference filter 2 gain Position reference filter 2 gain Velocity feedback filter 1 type Velocity feedback filter 1 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Velocity feedback filter 1 frequency Velocity feedback filter 1 frequency Velocity feedback filter 1 Q-factor Velocity feedback filter 1 Q-factor Velocity feedback filter 1 gain Velocity feedback filter 1 gain Velocity feedback filter 2 type Velocity feedback filter 2 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Velocity feedback filter 2 frequency Velocity feedback filter 2 frequency Velocity feedback filter 2 Q-factor Velocity feedback filter 2 Q-factor Velocity feedback filter 2 gain Velocity feedback filter 2 gain Velocity reference filter 1 type Velocity reference filter 1 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Velocity reference filter 1 frequency Velocity reference filter 1 frequency Velocity reference filter 1 Q-factor Velocity reference filter 1 Q-factor Velocity reference filter 1 gain Velocity reference filter 1 gain Velocity reference filter 2 type Velocity reference filter 2 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Velocity reference filter 2 frequency Velocity reference filter 2 frequency Velocity reference filter 2 Q-factor Velocity reference filter 2 Q-factor Velocity reference filter 2 gain Velocity reference filter 2 gain Current feedback filter 1 type Current feedback filter 1 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Current feedback filter 1 frequency Current feedback filter 1 frequency Current feedback filter 1 Q-factor Current feedback filter 1 Q-factor Current feedback filter 1 gain Current feedback filter 1 gain Current feedback filter 2 type Current feedback filter 2 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Current feedback filter 2 frequency Current feedback filter 2 frequency Current feedback filter 2 Q-factor Current feedback filter 2 Q-factor Current feedback filter 2 gain Current feedback filter 2 gain Current reference filter 1 type Current reference filter 1 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Current reference filter 1 frequency Current reference filter 1 frequency Current reference filter 1 Q-factor Current reference filter 1 Q-factor Current reference filter 1 gain Current reference filter 1 gain Current reference filter 2 type Current reference filter 2 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Current reference filter 2 frequency Current reference filter 2 frequency Current reference filter 2 Q-factor Current reference filter 2 Q-factor Current reference filter 2 gain Current reference filter 2 gain Velocity loop Kffa Velocity loop Kffa Position loop Kffv Position loop Kffv Position loop Kffa Position loop Kffa Velocity loop integral limit Velocity loop integral limit Position loop integral limit Position loop integral limit Map output 1 Map output 1 Standard GPO Operation enabled flag External shunt Health signal Map output 2 Map output 2 Standard GPO Operation enabled flag External shunt Health signal Map output 3 Map output 3 Standard GPO Operation enabled flag External shunt Health signal Map output 4 Map output 4 Standard GPO Operation enabled flag External shunt Health signal Digital inputs value Digital inputs value Digital outputs value Digital outputs value Digital outputs set value Digital outputs set value Digital outputs polarity Digital outputs polarity Digital inputs polarity Digital inputs polarity Positive switch limit Positive switch limit None GPI1 GPI2 GPI3 GPI4 Negative switch limit Negative switch limit None GPI1 GPI2 GPI3 GPI4 Quick stop input Quick stop input None GPI1 GPI2 GPI3 GPI4 Quick stop option code Quick stop option code Disable power stage Slow down ramp and disable Quick stop ramp and disable Slow down ramp Quick stop ramp User I2T error option code User I2T error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Position feedback out of limits error option code Position feedback out of limits error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Velocity feedback out of limits error option code Velocity feedback out of limits error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Position following error option code Position following error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Power stage user over-temperature error option code Power stage user over-temperature error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Motor over-temperature error option code Motor over-temperature error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Power stage user under-temperature error option code Power stage user under-temperature error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Power stage user over voltage error option code Power stage user over voltage error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Power stage user under voltage error option code Power stage user under voltage error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Halls sequence error option code Halls sequence error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Feedback runaway error option code Feedback runaway error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Over current without current control error option code Over current without current control error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Velocity following error option code Velocity following error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Angle integrity check 1 error option code Angle integrity check 1 error option code Disble power stage Do nothing Slow down ramp Quick stop ramp Angle integrity check 2 error option code Angle integrity check 2 error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Halt option code Halt option code None Slow down ramp Quick stop ramp Halt input Halt input None GPI1 GPI2 GPI3 GPI4 Fault reset input Fault reset input None GPI1 GPI2 GPI3 GPI4 Digital input 1, 2 and 3 glitch filter Digital input 1, 2 and 3 glitch filter Disabled 10 ns 20 ns 40 ns 80 ns 160 ns 320 ns 640 ns 1.28 us 2.56 us 5.12 us Digital input 4 glitch filter Digital input 4 glitch filter Disabled 10 ns 20 ns 40 ns 80 ns 160 ns 320 ns 640 ns 1.28 us 2.56 us 5.12 us Fault reaction timeout Fault reaction timeout Dynamic brake option code Dynamic brake option code Dynamic brake disabled Dynamic brake enabled Over-voltage sensitivity Over-voltage sensitivity Fast Medium Slow User over voltage level User over voltage level User under voltage level User under voltage level User over temperature level User over temperature level User under temperature level User under temperature level User over temperature warning level User over temperature warning level User under temperature warning level User under temperature warning level STO error option code STO error option code Disable power stage Do nothing Sync. signal configuration Sync. signal configuration Disabled Only Sync 0 Sync. signal frequency Sync. signal frequency Sync. signal PLL filter cutoff frequency Sync. signal PLL filter cutoff frequency Sync. signal PLL phase Sync. signal PLL phase Sync. signal PLL Kp Sync. signal PLL Kp Error total number Error total number Error list index request Error list index request Error list requested code Error list requested code Store all Store all Restore all Restore all Store status Store status Storing not active Storing in progress System reset System reset Vendor ID Vendor ID Product code Product code Revision number Revision number Software version Software version Serial number Serial number Power stage frequency 1 Power stage frequency 1 Power stage frequency 2 Power stage frequency 2 Power stage frequency 3 Power stage frequency 3 Power stage frequency 4 Power stage frequency 4 Power stage dead-time (ns) Power stage dead-time (ns) Min. low side on time (ns) Min. low side on time (ns) Min. high side on time (ns) Min. high side on time (ns) Current saturation counts from ADC ceiling Current saturation counts from ADC ceiling Current saturation counts from ADC floor Current saturation counts from ADC floor Current calibration offset tolerance Current calibration offset tolerance Over-temperature level Over-temperature level Under-temperature level Under-temperature level Over-voltage level Over-voltage level Under-voltage level Under-voltage level Maximum drive current Maximum drive current Maximum drive peak current time Maximum drive peak current time Maximum drive peak current Maximum drive peak current Current measuring range 1 Current measuring range 1 Current measuring range 2 Current measuring range 2 Current measuring range 3 Current measuring range 3 Current measuring range 4 Current measuring range 4 Current sensors used mask Current sensors used mask Current acquisition time (ns) Current acquisition time (ns) Current acquisition advance time (ns) Current acquisition advance time (ns) Min. low side on time 2 (ns) Min. low side on time 2 (ns) Min. low side on time 3 (ns) Min. low side on time 3 (ns) Min. low side on time 4 (ns) Min. low side on time 4 (ns) Min. charge bootstrap time (us) Min. charge bootstrap time (us) Bus voltage measuring range Bus voltage measuring range Bus voltage reading offset Bus voltage reading offset Power stage temp. sensor 1 type Power stage temp. sensor 1 type Power stage temp. sensor 1 resistance Power stage temp. sensor 1 resistance Power stage temp. sensor 1 Beta Power stage temp. sensor 1 Beta Power stage temp. sensor 1 ext. resistance Power stage temp. sensor 1 ext. resistance Power stage temp. sensor 1 gain Power stage temp. sensor 1 gain Power stage temp. sensor 1 offset Power stage temp. sensor 1 offset STO configuration STO configuration Brake configuration Brake configuration Brake max. frequency Brake max. frequency Brake frequency Brake frequency Power stage temp. sensor 2 type Power stage temp. sensor 2 type NTC PTC Linear sensor Power stage temp. sensor 2 resistance Power stage temp. sensor 2 resistance Power stage temp. sensor 2 Beta Power stage temp. sensor 2 Beta Power stage temp. sensor 2 ext. resistance Power stage temp. sensor 2 ext. resistance Power stage temp. sensor 2 gain Power stage temp. sensor 2 gain Power stage temp. sensor 2 offset Power stage temp. sensor 2 offset Derating constant Derating constant Frequency 1 derating constant Frequency 1 derating constant Frequency 2 derating constant Frequency 2 derating constant Frequency 3 derating constant Frequency 3 derating constant Frequency 4 derating constant Frequency 4 derating constant Power stage derating temperature threshold 1 Power stage derating temperature threshold 1 Power stage derating temperature threshold 2 Power stage derating temperature threshold 2 Power stage derating temperature threshold 3 Power stage derating temperature threshold 3 Power stage derating temperature threshold 4 Power stage derating temperature threshold 4 Power stage temp. sensor 3 type Power stage temp. sensor 3 type Power stage temp. sensor 3 resistance Power stage temp. sensor 3 resistance Power stage temp. sensor 3 Beta Power stage temp. sensor 3 Beta Power stage temp. sensor 3 ext. resistance Power stage temp. sensor 3 ext. resistance Power stage temp. sensor 3 gain Power stage temp. sensor 3 gain Power stage temp. sensor 3 offset Power stage temp. sensor 3 offset Last error Last error Node Id Bits Source Node Id Bits Source Node Id Bit0 Input Source Node Id Bit1 Input Source Node Id Bit2 Input Source Node Id Bit3 Input Source Disturbance mapped register 0 Disturbance mapped register 0 Disturbance mapped register 1 Disturbance mapped register 1 Disturbance mapped register 2 Disturbance mapped register 2 Disturbance mapped register 3 Disturbance mapped register 3 Disturbance mapped register 4 Disturbance mapped register 4 Disturbance mapped register 5 Disturbance mapped register 5 Disturbance mapped register 6 Disturbance mapped register 6 Disturbance mapped register 7 Disturbance mapped register 7 Disturbance mapped register 8 Disturbance mapped register 8 Disturbance mapped register 9 Disturbance mapped register 9 Disturbance mapped register 10 Disturbance mapped register 10 Disturbance mapped register 11 Disturbance mapped register 11 Disturbance mapped register 12 Disturbance mapped register 12 Disturbance mapped register 13 Disturbance mapped register 13 Disturbance mapped register 14 Disturbance mapped register 14 Disturbance mapped register 15 Disturbance mapped register 15 Number of axes Number of axes IP address IP address Netmask Netmask Gateway address Gateway address MAC address MAC address Bootloader version Bootloader version Monitoring status Monitoring status Actual number of monitoring samples Actual number of monitoring samples Monitoring data Monitoring data Actual number of disturbance samples Actual number of disturbance samples Disturbance data Disturbance data Monitoring maximum size Monitoring maximum size Disturbance maximum size Disturbance maximum size Actual number of monitoring bytes Actual number of monitoring bytes Disturbance current number of bytes Disturbance current number of bytes Monitoring disturbance version Monitoring disturbance version Monitoring lifeguard time Monitoring lifeguard time Disturbance lifeguard time Disturbance lifeguard time Disturbance status Disturbance status Enable monitoring Enable monitoring Monitoring frequency divider Monitoring frequency divider Monitoring delay Monitoring delay Monitoring buffer size Monitoring buffer size Disturbance buffer size Disturbance buffer size Disturbance frequency divider Disturbance frequency divider Enable disturbance Enable disturbance Monitoring mapped register 0 Monitoring mapped register 0 Monitoring mapped register 1 Monitoring mapped register 1 Monitoring mapped register 2 Monitoring mapped register 2 Monitoring mapped register 3 Monitoring mapped register 3 Monitoring mapped register 4 Monitoring mapped register 4 Monitoring mapped register 5 Monitoring mapped register 5 Monitoring mapped register 6 Monitoring mapped register 6 Monitoring mapped register 7 Monitoring mapped register 7 Monitoring mapped register 8 Monitoring mapped register 8 Monitoring mapped register 9 Monitoring mapped register 9 Monitoring mapped register 10 Monitoring mapped register 10 Monitoring mapped register 11 Monitoring mapped register 11 Monitoring mapped register 12 Monitoring mapped register 12 Monitoring mapped register 13 Monitoring mapped register 13 Monitoring mapped register 14 Monitoring mapped register 14 Monitoring mapped register 15 Monitoring mapped register 15 Monitoring number mapped registers Monitoring number mapped registers Monitoring number of bytes per sample Monitoring number of bytes per sample Disturbance number mapped registers Disturbance number mapped registers Disturbance number of bytes per sample Disturbance number of bytes per sample Monitoring remove data Monitoring remove data Disturbance remove data Disturbance remove data Monitoring trigger type Monitoring trigger type TRIGGER_EVENT_AUTO TRIGGER_EVENT_FORCE TRIGGER_EVENT_EDGE Monitoring trigger config Monitoring trigger config TRIGGER_CONFIG_RISING_OR_FALLING TRIGGER_CONFIG_RISING TRIGGER_CONFIG_FALLING Monitoring force trigger Monitoring force trigger Monitoring trigger threshold Monitoring trigger threshold Monitoring trigger source Monitoring trigger source Monitoring rearm Monitoring rearm User memory address pointer User memory address pointer User memory data User memory data System last error System last error System error total number System error total number System error list index request System error list index request System error list requested code System error list requested code Error total number Error total number Error list index request Error list index request Error list requested code Error list requested code Abort connection option code Abort connection option code No action Fault signal Reserved Quick stop command CRC output communication core CRC output communication core Store all Store all Restore all Restore all Store status Store status Storing not active Storing in progress Boot mode Boot mode System reset System reset Vendor ID Vendor ID Product code Product code Revision number Revision number Software Version Software Version Serial number Serial number Abort connection option code Abort connection option code No action Fault signal Reserved Quick stop command Error code Error code Control Word Control Word Status Word Status Word Quick stop option code Quick stop option code Halt option code Halt option code Reserved Slow down ramp Quick stop ramp Modes of operation Modes of operation Modes of operation display Modes of operation display Position demand value Position demand value Position actual value Position actual value Position following error window Position following error window Following error time out Following error time out Velocity actual value Velocity actual value Velocity threshold Velocity threshold Velocity threshold time Velocity threshold time Target torque Target torque Max current Max current Torque demand Torque demand Motor rated current Motor rated current Motor rated torque Motor rated torque Torque actual value Torque actual value Current actual value Current actual value Target position Target position Position range limit Highest sub-index supported Min position range limit Max position range limit Home offset Home offset Software position limit Highest sub-index supported Min position Max position Profile velocity Profile velocity Profile end velocity Profile end velocity Profile acceleration Profile acceleration Profile deceleration Profile deceleration Homing method Homing method Homing speed Highest sub-index supported Homing search velocity Homing zero velocity Velocity offset Velocity offset Torque offset Torque offset Interpolation time period Highest sub-index supported Interpolation time period value Interpolation time index Supported homing methods SubIndex 000 No homing operation Homing on the negative limit switch and index pulse Homing on the positive limit switch and index pulse Homing on the negative limit switch Homing on the positive limit switch Homing on the negative index pulse Homing on the positive index pulse Homing on current position Position option code Position option code Following error actual value Following error actual value Target velocity Target velocity Supported drive modes Supported drive modes No error Communications watchdog error HW over current Fault detected in the power stage gate driver Current A sensing reached upper saturation limit Current A sensing reached lower saturation limit Current B sensing reached upper saturation limit Current B sensing reached lower saturation limit Current C sensing reached upper saturation limit Current C sensing reached lower saturation limit User I2T limit detected without current control Over current without current control System I2T detected Current derating without current control Current calibration error Non-zero total phase current Open phase detected Brake over-current Brake current tracking error HW Over-voltage detected FW Over-voltage detected Gate voltage out of limits FW Under-voltage detected User Over-voltage detected User Under-voltage detected STO is active and could have disabled the power stage Abnormal STO Supply. Unit could be damaged Abnormal STO. STO1 and STO2 inputs differed more than latching time STO is active in operation enabled and has disabled the power stage Input stage problem Over-Temperature detected (internal drive limit). Under-Temperature detected (internal drive limit) Over-temperature detected (user limit) Under-temperature detected (user limit) Wrong ADC measurements detection Motor Over Temperature error (sensor 1) Motor Over Temperature error (sensor 2) External error Load cell health signal error detected. Load cell analog input out of range Halls sequence error Halls combination error Feedback runaway error Absolute encoder 1 disconnection or frame overlap Absolute encoder 2 disconnection or frame overlap Too many error bits or invalid position flags detected in absolute encoder 1 BiSS-C warning bit active in absolute encoder 1 Too many incorrect CRC checks in absolute encoder readings in absolute encoder 1 Maximum absolute velocity exceeded Absolute encoder 1 error bit active without exceeding error tolerance Position out of limits out of position modes Velocity out of limits out of velocity or position modes Position following error Velocity following error Angle integrity check 1 error Angle integrity check 2 error Trapezoidal commutation without digital halls not allowed. Review commutation sensor configuration and phasing Position out of limits in position mode Incremental encoder 1 index pulse integrity check fail Incremental encoder 2 index pulse integrity check fail Digital encoder index pulse integrity check calibration error Interpolation time is to small when PVT is enabled Profiler parameters not valid. They should all have positive values. Current quadrature following error detected Current direct following error detected Emergency position set-point not configured. Profiler end velocity not reachable User over temperature warning threshold exceeded. User under temperature warning threshold exceeded. Too many error bits or invalid position flags detected in absolute encoder 2 BiSS-C warning bit active in absolute encoder 2 Too many incorrect CRC checks in absolute encoder readings in absolute encoder 2 Absolute encoder 2 error bit active without exceeding error tolerance Absolute Encoder 1 - SSI FR mode incorrect start frame Absolute Encoder 2 - SSI FR mode incorrect start frame PDO value out of range Lifeguard error or heartbeat error in CANOpen communication PDO not processed due to length error Cyclic mode mapping error EtherCAT cable is disconnected during operation Cyclic timeout Ethercat PDO lifeguard COM-KIT Timeout. CORE device is not properly connected Incorrect access type Object doesn't exist Object isn't PDO mappable as requested Incorrect specified object size Sub-Index does not exist Unsupported value introduced in register Read / Write operation not executed Communication Motion Last error Disturbance mapped register 0 Disturbance mapped register 1 Disturbance mapped register 2 Disturbance mapped register 3 Disturbance mapped register 4 Disturbance mapped register 5 Disturbance mapped register 6 Disturbance mapped register 7 Disturbance mapped register 8 Disturbance mapped register 9 Disturbance mapped register 10 Disturbance mapped register 11 Disturbance mapped register 12 Disturbance mapped register 13 Disturbance mapped register 14 Disturbance mapped register 15 Number of axes IP address Netmask Gateway address MAC address Bootloader version Monitoring status Actual number of monitoring samples Monitoring data Actual number of disturbance samples Disturbance data Monitoring maximum size Disturbance maximum size Actual number of monitoring bytes Disturbance current number of bytes Monitoring disturbance version Monitoring lifeguard time Disturbance lifeguard time Disturbance status Enable monitoring Monitoring frequency divider Monitoring delay Monitoring buffer size Disturbance buffer size Disturbance frequency divider Enable disturbance Monitoring mapped register 0 Monitoring mapped register 1 Monitoring mapped register 2 Monitoring mapped register 3 Monitoring mapped register 4 Monitoring mapped register 5 Monitoring mapped register 6 Monitoring mapped register 7 Monitoring mapped register 8 Monitoring mapped register 9 Monitoring mapped register 10 Monitoring mapped register 11 Monitoring mapped register 12 Monitoring mapped register 13 Monitoring mapped register 14 Monitoring mapped register 15 Monitoring number mapped registers Monitoring number of bytes per sample Disturbance number mapped registers Disturbance number of bytes per sample Monitoring remove data Disturbance remove data Monitoring trigger type TRIGGER_EVENT_AUTO TRIGGER_EVENT_FORCE TRIGGER_EVENT_EDGE Monitoring trigger config TRIGGER_CONFIG_RISING_OR_FALLING TRIGGER_CONFIG_RISING TRIGGER_CONFIG_FALLING Monitoring force trigger Monitoring trigger threshold Monitoring trigger source Monitoring rearm User memory address pointer User memory data System last error System error total number System error list index request System error list requested code Error total number Error list index request Error list requested code Abort connection option code No action Fault signal Reserved Quick stop command CRC output communication core Store all Restore all Store status Storing not active Storing in progress Boot mode System reset Vendor ID Product code Revision number Software Version Serial number Last error Control word Status word Modes of operation Voltage Current amplifier Current Cyclic current Velocity Cyclic velocity Profile velocity Position Cyclic position Profile position Profile position S-curve PVT Homing Modes of operation display Voltage Current amplifier Current Cyclic current Velocity Cyclic velocity Profile velocity Position Cyclic position Profile position Profile position S-curve PVT Homing Voltage quadrature set-point Voltage direct set-point Current quadrature set-point Current direct set-point Current A set-point Current B set-point Position set-point Target velocity Torque set-point Position option code Profiler max. velocity Profiler max. acceleration Profiler max. deceleration Profiler end velocity Actual torque Position actual value Velocity actual value Auxiliary feedback value Bus voltage current counts Current A value Current B value Current C value Current quadrature value Current direct value Current A counts Current B counts Current C counts Commutation angle value Reference angle value User commutation angle offset Primary Absolute Slave 1 - Position Primary Absolute Slave 1 - Full frame Primary Absolute Slave 1 - Compensated position Generator value Secondary Absolute Slave 1 - Position Primary Absolute Slave 2 - Position Torque demand Secondary Absolute Slave 1 - Full frame Primary Absolute Slave 2 - Full frame Secondary Absolute Slave 1 - Compensated position Power stage temperature 3 value Power stage temperature 3 counts Bus voltage counts Bus voltage value Power stage temperature 1 value Power stage temperature 1 counts Motor temperature value Power stage temperature 2 value Power stage temperature 2 counts Power stage max. actual temperature Voltage phase A Voltage phase B Voltage phase C Voltage direct command Voltage quadrature command Voltage quadrature demand Voltage direct demand Current quadrature demand Current direct demand Current A demand Current B demand Current actual value Current command value Position demand Velocity demand Acceleration demand Velocity loop input offset Current quadrature loop input offset Current direct loop input offset Torque loop input offset Analog input 1 - Counts Analog input 1 - Value Position loop control command Velocity loop control command Current quadrature / A control loop command Current direct / B control loop command Motor rated torque Torque control loop command Motor rated current Peak current Peak current time User I2t value Motor pole pairs Motor temp. protection threshold Motor temp. sensor type NTC PTC Linear voltage RTD Silicon Switch None Motor temp. sensor resistance Motor temp. sensor Beta (25-85) Motor temp. sensor external resistance Motor temp. sensor gain Motor temp. sensor offset Motor temperature sensor voltage reference Motor temperature sensor Temperature 0 Motor temperature sensor Resistance 0 Motor temperature sensor Temperature 1 Motor temperature sensor Resistance 1 Internal shunt enable voltage Internal shunt disable voltage External shunt enable voltage External shunt disable voltage Brake activation voltage percentage Brake holding voltage percentage Delay before release brake Delay after enable brake Activation brake time Brake override Override disabled Release brake Enable brake Brake activation current Brake holding current Brake current control Kp Brake current control Ki Brake control mode Voltage control Current control None Brake current error window Brake current error timeout Brake max current Brake current actual value Brake current feedback source No feedback General purpose analog input 1 Angle integrity check 1 angle deviation Angle integrity check 1 calibration angle Angle integrity check 1 commutation calibration angle Angle integrity check 1 latched commutation angle Brake current command Control mode Three-phase field-oriented control Three-phase trapezoidal control Single-phase control Commutation angle offset Commutation feedback sensor Primary Absolute Slave 1 Internal generator Incremental encoder 1 Digital halls Secondary Absolute Slave 1 Primary Absolute Slave 2 Reference angle offset Reference feedback sensor Primary Absolute Slave 1 Internal generator Incremental encoder 1 Digital halls Secondary Absolute Slave 1 Primary Absolute Slave 2 Phasing mode Non-forced Forced No phasing Max. current on phasing sequence Phasing timeout Phasing accuracy Angle integrity check 1 threshold Angle integrity check 2 threshold Restart all feedbacks Set feedback power supply status Feedbacks disabled Feedbacks enabled Interpolation data record - Position input Interpolation data record - Velocity input Interpolation data record - Time input Interpolation data record - Integrity check Interpolation data record - Status Power stage maximum duty cycle Profiler latching mode Velocity threshold Velocity threshold time Velocity following error window Velocity following error timeout Min position range limit Max position range limit Max current Position control loop error Velocity control loop error Torque control loop error Current direct control loop error Current quadrature control loop error Max. velocity Min position Max position Position following error window Following error time out Following error Interpolation time mantissa Interpolation time exponent Position window Position window time Velocity window Velocity window time Quick stop deceleration Interpolation data record - Force clear Interpolation buffer size Interpolation buffer number of elements Interpolation buffer maximum size Command source 1 Network Command source 2 Network Analog input 1 - Gain Analog input 1 - Offset Abs feedback 1 compensation table enable Disabled Enabled Abs feedback 1 compensation table index Abs feedback 1 compensation table value Abs feedback 2 compensation table enable Disabled Enabled Abs feedback 2 compensation table index Abs feedback 2 compensation table value Cogging compensation table enable Disabled Enabled Cogging compensation table index Cogging compensation table value Power limit Peak power limit Peak power time Power limiter Kp Power limiter Ki Output power value Enabled feedbacks mask Velocity feedback sensor Primary Absolute Slave 1 Internal generator Incremental encoder 1 Digital halls Secondary Absolute Slave 1 Primary Absolute Slave 2 Position feedback sensor Primary Absolute Slave 1 Internal generator Incremental encoder 1 Digital halls Secondary Absolute Slave 1 Primary Absolute Slave 2 Auxiliary feedback sensor Primary Absolute Slave 1 Internal generator Incremental encoder 1 Digital halls Secondary Absolute Slave 1 Primary Absolute Slave 2 Position to velocity sensor ratio Primary Absolute Slave 1 - Protocol BiSS C SSI Endat2.2 Serial Synchronous 1 Primary Absolute Slave 1 - Frame size Primary Absolute Slave 1 - Error tolerance Primary Absolute Slave 1 - Polarity Standard Reversed Primary Absolute Slave 1 - Frame type Raw Raw gray Zettlex - SSI1 BiSS-C BP3 BiSS-C BP3 Gray Endat2.2 Primary Absolute Slave 1 - Position bits Primary Absolute Slave 1 - Single-turn bits Primary Absolute Slave 1 - Position start bit Secondary Absolute Slave 1 - Frame size Secondary Absolute Slave 1 - Error tolerance Secondary Absolute Slave 1 - Polarity Standard Reversed Secondary Absolute Slave 1 - Frame type Raw Raw gray Zettlex - SSI1 BiSS-C BP3 BiSS-C BP3 Gray Secondary Absolute Slave 1 - Position bits Secondary Absolute Slave 1 - Single-turn bits Secondary Absolute Slave 1 - Position start bit Generator mode Constant Saw tooth Square Generator frequency Generator gain Generator offset Generator cycle number Generator rearm Rearm generator Primary Absolute Slave 1 - Baudrate 1000 2000 5000 10000 Secondary Absolute Slave 1 - Baudrate 1000 2000 5000 10000 Incremental encoder 1 - Resolution Incremental encoder 1 - Polarity Standard Reversed Incremental encoder 1 - Filter Disabled 10 ns 20 ns 40 ns 80 ns 160 ns 320 ns 640 ns 1.28 us 2.56 us 5.12 us Incremental encoder 1 - Value Dig. hall polarity Standard Reversed Dig. hall filter Disabled 10 ns 20 ns 40 ns 80 ns 160 ns 320 ns 640 ns 1.28 us 2.56 us 5.12 us Dig. hall pole pairs Dig. hall value Feedback runaway source Primary Absolute Slave 1 Incremental encoder 1 Secondary Absolute Slave 1 Primary Absolute Slave 2 Primary Absolute Feedback - Topology Single feedback Two BiSS C feedbacks in daisy-chain Dual BiSS C Primary Absolute - Maximum refresh rate Secondary Absolute - Maximum refresh rate Primary Absolute - Actual refresh rate Secondary Absolute - Actual refresh rate Digital halls offset compensation enable Disabled Enabled Digital halls offset compensation index Digital halls offset compensation value Digital halls Last transition angle Primary Absolute Slave 2 - Frame size Primary Absolute Slave 2 - Error tolerance Primary Absolute Slave 2 - Polarity Standard Reversed Primary Absolute Slave 2 - Frame type Raw Raw gray Zettlex - SSI1 BiSS-C BP3 BiSS-C BP3 Gray Primary Absolute Slave 2 - Position bits Primary Absolute Slave 2 - Single-turn bits Primary Absolute Slave 2 - Position start bit Primary Absolute Slave 1 - CRC polynomial Primary Absolute Slave 1 - CRC number of bits Primary Absolute Slave 2 - CRC polynomial Primary Absolute Slave 2 - CRC number of bits Primary Absolute Slave 1 - CRC seed Primary Absolute Slave 2 - CRC seed Primary Absolute Slave 1 - Position offset Primary Absolute Slave 2 - Position offset Secondary Absolute Slave 1 - Position offset Torque constant Secondary Absolute Slave 1 - Protocol BiSS C SSI Serial Synchronous 1 Secondary Absolute Slave 1 - CRC polynomial Secondary Absolute Slave 1 - CRC seed Secondary Absolute Slave 1 - CRC number of bits Primary absolute interface - Register address Primary absolute interface - Register data Primary absolute interface - Operation status Primary absolute interface - Control Secondary absolute interface - Register address Secondary absolute interface - Register data Secondary absolute interface - Operation status Secondary absolute interface - Control Homing supported methods mask Homing mode On current position On positive switch limit On negative switch limit On positive index pulse On negative index pulse On the positive limit switch and index pulse On the negative limit switch and index pulse Homing offset Homing timeout Homing limit search speed Homing zero search speed Positive homing switch None GPI1 GPI2 GPI3 GPI4 Negative homing switch None GPI1 GPI2 GPI3 GPI4 Homing index pulse source Incremental encoder 1 Current loop rate Current scaling gain factor Sensor gain 1 Sensor gain 2 Sensor gain 3 Sensor gain 4 Current quadrature loop Kp Current quadrature loop Ki Current quadrature loop max. out Current quadrature loop min. out Current direct loop Kp Current direct loop Ki Current direct loop max. out Current direct loop min. out Velocity loop Kp Velocity loop Ki Velocity loop Kd Velocity loop Kd filter Velocity loop max. output Velocity loop min. output Control loops feedback options Position loop Kp Position loop Ki Position loop Kd Position loop Kd filter Position loop max. output Position loop min. output Current loop status Velocity loop status Position loop status STO status Velocity loop integral reset Position loop integral reset Velocity loop integral value Position loop integral value Maximum voltage bus utilization Position & velocity loop rate Power stage frequency 20 kHz 50 kHz 100 kHz 200 kHz Control loops option code Torque loop Kp Torque loop Ki Torque loop max. output Torque loop min. output Position feedback filter 1 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Position feedback filter 1 frequency Position feedback filter 1 Q-factor Position feedback filter 1 gain Position feedback filter 2 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Position feedback filter 2 frequency Position feedback filter 2 Q-factor Position feedback filter 2 gain Position reference filter 1 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Position reference filter 1 frequency Position reference filter 1 Q-factor Position reference filter 1 gain Position reference filter 2 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Position reference filter 2 frequency Position reference filter 2 Q-factor Position reference filter 2 gain Velocity feedback filter 1 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Velocity feedback filter 1 frequency Velocity feedback filter 1 Q-factor Velocity feedback filter 1 gain Velocity feedback filter 2 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Velocity feedback filter 2 frequency Velocity feedback filter 2 Q-factor Velocity feedback filter 2 gain Velocity reference filter 1 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Velocity reference filter 1 frequency Velocity reference filter 1 Q-factor Velocity reference filter 1 gain Velocity reference filter 2 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Velocity reference filter 2 frequency Velocity reference filter 2 Q-factor Velocity reference filter 2 gain Current feedback filter 1 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Current feedback filter 1 frequency Current feedback filter 1 Q-factor Current feedback filter 1 gain Current feedback filter 2 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Current feedback filter 2 frequency Current feedback filter 2 Q-factor Current feedback filter 2 gain Current reference filter 1 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Current reference filter 1 frequency Current reference filter 1 Q-factor Current reference filter 1 gain Current reference filter 2 type Disabled Low pass High pass Band pass Peak Notch Low shelf High shelf Current reference filter 2 frequency Current reference filter 2 Q-factor Current reference filter 2 gain Velocity loop Kffa Position loop Kffv Position loop Kffa Velocity loop integral limit Position loop integral limit Map output 1 Standard GPO Operation enabled flag External shunt Health signal Map output 2 Standard GPO Operation enabled flag External shunt Health signal Map output 3 Standard GPO Operation enabled flag External shunt Health signal Map output 4 Standard GPO Operation enabled flag External shunt Health signal Digital inputs value Digital outputs value Digital outputs set value Digital outputs polarity Digital inputs polarity Positive switch limit None GPI1 GPI2 GPI3 GPI4 Negative switch limit None GPI1 GPI2 GPI3 GPI4 Quick stop input None GPI1 GPI2 GPI3 GPI4 Quick stop option code Disable power stage Slow down ramp and disable Quick stop ramp and disable Slow down ramp Quick stop ramp User I2T error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Position feedback out of limits error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Velocity feedback out of limits error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Position following error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Power stage user over-temperature error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Motor over-temperature error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Power stage user under-temperature error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Power stage user over voltage error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Power stage user under voltage error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Halls sequence error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Feedback runaway error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Over current without current control error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Velocity following error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Angle integrity check 1 error option code Disble power stage Do nothing Slow down ramp Quick stop ramp Angle integrity check 2 error option code Disable power stage Do nothing Slow down ramp Quick stop ramp Halt option code None Slow down ramp Quick stop ramp Halt input None GPI1 GPI2 GPI3 GPI4 Fault reset input None GPI1 GPI2 GPI3 GPI4 Digital input 1, 2 and 3 glitch filter Disabled 10 ns 20 ns 40 ns 80 ns 160 ns 320 ns 640 ns 1.28 us 2.56 us 5.12 us Digital input 4 glitch filter Disabled 10 ns 20 ns 40 ns 80 ns 160 ns 320 ns 640 ns 1.28 us 2.56 us 5.12 us Fault reaction timeout Dynamic brake option code Dynamic brake disabled Dynamic brake enabled Over-voltage sensitivity Fast Medium Slow User over voltage level User under voltage level User over temperature level User under temperature level User over temperature warning level User under temperature warning level STO error option code Disable power stage Do nothing Sync. signal configuration Disabled Only Sync 0 Sync. signal frequency Sync. signal PLL filter cutoff frequency Sync. signal PLL phase Sync. signal PLL Kp Error total number Error list index request Error list requested code Store all Restore all Store status Storing not active Storing in progress System reset Vendor ID Product code Revision number Software version Serial number Power stage frequency 1 Power stage frequency 2 Power stage frequency 3 Power stage frequency 4 Power stage dead-time (ns) Min. low side on time (ns) Min. high side on time (ns) Current saturation counts from ADC ceiling Current saturation counts from ADC floor Current calibration offset tolerance Over-temperature level Under-temperature level Over-voltage level Under-voltage level Maximum drive current Maximum drive peak current time Maximum drive peak current Current measuring range 1 Current measuring range 2 Current measuring range 3 Current measuring range 4 Current sensors used mask Current acquisition time (ns) Current acquisition advance time (ns) Min. low side on time 2 (ns) Min. low side on time 3 (ns) Min. low side on time 4 (ns) Min. charge bootstrap time (us) Bus voltage measuring range Bus voltage reading offset Power stage temp. sensor 1 type Power stage temp. sensor 1 resistance Power stage temp. sensor 1 Beta Power stage temp. sensor 1 ext. resistance Power stage temp. sensor 1 gain Power stage temp. sensor 1 offset STO configuration Brake configuration Brake max. frequency Brake frequency Power stage temp. sensor 2 type NTC PTC Linear sensor Power stage temp. sensor 2 resistance Power stage temp. sensor 2 Beta Power stage temp. sensor 2 ext. resistance Power stage temp. sensor 2 gain Power stage temp. sensor 2 offset Derating constant Frequency 1 derating constant Frequency 2 derating constant Frequency 3 derating constant Frequency 4 derating constant Power stage derating temperature threshold 1 Power stage derating temperature threshold 2 Power stage derating temperature threshold 3 Power stage derating temperature threshold 4 Power stage temp. sensor 3 type Power stage temp. sensor 3 resistance Power stage temp. sensor 3 Beta Power stage temp. sensor 3 ext. resistance Power stage temp. sensor 3 gain Power stage temp. sensor 3 offset No error Communications watchdog error HW over current Fault detected in the power stage gate driver Current A sensing reached upper saturation limit Current A sensing reached lower saturation limit Current B sensing reached upper saturation limit Current B sensing reached lower saturation limit Current C sensing reached upper saturation limit Current C sensing reached lower saturation limit User I2T limit detected without current control Over current without current control System I2T detected Current derating without current control Current calibration error Non-zero total phase current Open phase detected Brake over-current Brake current tracking error HW Over-voltage detected FW Over-voltage detected Gate voltage out of limits FW Under-voltage detected User Over-voltage detected User Under-voltage detected STO is active and could have disabled the power stage Abnormal STO Supply. Unit could be damaged Abnormal STO. STO1 and STO2 inputs differed more than latching time STO is active in operation enabled and has disabled the power stage Input stage problem Over-Temperature detected (internal drive limit). Under-Temperature detected (internal drive limit) Over-temperature detected (user limit) Under-temperature detected (user limit) Wrong ADC measurements detection Motor Over Temperature error (sensor 1) Motor Over Temperature error (sensor 2) External error Load cell health signal error detected. Load cell analog input out of range Halls sequence error Halls combination error Feedback runaway error Absolute encoder 1 disconnection or frame overlap Absolute encoder 2 disconnection or frame overlap Too many error bits or invalid position flags detected in absolute encoder 1 BiSS-C warning bit active in absolute encoder 1 Too many incorrect CRC checks in absolute encoder readings in absolute encoder 1 Maximum absolute velocity exceeded Absolute encoder 1 error bit active without exceeding error tolerance Position out of limits out of position modes Velocity out of limits out of velocity or position modes Position following error Velocity following error Angle integrity check 1 error Angle integrity check 2 error Trapezoidal commutation without digital halls not allowed. Review commutation sensor configuration and phasing Position out of limits in position mode Incremental encoder 1 index pulse integrity check fail Incremental encoder 2 index pulse integrity check fail Digital encoder index pulse integrity check calibration error Interpolation time is to small when PVT is enabled Profiler parameters not valid. They should all have positive values. Current quadrature following error detected Current direct following error detected Emergency position set-point not configured. Profiler end velocity not reachable User over temperature warning threshold exceeded. User under temperature warning threshold exceeded. Too many error bits or invalid position flags detected in absolute encoder 2 BiSS-C warning bit active in absolute encoder 2 Too many incorrect CRC checks in absolute encoder readings in absolute encoder 2 Absolute encoder 2 error bit active without exceeding error tolerance Absolute Encoder 1 - SSI FR mode incorrect start frame Absolute Encoder 2 - SSI FR mode incorrect start frame PDO value out of range Lifeguard error or heartbeat error in CANOpen communication PDO not processed due to length error Cyclic mode mapping error EtherCAT cable is disconnected during operation Cyclic timeout Ethercat PDO lifeguard COM-KIT Timeout. CORE device is not properly connected Incorrect access type Object doesn't exist Object isn't PDO mappable as requested Incorrect specified object size Sub-Index does not exist Unsupported value introduced in register Read / Write operation not executed 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