This page is part of the object dictionary reference; parameter names and default values are kept verbatim from the EDS. Always confirm indexes and semantics against the device firmware.
0x2000 · Real-time status monitoring
0x2000 · Real-time status monitoring (RECORD)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x0F |
— |
| 01 |
Bus voltage |
0x0006 UNSIGNED16 |
RO |
✓ |
0 |
— |
| 02 |
Output current |
0x0004 INTEGER32 |
RO |
✓ |
0 |
— |
| 03 |
Phase A current |
0x0004 INTEGER32 |
RO |
✓ |
0 |
— |
| 04 |
Phase B current |
0x0004 INTEGER32 |
RO |
✓ |
0 |
— |
| 05 |
d-axis current |
0x0004 INTEGER32 |
RO |
✓ |
0 |
— |
| 06 |
q-axis current |
0x0004 INTEGER32 |
RO |
✓ |
0 |
— |
| 07 |
d-axis current reference |
0x0004 INTEGER32 |
RO |
✓ |
0 |
— |
| 08 |
q-axis current reference |
0x0004 INTEGER32 |
RO |
✓ |
0 |
— |
| 09 |
Electronic angle |
0x0004 INTEGER32 |
RO |
✓ |
0 |
— |
| 0A |
Electronic velocity |
0x0004 INTEGER32 |
RO |
✓ |
0 |
— |
| 0B |
Mag scale raw electrical angle |
0x0004 INTEGER32 |
RO |
✓ |
0 |
— |
| 0C |
Motor temperature |
0x0003 INTEGER16 |
RO |
✓ |
0 |
— |
| 0D |
I2T load |
0x0006 UNSIGNED16 |
RO |
✓ |
0 |
— |
| 0E |
ISR service time max |
0x0006 UNSIGNED16 |
RO |
✓ |
0 |
— |
| 0F |
ISR service time average |
0x0006 UNSIGNED16 |
RO |
✓ |
0 |
— |
0x2001–0x2003 · Protection parameters
0x2001 · Voltage protection thresholds (RECORD)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
5 |
P |
| 01 |
Over-voltage fault threshold |
0x0006 UNSIGNED16 |
RW |
— |
540 |
P |
| 02 |
Over-voltage warning threshold |
0x0006 UNSIGNED16 |
RW |
— |
520 |
P |
| 03 |
Under-voltage fault threshold |
0x0006 UNSIGNED16 |
RW |
— |
180 |
P |
| 04 |
Under-voltage warning threshold |
0x0006 UNSIGNED16 |
RW |
— |
220 |
P |
| 05 |
Voltage filter time |
0x0006 UNSIGNED16 |
RW |
— |
100 |
P |
0x2002 · Current and overload protection (RECORD)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
4 |
P |
| 01 |
Short circuit threshold |
0x0007 UNSIGNED32 |
RW |
— |
10000 |
P |
| 02 |
Over-current filter time |
0x0006 UNSIGNED16 |
RW |
— |
10 |
P |
| 03 |
I2T overload level |
0x0006 UNSIGNED16 |
RW |
— |
100 |
P |
| 04 |
I2T maximum time |
0x0006 UNSIGNED16 |
RW |
— |
20000 |
P |
0x2003 · Temperature protection thresholds (RECORD)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x02 |
P |
| 01 |
Motor over-temp fault threshold |
0x0003 INTEGER16 |
RW |
— |
1000 |
P |
| 02 |
Motor over-temp warning threshold |
0x0003 INTEGER16 |
RW |
— |
1000 |
P |
0x2110–0x2114 · Inertia/mass & control-loop tuning
0x2110 · Mover Mass (VAR)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
Mover Mass |
0x0007 UNSIGNED32 |
RW |
— |
470 |
P |
0x2111 · Load Mass (VAR)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
Load Mass |
0x0007 UNSIGNED32 |
RW |
— |
0 |
P |
0x2112 · Current loop bandwidth parameters (RECORD)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x02 |
P |
| 01 |
Current bandwidth |
0x0006 UNSIGNED16 |
RW |
✓ |
1000 |
P |
| 02 |
Tuning mode |
0x0005 UNSIGNED8 |
RW |
✓ |
1 |
P |
0x2113 · Velocity loop bandwidth parameters (RECORD)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x02 |
P |
| 01 |
Velocity bandwidth |
0x0006 UNSIGNED16 |
RW |
✓ |
30 |
P |
| 02 |
Tuning mode |
0x0005 UNSIGNED8 |
RW |
✓ |
1 |
P |
0x2114 · Position loop bandwidth parameters (RECORD)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x02 |
P |
| 01 |
Position bandwidth |
0x0006 UNSIGNED16 |
RW |
✓ |
15 |
P |
| 02 |
Tuning mode |
0x0005 UNSIGNED8 |
RW |
✓ |
1 |
P |
0x2115–0x211A · Encoder PLL, harmonic compensation & notch filters
0x2115 · Encoder PLL bandwidth parameters (RECORD)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x01 |
P |
| 01 |
Encoder PLL bandwidth |
0x0006 UNSIGNED16 |
RW |
✓ |
4000 |
P |
0x2116 · Encoder harmonic compensation parameters (RECORD)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x06 |
P |
| 01 |
C1 |
0x0004 INTEGER32 |
RW |
— |
0 |
P |
| 02 |
C2 |
0x0004 INTEGER32 |
RW |
— |
0 |
P |
| 03 |
D1 |
0x0004 INTEGER32 |
RW |
— |
0 |
P |
| 04 |
D2 |
0x0004 INTEGER32 |
RW |
— |
0 |
P |
| 05 |
C4 |
0x0004 INTEGER32 |
RW |
— |
0 |
P |
| 06 |
D4 |
0x0004 INTEGER32 |
RW |
— |
0 |
P |
0x2117 · Notch filter enable (ARRAY)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
number of elements |
0x0005 UNSIGNED8 |
RO |
— |
2 |
P |
| 01 |
Notch filter 1 enable |
0x0005 UNSIGNED8 |
RW |
— |
0 |
P |
| 02 |
Notch filter 2 enable |
0x0005 UNSIGNED8 |
RW |
— |
0 |
P |
0x2118 · Notch filter center frequency (ARRAY)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
number of elements |
0x0005 UNSIGNED8 |
RO |
— |
2 |
P |
| 01 |
Notch filter 1 center frequency |
0x0006 UNSIGNED16 |
RW |
— |
200 |
P |
| 02 |
Notch filter 2 center frequency |
0x0006 UNSIGNED16 |
RW |
— |
200 |
P |
0x2119 · Notch filter bandwidth (ARRAY)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
number of elements |
0x0005 UNSIGNED8 |
RO |
— |
2 |
P |
| 01 |
Notch filter 1 bandwidth |
0x0006 UNSIGNED16 |
RW |
— |
20 |
P |
| 02 |
Notch filter 2 bandwidth |
0x0006 UNSIGNED16 |
RW |
— |
20 |
P |
0x211A · Notch filter depth (ARRAY)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
number of elements |
0x0005 UNSIGNED8 |
RO |
— |
2 |
P |
| 01 |
Notch filter 1 depth |
0x0006 UNSIGNED16 |
RW |
— |
700 |
P |
| 02 |
Notch filter 2 depth |
0x0006 UNSIGNED16 |
RW |
— |
700 |
P |
0x2130 · Homing on block parameters
0x2130 · Homing on block parameters (RECORD)
| Sub |
Name |
Type |
Access |
PDO |
Default |
Notes |
| 00 |
Highest sub-index supported |
0x0005 UNSIGNED8 |
RO |
— |
0x05 |
P |
| 01 |
Hard stop force limit |
0x0006 UNSIGNED16 |
RW |
— |
1000 |
P |
| 02 |
Collision current threshold |
0x0006 UNSIGNED16 |
RW |
— |
700 |
P |
| 03 |
Following error threshold |
0x0007 UNSIGNED32 |
RW |
— |
2000 |
P |
| 04 |
Collision filter time |
0x0006 UNSIGNED16 |
RW |
— |
50 |
P |
| 05 |
Retract distance |
0x0004 INTEGER32 |
RW |
— |
3000 |
P |
