Ra Sercos Drive Product Interface Specification

RA SERCOSTM Drive
Product Interface Specification

Project Number: N/A
Document Number: KNX-SERCOS-PISD-215
SAP DIR Number: 10000103924
Revision 2.15
October 15, 2013
Written By: Todd Oestreich

Dave Hauge
Approval  Dave Hauge  Mike Garner  David Van Dorpe

Signatures:
Date: Date: Date:

 Tim Martin  Mike Schweiner 
Date: Date: Date:
Copyright Ó 2010. This document contains confidential information of Rockwell Automation

and is not to be disclosed or used except in accordance with applicable contracts or agreements.
This document must be rendered illegible when being discarded.
Confidential KNX-SERCOS-PISD-215
Revision 2.15
(page intentionally left blank)
RA SERCOS Drive Product Interface Specification Table of Contents
REVISION HISTORY................................................................................................................................................II
1. INTRODUCTION.....................................................................................................................................................1
1.1. SCOPE...................................................................................................................................................................1
1.2. ABBREVIATIONS...................................................................................................................................................1
1.3. REFERENCES.........................................................................................................................................................1
2. SYSTEM BEHAVIOR.............................................................................................................................................2
2.1. DRIVE STATE BEHAVIOR......................................................................................................................................2
2.1.1. System State Machine...................................................................................................................................2
2.1.1.1. Control Power On..................................................................................................................................................2
2.1.1.2. Wait for Bus...........................................................................................................................................................2
2.1.1.3. Bus Ready.............................................................................................................................................................. 2
2.1.1.4. Shutdown...............................................................................................................................................................2
2.1.2. Axis State Machine........................................................................................................................................3
2.1.2.1. Disabled.................................................................................................................................................................3
2.1.2.2. Starting...................................................................................................................................................................3
2.1.2.3. Running..................................................................................................................................................................3
2.1.2.4. Stopping.................................................................................................................................................................3
2.1.3. Axis Commands.............................................................................................................................................4
2.1.3.1. Disable Request (highest priority)..........................................................................................................................4
2.1.3.2. Stop Request.......................................................................................................................................................... 4
2.1.3.3. Halt Request........................................................................................................................................................... 4
2.1.3.4. Start Request (lowest priority)................................................................................................................................4
2.1.3.5. SERCOS Control Interface....................................................................................................................................4
2.1.3.5.1. Commands...................................................................................................................................................... 4
2.1.3.5.2. Status.............................................................................................................................................................. 4
2.1.3.6. Fault Handling....................................................................................................................................................... 4
2.1.3.6.1. Standard Faults...............................................................................................................................................4
2.1.3.6.2. Disable Faults.................................................................................................................................................4
2.1.3.6.3. Shutdown Faults.............................................................................................................................................4
A. APPENDIX – STANDARD IDNS..........................................................................................................................5
A.1. LIST OF STANDARD IDNS....................................................................................................................................5
A.2. DESCRIPTION OF STANDARD IDNS...................................................................................................................10
B. APPENDIX - AB PROPRIETARY IDNS...........................................................................................................58
B.1. LIST OF ALLEN-BRADLEY IDNS........................................................................................................................58
B.2. DESCRIPTION OF ALLEN-BRADLEY IDNS.........................................................................................................66
C. Appendix – Advanced Safety Configuration.........................................................................................................128
i Revision 2.15
RA SERCOS Drive Product Interface Specification Revision History
Revision History
Rev. Date/Initials Description of Change

0.01 1 November 1999 - TMO Initial Revision
0.02 22 November 1999 - TMO Modified: P034, P101-106, P122
Added: S121-123, S165-166, P035, P084-087, P299
1.00 17 December 1999 - TMO Added: S177-178, S185-188, S298
(Initial Release)
1.01 21 April 2000 - TMO Modified: S129, S182, P015, P016, P018, P019, P025, P031-P033, P101-
P106, P299
Added: S173, P000, P036, P126, P193-194, P203-P204, P300-P301
1.02 22 June 2000 - TMO Added: S179, P037, P038
Modified: P015, P016, P018, P019, P031-33, P036, P042, P048, P098,
P124
1.03 11 Dec 2000 - TMO Added: P004, P005, P212, P302
Modified: S129, S182, P002, P003, P020, P126
2.00 16 Feb 2001 – DKH Modified IDN lists to make it easier to determine which IDNs are required
by Logix and to indicate which IDNs are only partially supported by a
drive.
Added: S197,S198
Modified: S001, S002, S011, S013, S032, S033, S079, S086, S129, S132,
S155, S185, S348, P002, P003, P004, P012, P013, P014, P020, P024,
P025, P032, P033, P034, P035, P051, P061, P064, P098, P161, P190
2.01 27 Feb 2001 – TMO Modified: S182, P014, P206, P207
The 4340 column is now the 2094 (Scorpion)
2.02 27 Mar 2001 – TMO Modified: P002, P003, P035
2.03 26 Apr 2001 -- TMO Modified: P002, P003, P073, P084-087, P299
2.04 28 Mar 2002 -- TDL Added: P103
2.05 02 Jan 2003 – TMO Modified: S129, P004, P124
Added: P006, P022, P074, P075, P107, P131-138, P198, P208
2.06 5 Mar 2003 – TMO Modified: P004
Added: P076
2.07 7 Mar 2003 – TMO Modified: P024, P035, P126, P135-138
Added : P141
2.08 25 Mar 2004 – TMO Modified: S030, S182, P098
Added: P099
2.09 Added the 2099 Product
Modified: S129, P91, P92, P272
Removed: P174-P177, Ultra support of P74-75
Added: S262-264. P88- P90, P108, P118, P177-P180
Renamed: P81
ii Revision 2.15
Rev. Date/Initials Description of Change

2.10 23 Aug 2006 – DKH Changed name of document from “LNK…” to “KNX…”
Updated the approvers list.
Added columns for 2093 and 2094S in IDN support lists.
Modified S129 (Defined bit 12 for safety).
Added S181 (2094 and 2099 now support this IDN)
Added P10 to support DC Bus calibration on the 2093.
Added P52-P55 to support configurable inputs on the 2094S.
Added descriptions for P77, P78, P119, P120, P149-P152, P153-P156, and
P157-P160.
Fixed typos with descriptions of P331- P450
Added P451-P460 to support Advanced Safety on the 2094S.
Marked P471-499 as reserved for DPI.
Added Ultra support of P259 and removed Ultra support of P5 (not due to
changes to Ultra – document was incorrect).
Added detail/notes to P201, P161, P181-188, P190, P191, P192.
2.11 1 Oct 2007 – DMB Corrected attribute field of Velocity Loop Integral Action Time and
Position Loop Integral Action Time.
Re-formatted IDN list tables (Appendix A.1 and B.1.)
Updated Drive Safety Status bits (IDN P00451).
Updated Drive Safety Fault Status bits (IDN P00452).
Minor formatting and typo corrections.
Added clarification to all safety IDNs regarding which safety model
(2094M-S0 or –S1) the IDN applies to.
Clarified the Class 3 manufacturer diagnostic (IDN S00182) to show that
the safe-off input flag (bit 14) applies to all drives with safety.
Moved safety IDNs from P451-P460 to P461-P470.
Added documentation for previously undocumented IDNs P451-P456.
2.12 10-Dec 2008 - DMB Added P142-P148 to support the digital input filters on the 2094S.
Modified the IDN S-100 descriptor.
2.13 1 Oct 2009 – DKH Added P-065 Torque Ref LP Filter Override
Removed 2 sec timeout spec. from P125
Added P140 Brake Override
Updated the notes in P028 - Brake Enable/Disable
Large amount of cleanup throughout document after thorough testing with
Kinetix6200.
2.14 Sept. 10, 2010 – TDL Changed project manager approval from Doug Chesney to Mike
Schweiner.
Added P-007 Dual Feedback Configuration
Extensive corrections to the table showing which standard IDNs are
supported by the Kinetix6200.
Extensive corrections to the table showing which proprietary IDNs are
supported by the Kinetix6200.
Added P-59 and P-60 (Velocity Error Limit and Time)
Added P-458 and P-459 to document access to advanced safety attributes.
Added P-460 to document access to safety configuration fault codes.
Added Appendix C to document advanced safety attributes.
Added definition of bit 8 (single-phase operation) to P00004.
Corrected P00024, P00035, and P00098 to show that 0xFFFF = none.
Added definition of 15=encoder program and 35=NV block erase override
to P00201.
Added more detail to EnDat status and error/warnings IDNs P00199 and
P00200.
Added SAP DIR number.
iii Revision 2.15
2.15 Oct. 15, 2013 Added Load Observer Attributes (in K6K FW rev 1.124)
Added Torque Reference Lowpass Filter Maximum Value (IDN P00066)
Added support for P-0-0302, Encoder Temperature, for K6200
iv Revision 2.15
RA SERCOS Drive Product Interface Specification Introduction
1. INTRODUCTION
1.1. Scope
This document is designed to record a subset of the SERCOS standard interface that should be supported for
ControlLogix or for achieving a particular SERCOS compliance class (A/B/C). The Rockwell Automation
proprietary IDNs are also assigned and described for ControlLogix and/or other support. This document also
attempts to more clearly define the operation of the SERCOS Interface where the SERCOS standard is open to
interpretataion.
1.2. Abbreviations
IDN Identification Number (SERCOS parameter)
PISD Product Interface Specification Document
SERCOS Serial Real-time Communications System IEC 1491 (EN 61491) SERCOS is a trademark
of the SERCOS interest group. RA is a member of SERCOS N.A. – a promotional
alliance for developing the SERCOS protocol and products.
RA Rockwell Automation
AB Allen-Bradley
Logix Short for 1756 ControlLogix platform devices, modules and software products.
AT Amplifier Telegram
MDT Master Data Telegram
MST Master Synchronization Telegram
1.3. References
1. IEC 1491 (EN 61491), First Edition, 1995-11
2. Motion Axis Object GMC-PISD-50332-1000 Mark Chaffee & Don Westman
3. Motion Axis Object - Servo GMC-PISD-50332-1001 Mark Chaffee & Don Westman
4. Motion Axis Object – Servo Drive GMC-PISD-50332-1002 Mark Chaffee & Don Westman
5. Instruction Execution for SERCOS GMC-PISD-50332-1006 Mark Chaffee
6. Kinetix 6000 2094S-Series and 2094E-Series Product Feature Specification KNX-PFSD-4178-xxx Tom
Lundell
1 Revision 2.15
RA SERCOS Drive Product Interface Specification System Behavior
2. SYSTEM BEHAVIOR
2.1. Drive State Behavior
The state of the drive is actually determined by two state machines. At a system level, we monitor the state of the
bus which controls/limits the behavior of the axis level.
2.1.1. System State Machine
2.1.1.1. Control Power On

System is running through initialization. Bus not yet permitted by drive.
2.1.1.2. Wait for Bus

Drive has a bus permissive state, waiting for application of power.
2.1.1.3. Bus Ready

Bus power has been applied, axis state machine can now leave disabled.
2.1.1.4. Shutdown
Drive is no longer permitting bus to be active. This could be due to severe fault or any fault prior to the bus ready
state.
2 Revision 2.15
2.1.2. Axis State Machine
2.1.2.1. Disabled
Axis is not switching the power device, the motor is free of torque.
Mechanical brake control is active.
2.1.2.2. Starting
Axis is permitted to switch power device.
Ensures it is capable of delivering torque (flux built for induction machines).
De-activates mechanical brake control.
Follows internal zero velocity reference for “drive on delay time” IDN S-0-0206 (allows brake time to release).
This is a transitory internal state of the drive that cannot be observed through the interface.
2.1.2.3. Running
The axis is following the selected customer reference.
2.1.2.4. Stopping
Follows internal zero velocity reference until axis reaches zero speed (as determined by IDN S-0-0124 and indicated
by IDNs S-0-0331 & S-0-0013, Bit 1) for “drive off delay time” IDN S-0-0207 (allows brake time to engage).
Fast restart requests are supported by transitioning back to the running state.
Stopping state is only active for a maximum of IDN P-0-0072 (stopping time limit), after which we will immediately
transition to the disabled state.
3 Revision 2.15
2.1.3. Axis Commands

The axis state machine responds to commands from multiple sources (SERCOS interface, Fault handler, Discrete
inputs, etc.). The commands are resolved and prioritized into a single command word; higher priority commands
override the affects of lower priority commands.
2.1.3.1. Disable Request (highest priority)

Level sensitive request to immediately remove applied torque to the motor (stop switching).
2.1.3.2. Stop Request

Level sensitive request to stop the axis and then disable.
2.1.3.3. Halt Request

Level sensitive request to stop the axis.
2.1.3.4. Start Request (lowest priority)

Edge sensitive request to start following reference.
2.1.3.5. SERCOS Control Interface

2.1.3.5.1. Commands
The drive will interpret the SERCOS control command as follows.
Bit 15 Bit 14 Bit 13 Reaction
X 0 X Issue Disable command.
0 1 X Issue Stop command
1 1 0 Issue Halt command. (Follow local zero velocity reference.)
1 1 1 Issue Start command
2.1.3.5.2. Status
The SERCOS status for bits [15..13] are shown in braces in the state diagram. An “X” indicates that the value is
dependent on conditions outside the immediate control of state and is resolved at a system level.
2.1.3.6. Fault Handling

It is assumed that the fault handling mechanism produces commands appropriate to the detected class of fault.
2.1.3.6.1. Standard Faults

Issue a stop command (as controlled by IDN’s P-0-0071 “stopping torque” and P-0-0072 “stopping time limit”).
2.1.3.6.2. Disable Faults

Issue a disable command.
2.1.3.6.3. Shutdown Faults

Request the shutdown of the bus.
4 Revision 2.15
RA SERCOS Drive Product Interface Specification Appendix Information
A. APPENDIX – STANDARD IDNS

A.1. List of Standard IDNs
The Class column refers to the lowest IEC 61491 SERCOS compliance class that the respective IDN belongs to. All
of the IDNs necessary for compliance classes A and B are included in this list.
Shaded IDNs are those required for Logix support. The “” indicates the drive fully supports the IDN as described
in this document, and the “” indicates the drive has partial support for the IDN.
K6200
Ultra
8720
1394
2093
2094
2099
IDN Class Name
S-0-0001 B Control Unit Cycle Time (tNcyc)       
S-0-0002 A Communication Cycle Time (tScyc)       
S-0-0003 A Shortest AT Transmission Starting Time (t1min)       
S-0-0004 A Transmit/Receive Transition Time (tATMT)       
S-0-0005 B Minimum Feedback Processing Time (t5)       
S-0-0006 A AT Transmission Starting Time (t1)       
S-0-0007 B Feedback Acquisition Capture Point (t4)       
S-0-0008 B Command Value Valid Time (t3)       
S-0-0009 A Position of Data Record in MDT       
S-0-0010 A Length of MDT       
S-0-0011 A Class 1 Diagnostic (C1D)       
S-0-0012 B Class 2 Diagnostic (C2D)       
S-0-0013 B Class 3 Diagnostic (C3D)       
S-0-0014 A Interface Status       
S-0-0015 A Telegram Type Parameter       
S-0-0016 C Configuration List of AT       
S-0-0017 A IDN-List of All Operation Data       
S-0-0018 A IDN-List of Operation Data for CP2       
S-0-0019 A IDN-List of Operation Data for CP3       
S-0-0021 A IDN-List of Invalid Operation Data for CP2       
S-0-0022 A IDN-List of Invalid Operation Data for CP3       
S-0-0024 C Configuration List of MDT       
S-0-0025 A IDN-List of All Procedure Commands       
S-0-0028 A MST Error Counter       
S-0-0029 A MDT Error Counter       
S-0-0030 Manufacturer Version       
S-0-0032 A Primary Operation Mode       
S-0-0033 B Secondary Operation Mode 1      
S-0-0036 B-Velocity Velocity Command Value       
S-0-0037 Additive Velocity Command Value       
S-0-0038 Positive Velocity Limit Value       
S-0-0039 Negative Velocity Limit Value       
S-0-0040 B-Velocity Velocity Feedback Value       
S-0-0041 B-Homing Homing Velocity      
S-0-0042 B-Homing Homing Acceleration      
S-0-0043 B-Velocity Velocity Polarity Parameter       
S-0-0044 B-Velocity Velocity Data Scaling Type       
S-0-0045 C Velocity Data Scaling Factor       
S-0-0046 C Velocity Data Scaling Exponent       
S-0-0047 B-Position Position Command Value       
5 Revision 2.15
K6200
Ultra
8720
1394
2093
2094
2099
IDN Class Name
S-0-0049 Positive Position Limit Value       
S-0-0050 Negative Position Limit Value       
S-0-0051 B-Position Position Feedback Value 1 (Motor Feedback)       
S-0-0052 B-Position Reference Distance 1      
S-0-0053 C-Position Position Feedback Value 2 (Auxiliary Feedback)       
S-0-0054 C-Homing Reference Distance 2      
S-0-0055 B-Position Position Polarity Parameter       
S-0-0057 B-Position Position Window       
S-0-0076 B-Position Position Data Scaling Type       
S-0-0077 C Linear Position Data Scaling Factor       
S-0-0078 C Linear Position Data Scaling Exponent       
S-0-0079 C Rotational Position Resolution       
S-0-0080 B-Torque Torque Command Value       
S-0-0081 Additive Torque Command Value       
S-0-0082 Positive Torque Limit Value       
S-0-0083 Negative Torque Limit Value       
S-0-0084 B-Torque Torque Feedback Value       
S-0-0085 B-Torque Torque Polarity Parameter       
S-0-0086 B-Torque Torque/Force Data Scaling Type       
S-0-0087 A Transmit to Transmit Recovery Time (tATAT)       
S-0-0088 A Receive to Receive Recovery Time (tMTSY)       
S-0-0089 A MDT Transmission Starting Time (t2)       
S-0-0090 B Command Value Proceeding Time (tMTSG)       
S-0-0091 B-Velocity Bipolar Velocity Limit Value       
S-0-0092 B-Torque Bipolar Torque Limit Value       
S-0-0093 C Torque Data Scaling Factor       
S-0-0094 C Torque Data Scaling Exponent       
S-0-0095 A Diagnostic Message       
S-0-0096 A Slave Arrangement (SLKN)       
S-0-0097 B Mask Class 2 Diagnostic      
S-0-0098 B Mask Class 3 Diagnostic      
S-0-0099 A Reset Class 1 Diagnostic       
S-0-0100 Velocity Loop Proportional Gain       
S-0-0101 Velocity Loop Integral Action Time       
S-0-0103 Modulo Value       
S-0-0104 B-Position Position Loop KV Factor       
S-0-0105 Position Loop Integral Action Time       
S-0-0106 Current Loop Proportional Gain 1    
S-0-0109 Motor Peak Current       
S-0-0110 Amplifier Peak Current       
S-0-0111 Motor Continuous Stall Current       
S-0-0112 Amplifier Rated Current       
S-0-0113 Maximum Motor Speed      
S-0-0114 Load Limit of the Motor     
S-0-0115 C-Ext. Fdbk Position Feedback 2 Type (Auxiliary)       
S-0-0116 C-Position Resolution of Feedback 1       
S-0-0117 Resolution of Feedback 2       
S-0-0121 C-Position Input Revolutions of Load Gear       
S-0-0122 C-Position Output Revolutions of Load Gear       
S-0-0123 C-Position Feed Constant 
S-0-0124 B-Velocity Standstill Window       
6 Revision 2.15
K6200
Ultra
8720
1394
2093
2094
2099
IDN Class Name
S-0-0125 B-Velocity Velocity Threshold       
S-0-0126 C-Thresh Torque Threshold       
S-0-0127 A CP3 Transition Check       
S-0-0128 A CP4 Transition Check       
S-0-0129 Manufacturer Class 1 Diagnostic       
S-0-0130 C-Probe Probe Value 1 Positive Edge       
S-0-0131 C-Probe Probe Value 1 Negative Edge       
S-0-0132 C-Probe Probe Value 2 Positive Edge       
S-0-0133 C-Probe Probe Value 2 Negative Edge       
S-0-0136 Positive Acceleration Limit Value       
S-0-0137 Negative Acceleration Limit Value       
S-0-0138 B Bipolar Acceleration Limit Value       
S-0-0140 Controller Type       
S-0-0141 Motor Type      
S-0-0142 A Application Type       
S-0-0143 A System Interface Version       
S-0-0146 C-Homing Control Unit Controlled Homing Procedure Cmd       
S-0-0147 B-Homing Homing Parameter       
S-0-0148 B-Homing Drive Controlled Homing Procedure Command 
S-0-0150 B-Position Reference Offset 1      
S-0-0151 C-Homing Reference Offset 2      
S-0-0152 C-Spindle Position Spindle Procedure Command    
S-0-0153 C-Spin Posn Spindle Angle Position    
S-0-0154 C-Spin Posn Spindle Positioning Parameter    
S-0-0155 Friction Torque Compensation       
S-0-0157 B-Velocity Velocity Window       
S-0-0159 B-Position Monitoring Window       
S-0-0160 B Acceleration Data Scaling Type       
S-0-0161 C Acceleration Data Scaling Factor       
S-0-0162 C Acceleration Data Scaling Exponent       
S-0-0165 Distance-Coded Reference Marks A 
S-0-0166 Distance-Coded Reference Marks B 
S-0-0169 C-Probe Probe Control Parameter       
S-0-0170 C-Probe Probing Cycle Procedure Command       
S-0-0171 C-Homing Calculate Displacement Procedure Command      
S-0-0172 C-Homing Displacement to the Referenced System Proc Cmd       
S-0-0173 C-Homing Marker Position A       
S-0-0175 C-Homing Displacement Parameter 1       
S-0-0176 C-Homing Displacement Parameter 2       
S-0-0177 Absolute Distance 1     
S-0-0178 Absolute Distance 2     
S-0-0179 C-Probe Probe Status       
S-0-0181 Manufacturer Class 2 Diagnostic    
S-0-0182 Manufacturer Class 3 Diagnostic       
S-0-0185 C Length of the Configurable Data Record in the AT      
S-0-0186 C Length of the Configurable Data Record in the MDT      
S-0-0187 C IDN-List of the Configurable Data in the AT       
S-0-0188 C IDN-List of the Configurable Data in the MDT      
S-0-0189 B-Position Following Distance      
S-0-0191 B-Homing Cancel Reference Point Procedure Command       
S-0-0194 Acceleration Command Value       
7 Revision 2.15
K6200
Ultra
8720
1394
2093
2094
2099
IDN Class Name
S-0-0196 Motor Rated Current      
S-0-0197 Set Coordinate System Procedure Command   
S-0-0198 Initial Coordinate Value   
S-0-0206 B Drive On Delay Time       
S-0-0207 B Drive Off Delay Time       
S-0-0216 C-Parm Switch Parameter Set Procedure Command 
S-0-0217 C-Parm Parameter Set Preselection 
S-0-0219 C-Parm IDN-List of Parameter Set 
S-0-0220 C-Spindle Minimum Spindle Speed 
S-0-0221 C-Spindle Maximum Spindle Speed 
S-0-0222 C-Spin Posn Spindle Positioning Speed 
S-0-0254 C-Parm Actual Parameter Set 
S-0-0258 Target Position 
S-0-0259 Positioning Velocity 
S-0-0260 Positioning Acceleration 
S-0-0262 Reset defaults procedure command
S-0-0263 Recall values procedure command
S-0-0264 Save values procedure command
S-0-0272 Velocity Window Percentage     
S-0-0277 Position Feedback 1 Type (Motor)       
S-0-0296 Velocity Feedforward Gain       
S-0-0298 Home Switch Distance       
S-0-0301 B-Homing Allocation of Real-Time Control Bit 1       
S-0-0303 B-Homing Allocation of Real-Time Control Bit 2       
S-0-0305 B-Homing Allocation of Real-Time Status Bit 1       
S-0-0307 B-Homing Allocation of Real-Time Status Bit 2       
S-0-0330 B-Velocity Status ‘nfeedback = ncommand’ (At Speed)      
S-0-0331 B-Velocity Status ‘nfeedback = 0’ (At Zero Speed)      
S-0-0332 B-Velocity Status ‘nfeedback < nx’ (Velocity Below Threshold)      
S-0-0333 C-Thresh Status ‘T  Tx’ (Torque Above Threshold)      
S-0-0334 B-Torque Status ‘T  Tlimit’ (Torque Above Limit)      
S-0-0335 B-Velocity Status ‘nommand > nlimit’ (Velocity Above Limit)      
S-0-0336 C-Spin Posn Status ‘In Position’      
S-0-0339 C-Spindle Status ‘nfdbk  min spindle speed’ (Below Min Speed) 
S-0-0340 C-Spindle Status ‘nfdbk  max spindle speed’ (Above Max Speed) 
S-0-0347 Velocity Error       
S-0-0348 Acceleration Feedforward Gain       
S-0-0380 DC Bus Voltage       
S-0-0384 Amplifier Temperature     
S-0-0386 Mechanical Power     
S-0-0400 B-Homing Home Switch       
S-0-0401 C-Probe Probe 1      
S-0-0402 C-Probe Probe 2      
S-0-0403 B-Homing Position Feedback Value Status       
S-0-0404 Position Command Value Status       
S-0-0405 C-Probe Probe 1 Enable       
S-0-0406 C-Probe Probe 2 Enable       
S-0-0407 C-Homing Homing Enable       
S-0-0408 C-Homing Reference Marker Pulse Registered       
S-0-0409 C-Probe Probe 1 Positive Latched      
8 Revision 2.15
K6200
Ultra
8720
1394
2093
2094
2099
IDN Class Name
S-0-0410 C-Probe Probe 1 Negative Latched      
S-0-0411 C-Probe Probe 2 Positive Latched      
S-0-0412 C-Probe Probe 2 Negative Latched      
9 Revision 2.15
A.2. Description of Standard IDNs
S00001 Control unit cycle time (tNcyc)

This defines how often the master will generate a new command value for the drive (as opposed to how often
it will send it – the master could send the same value several times). This value must be an integer multiple of
the communication cycle time (tScyc- IDN S00002). It must be sent from the master to the slave during Phase
2.
Name: “Master Cyc Time” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RW Phase 3: RO Phase 4: RO
Min:  62 Value: (Written by master)
Max:  65,500 Scaling: 1
Notes: Ultra’s minimum value is 1000
See Also: IDN S00002 – Communication cycle time (tScyc)
S00002 Communication cycle time (tScyc)

This defines how often the master will send the command values and cyclic data. According to the SERCOS
spec, this value can be 62 µs, 125 µs, and 250 µs up to 65500 µs in steps of 250 µs. This value must be sent
during Phase 2.
Name: “Ring Comm Time” Attr: 0x00110001 (16-bit unsigned decimal)
Notes: Ultra’s minimum value is 1000
See Also: IDN S00001 – Control unit cycle time (tNcyc)
S00003 Shortest AT transmission starting time (t1min)

This is the time required by the slave from the end of the MST to when it can start sending its AT. This value
is read by the master during Phase 2 for its timing calculations.
Name: “AT Start Time ” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RO Phase 3: RO Phase 4: RO
Min:  0 Value: (Shortest AT starting time)
Notes: This is largely a function of the SERCON chip. According to the IAM slave software, the SERCON minimum is 12
µs, and they use the value of 20.
See Also: IDN S00006 – AT transmission starting time (t1)
S00004 Transmit/Receive transition time (tATMT)

This is the time required by the slave to switch from transmitting the AT to receiving the MST (this is a function
of the SERCON chip). It is read by the master during Phase 2 for its timing calculations.
Name: “Xmit/Rec Tr Time ” Attr: 0x00110001 (16-bit unsigned decimal)
Min:  0 Value: (Transmit/receive transition time)
Notes: According to the IAM slave software, the SERCON minimum is 2 µs, and they use a value of 10.
See Also:
S00005 Minimum feedback processing time (t5)

This is the minimum time required by the slave between the start of the feedback acquisition to the end of the
next MST. The master reads this during Phase 2 for its timing calculations.
Name: “Min Fb Proc Time” Attr: 0x00110001 (16-bit unsigned decimal)
Min:  0 Value: (Minimum feedback processing time)
Notes:
See Also: IDN S00007 – Feedback acquisition capture point (t4)
10 Revision 2.15
S00006 AT transmission starting time (t1)

This value specifies when the slave should send its AT during Phases 3 & 4. It is sent by the master during
Phase 2.
Name: “At Trans St Time” Attr: 0x00110001 (16-bit unsigned decimal)
Min:  (IDN S00003 Value) Value: (Written by master)
Max:  (IDN S00002 Value) Scaling: 1
Notes:
See Also: IDN S00003 – Shortest AT transmission starting time (t1min)
S00007 Feedback acquisition capture point (t4)

This specifies at what time the slave should latch its feedback position. Typically, all slaves would have the
same value so that all the feedback values the master gets would be from the same point in time. The master
sends this value during Phase 2.
Name: “Fb Capture Pt” Attr: 0x00110001 (16-bit unsigned decimal)
Notes:
See Also: IDN S00005 – Minimum feedback processing time (t5)
S00008 Command value valid time (t3)

This specifies at what time the slave can access the new command values. This could be used to synchronize
multiple drives. The master sends this value during Phase 2.
Name: “Command Valid Tm” Attr: 0x00110001 (16-bit unsigned decimal)
Notes:
See Also: IDN S00090 – Command value proceeding time (tMTSG)
S00009 Position of data record in MDT

This specifies where the data for this slave is in the MDT. It is in units of bytes, and the first byte is number 1.
It is sent by the master during Phase 2.
Name: “MDT Drive Pos” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Not supported Phase 2: RW Phase 3: RO Phase 4: RO
Min: 1 Value: (Written by master)
Notes:
See Also: IDN S00010 – Length of MDT
S00010 Length of MDT

This specifies the overall length of the MDT, in bytes. It is sent by the master during Phase 2.
Name: “MDT Length ” Attr: 0x00110001 (16-bit unsigned decimal)
Min: 4 (Written by master)
Notes:
See Also: IDN S00009 – Position of data record in MDT
11 Revision 2.15
S00011 Class 1 diagnostic

Drive shutdown error flags.
Name: “Shut Down Errors ” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0000 Value: Class 1 diagnostics: (1 = active, 0 = inactive)
Max: 0xFFFF Bit 0: Overload Shutdown (motor thermal model exceeds IDN S00114)
Bit 1: Drive Overtemperature Shutdown (drive thermal switch OR
calculated thermal model)
Bit 2: Motor Overtemperature Shutdown (motor thermal switch)
Bits 3-4: Not used
Bit 5: Feedback Error
Bit 6: Commutation Error (hall effect angle, commutation angle,  angle)
Bit 7: DC Bus Overcurrent Error (instantaneous overcurrent, desat)
Bit 8: DC Bus Overvoltage Error
Bit 9: DC Bus Undervoltage Error
Bit 10: AC Input Phase-Loss Error
Bit 11: Excessive Position Deviation (IDN S00159)
Bit 12: Communication error (IDN S00014)
Bit 13 Overtravel Limit Exceeded (IDNs S00049, S00050)
Bit 14: Not used
Bit 15: Manufacturer-specific error (IDN S00129)
Notes: Ultra doesn’t support bit 10
See Also: IDN S00099 – Reset class 1 diagnostic
IDN S00129 – Manufacturer class 1 diagnostic

Drive shutdown warning flags.
Name: “Drive Warnings ” Attr: 0x00010001 (16-bit binary)
Max: 0x8000 Bits 0-14: Not used
Bit 15: Manufacturer-specific warning
Notes:
See Also: IDN S00097 – Mask class 2 diagnostic

Drive operation status flags.
Name: “Drive Status ” Attr: 0x00010001 (16-bit binary)
Max: 0x8FFF Bit 0: In speed window (IDN S00330)
Bit 1: At zero speed (IDN S00331)
Bit 2: Below speed (IDN S00332)
Bit 3: Torque Over Threshold (IDN S00333)
Bit 4: Torque Over Limit (IDN S00334)
Bit 5: Velocity Command Above Velocity Limit (IDN S00335)
Bit 6: In position window (IDN S00336)
Bits 8-7: Not used
Bit 9: Speed Below Minimum Spindle Speed (IDN S00339)
Bit 10: Speed Above Maximum Spindle Speed (IDN S00340)
Bits 14-11: Not Used
Bit 15: Manufacturer-specific operation status (IDN S00182)
Notes: Ultra, Modular K6K don’t support bits 9 or 10
See Also: IDN S00098 – Mask class 3 diagnostic
12 Revision 2.15
S00014 Interface status

If a communication error is flagged in C1D (IDN S00011), this IDN contains the specific communication error
flags.
Name: “Commun Errors” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: Interface Status: (1 = active, 0 = inactive)
Max: 0x07FF Bits 2-0: Communication Phase
Bit 3: MST Failure
Bit 4: MDT Failure
Bit 5: Invalid Phase
Bit 6: Error During Phase Upshift
Bit 7: Error During Phase Downshift
Bit 8: Phase Switch without Ready Acknowledge
Bit 9: Switching to Uninitialized Operation Mode
Bit 10: Drives with the same Address in the Ring
Bits 15-11: Not Used
Notes: For bits 3-15, a bit is 1 when the associated error is active.
See Also: IDN S00011 – Class 1 diagnostic
IDN S00099 – Reset class 1 diagnostic
S00015 Telegram type parameter

This specifies which telegram type to use. See section 8.3 in the SERCOS spec for descriptions of each of the
telegram types. The telegram type is sent by the master.
Name: “TelegramType ” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Telegram Type: (Written by master)
Max: 0xF Bits 3-0: 0000 – Standard Telegram 0 (No cyclic data)
0001 – Standard Telegram 1 (Torque Cmd)
0010 – Standard Telegram 2 (Velocity Cmd, Velocity Fdbk)
x011 – Standard Telegram 3 (Velocity Cmd, Position (x) Fdbk)
x100 – Standard Telegram 4 (Position Cmd, Position (x) Fdbk)
x101 – Standard Telegram 5 (Pos & Vel Cmd, Pos (x) & Vel Fdbk)
0111 – Application Telegram (IDN S00016, S00024)
|
0 – Motor Feedback
1 – Auxiliary Feedback
Notes:
See Also: IDN S00016 – Configuration list of AT
IDN S00024 – Configuration list of MDT
S00016 Configuration list of AT

This IDN contains a list of IDNs whose data will be transmitted cyclically in the AT. Only IDNs present in the
"IDN List of Configurable Data in the AT" (IDN S00187) can be used here. The amount of data that can be
transmitted cyclically is limited, and defined by IDN S00185 (Length of the configurable data in the AT).
Name: “IDN List AT” Attr: 0x00550001 (Variable-length IDN array)
Min: Not supported Value: (List of IDNs in AT)
Max: Not supported
Notes:
See Also: IDN S00185 – Length of the configurable data in the AT
IDN S00187 – IDN List of configurable data in the AT
S00017 IDN-list of all operation data

This is a list of all the operation data IDNs supported by the slave. The master can read this at any time.
Name: “IDN List Dr Data” Attr: 0x00550001 (Variable-length IDN array)
Min: Not supported Value: (List of all supported data IDNs)
Max: Not supported
Notes:
See Also: IDN S00025 – IDN-list of all procedure commands
13 Revision 2.15
S00018 IDN-list of all operation data for CP2

This is a list of all the IDNs the slave needs initialized before it can go into Phase 3.
Name: “IDN List Dr Cp2 ” Attr: 0x00550001 (Variable-length IDN array)
Min: Not supported Value: (List of CP2 IDNs)
Max: Not supported
Notes:
See Also: IDN S00019 – IDN-list of all operation data for CP3
IDN S00021 – IDN-list of invalid operation data for CP2
IDN S00127 – Communication phase 3 transition check
S00019 IDN-list of all operation data for CP3

This is a list of all the IDNs the slave needs initialized before it can go into Phase 4.
Name: “IDN List Dr Cp3 ” Attr: 0x00550001 (Variable-length IDN array)
Min: Not supported Value: (List of CP3 IDNs)
Max: Not supported
Notes:
S00021 IDN-list of invalid operation data for CP2

After the Phase 3 Transition Check procedure (IDN S00127) has been executed, this IDN contains a list of all
the IDNs that have invalid values, if any.
Name: “IDN List Cp2 Inv” Attr: 0x00550001 (Variable-length IDN array)
Min: Not supported Value: (List of IDNs {built during CP3 Transition Check})
Max: Not supported
Notes:
S00022 IDN-list of invalid operation data for CP3

After the Phase 4 Transition Check procedure (IDN S00128) has been executed, this IDN contains a list of all
the IDNs that have invalid values, if any.
Name: “IDN List Cp3 Inv” Attr: 0x00550001 (Variable-length IDN array)
Min: Not supported Value: (List of IDNs {built during CP4 Transition Check})
Max: Not supported
Notes:
S00024 Configuration list of MDT

This IDN contains a list of IDNs whose data will be transmitted cyclically in the MDT. Only IDNs present in the
"IDN List of Configurable Data in the MDT" (IDN S00188) can be used here. The amount of data that can be
transmitted cyclically is limited, and defined by IDN S00186 (Length of the configurable data record in the
MDT).
Name: “Config of MDT ” Attr: 0x00550001 (Variable-length IDN array)
Min: Not supported Value: (Written by master)
Max: Not supported
Notes:
See Also: IDN S00186 – Length of the configurable data record in the MDT
IDN S00188 – IDN list of configurable data in the MDT
14 Revision 2.15
S00025 IDN-list of all procedure commands

This is a list of all the IDNs supported by the slave. The master can read this at any time.
Name: “IDN List Proceed ” Attr: 0x00550001 (Variable-length IDN array)
Min: Not supported Value: (List of all supported procedure IDNs)
Max: Not supported
Notes:
See Also: IDN S00017 – IDN-list of all operation data
S00028 MST error counter

This IDN is the count of all invalid MST's in Phases 3 & 4
Name: “MST Errors” Attr: 0x00110001 (16-bit unsigned decimal)
Min:  0 Value: (Number of errors)
(AT) Max:  65,535 Scaling: 1
Notes:
See Also: IDN S00029 – MDT error counter
S00029 MDT error counter

This IDN is the count of all invalid MDT's in Phases 3 & 4
Name: “MDT Errors” Attr: 0x00110001 (16-bit unsigned decimal)
Min:  0 Value: (Number of errors)
(AT) Max:  65,535 Scaling: 1
Notes:
See Also: IDN S00028 – MST error counter
S00030 Manufacturer Version

This IDN is used to display a data string containing the drive firmware version and checksum.
Name: “Version Data” Attr: 0x00450001 (variable length 16-bit data strings, character)
Min: Not supported Value: Manufacturer version:
Max: Not supported Characters 1–13: “VER XX.xx.bb_” (XX = Major Rev, xx = Minor Rev, bb = Build #)
Characters 14-28: “Copyright yyyy_“ (yyyy = Year)
Characters 29-48: “Rockwell Automation_”
Characters 49-64: “CHKSM: xxxxxxxx_” (xxxxxxxx = Hex Checksum)
Notes:
See Also:
S00032 Primary operation mode

Defines the primary operating mode for the slave. The master selects whether to use the primary operating
mode or one of the secondary operating modes via two bits in the Master Control Word.
Name: “Prime OP Mode” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RO
Min: 0x0 Value: Primary Operation Mode: (Written by master)
Max: 0xE Bits 2-0: 000 – No mode of operation defined
001 – Torque control
010 – Velocity control
011 – Position control using motor feedback
100 – Position control using auxiliary feedback
101 – Position control using motor and auxiliary feedback
Bit 3: 0 – Position control with following error
1 – Position control without following error
(need custom modes)
Notes: Bits 15-4 are further defined in the IEC 61491 specification.
Ultra doesn’t support Position Control using auxiliary feedback
See Also: IDN S00033 – Secondary operation mode 1
15 Revision 2.15
S00033 Secondary operation mode 1

Defines the secondary operating mode 1 for the slave. The master selects whether to use the primary
operating mode or one of the secondary operating modes via two bits in the Master Control Word.
Name: “Sec OP Mode 1” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RO
Min: 0x0 Value: Secondary Operation Mode: (Written by master)
Max: 0xE Bits 2-0: 000 – No mode of operation defined
001 – Torque control
010 – Velocity control
011 – Position control using motor feedback
100 – Position control using auxiliary feedback
101 – Position control using motor and auxiliary feedback
Bit 3: 0 – Position control with following error
1 – Position control without following error
(need custom modes)
Notes: Bits 15-4 are further defined in the IEC 61491 specification. See Notes for S0032.
See Also: IDN S00032 – Primary operation mode
S00036 Velocity command value

This is the velocity command value the drive is currently using.
Name: “Velocity Command ” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -231 Value: (Written by master)
Max: ≤ 231 –1 Scaling type: IDN S00044
Scaling factor: IDN S00045
(MDT) Scaling exponent: IDN S00046
Notes:
See Also: IDN S00044 – Velocity Data Scaling Type
IDN S00045 – Velocity Data Scaling Factor
IDN S00046 – Velocity Data Scaling Exponent
S00037 Additive velocity command value

This is an additional velocity offset which is to be added to the velocity command value from the master.
Name: “Velocity Offset ” Attr: 0x0X22XXXX
Units: (Velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (velocity offset)
Scaling exponent: IDN S00046
Notes:
S00038 Positive velocity limit value

This is describes the maximum allowable velocity in the positive direction. If the velocity limit is exceeded, the
drive responds by setting bit 5 in the C3D (IDN S00013).
Name: “+Vel Limit” Attr: 0x0X22XXXX
Min: ≥ 0 Value: (positive velocity limit)
Notes:
16 Revision 2.15
S00039 Negative velocity limit value

This is describes the maximum allowable velocity in the negative direction. If the velocity limit is exceeded,
the drive responds by setting bit 5 in the C3D (IDN S00013).
Name: “-Vel Limit” Attr: 0x0X22XXXX
Min: ≥ -231 Value: (negative velocity limit)
Max: ≤ 0 Scaling type: IDN S00044
Notes:
S00040 Velocity feedback value

This is the actual velocity of the motor.
Name: “Velocity Fback” Attr: 0x0X22XXXX
Min: ≥ -231 Value: (Velocity feedback value)
(AT) Scaling exponent: IDN S00046
Notes:
S00041 Homing velocity

This is the velocity used during Drive Controlled Homing Procedure (IDN S00148).
Name: “Homing Velocity” Attr: 0x0X22XXXX
Notes: Read/write at all times (except when Drive controlled homing procedure command is active).
S00042 Homing acceleration

This is the acceleration used during Drive Controlled Homing Procedure (IDN S00148)
Name: “Homing Accel” Attr: 0x0X22XXXX
Units: (Acceleration Phase 2: RW Phase 3: RW Phase 4: RW
units)
Min: 0 Value: (Written by master)
Notes: Read/write at all times (except when Drive controlled homing procedure command is active).
See Also: IDN S00041 – Homing velocity
IDN S00138 – Bipolar acceleration limit
IDN S00147 – Homing parameter
IDN S00148 – Drive-controlled homing procedure command
17 Revision 2.15
S00043 Velocity polarity parameter

This IDN is used to switch polarities of position data. The motor shaft turns clockwise when there is a positive
position command and no inversion is programmed.
Name: “Vel Polarity” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x0 Value: Velocity parameter:
Max: 0x7 Bit 0: Velocity command value
0 – non-inverted
1 – inverted
Bit 1: Additive velocity command value
0 – non-inverted
1 -- inverted
Bit 2: Velocity feedback value
0 – non-inverted
1 – inverted
All other bits are reserved.
Notes: RO when drive is enabled
See Also: IDN S00044 – Velocity data scaling type
S00044 Velocity data scaling type

This selects the scaling method to use on velocity values (e.g., IDN’s 00036, 00040, and 00041).
Name: “Vel Scaling Type” Attr: 0x00010001 (16-bit binary)
Min: 0x00 Value: Scaling type:
Max: 0x7F Bits 2-0: Scaling method
000 – no scaling
001 – linear scaling (not supported)
010 – rotational scaling
Bit 3:
0 – preferred scaling
1 – parameter scaling
Bit 4: Units for rotary
0 – revolutions
1 – (reserved)
Bit 4: Units linear
0 – meters
1 – inches
Bit 5: Time
0 – minutes
1 – seconds
Bit 6: Data reference (must be 0)
0 – at the motor shaft
1 – at the load (not implemented)
Notes: Read-only when drive is enabled.
IDNs S00045 and S00046 should have valid values before IDN S00044 is written.
See Also: IDN S00045 – Velocity data scaling factor
IDN S00046 – Velocity data scaling exponent
IDN S00076 – Position data scaling type
IDN S00160 – Acceleration data scaling type
S00045 Velocity data scaling factor

This defines the scaling factor for all velocity data.
Name: “Vel Scaling Fact” Attr: 0x00110001 (16-bit unsigned decimal)
Notes: Read-only when drive is enabled
IDN S00046 – Velocity data scaling exponent
18 Revision 2.15
S00046 Velocity data scaling exponent

This defines the scaling exponent for all velocity data.
Name: “Vel Scaling Exp” Attr: 0x00210001 (16-bit signed decimal)
Max: ≤ 215 –1 Scaling: 1
IDN S00045 – Velocity data scaling factor
S00047 Position command value

This is the command position value from the master.
Name: “Position Command” Attr: 0x0X22XXXX
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
(MDT) Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00051 – Position feedback value 1 (motor feedback)
IDN S00055 – Position polarity parameter
IDN S00076 – Position Data Scaling Type
IDN S00077 – Position Data Scaling Factor
IDN S00078 – Position Data Scaling Exponent
S00049 Positive position limit value

This is the maximum allowable distance in the positive direction. When the positive position limit value is
exceeded, the drive sets error bit 13 of the C1D (IDN S00011).
Name: “+Position Limit” Attr: 0x0X22XXXX
Min: ≥ -231 Value: (positive position limit)
Rotational position resolution: IDN S00079
Notes:
S00050 Negative position limit value

This is the maximum allowable distance in the negative direction. When the negative position limit value is
exceeded, the drive sets error bit 13 of the C1D (IDN S00011).
Name: “-Position Limit” Attr: 0x0X22XXXX
Min: ≥ -231 Value: (negative position limit)
Notes:
19 Revision 2.15
S00051 Position feedback value 1

This is the actual position value of the motor encoder.
Name: “Motor Posn Fback” Attr: 0x0X22XXXX
Units: (Position units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -231 Value: (motor position feedback)
(AT) Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00053 – Position feedback value 2 (external feedback)
S00052 Reference distance 1

The master uses this value to specify the distance between the Reference point and the Machine zero point
related to the motor feedback. It is used (along with the Reference Offset 1, IDN S00150) by the drive during
the Drive Controlled Homing Procedure (IDN S00148) to calculate the actual position value.
Name: “Ref Dist 1” Attr: 0x0X22XXXX
Notes: Read/write at all times (except when Drive controlled homing procedure command is active)
See Also: IDN S00076 – Position data scaling type
IDN S00150 – Reference offset 1
S00053 Position feedback value 2

This is the actual position value of the auxiliary feedback.
Name: “Aux Posn Fback” Attr: 0x0X22XXXX
Min: ≥ -231 Value: (auxiliary position feedback)
Notes:
20 Revision 2.15
S00054 Reference distance 2

The master uses this value to specify the distance between the Reference point and the Machine zero point
related to the auxiliary feedback. It is used (along with the Reference Offset 2, IDN S00151) by the drive
during the Drive Controlled Homing Procedure (IDN S00148) to calculate the actual position value.
Name: “Ref Dist 2” Attr: 0x0X22XXXX
Notes: Read/write at all times (except when Drive controlled homing procedure command is active)
S00055 Position polarity parameter

This IDN is used to switch polarities of position data. The motor shaft turns clockwise when there is a positive
position command and no inversion is programmed.
Name: “Posn Polarity” Attr: 0x00010001 (16-bit binary)
Min: 0x00 Value: Polarity parameter:
Max: 0x1F Bit 0: Position command value
0 – non-inverted
1 – inverted
Bit 1: (Reserved)
Bit 2: Position feedback value 1
0 – non-inverted
1 – inverted
Bit 3: Position feedback value 2
0 – non-inverted
1 – inverted
Bit 4: Position limit values
0 – disabled
1 – enabled
Notes: Only bit 4 can be changed while the drive is enabled
S00057 Position window

When the absolute value of the position error (the difference between the commanded position and the
feedback position) is less than the amount specified by this IDN, the "In position" bit (bit 6 of C3D,
IDN S00013) is set.
Name: “In Posn Value” Attr: 0x0X22XXXX
Min:  0 Value: (written by master)
Notes:
IDN S00047 – Position command value
IDN S00051 – Position feedback value 1 (motor feedback)
21 Revision 2.15
S00076 Position data scaling type

This selects the scaling method to use on position values (e.g., IDN’s S00047, S00051, and S00053).
Name: “Pos Scaling Type” Attr: 0x00010001 (16-bit binary)
Max: 0xFF Bits 2-0: Scaling method
000 – no scaling
001 – linear scaling
Bit 3:
Bit 4: Linear Units
0 – meters
1 – inches
Bit 4: Units (must be 0)
0 – degrees
1 – (reserved)
Bit 5: (reserved)
Bit 6: Data reference
1 – at the load
Bit 7: Processing format
0 – absolute format
1 – modulo format
IDN S00079 should have a valid value before IDN S00076 is written.
IDN S00079 – Rotational position resolution
IDN S00077 – Linear position data scaling factor
S00077 Linear position data scaling factor

This defines the scaling factor for all position data in a drive.
Name: “Lin Posn Scaling” Attr: 0x00110001 (16-bit unsigned decimal)
Min:  1 Value: linear position scaling (written by master)
Max: ≤ 216 –1 Bits 15-0: factor
S00078 Linear position data scaling exponent

This defines the scaling exponent for all position data in a drive.
Name: “Lin Posn Expon” Attr: 0x00210001 (16-bit signed decimal)
Min:  -215 Value: linear position exponent (written by master)
Max: ≤ 215 –1 Bit 15: Sign of the exponent
0 – positive
1 – negative
Bits 14-0: Exponent
See Also:
22 Revision 2.15
S00079 Rotational position resolution

This defines the rotational position resolution for all position data. Basically, it specifies how many “counts” are
in one revolution. One LSB for position data = (360° / IDN S00079).
Name: “Rot Posn Resolut” Attr: 0x00220001 (32-bit signed decimal)
Min: 1 Value: (written by master)
Max:  232 -1 Scaling: 1
The minimum value for Ultra is 4X the encoder line count.
See Also:
S00080 Torque command value

This is the torque command value the drive is currently using.
Name: “Torque Command” Attr: 0x0X21XXXX
Units: (Torque units) Phase 2: RO Phase 3: RO Phase 4: RO
Min:  -215 Value: (written by master)
Notes:
See Also: IDN S00085 – Torque polarity parameter
IDN S00086 – Torque scaling type
IDN S00093 – Torque scaling factor
IDN S00094 – Torque scaling exponent
S00081 Additive torque command value

This is an additional function for torque control in the drive. The additive torque command value is added to
the torque command value (IDN S00080) in the drive.
Name: “Torque Offset” Attr: 0x0X21XXXX
Units: (Torque units) Phase 2: RW Phase 3: RW Phase 4: RW
Notes:
S00082 Positive torque limit value

This is the maximum torque in the positive direction. If the torque limit is exceeded, the drive sets bit 4 of C3D
(IDN S00013).
Name: “+Torque Limit” Attr: 0x0X21XXXX
Notes:
See Also: IDN S00086 – Torque scaling type
23 Revision 2.15
S00083 Negative torque limit value

This is the maximum torque in the negative direction. If the torque limit is exceeded, the drive sets bit 4 of
C3D (IDN S00013).
Name: “-Torque Limit” Attr: 0x0X21XXXX
Notes:
S00084 Torque feedback value

This is the torque feedback value when operating in torque mode.
Name: “Torque Fback” Attr: 0x0X21XXXX
Min:  -215 Value: (torque feedback value)
Notes:
S00085 Torque polarity parameter

This IDN is used to switch polarities of torque data. The motor shaft turns clockwise when there is a positive
torque command difference and no inversion is programmed.
Name: “Torque Polarity” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Torque parameter:
Max: 0x7 Bit 0: Torque command value
0 – non-inverted
1 – inverted
Bit 1: Additive torque command value
0 – non-inverted
1 – inverted
Bit 2: Torque feedback value
0 – non-inverted
1 – inverted
Notes: RO when drive is enabled
See Also: IDN S00086 – Torque data scaling type
24 Revision 2.15
S00086 Torque data scaling type

This selects the scaling method to use on torque values (e.g., IDN’s S00080 and S00092).
Name: “Torque Scaling” Attr: 0x00010001 (16-bit binary)
000 – percentage scaling
001 – linear scaling (force)
010 – rotational scaling (torque)
Bit 3:
Bit 4: Units
0 – Newton meter (Nm)
1 – inch pound force (lbf)
Bit 5: (reserved)
1 – at the load
Ultra only supports percentage scaling.
S00087 Transmit to transmit recovery time (tATAT)

This specifies the minimum time required by the slave between AT transmissions. It only applies to slaves that
control two or more drives. It is a function of the SERCON chip.
Name: “Tr-Tr Recov Time ” Attr: 0x00110001 (16-bit unsigned decimal)
Min:  0 Value: 10
Notes: According to the IAM slave software, the SERCON minimum is 2 µs, and they use the value of 10.
See Also:
S00088 Receive to receive recovery time (tMTSY)

This is the time required by the slave between receiving the MDT and receiving the following MST. It is a
function of the SERCON chip. The master reads this during phase 2 for its timing calculations.
Name: “Drive MDT/MST Tm” Attr: 0x00110001 (16-bit unsigned decimal)
Notes: According to the IAM slave software, the SERCON minimum is 2 µs, and they use the value of 10.
See Also:
S00089 MDT transmission starting time (t2)

This is the time at which the master will send the MDT. It is sent by the master during phase 2.
Name: “MDT Start Time” Attr: 0x00110001 (16-bit unsigned decimal)
Notes:
See Also:
25 Revision 2.15
S00090 Command value proceeding time (tMTSG)

This is the time required by the slave to process and transfer the command value to the drive. It is read by the
master during phase 2 to determine the Command Value Valid time (t3 – IDN S00008).
Name: “Command Exec Tm” Attr: 0x00110001 (16-bit unsigned decimal)
Notes:
See Also: IDN S00008 – Command value valid time (t3)
S00091 Bipolar velocity limit value

Sets the velocity limit symmetrically in both directions. When in velocity mode, if the command velocity
exceeds this value, bit 5 in C3D (IDN S00013) is set.
Name: “Bipolar Vel Lmt ” Attr: 0x0X22XXXX
Notes:
See Also: IDN S00013 – Class 3 diagnostics
IDN S00335 – Status 'ncommand > nlimit'
S00092 Bipolar torque limit value

Sets the torque limit symmetrically in both directions. When the actual torque exceeds this value, bit 4 in C3D
(IDN S00013) is set.
Name: “Bipolar Trq Lmt ” Attr: 0x0X11XXXX
(16-bit unsigned decimal, C.F. changes based on scaling)
Min: 0 Value: (written by master)
Notes:
See Also: IDN S00013 – Class 3 diagnostics
IDN S00334 – Status 'T ≥ Tlimit'
S00093 Torque data scaling factor

This defines the scaling factor for all torque data.
Name: “Torque Scaling” Attr: 0x00110001 (16-bit unsigned decimal)
Max: ≤ 216 –1 Bits 15-0: factor
IDN S00094 – Torque data scaling exponent
S00094 Torque data scaling exponent

This defines the scaling exponent for all torque data.
Name: “Torque Exponent” Attr: 0x00210001 (16-bit signed decimal)
Min:  -215 Value: (Written by master)
Max: ≤ 215 –1 Bit 15: Sign of the exponent
0 – positive
1 – negative
Bits 14-0: Exponent
IDN S00093 – Torque data scaling factor
26 Revision 2.15
S00095 Diagnostic message

Any drive-specific message concerning the operation of the drive can be stored here, and the master can read
it at any time.
Name: “Diagnostic Msg” Attr: 0x00440001 (Variable-length text array)
Min: Not supported Value: (Message from drive)
Max: Not supported
Notes:
See Also:
S00096 Slave arrangement (SLKN)

Specifies whether this drive is controlled by a slave which controls more than one drive.
Name: “Slave Arrange” Attr: 0x00310001 (16-bit hexadecimal)
Min: 0x0000 Value: (slave arrangement)
Max: 0xFEFE (65,278) Bits 15-8: Intrinsic drive address (0x01  0xFE)
Bits 7-0: Next drive’s address (0x01 0xFE)
Notes:
See Also:
S00097 Mask class 2 diagnostic

This IDN is used to mask specific C2D flags (IDN S00012) from affecting the C2D Change bit in the Drive
Status Word. The bit map for this IDN matches that for IDN S00012, and any '0's mask the corresponding
flag.
Name: “Mask C2D” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: (C2D mask)
Max: 0xFFFF Bits 15-0: all 0’s – masked warning
all 1’s – unmasked warning
Notes:
S00098 Mask class 3 diagnostic

This IDN is used to mask specific C3D flags (IDN S00013) from affecting the C3D Change bit in the Drive
Status Word. The bit map for this IDN matches that for IDN S00013, and any '0's mask the corresponding
flag.
Name: “Mask C3D” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: (C3D mask)
Max: 0xFFFF Bits 15-0: all 0’s – masked warning
all 1’s – unmasked warning
Notes:
S00099 Reset class 1 diagnostic

This is a procedure command which clears the Class 1 Diagnostic bits, the Interface Status, the
Manufacturer’s C1D, the drive shutdown error bit, and the drive shutdown mechanism in the drive, if the
corresponding errors are no longer present. This also clears associated power supply faults.
Name: “Drive Err Reset” Attr: 0x00090001 (16-bit binary, procedure command)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
IDN S00014 – Interface status
27 Revision 2.15
S00100 Velocity loop proportional gain

This is the velocity loop proportional gain value. (1 msec-1 = 60 (m/min)/mm )
Name: “Vel Prop Gain” Attr: 0x00220001 (16-bit signed decimal)
Units: (m/min)/mm Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0 Value: (velocity loop proportional gain)
Max: ≤ 216 –1 Scaling: 10-2
Notes:
See Also:
S00101 Velocity loop integral action time

This is the velocity loop integral action time. This is defined as the ratio of Kp/Ki.
When the value is 216 –1, Ki = 0.
Name: “Vel Integ Time” Attr: 0x01110001 (16-bit unsigned decimal)
Units: ms Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0 Value: (velocity loop integral action time)
Max: ≤ 216 –1 Scaling: 10-1
Notes:
See Also:
S00103 Modulo Value

If the modulo format is selected in the position data scaling factor (IDN S00076), the modulo value defines the
range that the drive & control must implement.
Name: “Modulo Value” Attr: 0x0X22XXXX
Notes:
S00104 Position loop Kv factor

This determines the gain of the position loop regulator throughout the entire velocity range.
(1 msec-1 = 60 (m/min)/mm )
Name: “Pos Loop Gain” Attr: 0x02210001 (16-bit signed decimal)
Units: (m/min)/mm Phase 2: RW Phase 3: RW Phase 4: RW
Min:  0 Value: (position loop proportional gain)
Max: ≤ 30000 Scaling: 10-2
Notes:
See Also:
S00105 Position loop integral action time

This determines the position loop integral action time. This is defined as the ratio of Kp/Ki.
When the value is 216 –1, Ki = 0.
Name: “Pos Int Time” Attr: 0x01110001 (16-bit unsigned decimal)
Min:  0 Value: (position loop integral action time)
Max: ≤ 216 –1 Scaling: 10-1
Notes:
See Also:
28 Revision 2.15
S00106 Current loop proportional gain 1

This gain influences the torque producing current.
Name: “Cur Prop Gain” Attr: 0x02210001 (16-bit signed decimal)
Units: rad/s Phase 2: RW Phase 3: RW Phase 4: RW
Min:  0 Value: (current loop proportional gain)
Max: ≤ 10000 Scaling: 10-2
Notes:
See Also:
S00109 Motor peak current

If the motor peak current is less than that of the drive, the drive is automatically limited to the level of the
motor peak current.
Name: “Mtr Peak Current” Attr: 0x03120001 (32-bit unsigned decimal)
Units: Amps Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min:  0 Value: (motor peak current)
Max: ≤ 1000000 Scaling: 10-3
Notes: If the motor was auto-detected the Phase 2, 3, & 4 status is Read-Only.
See Also:
S00110 Amplifier peak current

The amplifier peak current is limited by the hardware and is initialized at power-up.
Name: “Drive Peak Amps” Attr: 0x03120001 (32-bit unsigned decimal)
Units: Amps Phase 2: RO Phase 3: RO Phase 4: RO
Min:  0 Value: (drive peak current)
Max: ≤ 3000000 Scaling: 10-3
Notes:
See Also:
S00111 Motor continuous stall current

This is the current at which the motor produces continuous standstill torque.
Name: “Mtr Cont Current” Attr: 0x03120001 (32-bit unsigned decimal)
Min:  0 Value: (motor continuous current)
Max: ≤ 1000000 Scaling: 10-3
See Also:
S00112 Amplifier rated current

The amplifier rated current is the continuous current of the drive.
Name: “Drive Cont Amps” Attr: 0x03120001 (32-bit unsigned decimal)
Units: Amps Phase 2: RO Phase 3: RO Phase 4: RO
Min:  0 Value: (drive continuous current)
Max: ≤ 3000000 Scaling: 10-3
Notes:
See Also:
S00113 Maximum motor speed

This defines the maximum speed of the motor.
Name: “Max Mtr Speed” Attr: 0x03120001 (32-bit unsigned decimal)
Units: rpm Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min:  0 Value: (maximum motor speed)
Max: ≤ 30000000 Scaling: 10-3
See Also:
29 Revision 2.15
S00114 Load limit of the motor

When the load limit is exceeded for a period of time, the overload shut-down bit 0 of C1D (IDN S00011) is
set.
Name: “Mtr Torq Overld” Attr: 0x01120001 (32-bit unsigned decimal)
Units: % (motor rated) Phase 2: RW Phase 3: RW Phase 4: RW
Min:  0 Value: (load limit of motor)
Max: ≤ 1000 Scaling: 10-1
Notes:
See Also:
S00115 Position feedback 2 type

The position feedback 2 type parameter is used to program the conditions which apply to the auxiliary
feedback.
Name: “Aux Fback Type” Attr: 0x00010001 (16-bit binary)
Min: 0x00 Value: Feedback 2 type:
Max: 0xFF Bit 0: Feedback type
0 – rotational feedback (IDN S00117)
1 – linear feedback
Bit 1: Distance coded feedback
0 – no distance coded reference marks
1 – distance coded reference marks (IDNs S00165, S00166)
Bit 2: Feedback resolution
0 – resolution = metric
1 – resolution = inches
Bit 3: Direction polarity
0 – not inverted
1 – inverted
Bit 4: Marker pulse quantity
0 – only 1 reference marker pulse
1 – multiple cyclic reference marker pulses
Bit 5: Structure of distance coded feedback
0 – counting positive with positive direction
1 – counting negative with positive direction
Bit 6: Type of measuring system
0 – relative (incremental)
1 – absolute
Bit 7: Usage
0 – absolute measurements with an absolute system
1 – relative (incremental) measurements with an absolute system
See Also: IDN S00277 – Position feedback 1 type
S00116 Resolution of feedback 1

The resolution parameter of the motor feedback contains the cycles per rev of the motor for rotary feedback.
For a linear motor, this is the grid constant.
Name: “MtrFdbk Resolution“ Attr: 0x00120001 (32-bit unsigned decimal)
Units: cycles Phase 2: RW Phase 3: RW Phase 4: RW
Min:  0 Value: (resolution of motor feedback)
Max: ≤ 32000 Scaling: 1
See Also:
30 Revision 2.15
S00117 Resolution of feedback 2

The resolution parameter of the auxiliary feedback contains the cycles per rev for rotary feedback. For a
linear feedback, this is the grid constant.
Name: “AuxFdbk Resolution“ Attr: 0x00120001 (32-bit unsigned decimal)
Units: cycles Phase 2: RW Phase 3: RW Phase 4: RW
Min:  0 Value: (resolution of auxiliary feedback)
See Also:
S00121 Input revolutions of load gear

The value of the gear input revolutions must be entered as an integer.
Name: “Gear Input Revs“ Attr: 0x00120001 (32-bit unsigned decimal)
Units: ***TBD*** Phase 2: RW Phase 3: RW Phase 4: RW
Min:  0 Value: (input revolutions of load gear)
Max: ≤ 232 -1 Scaling: 1
Notes:
See Also: IDN S00122 – Output revolutions of load gear
IDN S00123 – Feed constant
S00122 Output revolutions of load gear

The value of the gear output revolutions must be entered as an integer.
Name: “Gear Output Attr: 0x00120001 (32-bit unsigned decimal)
Revs“
Min:  0 Value: (output revolutions of load gear)
Notes:
See Also: IDN S00121 – Input revolutions of load gear
IDN S00123 – Feed constant
S00123 Feed constant

The feed constant describes the machine element which converts rotational motion in to linear motion. The
feed constant indicates the linear distance during one revolution of the feed spindle.
Name: “Feed Constant” Attr: 0x00120001 (32-bit unsigned decimal)
Min:  0 Value: (feed constant)
Notes:
See Also: IDN S00121 – Input revolutions of load gear
IDN S00122 – Output revolutions of load gear
S00124 Standstill window

This specifies the velocity limit for the standstill window. If the motor velocity is less than this limit, the drives
sets the status nfeedback = 0 (IDN S00331) in C3D.
Name: “Zero Spd Window” Attr: 0x0X22XXXX
Max:  231 -1 Scaling type: IDN S00044
Notes:
IDN S00331 – Status ‘nfeedback = 0’
IDN S00044 – Velocity Data Scaling Type
31 Revision 2.15
S00125 Velocity threshold nx

This specifies the velocity threshold limit. If the motor velocity is less than this limit, the drives sets the status
nfeedback < nx (IDN S00332) in C3D.
Name: “Speed Threshold” Attr: 0x0X22XXXX
Notes:
IDN S00332 – Status ‘nfeedback < nx’
S00126 Torque threshold Tx

If the torque feedback value exceeds the torque threshold, the drive sets the status bit 3 of C3D (IDN
S00013).
Name: “Torque Threshold” Attr: 0x0X21XXXX
Notes:
See Also: IDN S00333 – Status T > Tx
S00127 Communication phase 3 transition check

This is a procedure command which instructs the drive to make sure all necessary parameters have been
transferred for phase 3. If there are any problems, the drive builds a list of the bad IDNs in IDN S00021.
Name: “SERCOS Phase3 OK” Attr: 0x00090001 (16-bit binary, procedure command)
Max: Not supported
S00128 Communication phase 4 transition check

This is a procedure command which instructs the drive to make sure all necessary parameters have been
transferred for phase 4. If there are any problems, the drive builds a list of the bad IDNs in IDN S00022.
Name: “SERCOS Phase4 OK” Attr: 0x00090001 (16-bit binary, procedure command)
Units: Not supported Phase 2: RO Phase 3: RW Phase 4: RO
Max: Not supported
32 Revision 2.15
S00129 Manufacturer Class 1 Diagnostic

These are additional shutdown erors. If an error is set, it sets the corresponding bit here, and also sets the
manufacturer-specific error bit in C1D (IDN S00011).The drive clears these bits only after the error has been
eliminated, and the procedure “Reset class 1 diagnostics” (IDN S00099) has been executed.
Name: “A-B Fault” Attr: 0x00010001 (16-bit binary)
Units: Not Supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0000 Value: Manufacturer class 1 diagnostic:
Max: 0xFFFF Bits 15-0: Bit 0: +Soft Overtravel Fault (attempted travel beyond +SW limit)
Bit 1: -Soft Overtravel Fault (attempted travel beyond –SW limit)
Bit 2: +Hard Overtravel Fault* (positive HW limit switch reached)
Bit 3: - Hard Overtravel Fault* (negative HW limit switch reached)
Bit 4: Motor Feedback Fault (fdbk loss, wire broken or shorted)
Bit 5: Motor Feedback Noise Fault (excessive electrical noise)
Bit 6: Auxiliary Feedback Fault (fdbk loss, wire broken or shorted)
Bit 7: Auxiliary Feedback Noise Fault (excessive electrical noise)
Bit 8: reserved
Bit 9: Drive Enable Input Fault (attempt to enable w/o permissive)
Bit 10: Common Bus Fault (AC detected in common bus mode)
Bit 11: Pre-Charge Overload Fault (Pre-charge cycle rate exceeded)
Bit 12: Safety Hardware Fault (See IDN P00452)
Bit 13: Ground Short Fault (imbalance in the DC bus supply current)
Bit 14: Drive Hardware Fault (typically a non-recoverable HW error)
Bit 15: Overspeed Fault (feedback velocity exceeded limits)
Notes: If any of these bits are set, bit 15 of IDN S00011 must also be set.
* = Only active if IDN P00004 is set to “0”.
See Also: IDN S00011 – Class 1 Diagnostic
IDN P00004 – Hard Overtravel Monitor
S00130 Probe value 1 positive edge

During the Probe Cycle Procedure (IDN S00170), the drive stores the position of Probe 1's positive edge in
this value (if Probe 1's positive edge is enabled in bit 0 of IDN S00169).
Name: “Reg 1 Posn+” Attr: 0x0X22XXXX
Min: ≥ -231 Value: (Position of probe 1 positive edge)
Notes:
IDN S00131 – Probe value 1 negative edge
IDN S00169 – Probe control parameter
IDN S00170 – Probing cycle procedure command
S00131 Probe value 1 negative edge

During the Probe Cycle Procedure (IDN S00170), the drive stores the position of Probe 1's negative edge in
this value (if Probe 1's negative edge is enabled in bit 1 of IDN S00169).
Name: “Reg 1 Posn-” Attr: 0x0X22XXXX
Min: ≥ -231 Value: (Position of probe 1 negative edge)
Notes:
IDN S00130 – Probe value 1 positive edge
33 Revision 2.15
S00132 Probe value 2 positive edge

During the Probe Cycle Procedure (IDN S00170), the drive stores the position of Probe 2's positive edge in
this value (if Probe 2's positive edge is enabled in bit 2 of IDN S00169).
Name: “Reg 2 Posn+” Attr: 0x0X22XXXX
Min: ≥ -231 Value: (Position of probe 2 positive edge)
Notes: During controller controlled homing, the marker position is stored in this IDN (this is non-standard functionality,
configured by bit 1 of IDN P00004).
IDN P00004 – Option Configuration Bits
S00133 Probe value 2 negative edge

During the Probe Cycle Procedure (IDN S00170), the drive stores the position of Probe 2's negative edge in
this value (if Probe 2's negative edge is enabled in bit 3 of IDN S00169).
Name: “Reg 2 Posn-” Attr: 0x0X22XXXX
Min: ≥ -231 Value: (Position of probe 2 negative edge)
Notes:
S00136 Positive acceleration limit value

This limits the maximum acceleration ability of the drive to the programmed value.
Name: “Accel Limit ” Attr: 0x0X22XXXX
Units: (Acceleration units) Phase 2: RW Phase 3: RW Phase 4: RW
Notes:
See Also: IDN S00160 – Acceleration data scaling type
IDN S00161 – Acceleration data scaling factor
IDN S00162 – Acceleration data scaling exponent
S00137 Negative acceleration limit value

This limits the maximum acceleration ability of the drive to the programmed value.
Name: “Decel Limit ” Attr: 0x0X22XXXX
Notes:
34 Revision 2.15
S00138 Bipolar acceleration limit value

This parameter sets the acceleration and deceleration limits for the drive. This is only in effect when operating
in velocity mode.
Name: “Bipolar Acel lmt” Attr: 0x0X22XXXX
Notes: If set to zero, maximum acceleration will be allowed.
S00140 Controller Type

This IDN is used to display the catalog number, series, and manufacturer of the drive amplifier.
Name: “Drive Data” Attr: 0x00450001 (variable length 16-bit data strings, character)
Min: Not supported Value: Controller type:
Max: Not supported Characters 1–17: Axis Catalog Number (Example: “1394-AM50 _”)
Characters 18-26: “SERIES x_“
Characters 27-40: “Allen-Bradley_”
Characters 41-64: -Blank-
Notes:
See Also:
S00141 Motor Type

This IDN is used to display the catalog number of the motor.
Name: “Motor Data” Attr: 0x00450001 (variable length 16-bit data strings, character)
Min: Not supported Value: Motor type:
Max: Not supported Characters 1–17: Catalog Number (Example: “1326AB-B410G _”)
Characters 18-28: “xxxxxxxxxx_” Serial Number
Characters 29-39: “mm/dd/yyyy_ ” Date of manufacture
Characters 40-49: “Lot:Xxxxx_” Motor Lot Code (X = Lot Letter, xxxx = Lot Number)
Characters 50-59: “Rev:xxxxx_” Motor Revision Number
Characters 60-64: -Blank-
Notes:
See Also: IDNs P00243P00258 – Motor Catalog Number Bytes
IDNs P00260P00269 – Motor Serial Number Bytes
IDNs P00273P00275– Motor Date of Manufacture
IDNs P00270P00271 – Motor Lot Letter/Numbers
IDN P00242 – Motor Parameter Revision
S00142 Application Type

This IDN is used to display the type of the drive application.
Name: “Application Type” Attr: 0x00450001 (variable length 16-bit data strings, character)
Min: Not supported Value: Application type:
Max: Not supported Characters 1-64: - Application Type –
(Examples: “SERCOS SERVO”, “SERCOS SPINDLE”)
Notes:
See Also:
35 Revision 2.15
S00143 SYSTEM interface version

This IDN contains the SYSTEM Interface specification that this drive conforms to.
Name: “System Version” Attr: 0x00440001 (Variable-length text array)
Min: Not supported Value: "V01.02"
Max: Not supported
Notes:
See Also:
S00146 Control unit controlled homing procedure command

The master uses this IDN to start, monitor, and halt the control unit controlled homing procedure.
Name: “Ctrl Homing Proc” Attr: 0x00090001(16-bit binary, procedure command)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Max: Not supported
See Also: IDN S00400 – Home switch
IDN S00407 – Homing enable
S00147 Homing parameter

The master uses this parameter to define how the Drive-Controlled Homing Procedure will operate.
Name: “Homing Parameter” Attr: 0x00010001 (16-bit binary)
Min: 0x00 Value: (written by master)
Max: 0xFF Bit 0: Homing direction
0 – positive: motor turns clockwise
1 – negative: motor turn counter-clockwise
Bit 1: Position feedback marker pulse
0 – first marker pulse after positive edge of home switch
1 – first marker pulse after negative edge of home switch
Bit 2: Home switch (IDN S00400)
0 – connected to the control unit
1 – connected to the drive
Bit 3: Homing
0 – using motor feedback
1 – using auxiliary feedback
Bit 4: Interpretation in the drive
0 – home switch and homing enable
1 – homing enable only
Bit 5: Evaluation of home switch
0 – home switch is evaluated
1 – home switch is not evaluated
Bit 6: Evaluation of position feedback marker pulse
0 – marker pulse is evaluated
1 – marker pulse is not evaluated
Bit 7: Position after drive controlled homing
0 – drive is positioned in arbitrary position
1 – drive is positioned in reference position
Notes: Read-only while homing procedure is active.
See Also IDN S00148 – Drive-controlled homing procedure command
36 Revision 2.15
S00148 Drive-controlled homing procedure command

The master uses this IDN to start, monitor, and halt the drive-controlled homing procedure.
Name: “Driv Homing Proc” Attr: 0x00090001(16-bit binary, procedure command)
Max: Not supported
See Also: IDN S00041 – Homing velocity
IDN S00042 – Homing acceleration
IDN S00052 – Reference distance 1
IDN S00403 – Position feedback value status
S00150 Reference offset 1

This is the distance between the reference marker pulse of the motor feedback and the reference position.
Name: “Mtr Marker Ofset” Attr: 0x0X22XXXX
Notes: Read/write at all times, except when Drive controlled homing procedure is active
See Also: IDN S00052 – Reference distance 1
S00151 Reference offset 2

This is the distance between the reference marker pulse of the auxiliary feedback and the reference position.
Name: “Aux Marker Ofset” Attr: 0x0X22XXXX
Notes: Read/write at all times, except when Drive controlled homing procedure is active
See Also: IDN S00052 – Reference distance 1
S00152 Position spindle procedure command

The master uses this IDN to switch the drive to internal position loop control. While this command is active, all
changes to cyclic command values are ignored. The drive positions the spindle absolute to the programmed
angle position or rotates the spindle incrementally.
Name: “Spin Orient Req” Attr: 0x00090001(16-bit binary, procedure command)
Max: Not supported
See Also: IDN S00154 – Spindle positioning parameter
IDN S00153 – Spindle angle position
37 Revision 2.15
S00153 Spindle angle position

This is the absolute spindle angle position relative to the reference point. The parameter is enabled only in
connection with the position spindle procedure command.
Name: “Orient Angle” Attr: 0x0X22XXXX
Notes: Read/write at all times, except when position spindle procedure is active
See Also: IDN S00152 – Position spindle procedure command
S00154 Spindle positioning parameter

When the velocity command value is equal to zero and the position spindle procedure command is active, the
turning direction for reaching the spindle angle position is given here.
Name: “Orient Options” Attr: 0x00010001 (16-bit binary)
Max: 0xF Bits 1-0: 00 – rotate clockwise
01 – rotate counter-clockwise
10 – take shortest path
11 – last active rotational direction
Bit 2: 0 – spindle angle position (IDN S00153)
1 – spindle relative offset (IDN S00180)
Bit 3: 0 – motor feedback
1 – auxiliary feedback
Notes: Read/write at all times, except when position spindle procedure is active
S00155 Friction torque compensation

The friction torque compensation is overlaid additively to the torque command value. The inclusion of friction
torque compensation helps compensate for the frictional grip during acceleration from standstill, and during
reversals.
Name: “Friction Comp” Attr: 0x0X21XXXX
Notes: Ultra accepts data but doesn’t use it.
38 Revision 2.15
S00157 Velocity window

This defines the limits of the velocity window. If the motor’s actual velocity differs from the command velocity
by an amount less that this limit, the drive sets the status ‘nfeedback = ncommand’ (IDN S00330) in the C3D.
Name: “At Spd Window” Attr: 0x0X22XXXX
Notes:
IDN S00330 – Status ‘nfeedback = ncommand’
S00159 Monitoring window

When the position error exceeds the value specified by this IDN, the drive sets the Excessive Position
Deviation flag in C1D (IDN S00011).
Name: “Max Foll Error” Attr: 0x0X22XXXX
Notes:
S00160 Acceleration data scaling type

This selects the type of scaling for acceleration parameters.
Name: “Acc Scale Type” Attr: 0x00010001 (16-bit binary)
000 – no scaling
001 – linear scaling
Bit 3:
Bit 4: Units for rotary
0 – radians
1 – (reserved)
Bit 4: Units linear
0 – meters
1 – inches
Bit 5: Time
0 – seconds
1 – (reserved)
1 – at the load (not implemented)
39 Revision 2.15
S00161 Acceleration data scaling factor

This defines the scaling factor for all acceleration data.
Name: “Acc Scale Fact” Attr: 0x00110001 (16-bit unsigned decimal)
Max:  65,535 Bits 15-0: factor
S00162 Acceleration data scaling exponent

This defines the scaling exponent for all acceleration data.
Name: “Acc Scale Exp” Attr: 0x00210001 (16-bit signed decimal)
Max:  215 -1 Bit 15: Sign of the exponent
0 – positive
1 – negative
Bits 14-0: Exponent
S00165 Distance-coded reference marks A

When a measuring system with distance-coded reference marks is used, this parameter contains the larger
periodic distance between two of the reference marks.
Name: “” Attr: 0x00120001 (32-bit unsigned decimal)
Min:  0 Value: (distance-coded reference marks A)
Notes:
See Also: IDN S00166 – Distance-coded reference marks B
S00166 Distance-coded reference marks B

When a measuring system with distance-coded reference marks is used, this parameter contains the smaller
periodic distance between two of the reference marks.
Name: “” Attr: 0x00120001 (32-bit unsigned decimal)
Min:  0 Value: (distance-coded reference marks B)
Notes:
See Also: IDN S00165 – Distance-coded reference marks A
40 Revision 2.15
S00169 Probe control parameter

This IDN selects which probe edges to use during the probing cycle procedure. If both edges for a given
probe are selected, the edges need to be at least 2 ms apart. Is this correct on new core?
Name: “Probe Options” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Probe control parameter: (All reserved bits should be written to ‘0’)
Max: 0xF Bit 0: Probe 1 positive edge
0 – positive edge is not active
1 – positive edge is active
Bit 1: Probe 1 negative edge
0 – negative edge is not active
1 – negative edge is active
Bit 2: Probe 2 positive edge
0 – positive edge is not active
1 – positive edge is active
Bit 3: Probe 2 positive edge
0 – negative edge is not active
1 – negative edge is active
(All other bits reserved)
Notes:
See Also: IDN S00130 – Probe value 1 positive edge
S00170 Probing cycle procedure command

The master uses this IDN to start, monitor, and stop the probing cycle procedure. When this procedure is
active, the drive reacts on the probe 1&2 enables (IDNs S00405, S00406) and probe 1&2 (IDNS S00401,
S00402) as programmed in the probe control parameter (IDN S00169).
Name: “Probe Cycle Req” Attr: 0x00090001 (16-bit binary, procedure command)
Max: Not supported
See Also: IDNs S00405, S00406 – Probe 1&2 enable
IDNs S00401, S00402 – Probe 1&2
IDN S00179 – Probe status
S00171 Calculate displacement procedure command

The master uses this IDN to start, monitor, and stop the calculate displacement cycle procedure. When the
procedure is active, the drive takes the reference distance 1&2 (IDNs S00052, S00053), reference offset
(IDNs S00150, S00151), and marker position A & B (IDNs S00173, S00174) into account to calculate the
displacement between the old and the new command/feedback system. The calculated displacement is
stored in the displacement parameter 1&2 (IDNs S00175, S00176).
Name: “Calc Displacemnt” Attr: 0x00090001 (16-bit binary, procedure command)
Max: Not supported
See Also: IDNs S00052, S00053 – Reference distance 1&2
IDNs S00150, S00151 – Reference offset 1&2
IDNs S00173, S00174 – Marker position A&B
IDNs S00175, S00176 – Displacement parameter 1&2
41 Revision 2.15
S00172 Displacement to the referenced system procedure command

The master uses this IDN to start, monitor, and stop the displacement to the referenced system procedure.
When this procedure is active, the drive switches to the referenced position feedback system and marks this
by setting bit “position feedback value status” (IDN S00403). The control unit also switches to the referenced
command value system and marks this by setting the bit “position command value status” (IDN S00404).
Name: “Ref Sys Displace” Attr: 0x00090001 (16-bit binary, procedure command)
Max: Not supported
See Also: IDN S00403 – Position feedback value status
IDN S00404 – Position command value status
S00173 Marker position A

When the drive recognizes the reference marker pulse of position feedback during homing, it stores the
instantaneous not referenced position feedback value in this parameter.
Name: “Marker Posn A” Attr: 0x0X22XXXX (32-bit signed decimal, C.F. changes based on scaling)
Notes: .
See Also:
S00175 Displacement parameter 1

This is where the drive stores the difference between the old and new motor position feedback values when
the procedure command “calculate displacement” (IDN S00171) is active.
Name: “Mtr Posn Delta” Attr: 0x0X22XXXX (32-bit signed decimal, C.F. changes based on scaling)
Notes: .
See Also: IDN S00171 – Calculate displacement procedure command
S00176 Displacement parameter 2

This is where the drive stores the difference between the old and new auxiliary position feedback values when
the procedure command “calculate displacement” (IDN S00171) is active.
Name: “Aux Posn Delta” Attr: 0x0X22XXXX (32-bit signed decimal, C.F. changes based on scaling)
Notes: .
See Also: IDN S00171 – Calculate displacement procedure command
42 Revision 2.15
S00177 Absolute distance 1

This parameter describes the distance between the machine zero point and the zero point of an absolute
feedback system on the motor.
Name: “Mtr Abs Distance” Attr: 0x0X22XXXX (32-bit signed decimal, C.F. changes based on scaling)
Notes: .
See Also: IDN S00178 – Absolute Distance 2
S00178 Absolute distance 2

This parameter describes the distance between the machine zero point and the zero point of an absolute
feedback system on the machine (external feedback).
Name: “Aux Abs Distance” Attr: 0x0X22XXXX (32-bit signed decimal, C.F. changes based on scaling)
Notes: .
See Also: IDN S00177 – Absolute Distance 1
S00179 Probe status

If the drive stores one or more measurement values while the “probing cycle” procedure command
(IDN S00170) is active, it also sets the respective bit in the probe status.
Name: “Probe Status” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Probe status:
Max: 0xF Bit 0: Probe 1 positive latched (IDN S00409)
0 – not latched
1 – latched
Bit 1: Probe 1 negative latched (IDN S00410)
0 – not latched
1 – latched
Bit 2: Probe 2 positive latched (IDN S00411)
0 – not latched
1 – latched
Bit 3: Probe 2 negative latched (IDN S00412)
0 – not latched
1 – latched
Notes:
See Also: IDN S00170 – Probing cycle procedure command
IDN S00409 – Probe 1 positive latched
IDN S00410 – Probe 1 negative latched
IDN S00411 – Probe 2 positive latched
IDN S00412 – Probe 2 negative latched
43 Revision 2.15
S00181 Manufacturer class 2 diagnostic

These are manufacturer-specific C2D flags (see C2D, IDN S00012).
Name: “MC2D” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: MC2D: (1 = active, 0 = inactive)
Max: 0xFFFF Bit 0: Pre-charge Overload Warning†§
Bit 1: Low Battery Alarm§
Bit 2: Battery Disconnected Alarm§
Bits 3-15: Not used
Notes: † → Supported by the K6K.
§ → Supported by the K7K.
All other drives do not support this IDN.
S00182 Manufacturer Class 3 Diagnostic

This IDN is used to define additional manufacturer-specific status conditions.
Name: “A-B Drive Status” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: Manufacturer class 3 diagnostic:
Max: 0xFFFF Bits 15-0: Bit 0: Servo Action Status (0 = disabled, 1 = servo loops active)
Bit 1: Drive Enable Status (0 = disabled, 1 = power structure active)
Bit 2: Shutdown Status (0 = inactive, 1 = shutdown state is active)
Bit 3: Process Status (0 = inactive, 1 = tuning or testing in process)
Bit 4: DC Bus Ready (0 = not ready, 1 = bus ready & pre-charge out)
Bit 5: reserved
Bit 6: Home Limit Switch State (0 = open, 1 = closed)
Bit 7: Registration 1 Input State (0 = open, 1 = closed)
Bit 8: Registration 2 Input State (0 = open, 1 = closed)
Bit 9: Positive Overtravel Input State (0 = open, 1 = closed)
Bit 10: Negative Overtravel Input State (0 = open, 1 = closed)
Bit 11: Hardware Enable Input State (0 = open, 1 = closed)
Bit 12: Acceleration Limit Status (0 = limit not reached, 1 = at limit)
Bit 13: Absolute Reference State* (0 = not referenced, 1 = ref’d)
Bit 14: Safe-Off Input Active† (0 = not active, 1 = active)
Bit 15: reserved
Notes: If any of these bits are set, bit 15 of IDN S00013 must also be set.
* - The Absolute Referenced State (bit 13) is set after the Set Coordinate System Procedure (IDN S00197) has
been executed. The variable used to set this bit MUST be stored in Non-Volatile memory.
†
- The Safe-Off Input Active flag (bit 14) applies to the 2094 Safe-Off, the 2094-S0, and the 2094-S1 drives.
S00185 Length of the configurable data record in the AT.

This parameter indicates the maximum length in bytes the data that can be processed in the configurable data
record of the AT.
Name: “Length AT Data ” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Bytes Phase 2: RO Phase 3: RO Phase 4: RO
Min:  0 Value: (Configurable AT Data Length)
Notes:
See Also: IDN S00186 – Length of the Configurable Data Record in the MDT
S00186 Length of the configurable data record in the MDT.

This parameter indicates the maximum length in bytes the data that can be processed in the configurable data
record of the MDT.
Name: “Length MDT Data ” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Bytes Phase 2: RW Phase 3: RW Phase 4: RW
Min:  0 Value: (Configurable MDT Data Length)
Notes:
See Also: IDN S00185 – Length of the Configurable Data Record in the AT
44 Revision 2.15
S00187 IDN-list of configurable data in AT

This is a list of all the configurable AT operation data IDNs which can be processed by the drive cyclically as
feedback values.
Name: “IDN List Cfg AT” Attr: 0x00550001 (Variable-length IDN array)
Min: Not supported Value: (List of all configurable AT data IDNs)
Max: Not supported
Notes:
See Also: IDN S00188 – IDN-list of configurable data in MDT
S00188 IDN-list of configurable data in MDT

This is a list of all the configurable MDT operation data IDNs which can be processed by the drive cyclically as
command values.
Name: “IDN List Cfg MDT” Attr: 0x00550001 (Variable-length IDN array)
Min: Not supported Value: (List of all configurable MDT data IDNs)
Max: Not supported
Notes:
See Also: IDN S00187 – IDN-list of configurable data in AT
S00189 Following distance

This is the difference between the commanded position and the feedback position.
Name: “Posn Foll Error” Attr: 0x0X22XXXX
Min:  -231 Value: (Current following distance)
Notes:
See Also: IDN S00047 – Position command value
IDN S00051 – Position feedback value 1 (motor feedback)
S00191 Cancel reference point procedure command

The master uses this IDN to start, monitor, and stop the cancel reference point procedure. When the
procedure is active, the drive resets the bit “position feedback value status” (IDN S00403).
Name: “Cancel Ref Point” Attr: 0x00090001 (16-bit binary, procedure command)
Max: Not supported
See Also: IDN S00403 – Position feedback value status
S00194 Acceleration command value

This is the acceleration command from the master.
Name: “Accel Command” Attr: 0x0X22XXXX
Units: (Acceleration Phase 2: RO Phase 3: RO Phase 4: RO
units)
Max: ≤ 231 -1 Scaling type: IDN S00160
(MDT) Scaling exponent: IDN S00162
Notes:
45 Revision 2.15
S00196 Motor rated current

This is the current at which the motor produces rated torque.
Name: “Mtr Cont Current” Attr: 0x03120001 (32-bit unsigned decimal)
Min:  0 Value: (motor continuous current)
Max: ≤ 1000000 Scaling: 10-3
See Also:
S00197 Set coordinate system procedure command

After activation of the “Set coordinate system procedure command”, the drive ignores the position command
value and instead transfers the programmed “Initial coordinate value” (IDN S00198) into the drive-internal
position command. Additionally, the drive re-calculates all absolute values (feedbacks, position limits, etc.),
relating them to the “Initial coordinate value”.
The position feedback value status (IDN S00403) and position command value status (IDN S00404) are not
affected by this command.
This command is successfully completed by the drive when all necessary calculations are completed and the
drive has based its coordinate system on the “Initial coordinate value” (IDN S00198).
Before the control clears the command, it must also adjust its coordinate system to the same value the drive
used. After clearing of the command, the drive will once again act upon the position command.
The command will terminate with a fault, when the drive detects an error during the command specific
calculations.
Name: “Set Coord Sys” Attr: 0x00090001 (16-bit binary, procedure command)
Max: Not supported
See Also: IDN S00198 – Initial coordinate value
S00198 Initial coordinate value

The drives coordinate system will be set to the value programmed as the initial coordinate value during the
Set coordinate system procedure command (IDN S00197)
Name: “Initial Coor Value” Attr: 0x0X22XXXX
Min:  -231 Value: (Coordinate value)
Notes:
See Also: IDN S00076 – Position Data Scaling Type
IDN S00079 – Rotational Position Resolution
IDN S00197 – Set Coordinate System Procedure Command
S00206 Drive on delay time

When the "Drive on" and "Drive enable"bits of the Master Control Word are set, the drive activates the torque
but ignores the command values until this time has elapsed. This time allows the motor’s brake to release.
Name: “Drive On Delay” Attr: 0x01110001 (16-bit unsigned decimal)
Max: ≤ 216 –1 Scaling: 10-1
Notes:
See Also: IDN S00207 – Drive off delay time
46 Revision 2.15
S00207 Drive off delay time

When the "Drive off" bit of the Master Control Word is reset and the drive decelerates to a minimum speed,
the drive maintains torque until this time has elapsed. This time allows the motor’s brake to be set.
Name: “Drive Off Delay ” Attr: 0x01110001 (16-bit unsigned decimal)
Max: ≤ 216 -1 Scaling: 10-1
Notes:
See Also: IDN S00206 – Drive on delay time
S00216 Switch parameter set procedure command

The master uses this IDN to start, monitor, and stop the switch parameter set procedure. When the
procedure is active, the drive switches to the parameter set which is programmed in the parameter set
preselection (IDN S00217).
Name: “Switch Param Set” Attr: 0x00090001 (16-bit binary, procedure command)
Max: Not supported
See Also: IDN S00217– Parameter set preselection
IDN S00254 – Actual parameter set
S00217 Parameter set preselection

This IDN is used to define which parameter set should be used next. The switch parameter set procedure
command (IDN S00216) is used to switch parameter sets. If the drive has no switchable parameter sets, it
will only accept parameter set 0.
Name: “Select Param Set” Attr: 0x00010001 (16-bit binary)
Max: 0x7 Bits 2-0: 000 – parameter set 0
001 – parameter set 1
Notes:
See Also: IDN S00216 – Switch parameter set procedure command
IDN S00254 – Actual parameter set
S00219 IDN-list of parameter set

This is a list of all the operation data IDNs supported parameter set 0, as well as sets 1-7.
Name: “IDN List Param Set” Attr: 0x00550001 (Variable-length IDN array)
Min: Not supported Value: (List of all parameter set IDNs)
Max: Not supported
Notes:
IDN S00217– Parameter set preselection
S00220 Minimum spindle speed

When the speed falls below this speed, the drive sets the status ‘nfeedback  min spindle speed’ (IDN S00339).
Name: “Min Spindle Spd” Attr: 0x04120001 (32-bit unsigned decimal)
Units: rpm Phase 2: RW Phase 3: RW Phase 4: RW
Min:  0 Value: (minimum spindle speed)
Max: ≤ 231 -1 Scaling: 10-4
Notes:
See Also: IDN S00339 -- nfeedback  min spindle speed
47 Revision 2.15
S00221 Maximum spindle speed

When the speed goes above this speed, the drive sets the status ‘nfeedback  max spindle speed’ (IDN S00340).
Name: “Max Spindle Spd” Attr: 0x04120001 (32-bit unsigned decimal)
Min:  0 Value: (maximum spindle speed)
Max: ≤ 231 -1 Scaling: 10-4
Notes:
See Also: IDN S00340 -- nfeedback  max spindle speed
S00222 Spindle positioning speed

When the position spindle procedure command (IDN S00152) is received, the drive accelerates or
decelerated to this speed.
Name: “Spin Orient Spd” Attr: 0x04120001 (32-bit unsigned decimal)
Min:  0 Value: (maximum spindle speed)
Max: ≤ 231 -1 Scaling: 10-4
Notes:
S00254 Actual parameter set

This IDN is used to define which parameter set is currently being used. The switch parameter set procedure
command (IDN S00216) is used to switch parameter sets. If the drive has no switchable parameter sets, it
will only accept parameter set 0.
Name: “Actual Param Set” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: (actual parameter set):
Max: 0x7 Bits 2-0: 000 – parameter set 0
Notes:
IDN S00217– Parameter set preselection
S00258 Target position

When the target position is sent to the drive by the master, the drive travels to this position at the positioning
velocity (IDN S00259) and positioning acceleration (IDN S00260).
Name: “Target Position” Attr: 0x0X22XXXX
Notes:
See Also: IDN S00259 – Positioning velocity
IDN S00260 – Positioning acceleration
48 Revision 2.15
S00259 Positioning velocity

This specifies the velocity used to travel to the target position (IDN S00258).
Name: “Posn Velocity” Attr: 0x0X22XXXX
Notes:
See Also: IDN S00258 – Target position
S00260 Positioning acceleration

This specifies the acceleration used to travel to the target position (IDN S00258).
Name: “Posn Accel Rate” Attr: 0x0X22XXXX
Units: (Acceleration Phase 2: RW Phase 3: RW Phase 4: RW
units)
Notes:
See Also: IDN S00258 – Target position
DN S00160– Acceleration data scaling type
IDN S00161– Acceleration data scaling factor
IDN S00162– Acceleration data scaling exponent
S00262 Reset defaults procedure command

When the master sets and enables the “reset defaults” procedure command, the default parameter values in
the drive will be activated. The default values are not optimized for the respective application but they should
permit a problem free inter-operation between the drive and the unloaded motor. In order for the master to
write to this procedure command, a value of “11” must first be written to “Test Mode Select” (P-0-0201) to put
the slave into “manufacturing” mode.
Name: “NV Load Defaults” Attr: 0x00090001 (16-bit binary, procedure command)
Max: Not supported
See Also:
S00263 Recall values procedure command

When the master sets and enables the “recall values” procedure command, all data necessary for operation
will be loaded from the drive’s non-volatile memory into its “active memory”. In order for the master to write to
this procedure command, a value of “11” must first be written to “Test Mode Select” (P-0-0201) to put the
slave into “manufacturing” mode.
Name: “NV Recall Values” Attr: 0x00090001 (16-bit binary, procedure command)
Max: Not supported
See Also:
49 Revision 2.15
S00264 Save values procedure command

When the master sets and enables the “save values” procedure command, all data necessary for operation
will be loaded from the drive’s “active memory” into its non-volatile memory. In order for the master to write to
this procedure command, a value of “11” must first be written to “Test Mode Select” (P-0-0201) to put the
slave into “manufacturing” mode.
Name: “NV Save Values” Attr: 0x00090001 (16-bit binary, procedure command)
Max: Not supported
See Also:
S00272 Velocity window percent

This parameter refers to a percentage of the velocity command value (IDN S00036). If the velocity feedback
value (IDN S00040) is found to be within a window of the velocity command defined by this percentage, the
drive will set the status ‘nfeedback = ncommand’ (IDN S00330).
Name: “Speed Window %” Attr: 0x02110001 (16-bit unsigned decimal)
Units: % Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (written by master)
Max: ≤ 65535 Scaling: 10-2
Notes:
See Also:
S00277 Position feedback 1 type

The position feedback 1 type parameter is used to program the conditions which apply to the motor feedback.
Name: “Mtr Fback Type” Attr: 0x00010001 (16-bit binary)
Min: 0x00 Value: Feedback 1 type:
Max: 0xFF Bit 0: Feedback type
0 – rotational feedback (IDN S00117)
1 – linear feedback
Bit 1: Distance coded feedback
0 – no distance coded reference marks
1 – distance coded reference marks (IDNs S00165, S00166)
Bit 2: Feedback resolution
0 – resolution = metric
1 – resolution = inches
Bit 3: Direction polarity
0 – not inverted
1 – inverted
Bit 4: Marker pulse quantity
0 – only 1 reference marker pulse
1 – multiple cyclic reference marker pulses
Bit 5: Structure of distance coded feedback
0 – counting positive with positive direction
1 – counting negative with positive direction
Bit 6: Type of measuring system
0 – relative (incremental)
1 – absolute
Bit 7: Usage
0 – absolute measurements with an absolute system
1 – relative (incremental) measurements with an absolute system
Only bits used are 0 and 2
See Also: IDN S00115 – Position feedback 2 type
50 Revision 2.15
S00296 Velocity feed forward gain

This parameter is active in the ‘position control without following error’ mode and serves to reduce the
velocity-dependent following error.
Name: “Vel Fdfwd Gain” Attr: 0x02110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (velocity feed forward gain)
Max: ≤ 10000 Scaling: 10-2
Notes: Max: Ultra = 20000, MK6K = 65536, K6K = ?
See Also:
S00298 Home switch distance

This parameter is the optimum distance between the marker pulse of a feedback and the home switch.
During the first commissioning, this parameter displays the distance the home switch is from the ideal point.
Name: “Home Switch Dist” Attr: 0x0X22XXXX (32-bit signed decimal, C.F. changes based on scaling)
Notes: .
See Also:
S00301 Allocation of real-time control bit 1

This specifies which IDN to assign to real-time control bit 1.
Name: “Alloc RTC1” Attr: 0x00510001 (IDN number)
Min: 0x0 Value: (Written by master)
Max: 0x1 Bit 0: 0 – bit reset
1 – bit set
Notes:
See Also: IDN S00303 – Allocation of real-time control bit 2
S00303 Allocation of real-time control bit 2

This specifies which IDN to assign to real-time control bit 2.
Name: “Alloc RTC2” Attr: 0x00510001 (IDN number)
1 – bit set
Notes:
See Also: IDN S00301 – Allocation of real-time control bit 1
S00305 Allocation of real-time status bit 1

This specifies which IDN to assign to real-time status bit 1.
Name: “Alloc RTS1” Attr: 0x00510001 (IDN number)
1 – bit set
Notes:
See Also: IDN S00307 – Allocation of real-time status bit 2
51 Revision 2.15
S00307 Allocation of real-time status bit 2

This specifies which IDN to assign to real-time status bit 1.
Name: “Alloc RTS2” Attr: 0x00510001 (IDN number)
1 – bit set
Notes:
See Also: IDN S00305 – Allocation of real-time status bit 1
S00330 Status ‘nfeedback = ncommand’

This bit is set when the difference between the command velocity and the actual velocity is less than the
velocity window (IDN S00157). It is the same as C3D bit 0.
Name: “At Prog Speed” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Status bit:
Max: 0x1 Bit 0: 0 – Inactive
(RTS) 1 – Active
Notes:
See Also: IDN S00157 – Velocity window
IDN S00013 – Class 3 diagostics
S00331 Status ‘nfeedback =0’

This bit is set when the actual velocity is less than the standstill window (IDN S00124). It is the same as C3D
bit 1.
Name: “Zero Speed” Attr: 0x00010001 (16-bit binary)
(RTS) 1 – Active
Notes:
See Also: IDN S00124 – Standstill window
S00332 Status ‘nfeedback < nx’

This bit is set when the actual velocity is less than the velocity threshold nx(IDN S00125). It is the same as
C3D bit 2.
Name: “Vel Below Thresh” Attr: 0x00010001 (16-bit binary)
(RTS) 1 – Active
Notes:
See Also: IDN S00125 – Velocity threshold
S00333 Status ‘T ≥ Tx
This bit is set when the actual torque is greater than the torque threshold (IDN S00126). It is the same as C3D
bit 3.
Name: “Torq Above Thresh” Attr: 0x00010001 (16-bit binary)
(RTS) 1 – Active
Notes:
See Also: IDN S00126 – Torque Threshold
52 Revision 2.15
S00334 Status ‘T ≥ Tlimit

This bit is set when the actual torque is greater than the torque limit (IDN S00092). It is the same as C3D bit 4.
Name: “Torq Above Limit” Attr: 0x00010001 (16-bit binary)
(RTS) 1 – Active
Notes:
See Also: IDN S00092 – Torque Limit
S00335 Status ‘ncommand < nlimit’

This bit is set when the command velocity is greater than the velocity limit value (IDNs S00038, S00039,
S00091). It is the same as C3D bit 5.
Name: “Vel Above Limit” Attr: 0x00010001 (16-bit binary)
(RTS) 1 – Active
Notes:
See Also: IDNs S00038, S00039 – Positive/Negative velocity limit value
IDN S00091 – Bipolar velocity limit
S00336 Status ‘In position’

This bit is set when the difference between the command position and the actual position is less than the
position window (IDN S00057). It is the same as C3D bit 6.
Name: “In Position ” Attr: 0x00010001 (16-bit binary)
(RTS) 1 – Active
Notes:
See Also: IDN S00057 – Position window
S00339 Status ‘nfeedback  min spindle speed’

This bit is set when the velocity feedback value is lower or equal to the programmed minimum spindle speed
(IDN S00220). It is the same as C3D bit 9.
Name: “Spd Below Min ” Attr: 0x00010001 (16-bit binary)
(RTS) 1 – Active
Notes:
See Also: IDN S00220 – Minimum spindle speed
S00340 Status ‘nfeedback  max spindle speed’

This bit is set when the velocity feedback value is above or equal to the programmed maximum spindle speed
(IDN S00221). It is the same as C3D bit 10.
Name: “Spd Above Max ” Attr: 0x00010001 (16-bit binary)
(RTS) 1 – Active
Notes:
See Also: IDN S00221 – Maximum spindle speed
53 Revision 2.15
S00347 Velocity error

This is the difference between the commanded velocity and the actual velocity.
Name: “Velocity Error” Attr: 0x0X22XXXX
Min: ≥ -231 Value: (Current velocity error)
(AT) Scaling exponent: IDN S00046
Notes:
S00348 Acceleration feed forward gain

This parameter is active in the ‘position control without following error’ mode and serves to reduce the
acceleration/deceleration-dependent following error.
Name: “Acc Fdfwd Gain” Attr: 0x02110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (acceleration feed forward gain)
Max: ≤ 10000 Scaling: 10-2
Notes: Ultra accepts data but doesn’t use it. (Max value on drives?)
See Also:
S00380 DC bus voltage

This indicates the drive’s bus voltage.
Name: “DC Bus Voltage” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Volts Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (Current DC bus voltage)
(AT) Max: ≤ 216 -1 Scaling: 1
Notes:
See Also:
S00384 Amplifier temperature

This indicates the measured temperature of the amplifier’s output stage heatsink.
Name: “Heatsink Temp” Attr: 0x01210001 (16-bit signed decimal)
Units: Deg C Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -1000 Value: (drive temperature)
Notes:
See Also:
S00386 Mechanical Power

This indicates the power at the motor shaft.
Name: “Mtr Shaft Power” Attr: 0x02120001 (32-bit unsigned decimal)
Units: % motor rated Phase 2: RO Phase 3: RO Phase 4: RO
Min:  0 Value: (motor shaft power)
Max: ≤ 232 –1 Scaling: 10-2
Notes:
See Also:
54 Revision 2.15
S00400 Home switch

This IDN returns the state of the home switch input.
Name: “Home Switch ” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of home input:
(AT) Max: 0x1 Bit 0: 0 – Home input inactive
(RTS) 1 – Home input active
Notes:
See Also:
S00401 Probe 1
This IDN returns the status of the Probe 1 input.
Name: “Probe 1 ” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of Probe 1 input:
(AT) Max: 0x1 Bit 0: 0 – Probe 1 inactive
(RTS) 1 – Probe 1 active
Notes:
IDN S00405 – Probe 1 enable
S00402 Probe 2
This IDN returns the status of the Probe 2 input.
Name: “Probe 2 ” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of Probe 2 input:
(AT) Max: 0x1 Bit 0: 0 – Probe 2 inactive
(RTS) 1 – Probe 2 active
Notes:
IDN S00406 – Probe 2 enable
S00403 Position feedback value status

This IDN indicates if the position feedback values are referenced to the machine zero point.
Name: “Posn Fdbk Status” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of position feedback:
(AT) Max: 0x1 Bit 0: 0 – Pos. feedback value not referenced to machine zero pt
(RTS) 1 – Pos. feedback value referenced to machine zero point
Notes:
See Also: IDN S0148 – Drive-controlled homing procedure command
S00404 Position command value status

This IDN indicates if the position command values are referenced to the machine zero point.
Name: “Posn Cmd Status” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of position feedback:
(MDT) Max: 0x1 Bit 0: 0 – Pos. feedback value not referenced to machine zero pt
(RTC) 1 – Pos. feedback value referenced to machine zero point
Notes:
See Also:
55 Revision 2.15
S00405 Probe 1 enable

This parameter is used to assign an IDN to probe 1 enable so that it can be assigned to a real-time control bit
(IDN S00301).
Name: “Probe 1 enable” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of Probe 1 enable:
(MDT) Max: 0x1 Bit 0: 0 – Probe 1 not enabled
(RTC) 1 – Probe 1 enabled
Notes:
See Also: IDN S00401 – Probe 1
IDN S00301 – Allocation of real-time control bit 1
S00406 Probe 2 enable

This parameter is used to assign an IDN to probe 2 enable so that it can be assigned to a real-time control bit
(IDN S00301).
Name: “Probe 2 enable” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of Probe 2 enable:
(MDT) Max: 0x1 Bit 0: 0 – Probe 2 not enabled
(RTC) 1 – Probe 2 enabled
Notes:
See Also: IDN S00402 – Probe 2
S00407 Homing enable

This parameter is used to assign an IDN to the status of the homing enable so that it can be assigned to a
real-time control bit (IDN S00301).
Name: “Homing enable” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of homing enable:
(MDT) Max: 0x1 Bit 0: 0 – Homing not enabled
(RTC) 1 – Homing enabled
Notes:
See Also: IDN S00146 – Control unit controlled homing procedure command
S00408 Reference marker pulse registered

This parameter is used to assign an IDN to the reference marker pulse registered so that it can be assigned to
a real-time status bit (IDN S00305).
Name: “Ref Marker Reg” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of reference marker pulse registered:
(AT) Max: 0x1 Bit 0: 0 – reference marker pulse not registered
(RTS) 1 – reference marker pulse registered
Notes:
See Also: IDN S00146 – Control unit controlled homing procedure command
IDN S00305 – Allocation of real-time status bit 1
56 Revision 2.15
S00409 Probe 1 positive latched

This parameter is used to assign an IDN to the probe1 positive latched so that it can be assigned to a real-
time status bit (IDN S00305). This may only be set by the drive when the probing cycle procedure command
(S00170) is active.
Name: “Reg1 Rise Latch” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of probe 1 positive latch:
(AT) Max: 0x1 Bit 0: 0 – probe 1 positive not latched
(RTS) 1 – probe 1 positive latched
Notes:
See Also: IDN S00169 – Probe control parameter
S00410 Probe 1 negative latched

This parameter is used to assign an IDN to the probe1 negative latched so that it can be assigned to a real-
(S00170) is active.
Name: “Reg1 Fall Latch” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of probe 1 negative latch:
(AT) Max: 0x1 Bit 0: 0 – probe 1 negative not latched
(RTS) 1 – probe 1 negative latched
Notes:
S00411 Probe 2 positive latched

This parameter is used to assign an IDN to the probe2 positive latched so that it can be assigned to a real-
(S00170) is active.
Name: “Reg2 Rise Latch” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of probe 2 positive latch:
(AT) Max: 0x1 Bit 0: 0 – probe 2 positive not latched
(RTS) 1 – probe 2 positive latched
Notes:
S00412 Probe 2 negative latched

This parameter is used to assign an IDN to the probe2 negative latched so that it can be assigned to a real-
(S00170) is active.
Name: “Reg2 Fall Latch” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: State of probe 2 negative latch:
(AT) Max: 0x1 Bit 0: 0 – probe 2 negative not latched
(RTS) 1 – probe 2 negative latched
Notes:
57 Revision 2.15
B. APPENDIX - AB PROPRIETARY IDNS

B.1. List of Allen-Bradley IDNs
Shaded IDNs are those required for Logix support. The “” indicates the drive fully supports the IDN as described
in this document, and the “” indicates the drive has partial support for the IDN. The “” indicates that the IDN is
supported for SCANport/DPI only.
K6200
Ultra
8720
1394
2093
2094
2099
IDN Name
P-0-0000 NULL 16       
Configuration
P-0-0001 A-B Drive Type/Application     
P-0-0002 A-B Motor Feedback Type       
P-0-0003 A-B Auxiliary Feedback Type       
P-0-0004 Option Configuration Bits       
P-0-0005 Primary Operation Mode Rotary Behavior     
P-0-0006 PWM Frequency Select       
P-0-0007 Dual Loop Configuration 
Status/Control
P-0-0010 DC Bus Calibration  
P-0-0011 Operating Hours 
P-0-0012 Base Node Firmware Revision       
P-0-0013 Sub Node Firmware Revision       
P-0-0014 Base Node Product Name       
P-0-0015 Position Integrator Error       
P-0-0016 Velocity Integrator Error       
P-0-0017 Id Current Command      
P-0-0018 Drive Utilization       
P-0-0019 Positive Dynamic Torque Limit       
P-0-0020 Current Limit Source       
P-0-0021 Slave Node Address List       
P-0-0022 PWM Frequency      
P-0-0023 System Acceleration     
P-0-0024 Base Node ID       
P-0-0025 Motor Electrical Angle       
P-0-0026 High Winding Enable 
P-0-0027 Low Winding Enable 
P-0-0028 Brake Enable/Disable      
P-0-0029 Auto Enabled     
P-0-0030 Manual Mode Status     
P-0-0031 Motor Utilization       
P-0-0032 Power Supply Utilization       
P-0-0033 Bus Regulator Utilization       
P-0-0034 Integrator Hold Enable       
P-0-0035 Sub Node ID       
P-0-0036 Negative Dynamic Torque Limit       
P-0-0037 Fault Code       
P-0-0038 Status Flags       
58 Revision 2.15
K6200
Ultra
8720
1394
2093
2094
2099
IDN Name
P-0-0039 Auxiliary Feedback LP Filter Frequency     
Auto Tuning
P-0-0041 Auto Tune Procedure Command       
P-0-0042 Auto Tune Torque Limit       
P-0-0043 Auto Tune Velocity Limit       
P-0-0044 Auto Tune Position Limit       
P-0-0045 Auto Tune Friction
P-0-0046 Auto Tune Configuration       
P-0-0047 Auto Tune Status       
P-0-0048 Auto Tune Direction       
P-0-0049 Auto Tune Acceleration Time       
P-0-0050 Auto Tune Deceleration Time       
Velocity / Position
P-0-0051 Velocity Droop       
Digital Input Configuration

P-0-0052 Digital Input 1 Configuration 
Velocity Error
P-0-0059 Velocity Error Limit 
P-0-0060 Velocity Error Time 
Acceleration
P-0-0061 Torque Reference Notch Filter Frequency       
P-0-0062 Torque Reference Low Pass Filter Bandwidth       
P-0-0063 Regenerative Energy Capacity     
P-0-0064 Acceleration Feedback       
P-0-0065 Torque Reference LowPass Filter Override    
P-0-0066 Torque Reference LowPass Filter Maximum Value   
Torque
P-0-0071 Stopping Torque       
P-0-0072 Stopping Time Limit       
P-0-0073 Torque Scaling Gain       
P-0-0074 Friction Compensation Window      
P-0-0075 Backlash Stabilization Window      
P-0-0076 Motor Continuous Torque Limit       
P-0-0077 Applied Flux Current 
P-0-0078 Flux Time 
Homing/Orient
P-0-0081 Homing Torque Above Threshold Filter Value    
P-0-0082 Orient Strategy 
P-0-0083 Orient Complete 
P-0-0084 Registration 1 Window Minimum Value      
P-0-0085 Registration 1 Window Maximum Value      
59 Revision 2.15
K6200
Ultra
8720
1394
2093
2094
2099
IDN Name
P-0-0086 Registration 2 Window Minimum Value      
P-0-0087 Registration 2 Window Maximum Value      
P-0-0088 Homing Torque Threshold    
P-0-0089 Homing Torque Above Threshold    
P-0-0090 Home to Torque Level    
Power Configuration
P-0-0091 Shunt Capacitance    
P-0-0092 Bus Regulator Catalog Number     
P-0-0093 Shunt Ws    
P-0-0094 Shunt Kl    
P-0-0095 Shunt Ks    
P-0-0096 Shunt Power    
P-0-0097 Shunt Resistance    
P-0-0098 Bus Regulator ID       
P-0-0099 Additional Bus Capacitance     
Faults
P-0-0101 Soft Overtravel Fault Action       
P-0-0102 Position Error Fault Action       
P-0-0103 Hard Overtravel Fault Action       
P-0-0104 Feedback Noise Fault Action       
P-0-0105 Drive Thermal Fault Action       
P-0-0106 Motor Thermal Fault Action       
P-0-0107 Drive Enable Input Fault Action       
P-0-0108 Three-Phase Loss Fault Action    
P-0-0110 Drive OK     
P-0-0115 Shut Down Error Status     
P-0-0116 Warning Error Status    
P-0-0117 Regenerative Power Supply Fault     
P-0-0118 Power Cycle Delay   
P-0-0119 Regenerative Power Supply Fault Action 
P-0-0120 Drive Thermal Manager Overload Behavior  
Hookup
P-0-0121 Hookup Test Procedure       
P-0-0122 Hookup Test ID       
P-0-0123 Hookup Test Increment       
P-0-0124 Hookup Test Direction       
P-0-0125 Hookup Test Status       
P-0-0126 Hookup Test Results      
Selfsense
P-0-0131 Selfsense State    
P-0-0132 Selfsense Status    
P-0-0133 Selfsense Torque Limit    
P-0-0134 Selfsense Direction    
P-0-0135 Selfsense Lock Time    
P-0-0136 Selfsense Lock Delay    
P-0-0137 Selfsense Move Time    
P-0-0138 Selfsense Move Delay    
60 Revision 2.15
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Ultra
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IDN Name
Brakes
P-0-0140 Brake Override    
P-0-0141 Resistive Brake Contact Delay     
Analog & Digital Outputs

P-0-0142 Enable Input Pulse Rejection Filter 
P-0-0143 Home Input Pulse Rejection Filter 
P-0-0144 Registration 1 Input Pulse Rejection Filter 
P-0-0145 Registration 2 Input Pulse Rejection Filter 
P-0-0146 Positive Input Pulse Rejection Filter 
P-0-0147 Negative Input Pulse Rejection Filter 
P-0-0148 Regenration OK Input Pulse Rejection Filter 
P-0-0149 Digital Output 1 Override 
P-0-0153 Analog Output 1 Override 
P-0-0157 Analog Output 1 Filter Time Constant 
P-0-0161 Digital Output Status Bytes      
P-0-0162 Digital Output 1     
P-0-0163 Digital Output 2     
P-0-0164 Digital Output 3   
P-0-0165 Digital Output 4   
P-0-0166 Digital Output 5 
P-0-0172 Digital Output 11
P-0-0173 Digital Output 12
P-0-0177 Analog Output 1 Low-Pass Filter Time Constant   
P-0-0181 Analog Output 1     
P-0-0182 Analog Output 1 Scale Factor     
P-0-0183 Analog Output 2     
P-0-0184 Analog Output 2 Scale Factor     
P-0-0185 Analog Output 3  
P-0-0186 Analog Output 3 Scale Factor  
P-0-0187 Analog Output 4  
P-0-0188 Analog Output 4 Scale Factor  
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IDN Name
Inputs & Scaling

P-0-0190 Digital Input Status Bytes      
P-0-0191 Analog Input 1  
P-0-0192 Analog Input 2  
P-0-0193 Analog Input Offset 1 
P-0-0194 Analog Input Offset 2 
P-0-0195 Velocity Scale Factor     
P-0-0196 Manual Velocity Scale Factor     
P-0-0197 SNS60 Mode Select     
P-0-0198 Analog Torque Scale Factor 
Test Configuration
P-0-0201 Test Mode Select     
P-0-0202 Feedback 1 Command     
P-0-0203 Test Control Word     
P-0-0204 Test Data     
P-0-0205 Motor Feedback Hall Status   
Flash
P-0-0206 Flash Update Select
P-0-0207 Flash Update Buffer
P-0-0208 Flash Axis Select  
SCANport
P-0-0212 DPI Baud Rate     
P-0-0213 SCANport Analog Input 1 Value     
P-0-0215 SCANport Analog Output     
P-0-0216 SCANport Logic Mask     
P-0-0217 SCANport Logic Command     
P-0-0218 SCANport Type 2 Logic Status     
P-0-0219 SCANport Type 1 Logic Status     
P-0-0225 SCANport Data In Channel A1     
P-0-0226 SCANport Data In Channel A2     
P-0-0227 SCANport Data In Channel B1     
P-0-0228 SCANport Data In Channel B2     
P-0-0229 SCANport Data In Channel C1     
P-0-0230 SCANport Data In Channel C2     
P-0-0231 SCANport Data In Channel D1     
P-0-0232 SCANport Data In Channel D2     
P-0-0233 SCANport Data Out Channel A1     
P-0-0234 SCANport Data Out Channel A2     
P-0-0235 SCANport Data Out Channel B1     
P-0-0236 SCANport Data Out Channel B2     
P-0-0237 SCANport Data Out Channel C1     
P-0-0238 SCANport Data Out Channel C2     
P-0-0239 SCANport Data Out Channel D1     
P-0-0240 SCANport Data Out Channel D2     
62 Revision 2.15
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Ultra
8720
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IDN Name
Motor and Encoder
P-0-0241 Encoder Memory Map Revision     
P-0-0242 Motor Parameter Revision     
P-0-0243 Motor Catalog Number Byte 0     
P-0-0259 Motor Design Identifier      
P-0-0260 Motor Serial/Sales Order Number Byte 0     
P-0-0270 Motor Sales Order Unit Identification - Lot Letter     
P-0-0271 Motor Sales Order Unit Identification - Lot Number Byte 0     
P-0-0272 Motor Maximum Continuous Torque Limit     
P-0-0273 Motor Date of Manufacture – Month     
P-0-0274 Motor Date of Manufacture – Day     
P-0-0275 Motor Date of Manufacture – Year     
P-0-0276 Motor Commutation Offset     
P-0-0277 Motor Select     
P-0-0278 A-B Motor Type     
P-0-0279 Motor Pole Count/Linear Motor Pole Pitch     
P-0-0280 Motor Rated Acceleration     
P-0-0281 Motor Base Speed     
P-0-0282 Motor Rated Continuous Power     
P-0-0283 Motor Maximum Voltage (VM)     
P-0-0284 Motor Rated Voltage (VR)     
P-0-0285 Motor Rated Continuous Torque/Force (TC or FC)     
P-0-0286 Motor Back EMF Constant (KE)     
P-0-0287 Motor Stator Resistance (R1/RS)     
P-0-0288 Motor Rotor Resistance (R2)     
P-0-0289 Motor Stator Leakage/Self Inductance (L1/LS)     
P-0-0290 Motor Stator Magnetizing Inductance (LM)     
63 Revision 2.15
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IDN Name
P-0-0291 Motor Rotor Leakage Inductance (L2)     
P-0-0292 Motor Magnetizing Current (IM)     
P-0-0293 Motor Slip Frequency     
P-0-0294 Motor Damping Coefficient (TD)     
P-0-0295 Motor Magnet Temperature Coefficient (KM)     
P-0-0296 Motor Thermal Resistance [Winding-Ambient] (Rthwa)     
P-0-0297 Motor Thermal Capacitance [Winding-Ambient] (Cthwa)     
P-0-0298 Motor Thermal Time Constant Ratio (KTC)     
P-0-0299 Motor Data File       
P-0-0300 Motor Multi-Turn Feedback Resolution     
P-0-0301 Auxiliary Multi-Turn Feedback Resolution     
P-0-0302 Encoder Temperature      
P-0-0303 Motor Flux Saturation 0   
Configuration Set 1
P-0-0311→ P-0-0330 Reserved for Configuration Set 1 Parameters 
Configuration Set 2
Configuration Set 3
Configuration Set 4
Configuration Set 5
Configuration Set 6
Configuration Set 7
Load Observer
P-0-0431 Load Observer Configuration 
P-0-0432 Load Observer Bandwidth 
P-0-0433 Load Observer Integral Bandwidth 
P-0-0434 Load Observer Feedback Gain 
P-0-0435 Load Observer Acceleration Estimate 
P-0-0436 Load Observer Torque Estimate 
P-0-0451 Axis Login Map  

P-0-0452 Demo Mode Select   
P-0-0453 Power Cycles 
P-0-0454 Power Up Time 
P-0-0455 Total Run Time 
P-0-0456 Line Loss Gain 
64 Revision 2.15
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Ultra
8720
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IDN Name
Safety
P-0-0458 Safety Configuration Index Pointer 
P-0-0459 Safety Configuration Value 
P-0-0460 Safety Configuration Fault Code 
P-0-0461 Drive Safety Status 
P-0-0462 Drive Safety Fault Status 
P-0-0463 Safety Config Block 
P-0-0464 Safety Config Signature 
P-0-0465 Safety Config Password 
P-0-0466 New Safety Config Password 
P-0-0467 Change Safety Config Password Procedure Command 
P-0-0468 Safety Config Lock Procedure Command 
P-0-0469 Safety Config Unlock Procedure Command 
P-0-0470 Change Safety Configuration Procedure Command 
Reserved
P-0-0471→ P-0-0499 Reserved for Internal DPI Use      
ICP SERCOS Attributes

P-7-3968→ P-7-4095 Reserved for ICP SERCOS Internal Instance Attributes
65 Revision 2.15
B.2. Description of Allen-Bradley IDNs

P00000 Null 16
This IDN is a 16-bit NULL value.
Name: “NULL 16” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (NULL 16)
Notes:
See Also:
P00001 A-B Drive Type/Application

This IDN is used to provide A-B drive application configuration choices which otherwise do not appear in the
SERCOS Standard.
Name: “A-B Application” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Not Supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x0 Value: Allen-Bradley drive application:
Max: 0x5 Bits 2-0: 000 = Analog Spindle
001 = Analog Power Servo
010 = SERCOS Spindle
011 = SERCOS Power Servo
100 = Drive Peripheral Interface Spindle
101 = Drive Peripheral Interface Servo
Notes:
See Also:
66 Revision 2.15
P00002 A-B Motor Feedback Type

This IDN is used to provide A-B drive configuration choices which otherwise do not appear in the
SERCOS Standard. The feedback type of the motor mounted feedback device is found in IDN S00277. The
resolution for rotary and linear devices is found in IDN S00116. IDN P00002 is used to provide additional
motor feedback information in support of the information found in the standard SERCOS IDNs.
Name: “Mtr Fdbk Type” Attr: 0x00010001 (16-bit binary)
Units: Not Supported Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: 0x00 Value: A-B motor feedback type: * = Auto Detected Hiperface Stegmann Device
Max: 0x16 Bits 4-0: 00000 = No Feedback
00001 = SRS* Single-turn Absolute 1024 S/C per Rev
00010 = SRM* Multi-turn Absolute 1024 S/C per Rev
00011 = SCS* Single-turn Absolute 512 S/C per Rev
00100 = SCM* Multi-turn Absolute 512 S/C per Rev
00101 = SNS* High-Res Incremental 1024 S/C per Rev
00110 = MHG* Single-turn Absolute Magnetic 512 S/C per rev
00111 = Resolver Transmitter type: 0.25 TR
01000 = Analog Reference +/- 0.5V Differential – Not Recommended
01001 = Sin/Cos w/o/ Hall Sine/Cosine without Hall Feedback
01010 = TTL w/o Hall TTL AQB Device without Hall Feedback
01011 = UVW Differential Hall-effect Commutation Signals
01100 = Unknown Stegmann Unrecognized Stegmann Device
01101 = Endat Heidenhain Endat SSI S/C Feedback Device
01110 = RCM21S-4* Renco Smart Encoder – 4 Pole
01111 = RCM21S -6* Renco Smart Encoder – 6 Pole
10001 = LINCODER* Linear Absolute Magnetic Encoder 5mm S/C Period
10010 = Sin/Cos w/Hall Sine/Cosine with Hall Feedback
10011 = TTL w/Hall TTL AQB with Hall Feedback
10100 = SKS l Single-turn Absolute 512 S/C per Rev
10101 = SKM l Multi-turn Absolute 512 S/C per Rev
10110 = Tamagawa Tamagawa feedback
Notes: If the feedback type was auto-detected, the Phase 2, 3, & 4 status is Read-Only
It is also Read-Only when the axis is enabled
Ultra only supports types 0, 1, 2, 9, 10, 18, and 19.
K6KM does not support types 3, 4, 5, 6, 8, 9, 11, or 17
See Also: IDN S00277 – Position Feedback 1 Type (motor)
IDN S00116 – Resolution of Feedback 1
67 Revision 2.15
P00003 A-B Auxiliary Feedback Type

This IDN is used to provide A-B drive configuration choices which otherwise do not appear in the SERCOS
Standard. The feedback type for a machine mounted feedback device is found in IDN S00115. The
resolution of the machine mounted feedback device is found in IDN S00117 for both rotary and linear devices.
IDN P00003 is used to provide additional motor feedback information in support of the information found in the
standard SERCOS IDNs.
Name: “AuxFdbk Type” Attr: 0x00010001 (16-bit binary)
Min: 0x00 Value: A-B auxiliary feedback type: * = Auto Detected Hiperface Stegmann Device
Max: 0x16 Bits 4-0: 00000 = No Feedback
00001 = SRS* Single-turn Absolute 1024 S/C per Rev
00010 = SRM* Multi-turn Absolute 1024 S/C per Rev
00011 = SCS* Single-turn Absolute 512 S/C per Rev
00100 = SCM* Multi-turn Absolute 512 S/C per Rev
00101 = SNS* High-Res Incremental 1024 S/C per Rev
00110 = MHG* Single-turn Absolute Magnetic 512 S/C per rev
00111 = Resolver Transmitter type: 0.25 TR
01000 = Analog Reference +/- 10V Differential
01001 = Sin/Cos w/o Hall Sine/Cosine without Hall Feedback
01010 = TTL w/o Hall TTL AQB Device without Hall Feedback
01011 = UVW Differential Hall-effect Commutation Signals
01100 = Unknown Stegmann Unrecognized Stegmann Device
01101 = Endat Heidenhain Endat SSI S/C Feedback Device
01111 = RCM21S -6* Renco Smart Encoder – 6 Pole
10001 = LINCODER* Linear Absolute Magnetic Encoder 5mm S/C Period
10010 = Sin/Cos w/Hall Sine/Cosine with Hall Feedback
10011 = TTL w/Hall TTL AQB with Hall Feedback
10100 = SKS l Single-turn Absolute 512 S/C per Rev
10101 = SKM l Multi-turn Absolute 512 S/C per Rev
10110 = Tamagawa Tamagawa feedback
Notes: If the feedback type was auto-detected, the Phase 2, 3, & 4 status is Read-Only
It is also Read-Only when the axis is enabled
Ultra only supports type 10.
K6KM does not support types 3, 4, 5, 6, 8, 9, 11, or 17
See Also: IDN S00115 – Position Feedback 2 Type
IDN S00117 – Resolution of Feedback 2
P00004 Option Configuration Bits

This IDN is used to configure or enable various drive options.
Name: “Option Cfg Bits” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Drive config bits:
Max: 0x7F Bit 0: Hard overtravel inputs monitoring (0 = monitored, 1 = not monitored)
Bit 1: Marker location (0 = normal, 1 = copy marker position A (S00173) to
probe 2 positive edge (S00132) during homing)
Bit 2: Drive interpolation mode (0 = 3rd order, 1 = 2nd order)
Bit 3: Reserved
Bit 4: Drive enable input fault (0 = don’t fault, 1 = fault if condition exists)
Bit 5: Drive enable input monitor (0 = monitored, 1 = not monitored)
Bit 6: 3-Phase loss fault disable (0 = fault if condition exists, 1 = don’t fault)
Bit 7: Reserved
Bit 8: Single-phase operation
Bits 15-9: Reserved
Notes: When bit 0 is set to monitor the hard overtravel inputs, the drive will set an associated fault in IDN S00129 (bits 2 or
3) if a fault condition exists.
Ultra ignores value written to bits 2 and 6.
When bit 4 is set and bit 5 is cleared, the drive will set bit 9 in IDN S00129 if a fault condition exists.
See Also: IDN S00129 – Manufacturer Class 1 Diagnostic
68 Revision 2.15
P00005 Rotary Operation Mode Select

This IDN is used to select the operation mode for a rotary axis.
Name: “Op Mode Select” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: Rotary operation mode select:
Max: 0x1001 Bits 3- 0: 0000 = Reserved
0001 = Torque Mode
0010 = Velocity Mode
0011 = Position Motor
0100 = Position Auxiliary
0101 = Position Both (Position: Aux., Velocity: Motor)
0110 = Feedback Only
0111 = Dual Position Motor (VFF)
1000 = Dual Position Auxiliary (VFF)
1001 = Dual Position Both (VFF, Position: Aux., Velocity: Motor)
Notes: Setting this IDN will also respectively change IDN S00032 – Primary Operation Mode and vice-versa.
See Also: IDN S00032 – Primary Operation Mode
P00006 PWM Frequency Select

This IDN is used to select the PWM frequency.
Name: “PWM Select” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: PWM frequency select:
Max: 0x1 Bit 0: 0 = Low
1 = High
Notes: The actual frequency value may be read through IDN P00022
See Also: IDN P00022 – PWM Frequency
P00007 Dual Feedback Configuration

This IDN is used to configure the count direction of the auxiliary encoder used in a dual loop configuration, so
that an absolute encoder can be used. This IDN also configures if additional velocity error checking should be
employed.
Name: ”Dual Fdbk Cfg” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value:
Max: 0x3 Bits 1-0:
00 = Feedback devices count in the same direction.
01 = Feedback devices count in the opposite direction.
10 = Phases are swapped on an absolute (e.g., Stegmann) device.
11 = Invalid, effectively the same as '0'
Bit 2:
0 = Additional velocity error checking enabled
1= Additional velocity error checking disabled
Notes:
See Also:
P00010 DC Bus Calibration

This IDN is used to store a compensation (gain) vaule for the DC bus voltage sensing circuitry. This
parameter is usually set and saved to the drive’s Non-Volatile memory during the functional test.
Name: “DC Bus Calibrate” Attr: 0x00320001 (32-bit unsigned decimal)
Units: Not Supported Phase 2: RW* Phase 3: RW* Phase 4: RW*
Min: ≥ 9000 Value: (DC bus calibration)
Max: ≤ 11000 Scaling: 10-4
Notes: *This IDN is only writeable while in “manufacturing” test mode. This is done by writing an “11” to IDN P00201.
See Also:
69 Revision 2.15
P00011 Operating Hours

Displays the total number of hours the drive has had control power applied.
Name: “Operating Hours” Attr: 0x00320001 (32-bit unsigned decimal)
Units: Hours Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (operating hours)
Max: ≤ 232 – 1 Scaling: 1
Notes:
See Also:
P00012 Base Node Firmware Revision

This IDN contains the base node firmware revision. The lower 8 bits are the minor revision and the upper 8
bits contain the major revision. (Example: “266” = 0x010A = v1.010)
Name: “Base Node FW Attr: 0x00110001 (16-bit unsigned decimal)
Rev”
Min: ≥0 Value: (base node firmware major/minor revision)
Max: ≤ 216 – 1 Bits 7-0: Minor Base Node Firmware Revision
Bits 15-8: Major Base Node Firmware Revision
Notes:
See Also: IDN P00013 – Sub Node Firmware Revision
P00013 Sub Node Firmware Revision

This IDN contains the sub node firmware revision. The lower 8 bits are the minor revision and the upper 8 bits
contain the major revision. (Example: “266” = 0x010A = v1.010)
Name: “Sub Node FW Attr: 0x00110001 (16-bit unsigned decimal)
Rev”
Min: ≥ 0 Value: (sub node firmware major/minor revision)
Max: ≤ 216 – 1 Bits 7-0: Minor Sub Node Firmware Revision
Bits 15-8: Major Sub Node Firmware Revision
Notes:
See Also: IDN P00012 – Base Node Firmware Revision
P00014 Base Node Product Name

This IDN is used to display the base node product name.
Name: “Base Node Name” Attr: 0x00450001 (variable length 16-bit data strings, character)
Min: Not supported Value: Base node product name:
Max: Not supported Characters 1–40: Power Supply Catalog (Ex: “1394 22kW SERCOS 460V”)
Characters 41-49: “SERIES x_“
Characters 50-63: “Allen-Bradley_”
Character 64: -Blank-
Notes:
See Also:
P00015 Position Integrator Error

This IDN contains the position loop integral gain multiplied by the integrator. This is the integrator’s
contribution to the velocity command.
Name: “Posn Integ Err” Attr: 0x00220001 (32-bit signed integer)
Units: (velocity units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -231 Value: (position integrator error)
Notes:
70 Revision 2.15
P00016 Velocity Integrator Error

This IDN contains the velocity loop integral gain multiplied by the integrator. This is the integrator’s
contribution to the acceleration command.
Name: “Vel Integ Err” Attr: 0x00220001 (32-bit signed integer)
Units: (acceleration units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -231 Value: (velocity integrator error)
Notes:
See Also: IDN S00160 – Acceleration Data Scaling Type
IDN S00161 – Acceleration Data Scaling Factor
IDN S00162 – Acceleration Data Scaling Exponent
P00017 Id Current Command

This parameter displays the present level of the Id current reference for the axis.
Name: “Id Reference” Attr: 0x02110001 (16-bit unsigned decimal)
Units: % Motor Rated Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥0 Value: (Id current command)
Max: ≤ 10000 Scaling: 10-2
Notes:
See Also:
P00018 Drive Utilization

This parameter displays the present level of the current output to the motor as a percent of drive rated.
Name: “Drive Utilized” Attr: 0x02110001 (16-bit unsigned decimal)
Units: % Drive Rated Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥0 Value: (drive utilization)
Notes:
See Also:
P00019 Positive Dynamic Torque Limit

This parameter is the axis/motor combination absolute maximum positive current limit magnitude. This should
be twice the axis current rating or three times the motor current rating, whichever is less.
Name: “+Dyn Torque Lmt” Attr: 0x00210001 (16-bit signed decimal)
Units: (torque units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥0 Value: (positive dynamic torque limit)
Notes:
71 Revision 2.15
P00020 Current Limit Source

This parameter displays the present source (if any) of any current limiting for the axis.
Name: “Currnt Limit Src” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Current limit source:
Max: 0x9 Bits 3-0: 0000 = Not Limited
0001 = Negative User Limit
0010 = Positive User Limit
0011 = Amplifier Peak Limit
0100 = Amplifier I(t) Limit
0101 = Bus Regulator Limit
0110 = Bipolar User Limit
0111 = Motor Peak Limit
1000 = Motor I(t) Limit
1001 = Voltage Limit
Notes:
See Also:
P00021 Slave Node Address List

This parameter is contains a list of slave node addresses in ascending order – up to 16 addresses maximum.
The first address must be the base node, and any unused spaces in the list should be zero-filled.
Example: 3-Axis 1394 where base is “10“ = [10], [11], [12], [0], [0],…[0]
Name: “Slave Node List” Attr: 0x00150001 (variable length 16-bit data strings, unsigned decimal)
Min: ≥ 0 (each address) Value: (slave node address list)
Max: ≤ 254 (each address) Scaling: 1
Notes:
See Also:
P00022 Drive PWM Frequency

This parameter is the drive carrier frequency. The PWM frequency affects the audible noise level of the
motor.
Name: “PWM Frequency” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Hz Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 1000 Value: (drive PWM frequency)
Notes: The PWM frequency (low / high) may be selected through parameter P00006
See Also: IDN P00006 – PWM Frequency Select
P00023 System Acceleration

This parameter is the system acceleration at 100% rated current. This value may be calculated and entered
or derived by the drive via Auto Tuning.
Name: “System Accel” Attr: 0x00220001 (32-bit signed decimal)
Units: (Acceleration Units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (system acceleration)
Max: ≤ 231-1 Scaling type: IDN S00160
Notes:
72 Revision 2.15
P00024 Base Node ID

This IDN contains the base node ID number. Each base node type has an identifying number which is a
registered product code of the device object.
Name: “Base Node ID” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 1 Value: (base node ID)
27 = 1394-SJT05-D – 5kW 1394 System Module, Digital Servo
Max: ≤ 216 -1 28 = 1394-SJT10-D – 10kW 1394 System Module, Digital Servo
29 = 1394-SJT22-D – 22kW 1394 System Module, Digital Servo
69 = 2098-DSD-005-SE – 0.5 kW Ultra
70 = 2098-DSD-010-SE – 1 kW Ultra
71 = 2098-DSD-020-SE – 2 kW Ultra
72 = 2098-DSD-030-SE – 3 kW Ultra
73 = 2098-DSD-075-SE – 7.5 kW Ultra
74 = 2098-DSD-150-SE – 15 kW Ultra
75 = 2098-DSD-HV030-SE – 3 kW 460V Ultra
92 = 2094-AC05-M01 – 3 kW 230V Kinetix 6000 IAM
96 = 2094-BC01-M01 – 6 kW 460V Kinetix 6000 IAM
100 = 8720MC-B014 – 5.5kW 460VAC/750VDC 8720 Series B
113 = 8720MC-B027 – 11kW 460VAC/750VDC 8720 Series B
117 = 8720MC-D065 – 30kW 750VDC 8720 Series B
164 = 2094-AC05-MP5 – 3 kW 230V Kinetix 6000 IAM
169 = 2094-BC01-MP5 – 3 kW 460V Kinetix 6000 IAM
221 = 2094-AC05_MP5-S0
222 = 2094-AC05_M01-S0
223 = 2094-AC09_M02-S0
224 = 2094-AC16_M03-S0
225 = 2094-AC32_M05-S0
226 = 2094-AMP5-S0
227 = 2094-AM01-S0
228 = 2094-AM02-S0
229 = 2094-AM03-S0
230 = 2094-AM05-S0
231 = 2094-BC01_MP5-S0
232 = 2094-BC01_M01-S0
233 = 2094-BC02_M02-S0
234 = 2094-BC04_M03-S0
235 = 2094-BC07_M05-S0
236 = 2094-BMP5-S0
237 = 2094-BM01-S0
238 = 2094-BM02-S0
239 = 2094-BM03-S0
240 = 2094-BM05-S0
241 = 2094-AC05_MP5-S1
242 = 2094-AC05_M01-S1
243 = 2094-AC09_M02-S1
244 = 2094-AC16_M03-S1
245 = 2094-AC32_M05-S1
246 = 2094-AMP5-S1
247 = 2094-AM01-S1
248 = 2094-AM02-S1
249 = 2094-AM03-S1
250 = 2094-AM05-S1
251 = 2094-BC01_MP5-S1
252 = 2094-BC01_M01-S1
253 = 2094-BC02_M02-S1
254 = 2094-BC04_M03-S1
255 = 2094-BC07_M05-S1
256 = 2094-BMP5-S1
257 = 2094-BM01-S1
258 = 2094-BM02-S1
259 = 2094-BM03-S1
260 = 2094-BM05-S1
0xFFFF = None
Notes: This parameter is used in the Logix “keying” process. Since the base node type is auto-detected at power-on, when
the controller tries to write an ID that is different from the auto-detected ID, the drive should appropriately NAK the
request. The drive should quietly ACK the set request if a value of 0xFFFF is written (this is the “none” selection).
See Also:
73 Revision 2.15
P00025 Motor Electrical Angle

This parameter is the present electrical angle (theta) of the motor shaft.
Name: “Mtr Elec Angle” Attr: 0x03110001 (16-bit unsigned decimal)
Units: Radians Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (motor electrical angle)
Max: ≤ 36π Scaling: 10-3
Notes: Ultra’s range is 0 to 2π
See Also:
P00026 High Winding Enable

This IDN is used to enable the high winding of a dual-wound motor. IDN P00026 must be mutually exclusive
with IDN P00027.
Name: “Hi Wind Enable” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: High winding enable:
Max: 0x1 Bit 0: 0 = disable the high winding
1 = enable the high winding (disable the low winding)
Notes:
See Also: IDN P00027 – Low Winding Enable
P00027 Low Winding Enable

This IDN is used to enable the low winding of a dual-wound motor. IDN P00027 must be mutually exclusive
with IDN P00026.
Name: “Lo Wind Enable” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Low winding enable:
Max: 0x1 Bit 0: 0 = disable the low winding
1 = enable the low winding (disable the high winding)
Notes:
See Also: IDN P00026 – High Winding Enable
P00028 Brake Enable/Disable

This IDN is used to enable or disable the motor brake.
Name: “Enable Brake Sol” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Brake disable :
Max: 0x1 Bit 0: 0 = Motor brake is enabled
1 = Motor brake is disabled
Notes: This parameter is writable only if the drive is disabled. The brake can be manually controlled with this
parameter only if IDN P00140 is enabled.
See Also:
P00029 Auto Reference Enabled

This IDN is used to indicate when the drive is following customer reference in Auto Mode.
Name: “Auto Ref Enabled” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Auto enabled :
Max: 0x1 Bit 0: 0 = Not following reference in Auto Mode
1 = Following reference in Auto Mode
Notes:
See Also:
74 Revision 2.15
P00030 Manual Mode Status

This IDN is used to indicate the status of the Manual Mode.
Name: “Manual Mode On” Attr: 0x00110001 (16-bit unsigned decimal)
Min: 0x0 Value: Manual mode status :
Max: 0x1 Bit 0: 0 = Manual mode inactive
1 = Manual mode active
Notes:
See Also:
P00031 Motor Utilization

This parameter displays the present level of the current output to the motor as a percent of motor rated.
Name: “Motor Utilized” Attr: 0x01110001 (16-bit unsigned decimal)
Units: % Mtr Rated Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (motor utilization)
Notes:
See Also:
P00032 Power Supply Utilization

This parameter displays the present level of the power supply bus current output to the drives.
Name: “Pwr Sup Utilzed” Attr: 0x01110001 (16-bit unsigned decimal)
Units: % PS Rated Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (power supply utilization)
Notes: Ultra always returns 0.
See Also:
P00033 Bus Regulator Utilization

This parameter displays the present level of the regenerative bus current from the drives.
Name: “Bus Reg Utilized” Attr: 0x01110001 (16-bit unsigned decimal)
Units: % Rated Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (bus regulator utilization)
See Also:
P00034 Integrator Hold Enable

This parameter is used by the controller as a permissive for the drive to keep the loop integrators from winding
up.
Name: “Integ Hold En” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: (written by master):
Max: 0x1 Bit 0: 0 = Integrator Hold Disabled
1 = Integrator Hold Enabled
Notes:
See Also:
75 Revision 2.15
P00035 Sub Node ID

This IDN contains the sub node ID number. Each sub node type has an identifying number which is a
registered product code of the device object.
Name: “Sub Node ID” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 1 Value: (sub node ID)
Max: ≤ 216 -1 39 = 1394-AM03 – 2kW 1394 Axis Module
40 = 1394-AM04 – 3kW 1394 Axis Module
41 = 1394-AM07 – 5kW 1394 Axis Module
42 = 1394-AM50 – 15.6kW 1394 Axis Module
43 = 1394-AM75 – 23.8kW 1394 Axis Module
69 = 2098-DSD-005-SE – 0.5 kW Ultra
70 = 2098-DSD-010-SE – 1 kW Ultra
71 = 2098-DSD-020-SE – 2 kW Ultra
72 = 2098-DSD-030-SE – 3 kW Ultra
73 = 2098-DSD-075-SE – 7.5 kW Ultra
74 = 2098-DSD-150-SE – 15 kW Ultra
94 = 2094-AM01 – 1.9 kW 230V Kinetix 6000 AM
95 = 2094-AM02 – 3.4 kW 230V Kinetix 6000 AM
98 = 2094-BM01 – 3.9 kW 460V Kinetix 6000 AM
99 = 2094-BM02 – 6.6 kW 460V Kinetix 6000 AM
167 = 2094-AMP5 – 1.2 kW 230V Kinetix 6000 AM
168 = 2094-AM03 – 5.6 kW 230V Kinetix 6000 AM
172 = 2094-BMP5 – 1.8 kW 460V Kinetix 6000 AM
173 = 2094-BM03 – 13.5 kW 460V Kinetix 6000 AM
174 = 2094-BM05 – 22.1 kW 460V Kinetix 6000 AM
221 = 2094-AC05_MP5-S0
222 = 2094-AC05_M01-S0
223 = 2094-AC09_M02-S0
224 = 2094-AC16_M03-S0
225 = 2094-AC32_M05-S0
226 = 2094-AMP5-S0
227 = 2094-AM01-S0
228 = 2094-AM02-S0
229 = 2094-AM03-S0
230 = 2094-AM05-S0
231 = 2094-BC01_MP5-S0
232 = 2094-BC01_M01-S0
233 = 2094-BC02_M02-S0
234 = 2094-BC04_M03-S0
235 = 2094-BC07_M05-S0
236 = 2094-BMP5-S0
237 = 2094-BM01-S0
238 = 2094-BM02-S0
239 = 2094-BM03-S0
240 = 2094-BM05-S0
241 = 2094-AC05_MP5-S1
242 = 2094-AC05_M01-S1
243 = 2094-AC09_M02-S1
244 = 2094-AC16_M03-S1
245 = 2094-AC32_M05-S1
246 = 2094-AMP5-S1
76 Revision 2.15
247 = 2094-AM01-S1
248 = 2094-AM02-S1
249 = 2094-AM03-S1
250 = 2094-AM05-S1
251 = 2094-BC01_MP5-S1
252 = 2094-BC01_M01-S1
253 = 2094-BC02_M02-S1
254 = 2094-BC04_M03-S1
255 = 2094-BC07_M05-S1
256 = 2094-BMP5-S1
257 = 2094-BM01-S1
258 = 2094-BM02-S1
259 = 2094-BM03-S1
260 = 2094-BM05-S1
0xFFFF = None
Notes: This parameter is used in the Logix “keying” process. Since the sub node type is auto-detected at power-on, when
the controller tries to write an ID that is different from the auto-detected ID, the drive should appropriately NAK the
request. The drive should quietly ACK the set request if a value of 0xFFFF is written (this is the “none” selection).
See Also:
P00036 Negative Dynamic Torque Limit

This parameter is the axis/motor combination absolute maximum negative current limit magnitude. This
should be twice the axis current rating or three times the motor current rating, whichever is less.
Name: “-Dyn Torque Lmt” Attr: 0x00210001 (16-bit signed decimal)
Units: (torque units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -215 Value: (negative dynamic torque limit)
Max: ≤0 Scaling type: IDN S00086
Notes:
P00037 Fault Code

This is the combined proprietary C1D (IDN S00129) and standard C1D (IDN S00011) fault flags.
Name: “Fault Code” Attr: 0x00020001 (32-bit binary)
Min: 0x00000000 Value: Fault Code
Max: 0xFFFFFFFF Bits 15 - 0: Manufacturer Class 1 Diagnostic (IDN S00129)
Bits 31-16: Class 1 Diagnostic (IDN S00011)
Notes:
P00038 Status Flags

This is the combined proprietary C3D (IDN S00182) and standard C3D (IDN S00013) status flags.
Name: “Status Flags” Attr: 0x00020001 (32-bit binary)
Min: 0x00000000 Value: Status Flags
Max: 0xFFFFFFFF Bits 15 - 0: Manufacturer Class 3 Diagnostic (IDN S00182)
Bits 31-16: Class 3 Diagnostic (IDN S00013)
Notes:
77 Revision 2.15
P00039 Auxiliary Feedback Lowpass Filter Frequency

This parameter is used for setting the aux. feedback LP filter frequency.
Name: “Aux Fdbk LP Freq” Attr: 0x00110001 (32-bit unsigned decimal)
Units: Rad/sec Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (Aux. feedback LP frequency)
Notes:
See Also:
P00041 Auto Tune Procedure Command

This procedure command initiates a tuning profile consisting of an acceleration ramp to the Auto Tune
Velocity Limit (P00043) followed by a deceleration ramp to zero speed. The acceleration and deceleration
ramps are generated by outputting the % torque given by the Auto Tune Torque Limit (P00042). The drive
measures the Auto Tune Acceleration Time (P00049) and Auto Tune Deceleration Time (P00050) during the
tuning profile.
Name: “Atune Select” Attr: 0x00090001 (16-bit binary, procedure command)
Min: Not supported Value: (written by master)
Max: Not supported Scaling: N/A
See Also: IDN P00042 – Auto Tune Torque Limit
IDN P00043 – Auto Tune Velocity Limit
IDN P00044 – Auto Tune Position Limit
IDN P00048 – Auto Tune Direction
IDN P00049 – Auto Tune Acceleration Time
IDN P00050 – Auto Tune Deceleration Time
P00042 Auto Tune Torque Limit

This parameter specifies the maximum motor torque used while an auto tune cycle is executing.
Name: “Atune Trq Limit” Attr: 0x01110001 (16-bit unsigned decimal)
Units: % Mtr Rated Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (auto tune torque limit)
Notes:
P00043 Auto Tune Velocity Limit

This parameter specifies the maximum velocity the motor may attain during an auto tune cycle.
Name: “Atune Vel Limit” Attr: 0x00220001 (32-bit signed decimal)
Units: (velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (auto tune velocity limit)
Notes:
78 Revision 2.15
P00044 Auto Tune Position Limit

This parameter specifies the maximum distance the motor shaft may move while an auto tune cycle is
executing.
Name: “Atune Posn Limit” Attr: 0x00120001 (32-bit unsigned decimal)
Units: (position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (auto tune position limit)
Max: ≤ +231 -1 Scaling type: IDN S00076
Notes:
P00045 Auto Tune Friction

This parameter is the system friction as measured by the auto tune cycle.
Name: “Atune Friction” Attr: 0x02110001 (16-bit unsigned decimal)
Units: % Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (auto tune friction)
Max: ≤ 215 –1 Scaling: 10-2
Notes:
See Also:
P00046 Auto Tune Configuration

This parameter is the auto tune configuration that may be displayed as a selectable bitfield.
Name: “Atune Config” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Auto tune configuration bitfield:
Max: 0x7 Bits 4-0: Bit 0 : Auto Save
0 – Don’t save auto tune parameters
1 – Save the calculated auto tune parameters (default).
Bit 1: Calculate Gains
0 – Don’t calculate gains
1 – The loop gains will be calculated (default).
Bit 2: Inertia Tune
0 – Don’t perform an inertial tune
1 – The auto tune procedure performs an inertial tune (default).
Bit 3: Analog Offset
0 – Don’t calculate an analog offset
1 – The auto tune procedure determines a compensating value
for the analog inputs (default).
Bit 4: Inertia Mode
0 – Run the inertia tune in both directions
1 – Run the inertia tune in one direction only as specified by
IDN P00048 (default).
Notes:
See Also:
P00047 Auto Tune Status

This parameter indicates the status of the auto tune procedure.
Name: “Atune Status” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Auto tune status:
Max: 0x7 Bits 2-0: 000 = Successful – The auto tune process was successful.
001 = In Progress – Auto tuning is active.
010 = Tune Aborted – Auto tuning was cancelled by user.
011 = Tune Timeout – Auto tuning timed-out.
100 = Drive Fault – Auto tuning incomplete because drive faulted.
101 = Travel Limit – Travel limit was exceeded during auto tune.
110 = Polarity Fault – The feedback polarity was incorrect.
111 = Speed Fault – Tuning speed too small to make measurements.
Notes:
See Also:
79 Revision 2.15
P00048 Auto Tune Direction

This parameter is used to set the direction of movement for the auto tune procedure command.
Name: “Atune direction” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Auto tune direction:
Max: 0x1 Bit 0: 0 = CW (rotary) – Positive (linear)
1 = CCW (rotary) – Negative (linear)
Notes:
See Also:
P00049 Auto Tune Acceleration Time

This parameter is used for setting the acceleration time for the auto tune procedure.
Name: “Atune Accel” Attr: 0x00120001 (32-bit unsigned decimal)
Units: sec Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (auto tune acceleration time)
Notes:
See Also:
P00050 Auto Tune Deceleration Time

This parameter is used for setting the deceleration time for the auto tune procedure.
Name: “Atune Decel” Attr: 0x00120001 (32-bit unsigned decimal)
Units: sec Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (auto tune deceleration time)
Notes:
See Also:
P00051 Velocity Droop

This parameter is also referred to as “static gain.” It effectively acts as a very slow discharge of the velocity
loop integrator. The velocity droop may be used as a component of an external position loop system where
setting this parameter to a higher, non-zero value will eliminate servo hunting due to load/stick friction effects.
This parameter only has effect if KI is not zero.
Name: “Velocity Droop” Attr: 0x00120001 (32-bit unsigned decimal)
Units: (velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (velocity droop)
Max: ≤ +231 -1 Scaling type: IDN S00044
80 Revision 2.15
P00052 Digital Input 1 Configuration

These IDNs define the configuration for the digital inputs. These IDNs are only applicable to drives that have
configurable inputs.
Name: “Dig In x Cfg” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: Input Configuration
Max: ≤ 216 -1 0 = Unassigned
1 = Enable
2 = Home
3 = Registration 1
4 = Registration 2
5 = Positive Overtravel
6 = Negative Overtravel
7 = Regeneration OK
Notes: Read-only when the drive is enabled
See Also: IDN P00190 – Digital Input Status Bytes
P00059 Velocity Error Limit

This IDN specifies the amount of velocity error that will cause a velocity error fault to occur. The velocity error
must exceed this value for more than the Velocity Error Time value for a fault.
Name: “Velocity Error Attr: 0x01110001 (16-bit unsigned decimal)
Limit”
Units: "% Motor Rated" Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0 Value: (velocity error limit)
Max: 2000 Scaling: 10-1
Notes:
See Also: IDN P00060
P00060 Velocity Error Time

This IDN specifies the amount of time that velocity error must exceed the Velocity Error Limit that will cause a
velocity error fault to occur.
Name: “Velocity Error Attr: 0x00110001 (16-bit unsigned decimal)
Time”
Units: ”ms” Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0 Value: (velocity error time)
Max: 2000 Scaling: 1
Notes:
See Also: IDN P00059
P00061 Torque Reference Notch Filter Frequency

This IDN is the torque reference notch filter frequency. This value may be calculated and entered or derived
by the drive via auto tuning.
Name: “Torq Notch Freq” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (torque notch filter frequency)
See Also:
81 Revision 2.15
P00062 Torque Reference Low Pass Filter Bandwidth

This IDN is the torque reference low pass filter bandwidth. This value may be calculated and entered or
derived by the drive via auto tuning.
Name: “Torq Lowpas Frq” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (torque lowpass filter frequency)
Notes:
See Also: IDN P00065 – Torque reference filter maximum override
P00063 Regenerative Energy Capacity

This IDN indicates the amount of regenerative energy available to the drive. This is used to limit the amount
of energy given to the bus regulator/shunt to keep it from faulting. This parameter is useful where the
supplied regenerative capacity is less than 100% of the motor power.
Name: “Regen EnergyVal” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (regen energy capacity)
Max: ≤ 10000 Scaling: 10-2
Notes:
See Also:
P00064 Acceleration Feedback

This parameter is the acceleration feedback value of the motor.
Name: “Accel Feedback” Attr: 0x00220001 (32-bit signed decimal)
Min: ≥ -231 Value: (acceleration feedback)
P00065 Torque Reference LowPass Filter Override

This parameter is used by the controller as a permissive for the drive to set the Torque Reference Lowpass
Filter Bandwidth to a value greater than the drive’s maximum default. It will also allow the user to disable the
filter entirely by setting the Torque Reference LowPass Filter BW to “0” when this override is set to “1”.
Name: “Tref LP Override” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: (written by master):
Max: 0x1 Bit 0: 0 = Override Disabled (default)
1 = Override Enabled
Notes: The maximum default for 2093, 2094, 2094M, and 2099 is 400Hz or 2513 rads/s.
See Also: IDN P00062 – Torque reference lowpass filter bandwidth
P00066 Torque Reference LowPass Filter Maximum Value

This parameter defines the maximum value allowed for the Torque Reference Lowpass Filter Bandwidth when
the LowPass Filter Override (IDN P00065) is “Disabled”. The drive default is 2500 rad/s, but can be set upto
65535 using this IDN.
Name: “Max Torq Lowpas Attr: 0x00010010 (16-bit binary)
Frq”
Units: rd/s Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 2500 Value: (lowpass filter maximum):
Notes: The default for 2093, 2094, 2094M, and 2099 is 400Hz or 2500 rads/s.
See Also: IDN P00062 – Torque reference lowpass filter bandwidth
82 Revision 2.15
P00071 Stopping Torque

This parameter is the amount of torque available to stop the motor.
Name: “Stopping Torque” Attr: 0x00210001 (16-bit signed decimal)
Units: (torque units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (stopping torque)
Notes:
P00072 Stopping Time Limit

This parameter is the maximum amount of time that the module will remain enabled while trying to stop.
Useful for very slow velocity rate change settings.
Name: “Stop Time Limit” Attr: 0x00110001 (16-bit unsigned decimal)
Units: sec Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (stopping time limit)
Notes:
See Also:
P00073 Torque Scaling Gain

This parameter is the value of the torque scaling gain. This gain compensates the velocity loop for the system
inertia.
Name: “Torq Scale Gain” Attr: 0x05120001 (32-bit unsigned decimal)
Units: (% drive rated) / Phase 2: RW Phase 3: RW Phase 4: RW
(revs/sec2)
Min: ≥ 0 Value: (torque scaling gain)
Max: ≤ +231 -1 Scaling: 10-5
Notes:
See Also:
P00074 Friction Compensation Window

This parameter specifies a position window in which to apply the Friction Compensation value (S00155). If
the actual position is within the Friction Compensation Window the Friction Compensation value is applied to
the Servo Output.
Name: “Frict Comp Windw” Attr: 0x00120001 (32-bit unsigned decimal)
Min: ≥ 0 Value: (friction compensation window
Max: ≤ +231 –1 Scaling type: IDN S00076
Notes:
IDN S00155 – Friction Torque Compensation
83 Revision 2.15
P00075 Backlash Stabilization Window

This parameter specifies a position window in which to apply the Backlash Stabilization. In general, this value
should be set to the measured backlash distance.
Name: “Backlash Window” Attr: 0x00120001 (32-bit unsigned decimal)
Min: ≥ 0 Value: (backlash stabilization window
Notes:
P00076 Motor Continuous Torque Limit

This parameter is the continuous torque limit for the motor. The continuous torque limit specifies the
maximum percentage of the motor's rated current that the drive can command on a continuous or RMS basis.
Name: “Cont Trq Limit” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (continuous torque limit)
Notes: The default value is 100%.
See Also:
P00077 Flux Level

This IDN specifies the motor flux level.
Name: “% ld” Attr: 0x00110001 (16-bit unsigned decimal)
Units: % Motor Rated Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (flux level)
Notes:
See Also:
P00078 Flux Time

This IDN specifies the motor flux time.
Name: “Flux Time” Attr: 0x03120001 (32-bit unsigned decimal)
Units: Sec Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 1 Value: (flux time)
Max: ≤ 100000 Scaling: 10-3
Notes: This IDN is read-only on the K7K.
See Also:
P00081 Homing Torque Above Threshold Filter Value

This IDN allows the setting of a filter value for the Homing Torque Above Threshold.
Name: “Home Torque Filt” Attr: 0x00010001 (16-bit binary)
Min: 0 Value: (homing torque above threshold filter value)
Max: 10000 Scaling: 1
Notes:
See Also: IDN P00089 – Homing Torque Above Threshold
84 Revision 2.15
P00082 Orient Strategy

This IDN defines the orient strategy.
Name: “Orient Strategy” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Orient strategy:
Max: 0x2 Bits 1-0: 00 = orient to the motor mounted encoder marker or absolute zero
if single turn absolute feedback is used.
01 = orient to the spindle mounted encoder marker or absolute zero.
10 = orient to a spindle mounted registration sensor
Notes:
See Also:
P00083 Orient Complete

This IDN is used to indicate the status of the orient procedure.
Name: “Orient Complete” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Orient complete:
Max: 0x1 Bit 0: 0 = orient in progress
1 = orient complete (or inactive)
Notes:
See Also:
P00084 Registration 1 Window Minimum Value

This parameter specifies the minimum value of the registration 1 window.
Name: “Reg 1 Window Min” Attr: 0x00220001 (32-bit signed decimal)
Min: ≥ -231 Value: (registration 1 window minimum value)
Notes:
IDN P00085 – Registration 1 Window Maximum Value
P00085 Registration 1 Window Maximum Value

This parameter specifies the maximum value of the registration 1 window.
Name: “Reg 1 Window Max” Attr: 0x00220001 (32-bit signed decimal)
Min: ≥ -231 Value: (registration 1 window maximum value)
Notes:
IDN S00077– Position Data Scaling Factor
IDN P00084 – Registration 1 Window Minimum Value
85 Revision 2.15
P00086 Registration 2 Window Minimum Value

This parameter specifies the minimum value of the registration 2 window.
Name: “Reg 2 Window Min” Attr: 0x00220001 (32-bit signed decimal)
Min: ≥ -231 Value: (registration 2 window minimum value)
Notes:
IDN P00087 – Registration 2 Window Maximum Value
P00087 Registration 2 Window Maximum Value

This parameter specifies the maximum value of the registration 2 window.
Name: “Reg 2 Window Max” Attr: 0x00220001 (32-bit signed decimal)
Min: ≥ -231 Value: (registration 2 window maximum value)
Notes:
IDN P00086 – Registration 2 Window Minimum Value
P00088 Homing Torque Threshold

If the torque feedback value exceeds the homing torque threshold, the drive sets the value of Homing Torque
Above Threshold (IDN P00089).
Name: “Home Trq Thresh” Attr: 0x0X21XXXX
Min:  0 Value: (homing torque threshold)
Notes:
See Also: IDN P00089 – Homing Torque Above Threshold
IDN S00094– Torque scaling exponent
P00089 Homing Torque Above Threshold

This bit is set when the torque is greater than the Homing Torque Threshold (IDN P00088).
Name: “HomeTorq > Tresh” Attr: 0x00010001 (16-bit binary)
(RTS) 1 – Active
Notes:
See Also: IDN P00088 – Homing Torque Threshold
IDN P00081 – Homing Torque Above Threshold Filter Value
86 Revision 2.15
P00090 Home to Torque Level

This IDN is used to configure the drive for Torque Level homing.
Name: “Home to Torque” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Home to Torque Level bit:
(RTS) 1 – Active
Notes:
See Also: IDN P00088 – Homing Torque Threshold
IDN S00089 – Homing Torque Above Threshold
P00091 Shunt Capacitance

This IDN is used for setting the shunt capacitance value.
Name: “Shunt Cap” Attr: 0x00110001 (16-bit unsigned decimal)
Units: μF Phase 2: RW Phase 3: R Phase 4: R
Min: ≥ 0 Value: (shunt capacitance)
Notes:
See Also:
P00092 Bus Regulator Catalog Number

This IDN is used to set and display the catalog number of the bus regulator.
Name: “Bus Reg Catalog” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: Bus regulator catalog number select:
Max: 0xFFFF Bits 15-0: = Enumeration of bus regulator catalog numbers (product
dependent)
Notes:
See Also:
P00093 Shunt Ws
Shunt short time constant waiting factor. This parameter determines the relationship between the short and
long time constants in the thermal model of the shunt model.
The long time constant waiting factor is: 100% - Ws
Name: “Shunt Ws” Attr: 0x02110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (shunt Ws)
Max: ≤ 10000 Scaling: 10-2
Notes:
See Also:
P00094 Shunt Kl
Shunt resistor long time constant.
Name: “Shunt Kl” Attr: 0x02110001 (16-bit unsigned decimal)
Units: mSec Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 100 Value: (shunt Kl)
Max: ≤ 25500 Scaling: 10-2
Notes:
See Also:
P00095 Shunt Ks
Shunt resistor short time constant.
Name: “Shunt Kl” Attr: 0x01110001 (16-bit unsigned decimal)
Units: mSec Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 2550 Value: (shunt Ks)
Max: ≤ 25500 Scaling: 10-1
Notes:
See Also:
87 Revision 2.15
P00096 Shunt Power

Shunt resistor continuous power rating.
Name: “Shunt Power” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Watts Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 100 Value: (shunt power)
Notes:
See Also:
P00097 Shunt Resistance

Shunt resistor resistance.
Name: “Shunt Res” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Ohms Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 4 Value: (shunt resistance)
Notes:
See Also:
P00098 Bus Regulator ID

This IDN contains the bus regulator ID number.
Name: “Bus Reg ID” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (bus regulator ID)
Max: ≤ 216 –1 0x000 = Custom Shunt
0x001 = Internal Shunt
0x002 = 1394-SR10A – 1400 Watt External, No Fan, for 1394 5 & 10 kW
0x003 = 1394-SR9A – 300 Watt, 4Ώ, External, No Fan
0x004 = 1394-SR9AF – 900 Watt, 4Ώ, External, With Fan
0x005 = 1394-SR36A – 1800 Watt, 4Ώ, External, No Fan
0x006 = 1394-SR36AF – 3600 Watt, 4Ώ, External, With Fan
0x100 = REJ SS4000
0x200 = 2090-SR020-36 – 3600 Watt, 20Ώ, External, With Fan

0x201 = 2090-SR025-09 – 900 Watt, 25Ώ, External, No Fan
0x206 = 2094-ASP2 – 200 Watt, 5Ώ, 230V, Shunt Module for 2094
0x207 = 2094-BSP2 – 200 Watt, 5Ώ, 230/460V, Shunt Module for 2094
0x208 = Common Bus Follower
0x209 = 1336 KB005
0x21A = 1336 KB010
0x21B = 1336 KB050
0x21C = 1336 WB009
0x21D = 1336 WB035
0x21E = 1336 WB110
0x21F = 8720 RPS027
0x210 = 8720 RPS065
0x211 = 8720 RPS190
0x212 = 8720 RPS027B
0x213 = 8720 RPS065B
0x214 = 8720 RPS190B
0xFFFF = None
Notes: The drive should quietly ACK the set request if a value of 0xFFFF is written (this is the “none” selection).
Ultra will accept any value written to this IDN.
See Also:
88 Revision 2.15
P00099 Additional Bus Capacitance

This IDN is used for setting the additional bus capacitance value for a common bus leader.
Name: “Add Bus Cap” Attr: 0x00110001 (16-bit unsigned decimal)
Units: μF Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (additional bus capacitance)
Notes:
See Also:
P00101 Soft Overtravel Fault Action

This IDN is used to define the drive action in response to a soft overtravel fault.
Name: “Soft Ovrtrvl Act” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Soft overtravel fault action:
Max: 0x1 Bit 0: 0 = drive handles fault (default)
1 = status only
Notes: When this is set to “status only” the drive should report the fault in IDN S00129 (bits 0 or 1) and let the controller take
the appropriate action.
P00102 Position Error Fault Action

This IDN is used to define the drive action in response to a position error fault.
Name: “Pos Err Flt Act” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Position error fault action:
1 = status only
Notes: When this is set to “status only” the drive should report the fault in IDN S00011 (bit 11) and let the controller take the
appropriate action.
P00103 Hard Overtravel Fault Action

This IDN is used to define the drive action in response to a hard overtravel fault.
Name: “Hard Ovrtrvl Act” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Hard overtravel fault action:
1 = status only
Notes: When this is set to “status only” the drive should report the fault in IDN S00129 (bits 2 or 3) and let the controller take
P00104 Feedback Noise Fault Action

This IDN is used to define the drive action in response to a feedback noise fault.
Name: “Fdbk Nse Flt Act” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Encoder fault action:
Max: 0x1 Bit 0: 0 = drive handles fault
1 = status only (default)
Notes: When this is set to the default “status only” the drive should report the fault in IDN S00129 (bits 5 or 7) and let the
controller take the appropriate action.
89 Revision 2.15
P00105 Drive Thermal Fault Action

This IDN is used to define the drive action in response to a drive thermal fault.
Name: “Dr Therm Flt Act” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Drive thermal fault action:
1 = status only
appropriate action.
P00106 Motor Thermal Fault Action

This IDN is used to define the drive action in response to a motor thermal fault.
Name: “Mt Therm Flt Act” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Motor thermal fault action:
1 = status only
appropriate action.
P00107 Drive Enable Input Fault Action

This IDN is used to define the drive action in response to a drive enable input fault.
Name: “Enable Swtch Act” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Motor thermal fault action:
1 = status only
appropriate action.
P00108 Three-Phase Loss Fault Action

This IDN is used to define the drive action in response to a Phase Loss fault.
Name: “3-Phase Loss Act” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Phase loss fault action:
1 = status only
appropriate action.
P00110 Drive OK
This IDN is used to indicate when the drive is capable of being enabled (no active faults).
Name: “Drive Ok” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Drive OK:
Max: 0x1 Bit 0: 0 = drive not capable of running
1 = drive OK – no active faults
Notes:
See Also:
90 Revision 2.15
P00115 Shut Down Error Status

This IDN is used to indicate the status of a shut down error flag.
Name: “Shut Down Error” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Shut down error:
Max: 0x1 Bit 0: 0 = no shut down error
1 = shut down error active
Notes:
See Also:
P00116 Warning Error Status

This IDN is used to indicate the status of a warning error flag.
Name: “Warning Err” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Warning error:
Max: 0x1 Bit 0: 0 = no warning error
1 = warning error active
Notes:
See Also:
P00117 Regenerative Power Supply Fault

This IDN indicates the status of the regenerative power supply based on a digital input. This IDN may be
linked to an output contact.
Name: “Regen PS Ok” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Regenerative Power Supply (RPS) Fault:
Max: 0x1 Bit 0: 0 = RPS faulted
1 = RPS not faulted
Notes:
See Also:
P00118 Power Cycle Delay

This IDN expresses the time remaining before a power cycle will be allowed without generating a fault.
Name: “Pwr Cycle Delay” Attr: 0x02110001 (16-bit unsigned decimal)
Units: Seconds Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: Power cycle delay
Max: ≤ 30000 Scaling: 10-2
Notes:
See Also:
P00119 Regen Power Supply Fault Action

This IDN specifies the drive action in response to a regenerative power supply fault.
Name: “Regen Flt Act” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Regen power supply fault action:
1 = status only
Notes: When this is set to “status only” the drive should report the fault in IDN S00011 (bit 109) and let the controller take
91 Revision 2.15
P00120 Drive Thermal Manager Overload Behavior

This IDN specifies the drive behavior when the drive thermal manager detects an overload condition.
Name: “Drv Therm Behav” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Regen power supply fault action:
Max: 0x1 Bit 0: 0 = drive lowers the current limit during overload condition (default)
1 = nol foldback
See Also:
P00121 Hookup Test Procedure

This procedure command initiates the hookup test procedure as determined by the Hookup Test ID (P00122).
Name: “Hookup Test Sel” Attr: 0x00090001 (16-bit binary, procedure command)
Min: Not supported Value: (written by master)
Max: Not supported Scaling: N/A
See Also: IDN P00122 – Hookup Test ID
P00122 Hookup Test ID

This parameter is the hookup test configuration ID that may be displayed as a selectable enumeration.
Name: “Hookup Test ID” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Hookup test ID configuration enumeration:
Max: 0x2 0 = Motor/Feedback Test – drive moves shaft, drive sees feedback
1 = Feedback Test – manually move shaft, drive sees feedback
2 = Marker Test -- manually move shaft, drive sees marker
Notes:
See Also:
P00123 Hookup Test Increment

This parameter specifies the distance that the axis needs to travel to indicate a successful test.
Name: “Hookup Test Inc” Attr: 0x00220001 (32-bit signed decimal)
Min: ≥ 0 Value: (hookup test increment)
Notes:
P00124 Hookup Test Direction

This parameter is used to indicate the direction of movement seen by the hookup test procedure command.
Name: “Hookup Test Dir” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Hookup test ID direction:
Max: 0x1 Bit 0: 0 = CCW (Rotary) – Negative (Linear)
1 = CW (Rotary) – Positive (Linear)
Notes:
See Also:
92 Revision 2.15
P00125 Hookup Test Status

This parameter indicates the status of the hookup test procedure.
Name: “Hookup Status” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Hookup test status:
Max: 0xA Bits 3-0: 0000 = Successful – The hookup test process was successful.
0001 = In Progress – Hookup testing is active.
0010 = Test Aborted – Hookup testing was cancelled by user.
0011 = Test Timeout – Hookup testing timed-out
0100 = Drive Fault – Hookup testing incomplete due to a drive fault.
0101 = Test Increment Fault – Insufficient test increment.
0110 = Feedback Polarity Fault – S1, S2, S3 or A, B, Q switched
0111 = Feedback Signal Fault – Feedback signal missing
1000 = Feedback Communications Fault – RS485 comm. error
1001 = Feedback Configuration Fault – “Smart” device config error
1010 = Motor Wiring Fault – Motor power wiring error
Notes:
See Also:
P00126 Hookup Test Results

This parameter displays the results of the hookup test procedure.
Name: “Hookup Results” Attr: 0x00020001 (32-bit binary)
Min: 0x0 Value: Hookup test results:
Max: 0xFFFFFFFF Bit 0: Power Wiring Error (0 = no error, 1 = error)
Bit 1: Hall Effect Device Wiring Error
Bit 2: Feedback Wiring Error
Bit 3: Feedback Device Communications Wiring Error
Bit 4: Feedback Resolution Error (Configured resolution ≠ Actual)
Bit 5: Motor & Aux Feedback Opposite Polarity Error
Bits 7-6: Reserved
Bits 9-8: Hall Effect “S1” Wiring Status
00 = OK
01 = Switch S1 with S2
10 = Reserved
00 = OK
11 = Reserved
00 = OK
01 = Reserved
Bits 15-14: AQB “A” Wiring Status
00 = OK
01 = Reverse Polarity
10 = Not Present
11 = Switch A with B
Bits 17-16: AQB “B” Wiring Status
00 = OK
10 = Not Present
11 = Switch B with A
Bits 19-18: AQB “Z” Wiring Status
00 = OK
10 = Not Present
11 = Reserved
Bits 22-20: Reserved
Bits 31-23: Commutation Offset Angle (+/- 180O)
Notes:
See Also:
93 Revision 2.15
P00131 Selfsense State

This parameter indicates the state of the selfsense startup.
Name: “SS State” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Selfsense state:
Max: 0x6 Bits 2-0: 000 = IDLE – Selfsense is idle, see selfsense status.
001 = LOCKING – Locking the motor.
010 = LOCK_DELAY – Delaying after motor is locked.
011 = MOVING – Moving the motor.
100 = MOVE_DELAY – Delaying after motor is moved.
101 = UNLOCKING – Unlocking the motor.
110 = WAITING – Waiting for final commutation to occur.
Notes:
See Also:
P00132 Selfsense Status

This parameter indicates the status of the selfsense startup.
Name: “SS Status” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Selfsense status:
Max: 0x6 Bits 2-0: 000 = UNKNOWN – Selfsense has not been executed.
001 = IN_PROGRESS – Selfsense startup is in progress.
010 = SUCCESSFUL – Selfsense startup completed normally.
011 = ABORTED – Selfsense startup cancelled by user.
100 = TIMEOUT – Selfsense startup timed out.
101 = DRIVE_FAULT – Drive faulted during selfsense.
110 = MEASURE_FAULT – Selfsense verification move failed.
Notes:
See Also:
P00133 Selfsense Torque Limit

This parameter specifies the torque used for locking the motor during selfsense startup.
Name: “SS Torque Limit” Attr: 0x01110001 (16-bit unsigned decimal)
Units: % Mtr Rated Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (Selfsense torque limit)
Notes:
P00134 Selfsense Direction

This parameter is used to set the direction of the first selfsense verification move.
Name: “SS Direction” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Selfsense direction:
Max: 0x1 Bit 0: 0 = FORWARD – CW (rotary) or Positive (linear)
1 = REVERSE – CCW (rotary) or Negative (linear)
Notes:
See Also:
P00135 Selfsense Lock Time

This parameter is used for setting the time required to lock the motor during selfsense startup.
Name: “SS Lock Time” Attr: 0x01110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (selfsense lock time)
Max: ≤ 216 –1 Scaling: 10-1
Notes: This parameter is also used for setting the time required to unlock the motor.
See Also:
94 Revision 2.15
P00136 Selfsense Lock Delay

This parameter is used for setting the delay after the motor is locked during selfsense startup.
Name: “SS Lock Delay” Attr: 0x01110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (selfsense lock delay)
Max: ≤ 216 –1 Scaling: 10-1
Notes: This parameter is not used for setting the delay after the motor is unlocked. After the motor is unlocked, selfsense
startup immediately begins to wait for final commutation to occur.
See Also:
P00137 Selfsense Move Time

This parameter is used for setting the time required to move the motor during selfsense startup.
Name: “SS Move Time” Attr: 0x01110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (selfsense move time)
Max: ≤ 216 –1 Scaling: 10-1
Notes:
See Also:
P00138 Selfsense Lock Delay

This parameter is used for setting the delay after the motor is moved during selfsense startup.
Name: “SS Move Delay” Attr: 0x01110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (selfsense move delay)
Max: ≤ 216 –1 Scaling: 10-1
Notes:
See Also:
P00140 Brake Override

This parameter is used to enable manual (motor) brake control.
Name: “Brake Override” Attr: 0x00110001 (16-bit unsigned decimal)
Min: 0x0 Value: (brake override)
Max: 0x1 0 = Brake override is disabled (default)
1 = Brake override is enabled
Notes: This parameter allows the user to manually control the brake with parameter P00028.
See Also:
P00141 Resistive Brake Contact Delay

This parameter is used for setting the time required for the resistive brake module (RBM) contacts to close.
Name: “RBM Delay” Attr: 0x01110001 (16-bit unsigned decimal)
Units: msec Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (resistive brake contact delay)
Max: ≤ 10000 Scaling: 10-1
Notes:
See Also:
95 Revision 2.15
P00142 Enable Input Pulse Rejection Filter

This IDN is used to specify the maximum pulse width that will be rejected by the pulse reject filter for the
digital input configured as an Enable input. This IDN is only applicable to drives that have configurable inputs
and pulse rejection filters.
Name: “Enable In Filter” Attr: 0x03120001 (32-bit unsigned decimal)
Units: usec Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (enable input pulse rejection filter)
Max: ≤ 231 -1 Scaling: 10-3
Notes:
See Also:
P00143 Home Input Pulse Rejection Filter

digital input configured as a Home input. This IDN is only applicable to drives that have configurable inputs
and pulse rejection filters.
Name: “Home Filter” Attr: 0x03120001 (32-bit unsigned decimal)
Max: ≤ 231 -1 Scaling: 10-3
Notes:
See Also:
P00144 Registration 1 Input Pulse Rejection Filter

digital input configured as a Registration 1 input. This IDN is only applicable to drives that have configurable
inputs and pulse rejection filters.
Name: “Reg 1 Filter” Attr: 0x03120001 (32-bit unsigned decimal)
Max: ≤ 231 -1 Scaling: 10-3
Notes:
See Also:
P00145 Registration 2 Input Pulse Rejection Filter

digital input configured as a Registration 2 input. This IDN is only applicable to drives that have configurable
inputs and pulse rejection filters.
Name: “Reg 2 Filter” Attr: 0x03120001 (32-bit unsigned decimal)
Max: ≤ 231 -1 Scaling: 10-3
Notes:
See Also:
P00146 Positive Overtravel Input Pulse Rejection Filter

digital input configured as a Positive Overtravel input. This IDN is only applicable to drives that have
configurable inputs and pulse rejection filters.
Name: “Pos Ovtrl Filter” Attr: 0x03120001 (32-bit unsigned decimal)
Max: ≤ 231 -1 Scaling: 10-3
Notes:
See Also:
96 Revision 2.15
P00147 Negative Overtravel Input Pulse Rejection Filter

digital input configured as a Negative Overtravel input. This IDN is only applicable to drives that have
Name: “Neg Ovtrl Filter” Attr: 0x03120001 (32-bit unsigned decimal)
Max: ≤ 231 -1 Scaling: 10-3
Notes:
See Also:
P00148 Regeneration OK Input Pulse Rejection Filter
digital input configured as a Regeneration OK input. This IDN is only applicable to drives that have
Name: “RegOK Filter” Attr: 0x03120001 (32-bit unsigned decimal)
Max: ≤ 231 -1 Scaling: 10-3
Notes:
See Also:
P00149 - Digital Output Override

P00152 These parameters are used to provide digital output override values for the Digital Outputs. Use IDNs
P00162-P00176 to link these IDNs as the source for the digital outputs.
Name: “DOut Chx Override” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (digital output overrideIDN)
Max: ≤ +215 –1 Scaling: 1
Notes: 0 => Output off, anything else => output on
See Also: IDNs P00162  P00173 Digital Outputs
P00153 - Analog Output Override

P00156 These parameters are used to provide analog output override values for the Analog Outputs. Use IDNs
P00181 , P00183 , P00185 , and P00187 to link an analog override as the source for each respective
analog output.
Name: “AOut Chx Override” Attr: 0x04210001 (16-bit signed decimal)
Min: ≥ -215 Value: (IDN)
Max: ≤ +215 –1 Scaling: 10-4
Notes:
See Also:
P00157 Analog Output 1 Filter Bandwidth

This IDN is the filter bandwidth for Analog Output 1. The analog output value from IDN P00181 is
multiplied by IDN P00182 , filtered using IDN P00157 , and the output to the DAC.
Name: “AnaOut Ch1 BW” Attr: 0x01110001 (16-bit signed decimal)
Min: ≥ 0 Value: (Analog Output Ch 1 filter bandwidth)
Max: ≤ +215 –1 Scaling: 10-1
Notes: IDN P00181 – Analog Output 1
See Also:
97 Revision 2.15

Max: ≤ +215 –1 Scaling: 10-1
See Also:

Max: ≤ +215 –1 Scaling: 10-1
See Also:

Max: ≤ +215 –1 Scaling: 10-1
See Also:
P00161 Digital Output Status Bytes

This IDN is used to indicate the status of all the digital outputs as two bytes.
Name: “Output Image” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: Digital output bytes:
Max: 0xFFFF Byte 0, Bit 0: Digital Output 1 (P00162)
Byte 0, Bit 1: Digital Output 2 (P00163)
Notes: 8720 only supports bits 0-9.
11394 only supports bits 0-4.
Ultra only supports bits 0-4.
See Also: IDNs P00162  P00173 Digital Outputs
98 Revision 2.15
P00162 - Digital Outputs

P00176 These parameters define an IDN to be used as the source for the respective digital outputs on the drive.
Name: “Output xx Source” Attr: 0x00510001 (16-bit unsigned decimal, IDN)
Min: ≥ 0 Value: (IDN)
Notes:
See Also: IDN P00161 – Digital Output Status Bytes
P00177 - Analog Output Filters

P00180 These parameters are used the set the digital filter time constant used on the Analog Outputs.
Name: “AnaOut Chx BW” Attr: 0x00510001 (16-bit unsigned decimal, IDN)
Units: rad/sec Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (analog output filters)
Max: ≤ +215 –1 Scaling: 10 -1
Notes:
See Also:
P00181 Analog Output 1

This parameter is used to define an IDN to be used as the source for the analog output voltage. The
analog output value is multiplied by a scaling factor in IDN P00182 and then output to the DAC.
Name: “AnaOut Ch1 Select” Attr: 0x00510001 (16-bit unsigned decimal, IDN)
Notes: On the K7K, the value is also filtered using IDN P00157 before it is output to the DAC.
See Also: IDN P00182 – Analog Output 1 Scaling Factor
P00182 Analog Output 1 Scaling Factor

This parameter is used to assign a scaling factor for Analog Output 1. The analog output value from
IDN P00181 is multiplied by IDN P00182 , and then output to the DAC.
Name: “AnaOut Ch1 Gain” Attr: 0x01210001 (16-bit signed decimal)
Units: Volt/LSB Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -215 Value: (analog output ch1 scaling factor)
Max: ≤ +215 –1 Scaling: 10 -1
See Also: IDN P00181 – Analog Output 1

99 Revision 2.15

Max: ≤ +215 –1 Scaling: 10 -1


Max: ≤ +215 –1 Scaling: 10 -1


Max: ≤ +215 –1 Scaling: 10 -1
100 Revision 2.15
P00190 Digital Input Status Bytes

This IDN is used to indicate the status of all the digital inputs as two bytes.
Name: “Input Image” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: Digital input bytes:
Max: 0xFFFF Byte 0, Bit 0: Digital Input 1
Byte 0, Bit 1: Digital Input 2
Notes: 8720 only supports bits 0-11.
2094 only supports bits 0-5 for Series A, bits 0-6 for Series B.
Ultra only supports bits 0-7.
See Also:
P00191 Analog Input 1

This parameter is used to indicate the A/D value from Analog Input 1 as a percentage of the Analog
Input’s voltage range.
Name: “AnaInput 1 Value” Attr: 0x01210001 (16-bit signed decimal)
Min: ≥ -215 Value: (analog input 1 value)
Max: ≤ +215 –1 Scaling Factor: IDN P00195
Value Offset: IDN P00193
Notes: The 2099 has a min/max of +/-100.000, uses a scaling factor of 10-3, does not use an offset, and is a 32-bit signed
decimal (0x00220001).
See Also: IDN P00195 – Analog Velocity Scale Factor
P00192 Analog Input 2

This parameter is used to indicate the A/D value from Analog Input 2 as a percentage of the Analog
Input’s voltage range.
Name: “AnaInput 2 Value”Attr: 0x01210001 (16-bit signed decimal)
Value Offset: IDN P00194
Notes: The 2099 has a min/max of +/-100.000, uses a scaling factor of 10-3, does not use an offset, and is a 32-bit signed
decimal (0x00220001)
See Also: IDN P00196 – Manual Velocity Scale Factor
101 Revision 2.15
P00193 Analog Input 1 Offset

This parameter is used to set the offset for the A/D value from Analog Input 1.
Name: “AnaInput 1 Ofset” Attr: 0x00210001 (16-bit signed decimal)
Min: ≥ -215 Value: (analog input 1 offset)
Notes:
See Also: IDN P00195 – Analog Velocity Scale Factor
IDN P00191 – Analog Input 1
P00194 Analog Input 2 Offset

This parameter is used to set the offset for the A/D value from Analog Input 2.
Name: “AnaInput 2 Ofset” Attr: 0x00210001 (16-bit signed decimal)
Min: ≥ -215 Value: (analog input 2 offset)
Notes:
See Also: IDN P00196 – Manual Velocity Scale Factor
IDN P00192 – Analog Input 2
P00195 Analog Velocity Scale Factor

This parameter is used to assign a scale factor for an external velocity reference.
Name: “Analog Vel Scale” Attr: 0x01210001 (16-bit signed decimal)
Units: RPM/V Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -215 Value: (analog velocity scale factor)
Max: ≤ +215 –1 Scaling: 10 -1
Notes:
See Also: IDN P00191 – Analog Input 1
P00196 Manual Velocity Scale Factor

This parameter is used to assign a scale factor for an external velocity reference.
Name: “Manual Vel Scale” Attr: 0x01210001 (16-bit signed decimal)
Units: RPM/V Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -215 Value: (manual velocity scale factor)
Max: ≤ +215 –1 Scaling: 10 -1
Notes:
P00197 SNS60 Mode Select

This parameter is used to select the mode for the SNS60 feedback device.
Name: “SNS60 Operation” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: SNS60 mode select:
Max: 0x1 Bit 0: 0 = Index Mode (default)
1 = Communication Mode
Notes:
See Also:
102 Revision 2.15
P00198 Analog Torque Scale Factor

This parameter is used to assign a scale factor for an external torque reference.
Name: “Analog Trq Scale” Attr: 0x01210001 (16-bit signed decimal)
Units: %/V Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (analog torque scale factor)
Max: ≤ 10000 Scaling: 10 -1
Notes:
P00199 EnDat Module Status

The EnDat module status IDN returns the firmware revision in the EnDat converter module.
Name: “EnDat Mod Attr: 0x01210001 (16-bit signed decimal)
Status”
Units: Phase 2: R Phase 3: R Phase 4: R
Min: ≥ 0 Value:
Max: ≤ +216 –1 Factory Image Revision = 00.10
Application Image Revision = 01.10
Test Engineering Revision = 99.98
Scaling: 10 -2
Notes:
See Also:
P00200 EnDat Error/Warning

This IDN queries the encoder and returns any errors or warnings in the encoder. The errors and
warnings are returned as a 32-bit value. The upper 16-bits are errors and the lower 16-bits are
warnings.
Name: “EnDat Error/Warn” Attr: 0x01210001 (16-bit signed decimal)
Units: Phase 2: R Phase 3: R Phase 4: R
Min: 0 Value: The following is a list of warnings and errors that are supported in
Max: 0xFFFFFFFF Heidenhain encoders. It should be noted that not all encoders support all the
following warnings and errors.
Notes:
See Also:
103 Revision 2.15
P00201 Test Mode Select

This parameter is used to select the internal test modes.
Name: “Test Mode Select” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: Test mode select:
Max: ≤ 215 -1 Test mode number: 0 = Exit Step & Bandwidth Test Modes (53 – 56)
11 = Manufacturing Test mode
15 = Encoder Program
22 = Engineering Test mode
33 = Erase NV Memory
35 = NV Block Erase Override
44 = Operator Interface Mode (DPI)
53 = Auto Setup Current Loop Step Test
54 = Auto Setup Velocity Loop Step Test
55 = Auto Setup Current Loop Bandwidth Test
56 = Auto Setup Velocity Loop Bandwidth Test
66 = Debugging Test Mode
77 = Simulation Test Mode
88 = Demo Mode
90 = SERCOS Tx: “Zero Bit Stream Mode”
91 = SERCOS Tx: “Continuous Light Mode”
100 = Watchdog Override Mode
1000 - 1255 = Node Address Override (Node Address = Test Mode - 1000)
Notes: Once a value has been written to the Test Mode Select, the respective test mode stays active until control power is
cycled. Writing a value of “0” will ONLY clear out the Current & Velocity Loop Test Modes. Writing an invalid test mode
number will block any further writes to the Test Mode Select until control power is cycled.
See Also:
P00202 Feedback 1 Command

This parameter is used for programming the motor feedback device on channel 1 of the drive.
Name: “Fdbk 1 Cmd” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Feedback 1 command:
Max: 0x4 Bits 2-0: 000 = Idle
001 = Process Fail
010 = Keyway Null
011 = Commutation Align
100 = Write Memory
Notes:
See Also:
P00203 Test Control Word

This parameter controls the internal testing of the product. This word determines what to do with the Test
Data (P00204).
Name: “Test Control” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: Test control word:
Max: ≤ 215 –1 Bits 7-0:
Bits 15-8:
Notes:
See Also: IDN P00204 – Test Data
P00204 Test Data

This parameter is the data used by the Test Control Word (P00203).
Name: “Test Data” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: Test data: (written by master)
Max: ≤ 215 –1
Notes:
See Also: IDN P00203 – Test Control Word
104 Revision 2.15
P00206 Flash Update Command

This procedure command is used to initiate the sending of flash firmware upgrades via SERCOS.
Name: “Flash Update” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: Flash update command:
Max: 0xFFFF
See Also: IDN P00207 – Flash Update Buffer
P00207 Flash Update Buffer

This IDN is a 128 byte buffer for sending flash firmware upgrades via SERCOS.
Name: “Flash Buffer” Attr: 0x00440001 (variable length 8-bit data strings, character)
Min: ≥ 0 Value: (from master)
Max: ≤ 255 - 128 Byte Array -
Notes:
See Also: IDN P00206 – Flash Update Command
P00208 Flash Axis Select

This parameter is used to select the axis modules that should be flashed in the group flashing.
Name: “Axes to Flash” Attr: 0x00010001 (16-bit binary)
Min: 0x00 Value: Flash axis select:
Max: 0xFF Bit 0 = Axis 1
Bit 1 = Axis 2
Bit 2 = Axis 3
Bit 3 = Axis 4
Bit 4 = Axis 5
Bit 5 = Axis 6
Bit 6 = Axis 7
Bit 7 = Axis 8
Notes:
See Also:
P00212 DPI Baud Rate

This parameter is used for setting the baud rate of the DPI device(s).
Name: “DPI Baud Rate” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: DPI baud rate:
Max: 0x1 Bit 0: 0 = 125K Baud
1 = 500K Baud
Notes:
See Also:
P00213 SCANport Analog Input 1 Value

This parameter is used to view the analog value of the SCANport device selected in IDN P00211. The
value can be modified by the scaling factor stored in P00213 .
Name: “SCANp An1Value” Attr: 0x00210001 (16-bit signed decimal)
Units: Phase 2: RO Phase 3: RO Phase 4: RO
Notes:
See Also:
105 Revision 2.15
P00215 SCANport Analog Output

This parameter is used to view the analog value that is sent to all SCANport devices.
Name: “Analog Out Parm” Attr: 0x00210001 (16-bit signed decimal)
Units: RPM/V Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -215 Value: (SCANport analog output)
Notes:
See Also:
P00216 SCANport Logic Mask

This parameter is used to set the SCANport logic mask bits. If a bit is set (1), that function is enabled.
If a bit is clear (0), that bit is disabled (not active).
Name: “Logic Mask” Attr: 0x00010001 (16-bit binary)
Min: 0x00 Value: SCANport Logic Mask:
Max: 0x7F Bit 0 = I/O
Bit 1 = Port Control 1
Notes:
See Also:
P00217 SCANport Logic Command

This parameter is used to set the SCANport logic operation. If a bit is set (1), that function is enabled.
If a bit is clear (0), that bit is disabled (not active).
Name: “Logic Command” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: SCANport Logic Command:
Max: 0xFFFF Bit 0 = Auto/Manual Select, 1 = manual
Bit 1 = Start at manual reference
Bit 2 = Stop
Bit 3 = Jog at manual reference
Bit 4 = Configuration Set Select Bit 2
Bit 7 = Orient request
Bit 8 = Clear Fault
Bit 9 – 15 = Reserved
Notes:
See Also:
106 Revision 2.15
P00218 SCANport Type 2 Logic Status

This parameter is used to view the SCANport Type 2 logic operation. If a bit is set (1), that function is
enabled. If a bit is clear (0), that bit is disabled (not active).
Name: “Logic Status 2” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: SCANport Logic Status:
Max: 0xFFFF Bit 0 = Enabled
Bit 1 = Auto Reference Enabled
Bit 2 = Rotate Direction
Bit 3 = Drive OK
Bit 4 = Zero Speed
Bit 5 = At Speed
Bit 6 = Orient Complete
Bit 7 = Home Complete
Bit 8 = Brake Control
Bit 9 = In Current Limit
Bit 10 = High Winding
Bit 11 = Low Winding
Bit 12 = Faulted
Bit 13 = Warning
Bit 14 = Reserved
Bit 15 = Manual Mode
Notes:
See Also:
P00219 SCANport Type 1 Logic Status

This parameter is used to view the SCANport Type 1 logic operation. If a bit is set (1), that function is
enabled. If a bit is clear (0), that bit is disabled (not active).
Name: “Logic Status 1” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: SCANport Logic Status:
Max: 0xFFFF Bit 0 = Enabled
Bit 1 = Auto Reference Enable
Bit 2 = Command Direction
Bit 3 = Rotate Direction
Bit 4 = Local 0
Bit 5 = Local 1
Bit 6 = Local 2
Bit 7 = Faulted
Bit 8 = Warning
Bit 9 = Flash Mode
Notes:
See Also:
P00225 SCANport Data In Channel A1

This parameter is used to view the SCANport to drive image that is received from some device on
SCANport. This image may be referred to as the SCANport I/O image or a datalink in some manuals.
Name: “SCAN Data In A1” Attr: 0x00210001 (16-bit signed decimal)
Min: ≥ -215 Value: (SCANport data in A1)
Notes:
See Also:
107 Revision 2.15
P00226 SCANport Data In Channel A2

Name: “SCAN Data In A2” Attr: 0x00210001 (16-bit signed decimal)
Min: ≥ -215 Value: (SCANport data in A2)
Notes:
See Also:
P00227 SCANport Data In Channel B1

Name: “SCAN Data In B1” Attr: 0x00210001 (16-bit signed decimal)
Min: ≥ -215 Value: (SCANport data in B1)
Notes:
See Also:
P00228 SCANport Data In Channel B2

Name: “SCAN Data In B2” Attr: 0x00210001 (16-bit signed decimal)
Min: ≥ -215 Value: (SCANport data in B2)
Notes:
See Also:
P00229 SCANport Data In Channel C1

Name: “SCAN Data In C1” Attr: 0x00210001 (16-bit signed decimal)
Min: ≥ -215 Value: (SCANport data in C1)
Notes:
See Also:
P00230 SCANport Data In Channel C2

Name: “SCAN Data In C2” Attr: 0x00210001 (16-bit signed decimal)
Min: ≥ -215 Value: (SCANport data in C2)
Notes:
See Also:
108 Revision 2.15
P00231 SCANport Data In Channel D1

Name: “SCAN Data In D1” Attr: 0x00210001 (16-bit signed decimal)
Min: ≥ -215 Value: (SCANport data in D1)
Notes:
See Also:
P00232 SCANport Data In Channel D2

Name: “SCAN Data In D2” Attr: 0x00210001 (16-bit signed decimal)
Min: ≥ -215 Value: (SCANport data in D2)
Notes:
See Also:
P00233 SCANport Data Out Channel A1

This parameter is used to view the SCANport to drive image that is sent from some device on
Name: “SCAN Data Out A1” Attr: 0x00510001 (16-bit unsigned decimal, IDN)
Notes:
See Also:
P00234 SCANport Data Out Channel A2

Name: “SCAN Data Out A2” Attr: 0x00510001 (16-bit unsigned decimal, IDN)
Notes:
See Also:
P00235 SCANport Data Out Channel B1

Name: “SCAN Data Out B1” Attr: 0x00510001 (16-bit unsigned decimal, IDN)
Notes:
See Also:
109 Revision 2.15
P00236 SCANport Data Out Channel B2

Name: “SCAN Data Out B2” Attr: 0x00510001 (16-bit unsigned decimal, IDN)
Notes:
See Also:
P00237 SCANport Data Out Channel C1

Name: “SCAN Data Out C1” Attr: 0x00510001 (16-bit unsigned decimal, IDN)
Notes:
See Also:
P00238 SCANport Data Out Channel C2

Name: “SCAN Data Out C2” Attr: 0x00510001 (16-bit unsigned decimal, IDN)
Notes:
See Also:
P00239 SCANport Data Out Channel D1

Name: “SCAN Data Out D1” Attr: 0x00510001 (16-bit unsigned decimal, IDN)
Notes:
See Also:
P00240 SCANport Data Out Channel D2

Name: “SCAN Data Out D2” Attr: 0x00510001 (16-bit unsigned decimal, IDN)
Notes:
See Also:
110 Revision 2.15
P00241 Encoder Memory Map Revision

This IDN contains the revision of the intelligent feedback device’s memory map. A revision is required if the
memory map parameter definition is modified.
Name: “Enc Mem Map Rev” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (encoder memory map revision)
Notes:
See Also:
P00242 Motor Parameter Revision

This IDN contains the revision of the motor parameters. This revision is compared to that in the drive to
determine which parameter image is used.
Name: “Motor Parm Rev” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (motor parameter revision)
Notes:
See Also:
P00243 – Motor Catalog Number Bytes 0 - 15

P00258 These IDNs each contain one Byte of the 16-Byte motor catalog number. P00243=Byte0 -> P00258=Byte 15
Name: “Mtr Cat. Byte x” Attr: 0x00410001 (16-bit character)
Min: ≥ 0 (each) Value: (motor catalog number byte)
Max: ≤ 255 (each) Scaling: 1
Notes:
See Also:
P00259 Motor Design Identifier

This IDN contains the motor ID number. Each motor type has a number associated with it so that the
controller may configure/confirm which motor is connected to the drive.
Name: “Motor ID” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (motor ID)
Notes: This parameter is used in the Logix “keying” procedure. If the motor was auto-detected at power-on and the
controller tries to write an ID that is different from the auto-detected ID, the drive should appropriately NAK the request.
See Also:
P00260 – Motor Serial/Sales Order Number Bytes 0 - 9

P00269 These IDNs each contain one Byte of the 10-Byte motor serial number, which contains info about the motor or
the sales order number. P00260=Byte 0 -> P00269=Byte 9
Name: “Mtr S/N Byte x” Attr: 0x00410001 (16-bit character)
Min: ≥ 0 (each) Value: (motor serial number byte)
Max: ≤ 255 (each) Scaling: 1
Notes:
See Also:
111 Revision 2.15
P00270 Motor Sales Order Unit Identification – Lot Letter

This IDN contains an ACSII word corresponding to a lot letter of a motor sales number or part number.
Example: T = 0x54
Name: “Mtr Lot Number” Attr: 0x00410001 (16-bit character)
Min: ≥ 0 Value: (motor lot letter)
Notes:
See Also:
P00271 Motor Sales Order Unit Identification – Lot Number Byte 0

This IDN contains Byte 0 of a number corresponding to a motor sales number or part number.
Name: “Mtr Lot Number 0” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (motor lot number byte 0)
Notes:
See Also:
P00272 Motor Sales Order Unit Identification – Lot Number Byte 1

This IDN contains Byte 1 of a number corresponding to a motor sales number or part number.
Name: “Mtr Lot Number 1” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (motor lot number byte 1)
Notes:
See Also:
P00273 Motor Date of Manufacture – Month

This IDN contains a Byte representing the month that the motor was manufactured.
Example: October = 0x0A
Name: “Mtr Mfg Month” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 1 Value: (motor mfg month)
See Also:
P00274 Motor Date of Manufacture – Day

This IDN contains the day that the motor was manufactured.
Name: “Mtr Mfg Day” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 1 Value: (motor mfg day)
See Also:
P00275 Motor Date of Manufacture – Year

This IDN contains the year that the motor was manufactured.
Example: 1998 = 0x07CF
Name: “Mtr Mfg Year” Attr: 0x00110001 (16-bit unsigned decimal)
Min: ≥ 1990 Value: (motor mfg year)
See Also:
112 Revision 2.15
P00276 Motor Commutation Offset

This IDN is the synchronous motor commutation offset. This is set to zero for asynchronous motors. The two
bytes contain absolute position at the defined commutation vector U+, V+, W-. U leads V leads W for
clockwise rotation from shaft end. The units are electrical radians from the defined null position.
Name: “Mtr Commu Offset” Attr: 0x03110001 (16-bit unsigned decimal)
Units: rad Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor commutation offset)
Max: ≤ 65535 Scaling: 10-3
See Also:
P00277 A-B Motor Select

This IDN is used to select the specific A-B motor catalog number.
Name: “Motor Select” Attr: 0x00010001 (16-bit binary)
Min: 0x0000 Value: A-B motor select:
Max: 0xFFFF Bits 15-0: = Enumeration of motor catalog numbers (product dependent)
See Also:
P00278 A-B Motor Type

This IDN defines the specific A-B motor type.
Name: “Motor Type” Attr: 0x00010001 (16-bit binary)
Min: 0x0 Value: A-B motor type:
Max: 0x4 Bits 3-0: 000 = Rotary PM brushless
001 = Rotary induction
010 = Rotary induction dual winding
011 = Linear PM brushless
100 = Linear PM brushless AC ironless
See Also:
P00279 Motor Pole Count/Linear Motor Pole Pitch

This IDN contains the number of poles for a rotary motor or the pole pitch for a linear motor.
Name: “Mtr Pole Count” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Rotary: Poles Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Linear: mm
Min: ≥ 0 Value: (motor pole count)
See Also:
P00280 Motor Rated Acceleration (TC/JM)

This IDN is defined as the continuous force/torque (in N/Nm) at rated (base) speed divided by the rotor
mass/inertia (in Kg/Kgm 2).
Name: “Mtr Acceleration” Attr: 0x00120001 (32-bit unsigned decimal)
Min: ≥ 0 Value: (motor rated acceleration)
Max: ≤ +232 -1 Scaling: 1
See Also:
113 Revision 2.15
P00281 Motor Base Speed

This IDN defines the base speed at which the motor continuous power and torque are rated.
Name: “Mtr Base Speed” Attr: 0x00110001 (16-bit unsigned decimal)
Units: RPM Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor base speed)
See Also:
P00282 Motor Rated Continuous Power

This IDN defines the motor continuous power rated at the base speed.
Name: “Mtr Rated Power” Attr: 0x01110001 (16-bit unsigned decimal)
Units: kW Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor rated power)
Max: ≤ 65535 Scaling: 10-1
See Also:
P00283 Motor Maximum Voltage (VM)

This IDN defines the maximum nominal DC bus voltage required in the constant power region. Set to zero for
synchronous motors.
Name: “Mtr Max Volts” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Volts (DC) Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor maximum voltage)
See Also:
P00284 Motor Rated Voltage (VR)

This IDN is the nominal DC bus voltage required to achieve rated speed/ torque /force for synchronous motors
or the nominal DC bus voltage required to achieve base speed / torque for asynchronous motors.
Name: “Mtr Rated Volts” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Volts (DC) Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor rated volts)
See Also:
P00285 Motor Rated Continuous Torque/Force (TC or FC)

This IDN defines the motor rated continuous torque/force at 400C.
Name: “Mtr Rated Torque” Attr: 0x02110001 (16-bit unsigned decimal)
Units: Rotary: N·m Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Linear: N
Min: ≥ 0 Value: (motor rated torque)
Max: ≤ 65535 Scaling: 10-2
See Also:
114 Revision 2.15
P00286 Motor Back EMF Constant (KE)

This IDN is the synchronous motor back EMF phase-phase constant at 250C. This is set to zero for
asynchronous motors.
Name: “Mtr Back EMF” Attr: 0x02110001 (16-bit unsigned decimal)
Units: Rotary: :VRMS /krpm Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Linear: VRMS /(m/s)
Min: ≥ 0 Value: (motor back EMF)
Max: ≤ 65535 Scaling: 10-2
See Also:
P00287 Motor Per Unit Stator Resistance (R1/Z)

This IDN defines the per unit stator phase-neutral resistance R1 at 250C. Z is the per unit resistance VRMS/IR.
Name: “R1-Motor Stator” Attr: 0x03110001 (16-bit unsigned decimal)
Units: % Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (R1)
Max: ≤ 216 -1 Scaling: 10-3
See Also:
P00288 Motor Per Unit Rotor Resistance (R2/Z)

This IDN defines the per unit rotor resistance phase-neutral as referred to stator at 250C. This is set to zero
for synchronous motors.
Name: “R2-Motor Rotor” Attr: 0x03110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (R2)
Max: ≤ 216 -1 Scaling: 10-3
See Also:
P00289 Motor Per Unit Stator Leakage Reactance (X1/Z)

This IDN defines the per unit motor stator leakage reactance at base frequency for asynchronous motors
(phase-neutral).
Name: “X1-Stat/Self/Lk” Attr: 0x03110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (X1)
Max: ≤ 216 -1 Scaling: 10-3
See Also:
P00290 Motor Per Unit Stator Magnetizing Reactance (XM/Z)

This IDN defines the per unit asynchronous motor stator magnetizing reactance at base frequency (phase-
neutral). This is also the per unit synchronous motor stator magnetizing reactance at 1000 rpm (phase-
neutral).
Name: “XM-Stator Mutual” Attr: 0x02110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (XM)
Max: ≤ 10000 Scaling: 10-2
See Also:
115 Revision 2.15
P00291 Motor Per Unit Rotor Leakage Reactance (X2/Z)

This IDN defines the per unit asynchronous motor rotor leakage reactance at base frequency (phase-neutral).
This is set to zero for synchronous motors.
Name: “X2-Rotor Leakage” Attr: 0x03110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (X2)
Max: ≤ 216 -1 Scaling: 10-3
See Also:
P00292 Motor Magnetizing Current Ratio (IM/IC)

This IDN defines the asynchronous motor magnetizing current as a ratio to the continuous current. This is set
to zero for synchronous motors.
Name: “Mtr Mag Current” Attr: 0x02110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (motor magnetizing current)
Max: ≤ 10000 Scaling: 10-2
See Also:
P00293 Motor Slip Frequency

This IDN defines the asynchronous motor slip frequency. This is set to zero for synchronous motors.
Name: “Mtr Slip Freq” Attr: 0x02110001 (16-bit unsigned decimal)
Units: rad/sec Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor slip frequency)
Max: ≤ 10000 Scaling: 10-2
See Also:
P00294 Motor Damping Coefficient (TD)

This IDN defines the motor damping coefficient.
Name: “Mtr Damping Attr: 0x03110001 (16-bit unsigned decimal)
Coef”
Units: N∙m / (rad/s) Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor damping coefficient)
Max: ≤ 216 -1 Scaling: 10-3
See Also:
P00295 Motor Magnet Temperature Coefficient (KM)

This IDN defines the motor magnet temperature coefficient.
Name: “Mtr Mag Tmp Coef” Attr: 0x04110001 (16-bit unsigned decimal)
Units: % / C° Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor magnet temperature coefficient)
Max: ≤ 216 -1 Scaling: 10-4
See Also:
P00296 Motor Thermal Resistance [Winding-Ambient] (Rthwa)

This IDN defines the motor applied power thermal resistance (winding-ambient).
Name: “Mtr Thermal Res” Attr: 0x03110001 (16-bit unsigned decimal)
Units: C° / Watt Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor thermal resistance)
Max: ≤ 216 -1 Scaling: 10-3
See Also:
116 Revision 2.15
P00297 Motor Thermal Capacitance [Winding-Ambient] (Cthwa)

This IDN defines the motor thermal capacitance (winding-ambient).
Name: “Mtr Thermal Cap” Attr: 0x03110001 (16-bit unsigned decimal)
Units: J / C° Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor thermal capacitance)
Max: ≤ 216 -1 Scaling: 10-3
See Also:
P00298 Motor Thermal Time Constant Ratio (KTC)

This IDN is defined as the winding to ambient ratio of the applied power thermal time constant to the cool
down thermal time constant.
Name: “Mtr Therm Tm Con” Attr: 0x03110001 (16-bit unsigned decimal)
Min: ≥ 0 Value: (motor thermal time constant)
Max: ≤ 216 -1 Scaling: 10-3
See Also:
P00299 Motor Data File

This IDN is a 256 byte array of motor data. This is used to download motor data to the drive from the
controller.
Name: “Mtr Data File” Attr: 0x00440001 (variable length 8-bit data strings, character)
Min: ≥ 0 Value: (motor data file)
Max: ≤ 255 - 256 byte data array -
Notes:
See Also:
P00300 Motor Multi-Turn Feedback Resolution

This resolution parameter contains the rotary multi-turn feedback counts of the motor feedback.
Name: “Mtr MT Fdbk Res“ Attr: 0x00120001 (32-bit unsigned decimal)
Units: counts Phase 2: RW Phase 3: RW Phase 4: RW
Min:  0 Value: (resolution of motor multi-turn feedback)
Max: ≤ 32,000 Scaling: 1
Notes:
See Also: IDN P00301 – Auxiliary multi-turn feedback resolution
P00301 Auxiliary Multi-Turn Feedback Resolution

The resolution parameter contains the rotary multi-turn feedback counts of the auxiliary feedback.
Name: “Aux MT Fdbk Res“ Attr: 0x00120001 (32-bit unsigned decimal)
Units: counts Phase 2: RW Phase 3: RW Phase 4: RW
Min:  0 Value: (resolution of auxiliary multi-turn feedback)
Max: ≤ 32,000 Scaling: 1
Notes:
See Also: IDN P00300 – Motor multi-turn feedback resolution
P00302 Encoder Temperature

This parameter indicates the temperature of the encoder feedback device.
Name: “Encoder Temp” Attr: 0x01210001 (16-bit signed decimal)
Units: Deg C Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -1000 Value: (encoder temperature)
Notes:
See Also:
117 Revision 2.15
P00311- Configuration Set 1

P00330 These IDNs are reserved for mapping the parameters of Configuration Set 1.
Notes:
See Also:

Notes:
See Also:

Notes:
See Also:

Notes:
See Also:

Notes:
See Also:

Notes:
See Also:

Notes: IDNs P00431-P00436 are defined differently for the K6K, as load observer attributes
See Also:
P00431 Load Observer Configuration

This parameter is used to select the mode for the load observer.
Name: “Load Obs Config” Attr: 0x00110001 (16-bit unsigned decimal)
Min: 0 Value: Load Observer Configuration:
Max: 4 Bits 3-0: 0 = Disabled (default)
1 = Load Observer Only
2 = Load Observer With Velocity Estimate
3 = Velocity Estimate Only
4 = Acceleration Feedback
Notes:
See Also:
118 Revision 2.15
P00432 Load Observer Bandwidth

This parameter is the load observer bandwidth value.
Name: “Load Obs Bw” Attr: 0x00110001 (16-bit unsigned decimal)
Min: 0 Value: Load Observer Bandwidth:
Notes:
See Also:
P00433 Load Observer Integral Bandwidth

This parameter is the load observer integral bandwidth value.
Name: “Load Obs Int Bw” Attr: 0x00110001 (16-bit unsigned decimal)
Min: 0 Value: Load Observer Integral Bandwidth:
Notes:
See Also:
P00434 Load Observer Feedback Gain

This parameter is the load observer feedback gain value.
Name: “Load Obs Kof” Attr: 0x02110001 (16-bit unsigned decimal)
Units: Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0 Value: Load Observer Feedback Gai:
Max: 200 Scaling: 10-2
Notes:
See Also:
P00435 Load Observer Acceleration Estimate

This parameter is the load observer acceleration estimate.
Name: “LOB Accel Est” Attr: 0x0X22XXXX (32-bit signed decimal)
Min: ≥ -231 Value: (acceleration feedback)
Notes:
P00436 Load Observer Torque Estimate

This parameter is the load observer torque estimate.
Name: “LOB Torq Est” Attr: 0x0X21XXXX
Min:  -215 Value: load observer torque estimate
Notes:
119 Revision 2.15
P00451 Axis Login Map

This parameter indicates the axis modules which are logged onto the backplane.
Name: “Axis Login Map” Attr: 0x00010001 (16-bit binary)
Min: ≥ 0 Value: (axis login map)
Max: ≤ 0xFFFF Bit 0 = IAM/Axis 1
Bit 1 = Axis 2
Bit 2 = Axis 3
Bit 3 = Axis 4
Bit 4 = Axis 5
Bit 5 = Axis 6
Bit 6 = Axis 7
Bit 7 = Axis 8
Bit 8 = Axis 9
Bit 9 = Axis 10
Bit 10 = Axis 11
Bit 11 = Axis 12
Bit 12 = Axis 13
Bit 13 = Axis 14
Bit 14 = Axis 15
Bit 15 = Axis 16
Notes:
See Also:
P00452 Demo Mode Select

This parameter is used to enable demo mode.
Name: “Demo Mode Attr: 0x00110001 (16-bit unsigned decimal)
Select”
Min: ≥ 0 Value: (demo mode select:)
Max: ≤ 1 0 = Normal Mode
1 = Demo Mode
Notes:
See Also:
P00453 Power Cycles

The number of times control power has been cycled.
Name: “Power Cycles“ Attr: 0x00120001 (32-bit unsigned decimal)
Min:  0 Value: (power cycles)
Notes:
See Also:
P00454 Power Up Time

The total time the drive has had control power..
Name: “Power Up Time” Attr: 0x02120001 (32-bit unsigned decimal)
Min:  0 Value: (power up time)
Max: ≤ 232 -1 Scaling: 10-2
Notes:
See Also:
P00455 Total Run Time

The total time the drive has been enabled.
Name: “Total Run Time“ Attr: 0x02120001 (32-bit unsigned decimal)
Min:  0 Value: (total run time)
Max: ≤ 232 -1 Scaling: 10-2
Notes:
120 Revision 2.15
See Also:
P00456 Line Loss Gain

The line loss gain is used to determine the line loss level for the line loss detection algorithm.
Name: “Line Loss Gain“ Attr: 0x01110001 (16-bit unsigned decimal)
Min:  1 Value: (line loss gain)
Notes:
See Also:
P00458 Safety Configuration Index Pointer

The safety configuration index pointer and safety configuration register are used to provide independent
read/write access to all advanced safety configuration attributes.
Name: “Safety Config Attr: 0x01110001 (16-bit unsigned decimal)
Index Ptr“
Min: 0x0 Value: Pointer location into safety config register (see Appendix)
Max: 0x33 Scaling: 1
Notes: Appendix C lists all of the safety configuration attributes.
See Also: IDN P00459 – Safety Configuration Register Value
P00459 Safety Configuration Register Value

The safety configuration index pointer and safety configuration register are used to provide independent
read/write access to all advanced safety configuration attributes.
Name: “Safety Config Attr: 0x00220001 (32-bit signed decimal)
Value“
Min: Not Supported Value: Variable depending on P00458 (see Appendix C)
Max: Not Supported Scaling: Variable depending on P00458 (see Appendix C)
Notes: Appendix C lists all of the safety configuration attributes.
See Also: IDN P00458 – Safety Configuration Index Pointer
121 Revision 2.15
P00460 Safety Configuration Fault Code

This word represents the specific fault reason for an invalid advanced safety configuration. A value other than
0 indicates the reason for a configuration fault.
Name: “Safety Config Attr: 0x01110001 (16-bit unsigned decimal)
Fault Code“
Min: Not Supported Value: Fault Code
Max: Not Supported 0 No Fault
2 SM_Mode value not legal based on SM_Sys_Config
5 DC_Type value not legal based on SM_Sys_Config
7 SS_Monitor_Delay value not legal based on SS_Stop_Type
9 SS_Decel_Reference_Speed value not legal based on FB1_Resolution
11 SS_Standstill_Speed value not legal based on SM_Sys_Config
13 SLS_Monitor_Delay value not legal based on SM_Mode
14 SLS_Speed_Limit value illegal based on SM_Mode or FB1_Resolution
15 SLS_Low_Limit value not legal based on SM_Mode
17 SMS_Speed_Limit value not legal based on FB1_Resolution
22 SDM_Type value not legal based on SM_Mode
24 LM_Enable value not legal based on SM_Mode
28 FB2_Resolution value not legal based on Feedback_Mode
30 FB2_Direction_Polarity value not legal based on Feedback_Mode
33 Dual_Feedback_Ratio value not legal based on Feedback_Mode
34 Dual_FB_Position_Tolerance value not legal based on Feedback_Mode
35 Dual_FB_Speed_Tolerance value not legal based on Feedback_Mode
38 SS_Input_Type value not legal based on SM_Mode
39 SLS_Input_Type value not legal based on SM_Mode
40 DM_Input_Type value not legal based on SM_Sys_Config and SM_Mode
41 ESM_Input_Type value not legal based on SM_Mode
42 LM_Input_Type value not legal based on LM_Enable and SM_Mode
1001 Illegal SM_Sys_Config value
1003 Illegal Reset_Type value
1004 Illegal Reset_Qualification value
1006 Illegal SS_Stop_Type value
1010 Illegal SS_Deceleration_Tolerance value
1025 Illegal Feedback_Mode value
1026 Illegal Encoder1_Type value
1027 Illegal FB1_Resolution value
1031 Illegal Encoder_1_Voltage value
1032 Illegal Encoder_2_Voltage value
1036 Illegal Over_Speed_Reaction_Time value
1088 Illegal MP_Out_Mode value
Notes:
See Also:
122 Revision 2.15
P00461 Drive Safety Status

This parameter displays the drive safety status.
Name: “Safety Status” Attr: 0x00020001 (32-bit binary)
Min: 0x0 Value: Safety status:
Max: 0xFFFFFFFF Bit 0: Guard_StatusOK †
Bit 1: Guard_ConfigLocked
Bit 2: Guard_GateDriveOutputStatus †
Bit 3: Guard_StopInput †
Bit 4: Guard_StopRequest †
Bit 5: Guard_StopInProgress
Bit 6: Guard_StopDecel
Bit 7: Guard_StopStandstill
Bit 8: Guard_StopOutput †
Bit 9: Guard_LimitedSpeedInput
Bit 10: Guard_LimitedSpeedRequest
Bit 11: Guard_LimitedSpeedMonitorInProgress
Bit 12: Guard_LimitedSpeedOutput
Bit 13: Guard_MaxSpeedMonitorInProgress
Bit 14: Guard_MaxAccelMonitorInProgress
Bit 15: Guard_DirectionMonitorInProgress
Bit 16: Guard_DoorLockState
Bit 17: Guard_DoorControlOutput
Bit 18: Guard_DoorMonitorInput
Bit 19: Guard_DoorMonitorInProgress
Bit 20: Guard_LockMonitorInput
Bit 21: Guard_EnablingSwitchMonitorInput
Bit 22: Guard_EnablindSwitchMonitorInProgress
Bit 23: Guard_ResetInput †
Bit 24: Guard_ResetRequired †
Bits 25-31: (Reserved)
Notes: †Applies to both the 2094-S0 and 2094-S1 drives (otherwise only applies to the 2094-S1 drive).
See Also:
123 Revision 2.15
P00462 Drive Safety Fault Status

This parameter displays the drive safety fault status.
Name: “Safety Faults” Attr: 0x00020001 (32-bit binary)
Min: 0x0 Value: Safety fault status:
Max: 0xFFFFFFFF Bit 0: (Reserved)
Bit 1: Guard_InternalFault†
Bit 2: Guard_ConfigurationFault
Bit 3: Guard_GateDriveFault†
Bit 4: Guard_ResetFault
Bit 5: Guard_Feedback1Fault
Bit 6: Guard_Feedback2Fault
Bit 7: Guard_FeedbackSpeedCompareFault
Bit 8: Guard_FeedbackPositionCompareFault
Bit 9: Guard_SafeStopInputFault†
Bit 10: Guard_SafeStopOutputFault†
Bit 11: Guard_SafeStopDecelFault
Bit 12: Guard_SafeStopStandstillFault
Bit 13: Guard_SafeStopMotionFault
Bit 14: Guard_LimitedSpeedInputFault
Bit 15: Guard_LimitedSpeedOutputFault
Bit 16: Guard_LimitedSpeedMonitorFault
Bit 17: Guard_MaxSpeedMonitorFault
Bit 18: Guard_MaxAccelerationFault
Bit 19: Guard_DirectionMonitorFault
Bit 20: Guard_DoorMonitorInputFault
Bit 21: Guard_DoorMonitorFault
Bit 22: Guard_DoorControlOutputFault
Bit 23: Guard_LockMonitorInputFault
Bit 24: Guard_LockMonitorFault
Bit 25: Guard_EnablingSwitchMonitorInputFault
Bit 26: Guard_EnablingSwitchMonitorFault
Bit 27: Guard_Feedback1VoltageMonitorFault
Bit 28: Guard_Feedback2VoltageMonitorFault
Bit 29: Guard RLMResetFault
Bit 30: Guard AutomaticResetFault †
Bit 31: (Reserved)
Notes: † Applies to both the 2094-S0 and 2094-S1 drives (otherwise only applies to the 2094-S1 drive).
See Also:
P00463 Safety Config Data Block

This IDN is a 256 byte array of safety configuration data. This is used to download safety configuration data
to the drive from the controller. The safety configuration must be unlocked via IDN P00459 (Safety Config
Unlock Procedure Command) before it can be modified.
Name: “Safety Cfg Data” Attr: 0x00440001 (variable length 8-bit data strings, character)
Min: ≥ 0 Value: (safety config data block)
Notes: This IDN only applies to the 2094-S1 (Advanced Safety) drive
See Also: IDN P00468 – Safety Config Lock Procedure Command
IDN P00469 – Safety Config Unlock Procedure Command
P00464 Safety Config Signature

This IDN is the safety configuration data signature that applies to the safety configuration data block. This is
an array of three 32-bit elements.
Name: “Safety Cfg Sig” Attr: 0x00360001 (variable length 32-bit data strings)
Min: Not Supported Value: (safety config signature)
Max: Not Supported Element 0: CRC
Element 1: Date Code
Element 2: Time Stamp
Notes: Only the lower 16 bits of the time stamp value are used.
This IDN only applies to the 2094-S1 (Advanced Safety) drive
See Also:
124 Revision 2.15
P00465 Safety Config Password

This IDN is a 24 byte array containing the password to be used with the various safety-related procedures,
such as P00467 (Change Safety Config Password), P00468 (Safety Config Lock)., and P00469 (Safety
Config Unlock). After each procedure has completed, the drive clears the contents of this IDN, so the
password must be rewritten before each procedure is executed.
Name: “Safety Cfg Pswrd” Attr: 0x00440001 (variable length 8-bit data strings, character)
Min: ≥ 0 Value: (safety config password)
See Also: IDN P00466 – New Safety Config Password
IDN P00467 – Change Safety Config Password Procedure Command
IDN P00468 – Safety Config Lock Procedure Command
P00466 New Safety Config Password

This IDN is a 24 byte array containing the new password to use when changing the password via procedure
IDN P00467 (Change Safety Password). The current password must be written to P00465 (Safety Config
Password) and the new password must be written to this IDN before the Change Safety Password procedure
is executed. The drive clears the contents of this IDN after the procedure has executed, so it must be rewritten
prior to a subsequent execution of this procedure.
Name: “Safety Cfg Pswrd” Attr: 0x00440001 (variable length 8-bit data strings, character)
Min: ≥ 0 Value: (safety config password)
See Also: IDN P00465 – Safety Config Password
IDN P00467 – Changed Safety Config Password Procedure Command
P00467 Change Safety Config Password Procedure Command

The master uses this IDN to change the safety password. The current password must be loaded into IDN
P00465 and the new password must be written to IDN P00466 before this procedure is excecuted.
Name: “Chg Safety PW Attr: 0x00090001(16-bit binary, procedure command)
Proc”
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for
more information on procedure command operation.
IDN P00466 – New Safety Config Password
P00468 Safety Config Lock Procedure Command

The master uses this IDN to lock the safety configuration. The current password must be loaded into IDN
P00465 before this procedure is executed.
Name: “Safety Cfg Lock Attr: 0x00090001(16-bit binary, procedure command)
Proc”
Max: Not supported
125 Revision 2.15
P00469 Safety Config Unlock Procedure Command

The master uses this IDN to unlock the safety configuration.The current password must be loaded into IDN
P00465 before this procedure is executed.
Name: “Safety Cfg Unlock Attr: 0x00090001(16-bit binary, procedure command)
Proc”
Max: Not supported
P00470 Change Safety Configuration Procedure Command

The master uses this IDN to change the safety configuration.The safety configuration must be unlocked (see
IDN P00469), the safety configuration must be loaded into IDN P00463, the safety configuration signature
must be loaded into IDN P00464, and the current safety password must be loaded into IDN P00465 before
this procedure is executed.
Name: “Chng Safety Cfg Attr: 0x00090001(16-bit binary, procedure command)
Proc”
Max: Not supported
P73968- ICP SERCOS Attributes

P74095 These IDNs are reserved for the internal ICP SERCOS attributes.
Notes:
See Also:
126 Revision 2.15
C. APPENDIX – ADVANCED SAFETY CONFIGURATION

This appendix lists all of the configuration attributes for the advanced safety (S1) model of the
Kinetix6200. In the table below, the index pointer value is specified by IDN P00458. IDN P00459 is then
used to read or write the attributes listed in the table. Note that the attributes all have different sizes.
Index
Size
Pointer Description Expected Values
(bytes)
Value
 0 = Single Unit System
 1 = Cascaded System First Unit
Safety Module System  2 = Cascaded System Middle Unit
0 1 Configuration  3 = Cascaded System Last Unit
 0 = Disabled
 1 = Master – Safe Stop
 2 = Master – Safe Stop with Door Monitoring
 3 = Master – Safe Limited Speed
 4 = Master – Safe Limited Speed with Door Monitoring
 5 = Master – Safe Limited Speed with Enabling Switch Control
 6 = Master – Safe Limited Speed with Door Monitoring and
Enabling Switch Control
 7 = Master – Safe Limited Speed Status Only
 8 = Slave – Safe Stop
 9 = Slave – Safe Limited Speed
1 1 Safety Module Mode  10 = Slave – Safe Limited Speed Status Only
 0 = Automatic
 1 = Manual
2 1 Reset Type  2 = Manual Monitored
 0 = Power to Release
 1 = Power to Lock
3 1 Door Control Output Type  2 = Dual Channel Source
 0 = Safe Torque Off (with Stopped Speed Check)
 1 = Safe Stop Category 1
 2 = Safe Stop Category 2
4 1 Safe Stop Type  3 = Safe Torque Off (no Stopped Speed Check)
This field is a series of 8 bits which all perform a different function
listed below:
 BIT 0: Safe Max Speed Enable
o 0 = Disabled
o 1 = Enabled
 BIT 1: Safe Max Speed – Safe Torque Off
o 0 = Always Safe Torque Off
o 1 = Follow SS Stop Type
 BIT 2: Safe Max Acceleration Enable
o 0 = Disabled
o 1 = Enabled
 BIT 3 : Safe Max Acceleration – Safe Torque Off
o 0 = Always Safe Torque Off
o 1 = Follow SS Stop Type
 BIT 4: Lock Monitor Enable
o 0 = Disabled
o 1 = Enabled
 BIT 5: Feedback 1 Units
o 0 = Units are Rotary
o 1 = Units are Linear
 BIT 6: Feedback 1 Direction Polarity
o 0 = Same as Encoder
o 1 = Reversed from Encoder
 BIT 7: Feedback 2 Direction Polarity
o 0 = Same as Encoder
5 1 Configuration Bit Field 1 o 1 = Reversed from Encoder
 Number from 0 to 65535 indicates 100 milli-second increments
6 2 Safe Stop Monitor Delay for a range of 0 to 6553.5 seconds
 Number from 0 to 65535 indicates 100 milli-second increments
8 2 Safe Stop Delay for a range of 0 to 6553.5 seconds
127 Revision 2.15
Index
Size
(bytes)
Value
 This speed is relative to encoder 1. The range is 0 to 65,535.
For rotary systems the value is specified in revolutions per
Safe Stop Deceleration minute. For linear systems the value is specified in mm per
10 2 Reference Speed second.
Safe Stop Deceleration
12 1 Tolerance  0 to 100 indicating the range 0% to 100%
This field is a series of 8 bits which all perform a different function
listed below:
 BIT 0: Reset Qualification
o 0 = Always Qualified
o 1 = Qualified By RL In
 BIT 1: Feedback 2 Units
o 0 = Units are Rotary
o 1 = Units are Linear
 BIT 2: Motion Power Out Mode
o 0 = Pulse Testing Will Be Performed On MP
Out
o 1 = Pulse Testing Will NOT Be Performed On
MP Out
 BIT 3 : Safe Stop Out Mode
o 0 = Pulse Testing Will Be Performed On SS
Out
SS Out
 BIT 4: Safe Limited Speed Out Mode
o 0 = Pulse Testing Will Be Performed On SLS
Out
SLS Out
 BIT 5: Door Control Mode
o 0 = Pulse Testing Will Be Performed On DC
Out
DC Out
 BIT 6: Reserved (BLANK)
13 1 Configuration Bit Field 2  BIT 7: Reserved (BLANK)
 The range is 1 to 65,535 thousandths of a revolution/min or
14 2 Safe Stop Standstill Speed mm/sec .
 The range is 0 to 65,535 encoder 1 units.
For rotary systems, the degrees are specified for the encoder, with
Safe Stop Position 360 degrees = 1 revolution.
16 2 Tolerance For linear systems, lines per mm are specified for the encoder.
Safe Limited Speed  The number 0 to 65,535 indicates 100 milli-second increments
18 2 Monitor Delay for a range from 0 to 6553.5 Seconds.
 The numeric range is 0 to 65,535.
For rotary systems the value is specified in 10th of revolutions per

minute. The range is 0 to 6,553.5 RPM.
For linear systems the value is specified in 10th of mm per second.

20 2 Safe Limited Speed Limit The range is 0 to 6,553.5 mm/Sec
Safe Limited Speed Low  The range is 0 or 10 to 100, representing a percentage of 10%
22 1 Limit to 100%.
 0 = Disabled
 1 = Positive_Always
 2 = Negative_Always
Safe Direction Monitoring  3 = Positive during SLS only
23 1 Type  4 = Negative during SLS only
 The range is 0 to 65,535 units.
For rotary systems, degree’s are specified for the encoder.

Safe Direction Monitoring
24 2 Position Tolerance For linear systems, mm are specified for the encoder.
128 Revision 2.15
Index
Size
(bytes)
Value
 The range is 0 to 65,535.
For rotary systems the value is specified in revolutions per minute.
26 2 Safe Max Speed Limit For linear systems the value is specified in mm per second.
 The range is 0 to 65,535.
For rotary systems the value is specified in revolutions per second

squared.
Safe Maximum For linear systems the value is specified in mm per second
28 2 Acceleration Limit squared.
 0 = One Encoder
 1 = Dual Encoder with speed and position discrepancy
checking
 2 = Dual Encoder with speed discrepancy checking
30 1 Feedback Mode  3 = Dual Encoder with position discrepancy checking
 0 = Sin/Cos
31 1 Encoder 1 Type  1 = TTL
 The range of values is 1 to 65535.
For rotary systems the value is specified in lines per revolution.
32 2 Feedback 1 Resolution For linear systems the value is specified in lines per mm.
 The range of values is 0 to 65535.
A a value of 0 must be specified for Feedback Mode = One

Encoder operation.
For rotary systems the value is specified in lines per revolution.
34 2 Feedback 2 Resolution For linear systems the value is specified in lines per mm.
(For Kinetix)
 0 = Not monitored
 5 = 5V + -10%
36 1 Encoder 1 Voltage  9 = 7V to 12V
(For Kinetix)
 0 = Not monitored
 5 = 5V +/ -10%
37 1 Encoder 2 Voltage  9 = 7V to 12V
The units are degrees relative to encoder 1" for rotary systems and
"mm relative to encoder 1" for linear systems
The following table defines the legal values for each

Feedback_Mode value.
Dual_FB_Position_Tolerance
Feedback Mode Values Legal Values
0 One Encoder 0
1 Dual Encoder with speed and position
discrepancy checking 1 to 65535
2 Dual Encoder with speed discrepancy
checking 0
Dual Feedback Position 3 Dual Encoder with position discrepancy
38 2 Tolerance checking 1 to 65535
FB1_Units FB2_Units Dual_Feedback_Ratio =
Revolution/Min of FB device 2 divided by
Rotary Rotary Revolution/Min of FB device 1
mm/Sec of FB device 2 divided by mm/Sec of FB
Linear Linear device 1
mm/Sec of FB device 2 divided by Revolution/Min of
Rotary Linear FB device 1
Revolution/Min of FB device 2 divided by mm/Sec of
40 4 Dual Feedback Ratio Linear Rotary FB device 1
129 Revision 2.15
Index
Size
(bytes)
Value
For rotary systems the value is specified in 10th of revolutions per
minute. The range is 0 to 6,553.5 RPM.
For linear systems the value is specified in mm per second. The

range is 0 to 6,553.5 mm/Sec.
Dual_FB_Position_Tolerance
Feedback Mode Values Legal Values
0 One Encoder 0
1 Dual Encoder with speed and position
discrepancy checking 1 to 65535
2 Dual Encoder with speed discrepancy
checking 1 to 65535
Dual Feedback Speed 3 Dual Encoder with position discrepancy
44 2 Tolerance checking 0
 0 = 42ms
 1 = 48ms
 2 = 60ms
 3 = 84ms
 4 = 132ms
 5 = 228ms
46 1 Overspeed Reaction Time  6 = 420ms
 0 = Not Used
 1 = Dual channel equivalent
 2 = Dual channel equivalent 3s
 3 = Dual channel complementary
 4 = Dual channel complementary 3s
 5 = Solid State Device equivalent 3s
47 1 Safe Stop Input Type  6 = Single channel
 0 = Not Used
Safe Limited Speed Input  5 = Solid State Device equivalent 3s
48 1 Type  6 = Single channel
 0 = Not Used
Door Monitoring Input  5 = Solid State Device equivalent 3s
 0 = Not Used
Enable Switch Monitoring  5 = Solid State Device equivalent 3s
50 1 Input Type  6 = Single channel
 0 = Not Used
Lock Monitoring Input  5 = Solid State Device equivalent 3s
130 Revision 2.15

Ra Sercos Drive Product Interface Specification

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Ra Sercos Drive Product Interface Specification

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RA SERCOSTM Drive

Product Interface Specification

Written By: Todd Oestreich

Approval  Dave Hauge  Mike Garner  David Van Dorpe

Date: Date: Date:

Date: Date: Date:

Copyright Ó 2010. This document contains confidential information of Rockwell Automation

Rev. Date/Initials Description of Change

Rev. Date/Initials Description of Change

2.1.1. System State Machine

2.1.1.1. Control Power On

2.1.1.2. Wait for Bus

2.1.1.3. Bus Ready

2.1.2. Axis State Machine

2.1.3. Axis Commands

2.1.3.1. Disable Request (highest priority)

2.1.3.2. Stop Request

2.1.3.3. Halt Request

2.1.3.4. Start Request (lowest priority)

2.1.3.5. SERCOS Control Interface

2.1.3.6. Fault Handling

2.1.3.6.1. Standard Faults

2.1.3.6.2. Disable Faults

2.1.3.6.3. Shutdown Faults

A. APPENDIX – STANDARD IDNS

A.2. Description of Standard IDNs

S00001 Control unit cycle time (tNcyc)

S00002 Communication cycle time (tScyc)

S00003 Shortest AT transmission starting time (t1min)

S00004 Transmit/Receive transition time (tATMT)

S00005 Minimum feedback processing time (t5)

S00006 AT transmission starting time (t1)

S00007 Feedback acquisition capture point (t4)

S00008 Command value valid time (t3)

S00009 Position of data record in MDT

S00010 Length of MDT

S00011 Class 1 diagnostic

S00012 Class 2 diagnostic

S00013 Class 3 diagnostic

S00014 Interface status

S00015 Telegram type parameter

S00016 Configuration list of AT

S00017 IDN-list of all operation data

S00018 IDN-list of all operation data for CP2

S00019 IDN-list of all operation data for CP3

S00021 IDN-list of invalid operation data for CP2

S00022 IDN-list of invalid operation data for CP3

S00024 Configuration list of MDT

S00025 IDN-list of all procedure commands

S00028 MST error counter

S00029 MDT error counter

S00030 Manufacturer Version

S00032 Primary operation mode

S00033 Secondary operation mode 1

S00036 Velocity command value

S00037 Additive velocity command value

S00038 Positive velocity limit value

S00039 Negative velocity limit value

S00040 Velocity feedback value

S00041 Homing velocity

S00042 Homing acceleration

S00043 Velocity polarity parameter

S00044 Velocity data scaling type