| ArticleNumber | Based on Plasma label | TimeStamp |
| 69NUS423C00x04 | PLASMA_3_7_004_00_RC | 1773865828 Wed Mar 18 16:30:28 2026 |
| CustomerSpecific | NotUsed |
| Max hardware identifiers(pins) | 4(2) |
| User Configured max identifiers | 1 |
| User Configured max CAN identifiers | 2 |
| Version Control | Subversion |
| URL | https://svn-sth.zapigroup.com/svn/vehicle/application/us2/UNLABELED_SW/69NUS423CXX/tags/69NUS423C00x04/software |
| Based on revision | 224510 |
This document describes the Object Dictionary for a specific PLASMA3 application. The document is an essential part of the CANopen device profile for the drives. For further information about CANopen, the reference "CANopen Application Layer and Communication Profile, CiA Draft Standard 301, Version 4.01" is recommended.
In order to access an Entry within an Object, the Service Data Object (SDO) is used. The Initiate SDO Download/Upload protocol and the Upload SDO Segment protocol (used when Data type is VISIBLE_STRING) are supported. Each Object has an Index and a Name. For each Entry within an Object there is a Sub-Index followed by a Name and a Description (if applicable).
The different Data types of an Entry can be as follows:
The Access of an Entry can be as follows:
It should be observed that some objects are password protected, i.e. access is only possible if a write of the correct password to the correct Password Object (4200h) has been done prior to the attempted access.
The Min and Max value of an Entry is also specified where applicable. This does not mean that there is a check within PLASMA3 that the written value is within the value range, i.e. the User is responsible to write a value within the value range. It should also be observed that the Default value of an Entry may not be true for all applications/configurations. The Unit/Scale gives either the unit of the value and/or the scaling used where applicable. The physical value is defined as the Data multiplied with Scale. Example Unit = uOhm, Scale = 100 and Data = 4800, means the physical value is 480000 uOhm.
Since this document describes all possible configurations, only Objects configured in the application are accessible.
IMPORTANT: For some Objects there are Entries missing, for example Sub-Index 1, 2 and 5 are described but not Sub-Index 3 and 4. These missing Objects and Entries may exist and are then only for internal Inmotion Technologies use. Therefore it is of major importance that the User does not access any Objects or Entries not described in this document.
NOTE 1: Some parameter values are dependent on hardware identifier. The hardware
identifier is created by reading physical inputs. The actual parameter is then selected based
in the identifier. The number of input pins determins the maximum possible number of different
selections. During the configuration the user may set a value of PP_NUMBER_OF_HW_IDS less than
the maximum possible, in this case the value used for selecting parameter is calculated using
the modula operator by the firmware.
However, in such a situation the default values shown here may not be correct
because the identifier is less than the capacity of the physical hardware pins.
| 0x1001 EmcyErrors | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | ErrorRegister |
This is an error register for the device.
| U8 | ro | 0 | 255 | - | - | * 1 | operator | |
| 0x1003 ErrorLog
This logger consists of the following objects ErrorLog,
ErrorLogFirstTime,
ErrorLogLastTime and
ErrorLogNumberOfErrors. As the logger actually consist of multiple object,
in order to read the content of these objects, a synchronized update must be performed.
This is performed by once reading the LastSubIndex on any of the objects.
Note that there is a copy of ErrorLog at ErrorLogCopy.
| |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex |
The entry at sub-index 0 contains the number of actual errors that are recorded starting at subindex 1. Writing a zero to sub-index 0 clears the error log. Subindex 0 must be read before any other subindex is read. Reading any other subindex before reading subindex will result in corrupt information since error list is not generated before Subindex 0 is read. Read this subindex only once before traversing the Indices related to the ErrorLog. DO NOT read this subindex during the traversal as this will regenerate the sorted list presented via these Indices. If an error occurs during the traversal an inconsistent view will result. | U8 | rw | 0 | 255 | Variable | - | * 1 | service | |
| 1 | CanOpenErrorLog |
Every new error is stored at sub-index 1, the older ones move down the list. Subindex 0 must be read before any other subindex is read. Reading any other subindex before reading subindex will result in corrupt information since error list is not generated before Subindex 0 is read. If an event is configured as a warning and to be stored in the error log, there might be warnings in the error log. | Array of U32 | ro | 0 | 4294967295 | - | - | * 1 | service | |
| 0x1005 CobIdSyncMessage | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | CobIdSyncMessage |
COB-ID SYNC Message. Defines the COB-ID (bit 10-0) of the SYNC object and if SYNC message are sent (bit 30, only functional in Master Mode). Changing this value is only possible in state CO_PRE_OPERATIONAL. It is necessary to store the parameters to EEPROM and restart the node for the new value to be effective. | U32 | rw | 0 | 4294967295 | 128 | - | * 1 | OEM | |
| 0x1008 ManufacturerDeviceName | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | ManufacturerDeviceName | Inmotion internal device family name, application dependent. Returns typically "ACS gen 6". | String | ro | - | - | "PLASMA3 STD" | - | * 1 | operator | |
| 0x1009 ManufacturerHardwareVersion | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | ManufacturerHardwareVersion |
"ASCII" according to ISO 8859-1. Item number, e.g., "83N21945B-0002". Write key values to EnableWrite to enable update of ItemNumber once. Written in production. Max 17 characters long. Note: This entry exists both at 0x1009 and ProductInformation.ItemNumber. Parameter has its own checksum. At checksumerror, event is set (See event id 1421 that also is used for other product information parameters) and default value will be set. | String | rw | - | - | NoValue | - | * 1 | operator | |
| 0x100A ManufacturerSoftwareVersion | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | ManufacturerSoftwareVersion |
"ASCII" according to ISO 8859-1. E.g. "69Y05483C04". Note: This entry exists both at 0x100A and SwDeviceInformation.ApplicationSwArticleNumber. | String | ro | - | - | "69NUS423C00x04" | - | * 1 | operator | |
| 0x1010 StoreParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 4 (Length=5) | - | * 1 | operator | |
| 1 | StoreAllParameters |
Store All Parameters. All = Plasma, Communication and Application Parameters. Store Parameters in E2prom (copy from RAM to EEPROM) by writing value = 65766173h. The signature is "evas", i.e. save backwards. Read returns value 1 if no storing is in progress (IDLE STATE). Read returns value 0 if any storing is in progress (BUSY STATE). If busy when storing, commando is queued. (ACCESS_CODE is returned if value is wrong). | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 2 | StoreCommunicationParameters |
Store Communication Parameters. See description above. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 3 | StorePlasmaParameters |
Store Plasma Parameters. See description above. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 4 | StoreApplicationParameters |
Store Application Parameters. See description above. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 0x1011 RestoreParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 4 (Length=5) | - | * 1 | operator | |
| 1 | RestoreAllParameters |
Restore All Parameters. All = Plasma, Communication ans Application Parameters. Restore Default Values From ROM (Flash Memory) to RAM by writing value = 64616F6Ch. The signature is "daol", i.e. load backwards. Does NOT store default vales to EEPROM from RAM. Can't restore if drive is enabled. Read returns value 1 if no storing is in progress (IDLE STATE). Read returns value 0 if any storing to EEPROM is in progress (BUSY STATE). If busy when storing, commando is queued. (ACCESS_CODE is returned if value is wrong and DEVICE_STATE_CODE if drive is enabled). | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 2 | RestoreCommunicationParameters |
Restore Communication Parameters. See description above. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 3 | RestorePlasmaParameters |
Restore Plasma Parameters. See description above. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 4 | RestoreApplicationParameters |
Restore Application Parameters. See description above. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 0x1014 CobIdEmcyMessage | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | CobIdEmcyMessage |
Defines the COB-ID of the EMCY object. Default: 80h + Node Id | U32 | ro | 0 | 4294967295 |
| - | * 1 | operator | ||||||||||
| 0x1015 InhibitTimeEmcy | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | InhibitTime | Minimum time between two EMCY messages. | U16 | rw | 0 | 65535 | 100 | ms | * 1 | OEM | |
| 0x1017 ProducerHeartbeatTime | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | ProducerHeartbeatTime | The time between when two heartbeats will be sent. | U16 | rw | 0 | 65535 | 0 | ms | * 1 | OEM | |
| 0x1018 IdentityObject | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 1 (Length=2) | - | * 1 | operator | |
| 1 | VendorId | Returns the Vendor Id for Inmotion = 99h. | U32 | ro | 0 | 4294967295 | 153 | - | * 1 | operator | |
| 0x1200 ServerSDO1Parameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 2 (Length=3) | - | * 1 | operator | |
| 1 | CobIdSDO1rx |
COB-ID used by SDO1rx. Default: 600h + Node Id. | U32 | ro | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 2 | CobIdSDO1tx |
COB-ID used by SDO1tx. Default: 580h + Node Id. | U32 | ro | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 0x1201 ServerSDO2Parameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 2 (Length=3) | - | * 1 | operator | |
| 1 | CobIdSDO2rx |
COB-ID used by SDO2rx. Default: 620h + Node Id. | U32 | ro | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 2 | CobIdSDO2tx |
COB-ID used by SDO2tx. Default: 5A0h + Node Id. | U32 | ro | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 0x1301 TransmitSRDO1ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 6 (Length=7) | - | * 1 | operator | |
| 1 | Direction |
Direction of SRDO
| U8 | rw | 0 | 2 | - | - | * 1 | OEM | |
| 2 | RefreshTimeOrSct |
tx : refresh-time in ms rx : SCT in ms Changing is only possible in state CO_PRE_OPERATIONAL. | U16 | rw | 0 | 65535 | 40 | ms | * 1 | OEM | |
| 3 | SRVT |
tx : reserved rx : SRVT in ms (Safety-Related Validation Time) Changing is only possible in state CO_PRE_OPERATIONAL. | U8 | rw | 0 | 255 | 10 | ms | * 1 | OEM | |
| 4 | TransType |
| U8 | ro | 1 | 255 | 254 | - | * 1 | OEM | |
| 5 | CobId1 |
Cob-Id for CAN frame 1, odd numbers in range 257-384 Changing is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 6 | CobId2 |
Cob-Id for CAN frame 2, even numbers in range 257-384 Changing is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1302 TransmitSRDO2ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 6 (Length=7) | - | * 1 | operator | |
| 1 | Direction |
Direction of SRDO
| U8 | rw | 0 | 2 | - | - | * 1 | OEM | |
| 2 | RefreshTimeOrSct |
tx : refresh-time in ms rx : SCT in ms Changing is only possible in state CO_PRE_OPERATIONAL. | U16 | rw | 0 | 65535 | 40 | ms | * 1 | OEM | |
| 3 | SRVT |
tx : reserved rx : SRVT in ms (Safety-Related Validation Time) Changing is only possible in state CO_PRE_OPERATIONAL. | U8 | rw | 0 | 255 | 10 | ms | * 1 | OEM | |
| 4 | TransType |
| U8 | ro | 1 | 255 | 254 | - | * 1 | OEM | |
| 5 | CobId1 |
Cob-Id for CAN frame 1, odd numbers in range 257-384 Changing is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 6 | CobId2 |
Cob-Id for CAN frame 2, even numbers in range 257-384 Changing is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1303 TransmitSRDO3ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 6 (Length=7) | - | * 1 | operator | |
| 1 | Direction |
Direction of SRDO
| U8 | rw | 0 | 2 | - | - | * 1 | OEM | |
| 2 | RefreshTimeOrSct |
tx : refresh-time in ms rx : SCT in ms Changing is only possible in state CO_PRE_OPERATIONAL. | U16 | rw | 0 | 65535 | 40 | ms | * 1 | OEM | |
| 3 | SRVT |
tx : reserved rx : SRVT in ms (Safety-Related Validation Time) Changing is only possible in state CO_PRE_OPERATIONAL. | U8 | rw | 0 | 255 | 10 | ms | * 1 | OEM | |
| 4 | TransType |
| U8 | ro | 1 | 255 | 254 | - | * 1 | OEM | |
| 5 | CobId1 |
Cob-Id for CAN frame 1, odd numbers in range 257-384 Changing is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 6 | CobId2 |
Cob-Id for CAN frame 2, even numbers in range 257-384 Changing is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1304 TransmitSRDO4ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 6 (Length=7) | - | * 1 | operator | |
| 1 | Direction |
Direction of SRDO
| U8 | rw | 0 | 2 | - | - | * 1 | OEM | |
| 2 | RefreshTimeOrSct |
tx : refresh-time in ms rx : SCT in ms Changing is only possible in state CO_PRE_OPERATIONAL. | U16 | rw | 0 | 65535 | 40 | ms | * 1 | OEM | |
| 3 | SRVT |
tx : reserved rx : SRVT in ms (Safety-Related Validation Time) Changing is only possible in state CO_PRE_OPERATIONAL. | U8 | rw | 0 | 255 | 10 | ms | * 1 | OEM | |
| 4 | TransType |
| U8 | ro | 1 | 255 | 254 | - | * 1 | OEM | |
| 5 | CobId1 |
Cob-Id for CAN frame 1, odd numbers in range 257-384 Changing is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 6 | CobId2 |
Cob-Id for CAN frame 2, even numbers in range 257-384 Changing is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1321 ReceiveSRDO1ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 6 (Length=7) | - | * 1 | operator | |
| 1 | Direction |
Direction of SRDO
| U8 | rw | 0 | 2 | - | - | * 1 | OEM | |
| 2 | RefreshTimeOrSct |
tx : refresh-time in ms rx : SCT in ms Changing is only possible in state CO_PRE_OPERATIONAL. | U16 | rw | 0 | 65535 | 40 | ms | * 1 | OEM | |
| 3 | SRVT |
tx : reserved rx : SRVT in ms (Safety-Related Validation Time) Changing is only possible in state CO_PRE_OPERATIONAL. | U8 | rw | 0 | 255 | 10 | ms | * 1 | OEM | |
| 4 | TransType |
| U8 | ro | 1 | 255 | 254 | - | * 1 | OEM | |
| 5 | CobId1 |
Cob-Id for CAN frame 1, odd numbers in range 257-384 Changing is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 6 | CobId2 |
Cob-Id for CAN frame 2, even numbers in range 257-384 Changing is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1381 TransmitSRDO1MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfMappingEntries |
Number of Mapped Applications Objects in SRDO, including nomarl and invert entries. Given value should be even. Changing the map is only possible in state CO_PRE_OPERATIONAL. | U8 | rw | 0 | 254 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. subindex n : Application object with normal data. subindex n+1: Application object with invert data. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1382 TransmitSRDO2MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfMappingEntries |
Number of Mapped Applications Objects in SRDO, including nomarl and invert entries. Given value should be even. Changing the map is only possible in state CO_PRE_OPERATIONAL. | U8 | rw | 0 | 254 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. subindex n : Application object with normal data. subindex n+1: Application object with invert data. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1383 TransmitSRDO3MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfMappingEntries |
Number of Mapped Applications Objects in SRDO, including nomarl and invert entries. Given value should be even. Changing the map is only possible in state CO_PRE_OPERATIONAL. | U8 | rw | 0 | 254 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. subindex n : Application object with normal data. subindex n+1: Application object with invert data. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1384 TransmitSRDO4MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfMappingEntries |
Number of Mapped Applications Objects in SRDO, including nomarl and invert entries. Given value should be even. Changing the map is only possible in state CO_PRE_OPERATIONAL. | U8 | rw | 0 | 254 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. subindex n : Application object with normal data. subindex n+1: Application object with invert data. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x13A1 ReceiveSRDO1MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfMappingEntries |
Number of Mapped Applications Objects in SRDO, including nomarl and invert entries. Given value should be even. Changing the map is only possible in state CO_PRE_OPERATIONAL. | U8 | rw | 0 | 254 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. subindex n : Application object with normal data. subindex n+1: Application object with invert data. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x13D0 Srdocm | ||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 1 (Length=2) | - | * 1 | operator | ||||||||||||||
| 1 | SignalStatus |
SAFE_STATUS_TYPE for Signal Status
SAFE_STATUS_UNINIT = 0, 0b0000 0000 0000
SAFE_STATUS_OK = 3, 0b0000 0000 0011
SAFE_STATUS_WARNING = 15, 0b0000 0000 1111
SAFE_STATUS_INIT = 63, 0b0000 0011 1111
SAFE_STATUS_CLEARABLE = 255, 0b0000 1111 1111
SAFE_STATUS_ERROR = 1023, 0b0011 1111 1111
| S16 | ro | 0 | 1023 | - | - | * 1 | OEM | ||||||||||||||
| 0x1400 ReceivePDO1ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 2 (Length=3) | - | * 1 | operator | |
| 1 | CobIdPDORx |
Cob id. To disable the PDO write the value 0x80000000 to this subindex, to enable it write 0x0. Switching the PDO on and off will not change the CobID. A change of the CobID can be done by writing a new CobID with or without bit 31. For example by inputting, 0x80000206 will change the current CobID to 0x206 and disable the PDO. It is necessary to store the parameters to EEPROM and restart the node for the new CobID to be effective. Changing this value is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 2 | TransTypePDORx |
| U8 | rw | 0 | 255 | - | - | * 1 | OEM | |
| 0x1401 ReceivePDO2ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 2 (Length=3) | - | * 1 | operator | |
| 1 | CobIdPDORx |
Cob id. To disable the PDO write the value 0x80000000 to this subindex, to enable it write 0x0. Switching the PDO on and off will not change the CobID. A change of the CobID can be done by writing a new CobID with or without bit 31. For example by inputting, 0x80000206 will change the current CobID to 0x206 and disable the PDO. It is necessary to store the parameters to EEPROM and restart the node for the new CobID to be effective. Changing this value is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 2 | TransTypePDORx |
| U8 | rw | 0 | 255 | - | - | * 1 | OEM | |
| 0x1402 ReceivePDO3ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 2 (Length=3) | - | * 1 | operator | |
| 1 | CobIdPDORx |
Cob id. To disable the PDO write the value 0x80000000 to this subindex, to enable it write 0x0. Switching the PDO on and off will not change the CobID. A change of the CobID can be done by writing a new CobID with or without bit 31. For example by inputting, 0x80000206 will change the current CobID to 0x206 and disable the PDO. It is necessary to store the parameters to EEPROM and restart the node for the new CobID to be effective. Changing this value is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 2 | TransTypePDORx |
| U8 | rw | 0 | 255 | - | - | * 1 | OEM | |
| 0x1403 ReceivePDO4ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 2 (Length=3) | - | * 1 | operator | |
| 1 | CobIdPDORx |
Cob id. To disable the PDO write the value 0x80000000 to this subindex, to enable it write 0x0. Switching the PDO on and off will not change the CobID. A change of the CobID can be done by writing a new CobID with or without bit 31. For example by inputting, 0x80000206 will change the current CobID to 0x206 and disable the PDO. It is necessary to store the parameters to EEPROM and restart the node for the new CobID to be effective. Changing this value is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 2 | TransTypePDORx |
| U8 | rw | 0 | 255 | - | - | * 1 | OEM | |
| 0x1600 ReceivePDO1MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfObjects | Number of Mapped Applications Objects in PDOnRx. | U8 | rw | 0 | 255 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). When a PDO is disabled it is possible to set new values in the its map, The number of parameter can be changed by writing the required number in the LastSubIndex field. Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1601 ReceivePDO2MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfObjects | Number of Mapped Applications Objects in PDOnRx. | U8 | rw | 0 | 255 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). When a PDO is disabled it is possible to set new values in the its map, The number of parameter can be changed by writing the required number in the LastSubIndex field. Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1602 ReceivePDO3MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfObjects | Number of Mapped Applications Objects in PDOnRx. | U8 | rw | 0 | 255 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). When a PDO is disabled it is possible to set new values in the its map, The number of parameter can be changed by writing the required number in the LastSubIndex field. Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1603 ReceivePDO4MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfObjects | Number of Mapped Applications Objects in PDOnRx. | U8 | rw | 0 | 255 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). When a PDO is disabled it is possible to set new values in the its map, The number of parameter can be changed by writing the required number in the LastSubIndex field. Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1800 TransmitPDO1ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 5 (Length=4) | - | * 1 | operator | |
| 1 | CobIdPDOTx |
Cob id. To disable the PDO write the value 0x80000000 to this subindex, to enable it write 0x0. Switching the PDO on and off will not change the CobID. A change of the CobID can be done by writing a new CobID with or without bit 31. For example by inputting, 0x80000186 will change the current CobID to 0x186 and disable the PDO. It is necessary to store the parameters to EEPROM and restart the node for the new CobID to be effective. Changing this value is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 2 | TransTypePDOTx |
PDOnTx is by default only transmitted if PDOnRx is used. | U8 | rw | 1 | 255 | - | - | * 1 | OEM | |
| 5 | EventTimerPDOTx |
PDOnTx is by default only transmitted if PDOnRx is used. | U16 | rw | 0 | 65535 | 0 | ms | * 1 | OEM | |
| 0x1801 TransmitPDO2ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 5 (Length=4) | - | * 1 | operator | |
| 1 | CobIdPDOTx |
Cob id. To disable the PDO write the value 0x80000000 to this subindex, to enable it write 0x0. Switching the PDO on and off will not change the CobID. A change of the CobID can be done by writing a new CobID with or without bit 31. For example by inputting, 0x80000186 will change the current CobID to 0x186 and disable the PDO. It is necessary to store the parameters to EEPROM and restart the node for the new CobID to be effective. Changing this value is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 2 | TransTypePDOTx |
PDOnTx is by default only transmitted if PDOnRx is used. | U8 | rw | 1 | 255 | - | - | * 1 | OEM | |
| 5 | EventTimerPDOTx |
PDOnTx is by default only transmitted if PDOnRx is used. | U16 | rw | 0 | 65535 | 0 | ms | * 1 | OEM | |
| 0x1802 TransmitPDO3ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 5 (Length=4) | - | * 1 | operator | |
| 1 | CobIdPDOTx |
Cob id. To disable the PDO write the value 0x80000000 to this subindex, to enable it write 0x0. Switching the PDO on and off will not change the CobID. A change of the CobID can be done by writing a new CobID with or without bit 31. For example by inputting, 0x80000186 will change the current CobID to 0x186 and disable the PDO. It is necessary to store the parameters to EEPROM and restart the node for the new CobID to be effective. Changing this value is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 2 | TransTypePDOTx |
PDOnTx is by default only transmitted if PDOnRx is used. | U8 | rw | 1 | 255 | - | - | * 1 | OEM | |
| 5 | EventTimerPDOTx |
PDOnTx is by default only transmitted if PDOnRx is used. | U16 | rw | 0 | 65535 | 0 | ms | * 1 | OEM | |
| 0x1803 TransmitPDO4ComParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 5 (Length=4) | - | * 1 | operator | |
| 1 | CobIdPDOTx |
Cob id. To disable the PDO write the value 0x80000000 to this subindex, to enable it write 0x0. Switching the PDO on and off will not change the CobID. A change of the CobID can be done by writing a new CobID with or without bit 31. For example by inputting, 0x80000186 will change the current CobID to 0x186 and disable the PDO. It is necessary to store the parameters to EEPROM and restart the node for the new CobID to be effective. Changing this value is only possible in state CO_PRE_OPERATIONAL. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 2 | TransTypePDOTx |
PDOnTx is by default only transmitted if PDOnRx is used. | U8 | rw | 1 | 255 | - | - | * 1 | OEM | |
| 5 | EventTimerPDOTx |
PDOnTx is by default only transmitted if PDOnRx is used. | U16 | rw | 0 | 65535 | 0 | ms | * 1 | OEM | |
| 0x1A00 TransmitPDO1MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfObjects | Number of Mapped Applications Objects in PDOnTx. | U8 | rw | 0 | 255 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). When a PDO is disabled it is possible to set new values in the its map, The number of parameter can be changed by writing the required number in the LastSubIndex field. Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1A01 TransmitPDO2MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfObjects | Number of Mapped Applications Objects in PDOnTx. | U8 | rw | 0 | 255 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). When a PDO is disabled it is possible to set new values in the its map, The number of parameter can be changed by writing the required number in the LastSubIndex field. Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1A02 TransmitPDO3MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfObjects | Number of Mapped Applications Objects in PDOnTx. | U8 | rw | 0 | 255 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). When a PDO is disabled it is possible to set new values in the its map, The number of parameter can be changed by writing the required number in the LastSubIndex field. Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x1A03 TransmitPDO4MapParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfObjects | Number of Mapped Applications Objects in PDOnTx. | U8 | rw | 0 | 255 | 0 | - | * 1 | OEM | |
| 1 | Mapping |
Mapping for the n:th Application Object to be Mapped. Example: 2001h:2 (16-bit variable) gives value=20010210h where index=2001h subindex=2h datatype=10h (->U16). When a PDO is disabled it is possible to set new values in the its map, The number of parameter can be changed by writing the required number in the LastSubIndex field. Changing the map is only possible in state CO_PRE_OPERATIONAL. | Array of U32 | rw | 0 | 4294967295 | 0 | - | * 1 | OEM | |
| 0x2000 ApplicationCommands | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 13 (Length=13) | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | CommandAll |
This is the default setting for the command bits, might be different for custom applications. See comments at OpenDrainOutputGeneral.CommandAllControlled on restrictions on setting bits related to Open Drain Output.
| U16 | rw | 0 | 65535 | 0 | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 2 | CommandSpeed |
Used in Speed Control. CommandSpeed Min/Max limit is defined in ApplicationSetupParameters, MaxCommandSpeed | S16 | rw | see Description | see Description | 0 | Rpm | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 3 | CommandTorque | Used in Torque Mode control (Speed Control disabled). | S16 | rw | -4335 | 4335 | 0 | Nm | * 0.1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 4 | CommandAcCurrent | Used in Ac Current Mode control (Speed Control disabled). | S16 | rw | -2317 | 2316 | 0 | Arms | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 5 | CommandAccelerationChange |
Used in Speed Control with PDO Controlled Ramp. Unit depends on SpeedRamp, SpeedChangeFactor Used to ramp FrequencyWhenNoSpeedFeedback | U8 | rw | 0 | 255 | 10 | Rpm/2ms/SpeedChangeFactor (see Description) | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 6 | CommandDecelerationChange |
Used in Speed Control with PDO Controlled Ramp. Unit depends on SpeedRamp, SpeedChangeFactor | U8 | rw | 0 | 255 | 10 | Rpm/2ms/SpeedChangeFactor | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 7 | AccelerationReductionFactor |
Used in Speed Control with Parameter Controlled Ramp. UsedAcceleration = Acceleration * AccelerationReductionFactor / 128 AccelerationReductionFactor = 128 means no reduction. | U8 | rw | 0 | 255 | 128 | See Description | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 8 | MaxSpeedInRpmReductionFactor |
Used in Speed Control with Parameter Controlled Ramp. Reduction of Max Speed that is used during Reverse Brake. UsedMaxSpeed = MaxSpeed * (MaxSpeedReductionFactor+1)/256 MaxSpeedReductionFactor = 255 means no reduction. | U8 | rw | 0 | 255 | 255 | See Description | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 9 | FootBrakePercentageReductionFactor |
Used in Speed Control with Parameter Controlled Ramp when foot brake is active. UsedDeceleration = Deceleration* FootBrakePercentageReductionFactor / 100 | U8 | rw | 0 | 100 | 100 | % | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 10 | CommandVoltage | Interface to set a commanded voltage. This is only useful when REG_MODE is in DC_VOLTAGE_MODE. | S16 | rw | 0 | 32767 | 0 | Vdc | * 0.01 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 12 | CommandPosition | Used in Position Mode. | S16 | rw | -1800 | 1799 | - | Deg | * 0.1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 13 | CommandPosInSteerWheelMode |
Requested Position when RequestedControlMode equals Steer wheel mode and ActualControlMode equals Position mode. Note: If position calibration is done when RequestedControlMode equals Steer wheel mode then also write calibrated position to this parameter. | S16 | rw | -1800 | 1799 | - | Deg | * 0.1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2001 ApplicationStatus | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 6 (Length=6) | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | StatusAll |
This is the default setting for the status bits, might be different for custom applications.
| U16 | ro | 0 | 65535 | 0 | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||
| 2 | ActualSpeed |
The actual speed. Error indicator value of -32768 will be reported if failure on speed feedback sensor, that results in inability to measure speed, is detected. | S16 | ro | -32768 | 32767 | - | Rpm | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||
| 4 | SystemManagerState |
| U16 | ro | 0 | 65535 | - | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||
| 5 | DigitalInStatus |
Status on all digital inputs. Not all digital inputs exists in all products.
| U16 | ro | 0 | 65535 | - | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||
| 6 | ActualPosition | Geared position. | S16 | ro | -1800 | 1799 | - | Deg | * 0.1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2002 OperationTime | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 8 (Length=9) | - | * 1 | operator | |
| 1 | TotalTimeSeconds | Total time in seconds that KEY voltage is on and not in sleep or standby mode. Writing to this sub-index clears/sets the Total Time (i.e. TotalTime250ms, TotalTimeSeconds and TotalTimeHours). | U32 | rw | 0 | 4294967295 | - | s | * 1 | service | |
| 2 | TotalTimeHours |
Total time in hours that KEY voltage is on and not in sleep or standby mode.
Writing to this sub-index clears/sets the Total Time (i.e. TotalTime250ms, TotalTimeSeconds and TotalTimeHours). Note: This entry is duplicated on both WorkingHours.TotalTimeHours and OperationTime.TotalTimeHours. | U32 | rw | 0 | 4294967295 | - | h | * 1 | service | |
| 3 | TotalTimeEnabledSeconds | Total time in seconds that the drive is enabled. Writing to this sub-index clears/sets the Total Time Enabled (i.e. TotalTimeEnabled250ms, TotalTimeEnabledSeconds and TotalTimeEnabledHours). | U32 | rw | 0 | 4294967295 | - | s | * 1 | service | |
| 4 | TotalTimeEnabledHours | Total time in hours that the drive is enabled. Writing to this sub-index clears/sets the Total Time Enabled (i.e. TotalTimeEnabled250ms, TotalTimeEnabledSeconds and TotalTimeEnabledHours).. | U32 | rw | 0 | 4294967295 | - | h | * 1 | service | |
| 5 | SaveOperatingTimes |
Wwriting '1' to this index stores all operating times, motor temperature log and power stage temperature log to EEPROM. Min allowed intervall for saving is 120 sec. This is to secure that the max no of rewrite cycle of the EEPROM is not exceeded. | U16 | wo | 0 | 65535 | - | - | * 1 | operator | |
| 6 | TotalNumberOfPowerOn | Total Number of times the drive has been powered on. Writing to this sub-index clears/sets the counter. | U32 | rw | 0 | 4294967295 | - | - | * 1 | service | |
| 7 | TotalTime250ms |
Total time in 250ms/tick that KEY voltage is on and not in sleep or standby mode.
Writing to this sub-index clears/sets the Total Time (i.e. TotalTime250ms, TotalTimeSeconds and TotalTimeHours). | U32 | rw | 0 | 4294967295 | - | See Description | * 1 | service | |
| 8 | TotalTimeEnabled250ms | Total time in 250ms/tick that the drive is enabled. Writing to this sub-index clears/sets the Total Time Enabled (i.e. TotalTimeEnabled250ms, TotalTimeEnabledSeconds and TotalTimeEnabledHours). | U32 | rw | 0 | 4294967295 | - | See Description | * 1 | service | |
| 0x2005 ADConverterValues Internal Use Only
Note: The AD Converter Value(s) is writable. Shall ONLY be used for SW verification.
Writing to a ADCx stops update of that channel and channel can be controlled manually.
See ADConverterControl for instructions on how to set channel back into normal
automatic mode. Writing to ADC Shall ONLY be used for SW verification. Warranty voided if used!
This is for "80N22503AB02" | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 51 (Length=52) | - | * 1 | operator | |
| 1 | Mux1In | MUX 1 IN | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 2 | OpenDrainOut1Current | Open Drain Out 1 Current | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 3 | OpenDrainOut2Current | Open Drain Out 2 Current | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 4 | PhaseWCurrent | Current in phase W | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 5 | DCBusVoltage | DC Bus Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 6 | PhaseVCurrent | Current in phase V | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 7 | VRefInt2 | VRef Int 2 (MCU internal) | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 8 | Encoder1BCos | Encoder 1 B / Cos | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 9 | Encoder1ASin | Encoder 1 A / Sin | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 10 | Encoder2ASin | Encoder 2 A / Sin | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 11 | Encoder2BCos | Encoder 2 B / Cos | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 12 | AnalogIn2Voltage | Analog In 2 Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 13 | AnalogIn1Voltage | Analog In 1 Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 14 | Mux4In | MUX 4 IN | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 15 | Mux5In | MUX 5 IN | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 16 | Mux3In | MUX 3 IN | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 17 | Mux2In | MUX 2 IN | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 18 | PhaseVCurrentAlt | Current in phase V Alternate | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 19 | VRefInt6 | VRef Int 6 (MCU internal) | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 20 | DCBusVoltageAlt | DC Bus Voltage Alternate | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 21 | AnalogIn1VoltageAlt | Analog In 1 Voltage Alt (Second sample of Analog In 1 Voltage, normally not used) | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 22 | VRefInt7 | VRef Int 7 (MCU internal) | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 23 | Encoder1BCosAlt | Encoder 1 B / Cos - Alternate | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 24 | Encoder1ASinAlt | Encoder 1 A / Sin - Alternate | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 25 | CPUTemp | CPU Temp (MCU internal) | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 26 | PhaseWCurrentAlt | Current in phase W Alternate | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 27 | AnalogIn2VoltageAlt | Analog In 2 Voltage Alternate | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 28 | PCBTemp1 | PCB Temp | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 29 | MotorTemp1 | Motor Temp | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 30 | PowerboardTemp1 | Power Board Temp | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 31 | KeyInputVoltage | Key Input Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 32 | Pos5VC | 5V_C Measurement | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 33 | Pos15V | 15V Measurement | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 34 | Pos5V | 5V Measurement | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 35 | Mux2Gnd2 | MUX 2 GND 2 | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 36 | OpenDrainOut3Current | Open Drain Out 3 Current | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 37 | OpenDrainOut4Current | Open Drain Out 4 Current | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 38 | OpenDrainOut5Current | Open Drain Out 5 Current | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 39 | OpenDrainOut6Current | Open Drain Out 6 Current | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 40 | OpenDrainOut1Voltage | Open Drain Out 1 Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 41 | OpenDrainOut2Voltage | Open Drain Out 2 Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 42 | OpenDrainOut3Voltage | Open Drain Out 3 Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 43 | HighSideOut1Voltage | High Side Out Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 44 | SensorSupply1Voltage | Sensor Supply 1 Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 45 | SensorSupply2Voltage | Sensor Supply 2 Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 46 | SensorSupply2VoltageOut | Sensor Supply 2 Voltage Output | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 47 | Mux4Gnd1 | MUX 4 GND | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 48 | SensorSupply1RefVoltage | Sensor Supply 1 Ref Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 49 | SensorSupply2RefVoltage | Sensor Supply 2 Ref Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 50 | SensorSupply1VoltageOut | Sensor Supply 1 Voltage Output | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 51 | AnalogIn3Voltage | Analog In 3 Voltage | U16 | rw | 0 | 4095 | - | - | * 1 | internal | |
| 0x2006 ADConverterControl Internal Use Only | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 2 (Length=3) | - | * 1 | operator | |
| 1 | AdcWriteEnableLow32 |
Writing "1" to bit x, stops update of AD converter value x at the same time as it goes into manual mode (i.e. SW stops reading the ADC hardware and ADCx, 2005h:(x+1), is frozen and is only manually controlled by writing to it) , e.g. Example: AD Channel Write Enable = 0x8200 stops update of ADC9 and ADC15 values from AD converter and will only be possible to change by writing to them manually (pw6 is required). Writing "0" to the bit again returns the ADC channel to normal automatic mode. Shall ONLY be used for SW verification. Warranty voided if used! | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | internal | |
| 2 | AdcWriteEnableHigh32 |
Writing "1" to bit x, stops update of AD converter value x + 32 at the same time as it goes into manual mode (i.e. SW stops reading the ADC hardware and ADCx, 2005h:(x+1+32), is frozen and is only manually controlled by writing to it) , e.g. Example: AD Channel Write Enable = 0x8200 stops update of ADC41 and ADC47 values from AD converter and will only be possible to change by writing to them manually (pw6 is required). Writing "0" to the bit again returns the ADC channel to normal automatic mode. Shall ONLY be used for SW verification. Warranty voided if used! | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | internal | |
| 0x2009 ApplicationSwInformation | |||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 9 (Length=8) | - | * 1 | operator | |||||||||
| 1 | HwId | Up to four bits inputted from external hardware determining the Id of the drive. | U16 | ro | 0 | 15 | - | - | * 1 | operator | |||||||||
| 3 | HwDetectedMaxCurrent | Maximal Drive AC Current determined from Eeprom parameter ProductInformation, ItemMaxCurrent. | U16 | ro | 0 | 65535 | 0 | Arms | * 1 | operator | |||||||||
| 4 | SoftwareName | E.g. "PLASMA" | String | ro | - | - | - | - | * 1 | operator | |||||||||
| 5 | EepromPlasmaSegmentCheckSum |
The sum of all Plasma and application parameters checksums. Can be used to check if any parameter in the Eeprom has been changed. | U16 | ro | 0 | 65535 | 0 | - | * 1 | operator | |||||||||
| 6 | MCUNumber | Number of the MCU on the board (aka InternalHWID). | U8 | ro | 0 | 1 | - | - | * 1 | operator | |||||||||
| 7 | BootConfigurationBits |
Boot configuration bits.
| U32 | ro | - | - | - | - | * 1 | operator | |||||||||
| 9 | NumberOfHwIdBits | Show the number of supported hardware ID-bits. | U8 | ro | 0 | 4 | - | - | * 1 | operator | |||||||||
| 0x2020 ApplicationSetupParameters | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 16 (Length=11) | - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | SpeedRampMode |
Note: if RequestedControlMode equals
Steer Wheel Mode or Tiller Mode then this setting will be bypassed and speed controller will use no
ramps (i.e. act a if this parameter is set to Speed Control with No Ramp).
| U8 | rw | 0 | 255 |
| - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6 | BestPerformanceCurveMode |
| U8 | rw | 0 | 255 |
| - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 7 | RollBackSpeed | Controls if the truck stands still or starts rolling when slowing down to zero speed in a slope. RollBackSpeed is max rolling speed in slope. Set RollBack Speed to zero for standing (hillhold). The RollBackSpeed value is ramped if it is changed. The rate of change is the used ForwardDeceleration value if actual speed is 0 or positive or the used ReverseDeceleration value if the actual speed is negative. If any rate of change is zero, a value of 1 is used (i.e. always allow a small ramp to reach the rollback speed parameter). Only used in Speed Control Modes with ramps (Speed Control Mode = 4 or 5). | S16 | rw | 0 | 32767 |
| Rpm | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 10 | ApplicationSetupWord |
| U16 | rw | 0 | 65535 |
| - | * 1 | OEM | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 11 | MaxCommandSpeed | Sets the absolute limit for the Command Speed. | U16 | rw | 0 | 65535 |
| Rpm | * 1 | OEM | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 12 | RequestedControlMode |
Depends on the hardware id.
| U8 | rw | 0 | 255 |
| - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 13 | ActualControlMode |
| U8 | ro | 0 | 255 | - | - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 14 | MaxCommandPosition |
Sets the maximum allowed command position. Limits only the command position received EXTERNALLY (ex. CANopen or API) or when in ActualControlMode equal to Position Mode (4) when RequestedControlMode equals Steer Wheel Mode (1). Limitation will be disabled if this parameter or MinCommandPosition is set to Zero. This parameter should be zero when RequestedControlMode equals Tiller Mode (2). | S16 | rw | 0 | 1799 |
| Deg | * 0.1 | OEM | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 15 | MinCommandPosition |
Sets the minimum allowed command position. Limits only the command position received EXTERNALLY (ex. CANopen or API) or when in ActualControlMode equal to Position Mode (4) when RequestedControlMode equals Steer Wheel Mode (1). Limitation will be disabled if this parameter or MaxCommandPosition is set to Zero. This parameter should be Zero when RequestedControlMode equals Tiller Mode (2). | S16 | rw | -1800 | 0 |
| Deg | * 0.1 | OEM | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 16 | SteerWheelModeThreshold | Threshold on SensorCommandSpeed, SensorCommandSpeed for transition between ActualControlMode Speed Mode (0) and Position Mode (4) when RequestedControlMode equals Steer Wheel Mode (1). | S16 | rw | 0 | 32767 | 50 | Rpm | * 1 | OEM | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2029 ApplicationParameters | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 17 (Length=18) | - | * 1 | operator | |
| 1 | MasterStatusWord | Status word received from master controller via CANopen, used in slave mode. | U16 | rw | 0 | 65535 | 0 | - | * 1 | operator | |
| 2 | MasterCurrentRef | Reference current received from master controller via CANopen, used in slave mode. | S16 | rw | -2317 | 2316 | 0 | Arms | * 1 | operator | |
| 3 | ThrottleErrorState | State of the throttle error: OK, out of range or failed. | U16 | ro | 0 | 65535 | 0 | - | * 1 | operator | |
| 4 | ThrottleDirState | Throttle direction state: forward or reverse. | U16 | ro | 0 | 65535 | 0 | - | * 1 | operator | |
| 5 | ThrottleSignalMilliVolt | Actual throttle value in mV after filter but before exponential modification. | S16 | ro | -32768 | 32767 | - | mV | * 1 | operator | |
| 6 | ThrottleSignalPercent | Actual throttle value converted to a percentage from 0 to APPLMG_ONE_HUNDRED_PERCENT. | S16 | ro | -32768 | 32767 | 0 | % | * 1 | operator | |
| 7 | ThrottleCommandSpeed | Command speed calculated from the throttle position. | S16 | ro | -32768 | 32767 | 0 | - | * 1 | operator | |
| 8 | CurrentMaxCommandSpeed | Max command speed, either high or low max command speed depending on HighSpeedActive input. | S16 | ro | -32768 | 32767 | - | - | * 1 | operator | |
| 9 | CANCommandWord | Command word received from external controller via CANopen. | U16 | rw | 0 | 65535 | 0 | - | * 1 | operator | |
| 10 | CANCommandedSpeed | Commanded speed received from external controller via CANopen. | S16 | rw | -32768 | 32767 | 0 | - | * 1 | operator | |
| 11 | State | Current application state. | U8 | ro | 0 | 255 | - | - | * 1 | operator | |
| 12 | ThrottleActiveLowVoltage_mV | Active-low throttle voltage in mV. | S16 | rw | -32768 | 32767 | 500 | mV | * 1 | operator | |
| 13 | ThrottleActiveHighVoltage_mV | Active-high throttle voltage in mV. | S16 | rw | -32768 | 32767 | 4500 | mV | * 1 | operator | |
| 14 | ThrottleOORLowVoltage_mV | Throttle out-of-range low threshold in mV. | S16 | rw | -32768 | 32767 | 25 | mV | * 1 | operator | |
| 15 | ThrottleOORHighVoltage_mV | Throttle out-of-range high threshold in mV. | S16 | rw | -32768 | 32767 | 4950 | mV | * 1 | operator | |
| 16 | HighMaxCommandSpeed | High max command speed used when HighSpeedActive input is inactive. | S16 | rw | -32768 | 32767 | 4000 | - | * 1 | operator | |
| 17 | LowMaxCommandSpeed | Low max command speed used when HighSpeedActive input is active. | S16 | rw | -32768 | 32767 | 2000 | - | * 1 | operator | |
| 0x202D InductanceCalculation | ||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 12 (Length=13) | - | * 1 | operator | ||||||||||||||||||
| 1 | EnableAutotuning |
AUTO_INDUCTANCE_TUNING Starts the autotuning procedure. MANUAL_INDUCTANCE_TUNING Is not available at the moment. WRITE_TABLE Can be selected when in state "DONE". Writes to platform tables. RESET_INTERNAL_TABLE Writes values from MotorMeasurements.Ld/Lq to platform tables. CONTINOUS_CALC Continously calculates Ld/Lq, values are found in ContLd/ContLq params.
| U8 | rw | 0 | 8 | 0 | - | * 1 | OEM | ||||||||||||||||||
| 2 | WaitTime | Waiting time after setting new current | U16 | rw | 0 | 8000 | 2000 | ms | * 1 | OEM | ||||||||||||||||||
| 3 | IdCalibration | Autotuning d-axis current reference | S16 | rw | 0 | 500 | -37 | ms | * 1 | OEM | ||||||||||||||||||
| 4 | IqCalibration | Autotuning q-axis current reference | S16 | rw | 0 | 500 | 0 | ms | * 1 | OEM | ||||||||||||||||||
| 5 | UseNegativeIq | Used to flip sign of Q-current reference | U8 | rw | 0 | 1 | 0 | - | * 1 | OEM | ||||||||||||||||||
| 6 | ManualStepUp | When toggling from 0 to 1, next load step will be performed. | U8 | rw | 0 | 1 | 0 | - | * 1 | OEM | ||||||||||||||||||
| 7 | ManualLq | Used to write to Lq in manual tuning. | S16 | rw | 0 | 3445 | 0 | uH | * 1 | service | ||||||||||||||||||
| 8 | ExternalTorque | Externally measured torque. Torque in EXTERNAL_TORQUE_REPRESENTATION | S32 | rw | -32768 | 32767 | - | * 1 | service | |||||||||||||||||||
| 9 | WriteInductancesDirectly |
When set to 1, calculated inductances will be set in the platform table immediately. Otherwise, inductances will be written to a parallel RAM table and written when instructed to. | U8 | rw | 0 | 1 | 0 | - | * 1 | OEM | ||||||||||||||||||
| 10 | ContLd | Continously calculated Ld when in tuning state CONTINOUS_CALC. | S16 | ro | 0 | 3445 | 0 | uH | * 1 | OEM | ||||||||||||||||||
| 11 | ContLq | Continously calculated Ld when in tuning state CONTINOUS_CALC. | S16 | ro | 0 | 3445 | 0 | uH | * 1 | OEM | ||||||||||||||||||
| 12 | TorqueScaleFactor | Externally measured torque. | S16 | rw | -32768 | 32767 | - | * 1 | service | |||||||||||||||||||
| 0x2030 DcBus | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 29 (Length=25) | - | * 1 | operator | |
| 2 | Voltage | Measured non-filtered DC bus voltage value. | S16 | ro | 0 | 32767 | - | Vdc | * 0.01 | operator | |
| 3 | MaxMeasuredVoltage | Max Measured Voltage for A/D. | S16 | ro | 0 | 32767 | - | Vdc | * 0.01 | operator | |
| 4 | ModeratelyHighLevel | If Dc Voltage exceeds this level, a warning is set, and currents starts to linearily reduce to 0. When Dc Voltage Reaches ReductionEndHighLevel currents is reduced to 0. | S16 | rw | 0 | 32767 | 110% of 48 * 100 | Vdc | * 0.01 | OEM | |
| 5 | HighLevel | If DC Voltage exceeds this level, the application trips. | S16 | rw | 0 | 32767 | 95% of 67.09 * 100 | Vdc | * 0.01 | internal | |
| 6 | ModeratelyLowLevel | If DC Voltage goes below this level, a warning is set, and currents starts to linearily reduce to 0. When Dc Voltage Reaches ReductionEndLowLevel currents is reduced to 0. | S16 | rw | 0 | 32767 | 75% of 48 * 100 | Vdc | * 0.01 | OEM | |
| 7 | LowLevel | If DC Voltage goes below this level, the application trips. Set to 0, to disable trip. | S16 | rw | 0 | 32767 | 50% of 48 * 100 | Vdc | * 0.01 | OEM | |
| 8 | ReductionEndHighLevel | If DC Voltage exceeds this level, current is reduced to 0. Set to 0, to disable reduction function. | S16 | rw | 0 | 32767 | 0 | Vdc | * 0.01 | OEM | |
| 9 | ReductionEndLowLevel | If DC Voltage goes below this level, current is reduced to 0. Set to 0, to disable reduction function. | S16 | rw | 0 | 32767 | 0 | Vdc | * 0.01 | OEM | |
| 10 | FilterGain |
First order filtering coefficient for the Dc Bus Voltage. FilteredValue = FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue) fc = (FilterGain * 4000) / ((16384 - FilterGain) * 2 * π) τ = (16384 - FilterGain) / (FilterGain * 4000)
| S16 | rw | 0 | 16384 | 320 | service | |||
| 15 | NominalVoltage | 12, 24, 36, 48, 72, 80, 600 or 650V | S16 | ro | 0 | 32767 | 48 * 100 | Vdc | * 0.01 | operator | |
| 16 | FilteredVoltage | Used by Dc Bus Voltage supervision. | S16 | ro | 0 | 32767 | - | Vdc | * 0.01 | operator | |
| 17 | ChargingLevel | The voltage level when charging is said to be finished and "switch on" becomes allowed. | S16 | rw | 0 | 32767 | 85% of (0.75 * 48 * 100) | Vdc | * 0.01 | OEM | |
| 18 | MaxChargeTime | Max time to charge dc bus in in ms from key on. If set to 0, a timeout will never be set. | U16 | rw | 0 | 65535 | 10000 | ms | * 1 | OEM | |
| 19 | DcBusCalValueGain | Calibrated gain value for DC Bus. Written in production. If not calibrated, write the default value to clear default value events. | S16 | rw | 0 | 32767 | 67.09 *100 | - | * 1 | service | |
| 20 | DcBusCalValueOffset | Calibrated offset value for DC Bus. Written in production. If not calibrated, write the default value to clear default value events. | S16 | rw | -32768 | 32767 | 0 | centiV | * 1 | service | |
| 21 | SetDcBusCalValuesDefault | Writing a 1 to this index loads the default values for dc bus calibration. The warning bit DefaultCalValues will also be set. | U8 | wo | 0 | 1 | - | - | * 1 | service | |
| 22 | DcBusOffset | Run time offset value. Can be used to adapting the measured value to same value as other drives in the sustem. | S16 | rw | -32768 | 32767 | 0 | Vdc | * 0.01 | operator | |
| 23 | CanSignalFilteredVoltage | CAN signal filtered voltage. | S16 | ro | 0 | 32767 | - | Vdc | * 0.01 | operator | |
| 24 | CanSignalFilterGain |
First order filtering coefficient for the separately filtered DC voltage signal for CAN. FilteredValue = FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue) fc = (FilterGain * 4000) / ((16384 - FilterGain) * 2 * π) τ = (16384 - FilterGain) / (FilterGain * 4000)
| S16 | rw | 0 | 16384 | 320 | - | * 1 | OEM | |
| 25 | AdaptedRawVoltage | 0x2030:2 + 0x2030:22 | S16 | ro | 0 | 32767 | - | service | |||
| 26 | AdaptedFilteredVoltage | 0x2030:23 + 0x2030:22 | S16 | ro | 0 | 32767 | - | service | |||
| 27 | OVPTest | 1 = Start OVP test 0 = Stop OVP test | S16 | rw | 0 | 1 | - | service | |||
| 28 | PreCharge | 1 = PreCharge off 0 = PreCharge on | S16 | rw | 0 | 1 | 0 | service | |||
| 29 | OVPStatus | 1 = OVP protection function on 0 = OVP protection function off | S16 | ro | 0 | 1 | - | service | |||
| 0x2039 InternalVoltageSupplies | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 28 (Length=13) | - | * 1 | operator | |
| 1 | KeyVoltage | Key voltage level. | S16 | ro | 0 | 32767 | - | V | * 0.01 | operator | |
| 2 | 5V |
Internal 5V supply voltage level. Related events: 1701 - 5VOutOfRange | S16 | ro | 0 | 32767 | - | V | * 0.01 | operator | |
| 3 | 15V |
Internal 15V supply voltage level. Related events: 1700 - 15VOutOfRange | S16 | ro | 0 | 32767 | - | V | * 0.01 | operator | |
| 6 | SensorSupplyRefVoltage |
Internal Sensor Supply voltage reference level. Related events: 810 - SensSupRefRange For the external voltage refer to SensorSupply1OutputVoltage | S16 | ro | 0 | 32767 | - | V | * 0.01 | operator | |
| 7 | SensorSupplyVoltage |
Internal Sensor Supply voltage level. Related events: 811 - SensorSupRange For the external voltage refer to SensorSupply1OutputVoltage | S16 | ro | 0 | 32767 | - | V | * 0.01 | operator | |
| 8 | SensorSupplyCurrent |
Sensor Supply current consumption. SensorSupplyCurrent = (SensorSupplyRefVoltage - SensorSupplyVoltage) / 15 Related events: 800 - SensorSupNotCon 801 - SensorSupSHC | S16 | ro | 0 | 32767 | - | mA | * 1 | operator | |
| 9 | SensorSupplyRefGain | Gain for Internal Sensor Supply Reference voltage measurement. Written in production. If not calibrated, write the default value to clear default value events. | S16 | rw | 0 | 32767 | 4.06 *1000 | mV/bit | * 0.001 | OEM | |
| 10 | SensorSupplyGain | Gain for Sensor Supply voltage measurement. Written in production. If not calibrated, write the default value to clear default value events. | S16 | rw | 0 | 32767 | 4.06 *1000 | mV/bit | * 0.001 | OEM | |
| 11 | SensorSupplySetGainDefault | Write 1 to set default calibrated gain values for SensorSupplyRefGain and SensorSupplyGain. | S16 | wo | 1 | 1 | - | - | * 1 | OEM | |
| 22 | 5VC |
Internal 5V C supply voltage level. Related events: 1709 - 5VCOutOfRange | S16 | ro | 0 | 32767 | - | V | * 0.01 | operator | |
| 26 | SensorSupplyCurrentMin | SensorSupplyCurrentMin level. If SensorSupplyCurrentMin is greater than SensorSupplyCurrent, it will set SensorSupNotCon event. | S16 | rw | 0 | 32767 | 0.000 * 1000 | mA | * 1 | OEM | |
| 28 | SensorSupply1OutputVoltage |
External - SensorSupply1OutputVoltage. The external output voltage of the sensor supply 1. Related event: 1735 - SensorSupply1OutputVoltage_OutOfRange | S16 | ro | 0 | 32767 | - | V | * 0.01 | operator | |
| 0x2040 MotorTemperature | ||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 16 (Length=12) | - | * 1 | operator | ||||||||||||||||||||||||
| 2 | Temperature | Motor Temperature. | S16 | ro | -50 | 210 | - | degC | * 1 | operator | ||||||||||||||||||||||||
| 3 | ModeratelyLowLevel | Level at which a Low Temp Status will become active. | S16 | rw | -3276 | 3276 | -35 | degC | * 1 | OEM | ||||||||||||||||||||||||
| 4 | ReductionEndLowLevel |
Temperature level at which the linear current reduction will be at full reduction (no current) due to low temperature. Only accelerating current is reduced. Optionally also braking current can be reduced. Reduction starts from Moderately Low Level. Set to 0, to disable reduction function. | S16 | rw | -3276 | 3276 | 0 | degC | * 1 | OEM | ||||||||||||||||||||||||
| 5 | ModeratelyHighLevel | Level at which a Moderately High Temp Status will become active. | S16 | rw | -3276 | 3276 | 100 | degC | * 1 | OEM | ||||||||||||||||||||||||
| 6 | ReductionEndHighLevel |
Temperature level at which the linear current reduction will be at full reduction (no current) due to high temperature. Only accelerating current is reduced. Optionally also braking current can be reduced. Reduction starts from Moderately High Level. Set to 0, to disable reduction function. | S16 | rw | -3276 | 3276 | 120 | degC | * 1 | OEM | ||||||||||||||||||||||||
| 7 | HighLevel | Level at which a High Temp Status will become active. | S16 | rw | -3276 | 3276 | 130 | degC | * 1 | OEM | ||||||||||||||||||||||||
| 10 | CanSignalMotorTemp | Motor Temperature. | S16 | ro | -50 | 210 | - | degC | * 1 | operator | ||||||||||||||||||||||||
| 11 | CanSignalMotorTempFilterGain |
Filter gain for separately filtered motor temperature signal for CAN. FilteredValue = FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue) fc = (FilterGain * 50) / ((16384 - FilterGain) * 2 * π) τ = (16384 - FilterGain) / (FilterGain * 50)
| S16 | rw | 0 | 16384 | 2000 | * 1 | operator | |||||||||||||||||||||||||
| 13 | ShortCircuitLevel | Level at which a Short Circuit Status will become active. | S16 | rw | -3276 | 3276 | -50 | degC | * 1 | internal | ||||||||||||||||||||||||
| 14 | NotConnectedLevel | Level at which a Not Connected Status will become active. | S16 | rw | -3276 | 3276 | 210 | degC | * 1 | internal | ||||||||||||||||||||||||
| 16 | SensorTypeSelect |
Selectable Motor Temperature Sensors
| U8 | rw | 0 | 5 | 0 | OEM | ||||||||||||||||||||||||||
| 0x2041 PowerStageTemperature | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 4 (Length=4) | - | * 1 | operator | |
| 2 | Temperature |
Heatsink Temperature. | S16 | ro | -50 | 130 | - | degC | * 1 | operator | |
| 3 | CanSignalInverterTemp | Separately filtered heat sink temperature. | S16 | ro | -50 | 130 | - | degC | * 1 | operator | |
| 4 | CanSignalInverterTempFilterGain |
Filter gain for separately filtered heat sink temperature signal for CAN FilteredValue = FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue) fc = (FilterGain * 50) / ((16384 - FilterGain) * 2 * π) τ = (16384 - FilterGain) / (FilterGain * 50)
| S16 | rw | 0 | 16384 | 350 | * 1 | operator | ||
| 0x2044 PCBTemperature | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 2 (Length=2) | - | * 1 | operator | |
| 2 | Temperature1 |
Pcb Temperature. | S16 | ro | -50 | 120 | - | degC | * 1 | operator | |
| 0x2045 MotorTemperatureTableAD | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Size of look-up table. | U8 | rw | 2 | 15 | Variable | - | * 1 | OEM | |
| 1 | TemperatureTableAD | AD-value (16-bit) for the corresponding temperature. | Array of U16 | rw | 0 | 65535 | - | - | * 1 | OEM | |
| 0x2046 MotorTemperatureTableDeg | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Size of look-up table. | U8 | rw | 2 | 15 | Variable | - | * 1 | OEM | |
| 1 | TemperatureTableDeg | Temperature for the corresponding AD-value. | Array of S16 | rw | -200 | 300 | - | degC | * 1 | OEM | |
| 0x2047 ActualMotorTemperatureTableAD | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Size of look-up table. | U8 | rw | 2 | 15 | Variable | - | * 1 | OEM | |
| 1 | ActualTemperatureTableAD | AD-value (16-bit) for the corresponding temperature. | Array of U16 | ro | 0 | 65535 | - | - | * 1 | OEM | |
| 0x2048 ActualMotorTemperatureTableDeg | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Size of look-up table. | U8 | rw | 2 | 15 | Variable | - | * 1 | OEM | |
| 1 | ActualTemperatureTableDeg | Temperature for the corresponding AD-value. | Array of S16 | ro | -200 | 300 | - | degC | * 1 | OEM | |
| 0x2050 EnergyLimit | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 5 (Length=6) | - | * 1 | operator | ||||||||||
| 1 | ConstantCurrentLimit |
Current below this limit will not create energy limitation. | S16 | rw | 0 | 2316 |
| Arms | * 1 | operator | ||||||||||
| 2 | ReductionPgain |
This gain multipied with energy gives the reduction. Setting gain to 0 disables the energy limit reduction function. | S16 | rw | 0 | 32767 |
| * 1 | operator | |||||||||||
| 3 | EnergyFilterGain |
First order filtering coefficient to estimate energy.
FilteredValue = FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue)
| U16 | rw | 0 | 16384 |
| * 1 | service | |||||||||||
| 4 | Reduction |
The resulting reduction due to estimated power stage energy.
| S16 | ro | 0 | 256 | * 1 | service | ||||||||||||
| 5 | CurrentForEnergyFilterInit |
Initial current level that determines the initial value of the energy filter. | S16 | rw | 0 | 2316 |
| Arms | * 1 | operator | ||||||||||
| 0x2051 PmFeedbackSensorOffsetCalibration | ||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 9 (Length=9) | - | * 1 | operator | ||||||||||||||||
| 1 | State |
Write 1 to start the calibration routine. Drive has to be enabled, motor should be able to spin freely in both directions.
It highly recommended to set SDO Timeout!
At end of calibration, the drive is left in AC current control. It is recommended to reset the drive after completion to make sure the drive is in a well defined state before continuing. PM Motor Only
| U8 | rw | 0 | 255 | 0 | * 1 | operator | |||||||||||||||||
| 2 | OpenLoopSpeed |
The speed to rotate with open loop feedback. PM Motor Only | S16 | rw | -32768 | 32767 | 300 | Rpm | * 1 | operator | ||||||||||||||||
| 3 | OpenLoopCurrent |
The d-axis current to apply when pulling motor without angle feedback. PM Motor Only | S16 | rw | 0 | 2316 | 91 | Arms | * 1 | operator | ||||||||||||||||
| 4 | AccAndBrakeCurrent |
The AC current to apply when accelerating and decelerating motor. PM Motor Only | S16 | rw | 0 | 2316 | 55 | Arms | * 1 | operator | ||||||||||||||||
| 5 | AccelerationTimeout |
The maximum allowed time when accelerating motor. PM Motor Only | U16 | rw | 0 | 65535 | 5000 | ms | * 1 | operator | ||||||||||||||||
| 7 | MaxUpeak |
Target AC voltage required for measuring voltage angle. PM Motor Only | S16 | rw | 0 | 32767 | 7000 | - | * 1 | operator | ||||||||||||||||
| 8 | MaxAngleAdjustment |
Fine alignment will be re-run if final adjustment was larger than this value. PM Motor Only | S16 | rw | 0 | 1799 | 30 | Deg | * 0.1 | operator | ||||||||||||||||
| 9 | MaxNumberOfRetries |
Max number of re-runs. PM Motor Only | S16 | rw | 0 | 255 | 2 | no | * 1 | operator | ||||||||||||||||
| 0x2052 FeedbackSensor | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 21 (Length=22) | - | * 1 | operator | ||||||||||
| 1 | RotorSpeedInRpm |
Shows value from the active feedback. If FeedbackMode is 0 the physical sensor speed is shown. If FeedbackMode is 1 the parameter FrequencyWhenNoSpeedFeedback speed is shown. If FeedbackMode is 2 the CommandSpeeed is shown. If FeedbackMode is 3 sensorless closed loop feedback speed is shown. | S16 | ro | -32768 | 32767 | - | Rpm | * 1 | operator | ||||||||||
| 2 | SensorAngleAligned |
Sensorangle in deciDegrees. Does not take into account number of sensor poles. Can be written to if FeedbackMode is 1. | S16 | rw | -1800 | 1799 | - | Deg | * 0.1 | operator | ||||||||||
| 3 | SensorAngleOffset |
Sensorangle offset in deciDegrees. Added to SensorAngle before number of sensor poles is handled. Used by PM motor to align rotor and posistion sensor. Calibration parameter. | S16 | rw | -1800 | 1799 | 0 | Deg | * 0.1 | operator | ||||||||||
| 4 | DeltaSensorLowResAngle | Change of Sensorangle per 250 us in Q15 format. | S16 | ro | -32768 | 32767 | - | incs/timeunit | * 1 | operator | ||||||||||
| 5 | SensorLowResAngleAligned | Sensorangle in Q15. | S16 | ro | -32768 | 32767 | - | incs | * 1 | operator | ||||||||||
| 6 | DeltaSensorAngle | Change of Sensorangle per 250 us in Q31 format. | S32 | ro | -2147483648 | 2147483647 | - | incs/timeunit | * 1 | operator | ||||||||||
| 7 | SensorAngleAlignedInternal | Sensorangle in Q31. | S32 | ro | -2147483648 | 2147483647 | - | incs | * 1 | operator | ||||||||||
| 8 | Acceleration | Rotor accleration in Rpm/20ms. | S16 | ro | -32768 | 32767 | - | incs | * 1 | operator | ||||||||||
| 9 | SensorPolePairs | Number of sensor pole pairs. Normally 1 except for resolver and analog hall sensors. | S16 | rw | 1 | 32767 |
| no | * 1 | OEM | ||||||||||
| 10 | FeedbackMode |
The rotor position and speed used for commutation and speed control can be taken from difference
sources.
If FeedbackMode is 0 the commutation angle and speed is taken from the physical sensor.
To be used for closed loop control with physical sensor.
If FeedbackMode is 1 the commutation angle and speed is taken from the parameter FrequencyWhenNoSpeedFeedback.
To be used for open loop control with stator commutuation explicitly controlled whitout
considering MotorPoles or SensorPolePaires.
If FeedbackMode is 2 the commutation angle and speed is taken from CommandSpeeed.
To be used for open loop control when the commutation speed shall result in that the shaft speed gets close to CommandSpeed.
Set the ControlMode to SpeedMode and limit the speed change with CommandAccelerationChange and CommandDeccelerationChange
If FeedbackMode is 3 the commutation angle and speed is taken from what the sensorless algorithm calculate.
Only applicable for induction machine.
To be used for closed loop control when physical sensor do not exsist or has failed.
| U16 | rw | 0 | 3 | SFIFMG_PHYSICAL_FEEDBACK_CLOSED_LOOP | - | * 1 | internal | ||||||||||
| 11 | FrequencyWhenNoSpeedFeedback |
Set value for sensor speed (i.e. frequency) when FeedbackMode is 1. The value 65536 corresponds to 4000 Hz sensor frequency. The rotor (mechanical) frequency is sensor frequency divided with number of sensor pole pairs. | S16 | rw | -32768 | 32767 | 0 | see Description | * 1 | internal | ||||||||||
| 12 | SensorSpeedInRpm | Shows value from the physical feedback sensor, even when FeedbackMode is different from 0. | S16 | ro | -32768 | 32767 | 0 | Rpm | * 1 | internal | ||||||||||
| 13 | SpeedFilterGain |
First order filtering coefficient for the speed used in the speed control. FilteredValue = FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue) fc = (FilterGain * 4000) / ((16384 - FilterGain) * 2 * π) τ = (16384 - FilterGain) / (FilterGain * 4000)
| S16 | rw | 0 | 16384 |
| - | * 1 | OEM | ||||||||||
| 14 | AccelerationFilterGain |
First order filtering coefficient for the Acceleration. FilteredValue = FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue) fc = (FilterGain * 50) / ((16384 - FilterGain) * 2 * π) τ = (16384 - FilterGain) / (FilterGain * 50)
| S16 | rw | 0 | 16384 | 1280 | - | * 1 | OEM | ||||||||||
| 15 | SensorLowResAngle | Shows value from the active feedback sensor even when SpeedFeedbackSensorDisabled is set in Q15. | S16 | ro | -32768 | 32767 | - | incs | * 1 | internal | ||||||||||
| 16 | SensorAngle | Shows value from the active feedback sensor even when SpeedFeedbackSensorDisabled is set in deciDegrees. | S16 | ro | -1800 | 1799 | - | Deg | * 0.1 | internal | ||||||||||
| 17 | SpeedCalculationCounter |
Can be used by an external controller to verify that the speed calculation function has been executed. For example, an APS (steer controller) can be set up to monitor the speed calculation in the vehicle controller as as part of the traction speed supervision. When communicated via PDO, make sure that transmission period is less than 64ms to avoid wrap around issue. i.e. Overflow = 256 [8bits] / 4000 [speed calc rate] * 1000 [ms] = 64ms. | U8 | ro | 0 | 255 | - | - | * 1 | internal | ||||||||||
| 18 | SensorDirectionInverted |
This OD does not apply for SIXSTEP feedback sensor. False (0) = The two sensor channels not shifted True (1) = The two sensor channels shifted This setting shall be set according to the definition of the two feedback sensor channels. | U16 | rw | 0 | 1 |
| - | * 1 | OEM | ||||||||||
| 19 | CanSignalRotorSpeedInRpm |
Shows value from the separately filtered feedback. If FeedbackMode is 0 the physical sensor speed is shown. If FeedbackMode is 1 the parameter FrequencyWhenNoSpeedFeedback speed is shown. If FeedbackMode is 2 the CommandSpeeed is shown. If FeedbackMode is 3 sensorless closed loop feedback speed is shown. | S16 | ro | -32768 | 32767 | - | Rpm | * 1 | operator | ||||||||||
| 20 | CanSignalSpeedFilterGain |
First order filtering coefficient for the separately filtered CAN signal speed. FilteredValue = FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue) fc = (FilterGain * 4000) / ((16384 - FilterGain) * 2 * π) τ = (16384 - FilterGain) / (FilterGain * 4000)
| S16 | rw | 0 | 16384 | 320 | - | * 1 | OEM | ||||||||||
| 21 | SensorTypeSelect |
Select sensor pullup configurations. One bit for each sensor.
Bit value 0 = pullup (digital sensor)
Bit value 1 = no pullup (analog sensor)
Following is a list of available sensors for this specific product. Note, the meaning of each bit varies dynamic with different products. The list is adjusted packed to the least significant bits in the value, starting with the sensor for bit0 in the list.
| U16 | rw | 0 | 65535 | - | * 1 | OEM | |||||||||||
| 0x2053 SinCosSensor | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 45 (Length=29) | - | * 1 | operator | |
| 1 | Sensor1mVSignal | Signal1 level in mV. | S16 | ro | 0 | (5500) | - | mV | * 1 | internal | |
| 2 | Sensor2mVSignal | Signal2 level in mV. | S16 | ro | 0 | (5500) | - | mV | * 1 | internal | |
| 3 | Sensor1mVOffsetAdjusted |
The automatically adjusted Signal1 offset in millvolt. At startup this parameter will be initiated to the value of Sensor1mVOffset. This is the offset that is actually used to calculate sensor angle. | S16 | ro | 0 | (5500) | 0 | mV | * 1 | internal | |
| 4 | Sensor2mVOffsetAdjusted |
The automatically adjusted Signal2 offset in millvolt. At startup this parameter will be initiated to the value of Sensor2mVOffset. This is the offset that is actually used to calculate sensor angle. | S16 | ro | 0 | (5500) | 0 | mV | * 1 | internal | |
| 5 | Sensor1mVAmplitudeAdjusted |
The automatically adjusted Signal1 amplitude in millvolt. At startup this parameter will be initiated to the value of Sensor1mVAmplitude. This is the amplitude that is actually used to calculate sensor angle. | S16 | ro | 1 | (5500) | 0 | mV | * 1 | internal | |
| 6 | Sensor2mVAmplitudeAdjusted |
The automatically adjusted Signal2 amplitude in millvolt. At startup this parameter will be initiated to the value of Sensor2mVAmplitude. This is the amplitude that is actually used to calculate sensor angle. | S16 | ro | 1 | (5500) | 0 | mV | * 1 | internal | |
| 22 | NormaliseSensorInputs | Use unfiltered window to calculate gain and offset. Can be used if default gain or offset is wrong and the drive does not see that the sensor is turning. After drive reset rotate the sensor a little over one turn but not more than two turns before using this function. Write the value 3 to use this function. Then manually store the new offsets and gains to EEPROM if successful. | U8 | wo | 3 | 3 | - | - | * 1 | internal | |
| 23 | Sensor1NormalisedSignal | Normalized level for signal 1 in Base 2000h. | S16 | ro | -32768 | 32767 | 0 | see Description | * 1 | internal | |
| 24 | Sensor2NormalisedSignal | Normalized level for signal 2 in Base 2000h. | S16 | ro | -32768 | 32767 | 0 | see Description | * 1 | internal | |
| 25 | Sensor1NormalisedOffsetAdjusted |
Offset for signal 1. Normalised to internal scaling. At startup the intitial value will be calculated from the parameter Sensor1mVOffset. | S16 | ro | 0 | 32767 | 16380 | - | * 1 | internal | |
| 26 | Sensor1NormalisedGainAdjusted |
Gain for signal 1. Normalised to internal scaling. At startup the intitial value will be calculated from the parameter Sensor1mVAmplitude. | S16 | ro | 0 | 32767 | 0 | - | * 1 | internal | |
| 27 | Sensor2NormalisedOffsetAdjusted |
Offset for signal 2. Normalised to internal scaling. At startup the intitial value will be calculated from the parameter Sensor2mVOffset. | S16 | ro | 0 | 32767 | 16380 | - | * 1 | internal | |
| 28 | Sensor2NormalisedGainAdjusted |
Gain for signal 2. Normalised to internal scaling. At startup the intitial value will be calculated from the parameter Sensor2mVAmplitude. | S16 | ro | 0 | 32767 | 0 | - | * 1 | internal | |
| 29 | Sensor1WindowMin | Min AD value for signal 1 (AD value shifted down 1). Filtered window updated every 2 turns of the sensor. | S16 | ro | 0 | 32767 | 0 | see Description | * 1 | internal | |
| 30 | Sensor1WindowMax | Max AD value for signal 1 (AD value shifted down 1). Filtered window updated every 2 turns of the sensor. | S16 | ro | 0 | 32767 | 0 | see Description | * 1 | internal | |
| 31 | Sensor2WindowMin | Min AD value for signal 2 (AD value shifted down 1). Filtered window updated every 2 turns of the sensor. | S16 | ro | 0 | 32767 | 0 | see Description | * 1 | internal | |
| 32 | Sensor2WindowMax | Max AD value for signal 2 (AD value shifted down 1). Filtered window updated every 2 turns of the sensor. | S16 | ro | 0 | 32767 | 0 | see Description | * 1 | internal | |
| 33 | NormalisedSin2Cos2 |
Unit circle value calculated as (Sensor1NormalisedSignal^2 + Sensor2NormalisedSignal^2). | S32 | ro | 0 | 2147483647 | 0 | - | * 1 | internal | |
| 36 | Sensor1mVOffset |
Signal1 offset default value in millvolt. The Sensor1mVOffsetAdjusted will be initiated to this value at startup. When changing this parameter you must save it to eeprom and then restart the unit. Writing to this value will also update the corresponding parameter for the active sensor configuration ActualSensorType. | S16 | rw | 0 | (5500) | 0 | mV | * 1 | internal | |
| 37 | Sensor2mVOffset |
Signal2 offset default value in millvolt. The Sensor2mVOffsetAdjusted will be initiated to this value at startup. When changing this parameter you must save it to eeprom and then restart the unit. Writing to this value will also update the corresponding parameter for the active sensor configuration ActualSensorType. | S16 | rw | 0 | (5500) | 0 | mV | * 1 | internal | |
| 38 | Sensor1mVAmplitude |
Signal1 amplitude default value in millvolt. The peak to peak value is 2 * Sensor1mVAmplitude. The Sensor1mVAmplitudeAdjusted will be initiated to this value at startup. When changing this parameter you must save it to eeprom and then restart the unit. Writing to this value will also update the corresponding parameter for the active sensor configuration ActualSensorType. | S16 | rw | 0 | (5500) | 0 | mV | * 1 | internal | |
| 39 | Sensor2mVAmplitude |
Signal1 amplitude default value in millvolt. The peak to peak value is 2 * Sensor2mVAmplitude. The Sensor2mVAmplitudeAdjusted will be initiated to this value at startup. When changing this parameter you must save it to eeprom and then restart the unit. Writing to this value will also update the corresponding parameter for the active sensor configuration ActualSensorType. | S16 | rw | 0 | (5500) | 0 | mV | * 1 | internal | |
| 40 | ActivateCalibration | Activate or deactivate the automatic offset and amplitude adjustment of sine and cosine signals. | U8 | rw | 0 | 1 | 1 | - | * 1 | internal | |
| 41 | SampleTimeDelay |
Use this to compensate for when a sensor reading returns a seemingly old value. This can be observed for example when only using a high d-current only but the externally measured torque changes with speed. | S32 | rw | 0 | 250000 | 0 | ns | * 1 | internal | |
| 42 | Sin2Cos2 | Unit circle value calculated as (Sensor1Signal^2 + Sensor2Signal^2). | S32 | ro | 0 | 2147483647 | 0 | - | * 1 | internal | |
| 43 | MaxAmplitude | The maximum allowed amplitude for the configured sensor before gain or unit circle error. Writing to this value will also update the corresponding parameter for the active sensor configuration ActualSensorType. | S16 | rw | 1 | (5500) | 0 | mV | * 1 | OEM | |
| 44 | MinAmplitude | The minimum allowed amplitude for the configured sensor before gain or unit circle error. Writing to this value will also update the corresponding parameter for the active sensor configuration ActualSensorType. | S16 | rw | 1 | (5500) | 0 | mV | * 1 | OEM | |
| 45 | MaxDeltaNominalOffset | Max +/- variation allowed in offset level. Writing to this value will also update the corresponding parameter for the active sensor configuration ActualSensorType. | S16 | rw | 0 | (5500) | 0 | mV | * 1 | OEM | |
| 0x2058 SensorBearingFeedback | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 26 (Length=22) | - | * 1 | operator | ||||||||||
| 1 | HwResolution | Pulses per revolution per channel. | S16 | rw | -32768 | 32767 |
| no | * 1 | OEM | ||||||||||
| 2 | PulseCheckChannelLowSpeedLimit |
Used for detection of one broken sensor channel at low speeds. If one channel has no pulses
but the other channel shows a speed higher than the limit the Loss of Channel X event will be set.
Set to zero for no detection. Recommended value for detection is 50-100 rpm. | U16 | rw | 0 | 65535 |
| Rpm | * 1 | OEM | ||||||||||
| 4 | SpeedPlausibleHighLimit | Used for detection of faulty sensor. If sensor reports non plausible value the corresponding fault is activated. | U16 | rw | 0 | 65535 |
| Rpm | * 1 | OEM | ||||||||||
| 5 | HardwareCaptureValue | Number of pulse edges captured. The pulse edges per revolution equals 4 * SensorPulsesPerRevolution. | U16 | ro | 0 | 65535 | - | see Description | * 1 | OEM | ||||||||||
| 6 | CaptureValue | Number of pulse edges captured. The pulse edges per revolution equals 4 * SensorPulsesPerRevolution * Virtual resolution. | U16 | ro | 0 | 65535 | - | see Description | * 1 | OEM | ||||||||||
| 9 | DeltaCaptureValue | Number of pulse edges captured per ms. | S16 | ro | -32768 | 32767 | 0 | internal | ||||||||||||
| 10 | EncoderSector | Encoder sector counts from 0 to hwresolution*number of captures per pulse. | S16 | ro | - | - | - | - | * 1 | internal | ||||||||||
| 11 | SizeOfErrorAtZCorrection | The size of the difference of the encoder sector angle and the defined z pulse index angle. Note that the error can be the maximum value of encoder sector wihch should also be treated as 0. | S16 | ro | - | - | - | - | * 1 | internal | ||||||||||
| 12 | FirstZPulseHasBeenDetected | State switch which indicates if the first z-pulse has been detected. | U8 | ro | - | - | - | - | * 1 | internal | ||||||||||
| 13 | SecondAngleCorrectionDone | After one turn of the rotor, status = 1 if the target z-edge was detected. The correction angle should from now on be close to zero otherwise an error event will be activated. | U8 | ro | - | - | - | - | * 1 | internal | ||||||||||
| 14 | LengthOfZPulse | Length of the Z pulse (index pulse) in number of pulses. This parameter will change one of the Z pulse reference angles. | S16 | rw | - | - | 12 | - | * 1 | internal | ||||||||||
| 15 | ZPulseCorrectioSectorSize | Adjust the correction sector size (window) where a sensor angle adjustment is allowed. | S16 | rw | - | - | 12/2 | - | * 1 | internal | ||||||||||
| 16 | NoZPulseDetectedLimit | Number of counted encoder sector values where a detecton of a Z pulse is expected. Abowe this value the drive will trip. | S16 | rw | - | - | - | - | * 1 | internal | ||||||||||
| 17 | ZPulseCapterValue | The current Z capture on quadrature inputs (ChA and ChB). | U16 | ro | - | - | - | - | * 1 | internal | ||||||||||
| 20 | TimeDeltaSensorAngle | DeltaSensorAngle as produced by the Pulse Delta Time Measurement. Regardless of the setting of UseTimeMeasurement. | S16 | ro | - | - | - | - | * 1 | internal | ||||||||||
| 21 | TimeFrequency | Pulse Frequency for channel 1 as measured by the Pulse Delta Time Measurement. Regardless of the setting of UseTimeMeasurement. | S16 | ro | - | - | - | - | * 1 | internal | ||||||||||
| 22 | TimeRpm | Rpm as produced by the Pulse Delta Time Measurement. Regardless of the setting of UseTimeMeasurement. | S16 | ro | - | - | - | - | * 1 | internal | ||||||||||
| 23 | TimeDir | Direction used by Pulse Delta Time Measurement. Regardless of the setting of UseTimeMeasurement. | U8 | ro | - | - | - | - | * 1 | internal | ||||||||||
| 24 | UseTimeMeasurement | Enable TimeMeasurement method to calculate the speed for encoder (RPM, DeltaAngle etc). Not available on Supervisor. | U8 | rw | 0 | 1 | 0 | - | * 1 | internal | ||||||||||
| 25 | TimeQuadUpperLimit | Upper limit for TimeDeltaSensorAngle signal saturation/"lock in" against quadrature DeltaSensorAngle. If outside, event DeltaTimeToQuadMismatch will be set. | S16 | ro | - | - | - | - | * 1 | internal | ||||||||||
| 26 | TimeQuadLowerLimit | Lower limit for TimeDeltaSensorAngle signal saturation/"lock in" against quadrature DeltaSensorAngle. If outside, event DeltaTimeToQuadMismatch will be set. | S16 | ro | - | - | - | - | * 1 | internal | ||||||||||
| 0x2059 SixstepSensorFeedback | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 1 (Length=2) | - | * 1 | operator | |
| 1 | SixstepState | State of sixstep sensor. Each state represents 60 degrees of 1 sensor turn. | S16 | ro | 1 | 6 | - | - | * 1 | internal | |
| 0x2060 OpenDrainOutputGeneral | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 7 (Length=6) | - | * 1 | operator | |
| 1 | Frequency | Open Drain Output Switching Frequency (4, 8 or 16 kHz). | U16 | rw | 1 | 16 | 16 | kHz | * 1 | OEM | |
| 3 | OpenDrainOutputControlWord |
Bitmask Enable/Disable (1/0) open drain outputs:
If an Open Drain output has tripped due to a short circuit, for example, the Open Drain output has to be disabled and re-enabled to be activated again after the fault condition has been removed. | U16 | rw | 0 | 65535 | 0 | - | * 1 | operator | |
| 4 | CommandAllControlled |
Bitmask:
Open drain output 1 -> bit 0 | U16 | ro | 0 | 65535 | 0 | - | * 1 | operator | |
| 6 | MainContactor | Set which Open Drain Output to use as main contactor. 0=none or 1..n where n=maximum number of open drains used. | U16 | rw | 0 | 6 | 0 | - | * 1 | OEM | |
| 7 | OpenDrainOutputStatusWord |
Bitmask showing actual Enable/Disable (1/0) status of open drain outputs:
| U16 | ro | 0 | 65535 | 0 | - | * 1 | operator | |
| 0x2061 OpenDrainOutputMode | ||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||
| 1 | OutputMode |
| Array of U16 | rw | 0 | 4 | 1 | - | * 1 | operator | ||||||||||||
| 0x2062 OpenDrainOutputPullTime | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||
| 1 | PullTime |
During this time the Pull Voltage or Pull Current is generated. Pull time for Open Drain Output 1...N. | Array of U16 | rw | 0 | 65535 |
| ms | * 1 | operator | ||||||||||
| 0x2063 OpenDrainOutputPullVoltage | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||
| 1 | PullVoltage |
Initial (during pull time) voltage between B+ and output when output is enabled. Pull voltage for Open Drain Output 1...N. | Array of U16 | rw | 0 | 32767 |
| Vdc | * 0.01 | operator | ||||||||||
| 0x2064 OpenDrainOutputHoldVoltage | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||
| 1 | HoldVoltage |
Voltage that follows upon the Pull Voltage. Hold voltage for Open Drain Output 1...N. | Array of U16 | rw | 0 | 32767 |
| Vdc | * 0.01 | operator | ||||||||||
| 0x2065 OpenDrainOutputCurrentReference | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||
| 1 | CurrentReference | Current Reference for Open Drain Output 1..N. This also acts as the Hold Current when using the output in Current mode with PullTime > 0. | Array of S16 | rw | 0 | 32767 |
| mA | * 1 | operator | ||||||||||
| 0x2066 OpenDrainOutputCurrentPgain | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |
| 1 | Pgain | Pgain for Open Drain Output 1..N. | Array of U16 | rw | 0 | 65535 | 100 | - | * 1 | operator | |
| 0x2067 OpenDrainOutputCurrentIgain | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |
| 1 | Igain | Igain for Open Drain Output 1..N. | Array of U16 | rw | 0 | 65535 | 100 | - | * 1 | operator | |
| 0x2068 OpenDrainOutputDitheringCurrentFrequency | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |
| 1 | DitherFrequency |
Dithering Frequency for Open Drain Output 1..N. Frequency with which the Dithering Amplitude will be added to and alternately subtracted from the Current Reference. Duty cycle 50%. Setting DitherFrequency to 0 turns dithering off. | Array of U16 | rw | 0 | 250 | 0 | Hz | * 1 | operator | |
| 0x2069 OpenDrainOutputDitheringCurrentAmplitude | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |
| 1 | DitheringCurrentAmplitude |
Dithering Current Amplitude for Open Drain Output 1..N. Dithering Current Amplitude added and subtracted to Current Reference with Dithering Frequency. | Array of U16 | rw | 0 | 65535 | 20 | mA | * 1 | operator | |
| 0x206A OpenDrainOutputCurrent | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |
| 1 | Current | Current through Open Drain Output 1..N. | Array of S16 | ro | 0 | 32767 | - | mA | * 1 | operator | |
| 0x206B OpenDrainOutputPWMLevel | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |
| 1 | PWMLevel |
PWM Level for Open Drain Output 1..N. Shows the compare value as set in hardware of MCU. If Open Drain is in Manual PWM control mode the PWMLevel can be set by writing to this subindex. Also, in Manual PWM control mode, if output is off then the desired PWM level is read back instead of the hardware register value (that shows 0 if the output is off). See OpenDrainOutputPeriod.Period for maximum level. | Array of U16 | rw | 0 | 65535 | - | - | * 1 | operator | |
| 0x206C OpenDrainOutputNotConnectedLevel | ||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||||||||||
| 1 | NotConnectedLevel |
Not Connected Level for Open Drain Output 1..N. Current limit in mA. If measured current is below this for 200ms it will set the NotConnectedCh<x> event. Set to 0 to disable this check. | Array of U16 | rw | 0 | 2500 |
| mA | * 1 | OEM | ||||||||||||||||||||
| 0x206D OpenDrainOutputPeakCurrentLevel | ||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||||||||||
| 1 | PeakCurrentLevel |
Peak Current Level Open Drain Output 1..N. Current limit in mA. If measured current is above this for 16ms it will set the HighCurrentCh<x> event. If set to 0 the hardware limit will apply. | Array of U16 | rw | 0 | 2500 |
| mA | * 1 | OEM | ||||||||||||||||||||
| 0x206E OpenDrainOutputOverloadCurrentLevel | ||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||||||||||
| 1 | OverloadCurrentLevel |
Overload Current Level Open Drain Output 1..N. Current limit in mA. If measured current is above this for 10s it will set the HighCurrentCh<x> event. If set to 0 the hardware limit will apply. | Array of U16 | rw | 0 | 1500 |
| mA | * 1 | OEM | ||||||||||||||||||||
| 0x206F OpenDrainOutputPullCurrent | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||
| 1 | PullCurrent | Current Reference for Pull Current for Open Drain Output 1..N. It is used as initial current reference used for a time as specified by OpenDrainOutputPullTime.PullTime from the moment it is enabled. When PullTime has passed the OpenDrainOutputCurrentReference.CurrentReference is used as the main current reference until disabled. | Array of S16 | rw | 0 | 32767 |
| mA | * 1 | operator | ||||||||||
| 0x2070 PmMotorParameters | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 3 (Length=4) | - | * 1 | operator | ||||||||||
| 1 | PllPGain |
Proportional gain used in the PLL (Phase Locked Loop) filtering of the stator
angle (4096 = 1). The PLL filter serves the purpose of smoothing out bad feedback signals without introducing delay. If PllPgain is set to zero, Pll filtering of StatorAngle is disabled, i.e. StatorAngle = StatorAngleUnfiltered and DeltaStatorAngle = DeltaStatorAngleUnfiltered. | S16 | rw | 0 | 32767 |
| see Description | * 1 | service | ||||||||||
| 2 | PllIGain | Integral gain used in the PLL filtering of the stator angle (4096 = 1). | S16 | rw | 0 | 32767 |
| see Description | * 1 | service | ||||||||||
| 3 | PllLimOutMax | Max output from the PLL filtering of the stator angle, i.e. max value of DeltaStatorAngle16 (0x2071:17). | S16 | rw | 0 | 32767 |
| see Description | * 1 | service | ||||||||||
| 0x2071 InductionMotorParameters | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 29 (Length=24) | - | * 1 | operator | ||||||||||
| 1 | SlipSpeed |
Difference between electrical rotor speed and stator speed. [1 => 4000 / 2^16 = 0.061 Hz electrical] | S16 | ro | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 2 | ZeroSpeedSlipGain |
The feed forward gain in the slip speed regulator. The feed forward term is Iq*ZeroSpeedSlipGain. [1 = 0.0000828 rad/s/ARMS or 0.0000132 Hz/ARMS] | S16 | rw | -32768 | 32767 |
| see Description | * 1 | operator | ||||||||||
| 3 | SpeedVoltageRatio | The assumed ratio between speed and modulation below OpenLoopModulationLevelDefault. | S16 | rw | * 1 | OEM | ||||||||||||||
| 4 | DeltaSensorAngleFilterShiftSteps | Filter constant for sensor angle filter Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 | 2 | * 1 | OEM | |||||||||||
| 5 | ProtectFilterShiftSteps | Filter constant to set highest frequency were slip finder is active Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 | 4 | * 1 | OEM | |||||||||||
| 6 | FluxFinderFilterShiftSteps | Filter constant to set control frequency for slip finder regulator Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 | 15 | * 1 | OEM | |||||||||||
| 7 | LowFreqFluxFinderGain | Low frequency gain for slip regulator. | S16 | rw | 0 | 32767 | 400 | * 1 | OEM | |||||||||||
| 9 | HighFreqFluxFinderGain | High frequency gain for slip regulator. | S16 | rw | 0 | 32767 | 200 | * 1 | OEM | |||||||||||
| 10 | DeltaSensorAngleFiltered16 | Debug: Filtered sensor increment angle low resolution Number of SensorAngle16 increment of per 4 kHz execution. [1 => 4000 / 2^16 = 0.061 Hz] | S16 | ro | -32768 | 32767 | see Description | * 1 | service | |||||||||||
| 11 | OpenLoopModulationLevel | Lower modulation level when the dq plane starts to be corrected based on back EMF in d-direction. | S16 | rw | 0 | 32 | 3000 | * 1 | OEM | |||||||||||
| 12 | ClosedLoopModulationLevel | Upper modulation level when the dq plane is fully corrected based on back EMF in d-direction. | S16 | rw | 0 | 32767 | 4000 | * 1 | OEM | |||||||||||
| 18 | EdSlipSpeed |
The fluxfinder (to find rotor flux) part of slip speed. [1 => 4000 / 2^16 = 0.061 Hz electrical] | S16 | ro | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 19 | ExpectedSlipSpeed |
The feed forward (to find rotor flux) part of slip speed. [1 => 4000 / 2^16 = 0.061 Hz electrical] | S16 | ro | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 20 | LowFrequencyPart | Debug: Low frequency part of the flux finder regulator output [100 => 100 * 4096 * 4000 / 2^32 = 0.38 Hz electrical] | S16 | ro | -32768 | 32767 | see Description | * 1 | service | |||||||||||
| 21 | HighFrequencyPart | Debug: High frequency part of the flux finder regulator output [100 => 100 * 4096 * 4000 / 2^32 = 0.38 Hz electrical] | S16 | ro | -32768 | 32767 | see Description | * 1 | service | |||||||||||
| 22 | MaxAcceptableTimeWithSlipInWrongDirection |
The max acceptable time with slip in opposite direction to expected slip. The monitoring of slip in wrong direction is disabled by writing zero. [1 => 2 ms] | S16 | rw | 0 | 32767 | 100 | see Description | * 1 | operator | ||||||||||
| 23 | SlipSpeedInWrongDirectionCheckLevel |
Above this level of SlipSpeed (electrical) SlipInWrongDirection is checked. [80 => 80 * 4000 / 2^16 = 4.9 Hz electrical] | S16 | rw | 0 | 32767 | 30 | see Description | * 1 | operator | ||||||||||
| 24 | TimeWithSlipInWrongDirection | Debug: The time SlipSpeed has wrong sign. [1 => 2 ms] | S16 | ro | -32768 | 32767 | see Description | * 1 | service | |||||||||||
| 25 | SlipSpeedHigh | The stator slip frequency were field weakening regulator shall anti wind-up. [100 => 100 * 4096 * 4000 / 2^32 = 0.38 Hz electrical] | S16 | rw | -32768 | 32767 | 130 | * 1 | OEM | |||||||||||
| 26 | LongestTimeWithSlipInWrongDirection | The longets time with unexpected slip since default parameters was set. [1 equals 2 ms] | S16 | rw | -32768 | 32767 | 0 | * 1 | OEM | |||||||||||
| 27 | HighZeroSpeedSlipToleranceFactor | This is the number of times bigger the SlipSpeed must be compared to ExpectedSlipSpeed to trig the error TooHighZeroSpeedSlip. | S16 | rw | 0 | 32767 | 4 | see Description | * 1 | operator | ||||||||||
| 28 | LongestTimeWithTooHighZeroSpeedSlip | The longets time with to high slip at zero sensor speed since default parameters was set. [1 equals 2 ms] | S16 | rw | -32768 | 32767 | 0 | * 1 | OEM | |||||||||||
| 29 | MaxAcceptableTimeWithHighZeroSpeedSlip |
The max acceptable time with slip at very low speed that is bigger than
(ExpectedSlipSpeed * SlipSpeedInWrongDirectionCheckLevel). [1 => 2 ms] | S16 | rw | 0 | 32767 | 50 | see Description | * 1 | operator | ||||||||||
| 0x2072 CurrentController | ||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 14 (Length=10) | - | * 1 | operator | ||||||||||||||||||
| 5 | PgainDpart_CurrentController |
Proportional gain in the PI-parts of the current controller in the d-direction of the motor. (256 = 1) The gain used internally is divided by 2 or 4 when switching at 2 and 1 kHz respectively. | S16 | rw | 0 | 32767 |
| see Description | * 1 | OEM | ||||||||||||||||||
| 6 | IgainDpart_CurrentController |
Integral gain in the PI-parts of the current controller in the d-direction of the motor. (256 = 1) The gain used internally is divided by 2 or 4 when switching at 2 and 1 kHz respectively. | S16 | rw | 0 | 32767 |
| see Description | * 1 | OEM | ||||||||||||||||||
| 7 | PgainQpart_CurrentController |
Proportional gain in the PI-parts of the current controller in the q-direction of the motor. (256 = 1) The gain used internally is divided by 2 or 4 when switching at 2 and 1 kHz respectively. | S16 | rw | 0 | 32767 |
| see Description | * 1 | OEM | ||||||||||||||||||
| 8 | IgainQpart_CurrentController |
Integral gain in the PI-parts of the current controller in the q-direction of the motor. (256 = 1) The gain used internally is divided by 2 or 4 when switching at 2 and 1 kHz respectively. | S16 | rw | 0 | 32767 |
| see Description | * 1 | OEM | ||||||||||||||||||
| 10 | RegdIpart | Integral part of the current controller in the d-direction of the motor. | S16 | ro | -32768 | 32767 | 0 | see Description | * 1 | internal | ||||||||||||||||||
| 11 | RegqIpart | Integral part of the current controller in the q-direction of the motor. | S16 | ro | -32768 | 32767 | 0 | see Description | * 1 | internal | ||||||||||||||||||
| 12 | MaxIdRefChange | Maximum allowed step in IdRef from one sample to another. This is used to ramp the IdRef that is used in the regulator. Disable the ramp by set the value to 0. | S16 | rw | 0 | 1000 |
| dApeak/250us | * 1 | OEM | ||||||||||||||||||
| 13 | MaxIqRefChange | Maximum allowed step in IqRef from one sample to another. This is used to ramp the IqRef that is used in the regulator. Disable the ramp by set the value to 0. | S16 | rw | 0 | 1000 |
| dApeak/250us | * 1 | OEM | ||||||||||||||||||
| 14 | CrossCouplingMode |
This sets the current cross coupling calculation method used.
INDUCTANCE_ACTUAL_CURRENT: Make use of the actual current mesurements and uses L (Ld and Lq).
INDUCTANCE_REFERENS_CURRENT: Make use of the referense current mesurements and uses L (Ld and Lq).
INDUCTANCE_AVERAGE_CURRENT: Make use of the avagrage ((act+ref)/2) current mesurements and uses L (Ld and Lq).
NOMINAL_DQFLUX_ACTUAL_CURRENT: Make use of the actual current mesurements and interpolates values from DQ flux table.
NOMINAL_DQFLUX_REFERENS_CURRENT: Make use of the referense current mesurements and interpolates values from DQ flux table.
NOMINAL_DQFLUX_AVERAGE_CURRENT: Make use of the avagrage ((act+ref)/2) current mesurements and interpolates values from DQ flux table.
ACTUAL_DQFLUX: Will not use L in cross coupling calculation
NO_CROSSCOUPLING: Don't use cross coupling at all, set decoupling to zero
| U8 | rw | 0 | 7 | - | - | * 1 | operator | ||||||||||||||||||
| 0x2073 MotorMeasurements | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 63 (Length=58) | - | * 1 | operator | ||||||||||
| 1 | RmsMotorCurrent | Scalar sum of measured current & magnetisation current = √ Id² + Iq². Filtered value. | U16 | ro | 0 | 2316 | - | Arms | * 1 | operator | ||||||||||
| 2 | DcBusCurrent | Estimated and filtered dc bus current | S16 | ro | -3325 | 3325 | - | Adc | * 1 | operator | ||||||||||
| 3 | DcBusPower | Estimated and filtered DC power. | S16 | ro | -13621 | 13620 | - | W | * 10 | operator | ||||||||||
| 4 | FluxFilterShiftSteps | Filter time constant when calculating Flux. Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 | 4 | see Description | * 1 | operator | ||||||||||
| 5 | UPeak | Calculated UPeak. 16384 = 48.00 / √3 | S16 | ro | -32768 | 32767 | - | see Description | * 1 | operator | ||||||||||
| 6 | Rmotor | Motor resistance, i.e. Rstator + Rrotor, in phase-to-neutral. | S16 | rw | 0 | 21649 |
| uOhm | * 100 | operator | ||||||||||
| 7 | Ld | Leakage inductance in d-direction. | S16 | rw | 0 | 3445 |
| uH | * 1 | operator | ||||||||||
| 8 | Lq | Leakage inductance in q-direction. | S16 | rw | 0 | 3445 |
| uH | * 1 | operator | ||||||||||
| 9 | RotorFluxCalc | Filtered rotor flux calculated from internal voltages and currents. | S16 | ro | 0 | 1763 | 0 | mVs | * 0.1 | operator | ||||||||||
| 10 | Ed | Calculated back EMF in d-direction. | S16 | ro | -32768 | 32767 | 0 | see Description | * 1 | service | ||||||||||
| 11 | RmsCurrentFilterShiftSteps | Time constant for CurrentAngle filter Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | U16 | rw | 0 | 15 | 2 | see Description | * 1 | operator | ||||||||||
| 12 | DcBusPowerFilterShiftSteps | Time constant for DcBusPower. Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | U16 | rw | 0 | 15 | 2 | see Description | * 1 | operator | ||||||||||
| 13 | Ldq | Inductance in both d and q-direction, if they are to be same. | S16 | rw | 0 | 3445 | uH | * 1 | operator | |||||||||||
| 14 | wIqLd | The wIqLq part of Ed calculation | S16 | ro | -32768 | 32767 | 0 | see Description | * 1 | operator | ||||||||||
| 15 | RmotorTempComp |
Winding temperature compensated motor resistance. If no temperature reading is possible, a default value of 100 °C is assumed. Writing to RmotorTempComp is an alternative way to write 'Rmotor'. RmotorTempComp consider the present motor temperature when RmotorTempComp is written, to calculate and write the corresponding reference temperature resistance 'Rmotor'. | S16 | rw | 0 | 21649 | - | uOhm | * 100 | operator | ||||||||||
| 16 | AutoTuneState |
State of the Auto tuning of inductance and resistance. 0: Auto tuning inactive. Always start in this state. Write 1 in this state to autotune in one sequence write 2 to do it stepwise. 1: One sequence autotuning. 2: Stepwise autotuning. 3: DriveTool enables powerstage. Auto tuning initialization has been done. Configure transient recorder first to see the result (for exampel Id (0x2077:2), UdRef (0x2079:2) 4: Sweeping of voltage is performed to measure stator resistance and verify deadband. Id shall be proportional to Ud when looking in trace. 5: Waiting for transient recorder to finish. 6: Waiting for user to write 7 to find voltage step if stepwise autotune is selected. 10: Waiting for user to write 11 to find parameters if stepwise autotune is selected. 18: Waiting for user to write 19 to proceed with current step response if stepwise autotune is selected. Tuning of inductance, resistanse current control P and I gains is ready. 21: Performs current step response and start the Transient recorder. Software disable powerstage after one second and return to State 0. | U8 | rw | 0 | 255 | see Description | * 1 | operator | |||||||||||
| 17 | VoltageStep | The voltage step used for auto tuning of inductance and resistance. | S16 | ro | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 18 | TransRecTrigStart |
Setting the 4kHz start point of the transient recorder when performing auto tuning. 0: Start sampling from beginning when finding VoltageStep. 1000: Start sampling when extraction of inductance and resistance begins. 1095: Start sampling five samples before extraction of inductance and resistance is finished. | S16 | rw | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 19 | TunedResistance | The resulting resistance from auto tuning. | S16 | ro | 0 | 21649 | uOhm | * 100 | operator | |||||||||||
| 20 | TunedInductance | The resulting inductance from auto tuning. | S16 | ro | 0 | 3445 | uH | * 1 | operator | |||||||||||
| 21 | InstantInductance | The instant inductance each sample from auto tuning. | S16 | ro | 0 | 32767 | * 1 | operator | ||||||||||||
| 22 | TunedResistanceInternalScaling | S16 | ro | 0 | 32767 | see Description | * 1 | operator | ||||||||||||
| 23 | TunedInductanceInternalScaling | S16 | ro | 0 | 32767 | see Description | * 1 | operator | ||||||||||||
| 24 | UnfilteredDcBusCurrent | Unfiltered dc bus current | S16 | ro | -3325 | 3325 | - | Adc | * 1 | operator | ||||||||||
| 26 | SaturationIndicator |
The instant value of inductance and resistance during autotuning. | S16 | ro | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 29 | StatorResistance | The stator resistanse calculated with slow changing voltage. | S16 | ro | 0 | 21649 | - | uOhm | * 100 | operator | ||||||||||
| 30 | RampVoltageSlope |
The rate of voltage increase/decrease when ramping voltage to se deadband and voltage current correlation | S16 | rw | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 31 | Eq | Calculated back EMF in q-direction. | S16 | ro | -32768 | 32767 | 0 | see Description | * 1 | service | ||||||||||
| 32 | DrivingVoltage |
The instant value of voltage that changed current in Autotuning. | S16 | ro | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 36 | AutoTuneCurrentGradient | The filtered current gradient. | S16 | ro | -32768 | 32767 | - | * 1 | operator | |||||||||||
| 37 | DcBusEnergy |
Dc bus energy accumulated from dc bus power in Q31 format. | S32 | ro | -2147483648 | 2147483647 | see Description | * 1 | operator | |||||||||||
| 38 | NormDcBusEnergy |
Dc bus energy sampled at start of autotuning to normalize DcBusEnergyPerCycle. | S32 | ro | -2147483648 | 2147483647 | see Description | * 1 | operator | |||||||||||
| 39 | DcBusEnergyLowSpeed |
The lower speed in the speed intervall were Dc bus energy is calculated. | S16 | rw | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 40 | DcBusEnergyHighSpeed |
The higher speed in the speed intervall were Dc bus energy is calculated. | S16 | rw | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 41 | DcBusEnergyTimer |
The countdown time in the speed intervall were Dc bus energy is calculated. If the timer is set different from 0 the measurement is armed. | S32 | rw | -2147483648 | 2147483647 | see Description | * 1 | operator | |||||||||||
| 42 | TurnPointLowSpeed |
- | S16 | ro | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 43 | DcBusEnergyPerCycle |
- | S16 | ro | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 44 | CycleTime |
- | S16 | ro | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 45 | EdSlipSpeedMaxRipple |
- | S16 | ro | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 46 | CurrentAngleGainChangeStep |
- | S16 | ro | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 47 | CurrentAngleGainAndDcBusEnergyPerCycle |
- | S32 | ro | -2147483648 | 2147483647 | see Description | * 1 | operator | |||||||||||
| 48 | CurrentAngleGainAndCycleTime |
- | S32 | ro | -2147483648 | 2147483647 | see Description | * 1 | operator | |||||||||||
| 49 | MaxSlipSpeedAndZeroSpeedSlipGain |
- | S32 | ro | -2147483648 | 2147483647 | see Description | * 1 | operator | |||||||||||
| 50 | TurnPointHighSpeed |
- | S16 | ro | -32768 | 32767 | see Description | * 1 | operator | |||||||||||
| 51 | EdFilterShiftSteps | Filter time constant for calculated ac voltage in d-direction. Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 | 2 | see Description | * 1 | operator | ||||||||||
| 52 | InductanceTableMaxCurrent | Defines the current range for the inductance tables. The last points are given at this current. | S16 | rw | 0 | 2316 | - | Arms | * 1 | operator | ||||||||||
| 53 | MinDeltaStatorAngleForFluxCalc | Only calculate a rotor flux value above this stator frequency. 819 = 50 Hz. | S16 | rw | 0 | 32767 | see Description | * 1 | OEM | |||||||||||
| 54 | CanSignalDcCurrentFilterGain |
First order filtering coefficient for the separately filtered DC current signal for CAN. FilteredValue = FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue) fc = (FilterGain * 4000) / ((16384 - FilterGain) * 2 * π) τ = (16384 - FilterGain) / (FilterGain * 4000)
| S16 | rw | 0 | 16384 | 300 | - | * 1 | OEM | ||||||||||
| 55 | CanSignalRmsMotorCurrentFilterGain |
First order filtering coefficient for the separately filtered AC current signal for CAN. FilteredValue = FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue) fc = (FilterGain * 4000) / ((16384 - FilterGain) * 2 * π) τ = (16384 - FilterGain) / (FilterGain * 4000)
| S16 | rw | 0 | 16384 | 300 | - | * 1 | OEM | ||||||||||
| 56 | CanSignalRmsMotorCurrent | Scalar sum of measured current & magnetisation current = √ Id² + Iq². Filtered value. | U16 | ro | 0 | 2316 | - | Arms | * 1 | operator | ||||||||||
| 57 | OverCurrentLimit |
Custom over current trip level. Set to 0 to disable. | S16 | rw | 0 | 2316 |
| Arms | * 1 | OEM | ||||||||||
| 58 | OverCurrentSampleLimit | Number of consecutive over current samples in 4 kHz allowed before event is set. | U16 | rw | 0 | 65535 | 4 | - | * 1 | OEM | ||||||||||
| 59 | MotorCurrentUnfiltered | Scalar sum of measured current & magnetisation current = √ Id² + Iq². Unfiltered value. | U16 | ro | 0 | 3276 | - | Apk | * 1 | operator | ||||||||||
| 60 | UseTableForInductances |
Only valid when flux calcuation is set to 0 (Inductace).
Configure if current dependent tables or single parameter shall be used to get Ld and Lq
from Ld & Lq table
| U8 | rw | 0 | 255 | 0 | * 1 | operator | |||||||||||
| 61 | ActualDFlux | Filtered rotor d-flux calculated from internal voltages and currents. | S16 | ro | -1764 | 1763 | - | mVs | * 0.1 | operator | ||||||||||
| 62 | ActualQFlux | Filtered rotor q-flux calculated from internal voltages and currents. | S16 | ro | -1764 | 1763 | - | mVs | * 0.1 | operator | ||||||||||
| 63 | FreezeRotorFluxAtLowSpeed |
Setting for using frozen flux or table flux at low speed.
Only applicable if FluxCalculationMethod is 0. That is when calculated magnet flux is used.
| U8 | rw | 0 | 255 | 0 | * 1 | OEM | |||||||||||
| 0x2074 SpwmParameters | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 38 (Length=30) | - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | ActualPwmFrequency |
Actual SPWM Switching Frequency 1, 2, 4, 8, 12 or 16 kHz | U16 | ro | 1 | 16 | - | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 8 | DeadBandCompensationTime Internal Use Only | S16 | rw | -32768 | 32767 | 1000 | ns | * 1 | internal | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 9 | AdjustedDeadBandCompTime Internal Use Only | S16 | ro | -32768 | 32767 | 0 | ns | * 1 | internal | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 10 | EnableDoubleFlank Internal Use Only | U8 | rw | 0 | 1 | 1 | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 13 | MotorCurrentLowLevel | Low motor current when switching frequency can automatically be changed. | S16 | rw | 0 | 2316 | 180 | Arms | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 14 | MotorCurrentMidLevel | Medium motor current when switching frequency can automatically be changed. | S16 | rw | 0 | 2316 | 220 | Arms | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 15 | MotorCurrentHighLevel | High motor current when switching frequency can automatically be changed. | S16 | rw | 0 | 2316 | 280 | Arms | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 16 | MotorCurrentHysteresisLevel | Motor current hysteresis level when automatically changing switching frequency. | S16 | rw | 0 | 2316 | 10 | Arms | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 17 | ElecFreqLowLevel | Low electrical frequency when switching frequency can automatically be changed. | S16 | rw | 0 | 19999 | 120 | Hz | * 0.1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 18 | ElecFreqMidLevel | Medium electrical frequency when switching frequency can automatically be changed. | S16 | rw | 0 | 19999 | 250 | Hz | * 0.1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 19 | ElecFreqHighLevel | High electrical frequency when switching frequency can automatically be changed. | S16 | rw | 0 | 19999 | 1000 | Hz | * 0.1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 20 | ElecFreqHysteresisLevel | Electrical frequency Hysteresis level when automatically changing switching. | S16 | rw | 0 | 19999 | 40 | Hz | * 0.1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 21 | ActualPwmFrequencyZone |
Switching frequency zone depends on motor current and electrical frequency according to table below
| U8 | ro | 0 | 33 | - | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 23 | PwmFrequencyInZone00 |
Motor switching frequency is set to the value of this parameter when electrical frequency is below: ElecFreqLowLevel. and motor current is below: MotorCurrentLowLevel. Actual SPWM Switching Frequency Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 24 | PwmFrequencyInZone01 |
Motor switching frequency is set to the value of this parameter when electrical frequency is below: ElecFreqLowLevel. and motor current is between: MotorCurrentLowLevel and MotorCurrentMidLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 25 | PwmFrequencyInZone02 |
Motor switching frequency is set to the value of this parameter when electrical frequency is below: ElecFreqLowLevel. and motor current is between: MotorCurrentMidLevel and MotorCurrentHighLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 26 | PwmFrequencyInZone03 |
Motor switching frequency is set to the value of this parameter when electrical frequency is below: ElecFreqLowLevel. and motor current is above: MotorCurrentHighLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 27 | PwmFrequencyInZone10 |
Motor switching frequency is set to the value of this parameter when electrical frequency is between: ElecFreqLowLevel and ElecFreqMidLevel. and motor current is below: MotorCurrentLowLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 28 | PwmFrequencyInZone11 |
Motor switching frequency is set to the value of this parameter when electrical frequency is between: ElecFreqLowLevel and ElecFreqMidLevel. and motor current is between: MotorCurrentLowLevel and MotorCurrentMidLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 29 | PwmFrequencyInZone12 |
Motor switching frequency is set to the value of this parameter when electrical frequency is between: ElecFreqLowLevel and ElecFreqMidLevel. and motor current is between: MotorCurrentMidLevel and MotorCurrentHighLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 30 | PwmFrequencyInZone13 |
Motor switching frequency is set to the value of this parameter when electrical frequency is between: ElecFreqLowLevel and ElecFreqMidLevel. and motor current is above: MotorCurrentHighLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 31 | PwmFrequencyInZone20 |
Motor switching frequency is set to the value of this parameter when electrical frequency is between: ElecFreqMidLevel and ElecFreqHighLevel. and motor current is below: MotorCurrentLowLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 32 | PwmFrequencyInZone21 |
Motor switching frequency is set to the value of this parameter when electrical frequency is between: ElecFreqMidLevel and ElecFreqHighLevel. and motor current is between: MotorCurrentLowLevel and MotorCurrentMidLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 33 | PwmFrequencyInZone22 |
Motor switching frequency is set to the value of this parameter when electrical frequency is between: ElecFreqMidLevel and ElecFreqHighLevel. and motor current is between: MotorCurrentMidLevel and MotorCurrentHighLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 34 | PwmFrequencyInZone23 |
Motor switching frequency is set to the value of this parameter when electrical frequency is between: ElecFreqMidLevel and ElecFreqHighLevel. and motor current is above: MotorCurrentHighLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 35 | PwmFrequencyInZone30 |
Motor switching frequency is set to the value of this parameter when electrical frequency is above: ElecFreqHighLevel. and motor current is below: MotorCurrentLowLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 36 | PwmFrequencyInZone31 |
Motor switching frequency is set to the value of this parameter when electrical frequency is above: ElecFreqHighLevel. and motor current is between: MotorCurrentLowLevel and MotorCurrentMidLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 37 | PwmFrequencyInZone32 |
Motor switching frequency is set to the value of this parameter when electrical frequency is above: ElecFreqHighLevel. and motor current is between: MotorCurrentMidLevel and MotorCurrentHighLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 38 | PwmFrequencyInZone33 |
Motor switching frequency is set to the value of this parameter when electrical frequency is above: ElecFreqHighLevel. and motor current is above: MotorCurrentHighLevel. Valid values are 1, 2, 4, 8, 12 or 16 | U16 | rw | 1 | 16 | 8 | kHz | * 1 | internal | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2075 FieldWeakeningControl | ||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 17 (Length=13) | - | * 1 | operator | ||||||||||||
| 1 | TorqueError | Input to the PM Field Weakening Controller. It takes the difference between ActTorque and RefTorque. | S16 | ro | -4335 | 4335 | - | Nm | * 0.1 | operator | ||||||||||||
| 2 | RegulatorStatus |
Signals if any limiter is active.
| U8 | ro | 0 | 3 | - | - | * 1 | operator | ||||||||||||
| 3 | LimitedRefTorque | Reference torque limited by over current. | S16 | ro | -4335 | 4335 | - | Nm | * 0.1 | operator | ||||||||||||
| 4 | IgainVoltageAngle | Proportional Gain used to compute Delta Voltage Angle. | S16 | rw | 0 | 32766 |
| - | * 1 | operator | ||||||||||||
| 7 | VoltageAngle |
Phase angle of the applied motor voltage. Angle = arcsin(ud/sqrt(ud^2+uq^2)) | S16 | ro | -1800 | 1799 | - | Deg | * 0.1 | operator | ||||||||||||
| 8 | VoltageAngleIPart |
4kHz increment of the VoltageAngle. Output from the PM Field Weakening Controller 32767 = 180 deg -32768 = -180 deg | S16 | ro | -32768 | 32767 | - | see Description | * 1 | operator | ||||||||||||
| 9 | PgainVoltageAngle |
Proportional Gain used to compute Voltage Angle. value 2^10 => gain = 1.0000 | S16 | rw | 0 | 32767 |
| see Description | * 1 | operator | ||||||||||||
| 10 | VoltageAnglePPart | Proportional part of the Voltage Angle regulator. | S16 | ro | -1800 | 1799 | 0 | Deg | * 0.1 | operator | ||||||||||||
| 11 | MaxVoltageAngle | Maximum allowed voltage angle. | S16 | rw | -1800 | 1799 |
| Deg | * 0.1 | operator | ||||||||||||
| 13 | UpeakInFieldWeakening | Lower Upeak used in Field Weakening to allow current control hysteresis on modulation level. | S16 | rw | -32768 | 32767 | (18000) | * 1 | operator | |||||||||||||
| 14 | UpeakSlewRate | Slew rate used to ramp Upeak from the UpeakLimit used in current control down to the UpeakInFieldWeakening. | S16 | rw | -32768 | 32767 | 1024 | * 1 | operator | |||||||||||||
| 17 | UpeakLimitRamped |
Upeak normalized after high pass filtering. | S16 | ro | -32768 | 32767 | - | * 1 | operator | |||||||||||||
| 0x2076 TorqueCalculation | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 27 (Length=16) | - | * 1 | operator | ||||||||||
| 1 | RefTorque | Reference torque input to the PM Fiels Weakening Controller. It is computed from the RotorFlux and the inductance parameters (0x2076:4-5). Torque = 3/2*MotorPoles*iq*RotorFlux + id*iq(Ld-Lq) | S16 | ro | -4335 | 4335 | - | Nm | * 0.1 | operator | ||||||||||
| 2 | ActTorque | Actual torque input to the PM Fiels Weakening Controller. It is computed from the RotorFlux and the inductance parameters (0x2076:4-5). Torque = 3/2*MotorPoles*iq*RotorFlux + id*iq(Ld-Lq) | S16 | ro | -4335 | 4335 | - | Nm | * 0.1 | operator | ||||||||||
| 3 | NominalRotorFlux | Magnetic rotor flux used as pre-load and feed-forward to the current controller. It is also used to as a starting value for RotorFluxCalc. | S16 | rw | 0 | 1763 |
| mVs | * 0.1 | operator | ||||||||||
| 4 | MoreRefTorqueFactor |
When in field weakening this factor can increase or decrease the max actual current
by increasing the torque reference to the field weakening regulator. Higher max current will normally mean higher max torque although it can result in lower efficiency. No effect in current control mode or if MoreRefTorqueFactor is 0. RefTorqueComp = + RefTorque + (ActualCurrentAngle-ReferenceCurrentAngle) * RefTorque * MoreRefTorqueFactor The scaling of MoreRefTorqueFactor is [Internal torque scaling/internal angle scaling] For induction mashine if more torque is needed in field weakening the commisioning procedure would be to start from 0 and increase untill desirable max torque is reached (be careful not to increase max torque to the point were torque to current relation gets lower than required). For PM mashine it is more about reaching the max voltage angle. The commisioning procedure would then be to start from 0 and increase untill max voltage angle can be reached. The torque to current ratio is always optimal in field weakening for any torque both for IM and PM since we are utilizing the full dc voltage. | S16 | rw | -32768 | 32767 |
| see Description | * 1 | operator | ||||||||||
| 7 | TorqueFilterShiftSteps | Filter constant for actual and reference torque filter Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 |
| see Description | * 1 | OEM | ||||||||||
| 8 | CanSignalActTorque | Separately filtered torque signal . It is computed from the RotorFlux and the inductance parameters (0x2076:4-5). Torque = 3/2*MotorPoles*iq*RotorFlux + id*iq(Ld-Lq) | S16 | ro | -4335 | 4335 | - | Nm | * 0.1 | operator | ||||||||||
| 9 | CanSignalTorqueFilterGain |
First order filtering coefficient for the separately filtered CAN torque signal. FilteredValue = FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue) fc = (FilterGain * 4000) / ((16384 - FilterGain) * 2 * π) τ = (16384 - FilterGain) / (FilterGain * 4000)
| S16 | rw | 0 | 16384 | 320 | - | * 1 | OEM | ||||||||||
| 20 | FluxCalculationMethod |
This sets the torque calculation method used. First choise should be alternative 1.
| U8 | rw | 0 | 2 | CALCULATED_ROTOR_FLUX | see Description | * 1 | operator | ||||||||||
| 21 | DFlux2DTableValue | Flux in d-direction from id and iq dependent table. The table value is based on the actual id and iq currents IdFor2DTableFlux and IqFor2DTableFlux. | S16 | ro | -1764 | 1763 | - | mVs | * 0.1 | OEM | ||||||||||
| 22 | QFlux2DTableValue | Flux in q-direction from id and iq dependent table. The table value is based on the actual id and iq currents IdFor2DTableFlux and IqFor2DTableFlux. | S16 | ro | -1764 | 1763 | - | mVs | * 0.1 | OEM | ||||||||||
| 23 | IdFor2DTableFlux | Filtered d-current used as input to the actual torque calculation and d-flux from 2D-tables. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | ||||||||||
| 24 | IqFor2DTableFlux | Filtered q-current used as input to the actual torque calculation and q-flux from 2D-tables. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | ||||||||||
| 25 | IdFor2DTableFluxFilterShiftSteps | FilterShiftStep for d-current used as input to the actual torque calculation and d-flux from tables. For induction motor set to 0. For SRPM set to 4. Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 | 0 | see Description | * 1 | OEM | ||||||||||
| 26 | IqFor2DTableFluxFilterShiftSteps | FilterShiftStep for q-current used as input to the actual torque calculation and q-flux from tables. For induction motor set to 0. For SRPM set to 6. Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 | 0 | see Description | * 1 | OEM | ||||||||||
| 27 | UseDQfluxTableInFieldWeakening |
This sets if the lastRefTorque or DQfluxTable shall be used in fieldweakening. DQFluxTable can only be used if it has been tuned. LastRefTorque = 0, DQfluxTable = 1. | U8 | rw | 0 | 1 | 0 | see Description | * 1 | operator | ||||||||||
| 0x2077 ActualCurrents | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 6 (Length=5) | - | * 1 | operator | |
| 1 | Iq | Measured instantaneous q-current. Iq is sampled every 0.250 ms (4 kHz). | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | |
| 2 | Id | Measured instantaneous d-current. Id is sampled every 0.250 msec (4 kHz) | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | |
| 5 | ActualCurrentAngle | Actual current angle. | S16 | ro | -1800 | 1799 | - | Deg | * 0.1 | operator | |
| 6 | CurrentAngleFilterShiftSteps | Time constant for CurrentAngle filter Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 | - | * 1 | operator | ||
| 0x2078 ReferenceCurrents | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 16 (Length=15) | - | * 1 | operator | ||||||||||
| 1 | IdRef | Reference current in motor d-direction that is input to the current controller. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | OEM | ||||||||||
| 2 | IqRef | Reference current in motor q-direction that is input to the current controller. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | ||||||||||
| 3 | CurrentAngleOffset |
Current Angle Control parameter. Used to determine the current in d and q direction.
Angle = CurrentAngleOffset + CurrentAngleGain * abs(CurrentReference) | S16 | rw | -1800 | 1799 |
| Deg | * 0.1 | operator | ||||||||||
| 4 | CurrentAngleGain |
Current Angle Control parameter. Used to determine the current in d and q direction.
Angle = CurrentAngleOffset + CurrentAngleGain * abs(CurrentReference) To convert from SI-units x in deg/Arms to parameter: | S16 | rw | -32768 | 32767 |
| see Description | * 1 | operator | ||||||||||
| 5 | MaxCurrentAngle |
Determine the max current angle. The optimal maximum current angle is individual for each motor type. The theoretical maximum current angle is 45 degrees. However, due to saturation effects the true maximum may be higher. Current angles above 60 degrees are very rare and indicates possible tuning error. This parameter is not used when using current angle interpolation arrays. | S16 | rw | -1800 | 1799 |
| Deg | * 0.1 | operator | ||||||||||
| 8 | IdRefMinimum | The magnetization current used when low magnitezation current is commanded externaly. This parameter is not in use when using PM machines. | S16 | rw | -2317 | 2316 |
| Arms | * 1 | operator | ||||||||||
| 9 | RotorFluxMinimum |
IdRef will be internally controlled to achieve this minimum rotor flux. If CalculatedRotorFlux is above RotorFluxMinimum IdRef will not be affected. Set to zero to disable this functionallity. | S16 | rw | 0 | 1763 |
| mVs | * 0.1 | operator | ||||||||||
| 10 | ReferenceCurrentAngle | Reference current angle as calculated from reference current, offset and gain. | S16 | ro | -1800 | 1799 | - | Deg | * 0.1 | operator | ||||||||||
| 11 | ExternalIdRef | External reference current in motor d-direction that is input to the current controller. | S16 | rw | -2317 | 2316 | - | Arms | * 1 | OEM | ||||||||||
| 12 | ExternalIqRef | External reference current in motor q-direction that is input to the current controller. | S16 | rw | -2317 | 2316 | - | Arms | * 1 | OEM | ||||||||||
| 13 | ExternalIdRefActive | Enable setting of external IdRef. | U8 | rw | 0 | 1 | - | OEM | ||||||||||||
| 14 | ExternalIqRefActive | Enable setting of external IqRef. | U8 | rw | 0 | 1 | - | OEM | ||||||||||||
| 15 | RotorFluxMinimumControlGain |
Gain that multiply the missing rotor flux to get the additional IdRef current. RotorFluxMinimumControlGain = 256 equals Gain = 1 in the expression below. Additional IdRef = Gain * MAX(0,(MinimumRotorFlux - CalculatedRotorFlux)) | S16 | rw | -32768 | 32767 |
| * 1 | OEM | |||||||||||
| 16 | UseRefCurrentAngleTable |
Selection of reference current angle calculation method. 0 = The reference current angle is calculated from CurrentAngleGain and CurrentAngleOffset 1 = The reference current angle is calculated from 8 point look-up table | U16 | rw | 0 | 1 | 0 | - | * 1 | OEM | ||||||||||
| 0x2079 MotorVoltageControl | ||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 26 (Length=27) | - | * 1 | operator | ||||||||||||||||||
| 1 | UqReference |
Reference of the PWM generated motor voltage in the q-direction. Output from the current
controller. 16384 = Udc/√2 VRMS (hsp) where Udc = 36, 48 or 80 V | S16 | rw | -32768 | 32767 | 0 | see Description | * 1 | internal | ||||||||||||||||||
| 2 | UdReference |
Reference of the PWM generated motor voltage in the d-direction. Output from the current
controller. 16384 = Udc/√2 VRMS (hsp) where Udc = 36, 48 or 80 V | S16 | rw | -32768 | 32767 | 0 | see Description | * 1 | internal | ||||||||||||||||||
| 3 | UxRefMax |
Limit for Ud Reference and Uq Reference. 16384 = Udc/√2 VRMS (hsp) where Udc = 36, 48 or 80 V | S16 | ro | -32768 | 32767 | 0 | see Description | * 1 | operator | ||||||||||||||||||
| 4 | DisableCurrentControl |
Disables the current control and makes UdRef and UqRef writable. 0 = current control enabled 1 = current control disabled | U8 | rw | 0 | 1 | 0 | - | * 1 | internal | ||||||||||||||||||
| 5 | FieldWeakeningPossible |
Parameter that tells if Field Weakening shall be used on this drive.
| U8 | rw | 0 | 1 |
| - | * 1 | internal | ||||||||||||||||||
| 6 | IdLimitFactor |
Parameter used to compute Id limit for transition from PM Field Weakening
Control to Current Control. Scaled so that 256 = 1. | S16 | rw | -32768 | 32767 |
| see Description | * 1 | operator | ||||||||||||||||||
| 7 | IdLimitOffset | Parameter used to compute Id limit for transition from PM Field Weakening. | S16 | rw | -2317 | 2316 |
| Arms | * 1 | operator | ||||||||||||||||||
| 8 | UPeakLimit |
Peak voltage limit for transition from Current Control to PM Field
Weakening Control and then also used as applied peak voltage. Given as Modulation Index where 16348 means the maximum possible without using over modulation. | S16 | rw | -32768 | 32767 |
| see Description | * 1 | operator | ||||||||||||||||||
| 9 | UPeakNormalized |
Normalized UPeak used to decide if FieldWeakening shall be enabled or not. Unit: See UPeakLimit | S16 | ro | -32768 | 32767 | - | see Description | * 1 | operator | ||||||||||||||||||
| 10 | InFieldWeakeningMode |
Show that control is in field weakening mode and not current control mode. Note: Will always be 0 when ApplicationSetupParameters, ActualControlMode equals Electric Motor Brake Mode.
| U8 | ro | 0 | 1 | - | - | * 1 | operator | ||||||||||||||||||
| 11 | UqRefFiltered | Filtered UqReference. | S16 | ro | -32768 | 32767 | 0 | see Description | * 1 | internal | ||||||||||||||||||
| 12 | UdRefFiltered | Filtered UdReference. | S16 | ro | -32768 | 32767 | 0 | see Description | * 1 | internal | ||||||||||||||||||
| 13 | UdUqFilterShiftSteps |
Time constant for UdFilter and UqFilter. Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 |
| see Description | * 1 | internal | ||||||||||||||||||
| 14 | ActualVoltageAngle |
Angle for Ud Reference and Uq Reference. Angle increase from zero when only positive Uq voltage and Ud decrease, | S16 | ro | -1800 | 1799 | - | Deg | * 0.1 | operator | ||||||||||||||||||
| 15 | IdLimit | The current level in d-direction shall exceed this value to exit fieldweakening | S16 | ro | -2317 | 2316 | 0 | see Description | * 1 | internal | ||||||||||||||||||
| 16 | UPeakNormalizedFilterShiftSteps | Time constant for UPeakNormalized filter. Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 |
| see Description | * 1 | internal | ||||||||||||||||||
| 17 | ActualVoltageAngleFilterShiftSteps | Time constant for ActualVoltageAngle filter. Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 |
| see Description | * 1 | internal | ||||||||||||||||||
| 18 | IdFiltered | Filtered Id current | S16 | ro | -2317 | 2316 | - | Arms | * 1 | operator | ||||||||||||||||||
| 19 | IdFilterShiftSteps | Time constant for IdFilter Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 |
| - | * 1 | operator | ||||||||||||||||||
| 20 | MaxNbrOfSamplesAboveIxLimit |
This function works as a leaking bucket mechanism for entering current control. The number of samples that IdFiltered shall be above IdLimit to enter current control. Zero means that the function is disabled. | S16 | rw | 0 | 32767 | 0 | - | * 1 | operator | ||||||||||||||||||
| 21 | TransitionRequired |
Set the required conditions used for transitions from field weakening to current control. The conditions can be fulfilled independent of eachother and are bitmapped: bit0: IdFiltered above IdLimit bit1: IqFiltered above IqLimit bit2: VoltageAngle not saturated
| U8 | rw | 0 | 7 | 1 | - | * 1 | operator | ||||||||||||||||||
| 22 | IqLimitOffset | Parameter used to compute Iq limit for transition from PM Field Weakening. | S16 | rw | -2317 | 2316 | 5 | Arms | * 1 | operator | ||||||||||||||||||
| 23 | IqLimit | The current level in q-direction shall exceed this value to exit fieldweakening | S16 | ro | -2317 | 2316 | 0 | see Description | * 1 | internal | ||||||||||||||||||
| 24 | IqFiltered | Filtered Iq current | S16 | ro | -2317 | 2316 | - | Arms | * 1 | operator | ||||||||||||||||||
| 25 | IqFilterShiftSteps | Time constant for IqFilter Time constant = 2^(ShiftSteps - 12) [s] If ShiftSteps = 0 filter is disabled If ShiftSteps = 1 then time constant = 0.5 ms If ShiftSteps = 15 then time constant = 8 s | S16 | rw | 0 | 15 | 4 | - | * 1 | operator | ||||||||||||||||||
| 26 | TransitionStatus |
Show status for the conditions used for transitions from field weakening to current control. The status can be fulfilled independent of eachother and are bitmapped:: bit0: IdFiltered above IdLimit bit1: IqFiltered above IqLimit bit2: VoltageAngle not saturated
| U8 | ro | 0 | 7 | - | - | * 1 | operator | ||||||||||||||||||
| 0x207A CurrentAngleInterpolationInput | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Nr of curve points in the current angle interpolation table. | U8 | ro | operator | ||||||
| 1 | CurrentReference |
Reference point in current for the current angle interpolation. First point must be 0. Each successive point must be > the previous point. | Array of S16 | rw | 0 | 2316 | - | Arms | * 1 | operator | |
| 0x207B CurrentAngleInterpolationOutput | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Nr of curve points in the current angle interpolation table. | U8 | ro | operator | ||||||
| 1 | CurrentAngleReference |
Reference point in degrees for the equally indexed value in CurrentAngleInterpolationInput. | Array of S16 | rw | -1800 | 1799 | - | Deg | * 0.1 | operator | |
| 0x207C DFluxInterpolationInput | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Number of curve points in the d and q-flux interpolation tables. | U8 | ro | operator | ||||||
| 1 | CurrentInput |
Reference point in current for the d-flux interpolation. First point must be 0. Each successive point must be > the previous point. | Array of S16 | rw | 0 | 2316 | - | Arms | * 1 | operator | |
| 0x207D DFluxInterpolationOutput | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Number of curve points in the d and q-flux interpolation tables. | U8 | ro | operator | ||||||
| 1 | DFluxOutput |
Output points for the equally indexed value in DFluxInterpolationInput.
For PM motors. Notice that you cannot write to DFluxOutput[0] while using 0x2083:1 write option = 1,
due DFluxOutput[0] is optionally set during 0x2083:2 Temperature coefficient setting. - Read values are defined as for nominal motor temperature 20 C, - 0x2083:1 Write option 0: write values for nominal motor temperature 20 C, - 0x2083:1 Write option 1: write values for the actual current motor temperature. | Array of S16 | rw | -1764 | 1763 | - | mVs | * 0.1 | operator | |
| 0x207E QFluxInterpolationInput | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Number of curve points in the d and q-flux interpolation tables. | U8 | ro | operator | ||||||
| 1 | CurrentInput |
Reference point in current for the q-flux interpolation. First point must be 0. Each successive point must be > the previous point. | Array of S16 | rw | 0 | 2316 | - | Arms | * 1 | operator | |
| 0x207F QFluxInterpolationOutput | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Number of curve points in the d and q-flux interpolation tables. | U8 | ro | operator | ||||||
| 1 | QFluxOutput |
Output point in mVs for the equally indexed value in QFluxInterpolationInput. | Array of S16 | rw | -1764 | 1763 | - | mVs | * 0.1 | operator | |
| 0x2080 FluxModificationCurrent | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | Current |
| Array of U16 | rw | 0 | 2316 |
| Arms | * 1 | OEM | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2081 FluxModificationFactor | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | Factor |
| Array of U16 | rw | 0 | 65535 |
| OEM | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2082 StartupMeasurements | ||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 4 (Length=5) | - | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 1 | MeasuredCurrentPhaseU | Measured current in phase U. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 2 | MeasuredCurrentPhaseV | Measured current in phase U. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 3 | MeasuredCurrentPhaseW | Measured current in phase W. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 4 | MotorConnectionState |
Read and write motor connection check status
| U8 | rw | 0 | 255 | 0 | * 1 | operator | |||||||||||||||||||||||||||||||||||
| 0x2083 DFluxOutputOptions | ||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 3 (Length=4) | - | * 1 | operator | ||||||||||||||||||||
| 1 | DFluxOutputWriteOption |
For PM motors. Option 1 is used to recalculate and update 0x207D:1 DFluxOutput values as for nominal motor temperature 20 C, even but running on other temperatures during measure and writing. Notice that the current motor temperarure during write-command will
be applied to recalculate for nominal temperature. Each DFluxOutput must be written before the motor temperature
change too much. Reading values always display the values for nominal 20 C regardless of write-option.
Write option 1 require that RotorFluxTemperatureCoefficient and DFluxOutput[0] first have been calibrated.
| U8 | rw | 0 | 1 | - | enum | operator | |||||||||||||||||||||
| 2 | RotorFluxCoefficientState |
For PM motors. RotorFluxCoefficientState is used to control measuring, and update of RotorFluxTemperatureCoefficient during
operating a motor. The motor must run cold respective hot (in any order), while RotorFluxCoefficientState save commands 3
respective 4 are executed. After both cold and hot commands have succeeded, the paramter RotorFluxTemperatureCoefficient and
0x207D:1 DFluxOutput[0] are calculated and updated. Command 3 clear temporary saved values and require both cold and hot new
calibrations. Apply 'Store par to EEPROM' to store updates.
| U8 | rw | 0 | 255 | - | enum | operator | |||||||||||||||||||||
| 3 | RotorFluxTemperatureCoefficient | For PM motors. Compensation of 0x207D:1 DFluxOutput for rotor flux motor temperature coefficient. RotorFluxTemperatureCoefficient is given in milli-percent decreasing flux for each degrees above 20 C. RotorFluxTemperatureCoefficient is always positive, however the rotor flux is also increased for temperatures under 20 C. This parameter can be automatical calculated and updated via the RotorFluxCoefficientState parameter. Notice that the total D-Flux are affected by the rotor flux and hence also by the RotorFluxTemperatureCoefficient. | U16 | rw | 0 | 4000 | - | m%/degC | * 1 | operator | ||||||||||||||||||||
| 0x2085 TorqueReferenceManager | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 3 (Length=4) | - | * 1 | operator | |
| 1 | CurrentReference | The selected reference current. | S16 | ro | -2317 | 2316 | - | Arms | * 1 | operator | |
| 2 | IsCurrentLimited |
Status that show if reference current is limited. TRUE == Limited FALSE == Unlimited | U8 | ro | 0 | 1 | - | - | * 1 | operator | |
| 3 | CurrentPerTorque |
Current to torque relation used when converting from Nm/s to internal current change. x [Arms/Nm] = CurrentPerTorque / 16384 / sqrt(1.5) / 48 * 2 * π * 50 | S32 | ro | - | - | - | see Description | * 1 | operator | |
| 0x208A GeneralMotorParameters | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 3 (Length=4) | - | * 1 | operator | ||||||||||
| 1 | MotorPoles | Number of motor poles. From motor nameplate. | U8 | rw | 2 | 64 |
| no | * 1 | OEM | ||||||||||
| 2 | StatorAngle16 | Debug: Commutation angle low resolution 2^16 equals 360 electrical degrees | S16 | ro | -32768 | 32767 | see Description | * 1 | service | |||||||||||
| 3 | DeltaStatorAngle16 | Debug: Commutation increment angle low resolution Number of StatorAngle16 increment of per 4 kHz execution. [1 => 4000 / 2^16 = 0.061 Hz electrical] | S16 | ro | -32768 | 32767 | see Description | * 1 | service | |||||||||||
| 0x208F SpeedRegulatorDgain | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | DgainSetX |
Dgain for parameter set X | Array of S16 | rw | 0 | 32767 |
| - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2090 SpeedRegulatorPgain | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | PgainSetX |
Pgain for parameter set X | Array of S16 | rw | 0 | 32767 |
| deciApk/Rpm/256 | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2091 SpeedRegulatorIgainSmall | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | IgainSmallSetX |
Igain small for parameter set X When Igain small is used depends on ApplicationSetupParameters, SpeedRampMode used as shown in table below.
| Array of S16 | rw | 0 | 32767 |
| deciApk/Rpm/2 ms/256 | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2092 SpeedRegulatorIgainMedium | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | IgainMediumSetX |
Igain medium for parameter set X When Igain medium is used depends on ApplicationSetupParameters, SpeedRampMode used as shown in table below.
| Array of S16 | rw | 0 | 32767 |
| deciApk/Rpm/2 ms/256 | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2093 SpeedRegulatorIgainLarge | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | IgainLargeSetX |
Igain large for parameter set X When Igain large is used depends on ApplicationSetupParameters, SpeedRampMode used as shown in table below.
| Array of S16 | rw | 0 | 32767 |
| deciApk/Rpm/2 ms/256 | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2094 DcPowerLimit | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 13 (Length=14) | - | * 1 | operator | |
| 1 | PosDcPowerLimit |
Requested positive DC power limit.
Please note that this is NOT saved to EEPROM. Function must be activated in ApplicationSetupWord. | S16 | rw | 0 | 13620 | - | W | * 10 | operator | |
| 2 | NegDcPowerLimit |
Requested negative DC power limit.
Please note that this is NOT saved to EEPROM. Function must be activated in ApplicationSetupWord. | S16 | rw | 0 | 13620 | - | W | * 10 | operator | |
| 3 | PosDcCurrentLimit |
Positive DC current limit.
Please note that this is NOT saved to EEPROM. Function must be activated in ApplicationSetupWord. | S16 | rw | 0 | 3325 | -/> | Adc | * 1 | operator | |
| 4 | NegDcCurrentLimit |
Negative DC current limit.
Please note that this is NOT saved to EEPROM. Function must be activated in ApplicationSetupWord. | S16 | rw | 0 | 3325 | - | Adc | * 1 | operator | |
| 5 | PowerFilterGain | Filter gain for power limit. 16384 = no filtering. | S16 | rw | 1 | 16384 | 2000 | * 1 | OEM | ||
| 6 | ResponseFactor | Controls the response time when entering power limit. A value of 0 means fastest possible response. A higher value means a smoother transition in to power limit. | U8 | rw | 0 | 255 | 220 | * 1 | OEM | ||
| 7 | AccCurrentLimitFromDcPowerOrDcCurrentLimit |
Motoring current limit. Result from conversion of AccDcPowerLimit to current. It will be the lowest value of AccCurrentLimitDueToDcPowerLimit and AccCurrentLimitDueToDcCurrentLimit | S16 | ro | 0 | 2316 | - | Arms | * 1 | operator | |
| 8 | BrakeCurrentLimitFromDcPowerOrDcCurrentLimit |
Regenerative current limit. Result from conversion of BrakeDcPowerLimit to current. It will be the lowest value of BrakeCurrentLimitDueToDcPowerLimit and BrakeCurrentLimitDueToDcCurrentLimit. | S16 | ro | 0 | 2316 | - | Arms | * 1 | operator | |
| 9 | CalculatedTorque | S16 | ro | 0 | 32767 | - | * 1 | operator | |||
| 10 | AccCurrentLimitDueToDcPowerLimit | Result of AccCurrentLimitation calculation using PosDcPowerLimit. | S16 | ro | 0 | 2316 | - | Arms | * 1 | operator | |
| 11 | BrakeCurrentLimitDueToDcPowerLimit | Result of BrakeCurrentLimitation calculation using NegDcPowerLimit. | S16 | ro | 0 | 2316 | - | Arms | * 1 | operator | |
| 12 | AccCurrentLimitDueToDcCurrentLimit | Result of AccCurrentLimitation calculation using PosDcCurrentLimit. | S16 | ro | 0 | 2316 | - | Arms | * 1 | operator | |
| 13 | BrakeCurrentLimitDueToDcCurrentLimit | Result of BrakeCurrentLimitation calculation using NegDcCurrentLimit. | S16 | ro | 0 | 2316 | - | Arms | * 1 | operator | |
| 0x2095 CurrentLimit | ||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 37 (Length=33) | - | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 1 | MaxAccCurrent | Sets both Forward and Reverse Max Acceleration Currents to the same value. | S16 | wo | 0 | 2316 | - | Arms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 2 | MaxBrakeCurrent | Sets both Forward and Reverse Max Brake Currents to the same value. | S16 | wo | 0 | 2316 | - | Arms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 3 | MaxCurrentChange | The maximum allowed change during 1 ms (i.e. derivate) of the Reference Current that is allowed. A too high derivate may for example introduce noice in the gear. Due to truncation it does not get exacly requested behaviour when selecting a value between 1-4. If set to 0, no ramp limitation of Current. NOTE! The unit is only valid if EXTERNAL_CURRENT_REPRESENTATION = Arms. | S16 | rw | 0 | 1000 |
| deciArms / ms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 5 | ForwardMaxAccCurrent |
Max acceleration current in forward direction. This limit can be reduced due to for example high temperature, low DC Bus Voltage etc. Instantaneously available current in 2095h:9-10. | S16 | rw | 0 | 2316 |
| Arms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 6 | ReverseMaxAccCurrent |
Max acceleration current in reverse direction. This limit can be reduced due to for example high temperature, high DC Bus Voltage etc. Instantaneously available current in 2095h:9-10. | S16 | rw | 0 | 2316 |
| Arms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 7 | ForwardMaxBrakeCurrent |
Max braking current in forward direction. This limit can be reduced due to for example high temperature, low DC Bus Voltage etc. Instantaneously available current in 2095h:9-10. | S16 | rw | 0 | 2316 |
| Arms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 8 | ReverseMaxBrakeCurrent |
Max braking current in reverse direction. This limit can be reduced due to for example high temperature, low DC Bus Voltage etc. Instantaneously available current in 2095h:9-10. | S16 | rw | 0 | 2316 |
| Arms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 9 | AbilityAccelerationCurrent |
Will be lower than 2095h:5-6 if any reduction is active. Reductions will be active due to physical reasons, e.g. high or low voltage, high or low temperature or high speed. Any active reduction should be signaled as a Warning in Diagnostic, ExtendedWarnings Available acceleration current is always the minimum of the AbilityAccelerationCurrent and AccCurrentLimit (2095h:15). | S16 | ro | 0 | 2316 | - | Arms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 10 | AbilityBrakeCurrent |
Will be lower than 2095h:7-8 if any reduction is active. Reductions will be active due to physical reasons, e.g. high or low voltage, high or low temperature or high speed. Any active reduction should be signaled as a Warning in Diagnostic, ExtendedWarnings Available brake current is always the minimum of the AbilityBrakeCurrent and BrakeCurrentLimit (2095h:16). | S16 | ro | 0 | 2316 | - | Arms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 11 | ModeratelyHighSpeedStartLevel | Linear over speed protection level. Rollback of current starts at ModeratelyHighSpeedStartLevel and ends at ModeratelyHighSpeedEndLevel. Only used for accelerating current. Setting the parameter to 0 disables the function. | S16 | rw | 0 | 32767 | 5000 | Rpm | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 12 | ModeratelyHighSpeedEndLevel | SeeModeratelyHighSpeedStartLevel. | S16 | rw | 0 | 32767 | 5250 | Rpm | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 13 | ModeratelyLowSpeedStartLevel |
Linear low speed protection. Braking current starts to be reduced when speed is less than ModeratelyLowSpeedStartLevel and 0 current is reached at ModeratelyLowSpeedEndLevel. Mainly used with combustion engines to prevent rotation of engine in wrong direction. This will be combined with no allowed current in wrong direction to get a continous allowed current curve. Rotational direction must be correctly defined using Inverted Rotational Direction in ApplicationSetupWord. Setting the parameter to 0 disables the function. | S16 | rw | 0 | 32767 | 0 | Rpm | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 14 | ModeratelyLowSpeedEndLevel | See ModeratelyLowSpeedStartLevel. | S16 | rw | 0 | 32767 | 0 | Rpm | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 15 | AccCurrentLimit |
Sets accelerating current limit. Used for external (CAN) limitation. Available acceleration current is always the minimum of the AbilityAccelerationCurrent (2095h:9) and AccCurrentLimit. | S16 | rw | 0 | 2316 | - | Arms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 16 | BrakeCurrentLimit |
Sets braking Current limit. Used for external (CAN) limitation. Available brake current is always the minimum of the AbilityBrakeCurrent (2095h:10) and BrakeCurrentLimit. | S16 | rw | 0 | 2316 | - | Arms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 19 | ActualLimitationType |
Type of (reason for) actual limitation.
| U8 | ro | 0 | 15 | - | - | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 20 | AccLimitationType |
Rreason for the lowest (most limiting) accelerating current limit. If an actual limitation of the acceleration current
takes place then the value of ActualLimitationType
will be the same as this value.
| U8 | ro | 0 | 15 | - | - | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 21 | BrakeLimitationType |
Reason for the lowest (most limiting) brake current limit. If an actual limitation of the brake current
takes place then the value of ActualLimitationType
will be the same as this value.
| U8 | ro | 0 | 15 | - | - | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 22 | LimitPosCurrent |
Show the limitited current in positive direction. | S16 | ro | 0 | 2316 | - | Arms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 23 | LimitNegCurrent |
Show the limitited current in negative direction. | S16 | ro | -2317 | 0 | - | Arms | * 1 | operator | ||||||||||||||||||||||||||||||||||
| 24 | MaxIncTorqueChange |
Slew rate limitation for increasing torque. Increasing torque is defined as when the absolute value of the torque increases. Set to 0 to disable function. Both increasing and decreasing limitation will be disabled. | S32 | rw | 0 | 1000000 |
| Nm/s | * 1 | OEM | ||||||||||||||||||||||||||||||||||
| 25 | MaxDecTorqueChange |
Slew rate limitation for decreasing torque. Decreasing torque is defined as when the absolute value of the torque decreases. Set to 0 to disable function. Both increasing and decreasing limitation will be disabled. | S32 | rw | 0 | 1000000 |
| Nm/s | * 1 | OEM | ||||||||||||||||||||||||||||||||||
| 26 | MaxTorqueChangeAtLowTorque |
Slew rate limitation at low torque. Low torque is defined as below LowTorqueLevel. Set to 0 to disable function. | S32 | rw | 0 | 1000000 |
| Nm/s | * 1 | OEM | ||||||||||||||||||||||||||||||||||
| 27 | LowTorqueLevel | Below this level, low torque slew rate limitation will be active. | S16 | rw | 0 | 4335 |
| Nm | * 0.1 | OEM | ||||||||||||||||||||||||||||||||||
| 30 | MaxCurrentAt1kHz | Max allowed current when switching frequency is 1 kHz. | S16 | rw | 0 | 2316 |
| Arms | * 1 | internal | ||||||||||||||||||||||||||||||||||
| 31 | MaxCurrentAt2kHz | Max allowed current when switching frequency is 2 kHz. | S16 | rw | 0 | 2316 |
| Arms | * 1 | internal | ||||||||||||||||||||||||||||||||||
| 32 | MaxCurrentAt4kHz | Max allowed current when switching frequency is 4 kHz. | S16 | rw | 0 | 2316 |
| Arms | * 1 | internal | ||||||||||||||||||||||||||||||||||
| 33 | MaxCurrentAt6kHz | Max allowed current when switching frequency is 6 kHz. | S16 | rw | 0 | 2316 |
| Arms | * 1 | internal | ||||||||||||||||||||||||||||||||||
| 34 | MaxCurrentAt8kHz | Max allowed current when switching frequency is 8 kHz. | S16 | rw | 0 | 2316 |
| Arms | * 1 | internal | ||||||||||||||||||||||||||||||||||
| 35 | MaxCurrentAt12kHz | Max allowed current when switching frequency is 12 kHz. | S16 | rw | 0 | 2316 |
| Arms | * 1 | internal | ||||||||||||||||||||||||||||||||||
| 36 | MaxCurrentAt16kHz | Max allowed current when switching frequency is 16 kHz. | S16 | rw | 0 | 2316 |
| Arms | * 1 | internal | ||||||||||||||||||||||||||||||||||
| 37 | MaxCurrentAt20kHz | Max allowed current when switching frequency is 20 kHz. | S16 | rw | 0 | 2316 |
| Arms | * 1 | internal | ||||||||||||||||||||||||||||||||||
| 0x2096 SpeedRegulatorInternalVariables | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 8 (Length=9) | - | * 1 | operator | |
| 1 | InternalSpeedReference | Speed reference input to speed PI controller (internal SW variable). Differs from Command Speed when ramps and/or BPC are used. | S16 | ro | -32768 | 32767 | - | Rpm | * 1 | operator | |
| 2 | CurrentReference | Reference Current From Speed PI-controller. | S16 | ro | -2317 | 2316 | - | Arms | * 1 | operator | |
| 3 | SpeedRegIPart | Speed regulator I part. | S16 | ro | -2317 | 2316 | - | Arms | * 1 | operator | |
| 4 | SpeedRegDPart | Speed regulator D part. | S16 | ro | -2317 | 2316 | - | Arms | * 1 | operator | |
| 5 | SpeedRegDPartFilterFactor | Filter constant used for high pass filter in D-regulator. A lower value results in lower cut-off frequency. | S16 | rw | 0 | 16384 | 1600 | * 1 | operator | ||
| 6 | PGainUsed | Speed regulator P-gain actually used. | S16 | ro | 0 | 32767 | - | * 1 | operator | ||
| 7 | IGainUsed | Speed regulator I-gain actually used. | S16 | ro | 0 | 32767 | - | * 1 | operator | ||
| 8 | DGainUsed | Speed regulator D-gain actually used. | S16 | ro | 0 | 32767 | - | * 1 | operator | ||
| 0x2097 CurrentBoost Internal Use Only | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 4 (Length=5) | - | * 1 | operator | ||||||||||
| 1 | CurrentBoostTimeToStart |
The Current has to be saturated in max limit for a time greater than
this limit in order for automatic boost to start. Automatic boost will be disabled if this limit is set to Zero. Unit: 500 = 1 sec | S16 | rw | 0 | 1500 |
| see Description | * 1 | OEM | ||||||||||
| 2 | CurrentBoostTime |
Duration of Current Boost. Max value is 3 seconds. Unit: 500 = 1 sec | S16 | rw | 0 | 1500 |
| see Description | * 1 | OEM | ||||||||||
| 3 | CurrentBoostFactor | The Current Boost can be 20% higher than maximum drive current, i.e. max value is 120%. MaxAccCurrent = Factor/1024 * AbilityCurrent (0x2095:9-10) or CurrentLimit (0x2095:15-16) 1024 = 100% The factor is temperature dependant which means that maximum is reduced linearly from 120% to 100% when temperature climbs from 60 to 85 degrees. | S16 | rw | 0 | 1229 |
| see Description | * 1 | OEM | ||||||||||
| 4 | CurrentBoostSpeedLimit | Actual speed need to be less than this limit at the same time as the Commnade speed is above this limit for a period longer than CurrentBoostTimeToStart in order for the automatic boost to start. | S16 | rw | 0 | 32767 |
| Rpm | * 1 | OEM | ||||||||||
| 0x2098 SpeedRamp | ||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 11 (Length=12) | - | * 1 | operator | ||||||||||||||||||||||
| 1 | RampState Internal Use Only |
| U8 | ro | 0 | 9 | - | - | * 1 | operator | ||||||||||||||||||||||
| 2 | SpeedChangeFactor |
Parameters ApplicationCommands, CommandAccelerationChange/CommandDecelerationChange will be divided by the value of this parameter. Only used in Speed Control Modes with ramps (ApplicationSetupParameters, SpeedRampMode = 4 or 5). E.g., a SpeedChangeFactor value equal to 10 will have the following effect on the unit of CommandAccelerationChange/CommandDecelerationChange:
| U8 | rw | 0 | 100 |
| see Description | * 1 | operator | ||||||||||||||||||||||
| 3 | AntiClonkNumberOfCounts |
Used to adjust Command Speed Ramped to Actual Speed via a ramp within
Anti Clonk Number Of Counts (each count is 2 ms). This function is used
together with MaxCurrentChange so that the "clonk" in the gear becomes
ok. Anti Clonk Number Of Counts = 0 disables the function. Only used in
Speed Control Modes with ramps (ApplicationSetupParameters, SpeedRampMode = 4 or 5). The deceleration in rpm/2ms becomes equal to (ActualSpeed-CommandSpeedRamped) / AntiClonkNumberOfCounts during AntiClonkNumberOfCounts*2ms if the Actual Speed decreases below Command Speed Ramped (only executed once per deceleration phase). | U16 | rw | 0 | 65535 |
| no | * 1 | operator | ||||||||||||||||||||||
| 4 | AntiClonkDeltaSpeedLimit |
Used when Bit 1 Adjust Speed During Deceleration in ApplicationSetupParameters, ApplicationSetupWord
is NOT set. Anti Clonk algorithm is then activated when
CommandSpeedRamped < ABS(ActualSpeed+ AntiClonkDeltaSpeedLimit). In order to not use this feature set Anti Clonk Delta Speed Limit equal to ApplicationSetupParameters, MaxCommandSpeed. | S16 | rw | -32768 | 32767 |
| Rpm | * 1 | operator | ||||||||||||||||||||||
| 5 | AntiClonkCommandSpeedLimit |
Anti Clonk algorithm is acivated if ABS(CommandSpeed) < AntiClonkCommandSpeedLimit. Used to disable Anti Clonk Algorithm at high speeds. In order to not use this feature set Anti Clonk Command Speed Limit equal to ApplicationSetupParameters, MaxCommandSpeed. | S16 | rw | -32768 | 32767 |
| Rpm | * 1 | operator | ||||||||||||||||||||||
| 6 | ReverseBrakeMaxSpeedInRpm | Define maximum speed in reverse direction to be applied when ApplicationSetupParameters, SpeedRampMode = 5 is selected. | S16 | rw | -32768 | 32767 |
| Rpm | * 1 | operator | ||||||||||||||||||||||
| 7 | RampedRollBackSpeed | Ramped rollback speed parameter (see also ApplicationSetupParameters, RollBackSpeed). | S16 | ro | 0 | 32767 | - | Rpm | * 1 | operator | ||||||||||||||||||||||
| 8 | PushSpeedLimit |
Below the PushSpeedLimit the integral part in the speed controller is not
allowed to build up. If this parameter is set to Zero there will be no speed limitation for allowing the integral part to increase. Use case 1: A "push" problem is when a vehicle is stuck going forward but also have forward torque buildup due to integration. Then when the hindrance is suddenly removed there will be a jump in speed. The same problem exists in both directions. In order to avoid the "push" problem it is recommended to set PushSpeedLimit to "some low speed". Recommended value is 10 rpm. Use case 2: An "uphill rolling back" problem may occur when a vehicle (e.g. golf cart) is stopped uphill and the driver does not apply enough acceleration to circumvent the slope. Then the vehicle may start rolling backward. In order to avoid the "uphill rolling back" problem it is recommended to set PushSpeedLimit to Zero. This, to mimic an automatic gear box that does not allow negative movement when drive gear is engaged (positive movement). | S16 | rw | -32768 | 32767 |
| Rpm | * 1 | operator | ||||||||||||||||||||||
| 9 | IGainMode Internal Use Only |
| U8 | ro | 0 | 5 | - | - | * 1 | operator | ||||||||||||||||||||||
| 10 | IregAccelerationLimit | Above this acceleration level the integral part in the speed controller is not allowed to build up. | S16 | rw | 0 | 32767 | 0 | Rpm/20ms | * 1 | operator | ||||||||||||||||||||||
| 11 | ForcePumpBehavior |
Force PUMP motor specific integral control behavior in speed controller even when DeviceType is not PUMP.
This prevents integral build-up in the wrong direction in order to avoid undershoot (pump spinning backwards) when stopping the motor.
Only possible to activate in speed control without ramps, ApplicationSetupParameters.SpeedRampMode = 1,
and not using Steer Wheel Mode or Tiller Mode in ApplicationSetupParameters.RequestedControlMode.
| U8 | rw | 0 | 1 | 0 | - | * 1 | operator | ||||||||||||||||||||||
| 0x2099 TorqueToCurrentCalculation | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 13 (Length=12) | - | * 1 | operator | ||||||||||
| 1 | CommandCurrentFromCommand | Command current that is recalculated from command torque. | S16 | ro | -32768 | 32767 | - | * 1 | operator | |||||||||||
| 2 | AccCurrentLimitFromAccTorqueLimit | Command acceleration current limit that is recalculated from acceleration command limit torque. | S16 | ro | 0 | 2316 | - | Arms | * 1 | operator | ||||||||||
| 3 | BrakeCurrentLimitFromBrakeTorqueLimit | Command brake current limit that is recalculated from brake command limit torque. | S16 | ro | 0 | 2316 | - | Arms | * 1 | operator | ||||||||||
| 6 | AccTorqueLimit | The acc torque limit from CAN. | S16 | rw | 0 | 4335 | - | Nm | * 0.1 | operator | ||||||||||
| 7 | BrakeTorqueLimit | The brake torque limit from CAN. | S16 | rw | 0 | 4335 | - | Nm | * 0.1 | operator | ||||||||||
| 8 | MissingCommandTorque | The torque that has to be addded to command torque to actually get the commanded torque. | S16 | ro | -4335 | 4335 | - | Nm | * 0.1 | operator | ||||||||||
| 9 | MissingAccTorqueLimit | The acc torque limit torque that has to be addded to acc torque limit to actually get the acc torque limit. | S16 | ro | -4335 | 4335 | - | Nm | * 0.1 | operator | ||||||||||
| 10 | MissingBrakeTorqueLimit | The brake torque limit torque that has to be addded to brake torque limit to actually get the brake torque limit. | S16 | ro | -4335 | 4335 | - | Nm | * 0.1 | operator | ||||||||||
| 11 | TorqueToCurrentConversionFactor | Factor used for initial convertion of torque to current. It must be approximately correct for torque control and limits to work. | S32 | rw | 0 | 2147483647 |
| Arms/Nm * 1024 | * 1 | operator | ||||||||||
| 12 | FeedForwardTorque | Feed forward torque that will be recalculated to current. | S16 | rw | -4335 | 4335 | 0 | Nm | * 0.1 | operator | ||||||||||
| 13 | FeedForwardCurrent | Feed forward current that is recalculated from torque feed forward. | S16 | ro | -2317 | 2316 | - | Arms | * 1 | operator | ||||||||||
| 0x2100 ParameterRampForwardAcceleration | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | MaxForwardAccelerationSet0 |
Used according to "Speed Ramp Parameter Set" bits in ApplicationCommands, CommandAll. Unit depends on SpeedRamp, SpeedChangeFactor | Array of U8 | rw | 0 | 255 |
| Rpm/2ms/SpeedChangeFactor (see Description) | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2101 ParameterRampForwardDeceleration | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | MaxForwardDecelerationSet0 |
Used according to "Speed Ramp Parameter Set" bits in ApplicationCommands, CommandAll if CommandSpeed < ActualSpeed and CommandSpeed != 0 and has the same sign as the ActualSpeed. Unit depends on SpeedRamp, SpeedChangeFactor | Array of U8 | rw | 0 | 255 |
| Rpm/2ms/SpeedChangeFactor (see Description) | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2102 ParameterRampReverseAcceleration | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | MaxReverseAccelerationSet0 |
Used according to "Speed Ramp Parameter Set" bits in ApplicationCommands, CommandAll. Unit depends on SpeedRamp, SpeedChangeFactor | Array of U8 | rw | 0 | 255 |
| Rpm/2ms/SpeedChangeFactor (see Description) | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2103 ParameterRampReverseDeceleration | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | MaxReverseDecelerationSet0 |
Used according to "Speed Ramp Parameter Set" bits in ApplicationCommands, CommandAll if CommandSpeed < ActualSpeed and CommandSpeed != 0 and has the same sign as the ActualSpeed. Unit depends on SpeedRamp, SpeedChangeFactor | Array of U8 | rw | 0 | 255 |
| Rpm/2ms/SpeedChangeFactor (see Description) | * 1 | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2104 ParameterRampSpecialForwardDeceleration | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | SpecialForwardDeceleration |
Unit depends on SpeedRamp, SpeedChangeFactor | Array of U8 | rw | 0 | 255 |
| Rpm/2ms/SpeedChangeFactor (see Description) | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2105 ParameterRampSpecialReverseDeceleration | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | SpecialReverseDeceleration |
Unit depends on SpeedRamp, SpeedChangeFactor | Array of U8 | rw | 0 | 255 |
| Rpm/2ms/SpeedChangeFactor (see Description) | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2110 Lq_Id1 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Lq | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2111 Lq_Id2 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Lq | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2112 Lq_Id3 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Lq | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2113 Lq_Id4 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Lq | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2114 Lq_Id5 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Lq | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2115 Lq_Id6 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Lq | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2116 Lq_Id7 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Lq | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2120 Ld_Id1 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Ld | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2121 Ld_Id2 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Ld | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2122 Ld_Id3 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Ld | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2123 Ld_Id4 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Ld | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2124 Ld_Id5 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Ld | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2125 Ld_Id6 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Ld | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2126 Ld_Id7 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | operator | |||
| 1 | Ld | Inductance for this table entry. | Array of S16 | rw | 0 | 3445 | - | uH | * 1 | OEM | |
| 0x2130 MemoryDebugAccess Internal Use Only | ||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 10 (Length=11) | - | * 1 | operator | ||||||||||||||||||||||||||||||||
| 1 | RamAddress | Set RAM address to read from or write to. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | internal | ||||||||||||||||||||||||||||||||
| 2 | RamU8 | Read and write U8 at RAM address. | U8 | rw | 0 | 255 | 0 | - | * 1 | internal | ||||||||||||||||||||||||||||||||
| 3 | RamU16 | Read and write U16 at RAM address. | U16 | rw | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||||||||||||||||||||||
| 4 | RamU32 | Read and write U32 at RAM address. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | internal | ||||||||||||||||||||||||||||||||
| 5 | EepromWrite |
Writes a value to selected address in EEPROM:
The EEPROM size is 32768 bytes. Data is stored in the EEPROM using segments with the following properties: The first byte of each eeprom segment is the length and the two last is the checksum. The odd checksum is stored in the last odd address and the even checksum on the last even address. The length can be between 1 and 127 bytes. Not all segments have a checksum. The highest bit in the size byte is set if the segment contains default data. The data is stored in an eeprom segment according to the following example table:
| U32 | wo | 0 | 4294967295 | - | - | * 1 | internal | ||||||||||||||||||||||||||||||||
| 6 | SetEepromReadAddress | Writes the EEPROM address (16 bits) to be read with EepromRead (2130h:7). | U16 | wo | 0 | 0x8000 - 1 | 0 | - | * 1 | internal | ||||||||||||||||||||||||||||||||
| 7 | EepromRead | Reads the value (8 bits) in the EEPROM address selected by SetEepromReadAddress (2130h:6). | U8 | ro | 0 | 255 | 0 | - | * 1 | internal | ||||||||||||||||||||||||||||||||
| 8 | RamU16IncrementPointer | Reads U16 at RAM address and and increase Ram address with one word. | U16 | ro | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||||||||||||||||||||||
| 9 | UsedEepromBytes | Numbers of bytes used of eeprom data. | U16 | ro | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||||||||||||||||||||||
| 10 | RamU32IncrementPointer | Reads U32 at RAM address and and increase Ram address with two words. | U32 | ro | 0 | 4294967295 | - | - | * 1 | internal | ||||||||||||||||||||||||||||||||
| 0x2135 MotorPWM Internal Use Only | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 9 (Length=5) | - | * 1 | operator | |
| 6 | PWMLevelU | Actual PWM Level on U-phase. | U16 | ro | 0 | 65535 | 0 | see Description | * 1 | internal | |
| 7 | PWMLevelV | Actual PWM Level on V-phase. | U16 | ro | 0 | 65535 | 0 | see Description | * 1 | internal | |
| 8 | PWMLevelW | Actual PWM Level on W-phase. | U16 | ro | 0 | 65535 | 0 | see Description | * 1 | internal | |
| 9 | Period | Actual PWM period. | U16 | ro | 0 | 65535 | 0 | see Description | * 1 | internal | |
| 0x2140 BestPerformanceCurveSpeed | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | Speed |
| Array of U16 | rw | 0 | 65535 |
| Rpm | * 1 | OEM | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2141 BestPerformanceCurveCurrent | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | Current |
| Array of U16 | rw | 0 | 2316 |
| Arms | * 1 | OEM | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x2142 BestPerformanceCurveRegulator Internal Use Only | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 4 (Length=4) | - | * 1 | operator | ||||||||||
| 2 | BpcIgain |
Best performance curve PI-controller I-gain 1 = 256 | S16 | rw | -32768 | 32767 |
| see Description | * 1 | OEM | ||||||||||
| 3 | InternalCurrentReference | Internal SW variable, input current reference to the best performance curve PI-controller. In BPC_PDO_MODE the absolute value of the written value is used (only in this mode it is possible to write the value). | S16 | rw | -2317 | 2316 | 0 | Arms | * 1 | OEM | ||||||||||
| 4 | ReductionFactor |
In BPC Reduction Mode this value is used to reduce the Current in the BPC-curve. InternalCurrentReference = InternalCurrentReference * ReductionFactor / 256 ReductionFactor = 256 means no reduction. | S16 | rw | 1 | 256 |
| see Description | * 1 | OEM | ||||||||||
| 0x2150 ForcedReverse | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 6 (Length=7) | - | * 1 | operator | |
| 1 | ForcedReverseSpeed | Speed that is used when ForcedReverse command is pressed. | S16 | rw | -32765 | 32765 | -250 | Rpm | * 1 | OEM | |
| 2 | ForcedReverseTimeout | Maximum time that ForcedReverse is allowed to run. | U16 | rw | 0 | 8191 | 5000 | ms | * 1 | OEM | |
| 3 | ForcedReverseEnable |
Activate/Deactivate ForcedReverse functionality 0 = inactive 1 = active | U8 | rw | 0 | 1 | 1 | - | * 1 | OEM | |
| 4 | ForcedReverseAcceleration | Accelaration when ForcedReverse is active. | U8 | rw | 0 | 255 | 30 | Rpm/20ms | * 1 | OEM | |
| 5 | ForcedReverseDeceleration | Decelaration when ForcedReverse is active. | U8 | rw | 0 | 255 | 30 | Rpm/20ms | * 1 | OEM | |
| 6 | ForcedBrakeEnable |
Activate/Deactivate ForcedBrake functionality 0 = inactive 1 = active | U8 | rw | 0 | 1 | 1 | - | * 1 | OEM | |
| 0x2200 PositionControl | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 6 (Length=7) | - | * 1 | operator | ||||||||||
| 1 | PGain | Position controller proportional gain. | S16 | rw | -32768 | 32767 |
| TBD | * 1 | operator | ||||||||||
| 2 | IGain | Position controller integral gain. | S16 | rw | -32768 | 32767 |
| TBD | * 1 | operator | ||||||||||
| 3 | OutputMaxLimit |
Output max limit from Position controller. Store and restart unit needed to update value of this parameter. | S16 | rw | -32768 | 32767 |
| Rpm | * 1 | operator | ||||||||||
| 4 | CommandSpeed | CommandSpeed output from position PI-controller. | S16 | ro | -32768 | 32767 | 0 | Rpm | * 1 | operator | ||||||||||
| 5 | InternalPositionReference | Position reference used in position controller. | S16 | ro | -1800 | 1799 | - | Deg | * 0.1 | operator | ||||||||||
| 6 | PositionRegIPart | Position controller I part. | S16 | ro | -1800 | 1799 | - | Deg | * 0.1 | operator | ||||||||||
| 0x2215 Encoder1 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 3 (Length=4) | - | * 1 | operator | |
| 1 | CaptureValue | Encoder capture value. | U16 | ro | 0 | 65535 | - | - | * 1 | operator | |
| 2 | EncoderInStatus |
Encoder In Status in bitfield. bit 0: Encoder In A/Sin bit 1: Encoder In B/Cos bit 2: Encoder In C if exists. | U8 | ro | 0 | 255 | 0 | - | * 1 | operator | |
| 3 | CaptureValueDiff | Difference of the encoder capture values sampled in 50Hz. | S16 | ro | -32768 | 32767 | - | - | * 1 | operator | |
| 0x2219 EncoderPullup | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 1 (Length=2) | - | * 1 | operator | |
| 1 | EncoderPullup |
Encoder pull-up control in bitfield. 0: enable the enconder pullup (for input is digital sensor) 1: disable the enconder pullup (for input is analog sensor) Pullup pin in sequence (from bit0..bitN): Encoder 1 Pull-Up Encoder 1C Pull-Up | U16 | rw | 0 | 65535 | - | - | * 1 | operator | |
| 0x2223 MotorPwmSensor | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 22 (Length=23) | - | * 1 | operator | |
| 1 | SensorAngle | Sensor angle represented in a full S16. It has been extrapolated to ADC sampling point from PrevSensorAngle and LastSensorAngle. | S16 | ro | - | - | OEM | ||||
| 2 | DeltaSensorAngle | SensorAngle difference per 250us. | S16 | ro | - | - | OEM | ||||
| 3 | NomStartBlankingPercent | Typically 500 or 625 which is 5.00% and 6.25% resp. If a discontinuity in angle is seen when rotating at steady speed NomStartBlankingPercent and/or NomEndBlankingPercent needs adjustment. Normally this should be the values from the PWM sensor datasheet. | S16 | rw | - | - | OEM | ||||
| 4 | NomEndBlankingPercent | Typically 9500 or 9375 which is 95.00% and 93.75% resp. If a discontinuity in angle is seen when rotating at steady speed NomStartBlankingPercent and/or NomEndBlankingPercent needs adjustment. Normally this should be the values from the PWM sensor datasheet. | S16 | rw | - | - | OEM | ||||
| 5 | FlankDifference | Used to represent the difference in flank delays for rising and falling flanks. If very wrong the min and max allowed duty checks might fail. Will affect absolute angle but will be compensated by alignment. Will not affect speed or cause discontinuity at PWM wrap if not correct. | S16 | rw | - | - | OEM | ||||
| 6 | SampleDelay | Represents the delay internally in the sensor from the time it samples the sin cos readings until drive detects tha start flank of the pulse. Unit is in sensor timer ticks. ~6000 is about 500us. | S16 | rw | - | - | OEM | ||||
| 7 | TimeoutCounter | A missing pulse timeout down counter. Starts from 80 and counts down every 250us. If it reaches 0 en event will be set. Can be studied to see if there are many missing pulses. Normally there should not be any. Pulses arrives about every 500-750us so this values normally counts down only a few counts which is normal until the next pulse arrives. | U16 | ro | - | - | OEM | ||||
| 8 | IsPulseValid | 0 = last pulse was not valid. 1 = Last pulse was valid. | U8 | ro | - | - | OEM | ||||
| 9 | PrevSensorAngle | Angle as S16 calculated from the valid pulse previous to the most recent valid pulse. | S16 | ro | - | - | OEM | ||||
| 10 | LastSensorAngle | Angle as S16 calculated from the most recent valid pulse. | S16 | ro | - | - | OEM | ||||
| 11 | PrevStartValue | Timer counter value at start of previous pulse before the most recent valid pulse. | U16 | ro | - | - | OEM | ||||
| 12 | LastStartValue | Timer counter value at start of the most recent valid pulse. | U16 | ro | - | - | OEM | ||||
| 13 | Period | Pulse period in timer ticks. | U16 | ro | - | - | OEM | ||||
| 14 | DutyTicks | Pulse duty in timer ticks. | U16 | ro | - | - | OEM | ||||
| 15 | EffectiveCompareValue | This is the effective compare value in the EffectivePeriod when the start and end blanking parts have been stripped off. This represents the 0-360 angle withing the EffectivePeriod. Note that it can be negative or greater than period if FlankDifference is not correct. It will however be extrapolated to a valid angle anyway. | S16 | ro | - | - | OEM | ||||
| 16 | EffectivePeriod | This is the EffectivePeriod when the start and end blanking parts have been stripped off. | U16 | ro | - | - | OEM | ||||
| 17 | DutyPercent | (EffectiveCompareValue/EffectivePeriod)*100*100 (100 for percentage and 100 for scale) | S16 | ro | - | - | OEM | ||||
| 18 | MinDutyPercent | This is the minimum duty in percent that has been "percieved" by the drive since reset. It is essential to rotate motor slowly several revolutions to reach the ends. Can be used to tune FlankDifference. StartBlankingPercent should reach this value as it is calculated from NomStartBlankingPercent-FlankDifference. | S16 | ro | - | - | OEM | ||||
| 19 | MaxDutyPercent | This is the maximum duty in percent that has been "percieved" by the drive since reset. It is essential to rotate motor slowly several revolutions to reach the ends. Can be used to tune FlankDifference. EndBlankingPercent should reach this value as it is calculated from NomEndBlankingPercent-FlankDifference. | S16 | ro | - | - | OEM | ||||
| 20 | StartBlankingPercent | Calculated from NomStartBlankingPercent-FlankDifference. Used to calculate EffectivePeriod and EffectiveCompareValue. | S16 | ro | - | - | OEM | ||||
| 21 | EndBlankingPercent | Calculated from NomEndBlankingPercent-FlankDifference. Used to calculate EffectivePeriod and EffectiveCompareValue. | S16 | ro | - | - | OEM | ||||
| 22 | Polarity |
Polarity of PWM Duty Pulse 0: Measure PWM frequency on negative edge. The position edge is the positive edge. 1: Measure PWM frequency on positive edge. The position edge is the negative edge. | U8 | rw | 0 | 1 | 0 | - | OEM | ||
| 0x2225 SpeedAndPositionReferenceCalculation | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 12 (Length=6) | - | * 1 | operator | |
| 1 | MotorGearRatio |
Gear box ratio of motor, i.e. gearing from motor shaft to gear box shaft. Used for calculating total system gear ratio (i.e. motor shaft to steered wheel ratio) as: System gear ratio = MotorGearRatio * WheelGearRatioDividend / WheelGearRatioDivisor The sign of MotorGearRatio shall reflect the rotation direction of the motor compared to the rotation direction of the steered wheel. | S16 | rw | -32768 | 32767 | 51 | - | * 1 | operator | |
| 2 | WheelGearRatioDividend |
Wheel gear ratio dividend. I.e. the dividend of the fraction that specifies the ratio of any gearing after the gear box. Example: A simple two wheel gear is attached after the gear box. The small diameter wheel is driven by the gearbox output shaft. Small wheel diameter is 38 and the large wheel diameter is 156. With the formula dividend/divisor, the dividend is 156 and the divisor is 38. Used for calculating total system gear ration (i.e. motor shaft to steered wheel ratio) as: System gear ratio = MotorGearRatio * WheelGearRatioDividend / WheelGearRatioDivisor | S16 | rw | 1 | 32767 | 3725 | - | * 1 | operator | |
| 3 | WheelGearRatioDivisor |
Wheel gear ratio of divisor. I.e. the divisor of the fraction that specifies the ratio of any gearing after the gear box. Example: A simple two wheel gear is attached after the gear box. The small diameter wheel is driven by the gearbox output shaft. Small wheel diameter is 38 and the large wheel diameter is 156. With the formula dividend/divisor, the dividend is 156 and the divisor is 38. Used for calculating total system gear ration (i.e. motor shaft to steered wheel ratio) as: System gear ratio = MotorGearRatio * WheelGearRatioDividend / WheelGearRatioDivisor | S16 | rw | 1 | 32767 | 1000 | - | * 1 | operator | |
| 11 | ActualPosition | Actual position of steered wheel. | S16 | rw | -1800 | 1799 | - | Deg | * 0.1 | operator | |
| 12 | PositionInternalScale |
Actual position of steered wheel in internal scale. 2^16 = 2 * Pi * Rad. | S16 | ro | -32768 | 32767 | - | see Description | * 1 | operator | |
| 0x2251 MemoryAccessBank1 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 7 (Length=8) | - | * 1 | operator | |
| 1 | MemoryAddress | Set memory address to read from or write to. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | internal | |
| 2 | Value_S8 | Read and write S8 at the specificed memory address. | S8 | ro | -128 | 127 | - | - | * 1 | internal | |
| 3 | Value_S16 | Read and write S16 at the specificed memory address. | S16 | ro | -32768 | 32767 | - | - | * 1 | internal | |
| 4 | Value_S32 | Read and write S32 at the specificed memory address. | S32 | ro | -2147483648 | 2147483647 | - | - | * 1 | internal | |
| 5 | Value_U8 | Read and write U8 at the specificed memory address. | U8 | ro | 0 | 255 | - | - | * 1 | internal | |
| 6 | Value_U16 | Read and write U16 at the specificed memory address. | U16 | ro | 0 | 65535 | - | - | * 1 | internal | |
| 7 | Value_U32 | Read and write U32 at the specificed memory address. | U32 | ro | 0 | 4294967295 | - | - | * 1 | internal | |
| 0x2252 MemoryAccessBank2 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 7 (Length=8) | - | * 1 | operator | |
| 1 | MemoryAddress | Set memory address to read from or write to. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | internal | |
| 2 | Value_S8 | Read and write S8 at the specificed memory address. | S8 | ro | -128 | 127 | - | - | * 1 | internal | |
| 3 | Value_S16 | Read and write S16 at the specificed memory address. | S16 | ro | -32768 | 32767 | - | - | * 1 | internal | |
| 4 | Value_S32 | Read and write S32 at the specificed memory address. | S32 | ro | -2147483648 | 2147483647 | - | - | * 1 | internal | |
| 5 | Value_U8 | Read and write U8 at the specificed memory address. | U8 | ro | 0 | 255 | - | - | * 1 | internal | |
| 6 | Value_U16 | Read and write U16 at the specificed memory address. | U16 | ro | 0 | 65535 | - | - | * 1 | internal | |
| 7 | Value_U32 | Read and write U32 at the specificed memory address. | U32 | ro | 0 | 4294967295 | - | - | * 1 | internal | |
| 0x2253 MemoryAccessBank3 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 7 (Length=8) | - | * 1 | operator | |
| 1 | MemoryAddress | Set memory address to read from or write to. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | internal | |
| 2 | Value_S8 | Read and write S8 at the specificed memory address. | S8 | ro | -128 | 127 | - | - | * 1 | internal | |
| 3 | Value_S16 | Read and write S16 at the specificed memory address. | S16 | ro | -32768 | 32767 | - | - | * 1 | internal | |
| 4 | Value_S32 | Read and write S32 at the specificed memory address. | S32 | ro | -2147483648 | 2147483647 | - | - | * 1 | internal | |
| 5 | Value_U8 | Read and write U8 at the specificed memory address. | U8 | ro | 0 | 255 | - | - | * 1 | internal | |
| 6 | Value_U16 | Read and write U16 at the specificed memory address. | U16 | ro | 0 | 65535 | - | - | * 1 | internal | |
| 7 | Value_U32 | Read and write U32 at the specificed memory address. | U32 | ro | 0 | 4294967295 | - | - | * 1 | internal | |
| 0x2254 MemoryAccessBank4 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 7 (Length=8) | - | * 1 | operator | |
| 1 | MemoryAddress | Set memory address to read from or write to. | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | internal | |
| 2 | Value_S8 | Read and write S8 at the specificed memory address. | S8 | ro | -128 | 127 | - | - | * 1 | internal | |
| 3 | Value_S16 | Read and write S16 at the specificed memory address. | S16 | ro | -32768 | 32767 | - | - | * 1 | internal | |
| 4 | Value_S32 | Read and write S32 at the specificed memory address. | S32 | ro | -2147483648 | 2147483647 | - | - | * 1 | internal | |
| 5 | Value_U8 | Read and write U8 at the specificed memory address. | U8 | ro | 0 | 255 | - | - | * 1 | internal | |
| 6 | Value_U16 | Read and write U16 at the specificed memory address. | U16 | ro | 0 | 65535 | - | - | * 1 | internal | |
| 7 | Value_U32 | Read and write U32 at the specificed memory address. | U32 | ro | 0 | 4294967295 | - | - | * 1 | internal | |
| 0x2300 AnalogInput1 | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 7 (Length=8) | - | * 1 | operator | ||||||||||
| 1 | InputValue |
The filtered value from the External Analog input. | S16 | ro | -32768 | 32767 | 0 | mV | * 1 | operator | ||||||||||
| 2 | MinValue |
The minimum value for the External Analog input. | S16 | ro | -32768 | 32767 | Depending on HW | mV | * 1 | operator | ||||||||||
| 3 | MaxValue |
The maximum value for the External Analog input. | S16 | ro | -32768 | 32767 | Depending on HW | mV | * 1 | operator | ||||||||||
| 4 | FilterType |
The type of filtering used.
| U8 | rw | 0 | 3 | - | - | * 1 | operator | ||||||||||
| 5 | SampleTime |
The interval between samples taken and put into the selected filter algorithm. Maximum time when P-filter is used are 1000 ms. | U32 | rw | 0 | 4294967295 | - | ms | * 1 | operator | ||||||||||
| 6 | Parameter1 |
Parameter 1 to the selected filter:
| S16 | rw | 0 | 32767 | - | - | * 1 | operator | ||||||||||
| 7 | Parameter2 |
Parameter 2 to the selected filter:
| S16 | rw | 0 | 32767 | - | - | * 1 | operator | ||||||||||
| 0x2301 AnalogInput2 | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 7 (Length=8) | - | * 1 | operator | ||||||||||
| 1 | InputValue |
The filtered value from the External Analog input. | S16 | ro | -32768 | 32767 | 0 | mV | * 1 | operator | ||||||||||
| 2 | MinValue |
The minimum value for the External Analog input. | S16 | ro | -32768 | 32767 | Depending on HW | mV | * 1 | operator | ||||||||||
| 3 | MaxValue |
The maximum value for the External Analog input. | S16 | ro | -32768 | 32767 | Depending on HW | mV | * 1 | operator | ||||||||||
| 4 | FilterType |
The type of filtering used.
| U8 | rw | 0 | 3 | - | - | * 1 | operator | ||||||||||
| 5 | SampleTime |
The interval between samples taken and put into the selected filter algorithm. Maximum time when P-filter is used are 1000 ms. | U32 | rw | 0 | 4294967295 | - | ms | * 1 | operator | ||||||||||
| 6 | Parameter1 |
Parameter 1 to the selected filter:
| S16 | rw | 0 | 32767 | - | - | * 1 | operator | ||||||||||
| 7 | Parameter2 |
Parameter 2 to the selected filter:
| S16 | rw | 0 | 32767 | - | - | * 1 | operator | ||||||||||
| 0x2302 AnalogInput3 | ||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 7 (Length=8) | - | * 1 | operator | ||||||||||
| 1 | InputValue |
The filtered value from the External Analog input. | S16 | ro | -32768 | 32767 | 0 | mV | * 1 | operator | ||||||||||
| 2 | MinValue |
The minimum value for the External Analog input. | S16 | ro | -32768 | 32767 | Depending on HW | mV | * 1 | operator | ||||||||||
| 3 | MaxValue |
The maximum value for the External Analog input. | S16 | ro | -32768 | 32767 | Depending on HW | mV | * 1 | operator | ||||||||||
| 4 | FilterType |
The type of filtering used.
| U8 | rw | 0 | 3 | - | - | * 1 | operator | ||||||||||
| 5 | SampleTime |
The interval between samples taken and put into the selected filter algorithm. Maximum time when P-filter is used are 1000 ms. | U32 | rw | 0 | 4294967295 | - | ms | * 1 | operator | ||||||||||
| 6 | Parameter1 |
Parameter 1 to the selected filter:
| S16 | rw | 0 | 32767 | - | - | * 1 | operator | ||||||||||
| 7 | Parameter2 |
Parameter 2 to the selected filter:
| S16 | rw | 0 | 32767 | - | - | * 1 | operator | ||||||||||
| 0x2350 DigitalInStatus | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Number of digital in pins. | U8 | ro | 0 | 255 | 15 (Length=16) | - | * 1 | operator | |
| 1 | Status1 | DIGITAL_IN_1 | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 2 | Status2 | DIGITAL_IN_2 | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 3 | Status3 | DIGITAL_IN_3 | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 4 | Status4 | DIGITAL_IN_4 | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 5 | Status5 | DIGITAL_IN_5 (ACS_ID_1) | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 6 | Status6 | DIGITAL_IN_6 (ACS_ID_2) | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 7 | Status7 | DIGITAL_IN_7 | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 8 | Status8 | DIGITAL_IN_8 | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 9 | Status9 | DIGITAL_IN_9 | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 10 | Status10 | ENCODER_IN_2A | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 11 | Status11 | ENCODER_IN_2B | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 12 | Status13 | DIGITAL_IN_13 | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 13 | Status14 | ENCODER_IN_1C | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 14 | Status15 | ENCODER_IN_1A | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 15 | Status16 | ENCODER_IN_1B | U8 | ro | 0 | 1 | 15 | - | * 1 | operator | |
| 0x2470 OpenDrainOutputVoltage | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Number of open-drain voltage measurements. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |
| 1 | Voltage | Voltage at Open Drain Output 1..N. | Array of S16 | ro | 0 | 32767 | - | Vdc | * 0.01 | operator | |
| 0x2471 OpenDrainOutputFilteredVoltage | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Number of open-drain voltage measurements. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |
| 1 | FilteredVoltage | Filtered Voltage at Open Drain Output 1..N. | Array of S16 | ro | 0 | 32767 | - | Vdc | * 0.01 | operator | |
| 0x2480 OpenDrainOutputPeriod | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | operator | |
| 1 | Period | Timer Period for Open Drain Output 1..N (The timers ARR-value). It is dependent on the switching frequency and timer frequency used on the output channel. Period Calculation: TIM1 and TIM3: (Divided by 2 as center-aligned mode is chosen ) Period = ((TIM1_FREQUENCY / Frequency_U16) / 2u) Period = ((TIM3_FREQUENCY / Frequency_U16) / 2u) TIM9: (TIM9 uses edge-aligned mode) Period = TIM9_FREQUENCY / Frequency_U16 where, TIM1_FREQUENCY : ((((((U32)200*1000000UL) )/2UL) *2UL)/(2uL)) TIM3_FREQUENCY : ((((((U32)200*1000000UL) )/4UL) *2UL)/(1uL)) TIM9_FREQUENCY : ((((((U32)200*1000000UL) )/2UL) *2UL)/(2uL)) | Array of U16 | ro | 0 | 65535 | - | - | * 1 | operator | |
| 0x2491 HighSide | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 13 (Length=8) | - | * 1 | operator | |
| 1 | HighSideSwitchControl |
If High Side Switch has tripped due to a short circuit, for example, the High Side Switch has to be disabled and re-enabled to be activated again after the fault condition has been removed. | U16 | rw | 0 | 1 | 0 | - | * 1 | operator | |
| 2 | HighSideSwitchStatus |
This show the actual status of the High Side Switch. If the High Side Switch has tripped due to a short circuit, for example, the High Side Switch has to be disabled and re-enabled to be activated again after the fault condition has been removed. | U16 | ro | 0 | 1 | - | - | * 1 | operator | |
| 3 | HighSideOutVoltage | High Side Out voltage level. | S16 | ro | 0 | 32767 | - | Vdc | * 0.01 | operator | |
| 4 | HighSideOutCurrent |
High Side Output current level, calculated as the sum of the current on the open drain outputs connected to it. See OpenDrainsOnHighSide for info about which open drain outputs that are connected. | S16 | ro | 0 | 32767 | 0 | mA | * 1 | operator | |
| 11 | HighSidePeakCurrentLevel |
Peak current limit level for High Side Output. If high side current is above this level for 16ms the HighSideHighPeakCurr event will be set. If set to 0 the hardware limit will apply. | U16 | rw | 0 | 6600 | 6000 | mA | * 1 | operator | |
| 12 | HighSideOverloadCurrentLevel |
Overload current limit level for High Side Output. If high side current is above this level for 10s the HighSideOverload event will be set. If set to 0 the hardware limit will apply. | U16 | rw | 0 | 4400 | 4000 | mA | * 1 | operator | |
| 13 | OpenDrainsOnHighSide | Open Drain outputs connected to High Side Out bitfield. | U16 | ro | 0 | 65355 | - | - | * 1 | operator | |
| 0x2500 IndependentSupervision | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 12 (Length=13) | - | * 1 | operator | |
| 1 | OverSpeedLimitForward | Limit for when indepedent supervision module will set high speed event. | S16 | rw | 0 | 32767 | 4500 | Rpm | * 1 | operator | |
| 2 | OverSpeedLimitReverse | Limit for when indepedent supervision module will set high speed event. | S16 | rw | -32768 | 0 | -4500 | Rpm | * 1 | operator | |
| 3 | CurrentSpeedLimitForward | The limit that is used at this moment. If this limit is smaller than OverSpeedLimitForward there is either a Forced Braking in effect or a tempary speed limit has been set. | S16 | ro | 0 | 32767 | Rpm | * 1 | operator | ||
| 4 | CurrentSpeedLimitReverse | The limit that is used at this moment. If this limit is smaller than OverSpeedLimitReverse there is either a Forced Braking in effect or a tempary speed limit has been set. | S16 | ro | 0 | 32767 | Rpm | * 1 | operator | ||
| 5 | ACCurrentControlCurrentLimit |
Defines the level, in percentage of HwDetectedMaxCurrent,
that the difference between the reference current (CurrentReference)
and the measured current (RmsMotorCurrent)
needs to be above in order to detect ACCurrentControlError-event. Setting this parameter to Zero will turn off detection of ACCurrentControlError-event. See event description for more information regarding event. | U8 | rw | 0 | 100 | 0 | % | * 1 | operator | |
| 6 | ACCurrentControlUpeakLimit |
Defines the level, in percentage of UPeakLimit,
that UPeakNormalized needs to be below in order to
detect ACCurrentControlError-event. See event description for more information regarding event. | U8 | rw | 0 | 100 | 75 | % | * 1 | operator | |
| 7 | ACCurrentControlDcVoltageLimit |
Defines the level, in percentage of NominalVoltage,
that FilteredVoltage needs to be above in order to
detect ACCurrentControlError-event. See event description for more information regarding event. | U8 | rw | 0 | 100 | 25 | % | * 1 | operator | |
| 8 | ACCurrentMeasSpeedLimit |
Defines the speed limit used in ACCurrentMeasPlausibilityError-event detection. Setting this parameter to Zero will turn off detection of ACCurrentMeasPlausibilityError-event. See event description for more information regarding event. | S16 | rw | 0 | 32767 | 0 | Rpm | * 1 | operator | |
| 9 | ACCurrentMeasCurrentLimit |
Defines the level, in percentage of HwDetectedMaxCurrent,
that RmsMotorCurrent needs to be below in order to
detect ACCurrentMeasPlausibilityError-event. See event description for more information regarding event. | U8 | rw | 0 | 100 | 3 | % | * 1 | operator | |
| 10 | ACCurrentMeasUpeakLimit |
Defines the level, in percentage of UPeakLimit,
that UPeakNormalized needs to be above in order to
detect ACCurrentMeasPlausibilityError-event. See event description for more information regarding event. | U8 | rw | 0 | 100 | 3 | % | * 1 | operator | |
| 11 | ACCurrentMeasDcVoltageLimit |
Defines the level, in percentage of NominalVoltage,
that FilteredVoltage needs to be above in order to
detect ACCurrentMeasPlausibilityError-event. See event description for more information regarding event. | U8 | rw | 0 | 100 | 25 | % | * 1 | operator | |
| 12 | TestMode | For testability, set to 1 to set special test mode. In special test mode the events ACCurrentControlError and ACCurrentMeasPlausibilityError will be evaluated even if DisableCurrentControl is set to 1. | U8 | rw | 0 | 1 | 0 | - | * 1 | internal | |
| 0x2640 DCVoltageControl
To get the structual view of how the dc control works look in dokuwiki (sw/knowledgebase/plasma3):
| |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 16 (Length=17) | - | * 1 | operator | |
| 1 | PGain | Proportional gain of the PID-controller. | S16 | rw | -32768 | 32767 | 200 | - | * 1 | OEM | |
| 2 | IGain | Intergral gain of the PID-controller. | S16 | rw | -32768 | 32767 | 10 | - | * 1 | OEM | |
| 3 | DGain | Derivative gain of the PID-controller. The VoltageError is high pass filtered with the DErrorFilterGain then multiplied with DGainSpeedComp. The result is DPart which is one part of the total output (DcControllerOutput). | S16 | rw | -32768 | 32767 | 200 | - | * 1 | OEM | |
| 4 | PIErrorFilterGain |
The filter gain for low pass filtering of the voltage error input to the PI-controller.
FilteredValue = FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue)
| S16 | rw | 0 | 16384 | 16384 | - | * 1 | OEM | |
| 5 | DErrorFilterGain |
The filter gain for high pass filtering of the VoltageError used to created the
DPart. FilteredValue = RawValue - (FilteredValue - FilterGain / 16384 * (RawValue - FilteredValue))
| S16 | rw | 0 | 16384 | 2000 | - | * 1 | OEM | |
| 6 | VoltageError | Voltage error created as measured dc voltage minus CommandVoltageRamped | S16 | ro | -32768 | 32767 | - | Vdc | * 0.01 | OEM | |
| 7 | PPart | Proportional part of the PI-regulator. | S16 | ro | -2317 | 2316 | - | Arms | * 1 | OEM | |
| 8 | IPart | Integrational part of the PI-regulator. | S16 | ro | -2317 | 2316 | - | Arms | * 1 | OEM | |
| 9 | DPart |
The ActualVoltage minus FiltedVoltage. | S16 | ro | -2317 | 2316 | - | Arms | * 1 | OEM | |
| 10 | MaxCommandVoltageChange |
Specifies the maximum allowed ramp on Command voltage. If a bigger
step is requested it will work like a ramp until requested value has
been reached. Setting this parameter to Zero disables ramping. The value is scaled like this, 1 max voltage change means: ((1 * 2^7 / (10 * 2^16))*4000Hz)= 0,78V/s | S16 | rw | 0 | 32767 | 0 | see Description | * 1 | OEM | |
| 11 | CommandVoltageRamped | ApplicationCommands, CommandVoltage ramped with MaxCommandVoltageChange. | S16 | ro | -32768 | 32767 | - | Vdc | * 0.01 | OEM | |
| 12 | OutputReductionSpeedLimit |
When the absolute value of the speed is above this value all controller gains are compensated (reduced) to
keep constant gain from dc voltage error to output torque. Setting this parameter to Zero disables reduction. Compensated gains are calculated as:
| S16 | rw | 0 | 32767 | 1200 | Rpm | * 1 | OEM | |
| 13 | PGainSpeedComp | Speed compensated PGain. | S16 | ro | -32768 | 32767 | - | - | * 1 | OEM | |
| 14 | IGainSpeedComp | Speed compensated IGain. | S16 | ro | -32768 | 32767 | - | - | * 1 | OEM | |
| 15 | DGainSpeedComp | Speed compensated DGain. | S16 | ro | -32768 | 32767 | - | - | * 1 | OEM | |
| 16 | DCVoltageControlOutput | Output from DC voltage controller. The DC voltage control output is the sum of Ppart, Ipart and Dpart. | S16 | ro | -32768 | 32767 | - | * 1 | OEM | ||
| 0x2800 TransientRecorder | ||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 46 (Length=22) | - | * 1 | operator | ||||||||||||||||
| 1 | LogWithPeriod |
Period with which interval selected variables will be logged. When writing to this subindex logging starts. When logging is finished value will return to 0. All 8kwords of logged data will be stored in RAM as S16. Data will be interleaved, if 3 variables are logged, each consecutive sample from each channel will be found at every 3:rd position in RAM.T = LogWithPeriod * 250us | U16 | rw | 0 | 65535 | 0 | see Description | * 1 | internal | ||||||||||||||||
| 2 | Index0 | Index of first variable that should be logged. If 0 or invalid no data will be logged for this channel. | U16 | rw | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||||||
| 3 | Subindex0 | Subindex of first variable that should be logged. If 0 or invalid no data will be logged for this channel. | U16 | rw | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||||||
| 4 | Index1 | Index of second variable that should be logged. If 0 or invalid no data will be logged for this channel. | U16 | rw | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||||||
| 5 | Subindex1 | Subindex of second variable that should be logged. If 0 or invalid no data will be logged for this channel. | U16 | rw | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||||||
| 6 | Index2 | Index of third variable that should be logged. If 0 or invalid no data will be logged for this channel. | U16 | rw | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||||||
| 7 | Subindex2 | Subindex of third variable that should be logged. If 0 or invalid no data will be logged for this channel. | U16 | rw | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||||||
| 8 | Index3 | Index of forth variable that should be logged. If 0 or invalid no data will be logged for this channel. | U16 | rw | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||||||
| 9 | Subindex3 | Subindex of forth variable that should be logged. If 0 or invalid no data will be logged for this channel. | U16 | rw | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||||||
| 33 | TransientRecorderLength | Length of data stored in RAM using the transient recorder. | U16 | ro | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||||||
| 34 | TransientRecorderStartAddress | Startaddress for data stored in RAM using the transient recorder. | U32 | ro | 0 | 4294967295 | 0 | - | * 1 | internal | ||||||||||||||||
| 36 | LogFrequency | Shows the logging frequency that was used at last transient recorder. The value is calculated by taking 4000Hz/LogWithPeriod. | U16 | ro | 0 | 4000 | 0 | Hz | * 1 | internal | ||||||||||||||||
| 37 | TriggerMode |
| U16 | rw | 0 | 6 | 0 | internal | ||||||||||||||||||
| 38 | TriggerValue | This is the value that first value of the sampled values should be compared against. If this TriggerValue is greater than 32767 it will treat the sampled value as an unsigned 16-bit integer else it will be treated as a signed 16-bit integer. | S32 | rw | -32768 | 65535 | 0 | internal | ||||||||||||||||||
| 39 | TriggerValueIsUnsigned | Set this to 1 to indiciate that the TriggerValue should be treated as an unsigned value. | U8 | rw | 0 | 1 | 0 | internal | ||||||||||||||||||
| 40 | TriggerDelay | This is the delay in number of samples from the trigger event until sampling stops in the transient recorder. | U32 | rw | 200 | internal | ||||||||||||||||||||
| 41 | StoppedAt | This is the position where the recording stopped sampling. | U32 | ro | internal | |||||||||||||||||||||
| 42 | RunAtReset | Set this to 1 to start recording after reset. It will start recording after start-functions are executed. | U8 | rw | 0 | 1 | 0 | internal | ||||||||||||||||||
| 43 | LastLogWithPeriod | Last value written to LogWithPeriod. | U16 | ro | 0 | 1 | 0 | internal | ||||||||||||||||||
| 45 | Data | Data of transient recorder buffer. | Data | ro | - | - | - | - | * 1 | internal | ||||||||||||||||
| 46 | RecordingOngoing |
0 - Transient recorder is not sampling 1 - Transient recorder is sampling | U8 | ro | 0 | 1 | 0 | - | * 1 | internal | ||||||||||||||||
| 0x2850 PowerStageTempLog | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | By writng a 2 to this index the operational data log is cleared. | U16 | rw | 0 | 65535 | Variable | - | * 1 | service | |
| 1 | PowerStageTempLogData |
Each count tick represents 250 ms and is incremented when drive is enabled. Stored to eeprom every 5 minutes. Count for each operational point in interval specified in PowerStageTempLogAxis, PowerStageTempLogAxisValues. | Array of U32 | ro | 0 | 4294967295 | 0 | incs | * 1 | service | |
| 0x2851 PowerStageTempLogAxis | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Number intervalls in array. | U16 | ro | 0 | 65535 | Variable | - | * 1 | service | |
| 1 | PowerStageTempLogAxisValues |
Temperature range for data. Data range specified in appl_setup.h and is defined at compile time, i.e. stored in flash. | Array of S16 | ro | -3276 | 3276 | 0 | degC | * 1 | service | |
| 0x2860 MotorTempLog | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | By writitng a 2 to this index the operational data log is cleared. | U16 | rw | 0 | 65535 | Variable | - | * 1 | service | |
| 1 | MotorTempLogData |
Each count tick represents 250 ms and is incremented when drive is enabled. Stored to eeprom every 5 minutes. Count for each operational point in interval specified in MotorTempLogAxis, MotorTempLogAxisValues. | Array of U32 | ro | 0 | 4294967295 | 0 | incs | * 1 | service | |
| 0x2861 MotorTempLogAxis | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Number intervalls in array. | U16 | ro | 0 | 65535 | Variable | - | * 1 | service | |
| 1 | MotorTempLogAxisValues |
Temperature range for data. Data range specified in appl_setup.h and is defined at compile time, i.e. stored in flash. | Array of S16 | ro | -3276 | 3276 | 0 | degC | * 1 | service | |
| 0x2900 OperationDataLog
The logger consist of the range for speed,
the range for current and the counter values that ranges from
Axle0 .. Axle10.
Each individual counter represents an operation point with current and speed. The sampler will sample at a fixed rate and increment the counter that closest represent the operation point in that sample. Note that sampling only takes place when power stage is enabled.
| |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 1 (Length=2) | - | * 1 | operator | |
| 1 | ClearLog | Must write 2 to clear log. To avoid clearing by mistake. | S16 | wo | 0 | 2 | - | - | * 1 | service | |
| 0x2901 OperationDataLogSpeedAxis | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of threshold values. | U8 | ro | 0 | 255 | Variable | - | * 1 | service | |
| 1 | SpeedAxisValues | Values of speed along the x-axis. These values are constant, based on the configuration during build. | Array of S16 | ro | -32768 | 32767 | 0 | Rpm | * 1 | service | |
| 0x2902 OperationDataLogCurrentAxis | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of threshold values. | U8 | ro | 0 | 255 | Variable | - | * 1 | service | |
| 1 | CurrentAxisValues | Values of RMS current along the y-axis. These values are constant, based on the configuration during build. | Array of S16 | ro | -2317 | 2316 | 0 | Arms | * 1 | service | |
| 0x2910 OperationDataLogCurrentAxle0
This group represent all current values less than min, typically maximum negative current and below.
| |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of log entries. | U8 | ro | 0 | 255 | Variable | - | * 1 | service | |
| 1 | SpeedPoint | Number of hits for the operating point this member represent. See also what it represents. | Array of U32 | ro | 0 | 4294967295 | 0 | counts | * 1 | service | |
| 0x2911 OperationDataLogCurrentAxle1 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of log entries. | U8 | ro | 0 | 255 | Variable | service | |||
| 1 | SpeedPoint | Number of hits for the operating point this member represent. See also what it represents. | Array of U32 | ro | 0 | 4294967295 | 0 | incs | * 1 | service | |
| 0x2912 OperationDataLogCurrentAxle2 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of log entries. | U8 | ro | 0 | 255 | Variable | service | |||
| 1 | SpeedPoint | Number of hits for the operating point this member represent. See also what it represents. | Array of U32 | ro | 0 | 4294967295 | 0 | incs | * 1 | service | |
| 0x2913 OperationDataLogCurrentAxle3 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of log entries. | U8 | ro | 0 | 255 | Variable | service | |||
| 1 | SpeedPoint | Number of hits for the operating point this member represent. See also what it represents. | Array of U32 | ro | 0 | 4294967295 | 0 | incs | * 1 | service | |
| 0x2914 OperationDataLogCurrentAxle4 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of log entries. | U8 | ro | 0 | 255 | Variable | service | |||
| 1 | SpeedPoint | Number of hits for the operating point this member represent. See also what it represents. | Array of U32 | ro | 0 | 4294967295 | 0 | incs | * 1 | service | |
| 0x2915 OperationDataLogCurrentAxle5 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of log entries. | U8 | ro | 0 | 255 | Variable | service | |||
| 1 | SpeedPoint | Number of hits for the operating point this member represent. See also what it represents. | Array of U32 | ro | 0 | 4294967295 | 0 | incs | * 1 | service | |
| 0x2916 OperationDataLogCurrentAxle6 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of log entries. | U8 | ro | 0 | 255 | Variable | service | |||
| 1 | SpeedPoint | Number of hits for the operating point this member represent. See also what it represents. | Array of U32 | ro | 0 | 4294967295 | 0 | incs | * 1 | service | |
| 0x2917 OperationDataLogCurrentAxle7 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of log entries. | U8 | ro | 0 | 255 | Variable | service | |||
| 1 | SpeedPoint | Number of hits for the operating point this member represent. See also what it represents. | Array of U32 | ro | 0 | 4294967295 | 0 | incs | * 1 | service | |
| 0x2918 OperationDataLogCurrentAxle8 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of log entries. | U8 | ro | 0 | 255 | Variable | service | |||
| 1 | SpeedPoint | Number of hits for the operating point this member represent. See also what it represents. | Array of U32 | ro | 0 | 4294967295 | 0 | incs | * 1 | service | |
| 0x2919 OperationDataLogCurrentAxle9 | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of log entries. | U8 | ro | 0 | 255 | Variable | service | |||
| 1 | SpeedPoint | Number of hits for the operating point this member represent. See also what it represents. | Array of U32 | ro | 0 | 4294967295 | 0 | incs | * 1 | service | |
| 0x291A OperationDataLogCurrentAxle10
This group represent all current values higher than max, typically maximum positive current and above.
| |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of log entries. | U8 | ro | 0 | 255 | Variable | service | |||
| 1 | SpeedPoint | Number of hits for the operating point this member represent. See also what it represents. | Array of U32 | ro | 0 | 4294967295 | 0 | incs | * 1 | service | |
| 0x2A00 FreezeFrames
Description of Freeze Frames
Up to 20 Freeze Frames are stored in Eeprom. Any event can be configured to store a Freeze Frame when detected. See FreezeFrameEventNumber, EventNumber to FreezeFramePcbTemp, PcbTemp for information about and access to data stored in the Freeze Frames. Description of Freeze Frames Filter The storing of freeze frames are filtered in order to create a longer history of information. If same event has requested freeze frames within 10 s, only the first is stored. If same event has requested freeze frames within 1 h, only the counter is increased, no new information is stored. Priority to find frame to store in:
| |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 2 (Length=3) | - | * 1 | operator | |
| 1 | ClearFreezeFrames |
Must write 2 to clear Freeze Frames to avoid clearing by mistake. | S16 | wo | 0 | 2 | - | - | * 1 | service | |
| 2 | GenFreezeFrame | Writing to this will generate an entry with the written event ID. This is used for testing only. | U16 | rw | 0 | 65535 | 0 | - | * 1 | service | |
| 0x2A01 FreezeFrameEventNumber | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | EventNumber |
EventNumber. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of U16 | ro | 0 | 65535 | 0 | - | * 1 | service | |
| 0x2A02 FreezeFrameCounter | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | Counter |
Counter. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of U16 | ro | 0 | 65535 | 0 | incs | * 1 | service | |
| 0x2A03 FreezeFrameTimeStamp | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | TimeStamp |
TimeStamp. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of U32 | ro | 0 | 4294967295 | 0 | s | * 1 | service | |
| 0x2A04 FreezeFrameRotorSpeed | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | RotorSpeed |
RotorSpeed. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of S16 | ro | -32768 | 32767 | 0 | Rpm | * 1 | service | |
| 0x2A05 FreezeFrameRmsMotorCurrent | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | RmsMotorCurrent |
RmsMotorCurrent. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of S16 | ro | -2317 | 2316 | 0 | Arms | * 1 | service | |
| 0x2A06 FreezeFrameDcBusVoltage | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | DcBusVoltage |
DcBusVoltage. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of S16 | ro | -32768 | 32767 | 0 | Vdc | * 0.01 | service | |
| 0x2A07 FreezeFrameIqRef | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | IqRef |
IqRef. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of S16 | ro | -2317 | 2316 | 0 | Arms | * 1 | service | |
| 0x2A08 FreezeFrameIdRef | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | IdRef |
IdRef. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of S16 | ro | -2317 | 2316 | 0 | Arms | * 1 | service | |
| 0x2A09 FreezeFrameActIq | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | ActIq |
Actual Iq. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of S16 | ro | -2317 | 2316 | 0 | Arms | * 1 | service | |
| 0x2A0A FreezeFrameActId | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | ActId |
Actual Id. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of S16 | ro | -2317 | 2316 | 0 | Arms | * 1 | service | |
| 0x2A0B FreezeFrameUqRef | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | UqRef |
UqRef. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. 16384 = Udc/√2 VRMS (hsp) where Udc = 36, 48 or 80 V. | Array of S16 | ro | -32768 | 32767 | 0 | see Description | * 1 | service | |
| 0x2A0C FreezeFrameUdRef | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | UdRef |
UdRef. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. 16384 = Udc/√2 VRMS (hsp) where Udc = 36, 48 or 80 V. | Array of S16 | ro | -32768 | 32767 | 0 | see Description | * 1 | service | |
| 0x2A0D FreezeFrameMotorTemp | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | MotorTemp |
Motor Temperature. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of S16 | ro | -256 | 254 | 0 | degC | * 1 | service | |
| 0x2A0E FreezeFramePowerStageTemp | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | PowerStageTemp |
PowerStage Temperature. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of S16 | ro | -256 | 254 | 0 | degC | * 1 | service | |
| 0x2A0F FreezeFramePcbTemp | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | NumberOfFreezeFrames | Numbers of entries. Always shows number of possible freeze frames. Unused frames will have FreezeFrameEventNumber.EventNumber equal to 0. | U8 | ro | 0 | 255 | 20 | - | * 1 | service | |
| 1 | PcbTemp |
Pcb Temperature. See FreezeFrames, ClearFreezeFrames for a description of how freeze frames work. | Array of S16 | ro | -256 | 254 | 0 | degC | * 1 | service | |
| 0x3002 ErrorLogCopy
This logger consists of the following objects ErrorLogCopy,
ErrorLogFirstTime,
ErrorLogLastTime and
ErrorLogNumberOfErrors. As the logger actually consist of multiple object,
in order to read the content of these objects, a synchronized update must be performed.
This is performed by once reading the LastSubIndex on any of the objects.
Note that there is a copy of ErrorLogCopy at ErrorLog.
| |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex |
The entry at sub-index 0 contains the number of actual errors that are recorded starting at subindex 1. Writing a zero to sub-index 0 clears the error log (and event log). Subindex 0 must be read before any other subindex is read. Reading any other subindex before reading subindex will result in corrupt information since the error list is not generated before Subindex 0 is read. Read this subindex only once before traversing the Indices related to the ErrorLog. DO NOT read this subindex during the traversal as this will regenerate the sorted list presented via these Indices. If an error occurs during the traversal an inconsistent view will result. | U8 | rw | 0 | 255 | Variable | - | * 1 | service | |
| 1 | CanOpenErrorLog |
In this log the Emergency Error code is stored. See ErrorLogFirstTime, ErrorFirstTime and ErrorLogLastTime, ErrorLastTime for more information about the time of error. Newest error is stored at sub-index 1, the older ones move down the list. Up to 20 errors are stored in the log. Subindex 0 in this Index must be read before any other subindex is read. Reading any other subindex before reading subindex will result in corrupt information since error list is not generated before Subindex 0 is read. If an event is configured as a warning and to be stored in the error log, there might be warnings in the error log. | Array of U32 | ro | 0 | 4294967295 | - | - | * 1 | service | |
| 0x3003 ErrorLogFirstTime | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex |
The entry at sub-index 0 contains the number of actual errors that are recorded starting at subindex 1. Writing a zero to sub-index 0 clears the error log (and event log). See ErrorLogCopy.LastSubIndex for correct procedure to read Error Log. | U8 | rw | 0 | 255 | Variable | - | * 1 | service | |
| 1 | ErrorFirstTime |
Newest error is stored at sub-index 1, the older ones move down the list. Time is related to TotalTime250ms. Up to 20 errors are stored in the log. 250ms per tick. See ErrorLogCopy.LastSubIndex for correct procedure to read Error Log. If an event is configured as a warning and to be stored in the error log, there might be warnings in the error log. | Array of U32 | ro | 0 | 4294967295 | 0 | See Description | * 1 | service | |
| 0x3004 ErrorLogLastTime | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex |
The entry at sub-index 0 contains the number of actual errors that are recorded starting at subindex 1. Writing a zero to sub-index 0 clears the error log (and event log). See ErrorLogCopy.LastSubIndex for correct procedure to read Error Log. | U8 | rw | 0 | 255 | Variable | - | * 1 | service | |
| 1 | ErrorLastTime |
Newest error is stored at sub-index 1, the older ones move down the list. Time is related to TotalTime250ms. Up to 20 errors are stored in the log. 250ms per tick. See ErrorLogCopy.LastSubIndex for correct procedure to read Error Log. If an event is configured as a warning and to be stored in the error log, there might be warnings in the error log. | Array of U32 | ro | 0 | 4294967295 | 0 | See Description | * 1 | service | |
| 0x3005 ErrorLogNumberOfErrors | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex |
The entry at sub-index 0 contains the number of actual errors that are recorded starting at subindex 1. Writing a zero to sub-index 0 clears the error log (and event log). See ErrorLogCopy.LastSubIndex for correct procedure to read Error Log. | U8 | rw | 0 | 255 | Variable | - | * 1 | service | |
| 1 | ErrorNrOfErrors |
Newest error is stored at sub-index 1, the older ones move down the list. Up to 20 errors are stored in the log. See ErrorLogCopy.LastSubIndex for correct procedure to read Error Log. If an event is configured as a warning and to be stored in the error log, there might be warnings in the error log. | Array of U16 | ro | 0 | 65535 | 0 | incs | * 1 | service | |
| 0x3006 EventLog
This logger consists of the following objects EventLog,
EventLogFirstTime,
EventLogLastTime and
EventLogNumberOfEvents. As the logger actually consist of multiple object,
in order to read the content of these objects, a synchronized update must be performed.
This is performed by once reading the LastSubIndex on any of the objects.
| |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex |
The entry at sub-index 0 contains the number of actual events that are recorded starting at subindex 1. Writing a zero to sub-index 0 clears the event log (and the error log). Subindex 0 must be read before any other subindex is read as it generates the sorted view of the events currently in the log. Reading any other subindex before reading subindex will result in corrupt information since error list is not generated before Subindex 0 is read. Read this subindex only once before traversing the Indices related to the EventLog. DO NOT read this subindex during the traversal as this will regenerate the sorted list presented via these Indices. If an event occurs during the traversal an inconsistent view will result. | U8 | rw | 0 | 255 | Variable | - | * 1 | service | |
| 1 | CanOpenEventLog |
In this log the Event Id is stored. See EventLogFirstTime, FirstTime and EventLogLastTime, LastTime for more information about the time of event. Newest event is stored at sub-index 1, the older ones move down the list. Up to 20 events are stored in the log. Subindex 0 must be read before any other subindex is read. Reading any other subindex before reading subindex will result in corrupt information since error list is not generated before Subindex 0 is read. | Array of U32 | ro | 0 | 4294967295 | 0 | - | * 1 | service | |
| 0x3007 EventLogFirstTime | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex |
The entry at sub-index 0 contains the number of actual events that are recorded starting at subindex 1. Writing a zero to sub-index 0 clears the event log (and the error log). See EventLog.LastSubIndex for correct procedure to read Error Log. | U8 | rw | 0 | 255 | Variable | - | * 1 | service | |
| 1 | FirstTime |
Newest event is stored at sub-index 1, the older ones move down the list. Time is related to TotalTime250ms. Up to 20 events are stored in the log. 250ms per tick. See EventLog.LastSubIndex for correct procedure to read Error Log. | Array of U32 | ro | 0 | 4294967295 | 0 | See Description | * 1 | service | |
| 0x3008 EventLogLastTime | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex |
The entry at sub-index 0 contains the number of actual events that are recorded starting at subindex 1. Writing a zero to sub-index 0 clears the event log (and the error log). See EventLog.LastSubIndex for correct procedure to read Error Log. | U8 | rw | 0 | 255 | Variable | - | * 1 | service | |
| 1 | LastTime |
Newest event is stored at sub-index 1, the older ones move down the list. Time is related to TotalTime250ms. Up to 20 events are stored in the log. 250ms per tick. See EventLog.LastSubIndex for correct procedure to read Error Log. | Array of U32 | ro | 0 | 4294967295 | 0 | See Description | * 1 | service | |
| 0x3009 EventLogNumberOfEvents | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex |
The entry at sub-index 0 contains the number of actual events that are recorded starting at subindex 1. Writing a zero to sub-index 0 clears the event log (and the error log). See EventLog.LastSubIndex for correct procedure to read Error Log. | U8 | rw | 0 | 255 | Variable | - | * 1 | service | |
| 1 | NrOfEvents |
Newest event is stored at sub-index 1, the older ones move down the list. Up to 20 events are stored in the log. See EventLog.LastSubIndex for correct procedure to read Error Log. | Array of U16 | ro | 0 | 65535 | 0 | incs | * 1 | service | |
| 0x300A EventLogMasterClear Internal Use Only | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | MasterClear |
The Log Eeprom area is cleared, independent of current event status, by writing Zero to this object. It is not allowed to clear event log while enabled. | U8 | rw | 0 | 255 | 0 | - | * 1 | service | |
| 0x3010 Diagnostic | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 5 (Length=6) | - | * 1 | operator | |
| 1 | ExtendedWarnings | See Appendix A Error Handling. | U32 | ro | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 2 | ExtendedErrors | See Appendix A Error Handling. | U32 | ro | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 3 | EventCounter | This counter increase with one on every new event. It can be used in Transient recorder to see exact when an event occurs, which might make it easier to understand the plot results. | U16 | ro | 0 | 65535 | 0 | incs | * 1 | operator | |
| 4 | TrigEvent | Write the Event number in this object to test it. This can be used to force an event. Only one Event can be forced at the time. When writing 0 (or an other event number) it will restore the previous state of the event. Was it in EVENT_STATE_PENDING it will return to EVENT_STATE_PENDING. | U16 | rw | 0 | 65535 | 0 | - | * 1 | internal | |
| 5 | SequenceNumber | Increased by One each time a change in ActiveEventList occurs. | U8 | ro | 0 | 255 | - | - | * 1 | operator | |
| 0x3011 ActiveEvents | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Number of active events. By reading, ActiveEvents are updated with a copy of a 50Hz scheduled list (i.e. max 20ms delay). | U8 | ro | 0 | 20 | Variable | - | * 1 | operator | |
| 1 | ActiveEvents |
Currently active events (maximum 20 events, not in time order). To update this list the LastSubIndex for this object must be read. An event that is configured to trip the drive will be latched and can only be cleared from list by toggling Enable Power Stage-bit on->off (ApplicationCommands, CommandAll). | Array of U16 | ro | 0 | 20 | 0 | - | * 1 | operator | |
| 0x3012 TransmitActiveEvents | ||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||
| 0 | TransmitActiveEvents |
Force node to transmit emcy message for all active events. Simply write '1' to force the transmit. Note that the value will be set to '0' immediately, but does not mean it's not transmitting. When finished a custom emcy message will be transmitted with all data bytes set to '0'.
| U8 | rw | 0 | 1 | 0 | - | operator | |||||||
| 0x3013 SystemReactionBitField | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | SystemReactionBitField |
Aggregated system reaction bit field for all active events
| U16 | ro | 0 | 65535 | 0 | - | operator | ||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x3014 EmcyManufacturerErrorSpecificFieldType | ||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||
| 0 | ManufacturerSpecificErrorField |
Select the type of content that will be included in the manufacturer error field in an emcy message.
| U8 | rw | 0 | 1 | 0 | OEM | ||||||||
| 0x4000 CurrentSensorsCalibration Internal Use Only | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 23 (Length=16) | - | * 1 | operator | |
| 4 | Iu | Instantaneous current in phase U. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | |
| 5 | Iv | Instantaneous current in phase V. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | |
| 6 | Iw | Instantaneous current in phase W. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | |
| 7 | SetDefaultValues | Writing value 1 to this index sets the default values. | S16 | wo | -32768 | 32767 | - | - | * 1 | service | |
| 8 | IvGain |
Calibration done at 25degC A*10/(AD-range/2) If not calibrated, write the default value to clear default value events. | U16 | rw | 0 | 65535 | 2500*10 | see Description | * 1 | service | |
| 9 | IvPosTempGain |
Calibration done at maximum 85degC. A*10/(AD-range/2) | S16 | rw | -32768 | 32767 | 0 | see Description | * 1 | service | |
| 10 | IvNegTempGain |
Calibration done at minimum -40degC. A*10/(AD-range/2) | S16 | rw | -32768 | 32767 | 0 | see Description | * 1 | service | |
| 11 | IwGain |
Calibration done at 25degC A*10/(AD-range/2) If not calibrated, write the default value to clear default value events. | U16 | rw | 0 | 65535 | 2500*10 | see Description | * 1 | service | |
| 12 | IwPosTempGain |
Calibration done at maximum 85degC. A*10/(AD-range/2) | S16 | rw | -32768 | 32767 | 0 | see Description | * 1 | service | |
| 13 | IwNegTempGain |
Calibration done at minimum -40degC. A*10/(AD-range/2) | S16 | rw | -32768 | 32767 | 0 | see Description | * 1 | service | |
| 14 | IvOffset | Current measurement offset in phase V. | S16 | rw | -32768 | 32767 | 0 | - | * 1 | service | |
| 15 | IwOffset | Current measurement offset in phase w. | S16 | rw | -32768 | 32767 | 0 | - | * 1 | service | |
| 20 | ZeroSequenceCurrent | Zero sequence current calculated as the sum of all three phases. This should be 0 in a balanced system. On products with two measured phase currents, this will always be 0. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | |
| 22 | Ialpha | Instantaneous current in alpha direction. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | |
| 23 | Ibeta | Instantaneous current in beta direction. | S16 | ro | -3276 | 3276 | - | Apk | * 1 | operator | |
| 0x4100 AverageExecutionTimes Internal Use Only
Array of thread execution times (windowed average).
| |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 6 (Length=7) | - | * 1 | operator | |
| 1 | Statemachine | 4 kHz and 500 Hz threads | U16 | ro | 0 | 65535 | 0 | us | * 1 | operator | |
| 2 | 50Hz | Background thread running in 50 Hz | U16 | ro | 0 | 65535 | 0 | us | * 1 | operator | |
| 3 | IndependentSupervision | U16 | ro | 0 | 65535 | 0 | us | * 1 | operator | ||
| 4 | CAN | U16 | ro | 0 | 65535 | 0 | us | * 1 | operator | ||
| 5 | SlowApplication | User application slow context | U16 | ro | 0 | 65535 | 0 | us | * 1 | operator | |
| 6 | FastApplication | User application fast context | U16 | ro | 0 | 65535 | 0 | us | * 1 | operator | |
| 0x4101 MaxExecutionTimes Internal Use Only
Array of maximum thread execution times.
| |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 6 (Length=7) | - | * 1 | operator | |
| 1 | Statemachine | 4 kHz and 500 Hz threads | U16 | rw | 0 | 65535 | 0 | us | * 1 | internal | |
| 2 | 50Hz | Background thread running in 50 Hz | U16 | rw | 0 | 65535 | 0 | us | * 1 | internal | |
| 3 | IndependentSupervision | U16 | rw | 0 | 65535 | 0 | us | * 1 | internal | ||
| 4 | CAN | U16 | rw | 0 | 65535 | 0 | us | * 1 | internal | ||
| 5 | SlowApplication | User application slow context | U16 | rw | 0 | 65535 | 0 | us | * 1 | internal | |
| 6 | FastApplication | User application fast context | U16 | rw | 0 | 65535 | 0 | us | * 1 | internal | |
| 0x4102 RTOS Internal Use Only | ||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 28 (Length=20) | - | * 1 | operator | ||||||||||||
| 2 | WatchDogTest | If writing 1 the internal watchdog is no longer kicked at. This is only for testing the internal watchdog. If writing 2 the control flow monitoring for FLASH CRC and I/O-register signature is inhibited. | U16 | rw | 0 | 65535 | 0 | - | * 1 | internal | ||||||||||||
| 3 | ResetsSincePowerOn | Number of CPU resets. | U16 | rw | 0 | 65535 | 0 | incs | * 1 | internal | ||||||||||||
| 5 | InternalDebugModuleName | Internal Debug Module Name. | String | ro | internal | |||||||||||||||||
| 6 | InternalDebugLineNumber | Internal Debug Line Number. | U16 | ro | 0 | 65535 | - | internal | ||||||||||||||
| 7 | InternalDebugCount | Internal Debug Count. | U16 | ro | 0 | 65535 | - | internal | ||||||||||||||
| 8 | BootInternalDebugModuleName | Internal Debug Module Name in Boot part. | String | ro | internal | |||||||||||||||||
| 9 | BootInternalDebugLineNumber | Internal Debug Line Number in Boot part. | U16 | ro | 0 | 65535 | - | internal | ||||||||||||||
| 10 | BootInternalDebugCount | Internal Debug Count in Boot part. | U16 | ro | 0 | 65535 | - | internal | ||||||||||||||
| 14 | FLASHControlFlowMask | Flowcontrol bit mask for FLASH CRC checks. | U32 | ro | - | - | - | - | * 1 | internal | ||||||||||||
| 18 | FlashApplCRC | Last calculated CRC of Application part of FLASH-memory. | U32 | ro | - | - | - | - | * 1 | internal | ||||||||||||
| 19 | FlashBootCRC | Last calculated CRC of Boot part of FLASH-memory. | U32 | ro | - | - | - | - | * 1 | internal | ||||||||||||
| 20 | FlashLoopCounter | Number of FLASH CRC loops performed. | U32 | ro | - | - | - | - | * 1 | internal | ||||||||||||
| 21 | CRCTime | Number of system ticks to calculate CRC32 for the FLASH memory and signature areas. | U32 | ro | - | - | - | - | * 1 | internal | ||||||||||||
| 23 | ReadBackConfigState |
State for the Readback Configuration checks.
| U8 | ro | 0 | 6 | 0 | internal | ||||||||||||||
| 24 | ReadBackConfigSignature | Last calculated Readback Configuration Signature. | U32 | ro | 0 | 0xffffffff | 0 | internal | ||||||||||||||
| 25 | ReadBackConfigStored | Stored value in EEPROM of last calculated Readback Configuration Signature. | U32 | ro | 0 | 0xffffffff | 0 | internal | ||||||||||||||
| 26 | ReadBackConfigValidStore | Valid flag for stored value in EEPROM of last calculated Readback Configuration Signature. | U8 | ro | 0 | 1 | 0 | internal | ||||||||||||||
| 27 | ParamConfigState |
State for the Parameter areas check.
| U8 | ro | 0 | 6 | 0 | internal | ||||||||||||||
| 28 | ParamConfigSignature | Last calculated Parameter areas Signature. | U32 | ro | 0 | 0xffffffff | 0 | internal | ||||||||||||||
| 0x4103 StatemachineSlotTimes Internal Use Only | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Number of threads. | U8 | ro | 0 | 255 | Variable | - | * 1 | service | |
| 1 | StatemachineSlotMaxExecTimes | Keep track of which states generated max time in us for the state machine 500 Hz slots. | Array of U16 | ro | 0 | 65535 | 0 | - | * 1 | internal | |
| 0x4104 McuGpioPinStatus Internal Use Only
Pin status on the GPIO ports of the MCU. The state is shown regardless if the pin is an input or an output.
It shows the unfiltered state of the pins at the instant this OD access is served.
The pins may toggle serveral times between the readings without being reflected by this method.
| |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 7 (Length=8) | - | * 1 | operator | |
| 1 | GPIOA | U16 | ro | 0 | 65535 | - | - | * 1 | operator | ||
| 2 | GPIOB | U16 | ro | 0 | 65535 | - | - | * 1 | operator | ||
| 3 | GPIOC | U16 | ro | 0 | 65535 | - | - | * 1 | operator | ||
| 4 | GPIOD | U16 | ro | 0 | 65535 | - | - | * 1 | operator | ||
| 5 | GPIOE | U16 | ro | 0 | 65535 | - | - | * 1 | operator | ||
| 6 | GPIOF | U16 | ro | 0 | 65535 | - | - | * 1 | operator | ||
| 7 | GPIOG | U16 | ro | 0 | 65535 | - | - | * 1 | operator | ||
| 0x410D LowlevelCan | |||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 5 (Length=6) | - | * 1 | operator | |||||||||||||||||||||||||||||||||
| 1 | NoOfRxSubscribers | The total number of internal subscribers of Rx CAN-messages. (Both CAN1 and CAN2 subscribers). | U8 | ro | 0 | 255 | - | - | internal | ||||||||||||||||||||||||||||||||||
| 2 | NoOfUsedFilterBlocks | The total number of used filter blocks in CAN-interfaces. (Both CAN1 and CAN2 subscribers). | U8 | ro | 0 | 255 | - | - | internal | ||||||||||||||||||||||||||||||||||
| 3 | NoOfAvailableFilterBlocks | The total number of filterblocks implemented in hardware. (Both CAN1 and CAN2 subscribers). | U8 | ro | 0 | 255 | - | - | internal | ||||||||||||||||||||||||||||||||||
| 4 | NoOfTxTransmitters | The total number of internal registered CAN-transmitters. (Both CAN1 and CAN2 subscribers). | U8 | ro | 0 | 255 | - | - | internal | ||||||||||||||||||||||||||||||||||
| 5 | CanConfigStatus |
CAN and Node configuration status.
| U32 | ro | 0 | 4294967295 | - | - | internal | ||||||||||||||||||||||||||||||||||
| 0x4110 CanBus1Status | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 6 (Length=7) | - | * 1 | operator | |
| 1 | ReceiveErrorCounter |
CAN1 error counter according to protocol. When the counter exceeds 127, the CAN1 controller enters passive state. | U8 | ro | 0 | 255 | - | - | internal | ||
| 2 | TransmitErrorCounter |
CAN1 error counter according to protocol. | U8 | ro | 0 | 255 | - | - | internal | ||
| 3 | MaxReceiveErrorCounter |
The maximum value detected of ReceiveErrorCounter from the time of the last reset. This value can be reset by writing any value to it. | U8 | rw | 0 | 255 | - | - | internal | ||
| 4 | MaxTransmitErrorCounter |
The maximum value detected of TransmitErrorCounter from the time of the last reset. This value can be reset by writing any value to it. | U8 | rw | 0 | 255 | - | - | internal | ||
| 5 | MaxNoOfSoftwareFilterBlocks | The number of available software filter blocks in CAN1 interface. | U8 | ro | 0 | 255 | 28 | - | internal | ||
| 6 | NoOfUsedSoftwareFilterBlocks | The number of used software filter blocks in CAN1 interface. | U8 | ro | 0 | 255 | - | - | internal | ||
| 0x4200 Password
Enter password to enable writing to indexes with password protection. Reading
an index returns a random number used for calculating the password that shall be entered.
Note! | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Number of password levels. | U8 | ro | 0 | 255 | 7 (Length=8) | - | * 1 | service | |
| 1 | PasswordLevelService1 | Clearing of the error log and the time counters, access to calibration parameters | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 2 | PasswordLevelService2 | Clearing of the error log and the time counters, access to calibration parameters | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 3 | PasswordLevelOem | Setup parameters that has to be handled with care | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 4 | PasswordLevelNotUsed1 | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | ||
| 5 | PasswordLevelNotUsed2 | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | ||
| 6 | PasswordLevelInternal | Internal parameters mainly for development purpose | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 7 | PasswordLevelAll | All parameters are accessible | U32 | rw | 0 | 4294967295 | 0 | - | * 1 | operator | |
| 0x5F00 EvsCANopenObjectDictionaryInfo | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 1 (Length=2) | - | * 1 | operator | |
| 1 | RevisionNumber |
Subversion revision number of the Inmotion EVS CANopen Object Dictionary Specification. See "http://sthsv11/svn/vehicle/common_standards_and_specifications/trunk/EVS CANopen object dictionary specification.doc". | U32 | ro | 0 | 65535 | 0 | see Description | * 1 | operator | |
| 0x5F01 SwDeviceInformation | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 17 (Length=17) | - | * 1 | operator | |
| 1 | BootSwNameAndArticleNumber |
"ASCII" according to ISO 8859-1. E.g. "SW Boot 30MIPS 69Y20001A08". | String | ro | - | - | - | - | * 1 | operator | |
| 2 | BootSwBuildTime | Not supported. | U32 | ro | - | - | - | - | * 1 | operator | |
| 3 | BootSwCheckSum | Not supported. | U16 | ro | - | - | - | - | * 1 | operator | |
| 4 | ApplicationSwArticleNumber |
"ASCII" according to ISO 8859-1. E.g. "69Y05483C04". Note: This entry exists both at 0x100A and SwDeviceInformation.ApplicationSwArticleNumber. | String | ro | - | - | "69NUS423C00x04" | - | * 1 | operator | |
| 5 | ApplicationSwBuildTime | Number of seconds since 1970-01-01. | U32 | ro | 0 | 4294967295 | - | see Description | * 1 | operator | |
| 6 | ApplicationSwCheckSum | CRC32 checksum of SW, stored last in flash. | U16 | ro | 0 | 65535 | - | - | * 1 | operator | |
| 7 | ApplicationSwBuildDate | Date generated by compiler at compile time. | String | ro | - | - | - | - | * 1 | operator | |
| 8 | ApplicationSwSvnRevision | Subversion revision. Data generated by compiler at compile time. | U32 | ro | 0 | 4294967295 | 224510 | - | * 1 | operator | |
| 9 | ApplicationSwSvnModifiedFiles | No of modified files in current Subversion revision. Data generated by compiler at compile time. | U16 | ro | 0 | 65535 | 0 | - | * 1 | operator | |
| 10 | CustomerSpecificHexNumber | Customer Specific Number as Hex. | U32 | ro | 0 | 4294967295 | - | - | * 1 | operator | |
| 11 | CustomerSpecificDecNumber | Customer Specific Number as Decimal. | U32 | ro | 0 | 4294967295 | - | - | * 1 | operator | |
| 12 | CustomerSpecificString | Customer Specific String. | String | ro | - | - | NotUsed | - | * 1 | operator | |
| 13 | SoftwareApplicationNumber |
Application number. e.g. 69Y05***C07, where *** is the application number. | U16 | ro | 0 | 65535 | 423 | - | * 1 | operator | |
| 14 | SoftwareMajorVersion |
Application software major version. e.g. 69Y05002C**x01, where ** is the software major revision. | U16 | ro | 0 | 65535 | 0 | - | * 1 | operator | |
| 15 | SoftwareMinorVersion |
Application software minor version. e.g. 69Y05002C01x**, where ** is the software minor revision. | U16 | ro | 0 | 65535 | 4 | - | * 1 | operator | |
| 17 | ApplicationPlasmaLabel |
"ASCII" according to ISO 8859-1. E.g. "PLASMA_4_0_021_01_WIP". Contains the ORIGINAL_PLASMA_LABEL for this build. | String | ro | - | - | PLASMA_3_7_004_00_RC | - | * 1 | operator | |
| 0x5F02 HwDeviceInformation | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 11 (Length=6) | - | * 1 | operator | |
| 6 | HwFileUsed | The name of the HW file used. E.g. "80Y05599CD04". Stored in flash. | String | ro | - | - | "80N22503AB02" | - | * 1 | operator | |
| 8 | MCUFamily |
String defined by Inmotion to identify the MCU Family. Possible values: "STM32" | String | ro | - | - | "STM32" | - | * 1 | operator | |
| 9 | MCUUniqueId | Unique MCU ID. 96-bits in hexadecimal ascii-string. | String | ro | - | - | - | - | * 1 | operator | |
| 10 | MCUDeviceTypeId | MCU Device (Type) Id. 12-bit. For F10x medium-density devices, the device ID is 0x410. For F2xx, the device ID is 0x411. See DBGMCU_IDCODE in MCU reference manual for further details. | U16 | ro | - | - | - | - | * 1 | operator | |
| 11 | MCURevisionId | MCU Revision. 16-bit. See DBGMCU_IDCODE in MCU reference manual for further details. | U16 | ro | - | - | - | - | * 1 | operator | |
| 0x5F03 WorkingHours | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 1 (Length=2) | - | * 1 | operator | |
| 1 | TotalTimeHours |
Total time in hours that KEY voltage is on and not in sleep or standby mode.
Writing to this sub-index clears/sets the Total Time (i.e. TotalTime250ms, TotalTimeSeconds and TotalTimeHours). Note: This entry is duplicated on both WorkingHours.TotalTimeHours and OperationTime.TotalTimeHours. | U32 | rw | 0 | 4294967295 | - | h | * 1 | service | |
| 0x5F04 CANParameters | ||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 11 (Length=8) | - | * 1 | operator | ||||||||||||||||||
| 1 | Bitrate | 125, 250, 400, 500 and 1000 kbit/s | U16 | rw | 125 | 1000 | 500 | kbit/s | * 1 | service | ||||||||||||||||||
| 6 | SyncTimeout |
Setting the time to zero means:
| U16 | rw | 0 | 8000 | 0 | ms | * 1 | service | ||||||||||||||||||
| 7 | NodeId |
NodeId used to calculate COB-id for SDO1 and PDO1-4. A change of CANopen Node Id is not effective until after a reset. | U16 | rw | 1 | 31 |
| - | * 1 | service | ||||||||||||||||||
| 8 | CanOpenState |
| U16 | ro | 0 | 7 | - | - | * 1 | service | ||||||||||||||||||
| 9 | NodeIdCanTalk |
NodeId used to calculate COB-id for CANTalk. Normally same Id as NodeId used to calculate SDO1 and PDOs COB Id's. | U16 | rw | 1 | 31 |
| - | * 1 | service | ||||||||||||||||||
| 10 | NodeIdSDO2 |
NodeId used to calculate COB-id for SDO2. SDO2 is nonstandard but used when to allow two SDO masters to communicate with one drive. Normally SDO2 COB Id = SDO1 COB Id + 32. Set to 0 to turn off SDO2. A change of CANopen Node Id is not effective until after a reset. | U16 | rw | 0 | 127 |
| - | * 1 | service | ||||||||||||||||||
| 11 | SdoTimeout |
Sdo Timeout is used when no PDOs are active. If an Sdo timeout occurs when the drive will disable itself. Set to 0 to turn off timeout. Reset of unit is required to take effect. | U16 | rw | 0 | 8000 | 0 | ms | * 1 | service | ||||||||||||||||||
| 0x5F05 RxPdoTimeouts | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 32 | Variable | - | * 1 | operator | |
| 1 | PdoTimeout | Setting the time to zero means no timeout. | Array of U16 | rw | 0 | 8000 | - | ms | * 1 | service | |
| 0x5F10 ProductInformation | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 11 (Length=12) | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | EnableWrite | Write key value to enable update of one of the ItemInformation strings/bit fields. Written in production. | U32 | wo | - | - | - | - | * 1 | internal | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 2 | ItemSerialNumber |
"ASCII" according to ISO 8859-1. Item serial number, e.g., "2621970-003". Write key values to EnableWrite to enable update of ItemSerialNumber once. Written in production. Max 15 characters long. Parameter has its own checksum. At checksumerror, event is set (See event id 1421 that also is used for other product information parameters) and default value will be set. | String | rw | - | - | 0 | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 3 | ItemType |
"ASCII" according to ISO 8859-1. Item type, e.g., "ACS48M55-Y35T". Write key values to EnableWrite to enable update of ItemType once. Written in production. Max 17 characters long. Parameter has its own checksum. At checksumerror, event is set (See event id 1421 that also is used for other product information parameters) and default value will be set. | String | rw | - | - | NoValue | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 4 | ItemNumber |
"ASCII" according to ISO 8859-1. Item number, e.g., "83N21945B-0002". Write key values to EnableWrite to enable update of ItemNumber once. Written in production. Max 17 characters long. Note: This entry exists both at 0x1009 and ProductInformation.ItemNumber. Parameter has its own checksum. At checksumerror, event is set (See event id 1421 that also is used for other product information parameters) and default value will be set. | String | rw | - | - | NoValue | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 5 | ItemProductionDate | Number of seconds since 1970-01-01. Write key values to EnableWrite to enable update of ItemProductionDate once. Written in production. Parameter has its own checksum. At checksumerror, event is set (See event id 1421 that also is used for other product information parameters) and default value will be set. | U32 | rw | 0 | 4294967295 | 0 | see Description | * 1 | internal | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6 | ItemStatus |
"ASCII" according to ISO 8859-1. Item status, e.g, "C1" for C-sample status. Write key values to EnableWrite to enable update of ItemStatus once. Written in production. Max 3 characters long. Parameter has its own checksum. At checksumerror, event is set (See event id 1421 that also is used for other product information parameters) and default value will be set. | String | rw | - | - | NoValue | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 7 | ItemMaxCurrent | Max allowed current for item, e.g., "380" for 380 ARMS (see also ApplicationSwInformation, HwDetectedMaxCurrent). Write key values to EnableWrite to enable update of ItemMaxCurrent once. Written in production. Parameter has its own checksum. At checksumerror, event is set (See event id 1422) and default value will be set. | U16 | rw | 0 | 32767 | 0 | ARMS | * 1 | internal | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 8 | CustomerItemNumber |
"ASCII" according to ISO 8859-1. Write key values to EnableWrite to enable update of CustomerItemNumber once. Written in production. Max 15 characters long. Reading value "*" indicates that the length of the string that should have been written in production exceeded max size (i.e. 15 characters). Parameter has its own checksum. At checksumerror, event is set (See event id 1421 that also is used for other product information parameters) and default value will be set. | String | rw | - | - | NoValue | - | * 1 | operator | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 9 | ControlBoardItemNumber |
"ASCII" according to ISO 8859-1. The name of the control board, e.g., "80N21502AB01". Written in production. Write key values to EnableWrite to enable update of ControlBoardItemNumber once. Parameter has its own checksum. At checksumerror, event is set (See event id 1421 that also is used for other product information parameters) and default value will be set. | String | rw | - | - | NoValue | - | * 1 | internal | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 10 | MaxNominalDcVoltage | Max allowed nominal DC voltage for item, e.g., "48" for 48V. Write key values to EnableWrite to enable update of MaxNominalDcVoltage. Written in production. Parameter has its own checksum. At checksumerror, event is set (See event id 1421 that also is used for other product information parameters) and default value will be set. | U16 | rw | 0 | 65535 | 0 | Vdc | * 1 | internal | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 11 | HardwareConfiguration |
Bit field for different hardware configurations, e.g, OVP or HVL. Write key values to EnableWrite to enable update of HardwareConfiguration. Written in production.
Parameter has its own checksum. At checksumerror, event is set (See event id 1421 that also is used for other product information parameters)
and default value will be set.
| U32 | rw | 0 | 4294967295 | 0 | - | * 1 | internal | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0x5F30 SWInterfaceData Internal Use Only | |||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | |
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 15 (Length=16) | - | * 1 | operator | |
| 1 | InterfaceVersion | Version of this interface table. | U32 | ro | - | - | 6 | - | * 1 | service | |
| 2 | AutotuningVersion |
Version of Autotuning interface. 0 means no autotuning interface. | U32 | ro | - | - | 1 | - | * 1 | service | |
| 3 | BPCVersion |
Version of BPC interface. 0 means no BPC interface. | U32 | ro | - | - | 1 | - | * 1 | service | |
| 4 | OperationLogs |
Version of OperationLogs. 0 means no operation logs exist. | U32 | ro | - | - | 2 | - | * 1 | service | |
| 5 | TransientRecorder | Version of TransientRecorder. | U32 | ro | - | - | 2 | - | * 1 | service | |
| 6 | NumberOfRxPDOs | Number of supported Rx PDOs. | U32 | ro | - | - | 4 | - | * 1 | service | |
| 7 | NumberOfTxPDOs | Number of supported Tx PDOs. | U32 | ro | - | - | 4 | - | * 1 | service | |
| 8 | MasterFuncVersion |
Version of Master Functionality. '0' means no Master Functionality is enabled. | U32 | ro | - | - | 0 | - | * 1 | service | |
| 9 | FastTxPDO |
Shows if FastTxPDOs are supported.
| U32 | ro | - | - | 1 | - | * 1 | service | |
| 10 | DynamicPDOSize |
Shows if unit sends TxPDOs with dynamic size.
| U32 | ro | - | - | 1 | - | * 1 | service | |
| 11 | SafeRTOSVersion |
Version of SafeRTOS used or 0x00000000 if SafeRTOS is not present.
| U32 | ro | - | - | 0 | - | * 1 | service | |
| 12 | DiagnosticEventManagerVersion | Not supported in plasma3. | U32 | ro | - | - | 0 | - | * 1 | service | |
| 13 | DiagnosticTroubleCodeLoggerVersion | Not supported in plasma3. | U32 | ro | - | - | 0 | - | * 1 | service | |
| 14 | EventRecorderVersion | Not supported in plasma3. | U32 | ro | - | - | 0 | - | * 1 | service | |
| 15 | ApplicationTestFlags |
Bitmask indicating which special buildflags that were used during the build. Not all bits/flags are supported on this version of Plasma. | U32 | ro | 0 | 0xffffffff | 0 | - | * 1 | operator | |
| 0x5F31 ConfigurationManager | ||||||||||||||||||||||||
| Sub Index | Name | Description | Data type | Access | Min | Max | Default | Unit | Scale | Password | ||||||||||||||
| 0 | LastSubIndex | Numbers of entries. | U8 | ro | 0 | 255 | 8 (Length=5) | - | * 1 | operator | ||||||||||||||
| 5 | RequestedMotorType |
Requested motor type. New configuration takes effect after restarting. 0 (NOT_AVAILABLE) is currently not allowed to set.
| U8 | rw | 1 | 2 | 0 | operator | ||||||||||||||||
| 6 | ActualMotorType |
Actual Motor type used.
| U8 | ro | 0 | 2 | 0 | operator | ||||||||||||||||
| 7 | RequestedSensorType |
Configure sensor type. New configuration takes effect after restarting. 0 (NOT_AVAILABLE) is currently not allowed to set.
| U8 | rw | 1 | 6 | 0 | operator | ||||||||||||||||
| 8 | ActualSensorType |
Actual sensor type used.
| U8 | ro | 0 | 6 | 0 | operator | ||||||||||||||||
When an event classified as an error occurs, a CANopen standard error code is sent out in an EMCY message. The emergency message and its contents are shown in table 1 below. The emergency message follows reference CiA Draft Standard 301, Version4.0. Parts of the manufacturer specific Error Field (i.e. byte 4-7) is used for the more specified error bit field Extended Errors.
| Byte# | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 |
| Content | Emergency Error Code | Error Register | Not used | Extended Errors, See 3010:2 | ||||
Each detected event is configured according to the following table. When an event is detected several actions might be taken. To simplify error handling during real time operation several events can be assigned to one EmcyCode and/or a ErrorBit (in ExtendedErrors) and/or WarningBit (in ExtendedWarnings).
A group of events can be connected to a linear current reduction when active. Linear reductions are connected to events set when Temperature, Dc Bus Voltage or Motor Speed is too high or too low. The actual current reduction can be read using Currentlimit, AbilityAccelerationCurrent and Currentlimit, AbilityBrakeCurrent. If the reason for the linear reduction event no longer exist the event will be cleared and full torque will be allowed.
Any event that do not result in a trip or a current reduction, will only be cleared when CommandEnable is not set. This main reason for this is to prevent unintended torque output if a event for some reason is healed. All other events will be cleared when the reason for setting the event no longer exist. Events with a linear current reduction will be cleared when the reason for setting the event no longer exist.
For an APS device the Extended Errors See 3010:2 also contain error bit set in the Supervisor.
The currently active events can be read using ActiveEvents.
| Column | Description |
|---|---|
| CPU origin | Indicates the CPU that generated the event. |
| Emergency Error Code | The emergency error code is put in an emergency frame according to CiA. If empty, it indicates that no emergency message is sent. If the the event is configured to be stored, then the number of events with the same emergency error code can be read using ErrorLog and ErrorLogCopy. For backward compatibillity there are two indexes for the ErrorLog object. Note that several events can have the same emergency error code. |
| Group | The event group. |
| Event | The event name. |
| Description | The event description. |
| EventID | The unique event number. If two events are assigned to the same event number then a runtime error is generated at startup. Event IDs can be configured to be stored in the EventLog |
| Check rate | An event can be evaluated at 4kHz or 50Hz. When set to be evaluated at 4kHz a side effect is that, regardless of the reduction level value, the drive is tripped (unless set to restart the power stage), i.e. you can not reduce the current when evaluated at 4kHz. |
| Store in log | The event is stored in the log. Each event that is stored in log and is or has been active can be read using EventLog. When the event is configured with an emergency error code, that code will be stored in the ErrorLog and ErrorLogCopy |
| Store freeze frame | The event is stored as a freeze frame FreezeFrames. |
| Current Limit | Indicate the action configured for this event.
|
| Error bit | The bit number to set for this event. Several events can have the same error bit. All active events and events that has been latched due to power stage trip, that has an error bit configured, is shown in Diagnostic, ExtendedErrors. |
| Warning bit | The bit number to set for this event. Several events can have the same warning bit. All active events and events that has been latched due to power stage trip, that has an warning bit configured, is shown in Diagnostic, ExtendedWarnings. | (Rule of thumb, an event configured with a warning bit should not also be configured to trip the power stage, only an event configured with an error bit should be able to trip the power stage).
Note that the table can be sorted by column, just click the column you want sorted.
| CPU origin | Emergency error code | Group | Event | Description | Event ID | Check rate | Store in log | Store Freeze frame | Current Limit [%] | Error bit | Warning bit | Safety Critical | System Reactions |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Main | 0x2340 | Power Stage | ShortCircuit |
Description Hw detected short circuit. If the short circuit protection detects a short circuit, the power stage will be shut down. This is done by Hw without Sw interaction. The Sw will restart the power stage within 500 microseconds. If no new short is detected within 100 ms this will be regarded as a glitch. If a new short circuit signal is detected within the 100 ms this will be regarded as a "Hardware Detected Short Circuit". Event state will be set back to pending when power stage is disabled. A short circuit can be any of the following: Short circuit phase to phase Short circuit phase to ground (B-) Short circuit phase to Supply (B+) When is event evaluated When enabled Related parameters No related parameters. | 100 | 4kHz | Log | Trip | 0 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT;RELEASE_MAIN_CONTACTOR_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT;RELEASE_MAIN_CONTACTOR_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2340 | Power Stage | ShortCircuitCounter |
Description This is an inforamative event that in combination with the ShortCircuit-event can be usefull when analyzing short circuit situations. This event will be cleared when power stage is disabled. A consequnce of this is that for this event, unlike for the ShortCircuit-event, the occurance counter will increase also when trying to enable against a permanent short circuit. When is event evaluated When enabled Related parameters No related parameters. | 101 | 4kHz | Log | Trip | 0 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT;RELEASE_MAIN_CONTACTOR_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT;RELEASE_MAIN_CONTACTOR_BIT | |||||||||||||
| STEER STORE_IN_SYSTEM_LOG_BIT;RELEASE_MAIN_CONTACTOR_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2341 | Power Stage | ShortCGlitch |
Description Hw detected short circuit glitch. If the short circuit protection detects a short circuit, the power stage will be shut down. This is done by Hw without Sw interaction. This event is always set whenever this happens. The Sw will restart the power stage within 500 microseconds. If a new short circuit signal is detected within the next 100 ms this will be regarded as a "Hardware Detected Short Circuit". When is event evaluated When enabled Related parameters No related parameters. | 103 | Log | NO_REDUCTION_FACTOR | 10 | PUMP STORE_IN_SYSTEM_LOG_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT | |||||||||||||
| STEER STORE_IN_SYSTEM_LOG_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2351 | Power Stage | OVPActive |
Description Hw detected Over Voltage protection. Event is set if an Over Voltage Protection trip is detected. When is event evaluated Always Related parameters No related parameters. | 111 | 4kHz | Log | Freeze | Trip | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2360 | Power Stage | PWMUnexpectedOff |
Description The power stage was unexpectedly turned off. When is event evaluated Always Related parameters No related parameters. | 120 | 4kHz | Log | Freeze | Trip | 21 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2361 | Power Stage | PWMUnexpectedOffGlitch |
Description The power stage was unexpectedly turned off but restarted successfully. When is event evaluated Always Related parameters No related parameters. | 121 | Log | Freeze | NO_REDUCTION_FACTOR | 10 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2370 | Power Stage | SupervisionPwmDisable |
Description Event is set if the supervision CPU has disabled PWM. The exact reason for this must be obtained by communicating with that particular node. When is event evaluated Always. Related parameters No related parameters. | 122 | Log | Trip | 14 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5210 | Current Measurements | SensorOffset |
Description Event is set if offset is too high. Offset is calibrated when drive is disabled. Limit is 10% of default offset that is 2047 (i.e. half of ADC full-scale value) When is event evaluated When not enabled Related parameters CurrentSensorsCalibration, IvOffset CurrentSensorsCalibration, IwOffset | 200 | Log | Freeze | Trip | 9 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2310 | Current Measurements | OverCurrentError |
Description Event is set if measured current is too high in any of the U,V or W phases and glitch counter is above trip limit. SW algorithm: Measured current is above 150% of max allowed current (HwDetectedMaxCurrent) or if AD value or current core is close to saturation. Over current is detected if two consequtive measurements in the same phase are above the limit. OverCurrenError event is set if over current is detected and glitch counter is above trip limit (>5000). An over current error can be caused by any of the following: Short circuit or over current phase to phase Short circuit phase to ground (B-) Short circuit phase to Supply (B+) When is event evaluated When enabled When event SensorOffset is not active Related parameters ApplicationSwInformation, HwDetectedMaxCurrent | 202 | 4kHz | Log | Freeze | Trip | 13 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2311 | Current Measurements | OverCurrGlitch |
Description Event is set if measured current is too high in any of the U, V or W phases and glitch counter is below trip limit. SW algorithm: Measured current is above 150% of max allowed current (HwDetectedMaxCurrent) or if AD value or current core is close to saturation. Over current is detected if two consequtive measurements in the same phase are above the limit. OverCurrenGlitch event is set if over current is detected and glitch counter is below trip limit (<5000). Glitch counter will then be increased (with 2000) and drive restarted. Glitch counter will be decreased (-1 every 250us) when drive is enabled without over current detected. When is event evaluated When enabled When event SensorOffset is not active Related parameters ApplicationSwInformation, HwDetectedMaxCurrent | 203 | 4kHz | Log | Freeze | Restart | 8 | PUMP NO_SYSTEMREACTIONS_BIT | ||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Current Measurements | DefaultValues |
Description Event is set when default values are loaded from Eeprom (either due to checksum error on segment or commanded by user). Indicates that the drive is not calibrated. When is event evaluated At startup Related parameters CurrentSensorsCalibration, SetDefaultValues CurrentSensorsCalibration, IvGain CurrentSensorsCalibration, IvPosTempGain CurrentSensorsCalibration, IvNegTempGain CurrentSensorsCalibration, IwGain CurrentSensorsCalibration, IwPosTempGain CurrentSensorsCalibration, IwNegTempGain CurrentSensorsCalibration, IvOffset CurrentSensorsCalibration, IwOffset | 204 | NO_REDUCTION_FACTOR | 15 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2316 | Current Measurements | PhaseUVNotConnected |
Description Event is set during startup check of motor connections if the measrued current i phase U is below a defined limit When is event evaluated When running motor connection startup check Related parameters StartupMeasurements.MeasuredCurrentPhaseU | 207 | 4kHz | Log | Freeze | Trip | 9 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2317 | Current Measurements | PhaseUWNotConnected |
Description Event is set during startup check of motor connections if the measrued current i phase U is below a defined limit When is event evaluated When running motor connection startup check Related parameters StartupMeasurements.MeasuredCurrentPhaseU | 208 | 4kHz | Log | Freeze | Trip | 9 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2318 | Current Measurements | PhaseVWNotConnected |
Description Event is set during startup check of motor connections if the measrued current i phase V is below a defined limit When is event evaluated When running motor connection startup check Related parameters StartupMeasurements.MeasuredCurrentPhaseV | 209 | 4kHz | Log | Freeze | Trip | 9 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2319 | Current Measurements | DriveIsNotDisable |
Description Event is set during startup check of motor connections if the drive is not disabled when running the check When is event evaluated When running motor connection startup check Related parameters StartupMeasurements.MeasuredCurrentPhaseV | 211 | Log | Freeze | Trip | 9 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2320 | Current Measurements | RotorRotationTooHigh |
Description Event is set during startup check of motor connections if the rotor rotation is too high When is event evaluated When running motor connection startup check Related parameters | 213 | 4kHz | Log | Freeze | Trip | 9 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Current Measurements | HighEnergyWarning |
Description Event is set when calculated energy level is above specified limit. Indicates that more then continous current have been used longen the intended. When is event evaluated When enabled Related parameters EnergyLimit, ConstantCurrentLimit EnergyLimit, ReductionPgain EnergyLimit, EnergyFilterGain | 205 | NO_REDUCTION_FACTOR | 18 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x2310 | Current Measurements | CustomizedOverCurrentError |
Description Event is set when unfiltered RMS current is above over current limit for the specified number of consecutive samples. When is event evaluated When OverCurrentLimit is not 0 When event SensorOffset is not active Related parameters OverCurrentLimit OverCurrentSampleLimit | 310 | 4kHz | Log | Freeze | Trip | 13 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Current Measurements | AutoTuningHighModulation |
Description Event is set when modulation exceed 95% when Autotuning. Running above full modulation in Autotuning will compromize the result since the tuned parameters are for current control. To prevent the event the dc voltage can be increased or the Autotuning current decreased. When is event evaluated When doing Autotuning step1 or step2. Related parameters No related parameters. | 330 | Log | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8060 | Motor | SpeedLimit |
Description Event is set if motor speed is above a ramped speed limit. Typically used when Forced Braking or when a max speed limit is imposed by application. When is event evaluated When Forced Brake is activated. Related parameters No related parameters. | 301 | Log | Trip | 26 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8060 | Motor | HighSpeed |
Description Event is set if motor speed is above predefined level. Limits: See related parameters. When is event evaluated When speed feedback sensor signal is valid Related parameters IndependentSupervision, OverSpeedLimitForward IndependentSupervision, OverSpeedLimitReverse | 302 | Log | Trip | 26 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Motor | ModeratelyHighSpeed |
Description Event is set if motor speed is above predefined level. Max allowed accelerating current is reduced linearly. Limits: See related parameters. When is event evaluated When speed feedback sensor signal is valid Related parameters CurrentLimit, ModeratelyHighSpeedStartLevel CurrentLimit, ModeratelyHighSpeedEndLevel CurrentLimit, AbilityAccelerationCurrent CurrentLimit, AbilityBrakeCurrent | 303 | NO_REDUCTION_FACTOR | 9 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Motor | ModeratelyLowSpeed |
Description Event is set if motor speed is below predefined level. Mainly used in hybrid drives in combination with combustion engines to prevent rotation of engine in wrong direction. Max allowed braking current is reduced linearly. Limits: See related parameters. When is event evaluated When speed feedback sensor signal is valid Related parameters CurrentLimit, ModeratelyLowSpeedStartLevel CurrentLimit, ModeratelyLowSpeedEndLevel CurrentLimit, AbilityAccelerationCurrent CurrentLimit, AbilityBrakeCurrent | 304 | NO_REDUCTION_FACTOR | 9 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8070 | Motor | SlipInWrongDirection |
Description SlipSpeed is controlled to achive correct orientation of the dq-plane. Event is set if SlipSpeed is wrong compared to ExpectedSlipSpeed. The typical reason for this error is that when you performed the AutoTuning procedure the correct motor inductance and resistanse values was not found. When is event evaluated Always Related parameters InductionMotorParameters, SlipSpeedInWrongDirectionCheckLevel InductionMotorParameters, MaxAcceptableTimeWithSlipInWrongDirection | 306 | Log | Freeze | Trip | 26 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8071 | Motor | TooHighZeroSpeedSlip |
Description SlipSpeed is controlled to achive correct orientation of the dq-plane. Event is set if SlipSpeed too high compared to expected slip speed at zero sensor speed. The typical reason for this error is that the sensor is mechanically separeted from the motor. When is event evaluated Always Related parameters InductionMotorParameters, HighZeroSpeedSlipToleranceFactor InductionMotorParameters, MaxAcceptableTimeWithHighZeroSpeedSlip | 307 | Log | Freeze | Trip | 26 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8090 | Motor | ACCurrentControlError |
Description Event is set if the difference between the expected AC current and the measured AC current is too high. This indicates faulty current measurement sensor(s) or badly tuned current controller. The event is set if all the following conditions are full-filled for at least 50ms:
When enabled, when Electric Motor Brake Mode is not active, when Over Voltage Protection is not active, when Current Control is enabled, when Auto Tuning is not active and when external IdRef/IqRef is not used. Related parameters IndependentSupervision, ACCurrentControlCurrentLimit IndependentSupervision, ACCurrentControlUpeakLimit IndependentSupervision, ACCurrentControlDcVoltageLimit | 308 | Log | Trip | 26 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x80A0 | Motor | ACCurrentMeasPlausibilityError |
Description Event is set if the reference AC voltage is higher than what the measured AC current indicates. This indicates that one or more motor phase cables are not connected properly or faulty current measurement sensor(s). The event is set if all the following conditions are full-filled for at least 50ms:
When enabled, when Electric Motor Brake Mode is not active, when Over Voltage Protection is not active, when Current Control is enabled and when Auto Tuning is not active. Related parameters IndependentSupervision, ACCurrentMeasSpeedLimit IndependentSupervision, ACCurrentMeasCurrentLimit IndependentSupervision, ACCurrentMeasUpeakLimit IndependentSupervision, ACCurrentMeasDcVoltageLimit | 309 | Log | Trip | 26 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x80B0 | Motor | FrequencyAbove599Hz |
DescriptionDue to high-frequency drive regulations the electrical frequency need to be limited to maximum 599Hz. Changing the configuration of this event in a library version of Plasma3 will have no effect. This event must be configured to trip power stage.Evaluation conditionAlways.FilteringNone.Set conditionElectric stator frequency is above 599 Hz.Clear conditionElectric stator frequency is below 599 Hz.Possible root-causes
Related parametersProductInformation, HardwareConfiguration | 320 | Log | Trip | 26 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x3212 | DC Bus | HighVoltageHardware |
Description HW detected over voltage. Level is defined by HW design. When is event evaluated Always Related parameters No related parameters. | 402 | 4kHz | Log | Freeze | Trip | 3 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | DC Bus | ModeratelyHigh |
Description Event is set if filtered voltage is above predefined level. Max allowed current is reduced linearly. Limits: See related parameters. When is event evaluated Always Related parameters DcBus, ModeratelyHighLevel DcBus, ReductionEndHighLevel CurrentLimit, AbilityBrakeCurrent DcBus, FilteredVoltage | 403 | NO_REDUCTION_FACTOR | 1 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x3211 | DC Bus | High |
Description Event is set if filtered voltage is above predefined level. Limits: See related parameters. When is event evaluated Always Related parameters DcBus, HighLevel DcBus, FilteredVoltage | 404 | 4kHz | Log | Freeze | Trip | 2 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | DC Bus | ModeratelyLow |
Description Event is set if filtered voltage is below predefined level. Max allowed current is reduced linearly. Limits: See related parameters. When is event evaluated When ignore low DC bus bit is not active Related parameters DcBus, ModeratelyLowLevel DcBus, ReductionEndLowLevel CurrentLimit, AbilityAccelerationCurrent DcBus, FilteredVoltage | 405 | NO_REDUCTION_FACTOR | 0 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x3221 | DC Bus | Low |
Description Event is set if filtered voltage is below predefined level. Limits: See related parameters. When is event evaluated When ignore low DC bus bit is not active Related parameters DcBus, LowLevel DcBus, FilteredVoltage | 406 | Log | Freeze | Trip | 1 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x3120 | DC Bus | ChargingError |
Description Event is set if measured voltage is below predefined level after a predefined time at startup. Limits: See related parameters. When is event evaluated At startup Related parameters DcBus, ChargingLevel DcBus, MaxChargeTime | 407 | Log | Trip | 4 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | DC Bus | DefaultValues |
Description Event is set when default values are loaded from Eeprom (either due to checksum error on segment or commanded by user). Indicates that the drive is not calibrated. When is event evaluated At startup Related parameters DcBus, DcBusCalValueGain DcBus, DcBusCalValueOffset DcBus, SetDcBusCalValuesDefault | 408 | NO_REDUCTION_FACTOR | 2 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x4320 | Power Stage Temperature Sensor | NotConnected |
Description Event is set if internal Power Stage temperature sensor is not connected. SW algorithm: Temperature measurement is out of range. Limits: Event is set when sensor measures 130 deg celsius When is event evaluated Always Related parameters PowerStageTemperature, Temperature | 500 | Log | 50 | 30 | PUMP STORE_IN_SYSTEM_LOG_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER STORE_IN_SYSTEM_LOG_BIT | |||||||||||||
| Main | 0x4320 | Power Stage Temperature Sensor | ShortCircuit |
Description Event is set if internal Power Stage temperature sensor is short circuited. SW algorithm: Temperature measurement is out of range. Limits: Event is set when sensor measures -50 deg celsius When is event evaluated Always Related parameters PowerStageTemperature, Temperature | 501 | Log | 50 | 30 | PUMP STORE_IN_SYSTEM_LOG_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER STORE_IN_SYSTEM_LOG_BIT | |||||||||||||
| Main | Power Stage Temperature Sensor | ModeratelyHigh |
Description Event is set if internal Power Stage temperature is above predefined level. Max allowed accelerating AC current is reduced linearly. Optionally Max allowed brakeing AC current is reduced linearly. Limits: Event is set at HeatSinkHighWarningLevel deg celcius where reduction of AC current starts. At HeatSinkReductionEndHighLevel deg celsius AC current is reduced to 0. If HeatSinkReductionEndHighLevel is 0 reduction is in-active.
When sensor is connected and not short circuit Related parameters PowerStageTemperature, Temperature CurrentLimit, AbilityAccelerationCurrent CurrentLimit, AbilityBrakeCurrent | 502 | NO_REDUCTION_FACTOR | 7 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x4310 | Power Stage Temperature Sensor | High |
Description Event is set if internal Power Stage temperature is above predefined level. Limits: Event is set at 110 deg celsius. When is event evaluated When sensor is connected and not short circuit Related parameters PowerStageTemperature, Temperature | 503 | Log | Trip | 6 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Power Stage Temperature Sensor | ModeratelyLow |
Description Event is set if internal Power Stage temperature is below predefined level. Max allowed accelerating AC current is reduced linearly. Optionally Max allowed brakeing AC current is reduced linearly. Limits: Event is set at HeatSinkLowWarningLevel deg celcius where reduction of AC current starts. At HeatSinkReductionEndLowLevel deg celsius AC current is reduced to 0. If HeatSinkReductionEndLowLevel is 0 reduction is in-active.
When sensor is connected and not short circuit Related parameters PowerStageTemperature, Temperature CurrentLimit, AbilityAccelerationCurrent CurrentLimit, AbilityBrakeCurrent | 504 | NO_REDUCTION_FACTOR | 6 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x4220 | Motor Temperature Sensor | NotConnected |
Description Event is set if motor temperature sensor is not connected. SW algorithm: Temperature measurement is out of range. Limits: Event is set when sensor measures 210 deg celsius Note: If the resistance decreases with increasing temperature, such as for an NTC sensor, this event signals a short-circuit instead. When is event evaluated Always Related parameters MotorTemperature, Temperature | 600 | Log | 50 | 31 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x4220 | Motor Temperature Sensor | ShortCircuit |
Description Event is set if motor temperature sensor is short circuited. SW algorithm: Temperature measurement is out of range. Limits: Event is set when sensor measures -50 deg celsius Note: If the resistance decreases with increasing temperature, such as for an NTC sensor, this event signals a not connected sensor instead. When is event evaluated Always Related parameters MotorTemperature, Temperature | 601 | Log | 50 | 31 | PUMP STORE_IN_SYSTEM_LOG_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER STORE_IN_SYSTEM_LOG_BIT | |||||||||||||
| Main | Motor Temperature Sensor | ModeratelyHigh |
Description Event is set if motor temperature is above predefined level. Max allowed accelerating AC current is reduced linearly. Optionally Max allowed brakeing AC current is reduced linearly. Limits: Event is set at MotorHighWarningLevel deg celcius where reduction of AC current starts. At MotorReductionEndHighLevel deg celsius AC current is reduced to 0. If MotorReductionEndHighLevel is 0 reduction is in-active.
When sensor is connected and not short circuit Related parameters MotorTemperature, Temperature MotorTemperature, ModeratelyHighLevel MotorTemperature, ReductionEndHighLevel | 602 | NO_REDUCTION_FACTOR | 4 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x4210 | Motor Temperature Sensor | High |
Description Event is set if motor temperature is above predefined level. Limits: Event is set at 130 deg celsius. When is event evaluated When sensor is connected and not short circuit Related parameters MotorTemperature, Temperature MotorTemperature, HighLevel | 603 | Log | Trip | 5 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Motor Temperature Sensor | ModeratelyLow |
Event is set if motor temperature is below predefined level. Max allowed accelerating AC current is reduced linearly. Optionally Max allowed brakeing AC current is reduced linearly. Limits: Event is set at MotorLowWarningLevel deg celcius where reduction of AC current starts. At MotorReductionEndLowLevel deg celsius AC current is reduced to 0. If MotorReductionEndLowLevel is 0 reduction is in-active.
When sensor is connected and not short circuit Related parameters MotorTemperature, Temperature MotorTemperature, ModeratelyLowLevel MotorTemperature, ReductionEndLowLevel | 604 | NO_REDUCTION_FACTOR | 3 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Pcb Temperature Sensor | NotConnected |
Description Event is set if internal PCB temperature sensor is not connected. SW algorithm: Temperature measurement is out of range. Limits: Event is set when sensor measures 120 deg celsius When is event evaluated Always Related parameters PCBTemperature, Temperature | 700 | Log | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Pcb Temperature Sensor | ShortCircuit |
Description Event is set if internal PCB temperature sensor is short circuited. SW algorithm: Temperature measurement is out of range. Limits: Event is set when sensor measures -50 deg celsius When is event evaluated Always Related parameters PCBTemperature, Temperature | 701 | Log | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Pcb Temperature Sensor | ModeratelyHigh |
Description Event is set if measured temperature is above predefined level. Limits: Event is set at PcbkHighWarningLevel deg celcius.
When sensor is connected and not short circuit Related parameters PCBTemperature, Temperature | 702 | Log | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Pcb Temperature Sensor | High |
Description Event is set if measured temperature is above predefined level. Limits: Event is set at 95 deg celsius. When is event evaluated When sensor is connected and not short circuit Related parameters PCBTemperature, Temperature | 703 | Log | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Pcb Temperature Sensor | ModeratelyLow |
Description Event is set if measured temperature is below predefined level. Limits: Event is set at PcbLowWarningLevel deg celcius.
When sensor is connected and not short circuit Related parameters PCBTemperature, Temperature | 704 | Log | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7240 | Encoder Feedback Sensor | DecTooHigh |
Description Event is set if change of sensor speed is too high (measured rotor acceleration). Detected if sensor is faulty during more than 40 ms +/-1ms or if there is been to many intermittent faults within a certain time. When the sensor value is valid the glitch counter is decreased with one (1) every 1ms. If the counter reaches 80, the DecTooHigh event is set. Evaluated at 1 kHz. Checked at 50 Hz. Limits: 1000rpm/20ms When is event evaluated Always. Related parameters No related parameters. | 804 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7260 | Encoder Feedback Sensor | DecTooHighGlitch |
Description Event is set if intermittent change of sensor speed is too high (measured rotor deceleration) and DecTooHigh event is not detected. Event is cleared if enable command transits from enable to disable. The glitch counter is increased with two (2) every 1ms as long as the sensor value is not valid during and following a fault. Evaluated at 1 kHz. Checked at 50 Hz. When is event evaluated Always. Related parameters No related parameters. | 826 | Log | Freeze | NO_REDUCTION_FACTOR | 13 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7250 | Encoder Feedback Sensor | PlausabilityError |
Description Event is set if the sensor speed is too high, i.e a not plausible/possible speed. Limits: 15000rpm When is event evaluated When drive is enabled. Related parameters No related parameters. | 805 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7360 | Encoder Feedback Sensor | Loss_Of_Ch_A |
Description Event is set if only Ch B is toggling and Ch A is not. When is event evaluated When drive is enabled and previous speed has to be above PulseCheckChannelLowSpeedLimit and channel B be must be toggling at 1kHz or below. Counted at 4 kHz. Checked at 50 Hz. Related parameters SensorBearingFeedback, PulseCheckChannelLowSpeedLimit | 802 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7370 | Encoder Feedback Sensor | Loss_Of_Ch_B |
Description Event is set if only Ch A is toggling and Ch B is not. When is event evaluated When drive is enabled and previous speed has to be above PulseCheckChannelLowSpeedLimit and channel A be must be toggling at 1kHz or below. Counted at 4 kHz. Checked at 50 Hz. Related parameters SensorBearingFeedback, PulseCheckChannelLowSpeedLimit | 803 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7351 | Encoder Feedback Sensor | BadOrShortedInputs |
Bad state machine transition, can indicate shorted inputs. This detection is active from 0 upto aprox. +-250 Hz. When using a 64 PPR sensor, the range can be interpreted as RPM Evaluated at 4 kHz. Checked at 50 Hz. When is event evaluated Always Related parameters No related parameters. | 827 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7390 | Encoder Feedback Sensor | ZPulseCorrectionAngleIsTooLarge |
Becomes active if the difference between the quadrature counter angle and the defined index pulse angle is too big. Detection is active after the first turn of the rotor When is event evaluated Always Related parameters No related parameters. | 828 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7391 | Encoder Feedback Sensor | NoZPulseDetected |
Detection is active before the first index pulse have been detected. If none index-pulse have been detected after a defined number of quadrature counts, the event becomes active. When is event evaluated Always Related parameters No related parameters. | 829 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Encoder Feedback Sensor | DeltaTimeToQuadMismatch |
DeltaSensorAngle from DeltaTimeMeasurement of Encoder differs too much from the DeltaSensorAngle that is produced by the Quadrature measurement. Possible glitch on an encoder channel. When is event evaluated Always Related parameters No related parameters. | 832 | Log | Freeze | NO_REDUCTION_FACTOR | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x739A | Encoder Feedback Sensor | ChannelOverFrequency |
Channel used for time measurement has detected that the pulse frequency detected is too high.
When is event evaluated Always Related parameters No related parameters. | 833 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7290 | Sixstep Feedback Sensor | SensorError |
Description Event is set if sixstep sensor is in illegal state. When is event evaluated When FeedbackMode is 0. Related parameters No related parameters. | 870 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7460 | MotorPwmSensor | LossOfChannelA |
Description Loss of channel A signal or too noisy. Event set if no valid pulse is seen during 20 ms. When is event evaluated Always. Related parameters None | 2060 | Log | Freeze | Trip | 7 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7462 | MotorPwmSensor | BadPWM |
Description The received PWM signal is unstable and out of range (frequency, duty cycle or stuck high or low). When is event evaluated Always. Related parameters None | 2062 | Log | Freeze | Trip | 7 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7250 | Sensor Offset Calibration | WrongDirection |
Description Sensor and stator frequency have different signs. Either sensor signals need to be inverted or motor phase cables are connected incorrectly. When is event evaluated During offset angle calibration. Related parameters FeedbackSensor, SensorDirectionInverted | 1620 | Log | Trip | 16 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7251 | Sensor Offset Calibration | NoRotation |
Description Motor does not accelerate to target speed within specified time. Possible causes could be too high inertia, too high friction, too low DC voltage, an error condition, current reduction etc. If motor rotates but not fast enough, try increasing acceleration current or timeout. When is event evaluated During offset angle calibration when trying to accelerate motor. Related parameters FeedbackSensorOffsetCalibration, AccelerationTimeout FeedbackSensorOffsetCalibration, AccAndBrakeCurrent | 1621 | Log | Trip | 16 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7252 | Sensor Offset Calibration | LowDcBusVoltage |
Description Event is set when motor goes into field weakening before desired AC voltage amplitude is reached. Most likely cause is weak battery or power supply. Try decreasing acceleration current. When is event evaluated During offset angle calibration when trying to accelerate motor. Related parameters FeedbackSensorOffsetCalibration, AccAndBrakeCurrent | 1622 | Log | Trip | 16 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5411 | Open Drain Output | ShortCircuitCh1 |
Description Set when HW Short Circuit signal is detected. Disabling of output required to clear event. When is event evaluated When Open Drain output is enabled. Checked at 50Hz. Signal is reset once and if signal becomes active again within 100ms the event is set and output is latched in tripped state. Related parameters No related parameters. | 1001 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5431 | Open Drain Output | HighCurrentCh1 |
Description Set when Peak Overcurrent or Overload is detected. When is event evaluated When Open Drain output is enabled. Peak trip level detected within 1-5ms ms and Overload after 10s of overload condition. Related parameters OpenDrainOutputPeakCurrentLevel, PeakCurrentLevel OpenDrainOutputOverloadCurrentLevel, OverloadCurrentLevel | 1021 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5451 | Open Drain Output | NotConnectedCh1 |
Description Set when measured current is below the NotConnectedLevel. When is event evaluated When Open Drain output is enabled. In current control mode the CurrentReference has to be 75mA above the NotConnectedLevel for the event to be evaluated. In manual and voltage control mode the duty cycle has to be above 25%. Related parameters OpenDrainOutputNotConnectedLevel, NotConnectedLevel | 1011 | Log | NO_REDUCTION_FACTOR | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x546A | Open Drain Output | CurrMeasWhenOffCh1 |
Description Set when more than 200 mA current is measured when the output should be off. When is event evaluated When Open Drain output is not enabled (i.e. disabled or tripped). Related parameters No related parameters. | 1031 | Log | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5412 | Open Drain Output | ShortCircuitCh2 |
Description Set when HW Short Circuit signal is detected. Disabling of output required to clear event. When is event evaluated When Open Drain output is enabled. Checked at 50Hz. Signal is reset once and if signal becomes active again within 100ms the event is set and output is latched in tripped state. Related parameters No related parameters. | 1002 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5452 | Open Drain Output | NotConnectedCh2 |
Description Set when measured current is below the NotConnectedLevel. When is event evaluated When Open Drain output is enabled. In current control mode the CurrentReference has to be 75mA above the NotConnectedLevel for the event to be evaluated. In manual and voltage control mode the duty cycle has to be above 25%. Related parameters OpenDrainOutputNotConnectedLevel, NotConnectedLevel | 1012 | Log | NO_REDUCTION_FACTOR | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5432 | Open Drain Output | HighCurrentCh2 |
Description Set when Peak Overcurrent or Overload is detected. When is event evaluated When Open Drain output is enabled. Peak trip level detected within 1-5ms ms and Overload after 10s of overload condition. Related parameters OpenDrainOutputPeakCurrentLevel, PeakCurrentLevel OpenDrainOutputOverloadCurrentLevel, OverloadCurrentLevel | 1022 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x546B | Open Drain Output | CurrMeasWhenOffCh2 |
Description Set when more than 200 mA current is measured when the output should be off. When is event evaluated When Open Drain output is not enabled (i.e. disabled or tripped). Related parameters No related parameters. | 1032 | Log | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5413 | Open Drain Output | ShortCircuitCh3 |
Description Set when HW Short Circuit signal is detected. Disabling of output required to clear event. When is event evaluated When Open Drain output is enabled. Checked at 50Hz. Signal is reset once and if signal becomes active again within 100ms the event is set and output is latched in tripped state. Related parameters No related parameters. | 1003 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5433 | Open Drain Output | HighCurrentCh3 |
Description Set when Peak Overcurrent or Overload is detected. When is event evaluated When Open Drain output is enabled. Peak trip level detected within 1-5ms ms and Overload after 10s of overload condition. Related parameters OpenDrainOutputPeakCurrentLevel, PeakCurrentLevel OpenDrainOutputOverloadCurrentLevel, OverloadCurrentLevel | 1023 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5453 | Open Drain Output | NotConnectedCh3 |
Description Set when measured current is below the NotConnectedLevel. When is event evaluated When Open Drain output is enabled. In current control mode the CurrentReference has to be 75mA above the NotConnectedLevel for the event to be evaluated. In manual and voltage control mode the duty cycle has to be above 25%. Related parameters OpenDrainOutputNotConnectedLevel, NotConnectedLevel | 1013 | Log | NO_REDUCTION_FACTOR | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x546C | Open Drain Output | CurrMeasWhenOffCh3 |
Description Set when more than 200 mA current is measured when the output should be off. When is event evaluated When Open Drain output is not enabled (i.e. disabled or tripped). Related parameters No related parameters. | 1033 | Log | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5414 | Open Drain Output | ShortCircuitCh4 |
Description Set when HW Short Circuit signal is detected. Disabling of output required to clear event. When is event evaluated When Open Drain output is enabled. Checked at 50Hz. Signal is reset once and if signal becomes active again within 100ms the event is set and output is latched in tripped state. Related parameters No related parameters. | 1004 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5434 | Open Drain Output | HighCurrentCh4 |
Description Set when Peak Overcurrent or Overload is detected. When is event evaluated When Open Drain output is enabled. Peak trip level detected within 1-5ms ms and Overload after 10s of overload condition. Related parameters OpenDrainOutputPeakCurrentLevel, PeakCurrentLevel OpenDrainOutputOverloadCurrentLevel, OverloadCurrentLevel | 1024 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5454 | Open Drain Output | NotConnectedCh4 |
Description Set when measured current is below the NotConnectedLevel. When is event evaluated When Open Drain output is enabled. In current control mode the CurrentReference has to be 75mA above the NotConnectedLevel for the event to be evaluated. In manual and voltage control mode the duty cycle has to be above 25%. Related parameters OpenDrainOutputNotConnectedLevel, NotConnectedLevel | 1014 | Log | NO_REDUCTION_FACTOR | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x546D | Open Drain Output | CurrMeasWhenOffCh4 |
Description Set when more than 200 mA current is measured when the output should be off. When is event evaluated When Open Drain output is not enabled (i.e. disabled or tripped). Related parameters No related parameters. | 1034 | Log | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5415 | Open Drain Output | ShortCircuitCh5 |
Description Set when HW Short Circuit signal is detected. Disabling of output required to clear event. When is event evaluated When Open Drain output is enabled. Checked at 50Hz. Signal is reset once and if signal becomes active again within 100ms the event is set and output is latched in tripped state. Related parameters No related parameters. | 1005 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5435 | Open Drain Output | HighCurrentCh5 |
Description Set when Peak Overcurrent or Overload is detected. When is event evaluated When Open Drain output is enabled. Peak trip level detected within 1-5ms ms and Overload after 10s of overload condition. Related parameters OpenDrainOutputPeakCurrentLevel, PeakCurrentLevel OpenDrainOutputOverloadCurrentLevel, OverloadCurrentLevel | 1025 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5455 | Open Drain Output | NotConnectedCh5 |
Description Set when measured current is below the NotConnectedLevel. When is event evaluated When Open Drain output is enabled. In current control mode the CurrentReference has to be 75mA above the NotConnectedLevel for the event to be evaluated. In manual and voltage control mode the duty cycle has to be above 25%. Related parameters OpenDrainOutputNotConnectedLevel, NotConnectedLevel | 1015 | Log | NO_REDUCTION_FACTOR | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x546E | Open Drain Output | CurrMeasWhenOffCh5 |
Description Set when more than 200 mA current is measured when the output should be off. When is event evaluated When Open Drain output is not enabled (i.e. disabled or tripped). Related parameters No related parameters. | 1035 | Log | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5416 | Open Drain Output | ShortCircuitCh6 |
Description Set when HW Short Circuit signal is detected. Disabling of output required to clear event. When is event evaluated When Open Drain output is enabled. Checked at 50Hz. Signal is reset once and if signal becomes active again within 100ms the event is set and output is latched in tripped state. Related parameters No related parameters. | 1006 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5436 | Open Drain Output | HighCurrentCh6 |
Description Set when Peak Overcurrent or Overload is detected. When is event evaluated When Open Drain output is enabled. Peak trip level detected within 1-5ms ms and Overload after 10s of overload condition. Related parameters OpenDrainOutputPeakCurrentLevel, PeakCurrentLevel OpenDrainOutputOverloadCurrentLevel, OverloadCurrentLevel | 1026 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5456 | Open Drain Output | NotConnectedCh6 |
Description Set when measured current is below the NotConnectedLevel. When is event evaluated When Open Drain output is enabled. In current control mode the CurrentReference has to be 75mA above the NotConnectedLevel for the event to be evaluated. In manual and voltage control mode the duty cycle has to be above 25%. Related parameters OpenDrainOutputNotConnectedLevel, NotConnectedLevel | 1016 | Log | NO_REDUCTION_FACTOR | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x545F | Open Drain Output | CurrMeasWhenOffCh6 |
Description Set when more than 200 mA current is measured when the output should be off. When is event evaluated When Open Drain output is not enabled (i.e. disabled or tripped). Related parameters No related parameters. | 1036 | Log | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5481 | Open Drain Output | LoadActiveWhenODOffCh1 |
Description When high-side in is high, the voltage drop across the load should be inactive (i.e. OD & HS voltage is at the same level) if the state of the OD & HS swtiches is exclusively off or both off. This event is triggered if the voltage drop is active across the load when OD is off. It inidicates that the open drain has short circuit to B- When is event evaluated When high-side In is high and OD is off. Related parameters No related parameters. | 1121 | Log | NO_REDUCTION_FACTOR | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5482 | Open Drain Output | LoadActiveWhenODOffCh2 |
Description When high-side in is high, the voltage drop across the load should be inactive (i.e. OD & HS voltage is at the same level) if the state of the OD & HS swtiches is exclusively off or both off. This event is triggered if the voltage drop is active across the load when OD is off. It inidicates that the open drain has short circuit to B- When is event evaluated When high-side In is high and OD is off. Related parameters No related parameters. | 1122 | Log | NO_REDUCTION_FACTOR | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5483 | Open Drain Output | LoadActiveWhenODOffCh3 |
Description When high-side in is high, th voltage drop across the load should be inactive (i.e. OD & HS voltage is at the same level) if the state of the OD & HS swtiches is exclusively off or both off. This event is triggered if the voltage drop is active across the load when OD is off. It inidicates that the open drain has short circuit to B- When is event evaluated When high-side In is high and OD is off. Related parameters No related parameters. | 1123 | Log | NO_REDUCTION_FACTOR | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5541 | Open Drain Output | LoadActiveWhenHSOffCh1 |
Description When high-side in is high, the voltage drop across the load should be inactive (i.e. OD & HS voltage is at the same level) if the state of the OD & HS swtiches is exclusively off or both off. This event is triggered if the voltage drop is active across the load when HS is off. It inidicates that the open drain has short circuit to B- When is event evaluated When high-side In is high and HS is off. Related parameters No related parameters. | 1141 | Log | NO_REDUCTION_FACTOR | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5542 | Open Drain Output | LoadActiveWhenHSOffCh2 |
Description When high-side in is high, the voltage drop across the load should be inactive (i.e. OD & HS voltage is at the same level) if the state of the OD & HS swtiches is exclusively off or both off. This event is triggered if the voltage drop is active across the load when HS is off. It inidicates that the open drain has short circuit to B- When is event evaluated When high-side In is high and HS is off. Related parameters No related parameters. | 1142 | Log | NO_REDUCTION_FACTOR | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5543 | Open Drain Output | LoadActiveWhenHSOffCh3 |
Description When high-side in is high, the voltage drop across the load should be inactive (i.e. OD & HS voltage is at the same level) if the state of the OD & HS swtiches is exclusively off or both off. This event is triggered if the voltage drop is active across the load when HS is off. It inidicates that the open drain has short circuit to B- When is event evaluated When high-side In is high and HS is off. Related parameters No related parameters. | 1143 | Log | NO_REDUCTION_FACTOR | 14 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5500 | HighSideDiagnostics | HighSideShC |
Description Set when HW Short Circuit signal is detected. Disabling of output required to clear event. When is event evaluated When High Side output is enabled. Checked at 50Hz. Signal is reset once and if signal becomes active again within 100ms the event is set and output is latched in tripped state. Related parameters No related parameters. | 1100 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5501 | HighSideDiagnostics | HighSideInLow |
Description The high side input has been detected to be low. This indicates that high side input is not connected or has short-circuit to B-. When is event evaluated Checked during high side start-up check (state 1) and continuous when high side switch is enabled. Related parameters HighSide, HighSideSwitchStatus HighSide, State1Voltage | 1101 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5502 | HighSideDiagnostics | HighSideOutLow |
Description The high side output has been detected to be low. This indicate that the high side output is shorted to B-. When is event evaluated Checked during high side start-up check (state 1) and continuous. Related parameters HighSide, HighSideOutVoltage HighSide, State1Voltage | 1102 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5503 | HighSideDiagnostics | HighSideOutHighWhenOff |
Description The high side output has been detected to be high. This indicate that the high side output is shorted to B+. When is event evaluated Checked during high side start-up check (state 1). Related parameters HighSide, HighSideOutVoltage HighSide, State1Voltage | 1103 | Log | Freeze | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5504 | HighSideDiagnostics | HighSideOverload |
Description High continuous current on High side out. When is event evaluated Always Related parameters HighSide, HighSideOverloadCurrentLevel HighSide, HighSideOutCurrent | 1104 | Log | Freeze | Trip | 12 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5505 | HighSideDiagnostics | HighSideHighPeakCurr |
Description High peak current on High side out. When is event evaluated Always Related parameters HighSide, HighSidePeakCurrentLevel HighSide, HighSideOutCurrent | 1105 | Log | Freeze | Trip | 12 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8140 | CAN | SynchTimeout |
Description Event is set if Sync is not received within timeout time. When is event evaluated Always Related parameters CANParameters, SyncTimeout | 1204 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8100 | CAN | MapError |
Description Event is set if any PDO map has invalid configuration. When is event evaluated At Startup Related parameters No related parameters. | 1205 | Log | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8141 | CAN | Sdo1Timeout |
Description Event is set if no SDO messages has been received within the timeout time on SDO1. The error detection is started after the first message is received. This event is evaluated in an application with no PDOs active. The drive will be disabled on timeout and can not be reenabled. When is event evaluated Always Related parameters CANParameters, SdoTimeout | 1206 | Log | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8142 | CAN | Sdo2Timeout |
Description Event is set if no SDO message has been received within the timeout time on SDO2. The error detection is started after the first message is received. This event is evaluated in an application with no PDOs active. The drive will be disabled on timeout and can not be reenabled. When is event evaluated Always Related parameters CANParameters, SdoTimeout | 1207 | Log | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8143 | CAN | SDO1SessionBusy |
Description The event is set when an SDO1 request is not finished and a new SDO1 request is received. When is event evaluated Always Related parameters | 1208 | NO_REDUCTION_FACTOR | 2 | PUMP NO_SYSTEMREACTIONS_BIT | |||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8144 | CAN | SDO2SessionBusy |
Description The event is set when an SDO2 request is not finished and a new SDO2 request is received. When is event evaluated Always Related parameters | 1209 | NO_REDUCTION_FACTOR | 2 | PUMP NO_SYSTEMREACTIONS_BIT | |||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x814c | CAN | Sdo3Timeout |
Description Event is set if no SDO messages has been received within the timeout time on SDO3. The error detection is started after the first message is received. This event is evaluated in an application with no PDOs active. The drive will be disabled on timeout and can not be reenabled. When is event evaluated Always Related parameters CANParameters, SdoTimeout | 1221 | Log | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x814d | CAN | Sdo4Timeout |
Description Event is set if no SDO messages has been received within the timeout time on SDO4. The error detection is started after the first message is received. This event is evaluated in an application with no PDOs active. The drive will be disabled on timeout and can not be reenabled. When is event evaluated Always Related parameters CANParameters, SdoTimeout | 1222 | Log | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x814e | CAN | SDO3SessionBusy |
Description The event is set when an SDO3 request is not finished and a new SDO3 request is received. When is event evaluated Always Related parameters | 1223 | NO_REDUCTION_FACTOR | 2 | PUMP NO_SYSTEMREACTIONS_BIT | |||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x814f | CAN | SDO4SessionBusy |
Description The event is set when an SDO4 request is not finished and a new SDO4 request is received. When is event evaluated Always Related parameters | 1224 | NO_REDUCTION_FACTOR | 2 | PUMP NO_SYSTEMREACTIONS_BIT | |||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8180 | CAN | RxMapLengthError |
Description Event is set if any RxPDO receives a short packet. When is event evaluated When NMT state is operational Related parameters No related parameters. | 1240 | Log | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8101 | CAN | Pdo1Timeout |
Description Event is set if Rx PDO 1 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo1Timeout | 1250 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8102 | CAN | Pdo2Timeout |
Description Event is set if Rx PDO 2 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo2Timeout | 1251 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8103 | CAN | Pdo3Timeout |
Description Event is set if Rx PDO 3 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo3Timeout | 1252 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8104 | CAN | Pdo4Timeout |
Description Event is set if Rx PDO 4 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo4Timeout | 1253 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_STOP_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER STORE_IN_SYSTEM_LOG_BIT;TRACTION_STOP_BIT;HYDRAULIC_STOP_MAST_BIT | |||||||||||||
| Main | 0x8105 | CAN | Pdo5Timeout |
Description Event is set if Rx PDO 5 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo5Timeout | 1254 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_STOP_MAST_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8106 | CAN | Pdo6Timeout |
Description Event is set if Rx PDO 6 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo6Timeout | 1255 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8107 | CAN | Pdo7Timeout |
Description Event is set if Rx PDO 7 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo7Timeout | 1256 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8108 | CAN | Pdo8Timeout |
Description Event is set if Rx PDO 8 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo8Timeout | 1257 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_STOP_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER STORE_IN_SYSTEM_LOG_BIT;TRACTION_STOP_BIT;HYDRAULIC_STOP_MAST_BIT | |||||||||||||
| Main | 0x8109 | CAN | Pdo9Timeout |
Description Event is set if Rx PDO 9 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo9Timeout | 1258 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_STOP_MAST_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER STORE_IN_SYSTEM_LOG_BIT;TRACTION_STOP_BIT | |||||||||||||
| Main | 0x810a | CAN | Pdo10Timeout |
Description Event is set if Rx PDO 10 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo10Timeout | 1259 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x810b | CAN | Pdo11Timeout |
Description Event is set if Rx PDO 11 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo11Timeout | 1260 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x810c | CAN | Pdo12Timeout |
Description Event is set if Rx PDO 12 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo12Timeout | 1261 | Log | Freeze | Trip | 8 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT | |||||||||||||
| Main | 0x810d | CAN | Pdo13Timeout |
Description Event is set if Rx PDO 13 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo13Timeout | 1262 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x810e | CAN | Pdo14Timeout |
Description Event is set if Rx PDO 14 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo14Timeout | 1263 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x810f | CAN | Pdo15Timeout |
Description Event is set if Rx PDO 15 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo15Timeout | 1264 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8110 | CAN | Pdo16Timeout |
Description Event is set if Rx PDO 16 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo16Timeout | 1265 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8111 | CAN | Pdo17Timeout |
Description Event is set if Rx PDO 17 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo17Timeout | 1266 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8112 | CAN | Pdo18Timeout |
Description Event is set if Rx PDO 18 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo18Timeout | 1267 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8113 | CAN | Pdo19Timeout |
Description Event is set if Rx PDO 19 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo19Timeout | 1268 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8114 | CAN | Pdo20Timeout |
Description Event is set if Rx PDO 20 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo20Timeout | 1269 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8115 | CAN | Pdo21Timeout |
Description Event is set if Rx PDO 21 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo21Timeout | 1270 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8116 | CAN | Pdo22Timeout |
Description Event is set if Rx PDO 22 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo22Timeout | 1271 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8117 | CAN | Pdo23Timeout |
Description Event is set if Rx PDO 23 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo23Timeout | 1272 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8118 | CAN | Pdo24Timeout |
Description Event is set if Rx PDO 24 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo24Timeout | 1273 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8119 | CAN | Pdo25Timeout |
Description Event is set if Rx PDO 25 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo25Timeout | 1274 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x811a | CAN | Pdo26Timeout |
Description Event is set if Rx PDO 26 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo26Timeout | 1275 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x811b | CAN | Pdo27Timeout |
Description Event is set if Rx PDO 27 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo27Timeout | 1276 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x811c | CAN | Pdo28Timeout |
Description Event is set if Rx PDO 28 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo28Timeout | 1277 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x811d | CAN | Pdo29Timeout |
Description Event is set if Rx PDO 29 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo29Timeout | 1278 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x811e | CAN | Pdo30Timeout |
Description Event is set if Rx PDO 30 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo30Timeout | 1279 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x811f | CAN | Pdo31Timeout |
Description Event is set if Rx PDO 31 is not received within timeout time. When is event evaluated When NMT state is pre-operational or operational. Related parameters RxPdoTimeouts, Pdo31Timeout | 1280 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | CAN | TxDefaultTimerUsed |
Description Event is set if default timer is used by any Tx messages that has transmition type 1-240 "send on sync". Tx default timer is used when sync message does not arrive expectedly. When is event evaluated When NMT state is operational Related parameters | 1234 | Log | Freeze | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | |||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8121 | CAN | SrdoMapError |
Description Event is set if any SRDO map has invalid configuration. When is event evaluated At Startup and when NMT is switched to operational. Related parameters No related parameters. | 1235 | Log | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8122 | CAN | RxMapLengthError |
Description Event is set if any Rx SRDO receives a short packet. When is event evaluated When NMT state is operational Related parameters No related parameters. | 1236 | Log | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8151 | CAN | Srdo1SrvtTimeout |
Description Event is to evaluate the timing between receiving frame-1 (Normal data) and frame-2 (inverted data). Event is set if frame2 (inverted data) in Rx SRDO 1 is not received within timeout. Srvt : Safety-Related Velidation Time When is event evaluated When NMT state is operational. Related parameters TransmitSRDO1ComParameters, SRVT | 1281 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8171 | CAN | Srdo1SctTimeout |
Description Event is set if Rx SRDO 1 is not received within timeout time. Sct : Safeguard Cycle Time When is event evaluated When NMT state is operational. Related parameters TransmitSRDO1ComParameters, RefreshTimeOrSct | 1313 | Log | Freeze | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8191 | CAN | Srdo1DataInvalid |
Description Event is set if the normal data and inverted data is not matched in Rx SRDO 1. When is event evaluated When NMT state is operational. Related parameters | 1345 | Log | Freeze | NO_REDUCTION_FACTOR | 8 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | CAN | BusOff |
Description Event is set if CAN chip on MCU has entered Bus Off state at least once since reset of unit. Reset of unit is required to clear event. When is event evaluated After startup sequence. Related parameters No related parameters. | 1220 | Log | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | CAN | RxSubscribersOutOfRange |
Description The number of Rx subscribers is out of range. When is event evaluated At startup. Related parameters LowlevelCan, NoOfRxSubscribers | 1227 | Log | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | CAN | Can1FilterOverflow |
Description The number of hardware and software filter blocks are exceeded. Try to configure your CAN frames using list mode. | 1228 | Log | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x81F5 | CAN | CanConfigError |
CAN Configuration conflict detected. MCU1 is running application but is tripped.
MCU2 will stop in boot mode and has temporarily resolved the configuration conflict.
Boot normally uses the NodeId and bitrate written to EEPROM by the application.
If a bitrate conflict has occured MCU2 will change to the setting that MCU1 has started with.
If a NodeId/Address conflict has occured MCU2 will use MCU1-NodeId but incremented to next available NodeId/Address.
If you think you might have downloaded software with new CAN configuration and restarted nodes in the
wrong order you may try to force start MCU2 to application to have it re-write
its CAN configuration to EEPROM.
If you experience difficulty communicating with the nodes on the unit a repeated cold-boot (power cycle) should make it possible to
communicate with again. Possibly with temporay NodeId/Address on MCU2.
To permanently solve the issue the application softwares needs to configure its NodeIds/Addresses and/or bitrate settings properly.
Note that this check is performed at cold-boot only except for the first cold-boot performed immediately after an application SW download
in order to start the application to allow it to rewrite the CAN configuration to EEPROM.
Evaluation conditionAt startup. Boot firmware evaluates this at every Cold-Boot except a Cold-Boot that is immediately followed by a SW Application download.FilteringNone.Set conditionIf Boot firmware has indicated a CAN configuration conflict. I.e. when bitrate is different between MCU1 and MCU2 or a CAN address/NodeId is equal on MCU1 and MCU2.Clear conditionA Cold-Boot where no conflict has been detected and conflict check has been successfully performed. A soft reset will leave this event pending.Possible root-causes
Related parametersLowLevelCan, CanConfigStatus | 1225 | Log | Trip | 8 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | CAN | CanConfigCheckFailed |
Description CAN Configuration conflict check failed to run. It failed to check whether there is a conflict or not. An occasional failure to check a CAN configuration is not critical to the function of the unit and can be ignored. A large amount of occurances indicates an underlying issue and shall be reported. Evaluation conditionAt startup. Boot firmware evaluates this at every Cold-Boot except a Cold-Boot that is immediately followed by a SW Application download.FilteringNone.Set conditionBoot firmware has indicated that it failed to perform the CAN configuration conflict check.Clear conditionAfter a Cold-Boot with a CAN configuration conflict check performed.Possible root-causes
No related parameters. | 1226 | Log | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Cpu | RecoveredReadError |
Description Fault is set if there is a checksum error on any eeprom segment with checksum and that the segment has been successfully read during a retry. It is then considered a read error. This could indicate EMC problems for example. When is event evaluated Whenever eeprom parameters are read. Typically at Startup Related parameters No related parameters. | 1401 | Log | Freeze | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | |||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5530 | Cpu | EepromSizeError |
Description Fault is set if an eeprom memory size missmatch is detected. I.e. size configured in sw does not match detected size. This check is done before write operation has started and will inhibit write operation when detected. When is event evaluated At Startup Related parameters No related parameters. | 1430 | Log | Trip | 29 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5520 | Cpu | ChecksumError |
Description Fault is set if there is a checksum error on any eeprom segment with checksum. Some segments also have idividual checksum error events. Some segments also have a default values event that will be set in case of checksum error on that segment. Typically calibration data segments has default values event. When is event evaluated At Startup Related parameters No related parameters. | 1403 | Log | NO_REDUCTION_FACTOR | 29 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5521 | Cpu | ChecksumErrorOnSensorAngleOffset |
Description Event is set if checksum error has occured on sensor angle offset related eeprom segment (see SFIFMG_CAL in EEProm layout). When is event evaluated At startup. Related parameters FeedbackSensor, SensorAngleOffset | 1420 | Log | NO_REDUCTION_FACTOR | 19 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5522 | Cpu | ChecksumErrorOnItemInfo |
Description Event is set if checksum error has occured on Item Info related eeprom segments (see ITEM_INFO_CAL and HW_SERIAL in EEProm layout). When is event evaluated At startup Related parameters ProductInformation, ItemSerialNumber ProductInformation, ItemType ProductInformation, ItemNumber ProductInformation, ItemProductionDate ProductInformation, ItemStatus ProductInformation, CustomerItemNumber ProductInformation, ControlBoardItemNumber ProductInformation, MaxNominalDcVoltage ProductInformation, HardwareConfiguration | 1421 | Log | NO_REDUCTION_FACTOR | 19 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5523 | Cpu | ChecksumErrorOnItemMaxCurrent |
Description Event is set if checksum error has occured on Item Max Current eeprom segment (see ITEM_MAX_CURRENT in EEProm layout). When is event evaluated At startup Related parameters ProductInformation, ItemMaxCurrent | 1422 | Log | NO_REDUCTION_FACTOR | 19 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5524 | Cpu | ChecksumErrorOnCANTalk |
Description Event is set if checksum error has occured on CANTalk eeprom segment (see CTLKCM in EEProm layout). When is event evaluated At startup Related parameters No related parameters. | 1423 | Log | NO_REDUCTION_FACTOR | 19 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Cpu | DefaultValues |
Description The event is set to indicate that default values for parameters has been loaded (by request, loading new SW or when HWID has been changed). When is event evaluated At Startup Related parameters No related parameters. | 1402 | NO_REDUCTION_FACTOR | 12 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8403 | Cpu | PowerOutReset |
Description MCU was unintentionally reset due to low 3.3V powersupply. Event also needs to be supported by boot sw. When is event evaluated At startup Event is cleared after 2 seconds. Related parameters No related parameters. | 1400 | Log | Freeze | NO_REDUCTION_FACTOR | 28 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8404 | Cpu | BrownOutReset |
Description MCU was unintentionally reset due to low 3.3V powersupply. Event also needs to be supported by boot sw. When is event evaluated At startup Event is cleared after 2 seconds. Related parameters No related parameters. | 1404 | Log | Freeze | NO_REDUCTION_FACTOR | 28 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8400 | Cpu | I_WatchdogTimeout |
Description MCU internal Independent watchdog not reset in time causing the MCU to reset. When is event evaluated At startup Event is cleared after 2 seconds. Related parameters No related parameters. | 1406 | Log | Freeze | NO_REDUCTION_FACTOR | 28 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8401 | Cpu | W_WatchdogTimeout |
Description MCU internal Windowed watchdog not reset in time or reset too early causing the MCU to reset. When is event evaluated At startup Event is cleared after 2 seconds. Related parameters No related parameters. | 1407 | Log | Freeze | NO_REDUCTION_FACTOR | 28 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8410 | Cpu | ExeTimeHigh_4kHz |
Description Set when average execution time is higher than 150U us. When is event evaluated Always Related parameters No related parameters. | 1409 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8411 | Cpu | ExeTimeHigh_50Hz |
Description Set when average execution time is higher than 7000U us. When is event evaluated Always Related parameters No related parameters. | 1410 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8412 | Cpu | ExeTimeHigh_IndependentSupervision |
Description Set when average execution time is higher than 50U us. When is event evaluated Always Related parameters No related parameters. | 1411 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8413 | Cpu | ExeTimeHigh_CAN |
Description Set when average execution time is higher than 1000U us. When is event evaluated Always Related parameters No related parameters. | 1412 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8414 | Cpu | ExeTimeHigh_SlowApp |
Description Set when average execution time is higher than 2000U us. When is event evaluated Always Related parameters No related parameters. | 1413 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8415 | Cpu | ExeTimeHigh_FastApp |
Description Set when average execution time is higher than 400U us. When is event evaluated Always Related parameters No related parameters. | 1414 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8416 | Cpu | ExeTimeModHigh_SlowApp |
Description Set when average execution time is higher than 1000U us. When is event evaluated Always Related parameters No related parameters. | 1415 | Log | NO_REDUCTION_FACTOR | 11 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8417 | Cpu | ExeTimeModHigh_FastApp |
Description Set when average execution time is higher than 300U us. When is event evaluated Always Related parameters No related parameters. | 1416 | Log | NO_REDUCTION_FACTOR | 11 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8450 | Cpu | InternalError |
Description Internal error occurred. It is most likely a static configuration error that is not caught at compile time, such as
See Related Parameters for more information regarding error condition, i.e. module name, line and count. When is event evaluated Startup Related parameters RTOS, InternalDebugModuleName RTOS, InternalDebugLineNumber RTOS, InternalDebugCount | 1450 | Log | Freeze | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8452 | Cpu | BootInternalError |
Description Internal error occurred in boot. It may occure if an incompatible application is running with the boot code. When is event evaluated Startup Related parameters RTOS.BootInternalDebugModuleName RTOS.BootInternalDebugLineNumber RTOS.BootInternalDebugCount | 1451 | Log | Freeze | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8451 | Cpu | ClockFailure |
Description CPU clock failure. Either External crystal or internal PLL failed to generate a stable clock. CPU will be clocked by the internal 8MHz RC-oscillator. When is event evaluated Always Related parameters No related parameters. | 1460 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | Cpu | BORMismatch |
Description During startup the BOR bits in register FLASH_OPTCR has the wrong value. When is event evaluated During startup Related parameters No related parameters. | 1461 | Log | Freeze | NO_REDUCTION_FACTOR | PUMP NO_SYSTEMREACTIONS_BIT | |||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8460 | RuntimeTests | MCU_Flash_Application_Check |
Checksum error(CRC32) detected in the application part of the FLASH memory.
Evaluation conditionAlways.FilteringNone.Set conditionChecksum error (CRC32) deteteced in the application part of the FLASH memory during runtime.Clear conditionReset/Restart node.Possible root-causes
Related parametersNo related parameters. | 1455 | Log | Freeze | Trip | 28 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8461 | RuntimeTests | MCU_Flash_Boot_Check |
Checksum error(CRC32) detected in the boot part of the FLASH memory.
Evaluation conditionAlways.FilteringNone.Set conditionChecksum error (CRC32) deteteced in the boot part of the FLASH memory during runtime.Clear conditionReset/Restart node.Possible root-causes
Related parametersNo related parameters. | 1456 | Log | Freeze | Trip | 28 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8460 | RuntimeTests | MCU_RegisterConf_Supv |
Signature check of peripherals and I/O configuration failed.
Evaluation conditionAlways.FilteringNone.Set conditionThe signature check of peripherals and I/O configuration failed during runtime. This means that some configuration of a MCU-peripheral or I/O pin has changed but it should not have changed.Clear conditionReset/Restart node.Possible root-causes
Related parametersNo related parameters. | 1484 | Log | Freeze | Trip | 28 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8460 | RuntimeTests | MCU_MemoryVerificationFault |
A write with verify of data to RAM failed.
Evaluation conditionAlways.FilteringNone.Set conditionWhen writing data to RAM with verify it was detected that the data readback from RAM was not the same data as was written.Clear conditionReset/Restart node.Possible root-causes
Related parametersNo related parameters. | 1486 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5527 | ConfigurationManager | BadConfiguration |
Description The combination of motor and sensor configuration is not verified. Recommended configuration: PM with Sixstep, Incremental encoder with Z-pulse, Analog Hall, Resolve sensors. IM with Incremental encoder sensor. When is event evaluated At Start-up Related parameters ConfigurationManager, RequestedMotorType ConfigurationManager, RequestedSensorType | 1425 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5528 | ConfigurationManager | MotorTypeReconfigured |
Description Motor type configuration is changed. New configuration takes effect after restarting. When is event evaluated Always and when drive is commanded to enable power stage. Related parameters No related parameters. | 1426 | Log | Freeze | Trip | 29 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x5529 | ConfigurationManager | SensorTypeReconfigured |
Description Sensor type configuration is changed. New configuration takes effect after restarting. When is event evaluated Always and when drive is commanded to enable power stage. Related parameters No related parameters. | 1427 | Log | Freeze | Trip | 30 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x3301 | InternalSupply | 15VOutOfRange |
Description Internal 15V supply out of range. Valid range 13.00 to 16.00 V. When is event evaluated Always Related parameters InternalVoltageSupplies, 15V | 1700 | Log | Freeze | Trip | 17 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x3302 | InternalSupply | 5VOutOfRange |
Description Internal 5V supply out of range. Valid range 4.50 to 5.50 V. When is event evaluated Always Related parameters InternalVoltageSupplies, 5V | 1701 | Log | Freeze | Trip | 17 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x3304 | InternalSupply | 5VCOutOfRange |
Description Internal 5V C supply out of range. Valid range 4.50 to 5.50 V. When is event evaluated Always Related parameters InternalVoltageSupplies, 5VC | 1709 | Log | Trip | 17 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x3302 | InternalSupply | 3V3Low |
Description Internal 3.3V supply too low. Limit 2.9V. Uses MCU internal PVD (Programmable Voltage Detection). A flag is set by MCU hardware and event is set when VDD is below the limit and cleared if above. Hysteresis is 100mV When is event evaluated Always Related parameters No related parameters. | 1702 | Log | Freeze | Trip | 17 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | InternalSupply | KeyLow |
Description Restart event used to disable drive when key goes low. Drive is enabled again if key goes high withing 175ms. If key is low more than that drive will enter AFTERRUN state. When is event evaluated Always Related parameters No related parameters. | 1703 | 4kHz | Restart | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7221 | InternalSupply | SensorSupNotCon |
Description Fault is set if Sensor Supply current is too low. Limit 0.000 A. Note: If you have multiple sensors connected to this supply this event might only be set if all devices are disconnected. It will then depend on detection limit and current consumption in connected devices. When is event evaluated Always Related parameters InternalVoltageSupplies, SensorSupplyCurrent | 800 | Log | Trip | 15 | PUMP NO_SYSTEMREACTIONS_BIT | ||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7220 | InternalSupply | SensorSupSHC |
Description Fault is set if Sensor Supply current is too high. Limit 0.068 A. When is event evaluated Always Related parameters InternalVoltageSupplies, SensorSupplyCurrent | 801 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7231 | InternalSupply | SensorSupRange |
Description Sensor Supply voltage out of range. Valid range 10.00 to 16.00 V. When is event evaluated Always Related parameters InternalVoltageSupplies, SensorSupplyVoltage InternalVoltageSupplies, SensorSupplyGain | 811 | Log | Freeze | Trip | 17 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7230 | InternalSupply | SensSupRefRange |
Description Sensor Supply Ref voltage out of range. Valid range 10.00 to 16.00 V. When is event evaluated Always Related parameters InternalVoltageSupplies, SensorSupplyRefVoltage InternalVoltageSupplies, SensorSupplyRefGain | 810 | Log | Freeze | Trip | 17 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | InternalSupply | DefaultValues |
Description Default calibration values for Sensor Supply gains are loaded from Eeprom (either checksum error on segment or commanded by user). When is event evaluated At startup. Related parameters InternalVoltageSupplies, SensorSupplyRefGain InternalVoltageSupplies, SensorSupplyGain | 830 | NO_REDUCTION_FACTOR | 17 | PUMP NO_SYSTEMREACTIONS_BIT | ||||||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7270 | InternalSupply | SensorSupply1OutputVoltage_OutOfRange |
Description Internal SensorSupply1OutputVoltage out of range. Valid range 10.80 to 13.20 V. When is event evaluated Always Related parameters InternalVoltageSupplies, SensorSupply1OutputVoltage | 1735 | Log | Freeze | NO_REDUCTION_FACTOR | 17 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x3330 | InternalSupply | ExtGndTripped |
Description Set when HW EXT_GND_TRIP signal is detected. Reset of node required to clear error. Events related to speed feedback and motor temp measurement may follow this event. When is event evaluated Always Related parameters No related Parameters. | 1730 | Log | Freeze | Trip | 17 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x3410 | Application | ThrottleBadSignal |
Description Throttle pot is out of range. When is event evaluated Always and in 50 Hz | 10000 | Log | Trip | 22 | 24 | PUMP NO_SYSTEMREACTIONS_BIT | |||
| TRACTION NO_SYSTEMREACTIONS_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7210 | MotorSinCosSensor | Signal1GainOutOfRange |
Description Signal 1 gain out of range. The adapted gain is too high or low. When is event evaluated When FeedbackMode is 0. Related parameters SinCosSensor, Sensor1NormalisedGainAdjusted | 1600 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7211 | MotorSinCosSensor | Signal2GainOutOfRange |
Description Signal 2 gain out of range. The adapted gain is too high or low. When is event evaluated When FeedbackMode is 0. Related parameters SinCosSensor, Sensor2NormalisedGainAdjusted | 1601 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7212 | MotorSinCosSensor | Signal1OffsetOutOfRange |
Description Signal 1 offset out of range. The adapted offset is too high or low. When is event evaluated When FeedbackMode is 0. Related parameters SinCosSensor, Sensor1NormalisedOffsetAdjusted | 1602 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7213 | MotorSinCosSensor | Signal2OffsetOutOfRange |
Description Signal 2 offset out of range. The adapted offset is too high or low. When is event evaluated When FeedbackMode is 0. Related parameters SinCosSensor, Sensor2NormalisedOffsetAdjusted | 1603 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7214 | MotorSinCosSensor | Signal1SaturatedHigh |
Description Signal 1 raw AD value saturated high. Indicates short circuit. When is event evaluated When FeedbackMode is 0. Related parameters No related parameters. | 1604 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7215 | MotorSinCosSensor | Signal1SaturatedLow |
Description Signal 1 raw AD value saturated low. Indicates short circuit. When is event evaluated When FeedbackMode is 0. Related parameters No related parameters. | 1605 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7216 | MotorSinCosSensor | Signal2SaturatedHigh |
Description Signal 2 raw AD value saturated high. Indicates short circuit. When is event evaluated When FeedbackMode is 0. Related parameters No related parameters. | 1606 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7217 | MotorSinCosSensor | Signal2SaturatedLow |
Description Signal 2 raw AD value saturated low. Indicates short circuit. When is event evaluated When FeedbackMode is 0. Related parameters No related parameters. | 1607 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x7218 | MotorSinCosSensor | SinCosSensorNotConnected |
Description Check that unit circle is constant. Will detect one broken signal even if sensor is not rotating. The equation x^2 + y^2 = 1 should always be valid for a SinCosSensor. When is event evaluated When FeedbackMode is 0. Related parameters SinCosSensor, NormalisedSin2Cos2 SinCosSensor, MaxNormalisedSin2Cos2 SinCosSensor, MinNormalisedSin2Cos2 | 1608 | Log | Freeze | Trip | 15 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8420 | StartupTest | CpuTest |
Description Startup test of CPU failed. When is event evaluated At Startup Related parameters No related parameters. | 1900 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8420 | StartupTest | Watchdog |
Description Startup test of Watchdog failed. When is event evaluated At Startup Related parameters No related parameters. | 1901 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8420 | StartupTest | Checkpoint1 |
Description Startup test of Checkpoint1 Control flow failed. When is event evaluated At Startup Related parameters No related parameters. | 1903 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8420 | StartupTest | FullRamMarch |
Description Startup test of Full Ram March failed. When is event evaluated At Startup Related parameters No related parameters. | 1904 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8420 | StartupTest | SwitchOffPll |
Description Startup failed do switch off PLL. When is event evaluated At Startup Related parameters No related parameters. | 1905 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8420 | StartupTest | LsiStart |
Description Failed to start LSI. When is event evaluated At Startup Related parameters No related parameters. | 1906 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8420 | StartupTest | HseStart |
Description Failed to start HSE. When is event evaluated At Startup Related parameters No related parameters. | 1907 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8420 | StartupTest | HsiHse |
Description Startup test of HSI HSE switch failed. When is event evaluated At Startup Related parameters No related parameters. | 1908 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8420 | StartupTest | ExtSource |
Description Startup test of Ext source failed. When is event evaluated At Startup Related parameters No related parameters. | 1909 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8420 | StartupTest | ClockFreq |
Description Startup test of Clock frequency failed. When is event evaluated At Startup Related parameters No related parameters. | 1910 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8420 | StartupTest | Checkpoint2 |
Description Startup test of Checkpoint2 Control flow failed. When is event evaluated At Startup Related parameters No related parameters. | 1911 | Log | Freeze | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | |||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| Main | 0x8420 | StartupTest | IncompatibleSwHwConfiguration |
The sofware configuration regarding OVP/HVL does not match the hardware configuration.
Evaluation conditionAt Startup.FilteringN/ASet conditionThere is a mismatch beween the OVP/HVL settings in the software and the hardware configuration parameter (See "Related parameters").Clear conditionThe OVP/HVL settings in the software matches the hardware configuration parameter (See "Related parameters").Possible root-causesWrong software was downloaded to the unit.Related parametersProductInformation, HardwareConfiguration | 1912 | Log | Trip | 28 | PUMP STORE_IN_SYSTEM_LOG_BIT;HYDRAULIC_DISABLE_POWER_STAGE_BIT;TRACTION_LIMP_HOME_MODE_BIT | ||||
| TRACTION STORE_IN_SYSTEM_LOG_BIT;TRACTION_DISABLE_POWER_STAGE_BIT;TRACTION_ELECMECHBRAKE_IMMEDIATELY_BIT | |||||||||||||
| STEER NO_SYSTEMREACTIONS_BIT | |||||||||||||
| OTHER NO_SYSTEMREACTIONS_BIT |