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Axis registers

0x00F - Last error
0x010 - Control word
0x011 - Status word
0x014 - Operation mode
0x015 - Operation mode display
0x018 - Voltage quadrature set-point
0x019 - Voltage direct set-point
0x01A - Current quadrature set-point
0x01B - Current direct set-point
0x01C - Current A set-point
0x01D - Current B set-point
0x020 - Position set-point
0x021 - Velocity set-point
0x022 - Torque set-point
0x024 - Positioning option code
0x025 - Profiler max. velocity
0x026 - Profiler max. acceleration
0x027 - Profiler max. deceleration
0x029 - Actual torque
0x030 - Actual position
0x031 - Actual velocity
0x033 - Auxiliar feedback value
0x037 - Bus voltage current counts
0x038 - Current A value
0x039 - Current B value
0x03A - Current C value
0x03B - Current quadrature value
0x03C - Current direct value
0x03D - Current A counts
0x03E - Current B counts
0x03F - Current C counts
0x040 - Commutation angle value
0x041 - Reference angle value
0x04A - Primary Absolute Slave 1 - Position
0x04B - Primary Absolute Slave 1 - Full frame
0x050 - Generator value
0x051 - Secondary Absolute Slave 1 - Position
0x053 - Torque demand
0x054 - Secondary Absolute Slave 1 - Full frame
0x055 - Primary Absolute Slave 2 (daisy chain) - Full frame
0x05D - Power stage temperature 3 value
0x05E - Power stage temperature 3 counts
0x060 - Bus voltage value
0x061 - Power stage temperature 1 value
0x062 - Power stage temperature 1 counts
0x063 - Motor temperature value
0x064 - Power stage temperature 2 value
0x066 - Power stage temperature 2 counts
0x067 - Power stage max. actual temperature
0x068 - Voltage phase A
0x069 - Voltage phase B
0x06A - Voltage phase C
0x06E - Voltage direct command
0x06F - Voltage quadrature command
0x070 - Voltage quadrature demand
0x071 - Voltage direct demand
0x072 - Current quadrature demand
0x073 - Current direct demand
0x076 - Current actual value
0x077 - Current command value
0x078 - Position demand
0x079 - Velocity demand
0x07A - Acceleration demand
0x07B - Velocity loop input offset
0x07C - Current quadrature loop input offset
0x07D - Current direct loop input offset
(Deprecated) 0x07F - Current loop feedback bypass
0x080 - Torque loop input offset
0x081 - Analog input 1 - Counts
0x082 - Analog input 1 - Value
0x083 - Analog 2 counts
0x084 - Analog 2 value
0x086 - Gate voltage value
0x089 - Main logic supply voltage
0x08A - IO level supply voltage
0x08B - MCU logic supply voltage
0x08D - Analog output 1 - Value
0x096 - Position loop control command
0x097 - Velocity loop control command
0x098 - Current quadrature / A control loop command
0x099 - Current direct / B control loop command
0x09A - Rated torque
0x09B - Torque loop control command
0x0C1 - Interpolation data record - Position input
0x0C2 - Interpolation data record - Velocity input
0x0C3 - Interpolation data record - Time input
0x0C4 - Interpolation data record integrity check
0x0C5 - Interpolation data record status
0x100 - Rated current
0x101 - Peak current
0x102 - Peak current time
0x106 - Motor pole pairs
0x109 - Motor temp. protection threshold
0x120 - Internal shunt enable voltage
0x121 - Internal shunt disable voltage
0x122 - External shunt enable voltage
0x123 - External shunt disable voltage
0x124 - Brake activation voltage percentage
0x125 - Brake holding voltage percentage
0x126 - Delay before release brake
0x127 - Delay after enable brake
0x128 - Activation brake time
0x129 - Brake override
0x12A - Brake activation current
0x12B - Brake holding current
0x12C - Brake current control Kp
0x12D - Brake current control Ki
0x12E - Brake control mode
0x12F - Brake current error window
0x130 - Brake current error timeout
0x131 - Brake max current
0x133 - Brake current actual value
0x134 - Brake current feedback source
0x141 - Brake current command
0x14F - Commutation modulation
0x150 - Commutation angle offset
0x151 - Commutation feedback sensor
0x152 - Reference angle offset
0x153 - Reference feedback sensor
0x154 - Phasing mode
0x155 - Max. current on phasing sequence
0x156 - Phasing timeout
0x157 - Phasing accuracy
0x158 - Field weakening velocity threshold
0x17B - Restart all feedbacks
0x17C - Set feedback power supply status
0x1C8 - Profiler latching mode
0x1D6 - Velocity threshold
0x1D7 - Velocity threshold time
0x1DC - Velocity following error window
0x1DD - Velocity following error timeout
0x1DE - Min position range limit
0x1DF - Max position range limit
0x1E0 - Max. current
0x1E2 - Position control loop error
0x1E3 - Velocity control loop error
0x1E4 - Torque control loop error
0x1E5 - Current quadrature control loop error
0x1E6 - Current direct control loop error
0x1E8 - Max. velocity
0x1EA - Min position
0x1EB - Max position
0x1EC - Position following error window
0x1ED - Position following error timeout
0x1EE - Following error
0x1EF - Interpolation time mantissa
0x1F0 - Interpolation time exponent
0x1F1 - Position window
0x1F2 - Position window time
0x1F3 - Velocity window
0x1F4 - Velocity window time
0x1F5 - Quick stop deceleration
0x1F6 - Interpolation data record force clear
0x1F7 - Interpolation buffer size
0x1F8 - Interpolation buffer number of elements
0x1F9 - Interpolation buffer maximum size
0x2E0 - Command source 1
0x2E1 - Command source 2
0x2E8 - Analog input 1 - Gain
0x2E9 - Analog input 1 - Offset
0x2EC - Analog input 2 - Gain
0x2ED - Analog input 2 - Offset
0x35F - Enabled feedbacks mask
0x360 - Velocity feedback sensor
0x361 - Position feedback sensor
0x362 - Auxiliar feedback sensor
0x364 - Position to velocity sensor ratio
0x36F - Primary Absolute Slave 1 - Protocol
0x370 - Primary Absolute Slave 1 - Frame size
0x371 - Primary Absolute Slave 1 - Error tolerance
0x372 - DEPRECATED - Primary Absolute Slave 1 - Wait cycles
0x373 - Primary Absolute Slave 1 - Polarity
0x374 - Primary Absolute Slave 1 - Frame type
0x375 - Primary Absolute Slave 1 - Position bits
0x376 - Primary Absolute Slave 1 - Single-turn bits
0x377 - Primary Absolute Slave 1 - Position start bit
0x378 - Secondary Absolute Slave 1 - Frame size
0x379 - Secondary Absolute Slave 1 - Error tolerance
0x37A - DEPRECATED - Secondary Absolute Slave 1 - Wait cycles
0x37B - Secondary Absolute Slave 1 - Polarity
0x37C - Secondary Absolute Slave 1 - Frame type
0x37D - Secondary Absolute Slave 1 - Position bits
0x37E - Secondary Absolute Slave 1 - Single-turn bits
0x37F - Secondary Absolute Slave 1 - Position start bit
0x380 - Generator mode
0x381 - Generator frequency
0x382 - Generator gain
0x383 - Generator offset
0x384 - Generator cycle number
0x385 - Generator rearm
0x386 - Primary Absolute Slave 1 - Baudrate
0x387 - Secondary Absolute Slave 1 - Baudrate
0x388 - Incremental encoder 1 - Resolution
0x389 - Incremental encoder 1 - Polarity
0x38A - Incremental encoder 1 - Filter
0x38B - Incremental encoder 1 - Value
0x38C - Incremental encoder 2 - Resolution
0x38D - Incremental encoder 2 - Polarity
0x38E - Incremental encoder 2 - Filter
0x38F - Incremental encoder 2 - Value
0x390 - Dig. hall polarity
0x391 - Dig. hall filter
0x392 - Dig. hall pole pairs
0x393 - Dig. hall value
0x394 - Feedback runaway source
0x395 - BiSS-C feedbacks in chain
0x398 - Primary Absolute - Maximum refresh rate
0x399 - Secondary Absolute - Maximum refresh rate
0x39A - Primary Absolute - Actual refresh rate
0x39B - Secondary Absolute - Actual refresh rate
0x400 - Primary Absolute Slave 2 (daisy chain) - Frame size
0x401 - Primary Absolute Slave 2 (daisy chain) - Error tolerance
0x403 - Primary Absolute Slave 2 (daisy chain) - Polarity
0x404 - Primary Absolute Slave 2 (daisy chain) - Frame type
0x405 - Primary Absolute Slave 2 (daisy chain) - Position bits
0x406 - Primary Absolute Slave 2 (daisy chain) - Single-turn bits
0x407 - Primary Absolute Slave 2 (daisy chain) - Position start bit
0x408 - Primary Absolute Slave 1 - CRC polynomial
0x409 - Primary Absolute Slave 1 - CRC number of bits
0x40A - Primary Absolute Slave 2 (daisy chain) - CRC polynomial
0x40B - Primary Absolute Slave 2 (daisy chain) - CRC number of bits
0x40C - Primary Absolute Slave 1 - CRC seed
0x40D - Primary Absolute Slave 2 (daisy chain) - CRC seed
0x438 - Primary Absolute Slave 1 - Position offset
0x439 - Primary Absolute Slave 2 (daisy chain) - Position offset
0x43A - Secondary Absolute Slave 1 - Position offset
0x43B - Torque constant
0x43C - Secondary Absolute Slave 1 - Protocol
0x43D - Secondary Absolute Slave 1 - CRC polynomial
0x43E - Secondary Absolute Slave 1 - CRC seed
0x43F - Secondary Absolute Slave 1 - CRC number of bits
0x450 - Homing mode
0x451 - Homing offset
0x452 - Homing timeout
0x453 - Homing limit search speed
0x454 - Homing zero search speed
0x455 - Positive homing switch
0x456 - Negative homing switch
0x457 - Homing index pulse source
0x458 - Current loop rate
0x4FF - Current scaling gain factor
0x500 - Current quadrature loop Kp
0x501 - Current quadrature loop Ki
0x502 - Current quadrature loop max. out
0x503 - Current quadrature loop min. out
0x504 - DEPRECATED - Current quadrature loop Kr
0x505 - Current direct loop Kp
0x506 - Current direct loop Ki
0x507 - Current direct loop max. out
0x508 - Current direct loop min. out
0x509 - DEPRECATED - Current direct loop Kr
0x50A - Velocity loop Kp
0x50B - Velocity loop Ki
0x50C - Velocity loop Kd
0x50D - Velocity loop Kd filter
0x50E - Velocity loop max. output
0x50F - Velocity loop min. output
0x510 - Control loops feedback options
0x511 - Position loop Kp
0x512 - Position loop Ki
0x513 - Position loop Kd
0x514 - Position loop Kd filter
0x515 - Position loop max. output
0x516 - Position loop min. output
0x517 - Current loop status
0x518 - Velocity loop status
0x519 - Position loop status
0x51A - STO status
0x51B - Velocity loop integral reset
0x51C - Position loop integral reset
0x51D - Velocity loop integral value
0x51E - Position loop integral value
0x51F - Maximum voltage bus utilization
0x520 - Position & velocity loop rate
0x521 - Power stage frequency
0x522 - Control loops option code
0x523 - Torque loop Kp
0x524 - Torque loop Ki
0x527 - Torque loop max. output
0x528 - Torque loop min. output
0x530 - Position feedback filter 1 type
0x531 - Position feedback filter 1 frequency
0x532 - Position feedback filter 1 Q-factor
0x533 - Position feedback filter 1 gain
0x538 - Position feedback filter 2 type
0x539 - Position feedback filter 2 frequency
0x53A - Position feedback filter 2 Q-factor
0x53B - Position feedback filter 2 gain
0x540 - Position reference filter 1 type
0x541 - Position reference filter 1 frequency
0x542 - Position reference filter 1 Q-factor
0x543 - Position reference filter 1 gain
0x548 - Position reference filter 2 type
0x549 - Position reference filter 2 frequency
0x54A - Position reference filter 2 Q-factor
0x54B - Position reference filter 2 gain
0x550 - Velocity feedback filter 1 type
0x551 - Velocity feedback filter 1 frequency
0x552 - Velocity feedback filter 1 Q-factor
0x553 - Velocity feedback filter 1 gain
0x558 - Velocity feedback filter 2 type
0x559 - Velocity feedback filter 2 frequency
0x55A - Velocity feedback filter 2 Q-factor
0x55B - Velocity feedback filter 2 gain
0x560 - Velocity reference filter 1 type
0x561 - Velocity reference filter 1 frequency
0x562 - Velocity reference filter 1 Q-factor
0x563 - Velocity reference filter 1 gain
0x568 - Velocity reference filter 2 type
0x569 - Velocity reference filter 2 frequency
0x56A - Velocity reference filter 2 Q-factor
0x56B - Velocity reference filter 2 gain
0x570 - Current feedback filter 1 type
0x571 - Current feedback filter 1 frequency
0x572 - Current feedback filter 1 Q-factor
0x573 - Current feedback filter 1 gain
0x578 - Current feedback filter 2 type
0x579 - Current feedback filter 2 frequency
0x57A - Current feedback filter 2 Q-factor
0x57B - Current feedback filter 2 gain
0x580 - Current reference filter 1 type
0x581 - Current reference filter 1 frequency
0x582 - Current reference filter 1 Q-factor
0x583 - Current reference filter 1 gain
0x588 - Current reference filter 2 type
0x589 - Current reference filter 2 frequency
0x58A - Current reference filter 2 Q-factor
0x58B - Current reference filter 2 gain
0x590 - Velocity loop Kffa
0x591 - Position loop Kffv
0x592 - Position loop Kffa
0x5FC - Map output 1
0x5FD - Map output 2
0x5FE - Map output 3
0x5FF - Map output 4
0x600 - Digital inputs value
0x601 - Digital outputs value
0x602 - Digital outputs set value
0x603 - Digital outputs polarity
0x604 - Digital inputs polarity
0x608 - Positive switch limit
0x609 - Negative switch limit
0x60A - Quick stop input
0x60B - Quick stop option code
0x60D - External error signal reaction
0x60F - User I2T error option code
0x610 - Position feedback out of limits error option code
0x611 - Velocity feedback out of limits error option code
0x612 - Position following error option code
0x613 - Power stage user over-temperature error option code
0x614 - Motor over-temperature error option code
0x615 - Power stage user under-temperature error option code
0x616 - Power stage user over voltage error option code
0x617 - Power stage user under voltage error option code
0x618 - External fault option code
0x619 - Halls sequence error option code
0x61A - Feedback runaway error option code
0x61B - Over current without current control error option code
0x61C - Communications watchdog error option code
0x61D - Velocity following error option code
0x620 - Halt option code
0x621 - Halt input
0x622 - Local control activation
0x623 - Local control operation enable input
0x624 - Fault reset input
0x62B - Fault reaction timeout
0x62F - Over-voltage sensitivity
0x630 - User over voltage level
0x631 - User under voltage level
0x632 - User over temperature level
0x633 - User under temperature level
0x63B - STO error option code
0x641 - Synchronization signal configuration
0x642 - Communications watchdog window
0x643 - Synchronization signal frequency
0x644 - Synchronization signal PLL filter cutoff frequency
0x645 - Synchronization signal PLL phase
0x646 - Synchronization signal PLL Kp
0x64D - Error total number
0x64E - Error list index request
0x64F - Error list requested code
0x6DB - Store all
0x6DC - Restore all
0x6DE - Boot mode
0x6E0 - Vendor ID
0x6E1 - Product code
0x6E2 - Revision number
0x6E4 - Software version
0x6E5 - Ingenia url
0x6E6 - Serial number
HW configuration registers
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