Capitan NET Manuals Capitan NET - Reference manual Summit register dictionary Ethernet registers Axis registers 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 ×