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  5. EtherCAT & CANopen registers

EtherCAT & CANopen registers

0x1000 - Device type
0x1001 - Error register
0x1003 - Pre-defined error field
0x1010 - Store
0x1011 - Restore
0x1016 - Consumer heartbeat time
0x1017 - Producer heartbeat time
0x1018 - Identity Object
0x1029 - Error behavior
0x200F - Last error
0x2010 - Control word
0x2011 - Status word
0x2014 - Operation mode
0x2015 - Operation mode display
0x2018 - Voltage quadrature set-point
0x2019 - Voltage direct set-point
0x201A - Current quadrature set-point
0x201B - Current direct set-point
0x201C - Current A set-point
0x201D - Current B set-point
0x2020 - Position set-point
0x2021 - Velocity set-point
0x2022 - Torque set-point
0x2024 - Positioning option code
0x2025 - Profiler max. velocity
0x2026 - Profiler max. acceleration
0x2027 - Profiler max. deceleration
0x2029 - Actual torque
0x2030 - Actual position
0x2031 - Actual velocity
0x2033 - Auxiliar feedback value
0x2037 - Bus voltage current counts
0x2038 - Current A value
0x2039 - Current B value
0x203A - Current C value
0x203B - Current quadrature value
0x203C - Current direct value
0x203D - Current A counts
0x203E - Current B counts
0x203F - Current C counts
0x2040 - Commutation angle value
0x2041 - Reference angle value
0x204A - Primary Absolute Slave 1 - Position
0x204B - Primary Absolute Slave 1 - Full frame
0x2050 - Generator value
0x2051 - Secondary Absolute Slave 1 - Position
0x2052 - Primary Absolute Slave 2 (daisy chain) - Position
0x2053 - Torque demand
0x2054 - Secondary Absolute Slave 1 - Full frame
0x2055 - Primary Absolute Slave 2 (daisy chain) - Full frame
0x205D - Power stage temperature 3 value
0x205E - Power stage temperature 3 counts
0x2060 - Bus voltage value
0x2061 - Power stage temperature 1 value
0x2062 - Power stage temperature 1 counts
0x2063 - Motor temperature value
0x2064 - Power stage temperature 2 value
0x2066 - Power stage temperature 2 counts
0x2067 - Power stage max. actual temperature
0x2068 - Voltage phase A
0x2069 - Voltage phase B
0x206A - Voltage phase C
0x206E - Voltage direct command
0x206F - Voltage quadrature command
0x2070 - Voltage quadrature demand
0x2071 - Voltage direct demand
0x2072 - Current quadrature demand
0x2073 - Current direct demand
0x2076 - Current actual value
0x2077 - Current command value
0x2078 - Position demand
0x2079 - Velocity demand
0x207A - Acceleration demand
0x207B - Velocity loop input offset
0x207C - Current quadrature loop input offset
0x207D - Current direct loop input offset
(Deprecated) 0x207F - Current loop feedback bypass
0x2080 - Torque loop input offset
0x2081 - Analog input 1 - Counts
0x2082 - Analog input 1 - Value
0x2083 - Analog input 2 - Counts
0x2084 - Analog input 2 - Value
0x208D - Analog output 1 - Value
0x2096 - Position loop control command
0x2097 - Velocity loop control command
0x2098 - Current quadrature / A control loop command
0x2099 - Current direct / B control loop command
0x209A - Rated torque
0x209B - Torque loop control command
0x20C1 - Interpolation data record - Position input
0x20C2 - Interpolation data record - Velocity input
0x20C3 - Interpolation data record - Time input
0x20C4 - Interpolation data record integrity check
0x20C5 - Interpolation data record status
0x2100 - Rated current
0x2101 - Peak current
0x2102 - Peak current time
0x2106 - Motor pole pairs
0x2109 - Motor temp. protection threshold
0x2120 - Internal shunt enable voltage
0x2121 - Internal shunt disable voltage
0x2122 - External shunt enable voltage
0x2123 - External shunt disable voltage
0x2124 - Brake activation voltage percentage
0x2125 - Brake holding voltage percentage
0x2126 - Delay before release brake
0x2127 - Delay after enable brake
0x2128 - Activation brake time
0x2129 - Brake override
0x212A - Brake activation current
0x212B - Brake holding current
0x212C - Brake current control Kp
0x212D - Brake current control Ki
0x212E - Brake control mode
0x212F - Brake current error window
0x2130 - Brake current error timeout
0x2131 - Brake max current
0x2133 - Brake current actual value
0x2134 - Brake current feedback source
0x2141 - Brake current command
0x214F - Commutation modulation
0x2150 - Commutation angle offset
0x2151 - Commutation feedback sensor
0x2152 - Reference angle offset
0x2153 - Reference feedback sensor
0x2154 - Phasing mode
0x2155 - Max. current on phasing sequence
0x2156 - Phasing timeout
0x2157 - Phasing accuracy
0x217B - Restart all feedbacks
0x217C - Set feedback power supply status
0x21C8 - Profiler latching mode
0x21D6 - Velocity threshold
0x21D7 - Velocity threshold time
0x21DC - Velocity following error window
0x21DD - Velocity following error timeout
0x21DE - Min position range limit
0x21DF - Max position range limit
0x21E0 - Max. current
0x21E2 - Position control loop error
0x21E3 - Velocity control loop error
0x21E4 - Torque control loop error
0x21E5 - Current direct control loop error
0x21E6 - Current quadrature control loop error
0x21E8 - Max. velocity
0x21EA - Min position
0x21EB - Max position
0x21EC - Position following error window
0x21ED - Position following error timeout
0x21EE - Following error
0x21EF - Interpolation time mantissa
0x21F0 - Interpolation time exponent
0x21F1 - Position window
0x21F2 - Position window time
0x21F3 - Velocity window
0x21F4 - Velocity window time
0x21F5 - Quick stop deceleration
0x21F6 - Interpolation data record force clear
0x21F7 - Interpolation buffer size
0x21F8 - Interpolation buffer number of elements
0x21F9 - Interpolation buffer maximum size
0x22E0 - Command source 1
0x22E1 - Command source 2
0x22E8 - Analog input 1 - Gain
0x22E9 - Analog input 1 - Offset
0x22EC - Analog input 2 - Gain
0x22ED - Analog input 2 - Offset
0x2360 - Velocity feedback sensor
0x2361 - Position feedback sensor
0x2362 - Auxiliar feedback sensor
0x2364 - Position to velocity sensor ratio
0x236F - Primary Absolute Slave 1 - Protocol
0x2370 - Primary Absolute Slave 1 - Frame size
0x2371 - Primary Absolute Slave 1 - Error tolerance
0x2372 - DEPRECATED - Primary Absolute Slave 1 - Wait cycles
0x2373 - Primary Absolute Slave 1 - Polarity
0x2374 - Primary Absolute Slave 1 - Frame type
0x2375 - Primary Absolute Slave 1 - Position bits
0x2376 - Primary Absolute Slave 1 - Single-turn bits
0x2377 - Primary Absolute Slave 1 - Position start bit
0x2378 - Secondary Absolute Slave 1 - Frame size
0x2379 - Secondary Absolute Slave 1 - Error tolerance
0x237A - DEPRECATED - Secondary Absolute Slave 1 - Wait cycles
0x237B - Secondary Absolute Slave 1 - Polarity
0x237C - Secondary Absolute Slave 1 - Frame type
0x237D - Secondary Absolute Slave 1 - Position bits
0x237E - Secondary Absolute Slave 1 - Single-turn bits
0x237F - Secondary Absolute Slave 1 - Position start bit
0x2380 - Generator mode
0x2381 - Generator frequency
0x2382 - Generator gain
0x2383 - Generator offset
0x2384 - Generator cycle number
0x2385 - Generator rearm
0x2386 - Primary Absolute Slave 1 - Baudrate
0x2387 - Secondary Absolute Slave 1 - Baudrate
0x2388 - Incremental encoder 1 - Resolution
0x2389 - Incremental encoder 1 - Polarity
0x238A - Incremental encoder 1 - Filter
0x238B - Incremental encoder 1 - Value
0x238C - Incremental encoder 2 - Resolution
0x238D - Incremental encoder 2 - Polarity
0x238E - Incremental encoder 2 - Filter
0x238F - Incremental encoder 2 - Value
0x2390 - Dig. hall polarity
0x2391 - Dig. hall filter
0x2392 - Dig. hall pole pairs
0x2393 - Dig. hall value
0x2394 - Feedback runaway source
0x2395 - Primary Absolute Feedbacks in Chain
0x2398 - Primary Absolute - Maximum refresh rate
0x2399 - Secondary Absolute - Maximum refresh rate
0x239A - Primary Absolute - Actual refresh rate
0x239B - Secondary Absolute - Actual refresh rate
0x2400 - Primary Absolute Slave 2 (daisy chain) - Frame size
0x2401 - Primary Absolute Slave 2 (daisy chain) - Error tolerance
0x2403 - Primary Absolute Slave 2 (daisy chain) - Polarity
0x2404 - Primary Absolute Slave 2 (daisy chain) - Frame type
0x2405 - Primary Absolute Slave 2 (daisy chain) - Position bits
0x2406 - Primary Absolute Slave 2 (daisy chain) - Single-turn bits
0x2407 - Primary Absolute Slave 2 (daisy chain) - Position start bit
0x2408 - Primary Absolute Slave 1 - CRC polynomial
0x2409 - Primary Absolute Slave 1 - CRC number of bits
0x240A - Primary Absolute Slave 2 (daisy chain) - CRC polynomial
0x240B - Primary Absolute Slave 2 (daisy chain) - CRC number of bits
0x240C - Primary Absolute Slave 1 - CRC seed
0x240D - Primary Absolute Slave 2 (daisy chain) - CRC seed
0x2438 - Primary Absolute Slave 1 - Position offset
0x2439 - Primary Absolute Slave 2 (daisy chain) - Position offset
0x243A - Secondary Absolute Slave 1 - Position offset
0x243B - Torque constant
0x243C - Secondary Absolute Slave 1 - Protocol
0x243D - Secondary Absolute Slave 1 - CRC polynomial
0x243E - Secondary Absolute Slave 1 - CRC seed
0x243F - Secondary Absolute Slave 1 - CRC number of bits
0x2450 - Homing mode
0x2451 - Homing offset
0x2452 - Homing timeout
0x2453 - Homing limit search speed
0x2454 - Homing zero search speed
0x2455 - Positive homing switch
0x2456 - Negative homing switch
0x2457 - Homing index pulse source
0x2458 - Current loop rate
0x24FE - Torque constant (obsolete)
0x24FF - Current scaling gain factor
0x2500 - Current quadrature loop Kp
0x2501 - Current quadrature loop Ki
0x2502 - Current quadrature loop max. out
0x2503 - Current quadrature loop min. out
0x2504 - DEPRECATED - Current quadrature loop Kr
0x2505 - Current direct loop Kp
0x2506 - Current direct loop Ki
0x2507 - Current direct loop max. out
0x2508 - Current direct loop min. out
0x2509 - DEPRECATED - Current direct loop Kr
0x250A - Velocity loop Kp
0x250B - Velocity loop Ki
0x250C - Velocity loop Kd
0x250D - Velocity loop Kd filter
0x250E - Velocity loop max. output
0x250F - Velocity loop min. output
0x2510 - Control loops feedback options
0x2511 - Position loop Kp
0x2512 - Position loop Ki
0x2513 - Position loop Kd
0x2514 - Position loop Kd filter
0x2515 - Position loop max. output
0x2516 - Position loop min. output
0x2517 - Current loop status
0x2518 - Velocity loop status
0x2519 - Position loop status
0x251A - STO status
0x251B - Velocity loop integral reset
0x251C - Position loop integral reset
0x251D - Velocity loop integral value
0x251E - Position loop integral value
0x251F - Maximum voltage bus utilization
0x2520 - Position & velocity loop rate
0x2521 - Power stage frequency
0x2522 - Control loops option code
0x2523 - Torque loop Kp
0x2524 - Torque loop Ki
0x2527 - Torque loop max. output
0x2528 - Torque loop min. output
0x2530 - Position feedback filter 1 type
0x2531 - Position feedback filter 1 frequency
0x2532 - Position feedback filter 1 Q-factor
0x2533 - Position feedback filter 1 gain
0x2538 - Position feedback filter 2 type
0x2539 - Position feedback filter 2 frequency
0x253A - Position feedback filter 2 Q-factor
0x253B - Position feedback filter 2 gain
0x2540 - Position reference filter 1 type
0x2541 - Position reference filter 1 frequency
0x2542 - Position reference filter 1 Q-factor
0x2543 - Position reference filter 1 gain
0x2548 - Position reference filter 2 type
0x2549 - Position reference filter 2 frequency
0x254A - Position reference filter 2 Q-factor
0x254B - Position reference filter 2 gain
0x2550 - Velocity feedback filter 1 type
0x2551 - Velocity feedback filter 1 frequency
0x2552 - Velocity feedback filter 1 Q-factor
0x2553 - Velocity feedback filter 1 gain
0x2558 - Velocity feedback filter 2 type
0x2559 - Velocity feedback filter 2 frequency
0x255A - Velocity feedback filter 2 Q-factor
0x255B - Velocity feedback filter 2 gain
0x2560 - Velocity reference filter 1 type
0x2561 - Velocity reference filter 1 frequency
0x2562 - Velocity reference filter 1 Q-factor
0x2563 - Velocity reference filter 1 gain
0x2568 - Velocity reference filter 2 type
0x2569 - Velocity reference filter 2 frequency
0x256A - Velocity reference filter 2 Q-factor
0x256B - Velocity reference filter 2 gain
0x2570 - Current feedback filter 1 type
0x2571 - Current feedback filter 1 frequency
0x2572 - Current feedback filter 1 Q-factor
0x2573 - Current feedback filter 1 gain
0x2578 - Current feedback filter 2 type
0x2579 - Current feedback filter 2 frequency
0x257A - Current feedback filter 2 Q-factor
0x257B - Current feedback filter 2 gain
0x2580 - Current reference filter 1 type
0x2581 - Current reference filter 1 frequency
0x2582 - Current reference filter 1 Q-factor
0x2583 - Current reference filter 1 gain
0x2588 - Current reference filter 2 type
0x2589 - Current reference filter 2 frequency
0x258A - Current reference filter 2 Q-factor
0x258B - Current reference filter 2 gain
0x2590 - Velocity loop Kffa
0x2591 - Position loop Kffv
0x2592 - Position loop Kffa
0x25FC - Map output 1
0x25FD - Map output 2
0x25FE - Map output 3
0x25FF - Map output 4
0x2600 - Digital inputs value
0x2601 - Digital outputs value
0x2602 - Digital outputs set value
0x2603 - Digital outputs polarity
0x2604 - Digital inputs polarity
0x2608 - Positive switch limit
0x2609 - Negative switch limit
0x260A - Quick stop input
0x260B - Quick stop option code
0x260D - External error signal reaction
0x260F - User I2T error option code
0x2610 - Position feedback out of limits error option code
0x2611 - Velocity feedback out of limits error option code
0x2612 - Position following error option code
0x2613 - Power stage user over-temperature error option code
0x2614 - Motor over-temperature error option code
0x2615 - Power stage user under-temperature error option code
0x2616 - Power stage user over voltage error option code
0x2617 - Power stage user under voltage error option code
0x2618 - External fault option code
0x2619 - Halls sequence error option code
0x261A - Feedback runaway error option code
0x261B - Over current without current control error option code
0x261D - Velocity following error option code
0x2620 - Halt option code
0x2621 - Halt input
0x2624 - Fault reset input
0x262B - Fault reaction timeout
0x262F - Over-voltage sensitivity
0x2630 - User over voltage level
0x2631 - User under voltage level
0x2632 - User over temperature level
0x2633 - User under temperature level
0x263B - STO error option code
0x2641 - Synchronization signal configuration
0x2643 - Synchronization signal frequency
0x2644 - Synchronization signal PLL filter cutoff frequency
0x2645 - Synchronization signal PLL phase
0x2646 - Synchronization signal PLL Kp
0x264D - Error total number
0x264E - Error list index request
0x26DB - Store all
0x26DC - Restore all
0x26DF - System reset
0x26E0 - Vendor ID
0x26E1 - Product code
0x26E2 - Revision number
0x26E4 - Software version
0x26E5 - Ingenia url
0x26E6 - Serial number
0x2706 - Min. low side on time 1 (ns)
0x2707 - Min. high side on time (ns)
0x270C - Current calibration offset tolerance
0x2729 - Current acquisition time (ns)
0x272A - Current acquisition advance time (ns)
0x272B - Min. low side on time 2 (ns)
0x272C - Min. low side on time 3 (ns)
0x272D - Min. low side on time 4 (ns)
0x2743 - Brake frequency
0x580F - Last error
Monitoring-Disturbance registers EtherCAT & CANopen
0x58A0 - Number of axes
0x58AA - Bootloader version
0x5D00 - Torque constant (obsolete)
0x5E49 - System last error
0x5E4A - System error total number
0x5E4B - System error list index request
0x5E4C - System error list requested code
0x5E4D - Error total number
0x5E4E - Error list index request
0x5E4F - Error list requested code
0x5E80 - Error notification source
0x5EC5 - Communication cycle timeout
0x5EDB - Store all
0x5EDC - Restore all
0x5EDE - Boot mode
0x5EDF - System reset
0x5EE0 - Vendor ID
0x5EE1 - Product code
0x5EE2 - Revision number
0x5EE4 - Software version
0x5EE6 - Serial number
0x6007 - Abort connection option code
0x603F - Error code
0x6040 - Control Word
0x6041 - Status Word
0x605A - Quick stop option code
0x605D - Halt option code
0x6060 - Operation mode
0x6061- Operation mode display
0x6062 - Position demand value
0x6064 - Actual position
0x6065 - Position following error window
0x6066 - Position following error timeout
0x606C - Actual velocity
0x606F - Velocity threshold
0x6070 - Velocity threshold time
0x6071 - Target torque
0x6073 - Max. current
0x6074 - Torque demand
0x6075 - Motor rated current
0x6076 - Motor rated torque
0x6077 - Torque actual value
0x6078 - Current actual value
0x607A - Position set-point
0x607B - Position range limit
0x607C - Homing offset
0x607D - Software position limit
0x6081 - Profile velocity
0x6083 - Profile acceleration
0x6084 - Profile deceleration
0x6098 - Homing method
0x6099 - Homing search velocities
0x60B1 - Velocity loop input offset
0x60B2 - Torque offset
0x60C2 - Interpolation time period
0x60F2 - Positioning option code
0x60F4 - Position following error
0x60FF - Velocity set-point
0x6502 - Supported drive modes

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