Identify attributes from codes

This table provides an alphabetical list of all Motion Axis Attributes specific to the CIP Drive data type. The table identifies whether the attribute is Required (R), Optional (O), or Conditional (C), in implementation based on the Device Function Code. Attributes that are not applicable for a device function code are denoted by a dash (-).
The Device Function Codes are:
  • G – Regenerative (Active) AC/DC Converters (No Control Mode, No Control Method)
  • N - Non-Regenerative (Passive) AC/DC Converters (No Control Mode, No Control Method
  • E – Encoder, Feedback Only (No Control Mode, No Control Method)
  • P – Position Loop (Position Control Mode, Closed Loop Vector Control Method)
  • V – Velocity Loop (Velocity Control Mode, Closed Loop Vector Control Method)
  • T – Torque Loop (Torque Control Mode, Closed Loop Vector Control Method)
  • F – Frequency Control (Velocity Control Mode, Frequency Control Method)
  • X – Track Section (No Control Mode, No Control Method)
The C/D column states whether the attribute is replicated in the drive.
Attr. ID
Access Rule
Tag
Attribute Name
G
N
E
F
P
V
T
C/D
Conditional Implementation
Axis Test Mode (Test Mode Configuration)
2011
Get
T
AC Line Current
R
-
-
-
-
-
-
Yes
V32
2034
Set
AC Line Current Unbalance Limit
O
-
-
-
-
-
-
Yes
V32
2225
Get
T
AC Line Electrical Angle
O
-
-
-
-
-
-
Yes
V32
2010
Get
T
AC Line Frequency
R
-
-
-
-
-
-
Yes
V32
2245
Set
AC Line Frequency Change Action
O
-
-
-
-
-
-
Yes
V32
2246
Set
AC Line Frequency Change Threshold
O
-
-
-
-
-
-
Yes
V32
2247
Set
AC Line Frequency Change Time
O
-
-
-
-
-
-
Yes
V32
2284
Set
AC Line High Freq User Limit
O
-
-
-
-
-
-
Yes
V32
2286
Set
AC Line High Freq User Limit - Alternate
O
-
-
-
-
-
-
Yes
V32
2285
Set
AC Line Low Freq User Limit
O
-
-
-
-
-
-
Yes
V32
2287
Set
AC Line Low Freq User Limit - Alternate
O
-
-
-
-
-
-
Yes
V32
2280
Set
AC Line Overvoltage User Limit
O
-
-
-
-
-
-
Yes
V32
2282
Set
AC Line Overvoltage User Limit - Alternate
O
-
-
-
-
-
-
Yes
V32
2041
Set
AC Line Source Impedance
O
-
-
-
-
-
-
Yes
V32
2043
Set
AC Line Source Impedance - Alternate
O
-
-
-
-
-
-
Yes
V32
2042
Set
AC Line Source Power
O
-
-
-
-
-
-
Yes
V32
2044
Set
AC Line Source Power - Alternate
O
-
-
-
-
-
-
Yes
V32
2040
Set
AC Line Source Select
O
-
-
-
-
-
-
Yes
V32
1078
Set
AC Line Sync Configuration
O
-
-
-
-
-
-
V36
2035
Set
AC Line Sync Error Tolerance
O
-
-
-
-
-
-
Yes
V32
2037
Set
AC Line Sync Ki
O
-
-
-
-
-
-
-
V36
2036
Set
AC Line Sync Kp
O
-
-
-
-
-
-
-
V36
2248
Set
AC Line Sync Loss Action
O
-
-
-
-
-
-
Yes
V32
2249
Set
AC Line Sync Loss Time
O
-
-
-
-
-
-
Yes
V32
1079
Set
AC Line Sync Resoning Damping Gain
O
-
-
-
-
-
-
V32
2281
Set
AC Line Undervoltage User Limit
O
-
-
-
-
-
-
Yes
V32
2283
Set
AC Line Undervoltage User Limit - Alternate
O
-
-
-
-
-
-
Yes
V32
2012
Get
T
AC Line Voltage
R
-
-
-
-
-
-
Yes
V32
2228
Set
AC Line Voltage Low Pass Filter Bandwidth
O
-
-
-
-
-
-
V36
2242
Set
AC Line Voltage Sag Action
O
-
-
-
-
-
-
Yes
V32
2241
Set
AC Line Voltage Sag Threshold
O
-
-
-
-
-
-
Yes
V32
2241
Set
AC Line Voltage Sag Time
O
-
-
-
-
-
-
Yes
V32
2014
Set
AC Line Voltage Time Constant
O
-
-
-
-
-
-
Yes
V32
2033
Set
AC Line Voltage Unbalance Limit
O
-
-
-
-
-
-
Yes
V32
483/138
Get
T
Acceleration Feedback
-
-
R
-
R
R
R
Yes
452
Get
T
Acceleration Feedforward Command
-
-
-
-
R
R
-
Yes
460/216
Set
T
Acceleration Feedforward Gain
-
-
-
-
R
R
-
Yes
367
Get
T
Acceleration Fine Command
-
-
-
-
O
O
O
Yes
485
Set
Acceleration Limit
-
-
-
O
O
O
O
Yes
482
Get
T
Acceleration Reference
-
-
-
-
O
O
O
Yes
481
Set
T
Acceleration Trim
-
-
-
-
O
O
O
Yes
1600
Get
T
Accelerometer Feedback Device X
O
O
O
O
O
O
O
V35
1603
Get
T
Accelerometer Feedback Device X-RMS
O
O
O
O
O
O
O
V35
1601
Get
T
Accelerometer Feedback Device Y
O
O
O
O
O
O
O
V35
1604
Get
T
Accelerometer Feedback Device Y-RMS
O
O
O
O
O
O
O
V35
1602
Get
T
Accelerometer Feedback Device Z
O
O
O
O
O
O
O
V35
1605
Get
T
Accelerometer Feedback Device Z-RMS
O
O
O
O
O
O
O
V35
2091
Set
Active Current Command
O
-
-
-
-
-
-
Yes
V32
2106
Get
T
Active Current Error
O
-
-
-
-
-
-
Yes
V32
2118
Get
T
Active Current Feedback
O
-
-
-
-
-
-
Yes
V32
2094
Set
Active Current Low Pass Filter Bandwidth
O
-
-
-
-
-
-
Yes
V32
2095
Set
Active Current Notch Filter Frequency
O
-
-
-
-
-
-
Yes
V32
2096
Set
Active Current Rate Limit
O
-
-
-
-
-
-
Yes
V32
2080
Get
T
Active Current Reference
R
-
-
-
-
-
-
Yes
V32
2082
Get
T
Active Current Reference - Compensated
R
-
-
-
-
-
-
Yes
V32
2081
Get
T
Active Current Reference - Filtered
R
-
-
-
-
-
-
Yes
V32
2104
Get
T
Active Current Reference - Limited
R
-
-
-
-
-
-
Yes
V32
2093
Set
T
Active Current Trim
O
-
-
-
-
-
-
Yes
V32
53
Get
T
Actual Acceleration
-
-
R
R
R
R
R
48
Get
T
Actual Position
-
-
R
R
R
R
R
Controller Loop Back: V35
52
Get
T
Actual Velocity
-
-
R
R
R
R
R
1376
Set
Actuator Diameter
-
-
C
C
C
C
C
Yes
(R) Controller only attribute, Motion Scaling Configuration set to Controller Scaling;
(O) Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling
1377
Set
Actuator Diameter Unit
-
-
C
C
C
C
C
Yes
(R) Controller only attribute, Motion Scaling Configuration set to Controller Scaling;
(O) Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling
1374
Set
Actuator Lead
-
-
C
C
C
C
C
Yes
(R) Controller only attribute, Motion Scaling Configuration set to Controller Scaling;
(O) Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling
1375
Set
Actuator Lead Unit
-
-
C
C
C
C
C
Yes
(R) Controller only attribute, Motion Scaling Configuration set to Controller Scaling;
(O) Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling
1373
Set
Actuator Type
-
-
C
C
C
C
C
Yes
(R) Controller only attribute, Motion Scaling Configuration set to Controller Scaling;
(O) Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling
836
Set
Adaptive Tuning Configuration
-
-
-
-
O
O
O
Yes
V26
844
Get
T
Adaptive Tuning Gain Scaling Factor
-
-
-
-
O
O
O
Yes
V26
732/267
Get
T
Analog Input 1
O
O
-
O
O
O
O
Yes
733/268
Get
T
Analog Input 2
O
O
-
O
O
O
O
Yes
734
Set
T
Analog Output 1
O
O
-
O
O
O
O
Yes
735
Set
T
Analog Output 2
O
O
-
O
O
O
O
Yes
150
Set
Application Catalog Number
R
R
R
R
R
R
R
V34
148
Set
Application Catalog Number Instance
R
R
R
R
R
R
R
V34
149F
Set
Application Catalog Number Version
R
R
R
R
R
R
R
V34
201
Set
Application Type
-
-
-
-
R
R
-
164
Get
T
Attribute Error Code
R
R
R
R
R
R
R
165
Get
T
Attribute Error ID
R
R
R
R
R
R
R
873
Set
Auto Sag Configuration
-
-
-
O
O
O
O
Yes
E, V26
874
Set
Auto Sag Slip Increment
-
-
-
O
O
O
O
Yes
E, V26
875
Set
Auto Sag Slip Time Limit
-
-
-
O
O
O
O
Yes
E, V26
876
Set
Auto Sag Start
-
-
-
O
O
O
O
Yes
E, V26
51
Get
T
Average Velocity
-
-
R
R
R
R
R
81
Set
Average Velocity Timebase
-
-
R
R
R
R
R
1
Get
Axis Address
R
R
R
R
R
R
R
30
Set
Axis Configuration
R
R
R
R
R
R
R
Optional Enumeration
Controller Loop Back: V35
12
Get
Axis Configuration State
R
R
R
R
R
R
R
11
Get
Axis Data Type
R
R
R
R
R
R
R
35
Get
T
Axis Event Bits
R
R
R
R
R
R
R
34
Get
T
Axis Fault Bits
R
R
R
R
R
R
R
19
Set
Axis Features
R
R
R
R
R
R
R
Optional bit maps
Controller Loop Back: V35
106
Set
Axis ID
R
R
R
R
R
R
R
2
Get
Axis Instance
R
R
R
R
R
R
R
753
Get
T
Axis Safety Alarms
-
-
O
O
O
O
O
Yes
V32
754
Get
T
Axis Safety Alarms - Mfg
-
-
O
O
O
O
O
Yes
V32
988
Get
T
Axis Safety Alarms - RA
-
-
O
O
O
O
O
Yes
V32
986
Get
T
Axis Safety Data A
-
-
-
O
O
O
O
Yes
V31
Controller Loop Back: V36
987
Get
T
Axis Safety Data B
-
-
-
O
O
O
O
Yes
V31
Controller Loop Back: V36
763
Get
T
Axis Safety Faults
-
-
O
O
O
O
O
Yes
V24
Controller Loop Back: V36
985
Get
T
Axis Safety Faults - RA
-
-
O
O
O
O
O
Yes
V31
760
Get
T
Axis Safety State
-
-
O
O
O
O
O
Yes
V24
Controller Loop Back: V36
761
Get
T
Axis Safety Status
-
-
O
O
O
O
O
Yes
V24
Controller Loop Back: V36
984
Get
T
Axis Safety Status - RA
-
-
O
O
O
O
O
Yes
V31
13
Get
Axis State
R
R
R
R
R
R
R
33
Get
T
Axis Status Bits
R
R
R
R
R
R
R
124
Set
Axis Update Schedule
R
R
R
R
R
R
R
825
Set
Backlash Compensation Window
-
-
-
-
O
-
-
Yes
423
Set
Backlash Reversal Offset
-
-
-
-
R
-
-
E
593
Set
Brake Prove Ramp Time
-
-
-
O
O
O
O
Yes
E, V26
594
Set
Brake Slip Tolerance
-
-
-
O
O
O
O
Yes
E, V26
592
Set
Brake Test Torque
-
-
-
O
O
O
O
Yes
E, V26
576
Set
Break Frequency
-
-
-
R
-
-
-
Yes
Basic V/Hz only
575
Set
Break Voltage
-
-
-
R
-
-
-
Yes
Basic V/Hz only
816
Set
Bus Observer Bandwidth
O
-
-
-
-
-
-
Yes
Voltage Control only, V32
815
Set
Bus Observer Configuration
O
-
-
-
-
-
-
Yes
Optional Enumeration
Voltage Control only, V32
812
Get
T
Bus Observer Current Estimate
O
-
-
-
-
-
-
Yes
Voltage Control only, V32
817
Set
Bus Observer Integrator Bandwidth
O
-
-
-
-
-
-
Yes
Voltage Control only, V32
811
Get
T
Bus Observer Voltage Rate Estimate
O
-
-
-
-
-
-
Yes
Voltage Control only, V32
255
Set
Bus Overvoltage Operational Limit
-
-
-
-
R
R
R
V29
638/262
Get
T
Bus Regulator Capacity
O
O
-
O
O
O
O
Yes
2571
Bus Voltage Droop Control Mode
O
-
-
-
-
-
-
Voltage Control Only, V36
2572
Bus Voltage Droop Full Load
O
-
-
-
-
-
-
Voltage Control Only, V36
2573
Bus Voltage Droop Gain No Load
O
-
-
-
-
-
-
Voltage Control Only, V36
2575
Bus Voltage Droop Minimum Bus Voltage
O
-
-
-
-
-
-
Voltage Control Only, V36
2574
Bus Voltage Droop Transition Current
O
-
-
-
-
-
-
Voltage Control Only, V36
2054
Get
T
Bus Voltage Error
R
-
-
-
-
-
-
Yes
Voltage Control only, V32
2065
Set
Bus Voltage Error Tolerance
O
O
-
-
-
-
-
Yes
Voltage Control only - G, V32
2066
Set
Bus Voltage Error Tolerance Time
O
O
-
-
-
-
-
Yes
Voltage Control only - G, V32
2053
Get
T
Bus Voltage Feedback
R
-
-
-
-
-
-
Yes
Voltage Control only, V32
2063
Set
Bus Voltage Integrator Bandwidth
R
-
-
-
-
-
-
Yes
Voltage Control only, V32
2062
Set
Bus Voltage Loop Bandwidth
R
-
-
-
-
-
-
Yes
Voltage Control only, V32
2064
Set
Bus Voltage Rate Limit
O
-
-
-
-
-
-
Yes
Voltage Control only, V32
2050
Get
T
Bus Voltage Reference
R
O
-
-
-
-
-
Yes
Voltage Control only - G, V32
2061
Set
Bus Voltage Reference Source
O
-
-
-
-
-
-
Yes
V32
2060
Set
T
Bus Voltage Set Point
R
O
-
-
-
-
-
Yes
Voltage Control only - G, V32
8
Set
C2C Connection Instance
R
R
R
R
R
R
R
7
Set
C2C Map Instance
R
R
R
R
R
R
R
756
Get
CIP APR Faults
-
-
C
-
C
C
C
Yes
(R) Controller only attribute, Motion Scaling Configuration set to Controller Scaling;
(O) Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling; V27; E
905
Get
T
CIP APR Faults - RA
-
-
C
-
C
C
C
Yes
(R) Controller only attribute, Motion Scaling Configuration set to Controller Scaling;
(O) Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling; V27; E
26
Get
CIP Axis Alarm Log
R
R
R
R
R
R
R
127
Get
CIP Axis Alarm Log Count
R
R
R
R
R
R
R
28
Set
CIP Axis Alarm Log Reset
R
R
R
R
R
R
R
659
Get
T
CIP Axis Alarms
O
O
O
O
O
O
O
Yes
Controller Loop Back: V36
904
Get
T
CIP Axis Alarms - RA
O
O
O
O
O
O
O
Yes
746
Get
T
CIP Axis Alarms 2
O
O
O
O
O
O
O
Yes
V32
927
Get
T
CIP Axis Alarms 2 - RA
O
O
O
O
O
O
O
Yes
V32
672
Set
CIP Axis Exception Action
R
R
R
R
R
R
R
Yes
Optional Enumeration
748
Set
CIP Axis Exception Action 2
R
O
O
O
O
O
O
Yes
Optional Enumeration
V32
908
Set
CIP Axis Exception Action - RA
R
R
R
R
R
R
R
Yes
Optional Enumeration
909
Set
CIP Axis Exception Action 2 - RA
R
O
O
O
O
O
O
Yes
Optional Enumeration
V32
25
Get
CIP Axis Fault Log
R
R
R
R
R
R
R
126
Get
CIP Axis Fault Log Count
R
R
R
R
R
R
R
27
Set
CIP Axis Fault Log Reset
R
R
R
R
R
R
R
657
Get
T
CIP Axis Faults
R
R
R
R
R
R
R
Yes
744
Get
T
CIP Axis Faults 2
R
O
O
O
O
O
O
Yes
V32
903
Get
T
CIP Axis Faults - RA
R
R
R
R
R
R
R
Yes
926
Get
T
CIP Axis Faults 2 - RA
R
O
O
O
O
O
O
Yes
V32
653
Get
T
CIP Axis I/O Status
R
R
R
R
R
R
R
Yes
901
Get
T
CIP Axis I/O Status - RA
R
R
R
R
R
R
R
Yes
650
Get
T
CIP Axis State
R
R
R
R
R
R
R
Yes
Controller Loop Back: V36
651
Get
T
CIP Axis Status
R
R
R
R
R
R
R
Yes
Controller Loop Back: V36
740
Get
T
CIP Axis Status 2
R
O
O
O
O
O
O
Yes
V32
Controller Loop Back: V36
900
Get
T
CIP Axis Status - RA
R
R
R
R
R
R
R
Yes
924
Get
T
CIP Axis Status 2 - RA
R
O
O
O
O
O
O
Yes
V32
152
Set
CIP Controller Get Attribute Access Bits
R
R
R
R
R
R
R
V34
151
Set
CIP Controller Set Attribute Access Bits
R
R
R
R
R
R
R
V34
168
Set
CIP Controller Get Attr Update Bits
R
R
R
R
R
R
R
167
Set
CIP Controller Set Attr Update Bits
R
R
R
R
R
R
R
154
Set
CIP Drive Get Attribute Access Bits
R
R
R
R
R
R
R
V34
153
Set
CIP Drive Set Attribute Access Bits
R
R
R
R
R
R
R
V34
674
Get
T
CIP Initialization Faults
R
R
R
R
R
R
R
Yes
910
Get
T
CIP Initialization Faults- RA
R
R
R
R
R
R
R
Yes
676
Get
T
CIP Start Inhibits
R
R
R
R
R
R
R
Yes
912
Get
T
CIP Start Inhibits - RA
R
R
R
R
R
R
R
Yes
617
Set
Coasting Time Limit
-
-
-
O
O
O
O
Yes
V26
100
Get
T
Command Acceleration
-
-
-
R
R
R
-
96
Get
T
Command Position
-
-
-
R
R
R
-
Controller Loop Back: V35
95
Set*
T
Command Torque
-
-
-
-
-
R
R
360
Set
Command Update Delay Offset
-
-
-
-
R
R
-
E
99
Get
T
Command Velocity
-
-
-
R
R
R
-
561
Set
Commutation Offset
-
-
-
-
R
R
R
Yes
E; PM Motor only
850
Set
Commutation Offset Compensation
-
-
-
-
O
O
O
Yes
E; IPM Motor only, V29
563
Set
Commutation Polarity
-
-
-
-
O
O
O
Yes
E; PM Motor only
562
Set
Commutation Self-Sensing Current
-
-
-
-
O
O
O
Yes
E; PM Motor only, AOP
618
Set
Connection Loss Stopping Action
-
-
-
O
O
O
O
Yes
O-Enum V31
1 = Current Decel Disable (X/O/V33)(F/O)
2 = Ramped Decel Disable (F/O)(P/O/V33)(V/O)
3 = Current Decel Hold (P/O)(V/O)
4 = Ramped Decel Hold (P/O/V33)(V/O)
128 = DC Injection Brake (F/O/V34)(P/O/V34)(V/O/V34)(T/O/V34)
129 = AC Injection Brake (F/O/V34)(P/O/V34)(V/O/V34)(T/O/V34)
41
Get
Control Method
R
R
R
R
R
R
R
Yes
Derived – Axis Config
40
Set*
Control Mode
R
R
R
R
R
R
R
Yes
Derived – Axis Config
82
Set
Conversion Constant
-
-
R
R
R
R
R
2030
Set
Converter AC Input Frequency
O
-
-
-
-
-
-
Yes
V32
2031
Set
Converter AC Input Phasing
O
-
-
-
-
-
-
Yes
V32
2032
Set
Converter AC Input Voltage
O
-
-
-
-
-
-
Yes
V32
637
Get
T
Converter Capacity
O
O
-
O
O
O
O
Yes
1280
Set
Converter Configuration
R
-
-
-
-
-
-
V32; Optional Enumeration
2001
Set*
Converter Control Mode
R
-
-
-
-
-
-
Yes
V32; Derived - Converter Config
2231
Set
Converter Current Integrator Bandwidth
O
-
-
-
-
-
-
Yes
V32
2103
Get
T
Converter Current Limit Source
O
-
-
-
-
-
-
Yes
V32
2230
Set
Converter Current Loop Bandwidth
O
-
-
-
-
-
-
Yes
V32
1065
Set
Converter Current Loop Bandwidth Base
R
-
-
-
-
-
-
V32
2322
Set
Converter Current Loop Damping
O
-
-
-
-
-
-
Yes
V32
2321
Set
Converter Current Loop Tuning Method
O
-
-
-
-
-
-
Yes
V32
2323
Set
Converter Current Power Feedback
O
-
-
-
-
-
-
V36
2232
Set
Converter Current Vector Limit
O
-
-
-
-
-
-
Yes
V32
1069
Set
Converter DC Bus Capacitance
R
-
-
-
-
-
-
V32
2004
Set
Converter Disable Delay
O
-
-
-
-
-
-
V36
709
Set
Converter Ground Current User Limit
O
-
-
-
-
-
-
Yes
V32
2288
Set
Converter Heatsink Overtemp User Limit
O
-
-
-
-
-
-
Yes
V32
2243
Set
Converter Input Phase Loss Action
O
-
-
-
-
-
-
Yes
V32
2244
Set
Converter Input Phase Loss Time
O
-
-
-
-
-
-
Yes
V32
887
Converter Inverter Motor Power Limit Min
O
-
-
-
-
-
-
V36
888
Converter Inverter Regen Power Limit Max
O
-
-
-
-
-
-
V36
2289
Set
Converter Line Overload User Limit
O
-
-
-
-
-
-
Yes
V32
1049
Set
Converter Model Time Constant
R
-
-
-
-
-
-
V32
1064
Set
Converter Model Time Constant Base
R
-
-
-
-
-
-
V32
596
Set
Converter Motoring Power Limit
O
O
-
-
-
-
-
Yes
V32
2100
Get
T
Converter Operative Current Limit
O
-
-
-
-
-
-
Yes
V32
605
Get
T
Converter Output Current
O
O
-
O
O
O
O
Yes
V26
606
Get
T
Converter Output Power
O
O
-
O
O
O
O
Yes
V26
2268
Set
Converter Overload Action
O
-
-
-
-
-
-
Yes
Optional Enumeration
V32
700
Set
Converter Overtemperature User Limit
O
-
-
-
-
-
-
Yes
V32
921
Set
Converter Pre-Charge Overload User Limit
O
-
-
-
-
-
-
Yes
V32
1066
Set
Converter Rated Current
R
-
-
-
-
-
-
V32
1067
Set
Converter Rated Peak Current
R
-
-
-
-
-
-
V32
1068
Set
Converter Rated Voltage
R
-
-
-
-
-
-
V32
626
Set
Converter Regenerative Power Limit
O
O
-
-
-
-
-
Yes
V32
2003
Set
Converter Startup Method
O
-
-
-
-
-
-
Yes
V32
Controller Loop Back: V35
701
Set
Converter Thermal Overload User Limit
O
-
-
-
-
-
-
Yes
V32
520
Get
T
Current Command
-
-
-
-
R
R
R
Yes
840
Set
T
Current Disturbance
-
-
-
-
O
O
O
Yes
527
Get
T
Current Error
-
-
-
-
O
O
O
Yes
529
Get
T
Current Feedback
-
-
-
-
O
O
O
Yes
522
Get
T
Current Limit Source
-
-
-
O
O
O
O
Yes
F Support in V29
524
Get
T
Current Reference
-
-
-
-
O
O
O
Yes
553
Set
Current Vector Limit
-
-
-
O
O
O
O
Yes
46
Set
Cyclic Read Update List
R
R
R
R
R
R
R
Controller Loop Back: V36
47
Set
Cyclic Write Update List
R
R
R
R
R
R
R
196
Set
Damping Factor
R
-
-
-
R
R
R
2468
Set
DBC High Voltage Threshold
O
-
-
-
-
-
-
Voltage Control only, V36
2467
Set
DBC Low Voltage Threshold
O
-
-
-
-
-
-
Voltage Control only, V36
2466
Set
DBC Mode
O
-
-
-
-
-
-
Voltage Control only, V36
2472
Set
DBC Motoring Minimum Power Limit
O
-
-
-
-
-
-
Voltage Control only, V36
2470
Set
DBC Motoring Nominal Power Limit
O
-
-
-
-
-
-
Voltage Control only, V36
2469
Set
DBC Nominal Voltage Threshold
O
-
-
-
-
-
-
Voltage Control only, V36
2473
Set
DBC Regenerative Minimum Power Limit
O
-
-
-
-
-
-
Voltage Control only, V36
2471
Set
DBC Regenerative Nominal Power Limit
O
-
-
-
-
-
-
Voltage Control only, V36
607
Get
DC Bus Input Current
-
-
-
O
O
O
O
V34
620/266
Get
T
DC Bus Voltage
R
R
-
R
R
R
R
Yes
870
Set
DC Injection Brake Current
-
-
-
O
O
O
O
Yes
872
Set
DC Injection Brake Time
-
-
-
O
O
O
O
Yes
486
Set
Deceleration Limit
-
-
-
O
O
O
O
Yes
730
Get
T
Digital Inputs
O
O
-
O
O
O
O
Yes
731
Set
T
Digital Outputs
O
O
-
O
O
O
O
Yes
105
Set*
T
Direct Command Velocity
-
R
-
R
-
200
Set
Drive Model Time Constant
-
-
-
-
R
R
R
253
Set
Drive Model Time Constant Base
-
-
-
-
R
R
R
254
Set
Drive Rated Peak Current
-
-
-
-
R
R
R
120
Set
Dynamics Configuration Bits
-
-
-
R
R
R
-
1057
Set
External DC Bus Capacitance
R
-
-
-
-
-
-
V32
1435
Set
Feedback 1 Accel Filter Bandwidth
-
-
O
-
O
O
O
Yes
E
2404
Set
Feedback 1 Accel Filter Taps
-
-
O
-
O
O
O
Yes
E
2405
Set
Feedback 1 Battery Absolute
-
-
O
-
O
O
O
Yes
E; TG,NK
2406
Set
Feedback n Calibration Offset
O
O
O
E;TM, V33
1417
Set
Feedback 1 Cycle Interpolation
-
-
R
-
R
R
R
Yes
E; Not Linear Displacement Transducer (feedback type), AOP
1416
Set
Feedback 1 Cycle Resolution
-
-
R
-
R
R
R
Yes
E; Not Linear Displacement Transducer (feedback type)
1421
Set
Feedback 1 Data Code
-
-
O
-
O
O
O
Yes
E; Digital Parallel (feedback type),SSI (feedback type)
1420
Set
Feedback 1 Data Length
-
-
O
-
O
O
O
Yes
E; Digital Parallel (feedback type),SSI (feedback type)
1419
Set
Feedback 1 Length
-
-
R
-
R
R
R
Yes
E; Linear Absolute Only
2400
Set
Feedback 1 Loss Action
-
-
O
-
O
O
O
Yes
E
1414
Set
Feedback 1 Polarity
-
-
O
-
O
O
O
Yes
E
1425
Set
Feedback 1 Resolver Cable Balance
-
-
O
-
O
O
O
Yes
E; Resolver (feedback type)
1424
Set
Feedback 1 Resolver Excitation Frequency
-
-
O
-
O
O
O
Yes
E; Resolver (feedback type)
1423
Set
Feedback 1 Resolver Excitation Voltage
-
-
O
-
O
O
O
Yes
E; Resolver (feedback type)
1422
Set
Feedback 1 Resolver Transformer Ratio
-
-
O
-
O
O
O
Yes
E; Resolver (feedback type)
1401
Get
Feedback 1 Serial Number
-
-
O
-
O
O
O
Yes
E
1415
Set
Feedback 1 Startup Method
-
-
R
-
R
R
R
Yes
E; Optional Enumeration
1418
Set
Feedback 1 Turns
-
-
R
-
R
R
R
Yes
E; Rotary Absolute Only
1413
Set
Feedback 1 Type
-
-
R
-
R
R
R
Yes
E; Optional Enumeration
1411
Set
Feedback 1 Unit
-
-
R
-
R
R
R
Yes
E
1434
Set
Feedback 1 Velocity Filter Bandwidth
-
-
O
-
O
O
O
Yes
E
2403
Set
Feedback 1 Velocity Filter Taps
-
-
O
-
O
O
O
Yes
E
1485
Set
Feedback 2 Accel Filter Bandwidth
-
-
O
-
O
O
O
Yes
E
2454
Set
Feedback 2 Accel Filter Taps
-
-
O
-
O
O
O
Yes
E
2455
Set
Feedback 2 Battery Absolute
-
-
O
-
O
O
O
Yes
E; TG, NK
2456
Set
Feedback 2 Calibration Offset
O
O
O
E; TM,V33
1467
Set
Feedback 2 Cycle Interpolation
-
-
R
-
R
R
R
Yes
E; Not Linear Displacement Transducer (feedback type), AOP
1466
Set
Feedback 2 Cycle Resolution
-
-
R
-
R
R
R
Yes
E; Not Linear Displacement Transducer (feedback type)
1471
Set
Feedback 2 Data Code
-
-
O
-
O
O
O
Yes
E; Digital Parallel (feedback type),SSI (feedback type)
1470
Set
Feedback 2 Data Length
-
-
O
-
O
O
O
Yes
E; Digital Parallel (feedback type),SSI (feedback type)
1469
Set
Feedback 2 Length
-
-
R
-
R
R
R
Yes
E; Linear Absolute Only
2450
Set
Feedback 2 Loss Action
-
-
O
-
O
O
O
Yes
E
1464
Set
Feedback 2 Polarity
-
-
O
-
O
O
O
Yes
E
1475
Set
Feedback 2 Resolver Cable Balance
-
-
O
-
O
O
O
Yes
E; Resolver (feedback type)
1474
Set
Feedback 2 Resolver Excitation Frequency
-
-
O
-
O
O
O
Yes
E; Resolver (feedback type)
1473
Set
Feedback 2 Resolver Excitation Voltage
-
-
O
-
O
O
O
Yes
E; Resolver (feedback type)
1472
Set
Feedback 2 Resolver Transformer Ratio
-
-
O
-
O
O
O
Yes
E; Resolver (feedback type)
1451
Get
Feedback 2 Serial Number
-
-
-
-
O
O
O
Yes
E
1465
Set
Feedback 2 Startup Method
-
-
R
-
R
R
R
Yes
E; Optional Enumeration
1468
Set
Feedback 2 Turns
-
-
R
-
R
R
R
Yes
E; Rotary Absolute Only
1463
Set
Feedback 2 Type
-
-
R
-
R
R
R
Yes
E; Optional Enumeration
1461
Set
Feedback 2 Unit
-
-
R
-
R
R
R
Yes
E
1484
Set
Feedback 2 Velocity Filter Bandwidth
-
-
O
-
O
O
O
Yes
E
2453
Set
Feedback 2 Velocity Filter Taps
-
-
O
-
O
O
O
Yes
E
250
Set
Feedback Commutation Aligned
-
-
-
-
O
O
O
Yes
E; PM Motor only,
Optional Enumeration
31
Set
Feedback Configuration
R
R
R
R
R
R
R
Optional Enumeration
708
Set
Feedback Data Loss User Limit
-
-
O
O
O
O
O
Yes
E
42
Set*
Feedback Mode
-
-
R
R
R
R
R
Yes
Derived - Fdbk Config
706
Set
Feedback Noise User Limit
-
-
O
O
O
O
O
Yes
E
707
Set
Feedback Signal Loss User Limit
-
-
O
O
O
O
O
Yes
E
44
Set
Feedback Unit Ratio
-
-
-
-
O
O
-
Yes
E
871
Set
Flux Braking Enable
-
-
-
O
O
O
O
Yes
Ind Motor only
528
Get
T
Flux Current Error
-
-
-
-
O
O
O
Yes
530
Get
T
Flux Current Feedback
-
-
-
-
O
O
O
Yes
525
Get
T
Flux Current Reference
-
-
-
-
O
O
O
Yes
557
Set
Flux Integral Time Constant
-
-
-
-
O
O
O
Yes
556
Set
Flux Loop Bandwidth
-
-
-
-
O
O
O
Yes
558
Set
Flux Up Control
-
-
-
O
O
O
O
Yes
Ind Motor only,
Optional Enumeration
559
Set
Flux Up Time
-
-
-
O
O
O
O
Yes
Ind Motor only
380
Set
Flying Start Enable
-
-
-
O
-
O
-
Yes
381
Set
Flying Start Method
-
-
-
O
-
O
-
Yes
V29
570
Set
Frequency Control Method
-
-
-
R
-
-
-
Yes
Optional Enumeration
498
Set
Friction Compensation Sliding
-
-
-
-
O
O
O
Yes
499
Set
Friction Compensation Static
-
-
-
-
O
O
O
Yes
500
Set
Friction Compensation Viscous
-
-
-
-
O
O
O
Yes
826/421
Set
Friction Compensation Window
-
-
-
-
O
-
-
Yes
2528
Set
Gain Optimization Time
-
-
-
-
O
O
-
189
Set
Gain Tuning Configuration Bits
-
-
-
-
R
R
R
3
Get
Group Instance
R
R
R
R
R
R
R
981/243
Get
T
Guard Faults
-
-
O
O
O
O
Yes
980/242
Get
T
Guard Status
-
-
-
O
O
O
O
Yes
88
Set
Home Configuration Bits
-
-
R
-
R
R
R
E
86
Set
Home Direction
-
-
-
-
R
R
-
E
18
Get
Home Event Task
-
-
R
R
R
R
R
E
85
Set
Home Mode
-
-
R
-
R
R
R
E
90
Set
Home Offset
-
-
R
-
R
R
R
E
89
Set
Home Position
-
-
R
-
R
R
R
E
113
Set
Home Return Speed
-
-
-
-
R
R
-
E
87
Set
Home Sequence
-
-
R
-
R
R
R
Optional Enumeration; E
112
Set
Home Speed
-
-
-
-
R
R
-
E
245
Get
Hookup Test Commutation Offset
-
-
R
-
R
R
R
PM Motor only; E
246
Get
Hookup Test Commutation Polarity
-
-
R
-
R
R
R
PM Motor only; E
109
Set
Hookup Test Distance
-
-
R
-
R
R
R
E
247
Get
Hookup Test Feedback 1 Direction
-
-
R
-
R
R
R
E
248
Get
Hookup Test Feedback 2 Direction
-
-
R
-
R
R
R
E
111
Set
Hookup Test Feedback Channel
-
-
R
-
R
R
R
E
244
Get
Hookup Test Status
-
-
R
R
R
R
R
110
Set
Hookup Test Time
-
-
-
R
-
R
-
!E
1346
Set
Induction Motor Flux Current
-
-
-
R
R
R
R
Yes
Ind Motor only
1349
Set
Induction Motor Magnetization Reactance
-
-
-
O
O
O
O
Yes
Ind Motor only
1345
Set
Induction Motor Rated Frequency
-
-
-
R
R
R
R
Yes
Ind Motor only
1352
Set
Induction Motor Rated Slip Speed
-
-
-
O
O
O
O
Yes
Ind Motor only
1351
Set
Induction Motor Rotor Leakage Reactance
-
-
-
O
O
O
O
Yes
Ind Motor only
1350
Set
Induction Motor Rotor Resistance
-
-
-
O
O
O
O
Yes
Ind Motor only
1348
Set
Induction Motor Stator Leakage Reactance
-
-
-
O
O
O
O
Yes
Ind Motor only
1347
Set
Induction Motor Stator Resistance
-
-
-
R
R
R
R
Yes
Ind Motor only
20
Set
Inhibit Axis
R
R
R
R
R
R
R
Controller Loop Back: V35
60
Get
T
Interpolated Actual Position
-
-
R
-
R
R
R
E
101
Get
T
Interpolated Command Position
-
-
-
-
R
R
-
E
108
Set
Interpolated Position Configuration
-
-
R
-
R
R
R
E
59
Set
T
Interpolation Time
-
-
R
-
R
R
R
E
636
Get
T
Inverter Capacity
-
-
-
R
R
R
R
Yes
2295
Set
Inverter Ground Current User Limit
-
-
-
O
O
O
O
V34
647
Set
Inverter Overload Action
-
-
-
O
O
O
O
Yes
Optional Enumeration
699
Set
Inverter Thermal Overload User Limit
-
-
-
O
O
O
O
Yes
1338
Set
Linear Motor Damping Coefficient
-
-
-
O
O
O
O
Yes
Linear Motor only
2313
Set
Linear Motor Integral Limit Switch
-
-
-
O
O
O
O
Yes
Linear Motor only
1336
Set
Linear Motor Mass
-
-
-
-
O
O
O
Yes
Linear Motor only
1337
Set
Linear Motor Max Speed
-
-
-
O
O
O
O
Yes
Linear Motor only
1334
Set
Linear Motor Pole Pitch
-
-
-
R
R
R
R
Yes
Linear Motor only
1335
Set
Linear Motor Rated Speed
-
-
-
R
R
R
R
Yes
Linear Motor only
203
Set
Load Coupling
-
-
-
-
R
R
R
352
Set
Load Inertia Ratio
-
-
-
-
R
R
R
801
Get
T
Load Observer Acceleration Estimate
-
-
-
-
O
O
O
Yes
806
Set
T
Load Observer Bandwidth
-
-
-
-
O
O
O
Yes
805
Set
Load Observer Configuration
-
-
-
-
O
O
O
Yes
Optional Enumeration
809
Set
Load Observer Feedback Gain
-
-
-
-
O
O
O
Yes
807
Set
T
Load Observer Integrator Bandwidth
-
-
-
-
O
O
O
Yes
802
Get
T
Load Observer Torque Estimate
-
-
-
-
O
O
O
Yes
205
Set
Load Ratio
-
-
-
-
R
R
R
1370
Set
Load Type
-
-
C
C
C
C
C
Yes
(R) Controller only attribute Motion Scaling Configuration set to Controller Scaling;
(O) Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling
750
Set
Local Control
O
O
O
O
O
O
O
Yes
Optional Enumeration
202
Set
Loop Response
R
-
-
-
R
R
-
4
Set
Map Instance
R
R
R
R
R
R
R
21
Set
Master Input Configuration Bits
-
-
R
-
R
R
-
E
102
Get
T
Master Offset
-
-
-
R
R
R
-
22
Set
Master Position Filter Bandwidth
-
-
R
-
R
R
-
E
115
Set
Maximum Acceleration
-
-
-
R
R
R
-
118
Set
Maximum Acceleration Jerk
-
-
-
R
R
R
-
116
Set
Maximum Deceleration
-
-
-
R
R
R
-
119
Set
Maximum Deceleration Jerk
-
-
-
R
R
R
-
573
Set
Maximum Frequency
-
-
-
R
-
-
-
Yes
114
Set
Maximum Speed
-
-
-
R
R
R
-
572
Set
Maximum Voltage
-
-
-
R
-
-
-
Yes
614
Set
Mechanical Brake Control
-
-
-
O
O
O
O
Yes
616
Set
Mechanical Brake Engage Delay
-
-
-
O
O
O
O
Yes
615
Set
Mechanical Brake Release Delay
-
-
-
O
O
O
O
Yes
10
Get
Memory Usage
R
R
R
R
R
R
R
9
Get
Memory Use
R
R
R
R
R
R
R
159
Get
T
Module Alarm Bits
R
R
R
R
R
R
R
5
Set
Module Channel
R
R
R
R
R
R
R
6
Set
Module Class Code
R
R
R
R
R
R
R
163
Get
T
Module Fault Bits
R
R
R
R
R
R
R
23
Get
T
Motion Alarm Bits
-
-
R
R
R
R
R
29
Set
Motion Exception Action
-
-
R
R
R
R
R
24
Get
T
Motion Fault Bits
-
-
R
R
R
R
R
79
Set
Motion Polarity
-
-
R
R
R
R
R
Yes
Controller only attribute, Motion Scaling Configuration set to Controller Scaling;
Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling
78
Set
Motion Resolution
-
-
R
R
R
R
R
Yes
Controller only attribute, Motion Scaling Configuration set to Controller Scaling;
Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling
45
Set
Motion Scaling Configuration
-
-
R
R
R
R
R
Yes
Drive Scaling only;
Optional Enumeration
32
Get
T
Motion Status Bits
-
-
R
R
R
R
R
77
Set
Motion Unit
-
-
R
R
R
R
R
Yes
Controller only attribute, Motion Scaling Configuration set to Controller Scaling; Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling
635/259
Get
T
Motor Capacity
-
-
-
R
R
R
R
Yes
251
Set
Motor Catalog Number
R
-
-
-
R
R
R
Yes
(R) Controller only attribute !NV; (O) Drive replicated attribute, NV
1313
Set
Motor Data Source
-
-
-
R
R
R
R
Yes
Optional Enumeration
1314
Set
Motor Device Code
-
-
-
R
R
R
R
Yes
523/263
Get
T
Motor Electrical Angle
-
-
-
-
R
R
R
Yes
PM Motor only
1323
Set
Motor Integral Thermal Switch
-
-
-
O
O
O
O
Yes
1324
Set
Motor Max Winding Temperature
-
-
-
O
O
O
O
Yes
2460
Set
Motor Stability Control Enable
-
-
-
-
O
-
O
O
V33
2461
Set
Motor Stability Control Filter Bandwidth
-
-
-
-
O
-
O
O
V33
2463
Set
Motor Stability Control Frequency Gain
-
-
-
-
O
-
O
O
V33
2462
Set
Motor Stability Control Voltage Gain
-
-
-
-
O
-
O
O
V33
646
Set
Motor Overload Action
-
-
-
O
O
O
O
Yes
Optional Enumeration
1322
Set
Motor Overload Limit
-
-
-
O
O
O
O
Yes
695
Set
Motor Overspeed User Limit
-
-
-
O
O
O
O
Yes
694
Set
Motor Phase Loss Limit
-
-
-
O
O
O
O
Yes
V26
1317
Set
Motor Polarity
-
-
-
O
O
O
O
Yes
1319
Set
Motor Rated Continuous Current
-
-
-
R
R
R
R
Yes
1321
Set
Motor Rated Output Power
-
-
-
C
C
C
C
Yes
O-PM; R-IM
1320
Set
Motor Rated Peak Current
-
-
-
C
C
C
C
Yes
R-PM; O-IM
1318
Set
Motor Rated Voltage
-
-
-
R
R
R
R
Yes
1000
Get
Motor Test Bus Overvoltage Speed
-
-
-
R
R
R
R
IPM Motor Only, V29
1001
Get
Motor Test Commutation Offset Comp
-
-
-
R
R
R
R
IPM Motor Only, V29
174
Get
Motor Test Counter EMF
-
-
-
R
R
R
R
PM Motor only
172
Get
Motor Test Flux Current
-
-
-
R
R
R
R
Ind Motor only
171
Get
Motor Test Inductance
-
-
-
R
R
R
R
Ind, SPM Motor Only
999
Get
Motor Test Ld Flux Saturation
-
-
-
R
R
R
R
IPM Motor Only, V29
997
Get
Motor Test Ld Inductance
-
-
-
R
R
R
R
IPM Motor Only, V29
998
Get
Motor Test Lq Flux Saturation
-
-
-
R
R
R
R
IPM Motor Only, V29
996
Get
Motor Test Lq Inductance
-
-
-
R
R
R
R
IPM Motor Only, V29
170
Get
Motor Test Resistance
-
-
-
R
R
R
R
173
Get
Motor Test Slip Speed
-
-
-
R
R
R
R
Ind Motor only
175
Get
Motor Test Status
-
-
-
R
R
R
R
697
Set
Motor Thermal Overload User Limit
-
-
-
O
O
O
O
Yes
1315
Set
Motor Type
-
-
-
R
R
R
R
Yes
Optional Enumeration
2540
Set
Motor Voltage Feedback Offset Limit
O
O
O
V36, TAM Bit Valid and TAM is present
2538
Set
Motor Voltage Feedback Offset Mode
O
O
O
V36, TAM Bit Valid and TAM is present
2537
Set
Motor Voltage Feedback Source
O
O
O
V36, TAM Bit Valid and TAM is present
2539
Set
Motor Voltage Feedback Threshold
O
O
O
V36, TAM Bit Valid and TAM is present
1316
Set
Motor Unit
-
-
-
R
R
R
R
Yes
1325
Set
Motor Winding To Ambient Capacitance
-
-
-
O
O
O
O
Yes
1326
Set
Motor Winding To Ambient Resistance
-
-
-
O
O
O
O
Yes
521
Get
T
Operative Current Limit
-
-
-
O
O
O
O
Yes
F Support in V29
14
Get
Output Cam Execution Targets
-
-
R
R
R
R
R
E
38
Get
T
Output Cam Lock Status
-
-
R
-
R
R
R
E
37
Get
T
Output Cam Pending Status
-
-
R
-
R
R
R
E
36
Get
T
Output Cam Status
-
-
R
-
R
R
R
E
39
Get
T
Output Cam Transition Status
-
-
R
-
R
R
R
E
601
Get
T
Output Current
-
-
-
R
R
R
R
Yes
600
Get
T
Output Frequency
-
-
-
R
O
O
O
Yes
603
Get
T
Output Power
-
-
-
R
R
R
R
Yes
602
Get
T
Output Voltage
-
-
-
R
R
R
R
Yes
508
Set
Overtorque Limit
-
-
-
O
O
O
O
Yes
509
Set
Overtorque Limit Time
-
-
-
O
O
O
O
Yes
1082
Get
Planner Actual Position
-
-
R
R
R
R
R
V30
1081
Get
Planner Command Position - Fractional
-
-
-
R
R
R
-
V30
1080
Get
Planner Command Position - Integer
-
-
-
R
R
R
-
V30
1355
Set
PM Motor Extended Speed Permissive
-
-
-
-
O
O
O
Yes
PM Motor only; V29
2310
Set
PM Motor Flux Saturation
-
-
-
O
O
O
O
Yes
SPM Motor only
1343
Set
PM Motor Force Constant
-
-
-
O
O
O
O
Yes
Linear PM Motor only
1328
Set
PM Motor Inductance
-
-
-
R
R
R
R
Yes
SPM Motor only, LT Motors only
2315
Set
PM Motor Ld Flux Saturation
-
-
-
O
O
O
O
Yes
IPM Motor only, V29
1354
Set
PM Motor Ld Inductance
-
-
-
O
O
O
O
Yes
IPM Motor only, V29
1358
Set
PM Motor Linear Bus Overvoltage Speed
-
-
-
-
O
O
O
Yes
Linear PM Motor only; V29
1359
Set
PM Motor Linear Max Extended Speed
-
-
-
-
O
O
O
Yes
Linear PM Motor only; V29
1344
Set
PM Motor Linear Voltage Constant
-
-
-
R
R
R
R
Yes
Linear PM Motor only
2314
Set
PM Motor Lq Flux Saturation
-
-
-
O
O
O
O
Yes
IPM Motor only, V29
1353
Set
PM Motor Lq Inductance
-
-
-
O
O
O
O
Yes
IPM Motor only, V29
1342
Set
PM Motor Rated Force
-
-
-
O
O
O
O
Yes
Linear PM Motor only
1339
Set
PM Motor Rated Torque
-
-
-
O
O
O
O
Yes
Rotary PM Motor only
1327
Set
PM Motor Resistance
-
-
-
R
R
R
R
Yes
SPM,IPM, LTS Motor only
1356
Set
PM Motor Rotary Bus Overvoltage Speed
-
-
-
-
O
O
O
Yes
Rotary PM Motor only; V29
1357
Set
PM Motor Rotary Max Extended Speed
-
-
-
-
O
O
O
Yes
Rotary PM Motor only; V29
1341
Set
PM Motor Rotary Voltage Constant
-
-
-
R
R
R
R
Yes
Rotary PM Motor only
1340
Set
PM Motor Torque Constant
-
-
-
O
O
O
O
Yes
Rotary PM Motor only
436/131
Get
T
Position Error
-
-
-
-
R
-
-
Yes
444/227
Set
Position Error Tolerance
-
-
-
-
R
-
-
Yes
445
Set
Position Error Tolerance Time
-
-
-
-
O
-
-
Yes
1402
Get
T
Position Feedback 1
-
-
R
-
R
R
R
Yes
E
1452
Get
T
Position Feedback 2
-
-
R
-
R
R
R
Yes
E
365
Get
T
Position Fine Command
-
-
-
-
O
-
-
Yes
442
Set
T
Position Integrator Bandwidth
-
-
-
-
R
-
-
Yes
446
Set
Position Integrator Control
-
-
-
-
R
-
-
Yes
Optional bit maps
437
Get
T
Position Integrator Output
-
-
-
-
R
-
-
Yes
447
Set
Position Integrator Preload
-
-
-
-
O
-
-
Yes
781
Set
Position Lead Lag Filter Bandwidth
-
-
-
-
O
-
-
Yes
782
Set
Position Lead Lag Filter Gain
-
-
-
-
O
-
-
Yes
443/228
Set
Position Lock Tolerance
-
-
-
-
R
-
-
Yes
441
Set
T
Position Loop Bandwidth
-
-
-
-
R
-
-
Yes
438
Get
T
Position Loop Output
-
-
-
-
R
-
-
Yes
783
Set
Position Notch Filter Frequency
-
-
-
-
O
-
-
Yes
432
Get
T
Position Reference
-
-
-
-
R
-
-
Yes
73
Set
Position Scaling Denominator
-
-
R
R
R
R
R
72
Set
Position Scaling Numerator
-
-
R
R
R
R
R
197
Set
Position Servo Bandwidth
-
-
-
-
R
-
-
431
Set
T
Position Trim
-
-
-
-
R
-
-
Yes
80
Set
Position Units
-
-
R
R
R
R
R
84
Set
Position Unwind
-
-
R
-
R
R
R
Yes
Controller only attribute, Motion Scaling Configuration set to Controller Scaling; Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling; E
75
Set
Position Unwind Denominator
-
-
R
-
R
R
R
E
74
Set
Position Unwind Numerator
-
-
R
-
R
R
R
E
627
Set
Power Loss Action
O
O
-
O
O
O
O
Yes
Optional Enumeration
628
Set
Power Loss Threshold
O
O
-
O
O
O
O
Yes
630
Set
Power Loss Time
O
O
-
O
O
O
O
Yes
117
Set
Programmed Stop Mode
R
R
R
R
R
R
R
590
Set
Proving Configuration
-
-
-
O
O
O
O
Yes
V26
376
Set*
Ramp Acceleration
-
-
-
O
-
O
-
Yes
377
Set*
Ramp Deceleration
-
-
-
O
-
O
-
Yes
378
Set
Ramp Jerk Control
-
-
-
O
-
O
-
Yes
375
Set*
Ramp Velocity - Negative
-
-
-
O
-
O
-
Yes
374
Set*
Ramp Velocity - Positive
-
-
-
O
-
O
-
Yes
2092
Set
Reactive Current Command
O
-
-
-
-
-
-
Yes
V32
2107
Get
T
Reactive Current Error
O
-
-
-
-
-
-
Yes
V32
2119
Get
T
Reactive Current Feedback
O
-
-
-
-
-
-
Yes
V32
2097
Set
Reactive Current Rate Limit
O
-
-
-
-
-
-
Yes
V32
2083
Get
T
Reactive Current Reference
R
-
-
-
-
-
-
Yes
V32
2084
Get
T
Reactive Current Reference - Compensated
R
-
-
-
-
-
-
Yes
V32
2105
Get
T
Reactive Current Reference - Limited
R
-
-
-
-
-
-
Yes
V32
2002
Set
Reactive Power Control
O
-
-
-
-
-
-
Yes
V32
2073
Set
Reactive Power Rate Limit
O
-
-
-
-
-
-
Yes
V32
2070
Set
Reactive Power Set Point
O
-
-
-
-
-
-
Yes
V32
16
Get
Registration 1 Event Task
-
-
R
R
R
R
R
E
63
Get*
T
Registration 1 Negative Edge Position
-
-
R
-
R
R
R
Yes
E
67
Get*
T
Registration 1 Negative Edge Time
-
-
R
-
R
R
R
Yes
E
55
Get
T
Registration 1 Position
-
-
R
-
R
R
R
E
62
Get*
T
Registration 1 Positive Edge Position
-
-
R
-
R
R
R
Yes
E
66
Get*
T
Registration 1 Positive Edge Time
-
-
R
-
R
R
R
Yes
E
57
Get
T
Registration 1 Time
-
-
R
-
R
R
R
E
17
Get
Registration 2 Event Task
-
-
R
R
R
R
R
E
65
Get*
T
Registration 2 Negative Edge Position
-
-
R
-
R
R
R
Yes
E
69
Get*
T
Registration 2 Negative Edge Time
-
-
R
-
R
R
R
Yes
E
56
Get
T
Registration 2 Position
-
-
R
-
R
R
R
E
64
Get*
T
Registration 2 Positive Edge Position
-
-
R
-
R
R
R
Yes
E
68
Get*
T
Registration 2 Positive Edge Time
-
-
R
-
R
R
R
Yes
E
58
Get
T
Registration 2 Time
-
-
R
-
R
R
R
E
356
Set
Registration Inputs
-
-
R
-
R
R
R
AOP; E
613/354
Set
Resistive Brake Contact Delay
-
-
-
O
O
O
O
Yes
PM Motor only
1333
Set
Rotary Motor Damping Coefficient
-
-
-
O
O
O
O
Yes
Rotary Motor only
2312
Set
Rotary Motor Fan Cooling Derating
-
-
-
O
O
O
O
Yes
Rotary Motor only
2311
Set
Rotary Motor Fan Cooling Speed
-
-
-
O
O
O
O
Yes
Rotary Motor only
1330
Set
Rotary Motor Inertia
-
-
-
-
O
O
O
Yes
Rotary Motor only
1332
Set
Rotary Motor Max Speed
-
-
-
O
O
O
O
Yes
Rotary Motor only
1329
Set
Rotary Motor Poles
-
-
-
R
R
R
R
Yes
Rotary Motor only
1331
Set
Rotary Motor Rated Speed
-
-
-
R
R
R
R
Yes
Rotary Motor only
578
Set
Run Boost
-
-
-
R
-
-
-
Yes
Basic V/Hz and
Fan/Pump V/Hz only
766
Set
Safe Stopping Action
-
-
-
O
O
O
O
Yes
V31
767
Set
Safe Stopping Action Source
-
-
-
O
O
O
O
Yes
V31
Controller Loop Back: V36
765
Set
Safe Torque Off Action
-
-
-
O
O
O
O
Yes
V26; Optional Enumeration
759
Set
Safe Torque Off Action Source
-
-
-
O
O
O
O
Yes
V31
Controller Loop Back: V36
758
Set
Safety Fault Action
-
-
O
O
O
O
O
Yes
V32
70
Set
Scaling Source
-
-
R
R
R
R
R
629
Set
Shutdown Action
O
O
-
O
O
O
O
Yes
Optional Enumeration
370
Set
Skip Speed 1
-
-
-
O
-
-
-
Yes
371
Set
Skip Speed 2
-
-
-
O
-
-
-
Yes
372
Set
Skip Speed 3
-
-
-
O
-
-
-
Yes
373
Set
Skip Speed Band
-
-
-
O
-
-
-
Yes
833
Set
SLAT Configuration
-
-
-
-
-
O
-
Yes
834
Set
SLAT Set Point
-
-
-
-
-
O
-
Yes
835
Set
SLAT Time Delay
-
-
-
-
-
O
-
Yes
565
Get
T
Slip Compensation
-
-
-
R
-
-
-
Yes
566
Set
Slip CompensationEnable
-
-
-
O
-
-
-
-
Ind Motor only, V36
94
Set
Soft Travel Limit - Negative
-
-
R
-
R
R
R
E
93
Set
Soft Travel Limit - Positive
-
-
R
-
R
R
R
E
92
Set
Soft Travel Limit Checking
-
-
-
R
-
R
R
R
E
50
Get
T
Start Actual Position
-
-
R
R
R
R
R
577
Set
Start Boost
-
-
-
R
-
-
-
Yes
Basic V/Hz only
98
Get
T
Start Command Position
-
-
-
R
R
R
-
104
Get
T
Start Master Offset
-
-
-
R
R
R
-
610
Set
Stopping Action
-
-
-
R
R
R
R
Yes
Optional Enumeration
612/338
Set
Stopping Time Limit
-
-
-
O
O
O
O
Yes
611/337
Set
Stopping Torque
-
-
-
-
R
R
R
Yes
49
Get
T
Strobe Actual Position
-
-
R
R
R
R
R
97
Get
T
Strobe Command Position
-
-
-
R
R
R
-
103
Get
T
Strobe Master Offset
-
-
-
R
R
R
-
252
Set
System Acceleration Base
-
-
-
-
R
R
R
169
Set
System Bandwidth
-
-
-
-
R
R
R
Derived – Servo BW
2090
Set
System Capacitance
R
-
-
-
-
-
-
Yes
Voltage Control only, V32
204
Set
System Damping
-
-
-
-
R
R
R
Derived – Damp. Fact.
496
Set
T
System Inertia
-
-
-
-
R
R
O
Yes
916
Set
Test Mode Configuration
R
R
R
R
R
R
R
Device Test Mode V35
Controller Loop Back: V35
917
Set
Test Mode Enable
R
R
R
R
R
R
R
Device Test Mode V35
Controller Loop Back: V35
555
Set
Torque Integral Time Constant
-
-
-
-
O
O
O
Yes
827
Set
Torque Lead Lag Filter Bandwidth
-
-
-
-
O
O
O
Yes
828
Set
Torque Lead Lag Filter Gain
-
-
-
-
O
O
O
Yes
505/333
Set
T
Torque Limit - Negative
-
-
-
-
R
R
R
Yes
504/332
Set
T
Torque Limit - Positive
-
-
-
-
R
R
R
Yes
554
Set
Torque Loop Bandwidth
-
-
-
-
O
O
O
Yes
502
Set
T
Torque Low Pass Filter Bandwidth
-
-
-
-
O
O
O
Yes
843
Get
T
Torque Low Pass Filter Bandwidth Estimate
-
-
-
-
O
O
O
Yes
V26
503
Set
Torque Notch Filter Frequency
-
-
-
-
O
O
O
Yes
841
Get
T
Torque Notch Filter Frequency Estimate
-
-
-
-
O
O
O
Yes
V26
837
Set
Torque Notch Filter High Frequency Limit
-
-
-
-
O
O
O
Yes
V26
838
Set
Torque Notch Filter Low Frequency Limit
-
-
-
-
O
O
O
Yes
V26
842
Get
T
Torque Notch Filter Magnitude Estimate
-
-
-
-
O
O
O
Yes
V26
839
Set
Torque Notch Filter Tuning Threshold
-
-
-
-
O
O
O
Yes
V26
232
Set
Torque Offset
-
-
-
-
R
R
R
591
Set
Torque Prove Current
-
-
-
O
O
O
O
Yes
V26
506
Set
Torque Rate Limit
-
-
-
-
O
O
O
Yes
492
Get
T
Torque Reference
-
-
-
-
R
R
R
Yes
493
Get
T
Torque Reference Filtered
-
-
-
-
R
R
R
Yes
494
Get
T
Torque Reference Limited
-
-
-
-
R
R
R
Yes
507/334
Set
Torque Threshold
-
-
-
-
O
O
O
Yes
491
Set
T
Torque Trim
-
-
-
-
R
R
R
Yes
1056
Set
Total DC Bus Capacitance
R
-
-
-
-
-
-
V32
206
Set
Total Inertia
-
-
-
-
R
R
R
Rotary Motor only
207
Set
Total Mass
-
-
-
-
R
R
R
Linear Motor only
1371
Set
Transmission Ratio Input
-
-
C
C
C
C
C
Yes
(R) Controller only attribute, Motion Scaling Configuration set to Controller Scaling;
(O) Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling
1372
Set
Transmission Ratio Output
-
-
C
C
C
C
C
Yes
(R) Controller only attribute Motion Scaling Configuration set to Controller Scaling;
(O) Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling
71
Set
Travel Mode
-
-
R
R
R
R
R
Yes
Controller only attribute, Motion Scaling Configuration set to Controller Scaling; Drive replicated attribute, Motion Scaling Configuration set to Drive Scaling
76
Set
Travel Range
-
-
R
-
R
R
R
E
181
Get
Tune Acceleration
-
-
-
-
R
R
R
179
Get
Tune Acceleration Time
-
-
-
-
R
R
R
182
Get
Tune Deceleration
-
-
-
-
R
R
R
180
Get
Tune Deceleration Time
-
-
-
-
R
R
R
187
Set
Tune Friction
-
-
-
-
R
R
R
186
Set
Tune Inertia Mass
-
-
-
-
R
R
R
188
Set
Tune Load Offset
-
-
-
-
R
R
R
178
Get
Tune Status
-
-
-
-
R
R
R
191
Set
Tuning Direction
-
-
-
-
R
R
R
190
Set
Tuning Select
-
-
-
-
R
R
R
194
Set
Tuning Speed
-
-
-
-
R
R
R
195
Set
Tuning Torque
-
-
-
-
R
R
R
193
Set
Tuning Travel Limit
-
-
-
-
R
R
R
510
Set
Undertorque Limit
-
-
-
O
O
O
O
Yes
511
Set
Undertorque Limit Time
-
-
-
O
O
O
O
Yes
464/321
Set
Velocity Droop
-
-
-
O
O
O
-
Yes
455/135
Get
T
Velocity Error
-
-
-
-
R
R
-
Yes
465
Set
Velocity Error Tolerance
-
-
-
-
O
O
-
Yes
466
Set
Velocity Error Tolerance Time
-
-
-
-
O
O
-
Yes
454/134
Get
T
Velocity Feedback
-
-
R
R
R
R
R
Yes
1403
Get
T
Velocity Feedback 1
-
-
-
R
-
R
R
E, V34
1453
Get
T
Velocity Feedback 2
-
-
R
-
R
R
R
E, V34
433
Get
T
Velocity Feedforward Command
-
-
-
-
R
-
-
Yes
440/215
Set
T
Velocity Feedforward Gain
-
-
-
-
R
-
-
Yes
366
Get
T
Velocity Fine Command
-
-
-
-
O
O
-
Yes
462
Set
T
Velocity Integrator Bandwidth
-
-
-
-
R
R
-
Yes
467
Set
Velocity Integrator Control
-
-
-
-
R
R
-
Yes
Optional bit maps
456
Get
T
Velocity Integrator Output
-
-
-
-
R
R
-
Yes
468
Set
Velocity Integrator Preload
-
-
-
-
O
O
-
Yes
474/326
Set
Velocity Limit - Negative
-
-
-
O
O
O
-
Yes
473/325
Set
Velocity Limit - Positive
-
-
-
O
O
O
-
Yes
458
Get
T
Velocity Limit Source
-
-
-
-
O
O
-
Yes
V29
471
Set
Velocity Lock Tolerance
-
-
-
O
O
O
-
Yes
461
Set
T
Velocity Loop Bandwidth
-
-
-
-
R
R
-
Yes
457
Get
T
Velocity Loop Output
-
-
-
-
R
R
-
Yes
469
Set
T
Velocity Low Pass Filter Bandwidth
-
-
-
-
O
O
-
Yes
790
Set
Velocity Negative Feedforward Gain
-
-
-
-
O
O
-
Yes
231
Set
Velocity Offset
-
-
-
-
R
R
-
453
Get
T
Velocity Reference
-
-
-
R
R
R
-
Yes
198
Set
Velocity Servo Bandwidth
-
-
-
-
R
R
-
472/329
Set
Velocity Standstill Window
-
-
R
R
R
R
R
Yes
470/327
Set
Velocity Threshold
-
-
O
O
O
O
O
Yes
451
Set
T
Velocity Trim
-
-
-
R
R
R
-
Yes
589
Set
Vertical Load Control
-
-
-
O
O
O
-
Yes
V31
15
Get
Watch Event Task
-
-
R
R
R
R
R
E
54
Get
T
Watch Position
-
-
R
-
R
R
R
E
608
Set
Zero Speed
-
-
-
O
O
O
O
Yes
V26
609
Set
Zero Speed Time
-
-
-
O
O
O
O
Yes
V26
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