3.1.9.1.41 0x2003 Motor specific settings
Please refer to your motor's data sheet for the specific values.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Pole pairs 0x2003:1 USINT 8 1 readwrite
Number of magnetic pole pairs used in the motor. Please refer to your motor datasheet for this value.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Torque
constant
0x2003:2 DINT 32 1 μNm/A readwrite
The motor's torque constant is given by the motor design and defines the torque generated by a given
current.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Phase
resistance
0x2003:3 DINT 32 1 μΩ readwrite
The resistance between motor terminal and motor neutral point. It is equal to half of "phase to phase
resistance" or "line to line resistance".
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Phase
inductance
0x2003:4 DINT 32 1 μH readwrite
The inductance between motor terminal and motor neutral point. It is equal to half of "phase to phase
inductance" or "line to line inductance".
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
Motor phases
inverted
0x2003:5 BOOL 1
No 0
Yes 1
readwrite
Use this parameter only when you have a negative velocity or feedback increment with the positive torque
increment.
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