A-B SERCOSTM Drive

Standard IDNs Listing

Date 4/8/2003

1
 A. APPENDIX – STANDARD IDNS

A.1. List of Standard IDNs

The Class column refers to the lowest IEC 61491 SERCOS compliance class that the
respective IDN belongs to. All of the IDNs necessary for compliance classes A and B are
included in this list.
The “!” indicates the drive fully supports the IDN as described in this document, and the
“"” indicates the drive has partial support for the IDN.

IDN Class Name 8720 1394 2094 Ultra

S-0-0001 B Control Unit Cycle Time (tNcyc) ! ! ! "
S-0-0002 A Communication Cycle Time (tScyc) ! ! ! "
S-0-0003 A Shortest AT Transmission Starting Time (t1min) ! ! ! !
S-0-0004 A Transmit/Receive Transition Time (tATMT) ! ! ! !
S-0-0005 B Minimum Feedback Processing Time (t5) ! ! ! !
S-0-0006 A AT Transmission Starting Time (t1) ! ! ! !
S-0-007 B Feedback Acquisition Capture Point (t4) ! ! ! !
S-0-0008 B Command Value Valid Time (t3) ! ! ! !
S-0-0009 A Position of Data Record in MDT ! ! ! !
S-0-0010 A Length of MDT ! ! ! !
S-0-0011 A Class 1 Diagnostic (C1D) ! ! ! "
S-0-0012 B Class 2 Diagnostic (C2D) ! ! ! !
S-0-0013 B Class 3 Diagnostic (C3D) ! ! ! "
S-0-0014 A Interface Status ! ! ! !
S-0-0015 A Telegram Type Parameter ! ! ! !
S-0-0016 C Configuration List of AT ! ! ! !
S-0-0017 A IDN-List of All Operation Data ! ! ! !
S-0-0018 A IDN-List of Operation Data for CP2 ! ! ! !
S-0-0019 A IDN-List of Operation Data for CP3 ! ! ! !
S-0-0021 A IDN-List of Invalid Operation Data for CP2 ! ! ! !
S-0-0022 A IDN-List of Invalid Operation Data for CP3 ! ! ! !
S-0-0024 C Configuration List of MDT ! ! ! !
S-0-0025 A IDN-List of All Procedure Commands ! ! ! !
S-0-0028 A MST Error Counter ! ! ! !
S-0-0029 A MDT Error Counter ! ! ! !
S-0-0030 Manufacturer Version ! ! ! !
S-0-0032 A Primary Operation Mode ! ! ! "
S-0-0033 B Secondary Operation Mode 1 ! ! ! "
S-0-0036 B-Velocity Velocity Command Value ! ! ! !
S-0-0037 Additive Velocity Command Value ! ! ! !
S-0-0038 Positive Velocity Limit Value ! ! ! !

2
IDN Class Name 8720 1394 2094 Ultra
S-0-0039 Negative Velocity Limit Value ! ! ! !
S-0-0040 B-Velocity Velocity Feedback Value ! ! ! !
S-0-0041 B-Homing Homing Velocity ! ! ! !
S-0-0042 B-Homing Homing Acceleration ! ! ! !
S-0-0043 B-Velocity Velocity Polarity Parameter ! ! ! !
S-0-0044 B-Velocity Velocity Data Scaling Type ! ! ! !
S-0-0045 C Velocity Data Scaling Factor ! ! ! !
S-0-0046 C Velocity Data Scaling Exponent ! ! ! !
S-0-0047 B-Position Position Command Value ! ! ! !
S-0-0049 Positive Position Limit Value ! ! ! !
S-0-0050 Negative Position Limit Value ! ! ! !
S-0-0051 B-Position Position Feedback Value 1 (Motor Feedback) ! ! ! !
S-0-0052 B-Position Reference Distance 1 ! ! ! !
S-0-0053 C-Position Position Feedback Value 2 (Auxiliary Feedback) ! ! ! !
S-0-0054 C-Homing Reference Distance 2 ! ! ! !
S-0-0055 B-Position Position Polarity Parameter ! ! ! !
S-0-0057 B-Position Position Window ! ! ! !
S-0-0076 B-Position Position Data Scaling Type ! ! ! !
S-0-0077 C Linear Position Data Scaling Factor ! ! ! !
S-0-0078 C Linear Position Data Scaling Exponent ! ! ! !
S-0-0079 C Rotational Position Resolution ! ! ! "
S-0-0080 B-Torque Torque Command Value ! ! ! !
S-0-0081 Additive Torque Command Value ! ! ! !
S-0-0082 Positive Torque Limit Value ! ! ! !
S-0-0083 Negative Torque Limit Value ! ! ! !
S-0-0084 B-Torque Torque Feedback Value ! ! ! !
S-0-0085 B-Torque Torque Polarity Parameter ! ! ! !
S-0-0086 B-Torque Torque/Force Data Scaling Type ! ! ! "
S-0-0087 A Transmit to Transmit Recovery Time (tMTSY) ! ! ! !
S-0-0088 A Receive to Receive Recovery Time (tMTSY) ! ! ! !
S-0-0089 A MDT Transmission Starting Time (t2) ! ! ! !
S-0-0090 B Command Value Proceeding Time (tMTSG) ! ! ! !
S-0-0091 B-Velocity Bipolar Velocity Limit Value ! ! ! !
S-0-0092 B-Torque Bipolar Torque Limit Value ! ! ! !
S-0-0093 C Torque Data Scaling Factor ! ! ! !
S-0-0094 C Torque Data Scaling Exponent ! ! ! !
S-0-0095 A Diagnostic Message ! ! ! !
S-0-0096 A Slave Arrangement (SLKN) ! ! ! !
S-0-0097 B Mask Class 2 Diagnostic ! ! ! !
S-0-0098 B Mask Class 3 Diagnostic ! ! ! !
S-0-0099 A Reset Class 1 Diagnostic ! ! ! !
S-0-0100 Velocity Loop Proportional Gain ! ! ! !
S-0-0101 Velocity Loop Integral Action Time ! ! ! !
S-0-0103 Modulo Value ! ! ! !
S-0-0104 B-Position Position Loop KV Factor ! ! ! !
S-0-0105 Position Loop Integral Action Time ! ! ! !
S-0-0106 Current Loop Proportional Gain 1 ! !

3
IDN Class Name 8720 1394 2094 Ultra
S-0-0109 Motor Peak Current ! ! ! !
S-0-0110 Amplifier Peak Current ! ! ! !
S-0-0111 Motor Continuous Stall Current ! ! ! !
S-0-0112 Amplifier Rated Current ! ! ! !
S-0-0113 Maximum Motor Speed ! ! !
S-0-0114 Load Limit of the Motor ! ! !
S-0-0115 C-Ext. Fdbk Position Feedback 2 Type (Auxiliary) ! ! ! !
S-0-0116 C-Position Resolution of Feedback 1 ! ! ! !
S-0-0117 Resolution of Feedback 2 ! ! ! !
S-0-0121 C-Position Input Revolutions of Load Gear ! ! ! !
S-0-0122 C-Position Output Revolutions of Load Gear ! ! ! !
S-0-0123 C-Position Feed Constant !
S-0-0124 B-Velocity Standstill Window ! ! ! !
S-0-0125 B-Velocity Velocity Threshold ! ! ! !
S-0-0126 C-Thresh Torque Threshold ! ! ! !
S-0-0127 A CP3 Transition Check ! ! ! !
S-0-0128 A CP4 Transition Check ! ! ! !
S-0-0129 Manufacturer Class 1 Diagnostic ! ! ! !
S-0-0130 C-Probe Probe Value 1 Positive Edge ! ! ! !
S-0-0131 C-Probe Probe Value 1 Negative Edge ! ! ! !
S-0-0132 C-Probe Probe Value 2 Positive Edge ! ! ! !
S-0-0133 C-Probe Probe Value 2 Negative Edge ! ! ! !
S-0-0136 Positive Acceleration Limit Value ! ! ! !
S-0-0137 Negative Acceleration Limit Value ! ! ! !
S-0-0138 B Bipolar Acceleration Limit Value ! ! ! !
S-0-0140 Controller Type ! ! ! !
S-0-0141 Motor Type ! ! !
S-0-0142 A Application Type ! ! ! !
S-0-0143 A System Interface Version ! ! ! !
S-0-0146 C-Homing Control Unit Controlled Homing Procedure Cmd ! ! ! !
S-0-0147 B-Homing Homing Parameter ! ! ! !
S-0-0148 B-Homing Drive Controlled Homing Procedure Command ! ! ! !
S-0-0150 B-Position Reference Offset 1 ! ! ! !
S-0-0151 C-Homing Reference Offset 2 ! ! ! !
S-0-0152 C-Spindle Position Spindle Procedure Command ! ! !
C-Spin
S-0-0153
Posn
Spindle Angle Position ! ! !
C-Spin
S-0-0154
Posn
Spindle Positioning Parameter ! ! !
S-0-0155 Friction Torque Compensation ! ! ! "
S-0-0157 B-Velocity Velocity Window ! ! ! !
S-0-0159 B-Position Monitoring Window ! ! ! !
S-0-0160 B Acceleration Data Scaling Type ! ! ! !
S-0-0161 C Acceleration Data Scaling Factor ! ! ! !
S-0-0162 C Acceleration Data Scaling Exponent ! ! ! !
S-0-0165 Distance-Coded Reference Marks A !
S-0-0166 Distance-Coded Reference Marks B !
S-0-0169 C-Probe Probe Control Parameter ! ! ! !

4
IDN Class Name 8720 1394 2094 Ultra
S-0-0170 C-Probe Probing Cycle Procedure Command ! ! ! !
S-0-0171 C-Homing Calculate Displacement Procedure Command ! ! ! !
S-0-0172 C-Homing Displacement to the Referenced System Proc Cmd ! ! ! !
S-0-0173 C-Homing Marker Position A ! ! ! !
S-0-0175 C-Homing Displacement Parameter 1 ! ! ! !
S-0-0176 C-Homing Displacement Parameter 2 ! ! ! !
S-0-0177 Absolute Distance 1 ! ! !
S-0-0178 Absolute Distance 2 ! ! !
S-0-0179 C-Probe Probe Status ! ! ! !
S-0-0182 Manufacturer Class 3 Diagnostic ! ! ! !
S-0-0185 C Length of the Configurable Data Record in the AT ! ! ! !
S-0-0186 C Length of the Configurable Data Record in the MDT ! ! ! !
S-0-0187 C IDN-List of the Configurable Data in the AT ! ! ! !
S-0-0188 C IDN-List of the Configurable Data in the MDT ! ! ! !
S-0-0189 B-Position Following Distance ! ! ! !
S-0-0191 B-Homing Cancel Reference Point Procedure Command ! ! ! !
S-0-0194 Acceleration Command Value ! ! ! !
S-0-0196 Motor Rated Current ! ! !
S-0-0197 Set Coordinate System Procedure Command ! !
S-0-0198 Initial Coordinate Value ! !
S-0-0206 B Drive On Delay Time ! ! ! !
S-0-0207 B Drive Off Delay Time ! ! ! !
S-0-0216 C-Parm Switch Parameter Set Procedure Command !
S-0-0217 C-Parm Parameter Set Preselection !
S-0-0219 C-Parm IDN-List of Parameter Set !
S-0-0220 C-Spindle Minimum Spindle Speed !
S-0-0221 C-Spindle Maximum Spindle Speed !
C-Spin
S-0-0222
Posn
Spindle Positioning Speed !
S-0-0254 C-Parm Actual Parameter Set !
S-0-0258 Target Position !
S-0-0259 Positioning Velocity !
S-0-0260 Positioning Acceleration !
S-0-0272 Velocity Window Percentage ! ! !
S-0-0277 Position Feedback 1 Type (Motor) ! ! ! !
S-0-0296 Velocity Feedforward Gain ! ! ! !
S-0-0298 Home Switch Distance ! ! ! !
S-0-0301 B-Homing Allocation of Real-Time Control Bit 1 ! ! ! !
S-0-0303 B-Homing Allocation of Real-Time Control Bit 2 ! ! ! !
S-0-0305 B-Homing Allocation of Real-Time Status Bit 1 ! ! ! !
S-0-0307 B-Homing Allocation of Real-Time Status Bit 2 ! ! ! !
S-0-0330 B-Velocity Status ‘nfeedback = ncommand’ (At Speed) ! ! ! !
S-0-0331 B-Velocity Status ‘nfeedback = 0’ (At Zero Speed) ! ! ! !
S-0-0332 B-Velocity Status ‘nfeedback < nx’ (Velocity Below Threshold) ! ! ! !
S-0-0333 C-Thresh Status ‘T ≥ Tx’ (Torque Above Threshold) ! ! ! !
S-0-0334 B-Torque Status ‘T ≥ Tlimit’ (Torque Above Limit) ! ! ! !
S-0-0335 B-Velocity Status ‘nommand > nlimit’ (Velocity Above Limit) ! ! ! !
S-0-0336 C-Spin Status ‘In Position’ ! ! ! !

5
IDN Class Name 8720 1394 2094 Ultra
Posn
S-0-0339 C-Spindle Status ‘nfdbk ≤ min spindle speed’ (Below Min Speed) !
S-0-0340 C-Spindle Status ‘nfdbk ≥ max spindle speed’ (Above Max Speed) !
S-0-0347 Velocity Error ! ! ! !
S-0-0348 Acceleration Feedforward Gain ! ! ! "
S-0-0380 DC Bus Voltage ! ! ! !
S-0-0384 Amplifier Temperature ! ! !
S-0-0386 Mechanical Power ! ! !
S-0-0400 B-Homing Home Switch ! ! ! !
S-0-0401 C-Probe Probe 1 ! ! ! !
S-0-0402 C-Probe Probe 2 ! ! ! !
S-0-0403 B-Homing Position Feedback Value Status ! ! ! !
S-0-0404 Position Command Value Status ! ! ! !
S-0-0405 C-Probe Probe 1 Enable ! ! ! !
S-0-0406 C-Probe Probe 2 Enable ! ! ! !
S-0-0407 C-Homing Homing Enable ! ! ! !
S-0-0408 C-Homing Reference Marker Pulse Registered ! ! ! !
S-0-0409 C-Probe Probe 1 Positive Latched ! ! ! !
S-0-0410 C-Probe Probe 1 Negative Latched ! ! ! !
S-0-0411 C-Probe Probe 2 Positive Latched ! ! ! !
S-0-0412 C-Probe Probe 2 Negative Latched ! ! ! !

6
A.2. Description of Standard IDNs

S00001 Control unit cycle time (tNcyc)

This defines how often the master will generate a new command value for the drive (as opposed to how often
it will send it – the master could send the same value several times). This value must be an integer multiple of
the communication cycle time (tScyc- IDN S00002). It must be sent from the master to the slave during Phase
2.
Name: “Master Cyc Time” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RW Phase 3: RO Phase 4: RO
Min: ≥ 62 Value: (Written by master)
Max: ≤ 65,500 Scaling: 1
Notes: Ultra’s minimum value is 1000
See Also: IDN S00002 – Communication cycle time (tScyc)

S00002 Communication cycle time (tScyc)

This defines how often the master will send the command values and cyclic data. According to the SERCOS
spec, this value can be 62 µs, 125 µs, and 250 µs up to 65500 µs in steps of 250 µs. This value must be sent
during Phase 2.
Name: “Ring Comm Time” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RW Phase 3: RO Phase 4: RO
Min: ≥ 62 Value: (Written by master)
Max: ≤ 65,500 Scaling: 1
Notes: Ultra’s minimum value is 1000
See Also: IDN S00001 – Control unit cycle time (tNcyc)

S00003 Shortest AT transmission starting time (t1min)

This is the time required by the slave from the end of the MST to when it can start sending its AT. This value
is read by the master during Phase 2 for its timing calculations.
Name: “AT Start Time ” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (Shortest AT starting time)
Max: ≤ 65,535 Scaling: 1
Notes: This is largely a function of the SERCON chip. According to the IAM slave software, the SERCON minimum is 12
µs, and they use the value of 20.
See Also: IDN S00006 – AT transmission starting time (t1)

S00004 Transmit/Receive transition time (tATMT)

This is the time required by the slave to switch from transmitting the AT to receiving the MST (this is a function
of the SERCON chip). It is read by the master during Phase 2 for its timing calculations.
Name: “Xmit/Rec Tr Time ” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (Transmit/receive transition time)
Max: ≤ 65,535 Scaling: 1
Notes: According to the IAM slave software, the SERCON minimum is 2 µs, and they use a value of 10.
See Also:

7
 S00005 Minimum feedback processing time (t5)
This is the minimum time required by the slave between the start of the feedback acquisition to the end of the
next MST. The master reads this during Phase 2 for its timing calculations.
Name: “Min Fb Proc Time” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (Minimum feedback processing time)
Max: ≤ 65,535 Scaling: 1
Notes:
See Also: IDN S00007 – Feedback acquisition capture point (t4)

S00006 AT transmission starting time (t1)

This value specifies when the slave should send its AT during Phases 3 & 4. It is sent by the master during
Phase 2.
Name: “At Trans St Time” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RW Phase 3: RO Phase 4: RO
Min: ≥ (IDN S00003 Value) Value: (Written by master)
Max: ≤ (IDN S00002 Value) Scaling: 1
Notes:
See Also: IDN S00003 – Shortest AT transmission starting time (t1min)

S00007 Feedback acquisition capture point (t4)

This specifies at what time the slave should latch its feedback position. Typically, all slaves would have the
same value so that all the feedback values the master gets would be from the same point in time. The master
sends this value during Phase 2.
Name: “Fb Capture Pt” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RW Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (Written by master)
Max: ≤ (IDN S00002 Value) Scaling: 1
Notes:
See Also: IDN S00005 – Minimum feedback processing time (t5)

S00008 Command value valid time (t3)

This specifies at what time the slave can access the new command values. This could be used to synchronize
multiple drives. The master sends this value during Phase 2.
Name: “Command Valid Tm” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RW Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (Written by master)
Max: ≤ (IDN S00002 Value) Scaling: 1
Notes:
See Also: IDN S00090 – Command value proceeding time (tMTSG)

S00009 Position of data record in MDT

This specifies where the data for this slave is in the MDT. It is in units of bytes, and the first byte is number 1.
It is sent by the master during Phase 2.
Name: “MDT Drive Pos” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Not supported Phase 2: RW Phase 3: RO Phase 4: RO
Min: ≥1 Value: (Written by master)
Max: ≤ 65,531 Scaling: 1
Notes:
See Also: IDN S00010 – Length of MDT

8
 S00010 Length of MDT
This specifies the overall length of the MDT, in bytes. It is sent by the master during Phase 2.
Name: “MDT Length ” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Not supported Phase 2: RW Phase 3: RO Phase 4: RO
Min: ≥4 (Written by master)
Max: ≤ 65,534 Scaling: 1
Notes:
See Also: IDN S00009 – Position of data record in MDT

S00011 Class 1 diagnostic

Drive shutdown error flags.
Name: “Shut Down Errors ” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0000 Value: Class 1 diagnostics: (1 = active, 0 = inactive)
Max: 0xFFFF Bit 0: Overload Shutdown (motor thermal model exceeds IDN S00114)
Bit 1: Drive Overtemperature Shutdown (drive thermal switch OR
calculated thermal model)
Bit 2: Motor Overtemperature Shutdown (motor thermal switch)
Bits 3-4: Not used
Bit 5: Feedback Error
Bit 6: Commutation Error (hall effect angle, commutation angle, θ angle)
Bit 7: DC Bus Overcurrent Error (instantaneous overcurrent, desat)
Bit 8: DC Bus Overvoltage Error
Bit 9: DC Bus Undervoltage Error
Bit 10: AC Input Phase-Loss Error
Bit 11: Excessive Position Deviation (IDN S00159)
Bit 12: Communication error (IDN S00014)
Bit 13 Overtravel Limit Exceeded (IDNs S00049, S00050)
Bit 14: Not used
Bit 15: Manufacturer-specific error (IDN S00129)
Notes: Ultra doesn’t support bit 10
See Also: IDN S00099 – Reset class 1 diagnostic
IDN S00129 – Manufacturer class 1 diagnostic

S00012 Class 2 diagnostic

Drive shutdown warning flags.
Name: “Drive Warnings ” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0000 Value: Class 2 diagnostics: (1 = active, 0 = inactive)
Max: 0x8000 Bits 0-14: Not used
Bit 15: Manufacturer-specific warning
Notes:
See Also: IDN S00097 – Mask class 2 diagnostic
IDN S00181 – Manufacturer class 2 diagnostic

9
 S00013 Class 3 diagnostic
Drive operation status flags.
Name: “Drive Status ” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0000 Value: Class 3 diagnostics: (1 = active, 0 = inactive)
Max: 0x8FFF Bit 0: In speed window (IDN S00330)
Bit 1: At zero speed (IDN S00331)
Bit 2: Below speed (IDN S00332)
Bit 3: Torque Over Threshold (IDN S00333)
Bit 4: Torque Over Limit (IDN S00334)
Bit 5: Velocity Command Above Velocity Limit (IDN S00335)
Bit 6: In position window (IDN S00336)
Bits 8-7: Not used
Bit 9: Speed Below Minimum Spindle Speed (IDN S00339)
Bit 10: Speed Above Maximum Spindle Speed (IDN S00340)
Bits 14-11: Not Used
Bit 15: Manufacturer-specific operation status (IDN S00182)
Notes: Ultra doesn’t support bits 9 or 10
See Also: IDN S00098 – Mask class 3 diagnostic
IDN S00182 – Manufacturer class 3 diagnostic

S00014 Interface status

If a communication error is flagged in C1D (IDN S00011), this IDN contains the specific communication error
flags.
Name: “Commun Errors” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0000 Value: Interface Status: (1 = active, 0 = inactive)
Max: 0x07FF Bits 2-0: Communication Phase
Bit 3: MST Failure
Bit 4: MDT Failure
Bit 5: Invalid Phase
Bit 6: Error During Phase Upshift
Bit 7: Error During Phase Downshift
Bit 8: Phase Switch without Ready Acknowledge
Bit 9: Switching to Uninitialized Operation Mode
Bit 10: Drives with the same Address in the Ring
Bits 15-11: Not Used
Notes: For bits 3-15, a bit is 1 when the associated error is active.
See Also: IDN S00011 – Class 1 diagnostic
IDN S00099 – Reset class 1 diagnostic

10
 S00015 Telegram type parameter
This specifies which telegram type to use. See section 8.3 in the SERCOS spec for descriptions of each of the
telegram types. The telegram type is sent by the master.
Name: “TelegramType ” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RO Phase 4: RO
Min: 0x0 Value: Telegram Type: (Written by master)
Max: 0xF Bits 3-0: 0000 – Standard Telegram 0 (No cyclic data)
0001 – Standard Telegram 1 (Torque Cmd)
0010 – Standard Telegram 2 (Velocity Cmd, Velocity Fdbk)
x011 – Standard Telegram 3 (Velocity Cmd, Position (x) Fdbk)
x100 – Standard Telegram 4 (Position Cmd, Position (x) Fdbk)
x101 – Standard Telegram 5 (Pos & Vel Cmd, Pos (x) & Vel Fdbk)
0111 – Application Telegram (IDN S00016, S00024)
|
0 – Motor Feedback
1 – Auxiliary Feedback
Notes:
See Also: IDN S00016 – Configuration list of AT
IDN S00024 – Configuration list of MDT

S00016 Configuration list of AT

This IDN contains a list of IDNs whose data will be transmitted cyclically in the AT. Only IDNs present in the
"IDN List of Configurable Data in the AT" (IDN S00187) can be used here. The amount of data that can be
transmitted cyclically is limited, and defined by IDN S00185 (Length of the configurable data in the AT).
Name: “IDN List AT” Attr: 0x00550001 (Variable-length IDN array)
Units: Not supported Phase 2: RW Phase 3: RO Phase 4: RO
Min: Not supported Value: (List of IDNs in AT)
Max: Not supported
Notes:
See Also: IDN S00185 – Length of the configurable data in the AT
IDN S00187 – IDN List of configurable data in the AT

S00017 IDN-list of all operation data

This is a list of all the operation data IDNs supported by the slave. The master can read this at any time.
Name: “IDN List Dr Data” Attr: 0x00550001 (Variable-length IDN array)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: (List of all supported data IDNs)
Max: Not supported
Notes:
See Also: IDN S00025 – IDN-list of all procedure commands

S00018 IDN-list of all operation data for CP2

This is a list of all the IDNs the slave needs initialized before it can go into Phase 3.
Name: “IDN List Dr Cp2 ” Attr: 0x00550001 (Variable-length IDN array)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: (List of CP2 IDNs)
Max: Not supported
Notes:
See Also: IDN S00019 – IDN-list of all operation data for CP3
IDN S00021 – IDN-list of invalid operation data for CP2
IDN S00127 – Communication phase 3 transition check

11
 S00019 IDN-list of all operation data for CP3
This is a list of all the IDNs the slave needs initialized before it can go into Phase 4.
Name: “IDN List Dr Cp3 ” Attr: 0x00550001 (Variable-length IDN array)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: (List of CP3 IDNs)
Max: Not supported
Notes:
See Also: IDN S00018 – IDN-list of all operation data for CP2
IDN S00022 – IDN-list of invalid operation data for CP3
IDN S00128 – Communication phase 4 transition check

S00021 IDN-list of invalid operation data for CP2

After the Phase 3 Transition Check procedure (IDN S00127) has been executed, this IDN contains a list of all
the IDNs that have invalid values, if any.
Name: “IDN List Cp2 Inv” Attr: 0x00550001 (Variable-length IDN array)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: (List of IDNs {built during CP3 Transition Check})
Max: Not supported
Notes:
See Also: IDN S00018 – IDN-list of all operation data for CP2
IDN S00127 – Communication phase 3 transition check

S00022 IDN-list of invalid operation data for CP3

After the Phase 4 Transition Check procedure (IDN S00128) has been executed, this IDN contains a list of all
the IDNs that have invalid values, if any.
Name: “IDN List Cp3 Inv” Attr: 0x00550001 (Variable-length IDN array)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: (List of IDNs {built during CP4 Transition Check})
Max: Not supported
Notes:
See Also: IDN S00019 – IDN-list of all operation data for CP3
IDN S00128 – Communication phase 4 transition check

S00024 Configuration list of MDT

This IDN contains a list of IDNs whose data will be transmitted cyclically in the MDT. Only IDNs present in the
"IDN List of Configurable Data in the MDT" (IDN S00188) can be used here. The amount of data that can be
transmitted cyclically is limited, and defined by IDN S00186 (Length of the configurable data record in the
MDT).
Name: “Config of MDT ” Attr: 0x00550001 (Variable-length IDN array)
Units: Not supported Phase 2: RW Phase 3: RO Phase 4: RO
Min: Not supported Value: (Written by master)
Max: Not supported
Notes:
See Also: IDN S00186 – Length of the configurable data record in the MDT
IDN S00188 – IDN list of configurable data in the MDT

12
 S00025 IDN-list of all procedure commands
This is a list of all the IDNs supported by the slave. The master can read this at any time.
Name: “IDN List Proceed ” Attr: 0x00550001 (Variable-length IDN array)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: (List of all supported procedure IDNs)
Max: Not supported
Notes:
See Also: IDN S00017 – IDN-list of all operation data

S00028 MST error counter

This IDN is the count of all invalid MST's in Phases 3 & 4
Name: “MST Errors” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (Number of errors)
(AT) Max: ≤ 65,535 Scaling: 1
Notes:
See Also: IDN S00029 – MDT error counter

S00029 MDT error counter

This IDN is the count of all invalid MDT's in Phases 3 & 4
Name: “MDT Errors” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (Number of errors)
(AT) Max: ≤ 65,535 Scaling: 1
Notes:
See Also: IDN S00028 – MST error counter

S00030 Manufacturer Version

This IDN is used to display a data string containing the drive firmware version and checksum.
Name: “Version Data” Attr: 0x00450001 (variable length 16-bit data strings, character)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: Manufacturer version:
Characters 1–13: “VERS: XX.xxx_” (XX = Major Rev, xxx = Minor Rev)
Max: Not supported
Characters 14-28: “Copyright yyyy_“ (yyyy = Year)
Characters 29-48: “Rockwell Automation_”
Characters 49-64: “CHKSM: xxxxxxxx_” (xxxxxxxx = Hex Checksum)
Notes:
See Also:

13
 S00032 Primary operation mode
Defines the primary operating mode for the slave. The master selects whether to use the primary operating
mode or one of the secondary operating modes via two bits in the Master Control Word.
Name: “Prime OP Mode” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RO
Min: 0x0 Value: Primary Operation Mode: (Written by master)
Max: 0xE Bits 2-0: 000 – No mode of operation defined
001 – Torque control
010 – Velocity control
011 – Position control using motor feedback
101 – Position control using auxiliary feedback
110 – Position control using motor and auxiliary feedback
Bit 3: 0 – Position control with following error
1 – Position control without following error
Notes: Bits 15-4 are further defined in the IEC 61491 specification.
Ultra doesn’t support Position Control using auxiliary feedback
See Also: IDN S00033 – Secondary operation mode 1

S00033 Secondary operation mode 1

Defines the secondary operating mode 1 for the slave. The master selects whether to use the primary
operating mode or one of the secondary operating modes via two bits in the Master Control Word.
Name: “Sec OP Mode 1” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RO
Min: 0x0 Value: Secondary Operation Mode: (Written by master)
Max: 0xE Bits 2-0: 000 – No mode of operation defined
001 – Torque control
010 – Velocity control
011 – Position control using motor feedback
101 – Position control using auxiliary feedback
110 – Position control using motor and auxiliary feedback
Bit 3: 0 – Position control with following error
1 – Position control without following error
Notes: Bits 15-4 are further defined in the IEC 61491 specification. See Notes for S0032.
See Also: IDN S00032 – Primary operation mode
IDN S00034 – Secondary operation mode 2
IDN S00035 – Secondary operation mode 3

S00036 Velocity command value

This is the command velocity value from the master.
Name: “Velocity Command ” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (Written by master)
Max: ≤ 231 –1 Scaling type: IDN S00044
Scaling factor: IDN S00045
(MDT) Scaling exponent: IDN S00046
Notes:
See Also: IDN S00044 – Velocity Data Scaling Type
IDN S00045 – Velocity Data Scaling Factor
IDN S00046 – Velocity Data Scaling Exponent

14
 S00037 Additive velocity command value
This is an additional velocity offset which is to be added to the velocity command value from the master.
Name: “Velocity Offset ” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
31
Min: ≥ -2 Value: (velocity offset)
Max: ≤ 231 –1 Scaling type: IDN S00044
Scaling factor: IDN S00045
Scaling exponent: IDN S00046
Notes:
See Also: IDN S00044 – Velocity Data Scaling Type
IDN S00045 – Velocity Data Scaling Factor
IDN S00046 – Velocity Data Scaling Exponent

S00038 Positive velocity limit value

This is describes the maximum allowable velocity in the positive direction. If the velocity limit is exceeded, the
drive responds by setting bit 5 in the C3D (IDN S00013).
Name: “+Vel Limit” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (positive velocity limit)
Max: ≤ 231 –1 Scaling type: IDN S00044
Scaling factor: IDN S00045
Scaling exponent: IDN S00046
Notes:
See Also: IDN S00044 – Velocity Data Scaling Type
IDN S00045 – Velocity Data Scaling Factor
IDN S00046 – Velocity Data Scaling Exponent

S00039 Negative velocity limit value

This is describes the maximum allowable velocity in the negative direction. If the velocity limit is exceeded,
the drive responds by setting bit 5 in the C3D (IDN S00013).
Name: “-Vel Limit” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (negative velocity limit)
Max: ≤ 0 Scaling type: IDN S00044
Scaling factor: IDN S00045
Scaling exponent: IDN S00046
Notes:
See Also: IDN S00044 – Velocity Data Scaling Type
IDN S00045 – Velocity Data Scaling Factor
IDN S00046 – Velocity Data Scaling Exponent

15
 S00040 Velocity feedback value
This is the actual velocity of the motor.
Name: “Velocity Fback” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RO Phase 3: RO Phase 4: RO
31
Min: ≥ -2 Value: (Velocity feedback value)
Max: ≤ 231 –1 Scaling type: IDN S00044
Scaling factor: IDN S00045
(AT) Scaling exponent: IDN S00046
Notes:
See Also: IDN S00044 – Velocity Data Scaling Type
IDN S00045 – Velocity Data Scaling Factor
IDN S00046 – Velocity Data Scaling Exponent

S00041 Homing velocity

This is the velocity used during Drive Controlled Homing Procedure (IDN S00148).
Name: “Homing Velocity” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (Written by master)
Max: ≤ 231 –1 Scaling type: IDN S00044
Scaling factor: IDN S00045
Scaling exponent: IDN S00046
Notes: Read/write at all times (except when Drive controlled homing procedure command is active).
See Also: IDN S00044 – Velocity Data Scaling Type
IDN S00045 – Velocity Data Scaling Factor
IDN S00046 – Velocity Data Scaling Exponent

S00042 Homing acceleration

This is the acceleration used during Drive Controlled Homing Procedure (IDN S00148)
Name: “Homing Accel” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Acceleration Phase 2: RW Phase 3: RW Phase 4: RW
units)
Min: 0 Value: (Written by master)
Max: ≤ 231 –1 Scaling type: IDN S00160
Scaling factor: IDN S00161
Scaling exponent: IDN S00162
Notes: Read/write at all times (except when Drive controlled homing procedure command is active).
See Also: IDN S00041 – Homing velocity
IDN S00138 – Bipolar acceleration limit
IDN S00147 – Homing parameter
IDN S00148 – Drive-controlled homing procedure command

16
 S00043 Velocity polarity parameter
This IDN is used to switch polarities of position data. The motor shaft turns clockwise when there is a positive
position command and no inversion is programmed.
Name: “Vel Polarity” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x0 Value: Velocity parameter:
Max: 0x7 Bit 0: Velocity command value
0 – non-inverted
1 – inverted
Bit 1: Additive velocity command value
0 – non-inverted
1 -- inverted
Bit 2: Velocity feedback value
0 – non-inverted
1 – inverted
All other bits are reserved.
Notes: RO when drive is enabled
See Also: IDN S00044 – Velocity data scaling type

S00044 Velocity data scaling type

This selects the scaling method to use on velocity values (e.g., IDN’s 00036, 00040, and 00041).
Name: “Vel Scaling Type” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x00 Value: Scaling type:
Max: 0x7F Bits 2-0: Scaling method
000 – no scaling
001 – linear scaling (not supported)
010 – rotational scaling
Bit 3:
0 – preferred scaling
1 – parameter scaling
Bit 4: Units for rotary
0 – revolutions
1 – (reserved)
Bit 4: Units linear
0 – meters
1 – inches
Bit 5: Time
0 – minutes
1 – seconds
Bit 6: Data reference (must be 0)
0 – at the motor shaft
1 – at the load (not implemented)
All other bits are reserved.
Notes: Read-only when drive is enabled.
IDNs S00045 and S00046 should have valid values before IDN S00044 is written.
See Also: IDN S00045 – Velocity data scaling factor
IDN S00046 – Velocity data scaling exponent
IDN S00076 – Position data scaling type
IDN S00160 – Acceleration data scaling type

17
 S00045 Velocity data scaling factor
This defines the scaling factor for all velocity data.
Name: “Vel Scaling Fact” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 1 Value: (Written by master)
Max: ≤ 65,535 Scaling: 1
Notes: Read-only when drive is enabled
See Also: IDN S00044 – Velocity data scaling type
IDN S00046 – Velocity data scaling exponent

S00046 Velocity data scaling exponent

This defines the scaling exponent for all velocity data.
Name: “Vel Scaling Exp” Attr: 0x00210001 (16-bit signed decimal)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
15
Min: ≥ -2 Value: (Written by master)
Max: ≤ 215 –1 Scaling: 1
Notes: Read-only when drive is enabled
See Also: IDN S00044 – Velocity data scaling type
IDN S00045 – Velocity data scaling factor

S00047 Position command value

This is the command position value from the master.
Name: “Position Command” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (Written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
(MDT) Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00051 – Position feedback value 1 (motor feedback)
IDN S00055 – Position polarity parameter
IDN S00076 – Position Data Scaling Type
IDN S00077 – Position Data Scaling Factor
IDN S00077 – Position Data Scaling Exponent

S00049 Positive position limit value

This is the maximum allowable distance in the positive direction. When the positive position limit value is
exceeded, the drive sets error bit 13 of the C1D (IDN S00011).
Name: “+Position Limit” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (positive position limit)
31
Max: ≤ 2 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00051 – Position feedback value 1 (motor feedback)
IDN S00055 – Position polarity parameter
IDN S00076 – Position Data Scaling Type
IDN S00077 – Position Data Scaling Factor
IDN S00077 – Position Data Scaling Exponent

18
 S00050 Negative position limit value
This is the maximum allowable distance in the negative direction. When the negative position limit value is
exceeded, the drive sets error bit 13 of the C1D (IDN S00011).
Name: “-Position Limit” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (negative position limit)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00051 – Position feedback value 1 (motor feedback)
IDN S00055 – Position polarity parameter
IDN S00076 – Position Data Scaling Type
IDN S00077 – Position Data Scaling Factor
IDN S00077 – Position Data Scaling Exponent

S00051 Position feedback value 1

This is the actual position value of the motor encoder.
Name: “Motor Posn Fback” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -231 Value: (motor position feedback)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
(AT) Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00053 – Position feedback value 2 (external feedback)
IDN S00076 – Position Data Scaling Type
IDN S00077 – Position Data Scaling Factor
IDN S00077 – Position Data Scaling Exponent

S00052 Reference distance 1

The master uses this value to specify the distance between the Reference point and the Machine zero point
related to the motor feedback. It is used (along with the Reference Offset 1, IDN S00150) by the drive during
the Drive Controlled Homing Procedure (IDN S00148) to calculate the actual position value.
Name: “Ref Dist 1” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (Written by master)
31
Max: ≤ 2 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes: Read/write at all times (except when Drive controlled homing procedure command is active)
See Also: IDN S00076 – Position data scaling type
IDN S00147 – Homing parameter
IDN S00148 – Drive-controlled homing procedure command
IDN S00150 – Reference offset 1

19
 S00053 Position feedback value 2
This is the actual position value of the auxiliary feedback.
Name: “Aux Posn Fback” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RO Phase 3: RO Phase 4: RO
31
Min: ≥ -2 Value: (auxiliary position feedback)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
(AT) Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00051 – Position feedback value 1 (motor feedback)
IDN S00076 – Position data scaling type
IDN S00077 – Position Data Scaling Factor
IDN S00077 – Position Data Scaling Exponent

S00054 Reference distance 2

The master uses this value to specify the distance between the Reference point and the Machine zero point
related to the auxiliary feedback. It is used (along with the Reference Offset 2, IDN S00151) by the drive
during the Drive Controlled Homing Procedure (IDN S00148) to calculate the actual position value.
Name: “Ref Dist 2” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (Written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes: Read/write at all times (except when Drive controlled homing procedure command is active)
See Also: IDN S00076 – Position data scaling type
IDN S00147 – Homing parameter
IDN S00148 – Drive-controlled homing procedure command
IDN S00151 – Reference offset 2

S00055 Position polarity parameter

This IDN is used to switch polarities of position data. The motor shaft turns clockwise when there is a positive
position command and no inversion is programmed.
Name: “Posn Polarity” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x00 Value: Polarity parameter:
Max: 0x1F Bit 0: Position command value
0 – non-inverted
1 – inverted
Bit 1: (Reserved)
Bit 2: Position feedback value 1
0 – non-inverted
1 – inverted
Bit 3: Position feedback value 2
0 – non-inverted
1 – inverted
Bit 4: Position limit values
0 – disabled
1 – enabled
All other bits are reserved.
Notes: RO when drive is enabled
See Also: IDN S00076 – Position data scaling type

20
 S00057 Position window
When the absolute value of the position error (the difference between the commanded position and the
feedback position) is less than the amount specified by this IDN, the "In position" bit (bit 6 of C3D,
IDN S00013) is set.
Name: “In Posn Value” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00013 – Class 3 diagnostic
IDN S00047 – Position command value
IDN S00051 – Position feedback value 1 (motor feedback)
IDN S00076 – Position data scaling type

S00076 Position data scaling type

This selects the scaling method to use on position values (e.g., IDN’s S00047, S00051, and S00053).
Name: “Pos Scaling Type” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x00 Value: Scaling type:
Max: 0xFF Bits 2-0: Scaling method
000 – no scaling
001 – linear scaling
010 – rotational scaling
Bit 3:
0 – preferred scaling
1 – parameter scaling
Bit 4: Linear Units
0 – meters
1 – inches
Bit 4: Units (must be 0)
0 – degrees
1 – (reserved)
Bit 5: (reserved)
Bit 6: Data reference
0 – at the motor shaft
1 – at the load
Bit 7: Processing format
0 – absolute format
1 – modulo format
All other bits are reserved.
Notes: Read-only when drive is enabled.
IDN S00079 should have a valid value before IDN S00076 is written.
See Also: IDN S00044 – Velocity data scaling type
IDN S00055 – Position polarity parameter
IDN S00079 – Rotational position resolution
IDN S00077 – Linear position data scaling factor

21
 S00077 Linear position data scaling factor
This defines the scaling factor for all position data in a drive.
Name: “Lin Posn Scaling” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 1 Value: linear position scaling (written by master)
Max: ≤ 216 –1 Bits 15-0: factor
Notes: Read-only when drive is enabled.
See Also: IDN S00076 – Position data scaling type

S00078 Linear position data scaling exponent

This defines the scaling exponent for all position data in a drive.
Name: “Lin Posn Expon” Attr: 0x00210001 (16-bit signed decimal)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -215 Value: linear position exponent (written by master)
Max: ≤ 215 –1 Bit 15: Sign of the exponent
0 – positive
1 – negative
Bits 14-0: Exponent
Notes: Read-only when drive is enabled.
See Also:

S00079 Rotational position resolution

This defines the rotational position resolution for all position data. Basically, it specifies how many “counts” are
in one revolution. One LSB for position data = (360° / IDN S00079).
Name: “Rot Posn Resolut” Attr: 0x00220001 (32-bit signed decimal)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥1 Value: (written by master)
Max: ≤ 232 -1 Scaling: 1
Notes: Read-only when drive is enabled.
The minimum value for Ultra is 4X the encoder line count.
See Also:

S00080 Torque command value

This is the command value when operating in torque mode.
Name: “Torque Command” Attr: 0x0X21XXXX
(16-bit signed decimal, C.F. changes based on scaling)
Units: (Torque units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -215 Value: (written by master)
Max: ≤ 215 –1 Scaling type: IDN S00086
Scaling factor: IDN S00093
Scaling exponent: IDN S00094
Notes:
See Also: IDN S00085 – Torque polarity parameter
IDN S00086 – Torque scaling type
IDN S00093 – Torque scaling factor
IDN S00094 – Torque scaling exponent

22
 S00081 Additive torque command value
This is an additional function for torque control in the drive. The additive torque command value is added to
the torque command value (IDN S00080) in the drive.
Name: “Torque Offset” Attr: 0x0X21XXXX
(16-bit signed decimal, C.F. changes based on scaling)
Units: (Torque units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -215 Value: (written by master)
Max: ≤ 215 –1 Scaling type: IDN S00086
Scaling factor: IDN S00093
Scaling exponent: IDN S00094
Notes:
See Also: IDN S00085 – Torque polarity parameter
IDN S00086 – Torque scaling type
IDN S00093 – Torque scaling factor
IDN S00094 – Torque scaling exponent

S00082 Positive torque limit value

This is the maximum torque in the positive direction. If the torque limit is exceeded, the drive sets bit 4 of C3D
(IDNS00013).
Name: “+Torque Limit” Attr: 0x0X21XXXX
(16-bit signed decimal, C.F. changes based on scaling)
Units: (Torque units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (written by master)
Max: ≤ 215 –1 Scaling type: IDN S00086
Scaling factor: IDN S00093
Scaling exponent: IDN S00094
Notes:
See Also: IDN S00086 – Torque scaling type
IDN S00093 – Torque scaling factor
IDN S00094 – Torque scaling exponent

S00083 Negative torque limit value

This is the maximum torque in the negative direction. If the torque limit is exceeded, the drive sets bit 4 of
C3D (IDNS00013).
Name: “-Torque Limit” Attr: 0x0X21XXXX
(16-bit signed decimal, C.F. changes based on scaling)
Units: (Torque units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -215 Value: (written by master)
Max: ≤ 0 Scaling type: IDN S00086
Scaling factor: IDN S00093
Scaling exponent: IDN S00094
Notes:
See Also: IDN S00086 – Torque scaling type
IDN S00093 – Torque scaling factor
IDN S00094 – Torque scaling exponent

23
 S00084 Torque feedback value
This is the torque feedback value when operating in torque mode.
Name: “Torque Fback” Attr: 0x0X21XXXX
(16-bit signed decimal, C.F. changes based on scaling)
Units: (Torque units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -215 Value: (torque feedback value)
Max: ≤ 215 –1 Scaling type: IDN S00086
Scaling factor: IDN S00093
Scaling exponent: IDN S00094
Notes:
See Also: IDN S00085 – Torque polarity parameter
IDN S00086 – Torque scaling type
IDN S00093 – Torque scaling factor
IDN S00094 – Torque scaling exponent

S00085 Torque polarity parameter

This IDN is used to switch polarities of torque data. The motor shaft turns clockwise when there is a positive
torque command difference and no inversion is programmed.
Name: “Torque Polarity” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x0 Value: Torque parameter:
Max: 0x7 Bit 0: Torque command value
0 – non-inverted
1 – inverted
Bit 1: Additive torque command value
0 – non-inverted
1 – inverted
Bit 2: Torque feedback value
0 – non-inverted
1 – inverted
All other bits are reserved.
Notes: RO when drive is enabled
See Also: IDN S00086 – Torque data scaling type

24
 S00086 Torque data scaling type
This selects the scaling method to use on torque values (e.g., IDN’s 00080 and 00092).
Name: “Torque Scaling” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x00 Value: Scaling type:
Max: 0x7F Bits 2-0: Scaling method
000 – percentage scaling
001 – linear scaling (force)
010 – rotational scaling (torque)
Bit 3:
0 – preferred scaling
1 – parameter scaling
Bit 4: Units
0 – Newton meter (Nm)
1 – inch pound force (lbf)
Bit 5: (reserved)
Bit 6: Data reference
0 – at the motor shaft
1 – at the load
All other bits are reserved.
Notes: Read-only when drive is enabled.
IDNs S00093 and S00094 should have valid values before IDN S00086 is written.
Ultra only supports percentage scaling.
See Also: IDN S00085 – Torque polarity parameter
IDN S00093 – Torque data scaling factor
IDN S00094 – Torque data scaling exponent

S00087 Transmit to transmit recovery time (tATAT)

This specifies the minimum time required by the slave between AT transmissions. It only applies to slaves that
control two or more drives. It is a function of the SERCON chip.
Name: “Tr-Tr Recov Time ” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: 10
Max: ≤ 216 -1 Scaling: 1
Notes: According to the IAM slave software, the SERCON minimum is 2 µs, and they use the value of 10.
See Also:

S00088 Receive to receive recovery time (tMTSY)

This is the time required by the slave between receiving the MDT and receiving the following MST. It is a
function of the SERCON chip. The master reads this during phase 2 for its timing calculations.
Name: “Drive MDT/MST Tm” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: 10
Max: ≤ 216 -1 Scaling: 1
Notes: According to the IAM slave software, the SERCON minimum is 2 µs, and they use the value of 10.
See Also:

25
 S00089 MDT transmission starting time (t2)
This is the time at which the master will send the MDT. It is sent by the master during phase 2.
Name: “MDT Start Time” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RW Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (Written by master)
Max: ≤ (IDN S00002 Value) Scaling: 1
Notes:
See Also:

S00090 Command value proceeding time (tMTSG)

This is the time required by the slave to process and transfer the command value to the drive. It is read by the
master during phase 2 to determine the Command Value Valid time (t3 – IDN S00008).
Name: “Command Exec Tm” Attr: 0x00110001 (16-bit unsigned decimal)
Units: “µs” Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: 100
Max: ≤ 216 -1 Scaling: 1
Notes:
See Also: IDN S00008 – Command value valid time (t3)

S00091 Bipolar velocity limit value

Sets the velocity limit symmetrically in both directions. When in velocity mode, if the command velocity
exceeds this value, bit 5 in C3D (IDN S00013) is set.
Name: “Bipolar Vel Lmt ” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0 Value: (Written by master)
31
Max: ≤ 2 –1 Scaling type: IDN S00044
Scaling factor: IDN S00045
Scaling exponent: IDN S00046
Notes:
See Also: IDN S00013 – Class 3 diagnostics
IDN S00335 – Status 'ncommand > nlimit'

S00092 Bipolar torque limit value

Sets the torque limit symmetrically in both directions. When the actual torque exceeds this value, bit 4 in C3D
(IDN S00013) is set.
Name: “Bipolar Trq Lmt ” Attr: 0x0X11XXXX
(16-bit unsigned decimal, C.F. changes based on scaling)
Units: (Torque units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0 Value: (Written by master)
15
Max: ≤ 2 –1 Scaling type: IDN S00086
Scaling factor: IDN S00093
Scaling exponent: IDN S00094
Notes:
See Also: IDN S00013 – Class 3 diagnostics
IDN S00334 – Status 'T ≥ Tlimit'

26
 S00093 Torque data scaling factor
This defines the scaling factor for all torque data.
Name: “Torque Scaling” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 1 Value: (Written by master)
16
Max: ≤ 2 –1 Bits 15-0: factor
Notes: Read-only when drive is enabled
See Also: IDN S00086 – Torque data scaling type
IDN S00094 – Torque data scaling exponent

S00094 Torque data scaling exponent

This defines the scaling exponent for all torque data.
Name: “Torque Exponent” Attr: 0x00210001 (16-bit signed decimal)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -215 Value: (Written by master)
Max: ≤ 215 –1 Bit 15: Sign of the exponent
0 – positive
1 – negative
Bits 14-0: Exponent
Notes: Read-only when drive is enabled
See Also: IDN S00086 – Torque data scaling type
IDN S00093 – Torque data scaling factor

S00095 Diagnostic message

Any drive-specific message concerning the operation of the drive can be stored here, and the master can read
it at any time.
Name: “Diagnostic Msg” Attr: 0x00440001 (Variable-length text array)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: (Message from drive)
Max: Not supported
Notes:
See Also:

S00096 Slave arrangement (SLKN)

Specifies whether this drive is controlled by a slave which controls more than one drive.
Name: “Slave Arrange” Attr: 0x00310001 (16-bit hexadecimal)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0000 Value: (slave arrangement)
Max: 0xFEFE (65,278) Bits 15-8: Intrinsic drive address (0x01 → 0xFE)
Bits 7-0: Next drive’s address (0x01→ 0xFE)
Notes:
See Also:

27
 S00097 Mask class 2 diagnostic
This IDN is used to mask specific C2D flags (IDN S00012) from affecting the C2D Change bit in the Drive
Status Word. The bit map for this IDN matches that for IDN S00012, and any '0's mask the corresponding
flag.
Name: “Mask C2D” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x0000 Value: (C2D mask)
Max: 0xFFFF Bits 15-0: all 0’s – masked warning
all 1’s – unmasked warning
Notes:
See Also: IDN S00012 – Class 2 diagnostic

S00098 Mask class 3 diagnostic

This IDN is used to mask specific C3D flags (IDN S00013) from affecting the C3D Change bit in the Drive
Status Word. The bit map for this IDN matches that for IDN S00013, and any '0's mask the corresponding
flag.
Name: “Mask C3D” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x0000 Value: (C3D mask)
Max: 0xFFFF Bits 15-0: all 0’s – masked warning
all 1’s – unmasked warning
Notes:
See Also: IDN S00013 – Class 3 diagnostic

S00099 Reset class 1 diagnostic

This is a procedure command which clears the Class 1 Diagnostic bits, the Interface Status, the
Manufacturer’s C1D, the drive shutdown error bit, and the drive shutdown mechanism in the drive, if the
corresponding errors are no longer present. This also clears associated power supply faults.
Name: “Drive Err Reset” Attr: 0x00090001 (16-bit binary, procedure command)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: Not supported Value: (Written by master)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
See Also: IDN S00011 – Class 1 diagnostic
IDN S00014 – Interface status

S00100 Velocity loop proportional gain

This is the velocity loop proportional gain value. (1 msec-1 = 60 (m/min)/mm )
Name: “Vel Prop Gain” Attr: 0x00210001 (16-bit signed decimal)
Units: (m/min)/mm Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0 Value: (velocity loop proportional gain)
Max: ≤ 216 –1 Scaling: 10-2
Notes:
See Also:

28
 S00101 Velocity loop integral action time
This is the velocity loop integral action time. This is defined as the ratio of Kp/Ki.
When the value is 216 –1, Ki = 0.
Name: “Vel Integ Time” Attr: 0x01210001 (16-bit signed decimal)
Units: ms Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0 Value: (velocity loop integral action time)
Max: ≤ 216 –1 Scaling: 10-1
Notes:
See Also:

S00103 Modulo Value

If the modulo format is selected in the position data scaling factor (IDN S00076), the modulo value defines the
range that the drive & control must implement.
Name: “Modulo Value” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 1 Value: (written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00076 – Position data scaling type

S00104 Position loop Kv factor

This determines the gain of the position loop regulator throughout the entire velocity range.
(1 msec-1 = 60 (m/min)/mm )
Name: “Pos Loop Gain” Attr: 0x02210001 (16-bit signed decimal)
Units: (m/min)/mm Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (position loop proportional gain)
Max: ≤ 30000 Scaling: 10-2
Notes:
See Also:

S00105 Position loop integral action time

This determines the position loop integral action time. This is defined as the ratio of Kp/Ki.
When the value is 216 –1, Ki = 0.
Name: “Pos Int Time” Attr: 0x01210001 (16-bit signed decimal)
Units: ms Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (position loop integral action time)
Max: ≤ 216 –1 Scaling: 10-1
Notes:
See Also:

S00106 Current loop proportional gain 1

This gain influences the torque producing current.
Name: “Cur Prop Gain” Attr: 0x02210001 (16-bit signed decimal)
Units: rad/s Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (current loop proportional gain)
Max: ≤ 10000 Scaling: 10-2
Notes:
See Also:

29
 S00109 Motor peak current
If the motor peak current is less than that of the drive, the drive is automatically limited to the level of the
motor peak current.
Name: “Mtr Peak Current” Attr: 0x03120001 (32-bit unsigned decimal)
Units: Amps Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor peak current)
Max: ≤ 1000000 Scaling: 10-3
Notes: If the motor was auto-detected the Phase 2, 3, & 4 status is Read-Only.
See Also:

S00110 Amplifier peak current

The amplifier peak current is limited by the hardware and is initialized at power-up.
Name: “Drive Peak Amps” Attr: 0x03120001 (32-bit unsigned decimal)
Units: Amps Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (drive peak current)
Max: ≤ 3000000 Scaling: 10-3
Notes:
See Also:

S00111 Motor continuous stall current

This is the current at which the motor produces continuous standstill torque.
Name: “Mtr Cont Current” Attr: 0x03120001 (32-bit unsigned decimal)
Units: Amps Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor continuous current)
-3
Max: ≤ 1000000 Scaling: 10
Notes: If the motor was auto-detected the Phase 2, 3, & 4 status is Read-Only.
See Also:

S00112 Amplifier rated current

The amplifier rated current is the continuous current of the drive.
Name: “Drive Cont Amps” Attr: 0x03120001 (32-bit unsigned decimal)
Units: Amps Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (drive continuous current)
Max: ≤ 3000000 Scaling: 10-3
Notes:
See Also:

S00113 Maximum motor speed

This defines the maximum speed of the motor.
Name: “Max Mtr Speed” Attr: 0x03120001 (32-bit unsigned decimal)
Units: rpm Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (maximum motor speed)
Max: ≤ 30000000 Scaling: 10-3
Notes: If the motor was auto-detected the Phase 2, 3, & 4 status is Read-Only.
See Also:

30
 S00114 Load limit of the motor
When the load limit is exceeded for a period of time, the overload shut-down bit 0 of C1D (IDN S00011) is
set.
Name: “Mtr Torq Overld” Attr: 0x01120001 (32-bit unsigned decimal)
Units: % (motor rated) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (load limit of motor)
Max: ≤ 1000 Scaling: 10-1
Notes:
See Also:

S00115 Position feedback 2 type

The position feedback 2 type parameter is used to program the conditions which apply to the auxiliary
feedback.
Name: “Aux Fback Type” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x00 Value: Feedback 2 type:
Max: 0xFF Bit 0: Feedback type
0 – rotational feedback (IDN S00117)
1 – linear feedback
Bit 1: Distance coded feedback
0 – no distance coded reference marks
1 – distance coded reference marks (IDNs S00165, S00166)
Bit 2: Feedback resolution
0 – resolution = metric
1 – resolution = inches
Bit 3: Direction polarity
0 – not inverted
1 – inverted
Bit 4: Marker pulse quantity
0 – only 1 reference marker pulse
1 – multiple cyclic reference marker pulses
Bit 5: Structure of distance coded feedback
0 – counting positive with positive direction
1 – counting negative with positive direction
Bit 6: Type of measuring system
0 – relative (incremental)
1 – absolute
Bit 7: Usage
0 – absolute measurements with an absolute system
1 – relative (incremental) measurements with an absolute system
All other bits are reserved.
Notes: Read-only when drive is enabled.
See Also: IDN S00277 – Position feedback 1 type

S00116 Resolution of feedback 1

The resolution parameter of the motor feedback contains the cycles per rev of the motor for rotary feedback.
For a linear motor, this is the grid constant.
Name: “MtrFdbk Resolution“ Attr: 0x00120001 (32-bit unsigned decimal)
Units: cycles Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (resolution of motor feedback)
Max: ≤ 32000 Scaling: 1
Notes:
See Also:

31
 S00117 Resolution of feedback 2
The resolution parameter of the auxiliary feedback contains the cycles per rev for rotary feedback. For a
linear feedback, this is the grid constant.
Name: “AuxFdbk Resolution“ Attr: 0x00120001 (32-bit unsigned decimal)
Units: cycles Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (resolution of auxiliary feedback)
Max: ≤ 32000 Scaling: 1
Notes:
See Also:

S00121 Input revolutions of load gear

The value of the gear input revolutions must be entered as an integer.
Name: “Gear Input Revs“ Attr: 0x00120001 (32-bit unsigned decimal)
Units: ***TBD*** Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (input revolutions of load gear)
Max: ≤ 232 -1 Scaling: 1
Notes:
See Also: IDN S00122 – Output revolutions of load gear
IDN S00123 – Feed constant

S00122 Output revolutions of load gear

The value of the gear output revolutions must be entered as an integer.
Name: “Gear Input Revs“ Attr: 0x00120001 (32-bit unsigned decimal)
Units: ***TBD*** Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (output revolutions of load gear)
Max: ≤ 232 -1 Scaling: 1
Notes:
See Also: IDN S00121 – Input revolutions of load gear
IDN S00123 – Feed constant

S00123 Feed constant

The feed constant describes the machine element which converts rotational motion in to linear motion. The
feed constant indicates the linear distance during one revolution of the feed spindle.
Name: “Feed Constant” Attr: 0x00120001 (32-bit unsigned decimal)
Units: ***TBD*** Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (feed constant)
Max: ≤ 232 -1 Scaling: 1
Notes:
See Also: IDN S00121 – Input revolutions of load gear
IDN S00122 – Output revolutions of load gear

32
 S00124 Standstill window
This specifies the velocity limit for the standstill window. If the motor velocity is less than this limit, the drives
sets the status nfeedback = 0 (IDN S00331) in C3D.
Name: “Zero Spd Window” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥0 Value: (written by master)
Max: ≤ 231 -1 Scaling type: IDN S00044
Scaling factor: IDN S00045
Scaling exponent: IDN S00046
Notes:
See Also: IDN S00013 – Class 3 diagnostic
IDN S00331 – Status ‘nfeedback = 0’
IDN S00044 – Velocity Data Scaling Type
IDN S00045 – Velocity Data Scaling Factor
IDN S00046 – Velocity Data Scaling Exponent

S00125 Velocity threshold nx

This specifies the velocity threshold limit. If the motor velocity is less than this limit, the drives sets the status
nfeedback < nx (IDN S00332) in C3D.
Name: “Speed Threshold” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥0 Value: (written by master)
Max: ≤ 231 -1 Scaling type: IDN S00044
Scaling factor: IDN S00045
Scaling exponent: IDN S00046
Notes:
See Also: IDN S00013 – Class 3 diagnostic
IDN S00332 – Status ‘nfeedback < nx’
IDN S00044 – Velocity Data Scaling Type
IDN S00045 – Velocity Data Scaling Factor
IDN S00046 – Velocity Data Scaling Exponent

S00126 Torque threshold Tx

If the torque feedback value exceeds the torque threshold, the drive sets the status bit 3 of C3D (IDN
S00013).
Name: “Torque Threshold” Attr: 0x0X21XXXX
(16-bit signed decimal, C.F. changes based on scaling)
Units: (Torque units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (written by master)
Max: ≤ 215 –1 Scaling type: IDN S00086
Scaling factor: IDN S00093
Scaling exponent: IDN S00094
Notes:
See Also: IDN S00333 – Status T > Tx
IDN S00086 – Torque scaling type
IDN S00093 – Torque scaling factor
IDN S00094 – Torque scaling exponent

33
 S00127 Communication phase 3 transition check
This is a procedure command which instructs the drive to make sure all necessary parameters have been
transferred for phase 3. If there are any problems, the drive builds a list of the bad IDNs in IDN S00021.
Name: “SERCOS Phase3 OK” Attr: 0x00090001 (16-bit binary, procedure command)
Units: Not supported Phase 2: RW Phase 3: RO Phase 4: RO
Min: Not supported Value: (Written by master)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
See Also: IDN S00018 – IDN-list of all operation data for CP2
IDN S00021 – IDN-list of invalid operation data for CP2
IDN S00128 – Communication phase 4 transition check

S00128 Communication phase 4 transition check

This is a procedure command which instructs the drive to make sure all necessary parameters have been
transferred for phase 4. If there are any problems, the drive builds a list of the bad IDNs in IDN S00022.
Name: “SERCOS Phase4 OK” Attr: 0x00090001 (16-bit binary, procedure command)
Units: Not supported Phase 2: RO Phase 3: RW Phase 4: RO
Min: Not supported Value: (Written by master)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
See Also: IDN S00019 – IDN-list of all operation data for CP3
IDN S00022 – IDN-list of invalid operation data for CP3
IDN S00127 – Communication phase 3 transition check

S00129 Manufacturer Class 1 Diagnostic

These are additional shutdown erors. If an error is set, it sets the corresponding bit here, and also sets the
manufacturer-specific error bit in C1D (IDN S00011).The drive clears these bits only after the error has been
eliminated, and the procedure “Reset class 1 diagnostics” (IDN S00099) has been executed.
Name: “A-B Fault” Attr: 0x00010001 (16-bit binary)
Units: Not Supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0000 Value: Manufacturer class 1 diagnostic:
Bits 15-0: Bit 0: +Soft Overtravel Fault (attempted travel beyond +SW limit)
Max: 0xFFFF
Bit 1: -Soft Overtravel Fault (attempted travel beyond –SW limit)
Bit 2: +Hard Overtravel Fault* (positive HW limit switch reached)
Bit 3: - Hard Overtravel Fault* (negative HW limit switch reached)
Bit 4: Motor Feedback Fault (fdbk loss, wire broken or shorted)
Bit 5: Motor Feedback Noise Fault (excessive electrical noise)
Bit 6: Auxiliary Feedback Fault (fdbk loss, wire broken or shorted)
Bit 7: Auxiliary Feedback Noise Fault (excessive electrical noise)
Bit 8: reserved
Bit 9: Drive Enable Input Fault (attempt to enable w/o permissive)
Bits 8-12: reserved
Bit 13: Ground Short Fault (imbalance in the DC bus supply current)
Bit 14: Drive Hardware Fault (typically a non-recoverable HW error)
Bit 15: Overspeed Fault (feedback velocity exceeded limits)
Notes: If any of these bits are set, bit 15 of IDN S00011 must also be set.
* = Only active if IDN P00004 is set to “0”.
See Also: IDN S00011 – Class 1 Diagnostic
IDN P00004 – Hard Overtravel Monitor

34
 S00130 Probe value 1 positive edge
During the Probe Cycle Procedure (IDN S00170), the drive stores the position of Probe 1's positive edge in
this value (if Probe 1's positive edge is enabled in bit 0 of IDN S00169).
Name: “Reg Motor Posn+” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -231 Value: (Position of probe 1 positive edge)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
(AT) Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00076 – Position data scaling type
IDN S00131 – Probe value 1 negative edge
IDN S00169 – Probe control parameter
IDN S00170 – Probing cycle procedure command

S00131 Probe value 1 negative edge

During the Probe Cycle Procedure (IDN S00170), the drive stores the position of Probe 1's negative edge in
this value (if Probe 1's negative edge is enabled in bit 1 of IDN S00169).
Name: “Reg Motor Posn-” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -231 Value: (Position of probe 1 negative edge)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
(AT) Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00076 – Position data scaling type
IDN S00130 – Probe value 1 positive edge
IDN S00169 – Probe control parameter
IDN S00170 – Probing cycle procedure command

S00132 Probe value 2 positive edge

During the Probe Cycle Procedure (IDN S00170), the drive stores the position of Probe 2's positive edge in
this value (if Probe 2's positive edge is enabled in bit 2 of IDN S00169).
Name: “Reg Aux Posn+” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -231 Value: (Position of probe 2 positive edge)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
(AT) Rotational position resolution: IDN S00079
Notes: During controller controlled homing, the marker position is stored in this IDN (this is non-standard functionality,
configured by bit 1 of IDN P00004).
See Also: IDN S00076 – Position data scaling type
IDN S00133 – Probe value 2 negative edge
IDN S00169 – Probe control parameter
IDN S00170 – Probing cycle procedure command
IDN P00004 – Option Configuration Bits

35
 S00133 Probe value 2 negative edge
During the Probe Cycle Procedure (IDN S00170), the drive stores the position of Probe 2's negative edge in
this value (if Probe 2's negative edge is enabled in bit 3 of IDN S00169).
Name: “Reg Aux Posn-” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -231 Value: (Position of probe 2 negative edge)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
(AT) Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00076 – Position data scaling type
IDN S00132 – Probe value 2 positive edge
IDN S00169 – Probe control parameter
IDN S00170 – Probing cycle procedure command

S00136 Positive acceleration limit value

This limits the maximum acceleration ability of the drive to the programmed value.
Name: “Accel Limit ” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Acceleration units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (Written by master)
Max: ≤ 231 –1 Scaling type: IDN S00160
Scaling factor: IDN S00161
Scaling exponent: IDN S00162
Notes:
See Also: IDN S00160 – Acceleration data scaling type
IDN S00161 – Acceleration data scaling factor
IDN S00162 – Acceleration data scaling exponent

S00137 Negative acceleration limit value

This limits the maximum acceleration ability of the drive to the programmed value.
Name: “Decel Limit ” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Acceleration units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (Written by master)
Max: ≤ 0 Scaling type: IDN S00160
Scaling factor: IDN S00161
Scaling exponent: IDN S00162
Notes:
See Also: IDN S00160 – Acceleration data scaling type
IDN S00161 – Acceleration data scaling factor
IDN S00162 – Acceleration data scaling exponent

36
 S00138 Bipolar acceleration limit value
This parameter sets the acceleration and deceleration limits for the drive. This is only in effect when operating
in velocity mode.
Name: “Bipolar Acel lmt” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Acceleration units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (Written by master)
Max: ≤ 231 –1 Scaling type: IDN S00160
Scaling factor: IDN S00161
Scaling exponent: IDN S00162
Notes: If set to zero, maximum acceleration will be allowed.
See Also: IDN S00160 – Acceleration data scaling type
IDN S00161 – Acceleration data scaling factor
IDN S00162 – Acceleration data scaling exponent

S00140 Controller Type

This IDN is used to display the catalog number, series, and manufacturer of the drive amplifier.
Name: “Drive Data” Attr: 0x00450001 (variable length 16-bit data strings, character)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: Controller type:
Characters 1–17: Axis Catalog Number (Example: “1394-AM50 _”)
Max: Not supported
Characters 18-26: “SERIES x_“
Characters 27-40: “Allen-Bradley_”
Characters 41-64: -Blank-
Notes:
See Also:

S00141 Motor Type

This IDN is used to display the catalog number of the motor.
Name: “Motor Data” Attr: 0x00450001 (variable length 16-bit data strings, character)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: Motor type:
Characters 1–17: Catalog Number (Example: “1326AB-B410G _”)
Max: Not supported
Characters 18-28: “xxxxxxxxxx_” Serial Number
Characters 29-39: “mm/dd/yyyy_ ” Date of manufacture
Characters 40-49: “Lot:Xxxxx_” Motor Lot Code (X = Lot Letter, xxxx = Lot Number)
Characters 50-59: “Rev:xxxxx_” Motor Revision Number
Characters 60-64: -Blank-
Notes:
See Also: IDNs P00243→P00258 – Motor Catalog Number Bytes
IDNs P00260→P00258 – Motor Serial Number Bytes
IDNs P00273→P00275– Motor Date of Manufacture
IDNs P00270→P00272 – Motor Lot Letter/Numbers
IDN P00242 – Motor Parameter Revision

S00142 Application Type

37
 This IDN is used to display the type of the drive application.
Name: “Application Type” Attr: 0x00450001 (variable length 16-bit data strings, character)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: Not supported Value: Application type:
Characters 1-64: - Application Type –
Max: Not supported
(Examples: “SERCOS SERVO”, “SERCOS SPINDLE”)
Notes:
See Also: IDN P00001

S00143 SYSTEM interface version

This IDN contains the SYSTEM Interface specification that this drive conforms to.
Name: “System Version” Attr: 0x00440001 (Variable-length text array)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: "V01.02"
Max: Not supported
Notes:
See Also:

S00146 Control unit controlled homing procedure command

The master uses this IDN to start, monitor, and halt the control unit controlled homing procedure.
Name: “Ctrl Homing Proc” Attr: 0x00090001(16-bit binary, procedure command)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: Not supported Value: (Written by master)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
See Also: IDN S00400 – Home switch
IDN S00407 – Homing enable

38
 S00147 Homing parameter
The master uses this parameter to define how the Drive-Controlled Homing Procedure will operate.
Name: “Homing Parameter” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x00 Value: (written by master)
Max: 0xFF Bit 0: Homing direction
0 – positive: motor turns clockwise
1 – negative: motor turn counter-clockwise
Bit 1: Position feedback marker pulse
0 – first marker pulse after positive edge of home switch
1 – first marker pulse after negative edge of home switch
Bit 2: Home switch (IDN S00400)
0 – connected to the control unit
1 – connected to the drive
Bit 3: Homing
0 – using motor feedback
1 – using auxiliary feedback
Bit 4: Interpretation in the drive
0 – home switch and homing enable
1 – homing enable only
Bit 5: Evaluation of home switch
0 – home switch is evaluated
1 – home switch is not evaluated
Bit 6: Evaluation of position feedback marker pulse
0 – marker pulse is evaluated
1 – marker pulse is not evaluated
Bit 7: Position after drive controlled homing
0 – drive is positioned in arbitrary position
1 – drive is positioned in reference position
All other bits are reserved.
Notes: Read-only while homing procedure is active.
See Also IDN S00148 – Drive-controlled homing procedure command

S00148 Drive-controlled homing procedure command

The master uses this IDN to start, monitor, and halt the drive-controlled homing procedure.
Name: “Driv Homing Proc” Attr: 0x00090001(16-bit binary, procedure command)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: Not supported Value: (Written by master)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
See Also: IDN S00041 – Homing velocity
IDN S00042 – Homing acceleration
IDN S00052 – Reference distance 1
IDN S00147 – Homing parameter
IDN S00150 – Reference offset 1
IDN S00403 – Position feedback value status

39
 S00150 Reference offset 1
This is the distance between the reference marker pulse of the motor feedback and the reference position.
Name: “Mtr Marker Ofset” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
31
Min: ≥ -2 Value: (Written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes: Read/write at all times, except when Drive controlled homing procedure is active
See Also: IDN S00052 – Reference distance 1
IDN S00076 – Position data scaling type
IDN S00148 – Drive-controlled homing procedure command

S00151 Reference offset 2

This is the distance between the reference marker pulse of the auxiliary feedback and the reference position.
Name: “Aux Marker Ofset” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (Written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes: Read/write at all times, except when Drive controlled homing procedure is active
See Also: IDN S00052 – Reference distance 1
IDN S00076 – Position data scaling type
IDN S00148 – Drive-controlled homing procedure command

S00152 Position spindle procedure command

The master uses this IDN to switch the drive to internal position loop control. While this command is active, all
changes to cyclic command values are ignored. The drive positions the spindle absolute to the programmed
angle position or rotates the spindle incrementally.
Name: “Spin Orient Req” Attr: 0x00090001(16-bit binary, procedure command)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: Not supported Value: (Written by master)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
See Also: IDN S00154 – Spindle positioning parameter
IDN S00153 – Spindle angle position
IDN S00180 – Spindle relative offset

40
 S00153 Spindle angle position
This is the absolute spindle angle position relative to the reference point. The parameter is enabled only in
connection with the position spindle procedure command.
Name: “Orient Angle” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (Written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes: Read/write at all times, except when position spindle procedure is active
See Also: IDN S00152 – Position spindle procedure command
IDN S00076 – Position data scaling type

S00154 Spindle positioning parameter

When the velocity command value is equal to zero and the position spindle procedure command is active, the
turning direction for reaching the spindle angle position is given here.
Name: “Orient Options” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x0 Value: (written by master)
Max: 0xF Bits 1-0: 00 – rotate clockwise
01 – rotate counter-clockwise
10 – take shortest path
11 – last active rotational direction
Bit 2: 0 – spindle angle position (IDN S00153)
1 – spindle relative offset (IDN S00180)
Bit 3: 0 – motor feedback
1 – auxiliary feedback
All other bits are reserved.
Notes: Read/write at all times, except when position spindle procedure is active
See Also: IDN S00152 – Position spindle procedure command

S00155 Friction torque compensation

The friction torque compensation is overlaid additively to the torque command value. The inclusion of friction
torque compensation helps compensate for the frictional grip during acceleration from standstill, and during
reversals.
Name: “Friction Comp” Attr: 0x0X21XXXX
(16-bit signed decimal, C.F. changes based on scaling)
Units: (Torque units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (written by master)
Max: ≤ 215 –1 Scaling type: IDN S00086
Scaling factor: IDN S00093
Scaling exponent: IDN S00094
Notes: Ultra accepts data but doesn’t use it.
See Also: IDN S00086 – Torque scaling type
IDN S00093 – Torque scaling factor
IDN S00094 – Torque scaling exponent

41
 S00157 Velocity window
This defines the limits of the velocity window. If the motor’s actual velocity differs from the command velocity
by an amount less that this limit, the drive sets the status ‘nfeedback = ncommand’ (IDN S00330) in the C3D.
Name: “At Spd Window” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (written by master)
Max: ≤ 231 -1 Scaling type: IDN S00044
Scaling factor: IDN S00045
Scaling exponent: IDN S00046
Notes:
See Also: IDN S00013 – Class 3 diagnostic
IDN S00330 – Status ‘nfeedback = ncommand’
IDN S00044 – Velocity Data Scaling Type
IDN S00045 – Velocity Data Scaling Factor
IDN S00046 – Velocity Data Scaling Exponent

S00159 Monitoring window

When the position error exceeds the value specified by this IDN, the drive sets the Excessive Position
Deviation flag in C1D (IDN S00011).
Name: “Max Foll Error” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00011 – Class 1 diagnostic
IDN S00076 – Position Data Scaling Type
IDN S00077 – Position Data Scaling Factor
IDN S00077 – Position Data Scaling Exponent

42
 S00160 Acceleration data scaling type
This selects the type of scaling for acceleration parameters.
Name: “Acc Scale Type” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x00 Value: Scaling type:
Max: 0x7F Bits 2-0: Scaling method
000 – no scaling
001 – linear scaling
010 – rotational scaling
Bit 3:
0 – preferred scaling
1 – parameter scaling
Bit 4: Units
0 – radians
1 – (reserved)
Bit 5: Time
0 – seconds
1 – (reserved)
Bit 6: Data reference
0 – at the motor shaft
1 – at the load (not implemented)
All other bits are reserved.
Notes: Read-only when drive is enabled.
IDNs S00161 and S00162 should have valid values before IDN S00160 is written.
See Also: IDN S00044 – Velocity data scaling type
IDN S00076 – Position data scaling type

S00161 Acceleration data scaling factor

This defines the scaling factor for all acceleration data.
Name: “Acc Scale Fact” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 1 Value: (written by master)
Max: ≤ 65,535 Bits 15-0: factor
Notes: Read-only when drive is enabled
See Also: IDN S00160 – Acceleration data scaling type
IDN S00162 – Acceleration data scaling exponent

S00162 Acceleration data scaling exponent

This defines the scaling exponent for all acceleration data.
Name: “Acc Scale Exp” Attr: 0x00210001 (16-bit signed decimal)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -215 Value: (written by master)
Max: ≤ 215 -1 Bit 15: Sign of the exponent
0 – positive
1 – negative
Bits 14-0: Exponent
Notes: Read-only when drive is enabled
See Also: IDN S00160 – Acceleration data scaling type
IDN S00161 – Acceleration data scaling factor

43
 S00165 Distance-coded reference marks A
When a measuring system with distance-coded reference marks is used, this parameter contains the larger
periodic distance between two of the reference marks.
Name: “” Attr: 0x00120001 (32-bit unsigned decimal)
Units: ***TBD*** Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (distance-coded reference marks A)
Max: ≤ 232 -1 Scaling: 1
Notes:
See Also: IDN S00166 – Distance-coded reference marks B

S00166 Distance-coded reference marks B

When a measuring system with distance-coded reference marks is used, this parameter contains the smaller
periodic distance between two of the reference marks.
Name: “” Attr: 0x00120001 (32-bit unsigned decimal)
Units: ***TBD*** Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (distance-coded reference marks B)
Max: ≤ 232 -1 Scaling: 1
Notes:
See Also: IDN S00165 – Distance-coded reference marks A

S00169 Probe control parameter

This IDN selects which probe edges to use during the probing cycle procedure. If both edges for a given
probe are selected, the edges need to be at least 2 ms apart.
Name: “Probe Options” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x0 Value: Probe control parameter: (All reserved bits should be written to ‘0’)
Max: 0xF Bit 0: Probe 1 positive edge
0 – positive edge is not active
1 – positive edge is active
Bit 1: Probe 1 negative edge
0 – negative edge is not active
1 – negative edge is active
Bit 2: Probe 2 positive edge
0 – positive edge is not active
1 – positive edge is active
Bit 3: Probe 2 positive edge
0 – negative edge is not active
1 – negative edge is active
(All other bits reserved)
Notes:
See Also: IDN S00130 – Probe value 1 positive edge
IDN S00131 – Probe value 1 negative edge
IDN S00132 – Probe value 2 positive edge
IDN S00133 – Probe value 2 negative edge
IDN S00170 – Probing cycle procedure command

44
 S00170 Probing cycle procedure command
The master uses this IDN to start, monitor, and stop the probing cycle procedure. When this procedure is
active, the drive reacts on the probe 1&2 enables (IDNs S00405, S00406) and probe 1&2 (IDNS S00401,
S00402) as programmed in the probe control parameter (IDN S00169).
Name: “Probe Cycle Req” Attr: 0x00090001 (16-bit binary, procedure command)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: Not supported Value: (Written by master)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
See Also: IDNs S00405, S00406 – Probe 1&2 enable
IDNs S00401, S00420 – Probe 1&2
IDN S00169 – Probe control parameter
IDN S00179 – Probe status

S00171 Calculate displacement procedure command

The master uses this IDN to start, monitor, and stop the calculate displacement cycle procedure. When the
procedure is active, the drive takes the reference distance 1&2 (IDNs S00052, S00053), reference offset
(IDNs S00150, S00151), and marker position A & B (IDNs S00173, S00174) into account to calculate the
displacement between the old and the new command/feedback system. The calculated displacement is
stored in the displacement parameter 1&2 (IDNs S00175, S00176).
Name: “Calc Displacemnt” Attr: 0x00090001 (16-bit binary, procedure command)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: Not supported Value: (Written by master)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
See Also: IDNs S00052, S00053 – Reference distance 1&2
IDNs S00150, S00151 – Reference offset 1&2
IDNs S00173, S00174 – Marker position A&B
IDNs S00175, S00176 – Displacement parameter 1&2

S00172 Displacement to the referenced system procedure command

The master uses this IDN to start, monitor, and stop the displacement to the referenced system procedure.
When this procedure is active, the drive switches to the referenced position feedback system and marks this
by setting bit “position feedback value status” (IDN S00403). The control unit also switches to the referenced
command value system and marks this by setting the bit “position command value status” (IDN S00404).
Name: “Ref Sys Displace” Attr: 0x00090001 (16-bit binary, procedure command)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: Not supported Value: (Written by master)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
See Also: IDN S00403 – Position feedback value status
IDN S00404 – Position command value status

45
 S00173 Marker position A
When the drive recognizes the reference marker pulse of position feedback during homing, it stores the
instantaneous not referenced position feedback value in this parameter.
Name: “Marker Posn A” Attr: 0x0X22XXXX (32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes: .
See Also:

S00175 Displacement parameter 1

This is where the drive stores the difference between the old and new motor position feedback values when
the procedure command “calculate displacement” (IDN S00171) is active.
Name: “Mtr Posn Delta” Attr: 0x0X22XXXX (32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes: .
See Also: IDN S00171 – Calculate displacement procedure command

S00176 Displacement parameter 2

This is where the drive stores the difference between the old and new auxiliary position feedback values when
the procedure command “calculate displacement” (IDN S00171) is active.
Name: “Aux Posn Delta” Attr: 0x0X22XXXX (32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes: .
See Also: IDN S00171 – Calculate displacement procedure command

S00177 Absolute distance 1

This parameter describes the distance between the machine zero point and the zero point of an absolute
feedback system on the motor.
Name: “Mtr Abs Distance” Attr: 0x0X22XXXX (32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes: .
See Also: IDN S00178 – Absolute Distance 2

46
 S00178 Absolute distance 2
This parameter describes the distance between the machine zero point and the zero point of an absolute
feedback system on the machine (external feedback).
Name: “Aux Abs Distance” Attr: 0x0X22XXXX (32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes: .
See Also: IDN S00177 – Absolute Distance 1

S00179 Probe status

If the drive stores one or more measurement values while the “probing cycle” procedure command
(IDN S00170) is active, it also sets the respective bit in the probe status.
Name: “Probe Status” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: Probe status:
Max: 0xF Bit 0: Probe 1 positive latched (IDN S00409)
0 – not latched
1 – latched
Bit 1: Probe 1 negative latched (IDN S00410)
0 – not latched
1 – latched
Bit 2: Probe 2 positive latched (IDN S00411)
0 – not latched
1 – latched
Bit 3: Probe 2 negative latched (IDN S00412)
0 – not latched
1 – latched
All other bits are reserved.
Notes:
See Also: IDN S00170 – Probing cycle procedure command
IDN S00409 – Probe 1 positive latched
IDN S00410 – Probe 1 negative latched
IDN S00411 – Probe 2 positive latched
IDN S00412 – Probe 2 negative latched

S00181 Manufacturer class 2 diagnostic

These are manufacturer-specific C2D flags (see C2D, IDN S00012).
Name: “MC2D” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0000 Value: MC2D: (1 = active, 0 = inactive)
Max: 0xFFFF Bits 0-15: Not used
Notes:
See Also: IDN S00012 – Class 2 diagnostic
IDN S00129 – Manufacturer class 1 diagnostic
IDN S00182 – Manufacturer class 3 diagnostic

S00182 Manufacturer Class 3 Diagnostic

47
 This IDN is used to define additional manufacturer-specific status conditions.
Name: “A-B Drive Status” Attr: 0x00010001 (16-bit binary)
Units: Not Supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0000 Value: Manufacturer class 3 diagnostic:
Bits 15-0: Bit 0: Servo Action Status (0 = disabled, 1 = servo loops active)
Max: 0xFFFF
Bit 1: Drive Enable Status (0 = disabled, 1 = power structure active)
Bit 2: Shutdown Status (0 = inactive, 1 = shutdown state is active)
Bit 3: Process Status (0 = inactive, 1 = tuning or testing in process)
Bits 5-4: reserved
Bit 6: Home Limit Switch State (0 = open, 1 = closed)
Bit 7: Registration 1 Input State (0 = open, 1 = closed)
Bit 8: Registration 2 Input State (0 = open, 1 = closed)
Bit 9: Positive Overtravel Input State (0 = open, 1 = closed)
Bit 10: Negative Overtravel Input State (0 = open, 1 = closed)
Bit 11: Hardware Enable Input State (0 = open, 1 = closed)
Bit 12: Acceleration Limit Status (0 = limit not reached, 1 = at limit)
Bit 13: Absolute Reference State* (0 = not referenced, 1 = ref’d)
Bits 14-15: reserved
Notes: If any of these bits are set, bit 15 of IDN S00013 must also be set.
* - The Absolute Referenced State (bit 13) is set after the Set Coordinate System Procedure (IDN S00197) has
been executed. The variable used to set this bit MUST be stored in Non-Volatile memory.
See Also: IDN S00013 – Class 3 Diagnostic

S00185 Length of the configurable data record in the AT.

This parameter indicates the maximum length in bytes the data that can be processed in the configurable data
record of the AT.
Name: “Length AT Data ” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Bytes Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (Configurable AT Data Length)
Max: ≤ 216 –1 Scaling: 1
Notes:
See Also: IDN S00186 – Length of the Configurable Data Record in the MDT

S00186 Length of the configurable data record in the MDT.

This parameter indicates the maximum length in bytes the data that can be processed in the configurable data
record of the MDT.
Name: “Length MDT Data ” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Bytes Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (Configurable MDT Data Length)
Max: ≤ 216 –1 Scaling: 1
Notes:
See Also: IDN S00185 – Length of the Configurable Data Record in the AT

S00187 IDN-list of configurable data in AT

This is a list of all the configurable AT operation data IDNs which can be processed by the drive cyclically as
feedback values.
Name: “IDN List Cfg AT” Attr: 0x00550001 (Variable-length IDN array)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: (List of all configurable AT data IDNs)
Max: Not supported
Notes:
See Also: IDN S00188 – IDN-list of configurable data in MDT

48
 S00188 IDN-list of configurable data in MDT
This is a list of all the configurable MDT operation data IDNs which can be processed by the drive cyclically as
command values.
Name: “IDN List Cfg MDT” Attr: 0x00550001 (Variable-length IDN array)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: (List of all configurable MDT data IDNs)
Max: Not supported
Notes:
See Also: IDN S00187 – IDN-list of configurable data in AT

S00189 Following distance

This is the difference between the commanded position and the feedback position.
Name: “Posn Foll Error” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -231 Value: (Current following distance)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
(AT) Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00047 – Position command value
IDN S00051 – Position feedback value 1 (motor feedback)
IDN S00076 – Position data scaling type

S00191 Cancel reference point procedure command

The master uses this IDN to start, monitor, and stop the cancel reference point procedure. When the
procedure is active, the drive resets the bit “position feedback value status” (IDN S00403).
Name: “Cancel Ref Point” Attr: 0x00090001 (16-bit binary, procedure command)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: Not supported Value: (Written by master)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
See Also: IDN S00403 – Position feedback value status

S00194 Acceleration command value

This is the acceleration command from the master.
Name: “Accel Command” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Acceleration Phase 2: RO Phase 3: RO Phase 4: RO
units)
Min: ≥ -231 Value: (Written by master)
Max: ≤ 231 -1 Scaling type: IDN S00160
Scaling factor: IDN S00161
(MDT) Scaling exponent: IDN S00162
Notes:
See Also: IDN S00160 – Acceleration data scaling type
IDN S00161 – Acceleration data scaling factor
IDN S00162 – Acceleration data scaling exponent

49
 S00196 Motor rated current
This is the current at which the motor produces rated torque.
Name: “Mtr Cont Current” Attr: 0x03120001 (32-bit unsigned decimal)
Units: Amps Phase 2: RW (see note) Phase 3: RW (see note) Phase 4: RW (see note)
Min: ≥ 0 Value: (motor continuous current)
-3
Max: ≤ 1000000 Scaling: 10
Notes: If the motor was auto-detected the Phase 2, 3, & 4 status is Read-Only.
See Also:

S00197 Set coordinate system procedure command

After activation of the “Set coordinate system procedure command”, the drive ignores the position command
value and instead transfers the programmed “Initial coordinate value” (IDN 00198) into the drive-internal
position command. Additionally, the drive re-calculates all absolute values (feedbacks, position limits, etc.),
relating them to the “Initial coordinate value”.
The position feedback value status (IDN 00403) and position command value status (IDN 00404) are not
affected by this command.
This command is successfully completed by the drive when all necessary calculations are completed and the
drive has based its coordinate system on the “Initial coordinate value” (IDN 00198).
Before the control clears the command, it must also adjust its coordinate system to the same value the drive
used. After clearing of the command, the drive will once again act upon the position command.
The command will terminate with a fault, when the drive detects an error during the command specific
calculations.
Name: “Set Coord Sys” Attr: 0x00090001 (16-bit binary, procedure command)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: Not supported Value: (Written by master)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
See Also: IDN S00198 – Initial coordinate value

S00198 Initial coordinate value

The drives coordinate system will be set to the value programmed as the initial coordinate value during the
Set coordinate system procedure command (IDN 00197)
Name: “Initial Coor Value” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (Coordinate value)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00076 – Position Data Scaling Type
IDN S00077 – Position Data Scaling Factor
IDN S00078 – Position Data Scaling Exponent
IDN S00079 – Rotational Position Resolution
IDN S00197 – Set Coordinate System Procedure Command

50
 S00206 Drive on delay time
When the "Drive on" and "Drive enable"bits of the Master Control Word are set, the drive activates the torque
but ignores the command values until this time has elapsed. This time allows the motor’s brake to release.
Name: “Drive On Delay” Attr: 0x01110001 (16-bit unsigned decimal)
Units: ms Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (Written by master)
Max: ≤ 216 –1 Scaling: 10-1
Notes:
See Also: IDN S00207 – Drive off delay time

S00207 Drive off delay time

When the "Drive off" bit of the Master Control Word is reset and the drive decelerates to a minimum speed,
the drive maintains torque until this time has elapsed. This time allows the motor’s brake to be set.
Name: “Drive Off Delay ” Attr: 0x01110001 (16-bit unsigned decimal)
Units: ms Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (Written by master)
Max: ≤ 216 -1 Scaling: 10-1
Notes:
See Also: IDN S00206 – Drive on delay time

S00216 Switch parameter set procedure command

The master uses this IDN to start, monitor, and stop the switch parameter set procedure. When the
procedure is active, the drive switches to the parameter set which is programmed in the parameter set
preselection (IDN S00217).
Name: “Switch Param Set” Attr: 0x00090001 (16-bit binary, procedure command)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: Not supported Value: (Written by master)
Max: Not supported
Notes: Refer to the “Structure of Procedure Command Control/Acknowledgement” (IEC 61491 Tables 16 &17, 7.4.4) for more
information on procedure command operation.
See Also: IDN S00217– Parameter set preselection
IDN S00254 – Actual parameter set

S00217 Parameter set preselection

This IDN is used to define which parameter set should be used next. The switch parameter set procedure
command (IDN S00216) is used to switch parameter sets. If the drive has no switchable parameter sets, it
will only accept parameter set 0.
Name: “Select Param Set” Attr: 0x00010001 (16-bit binary)
Units: Not Supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: (written by master)
Bits 2-0: 000 – parameter set 0
Max: 0x7
001 – parameter set 1
010 – parameter set 2
011 – parameter set 3
100 – parameter set 4
101 – parameter set 5
110 – parameter set 6
111 – parameter set 7
Notes:
See Also: IDN S00216 – Switch parameter set procedure command
IDN S00254 – Actual parameter set

51
 S00219 IDN-list of parameter set
This is a list of all the operation data IDNs supported parameter set 0, as well as sets 1-7.
Name: “IDN List Param Set” Attr: 0x00550001 (Variable-length IDN array)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: Not supported Value: (List of all parameter set IDNs)
Max: Not supported
Notes:
See Also: IDN S00216 – Switch parameter set procedure command
IDN S00217– Parameter set preselection

S00220 Minimum spindle speed

When the speed falls below this speed, the drive sets the status ‘nfeedback ≤ min spindle speed’ (IDN S00339).
Name: “Min Spindle Spd” Attr: 0x04120001 (32-bit unsigned decimal)
Units: rpm Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (minimum spindle speed)
Max: ≤ 231 -1 Scaling: 10-4
Notes:
See Also: IDN S00339 -- nfeedback ≤ min spindle speed

S00221 Maximum spindle speed

When the speed goes above this speed, the drive sets the status ‘nfeedback ≥ max spindle speed’ (IDN S00340).
Name: “Max Spindle Spd” Attr: 0x04120001 (32-bit unsigned decimal)
Units: rpm Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (maximum spindle speed)
Max: ≤ 231 -1 Scaling: 10-4
Notes:
See Also: IDN S00340 -- nfeedback ≥ max spindle speed

S00222 Spindle positioning speed

When the position spindle procedure command (IDN S00152) is received, the drive accelerates or
decelerated to this speed.
Name: “Spin Orient Spd” Attr: 0x04120001 (32-bit unsigned decimal)
Units: rpm Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ 0 Value: (maximum spindle speed)
Max: ≤ 231 -1 Scaling: 10-4
Notes:
See Also: IDN S00152 – Position spindle procedure command

S00254 Actual parameter set

52
 This IDN is used to define which parameter set is currently being used. The switch parameter set procedure
command (IDN S00216) is used to switch parameter sets. If the drive has no switchable parameter sets, it
will only accept parameter set 0.
Name: “Actual Param Set” Attr: 0x00010001 (16-bit binary)
Units: Not Supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: (actual parameter set):
Bits 2-0: 000 – parameter set 0
Max: 0x7
001 – parameter set 1
010 – parameter set 2
011 – parameter set 3
100 – parameter set 4
101 – parameter set 5
110 – parameter set 6
111 – parameter set 7
Notes:
See Also: IDN S00216 – Switch parameter set procedure command
IDN S00217– Parameter set preselection

S00258 Target position

When the target position is sent to the drive by the master, the drive travels to this position at the positioning
velocity (IDN S00259) and positioning acceleration (IDN S00260).
Name: “Target Position” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes:
See Also: IDN S00259 – Positioning velocity
IDN S00260 – Positioning acceleration
IDN S00076 – Position Data Scaling Type
IDN S00077 – Position Data Scaling Factor
IDN S00077 – Position Data Scaling Exponent

S00259 Positioning velocity

This specifies the velocity used to travel to the target position (IDN S00258).
Name: “Posn Velocity” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥ -231 Value: (written by master)
Max: ≤ 231 -1 Scaling type: IDN S00044
Scaling factor: IDN S00045
Scaling exponent: IDN S00046
Notes:
See Also: IDN S00258 – Target position
IDN S00044 – Velocity Data Scaling Type
IDN S00045 – Velocity Data Scaling Factor
IDN S00046 – Velocity Data Scaling Exponent

53
 S00260 Positioning acceleration
This specifies the acceleration used to travel to the target position (IDN S00258).
Name: “Posn Accel Rate” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Acceleration Phase 2: RW Phase 3: RW Phase 4: RW
units)
Min: ≥ -231 Value: (Written by master)
Max: ≤ 231 -1 Scaling type: IDN S00160
Scaling factor: IDN S00161
Scaling exponent: IDN S00162
Notes:
See Also: IDN S00258 – Target position
DN S00160 – Acceleration data scaling type
IDN S00161 – Acceleration data scaling factor
IDN S00162 – Acceleration data scaling exponent

S00272 Velocity window percent

This parameter refers to a percentage of the velocity command value (IDN S00036). If the velocity feedback
value (IDN S00040) is found to be within a window of the velocity command defined by this percentage, the
drive will set the status ‘nfeedback = ncommand’ (IDN S00330).
Name: “Speed Window %” Attr: 0x02110001 (16-bit unsigned decimal)
Units: % Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥0 Value: (written by master)
Scaling: 10-2
Max: ≤ 65535
Notes:
See Also:

54
 S00277 Position feedback 1 type
The position feedback 2 type parameter is used to program the conditions which apply to the motor feedback.
Name: “Mtr Fback Type” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x00 Value: Feedback 1 type:
Max: 0xFF Bit 0: Feedback type
0 – rotational feedback (IDN S00117)
1 – linear feedback
Bit 1: Distance coded feedback
0 – no distance coded reference marks
1 – distance coded reference marks (IDNs S00165, S00166)
Bit 2: Feedback resolution
0 – resolution = metric
1 – resolution = inches
Bit 3: Direction polarity
0 – not inverted
1 – inverted
Bit 4: Marker pulse quantity
0 – only 1 reference marker pulse
1 – multiple cyclic reference marker pulses
Bit 5: Structure of distance coded feedback
0 – counting positive with positive direction
1 – counting negative with positive direction
Bit 6: Type of measuring system
0 – relative (incremental)
1 – absolute
Bit 7: Usage
0 – absolute measurements with an absolute system
1 – relative (incremental) measurements with an absolute system
All other bits are reserved.
Notes: Read-only when drive is enabled.
See Also: IDN S00115 – Position feedback 2 type

S00296 Velocity feed forward gain

This parameter is active in the ‘position control without following error’ mode and serves to reduce the
velocity-dependent following error.
Name: “Vel Fdfwd Gain” Attr: 0x02110001 (16-bit unsigned decimal)
Units: % Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥0 Value: (velocity feed forward gain)
Scaling: 10-2
Max: ≤ 10000
Notes:
See Also:

55
 S00298 Home switch distance
This parameter is the optimum distance between the marker pulse of a feedback and the home switch.
During the first commissioning, this parameter displays the distance the home switch is from the ideal point.
Name: “Home Switch Dist” Attr: 0x0X22XXXX (32-bit signed decimal, C.F. changes based on scaling)
Units: (Position units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -231 Value: (written by master)
Max: ≤ 231 –1 Scaling type: IDN S00076
Scaling factor: IDN S00077
Scaling exponent: IDN S00078
Rotational position resolution: IDN S00079
Notes: .
See Also:

S00301 Allocation of real-time control bit 1

This specifies which IDN to assign to real-time control bit 1.
Name: “Alloc RTC1” Attr: 0x00510001 (IDN number)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x0 Value: (Written by master)
Max: 0x1 Bit 0: 0 – bit reset
1 – bit set
Notes:
See Also: IDN S00303 – Allocation of real-time control bit 2

S00303 Allocation of real-time control bit 2

This specifies which IDN to assign to real-time control bit 2.
Name: “Alloc RTC2” Attr: 0x00510001 (IDN number)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x0 Value: (Written by master)
Max: 0x1 Bit 0: 0 – bit reset
1 – bit set
Notes:
See Also: IDN S00301 – Allocation of real-time control bit 1

S00305 Allocation of real-time status bit 1

This specifies which IDN to assign to real-time status bit 1.
Name: “Alloc RTS1” Attr: 0x00510001 (IDN number)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x0 Value: (Written by master)
Max: 0x1 Bit 0: 0 – bit reset
1 – bit set
Notes:
See Also: IDN S00307 – Allocation of real-time status bit 2

S00307 Allocation of real-time status bit 2

This specifies which IDN to assign to real-time status bit 1.
Name: “Alloc RTS2” Attr: 0x00510001 (IDN number)
Units: Not supported Phase 2: RW Phase 3: RW Phase 4: RW
Min: 0x0 Value: (Written by master)
Max: 0x1 Bit 0: 0 – bit reset
1 – bit set
Notes:
See Also: IDN S00305 – Allocation of real-time status bit 1

56
 S00330 Status ‘nfeedback = ncommand’
This bit is set when the difference between the command velocity and the actual velocity is less than the
velocity window (IDN S00157). It is the same as C3D bit 0.
Name: “At Prog Speed” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: Status bit:
Max: 0x1 Bit 0: 0 – Inactive
(RTS) 1 – Active
Notes:
See Also: IDN S00157 – Velocity window
IDN S00013 – Class 3 diagostics

S00331 Status ‘nfeedback =0’

This bit is set when the actual velocity is less than the standstill window (IDN S00124). It is the same as C3D
bit 1.
Name: “Zero Speed” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: Status bit:
Max: 0x1 Bit 0: 0 – Inactive
(RTS) 1 – Active
Notes:
See Also: IDN S00124 – Standstill window
IDN S00013 – Class 3 diagostics

S00332 Status ‘nfeedback < nx’

This bit is set when the actual velocity is less than the velocity threshold nx(IDN S00125). It is the same as
C3D bit 2.
Name: “Vel Below Thresh” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: Status bit:
Max: 0x1 Bit 0: 0 – Inactive
(RTS) 1 – Active
Notes:
See Also: IDN S00125 – Velocity threshold
IDN S00013 – Class 3 diagostics

S00333 Status ‘T ≥ Tx
This bit is set when the actual torque is greater than the torque threshold (IDN S00126). It is the same as C3D
bit 3.
Name: “Torq Above Thresh” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: Status bit:
Max: 0x1 Bit 0: 0 – Inactive
(RTS) 1 – Active
Notes:
See Also: IDN S00126 – Torque Threshold
IDN S00013 – Class 3 diagostics

57
 S00334 Status ‘T ≥ Tlimit
This bit is set when the actual torque is greater than the torque limit (IDN S00092). It is the same as C3D bit 4.
Name: “Torq Above Limit” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: Status bit:
Max: 0x1 Bit 0: 0 – Inactive
(RTS) 1 – Active
Notes:
See Also: IDN S00092 – Torque Limit
IDN S00013 – Class 3 diagostics

S00335 Status ‘ncommand < nlimit’

This bit is set when the command velocity is greater than the velocity limit value (IDNs S00038, S00039,
S00091). It is the same as C3D bit 5.
Name: “Vel Above Limit” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: Status bit:
Max: 0x1 Bit 0: 0 – Inactive
(RTS) 1 – Active
Notes:
See Also: IDNs S00038, S00039 – Positive/Negative velocity limit value
IDN S00091 – Bipolar velocity limit
IDN S00013 – Class 3 diagostics

S00336 Status ‘In position’

This bit is set when the difference between the command position and the actual position is less than the
position window (IDN S00057). It is the same as C3D bit 6.
Name: “In Position ” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: Status bit:
Max: 0x1 Bit 0: 0 – Inactive
(RTS) 1 – Active
Notes:
See Also: IDN S00057 – Position window
IDN S00013 – Class 3 diagostics

S00339 Status ‘nfeedback ≤ min spindle speed’

This bit is set when the velcoity feedback value is lower or equal to the programmed minimum spindle speed
(IDN S00220). It is the same as C3D bit 9.
Name: “Spd Below Min ” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: Status bit:
Max: 0x1 Bit 0: 0 – Inactive
(RTS) 1 – Active
Notes:
See Also: IDN S00220 – Minimum spindle speed
IDN S00013 – Class 3 diagostics

58
 S00340 Status ‘nfeedback ≥ max spindle speed’
This bit is set when the velcoity feedback value is above or equal to the programmed maximum spindle speed
(IDN S00221). It is the same as C3D bit 10.
Name: “Spd Above Max ” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: Status bit:
Max: 0x1 Bit 0: 0 – Inactive
(RTS) 1 – Active
Notes:
See Also: IDN S00221 – Maximum spindle speed
IDN S00013 – Class 3 diagostics

S00347 Velocity error

This is the difference between the commanded velocity and the actual velocity.
Name: “Velocity Error” Attr: 0x0X22XXXX
(32-bit signed decimal, C.F. changes based on scaling)
Units: (Velocity units) Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -231 Value: (Current velocity error)
Max: ≤ 231 –1 Scaling type: IDN S00044
Scaling factor: IDN S00045
(AT) Scaling exponent: IDN S00046
Notes:
See Also: IDN S00044 – Velocity Data Scaling Type
IDN S00045 – Velocity Data Scaling Factor
IDN S00046 – Velocity Data Scaling Exponent

S00348 Acceleration feed forward gain

This parameter is active in the ‘position control without following error’ mode and serves to reduce the
acceleration/deceleration-dependent following error.
Name: “Acc Fdfwd Gain” Attr: 0x02110001 (16-bit unsigned decimal)
Units: % Phase 2: RW Phase 3: RW Phase 4: RW
Min: ≥0 Value: (acceleration feed forward gain)
Scaling: 10-2
Max: ≤ 10000
Notes: Ultra accepts data but doesn’t use it.
See Also:

S00380 DC bus voltage

This indicates the drive’s bus voltage.
Name: “DC Bus Voltage” Attr: 0x00110001 (16-bit unsigned decimal)
Units: Volts Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (Current DC bus voltage)
(AT) Max: ≤ 216 -1 Scaling: 1
Notes:
See Also:

59
 S00384 Amplifier temperature
This indicates the measured temperature of the amplifier’s output stage heatsink.
Name: “Heatsink Temp” Attr: 0x01210001 (16-bit signed decimal)
Units: Deg C Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ -1000 Value: (drive temperature)
-1
Max: ≤ 1000 Scaling: 10
Notes:
See Also:

S00386 Mechanical Power

This indicates the power at the motor shaft.
Name: “Mtr Shaft Power” Attr: 0x02120001 (32-bit unsigned decimal)
Units: % motor rated Phase 2: RO Phase 3: RO Phase 4: RO
Min: ≥ 0 Value: (motor shaft power)
Max: ≤ 232 –1 Scaling: 10-2
Notes:
See Also:

S00400 Home switch

This IDN returns the state of the home switch input.
Name: “Home Switch ” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: State of home input:
(AT) Max: 0x1 Bit 0: 0 – Home input inactive
(RTS) 1 – Home input active
Notes:
See Also:

S00401 Probe 1
This IDN returns the status of the Probe 1 input.
Name: “Probe 1 ” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: State of Probe 1 input:
(AT) Max: 0x1 Bit 0: 0 – Probe 1 inactive
(RTS) 1 – Probe 1 active
Notes:
See Also: IDN S00130 – Probe value 1 positive edge
IDN S00131 – Probe value 1 negative edge
IDN S00169 – Probe control parameter
IDN S00170 – Probing cycle procedure command
IDN S00405 – Probe 1 enable

60
 S00402 Probe 2
This IDN returns the status of the Probe 2 input.
Name: “Probe 2 ” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: State of Probe 2 input:
(AT) Max: 0x1 Bit 0: 0 – Probe 2 inactive
(RTS) 1 – Probe 2 active
Notes:
See Also: IDN S00132 – Probe value 2 positive edge
IDN S00133 – Probe value 2 negative edge
IDN S00169 – Probe control parameter
IDN S00170 – Probing cycle procedure command
IDN S00406 – Probe 2 enable

S00403 Position feedback value status

This IDN indicates if the position feedback values are referenced to the machine zero point.
Name: “Posn Fdbk Status” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: State of position feedback:
(AT) Max: 0x1 Bit 0: 0 – Pos. feedback value not referenced to machine zero pt
(RTS) 1 – Pos. feedback value referenced to machine zero point
Notes:
See Also: IDN S0148 – Drive-controlled homing procedure command

S00404 Position command value status

This IDN indicates if the position command values are referenced to the machine zero point.
Name: “Posn Cmd Status” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: State of position feedback:
(AT) Max: 0x1 Bit 0: 0 – Pos. feedback value not referenced to machine zero pt
(RTS) 1 – Pos. feedback value referenced to machine zero point
Notes:
See Also:

S00405 Probe 1 enable

This parameter is used to assign an IDN to probe 1 enable so that it can be assigned to a real-time control bit
(IDN S00301).
Name: “Probe 1 enable” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: 0x0 Value: State of Probe 1 enable:
(MDT) Max: 0x1 Bit 0: 0 – Probe 1 not enabled
(RTC) 1 – Probe 1 enabled
Notes:
See Also: IDN S00401 – Probe 1
IDN S00301 – Allocation of real-time control bit 1

61
 S00406 Probe 2 enable
This parameter is used to assign an IDN to probe 2 enable so that it can be assigned to a real-time control bit
(IDN S00301).
Name: “Probe 2 enable” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: 0x0 Value: State of Probe 2 enable:
(MDT) Max: 0x1 Bit 0: 0 – Probe 2 not enabled
(RTC) 1 – Probe 2 enabled
Notes:
See Also: IDN S00402 – Probe 2
IDN S00301 – Allocation of real-time control bit 1

S00407 Homing enable

This parameter is used to assign an IDN to the status of the homing enable so that it can be assigned to a
real-time control bit (IDN S00301).
Name: “Homing enable” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: 0x0 Value: State of homing enable:
(MDT) Max: 0x1 Bit 0: 0 – Homing not enabled
(RTC) 1 – Homing enabled
Notes:
See Also: IDN S00146 – Control unit controlled homing procedure command
IDN S00301 – Allocation of real-time control bit 1

S00408 Reference marker pulse registered

This parameter is used to assign an IDN to the reference marker pulse registered so that it can be assigned to
a real-time status bit (IDN S00305).
Name: “Ref Marker Reg” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RW
Min: 0x0 Value: State of reference marker pulse registered:
(AT) Max: 0x1 Bit 0: 0 – reference marker pulse not registered
(RTS) 1 – reference marker pulse registered
Notes:
See Also: IDN S00146 – Control unit controlled homing procedure command
IDN S00305 – Allocation of real-time control bit 1

S00409 Probe 1 positive latched

This parameter is used to assign an IDN to the probe1 positive latched so that it can be assigned to a real-
time status bit (IDN S00305). This may only be set by the drive when the probing cycle procedure command
(S00170) is active.
Name: “Reg1 Rise Latch” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: State of probe 1 positive latch:
(AT) Max: 0x1 Bit 0: 0 – probe 1 positive not latched
(RTS) 1 – probe 1 positive latched
Notes:
See Also: IDN S00169 – Probe control parameter
IDN S00170 – Probing cycle procedure command
IDN S00179 – Probe status
IDN S00305 – Allocation of real-time status bit 1

62
 S00410 Probe 1 negative latched
This parameter is used to assign an IDN to the probe1 negative latched so that it can be assigned to a real-
time status bit (IDN S00305). This may only be set by the drive when the probing cycle procedure command
(S00170) is active.
Name: “Reg1 Fall Latch” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: State of probe 1 negative latch:
(AT) Max: 0x1 Bit 0: 0 – probe 1 negative not latched
(RTS) 1 – probe 1 negative latched
Notes:
See Also: IDN S00169 – Probe control parameter
IDN S00170 – Probing cycle procedure command
IDN S00179 – Probe status
IDN S00305 – Allocation of real-time status bit 1

S00411 Probe 2 positive latched

This parameter is used to assign an IDN to the probe2 positive latched so that it can be assigned to a real-
time status bit (IDN S00305). This may only be set by the drive when the probing cycle procedure command
(S00170) is active.
Name: “Reg2 Rise Latch” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: State of probe 2 positive latch:
(AT) Max: 0x1 Bit 0: 0 – probe 2 positive not latched
(RTS) 1 – probe 2 positive latched
Notes:
See Also: IDN S00169 – Probe control parameter
IDN S00170 – Probing cycle procedure command
IDN S00179 – Probe status
IDN S00305 – Allocation of real-time status bit 1

S00412 Probe 2 negative latched

This parameter is used to assign an IDN to the probe2 negative latched so that it can be assigned to a real-
time status bit (IDN S00305). This may only be set by the drive when the probing cycle procedure command
(S00170) is active.
Name: “Reg2 Fall Latch” Attr: 0x00010001 (16-bit binary)
Units: Not supported Phase 2: RO Phase 3: RO Phase 4: RO
Min: 0x0 Value: State of probe 2 negative latch:
(AT) Max: 0x1 Bit 0: 0 – probe 2 negative not latched
(RTS) 1 – probe 2 negative latched
Notes:
See Also: IDN S00169 – Probe control parameter
IDN S00170 – Probing cycle procedure command
IDN S00179 – Probe status
IDN S00305 – Allocation of real-time status bit 1

63
 B. APPENDIX - AB PROPRIETARY IDNS
B.1. List of Allen-Bradley IDNs
The “!” indicates the drive fully supports the IDN as described in this document, and the
“"” indicates the drive has partial support for the IDN.

872 139 209 Ultr

IDN Name
0 4 4 a

Torque
P-0-0073 Torque Scaling Gain ! ! ! !

P00073 Torque Scaling Gain

This parameter is the value of the torque scaling gain. This gain compensates the velocity loop for the system
inertia.
Name: “Torq Scale Gain” Attr: 0x02120001 (32-bit unsigned decimal)
Units: (% drive rated) / Phase 2: RW Phase 3: RW Phase 4: RW
(revs/sec2)
Min: ≥ 0 Value: (torque scaling gain)
31 Scaling: 10-5
Max: ≤ +2 -1
Notes:
See Also:

64