0x2003

0x2003:0 Motor Specific Settings

Please refer to your motor's data sheet for the specific values.

Object Type OBJECT_TYPE_RECORD
Index 0x2003
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2003:1 Pole Pairs

Number of magnetic pole pairs used in the motor. Please refer to your motor datasheet for this value.

Object Type OBJECT_TYPE_RECORD
Index 0x2003
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2003:2 Torque Constant

The motor's torque constant is given by the motor design and defines the torque generated by a given current.

Object Type OBJECT_TYPE_RECORD
Index 0x2003
SubIndex 2
Type DINT
Bit Size 32
Deftype DEFTYPE_INTEGER32
Min Data
Max Data
Default Data
Unit μNm/A
Access readwrite
Category optional
PDO Mapping

0x2003:3 Phase Resistance

If not available, please keep the default value.

In case your motor documentation shows only "line-to-line resistance", "motor phase resistance" can be calculated as "line-to-line resistance" divided by two.

Object Type OBJECT_TYPE_RECORD
Index 0x2003
SubIndex 3
Type DINT
Bit Size 32
Deftype DEFTYPE_INTEGER32
Min Data
Max Data
Default Data
Unit μΩ
Access readwrite
Category optional
PDO Mapping

0x2003:4 Phase Inductance

If not available, please keep the default value.

Object Type OBJECT_TYPE_RECORD
Index 0x2003
SubIndex 4
Type DINT
Bit Size 32
Deftype DEFTYPE_INTEGER32
Min Data
Max Data
Default Data
Unit μH
Access readwrite
Category optional
PDO Mapping

0x2003:5 Motor phases inverted

Use this parameter only when you have a negative velocity or feedback increment with the positive torque increment.

Object Type OBJECT_TYPE_RECORD
Index 0x2003
SubIndex 5
Type BOOL
Bit Size 1
Deftype DEFTYPE_BOOLEAN
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping
Options
No 0
Yes 1