Servotronix CDHD User manual

CDHD Servo Drive
VarCom Reference Manual
Manual Revision: 5.2a
Firmware Version: 1.3.2

CDHD
VarCom Reference Manual 3
Revision History
Document
Revision
Date Remarks
5.2/5.2a May 2013 Minor corrections. Firmware version 1.3.2
5.1 Feb.2013 Internal, for online Help. Firmware 1.3.2
5.0 Jan. 2013 Firmware version 1.3.2
4.1 Nov. 2012 Firmware version 1.2.12; minor corrections
4.0 Aug. 2012 Firmware version 1.2.12
3.0 Feb.2012 Firmware version 1.0.6
2.2 Jan. 2012 Cross-reference links added; minor corrections
2.1 Jan. 2012 Firmware version 0.0.13
2.0 Dec. 2011 Firmware version 0.0.13 (internal release)
1.2 Sept. 2011 Documentation for firmware version 0.0.12
1.1 July 2011
Firmware
Revision
1.3.2
Important Notice
© 2013 Servotronix Motion Control Ltd.
All rights reserved. No part of this work may be reproduced or transmitted in any
form or by any means without prior written permission of Servotronix Motion
Control Ltd.
Disclaimer
The information in this manual was accurate and reliable at the time of its
release. Servotronix Motion Control Ltd. reserves the right to change the
specifications of the product described in this manual without notice at any time.
Trademarks
All marks in this manual are the property of their respective owners.
Contact Information
Servotronix Motion Control Ltd.
21C Yagia Kapayim Street
Petach Tikva 49130 Israel
Tel: [phone]
Fax: [phone]
Website: www.servotronix.com
Email: [e-mail]

CDHD
4 VarCom Reference Manual
Customer Service
is committed to delivering quality customer service and support for all our
products. Our goal is to provide our customers with the information and
resources so that they are available, without delay, if and when they are needed.
In order to serve in the most effective way, we recommend that you contact
your local sales representative for order status and delivery information, product
information and literature, and application and field technical assistance. If you
are unable to contact your local sales representative for any reason, please use
the most relevant of the contact details below:
For technical support, contact: [e-mail]
To order products, contact: [e-mail]
For all other inquiries regarding CDHD drives or other products, contact:
[e-mail]

CDHD
VarCom Reference Manual 5
Contents
1Introduction __________________9
About This Manual .............................. 9
Documentation Set for the CDHD ......... 9
Manual Format ................................... 9
2Variable and Command Functions
and Types ___________________11
Added in this Firmware Release ...........11
Removed in this Firmware Release.......11
Functions..........................................12
Activation and Faults......................12
Bus Power ....................................12
Communication .............................12
Commutation ................................12
Controller - Current .......................13
Controller - Position .......................13
Controller - Velocity .......................14
Direction ......................................14
Emergency Stop ............................14
Feedback......................................14
Foldback.......................................15
Gearing ........................................15
HD Controller ................................15
Harmonic Correction ......................15
Homing ........................................15
Information...................................16
I/Os - Analog ................................16
I/Os - Digital.................................16
Limits...........................................16
Linear System ...............................16
Memory – Non-volatile ...................17
Motion..........................................17
Motor ...........................................17
Recording .....................................17
Sensorless ....................................18
Temperature .................................18
Unit - Configurable ........................18
Unit - Selectable............................18
Types...............................................19
Status ..........................................19
Information...................................19
Modes ..........................................19
Commands ...................................19
Signals.........................................20
Motor ...........................................20
Parameters ...................................21
Gain.............................................22
Wizards ........................................22
3Variables and Commands _______23
ABSOFFSET ......................................23
ACC .................................................24
ACTIVE.............................................25
ADDR...............................................26
ANIN1 ..............................................27
ANIN1DB ..........................................28
ANIN1ISCALE....................................29
ANIN1LPFHZ .....................................30
ANIN1OFFSET ...................................31
ANIN1VSCALE ...................................32
ANIN1ZERO ......................................33
ANIN2 ..............................................34
ANIN2DB ..........................................35
ANIN2ISCALE....................................36
ANIN2LPFHZ .....................................37
ANIN2MODE......................................38
ANIN2OFFSET ...................................39
ANIN2ZERO ......................................40
ANOUT .............................................41
ANOUTCMD.......................................42
ANOUTISCALE...................................43
ANOUTLIM ........................................44
ANOUTMODE.....................................45
ANOUTVSCALE ..................................46
AUTOHOME.......................................47
BAUDRATE........................................48
BW ..................................................49
CANBITRATE .....................................50
CHECKSUM .......................................51
CLEARFAULTS ...................................52
CLTUNE ............................................53
CLTUNEST ........................................54
CLVD ...............................................55
CLVQ ...............................................56
COMMODE ........................................57
CONFIG............................................58
DEC .................................................59
DECDIST ..........................................60
DECDIST2 ........................................61
DECSTOP..........................................62
DECSTOPTIME...................................63
DICONT............................................64
DIPEAK ............................................65
DIR..................................................66
DISMODE .........................................67
DISPLAYTEST....................................68
DISSPEED ........................................69
DISTIME...........................................70
DRIVENAME ......................................71
DRIVESCRIPT....................................72
DRIVESCRIPTST ................................73
DRIVETEMP.......................................74
DUMP...............................................75
ECHO ...............................................76
ELECTANGLE.....................................77

CDHD
6 VarCom Reference Manual
EMBER .............................................78
EN ...................................................79
ENCOUTMODE...................................80
ENCOUTRES......................................81
ENCOUTZPOS ...................................82
ESTMOTORPARAM .............................83
ESTMOTORPARAMST..........................84
ESTOPILIM .......................................85
FACTORYRESTORE.............................86
FBGDS .............................................87
FBGMS .............................................88
FBITIDX ...........................................89
FBITPRD...........................................90
FBSCALE ..........................................91
FEEDBACKTYPE .................................92
FILTHZ1 ...........................................94
FILTHZ2 ...........................................95
FILTMODE ........................................96
FLT ..................................................97
FLTHIST ...........................................98
FLTHISTCLR......................................99
FOLD ............................................. 100
FRICINEG ....................................... 101
FRICIPOS ....................................... 102
FRICNVHYST................................... 103
FRICPVHYST ................................... 104
GEAR ............................................. 105
GEARACCTHRESH ............................ 106
GEARFILTAFF .................................. 107
GEARFILTMODE............................... 108
GEARFILTT1.................................... 109
GEARFILTT2.................................... 110
GEARFILTVELFF............................... 111
GEARIN .......................................... 112
GEARINMODE ................................. 113
GEARLIMITSMODE ........................... 114
GEARMODE..................................... 115
GEAROUT ....................................... 116
GET ............................................... 117
GETMODE....................................... 118
GETREC.......................................... 119
HALLS ............................................ 120
HALLSINV....................................... 121
HALLSTYPE ..................................... 122
HCFB ............................................. 123
HCFB1............................................ 124
HCFB2............................................ 125
HCICMD ......................................... 126
HCICMD1 ....................................... 127
HCICMD2 ....................................... 128
HIFACEREAD................................... 129
HOLD ............................................. 130
HOMEACC....................................... 131
HOMECMD ...................................... 132
HOMEIHARDSTOP............................ 133
HOMEOFFSET.................................. 134
HOMESPEED1 ................................. 135
HOMESPEED2..................................136
HOMESTATE....................................137
HOMETYPE......................................138
HWPEXT .........................................140
HWPEXTCNTRLR ..............................141
HWPEXTMACHN...............................142
HWPOS ..........................................143
I....................................................144
ICMD .............................................145
ID..................................................146
IFFLPFHZ........................................147
IFOLD ............................................148
IFOLDFTHRESH ...............................149
IFOLDWTHRESH ..............................150
IGRAV ............................................151
ILIM...............................................152
ILIMACT .........................................153
IMAX..............................................154
IN..................................................155
INDEXFIND .....................................156
INDEXFINDST .................................157
INDEXPFB.......................................158
INERTIAIDENTEN.............................159
INERTIAIDENTEST ...........................160
INFO ..............................................161
ININV.............................................162
INMODE .........................................163
INPOS ............................................164
INPUTS ..........................................165
IQ..................................................166
IQCMD ...........................................167
ISTOP ............................................168
IU..................................................169
IUOFFSET .......................................170
IV ..................................................171
IVOFFSET .......................................172
IZERO ............................................173
J....................................................174
K ...................................................175
KCBEMF .........................................176
KCD ...............................................177
KCDQCOMP.....................................178
KCFF ..............................................179
KCI ................................................180
KCIMEMD .......................................181
KCIMEMQ .......................................182
KCMODE.........................................183
KCP ...............................................184
KNLD .............................................185
KNLI ..............................................186
KNLIDV ..........................................187
KNLIINT .........................................188
KNLIV ............................................189
KNLP..............................................190
KNLUSERGAIN ................................191
KPAFRC ..........................................192
KPAFRV ..........................................193

CDHD
VarCom Reference Manual 7
KPD ............................................... 194
KPE ............................................... 195
KPI ................................................ 196
KPISATIN ....................................... 197
KPISATOUT..................................... 198
KPP................................................ 199
KPVFR............................................ 200
KVFR ............................................. 201
KVI................................................ 202
KVP ............................................... 203
LIMSWITCHNEG .............................. 204
LIMSWITCHPOS .............................. 205
LIST .............................................. 206
LMJR.............................................. 207
LOAD ............................................. 208
MB................................................. 209
MBST ............................................. 210
MECHANGLE ................................... 211
MEMBIT.......................................... 212
MEMF............................................. 213
MEML ............................................. 214
MEMQ ............................................ 215
MEMW............................................ 216
MENCRES ....................................... 217
MENCTYPE ...................................... 218
MENCZPOS ..................................... 220
MFBDIR.......................................... 221
MFBMODE....................................... 222
MFOLD ........................................... 223
MFOLDD ......................................... 224
MFOLDDIS...................................... 225
MFOLDR ......................................... 226
MFOLDT ......................................... 227
MICONT ......................................... 228
MIFOLD .......................................... 229
MIFOLDFTHRESH............................. 230
MIFOLDWTHRESH............................ 231
MIPEAK .......................................... 232
MJ ................................................. 233
MKF ............................................... 234
MKT ............................................... 235
ML ................................................. 236
MLGAINC........................................ 237
MLGAINP ........................................ 238
MMASS .......................................... 239
MOTORCOMMTYPE ........................... 240
MOTORNAME .................................. 241
MOTORPHASESCAN ......................... 242
MOTORSETUP ................................. 243
MOTORSETUPST.............................. 244
MOTORTYPE.................................... 245
MOVEABS ....................................... 246
MOVEINC ....................................... 247
MOVEINCCOUNTER .......................... 248
MOVEINCDELAY .............................. 249
MOVEINCDIST1 ............................... 250
MOVEINCDIST2 ............................... 251
MOVEINCSPEED1.............................252
MOVEINCSPEED2.............................253
MOVESMOOTHAVG ..........................254
MOVESMOOTHLPFHZ........................255
MOVESMOOTHMODE ........................256
MPHASE .........................................257
MPITCH ..........................................258
MPOLES..........................................259
MR.................................................260
MRESPOLES ....................................261
MRT ...............................................262
MSGPROMPT ...................................263
MSPEED .........................................264
MTANGLC .......................................265
MTANGLP........................................266
MVANGLF .......................................267
MVANGLH .......................................268
NLAFFLPFHZ ...................................269
NLANTIVIBGAIN ..............................270
NLANTIVIBGAIN2 ............................271
NLANTIVIBHZ .................................272
NLANTIVIBHZ2................................273
NLANTIVIBKNLD.............................. 274
NLANTIVIBLMJR .............................. 275
NLANTIVIBN ...................................276
NLANTIVIBSHARP ............................277
NLANTIVIBSHARP2 ..........................278
NLFILTDAMPING ..............................279
NLFILTT1 ........................................280
NLMAXGAIN ....................................281
NLNOTCHBW...................................282
NLNOTCHCENTER ............................283
NLNOTCH2BW .................................284
NLNOTCH2CENTER ..........................285
NLPEAFF.........................................286
NLPEDFFRATIO................................287
NLPEDFFRATIO................................288
NLSETTLEMODE ..............................289
NLTUNE..........................................290
NLTUNEPARAM ................................291
NLTUNEST ......................................292
NLTUNETIME...................................293
OPMODE.........................................294
OUT ...............................................295
OUTILVL1 .......................................296
OUTILVL2 .......................................297
OUTINV ..........................................298
OUTMODE.......................................299
OUTPLVL1.......................................301
OUTPLVL2.......................................302
OUTPUTS........................................303
OUTVLVL1 ......................................304
OUTVLVL2 ......................................305
OVTHRESH .....................................306
PASSWORD.....................................307
PCMD.............................................308
PDEN .............................................309

CDHD
8 VarCom Reference Manual
PE ................................................. 310
PEINPOS ........................................ 311
PEINPOSTIME ................................. 312
PELOOP.......................................... 313
PEMAX ........................................... 314
PFB................................................ 315
PFBBACKUP .................................... 316
PFBBACKUPMODE ............................ 317
PFBOFFSET ..................................... 318
PHASEFIND..................................... 319
PHASEFINDANGLE ........................... 320
PHASEFINDGAIN ............................. 321
PHASEFINDI ................................... 322
PHASEFINDMODE ............................ 323
PHASEFINDST ................................. 324
PHASEFINDTIME.............................. 325
PNUM............................................. 326
POSCONTROLMODE ......................... 327
POSLIMMODE.................................. 328
POSLIMNEG .................................... 329
POSLIMPOS .................................... 330
PRBFRQ.......................................... 331
PRBMODE ....................................... 332
PRBPARAM...................................... 333
PTPTE ............................................ 334
PTPVCMD ....................................... 335
PWMFRQ ........................................ 336
PWMSATRATIO................................ 337
READY ........................................... 338
RECDONE ....................................... 339
RECING.......................................... 340
RECLIST ......................................... 341
RECOFF.......................................... 342
RECORD ......................................... 343
RECRDY ......................................... 344
RECTRIG ........................................ 345
RECTRIGLIST .................................. 347
RELAY ............................................ 348
RELAYMODE.................................... 349
REMOTE ......................................... 350
RESAMPLRANGE .............................. 351
RESBW........................................... 352
SAVE ............................................. 353
SININIT.......................................... 354
SININITMODE ................................. 355
SININITST ...................................... 356
SINPARAM ...................................... 357
SLEKFMKT ...................................... 358
SLEKFML ........................................ 359
SLEKFMR ........................................ 360
SLTFORCED .................................... 361
ST ................................................. 362
STALLTIME ..................................... 363
STALLVEL ....................................... 364
STAT.............................................. 365
STATUS.......................................... 366
STEP .............................................. 367
STOP .............................................368
STOPPED ........................................369
SWEN ............................................370
SWENMODE ....................................371
SYNCSOURCE..................................372
T ...................................................373
TF..................................................374
THERM ...........................................375
THERMCLEARLEVEL..........................376
THERMODE .....................................377
THERMREADOUT .............................378
THERMTIME ....................................379
THERMTRIPLEVEL ............................380
THERMTYPE ....................................381
TMTEMP .........................................382
TMTURNRESET ................................383
TRUN .............................................384
UNITSLINACC .................................385
UNITSLINPOS .................................386
UNITSLINVEL ..................................387
UNITSROTACC ................................388
UNITSROTPOS ................................389
UNITSROTVEL .................................390
UVMODE.........................................391
UVRECOVER....................................392
UVTHRESH......................................393
UVTIME ..........................................394
V ...................................................395
VBUS .............................................396
VBUSREADOUT................................397
VCMD.............................................398
VD .................................................399
VE .................................................400
VELCONTROLMODE.......................... 401
VELDESIGN.....................................402
VELFILTFRQ ....................................403
VELFILTMODE .................................404
VER ...............................................405
VF .................................................406
VFI ................................................407
VH .................................................408
VLIM ..............................................409
VMAX .............................................410
VR .................................................411
WNSERR.........................................412
WRN ..............................................413
XENCRES........................................414
ZERO .............................................415

CDHD Introduction
VarCom Reference Manual 9
1Introduction
About This Manual
CDHD drive functionality is configured using various commands and variables,
which are communicated over the serial port or over CAN bus.
This manual details VarCom instructions, which are used with serial
communications.
Documentation Set for the CDHD
This manual is part of a documentation set. The entire set consists of the
following:
CDHD Quick Start Guide. Basic setup and operation of the drive.
CDHD User Manual. Hardware installation, configuration and operation.
CDHD VarCom Reference Manual. Parameters and commands used to
program the CDHD.
CDHD CANopen for CAN and EtherCAT Drives Reference Manual.
CDHD implementation of CANopen protocol for CAN and EtherCAT.
Manual Format
The command and variable descriptions are presented here in alphabetical order.
Command and variable descriptions use different formats, as described below.
All commands and variables are presented as follows:
Definition Short name, used in the graphical user interface software.
Type Variable (R/W): A read/write variable.
Variable (R): A read-only variable.
Command
Description Description of the command or variable.
Syntax The command format, including any optional or required
parameters.
Commands are described using the following conventions:
[ ] Indicates an optional parameter.
{ } Enclose two or more required alternative choices,
separated by vertical bars.
| A vertical bar separates two or more choices, either
required arguments enclosed in braces { } or optional
arguments enclosed in brackets [ ].
Variable parameters are italicized within < >.
Firmware The earliest version, or specific versions, in which the
described functionality is available.

Introduction CDHD
10 VarCom Reference Manual
Drive status Enabled | Disabled
Indicates the required state of the drive when the command
or variable is issued or invoked.
Range Discrete values and ranges of values.
Parameter values can be written with up to 9 digits
following the decimal point. When read, values will show
only 3 digits following the decimal point.
For example:
-->acc 0.123456789
-->acc
0.123 [rpm/s]
-->
Default value The parameter’s default value.
Unit When parameter values imply units of measure, these units
are specified.
Non-volatile Yes | No
Indicates whether the value of the variable is stored in the
non-volatile memory, and thereby available when the drive
is rebooted.
Not applicable for Command.
Example Examples of use.
See also Links to related commands and variables.
CANopen Where applicable, the equivalent EtherCAT COE and
CANopen object code.

CDHD Variable and Command Functions and Types
VarCom Reference Manual 11
2Variable and Command
Functions and Types
Added in this Firmware Release
BAUDRATE
CANBITRATE
ESTMOTORPARAM
ESTMOTORPARAMST
GEARFILTVELFF
GETREC
HOMEIHARDSTOP
HWPEXTCNTRLR
HWPEXTMACHN
INERTIAIDENTEN
INERTIAIDENTEST
IQCMD
KCD
KCMODE
KNLIDV
KNLIINT
MOVEINCDELAY
MOVESMOOTHAVG
MOVESMOOTHMODE
NLANTIVIBGAIN
NLANTIVIBGAIN2
NLANTIVIBHZ
NLANTIVIBHZ2
NLANTIVIBKNLD
NLANTIVIBLMJR
NLANTIVIBN
NLANTIVIBSHARP
NLANTIVIBSHARP2
PFBBACKUP
PFBBACKUPMODE
SLEKFMKT
SLEKFML
SLEKFMR
SLTFORCED
STALLTIME
STALLVEL
VELFILTFRQ
Removed in this Firmware Release
GEARAGE
GEARFILTVFF
GEARPOS
INESTOP
KCFFSAT
KCPISAT
KCSAT
KCVBUS
KNLANTIRESHZ
KNLANTIRESSHARP
KNLANTIVIB
KNLANTIVIBHZ
KNLRESHZ
KNLRESSHARP
LMJRRES
PWMSAT

Variable and Command Functions and Types CDHD
12 VarCom Reference Manual
Functions
Activation and Faults
ACTIVE
CLEARFAULTS
DISMODE
DISPLAYTEST
EN
FLT
FLTHIST
FLTHISTCLR
K
MOTORPHASESCAN
READY
RELAY
RELAYMODE
REMOTE
ST
STALLTIME
STALLVEL
STAT
STATUS
SWEN
SWENMODE
UVMODE
UVRECOVER
UVTHRESH
UVTIME
WRN
Bus Power
DICONT
DIPEAK
KCD
OVTHRESH
PWMFRQ
PWMSATRATIO
UVMODE
UVRECOVER
UVTHRESH
UVTIME
VBUS
VBUSREADOUT
Communication
ADDR
BAUDRATE
CHECKSUM
COMMODE
DRIVESCRIPT
ECHO
FBGDS
FBGMS
FBITIDX
FBITPRD
FBSCALE
GETMODE
HIFACEREAD
MSGPROMPT
OPMODE
SYNCSOURCE
Commutation
CANBITRATE
CONFIG
ELECTANGLE
FEEDBACKTYPE
GETREC
HALLS
HALLSINV
HALLSTYPE
INDEXFIND
INDEXFINDST
MENCRES
MENCTYPE
MENCZPOS
MOTORCOMMTYPE
MOTORSETUP
MOTORSETUPST
MPHASE
MPITCH
MPOLES
MTANGLC
MTANGLP
MVANGLF
MVANGLH
PHASEFIND
PHASEFINDANGLE
PHASEFINDGAIN
PHASEFINDI
PHASEFINDMODE
PHASEFINDST
PHASEFINDTIME
WNSERR

CDHD Variable and Command Functions and Types
VarCom Reference Manual 13
Controller - Current
ANIN1ISCALE
ANIN2ISCALE
CLTUNE
CLTUNEST
CLVD
CLVQ
CONFIG
ESTMOTORPARAM
ESTMOTORPARAMST
ESTOPILIM
FRICINEG
FRICIPOS
FRICNVHYST
FRICPVHYST
I
ICMD
ID
IFFLPFHZ
IGRAV
ILIM
IMAX
IQ
IQCMD
IU
IUOFFSET
IV
IVOFFSET
KCBEMF
KCD
KCDQCOMP
KCFF
KCI
KCIMEMD
KCIMEMQ
KCMODE
KCP
MICONT
MIPEAK
ML
MLGAINC
MLGAINP
MOTORPHASESCAN
OPMODE
OUTILVL1
OUTILVL2
PWMSATRATIO
STOP
T
VBUS
Controller - Position
DIR
FRICINEG
FRICIPOS
FRICNVHYST
FRICPVHYST
GEARIN
GEARMODE
GEAROUT
HOLD
HWPEXT
HWPEXTCNTRLR
HWPEXTMACHN
HWPOS
ICMD
INPOS
KPAFRC
KPAFRV
KPD
KPE
KPI
KPISATIN
KPISATOUT
KPP
KPVFR
MECHANGLE
MFBDIR
MOVEABS
MOVEINC
OPMODE
OUTPLVL1
OUTPLVL2
PCMD
PE
PEINPOS
PEINPOSTIME
PELOOP
PEMAX
PFB
POSCONTROLMODE
PTPTE
PTPVCMD
STOP
STOPPED
UNITSLINPOS
UNITSROTPOS
VCMD

Variable and Command Functions and Types CDHD
14 VarCom Reference Manual
Controller - Velocity
ANIN1DB
ANIN1LPFHZ
ANIN1VSCALE
ANIN2LPFHZ
BW
FILTHZ1
FILTHZ2
FILTMODE
FRICINEG
FRICIPOS
FRICNVHYST
FRICPVHYST
ICMD
J
KVFR
KVI
KVP
LMJR
MJ
MKT
MSPEED
OPMODE
OUTVLVL1
OUTVLVL2
STEP
STOP
TF
UNITSLINVEL
UNITSROTVEL
V
VCMD
VD
VE
VELCONTROLMODE
VELDESIGN
VELFILTFRQ
VELFILTMODE
VF
VFI
VH
VLIM
VMAX
VR
Direction
DIR
ELECTANGLE
HWPOS
MECHANGLE
MFBDIR
MOTORSETUP
MPHASE
PFB
V
Emergency Stop
DECDIST
DECDIST2
DECSTOP
DECSTOPTIME
DISMODE
DISSPEED
DISTIME
ESTOPILIM
HOLD
ISTOP
STOP
Feedback
ABSOFFSET
DIR
FEEDBACKTYPE
HALLS
HALLSINV
HALLSTYPE
HWPEXT
HWPEXTCNTRLR
HWPEXTMACHN
HWPOS
INDEXFIND
INDEXFINDST
INDEXPFB
IZERO
MECHANGLE
MENCRES
MENCTYPE
MENCZPOS
MFBDIR
MFBMODE
MOTORSETUP
MOTORSETUPST
MRESPOLES
PFBBACKUP
PFBOFFSET
RESAMPLRANGE
RESBW
SININIT
SININITMODE
SININITST
SINPARAM
TMTEMP
TMTURNRESET
UNITSLINPOS
UNITSROTPOS
XENCRES
ZERO

CDHD Variable and Command Functions and Types
VarCom Reference Manual 15
Foldback
DICONT
DIPEAK
FOLD
IFOLD
IFOLDFTHRESH
IFOLDWTHRESH
MFOLD
MFOLDD
MFOLDDIS
MFOLDR
MFOLDT
MICONT
MIFOLD
MIFOLDFTHRESH
MIFOLDWTHRESH
MIPEAK
Gearing
GEAR
GEARACCTHRESH
GEARFILTAFF
GEARFILTT1
GEARFILTT2
GEARFILTMODE
GEARFILTVELFF
GEARIN
GEARINMODE
GEARLIMITSMODE
GEARMODE
GEAROUT
HWPEXT
HWPEXTCNTRLR
HWPEXTMACHN
OPMODE
PCMD
XENCRES
HD Controller
INERTIAIDENTEN
INERTIAIDENTEST
KNLD
KNLI
KNLIDV
KNLIINT
KNLIV
KNLP
KNLUSERGAIN
MOVESMOOTHLPFHZ
NLAFFLPFHZ
NLANTIVIBGAIN
NLANTIVIBGAIN2
NLANTIVIBHZ
NLANTIVIBHZ2
NLANTIVIBKNLD
NLANTIVIBLMJR
NLANTIVIBN
NLANTIVIBSHARP
NLANTIVIBSHARP2
NLFILTDAMPING
NLFILTT1
NLMAXGAIN
NLNOTCH2BW
NLNOTCH2CENTER
NLNOTCHBW
NLNOTCHCENTER
NLPEAFF
NLPEDFFRATIO
NLSETTLEMODE
NLTUNE
NLTUNEPARAM
NLTUNEST
NLTUNETIME
PELOOP
Harmonic Correction
HCFB
HCFB1
HCFB2
HCICMD
HCICMD1
HCICMD2
Homing
AUTOHOME
HOMEACC
HOMECMD
HOMEIHARDSTOP
HOMEOFFSET
HOMESPEED1
HOMESPEED2
HOMESTATE
HOMETYPE

Variable and Command Functions and Types CDHD
16 VarCom Reference Manual
Information
ADDR
DRIVENAME
FLTHIST
IMAX
INFO
LIST
MOTORNAME
RECLIST
RECTRIGLIST
TRUN
VER
VMAX
WRN
I/Os - Analog
ANIN1
ANIN1DB
ANIN1ISCALE
ANIN1LPFHZ
ANIN1OFFSET
ANIN1VSCALE
ANIN1ZERO
ANIN2
ANIN2DB
ANIN2ISCALE
ANIN2LPFHZ
ANIN2MODE
ANIN2OFFSET
ANIN2ZERO
ANOUT
ANOUTCMD
ANOUTISCALE
ANOUTLIM
ANOUTMODE
ANOUTVSCALE
OPMODE
I/Os - Digital
ENCOUTMODE
ENCOUTRES
ENCOUTZPOS
GEARIN
GEARMODE
GEAROUT
HWPEXT
HWPEXTCNTRLR
HWPEXTMACHN
IN
ININV
INMODE
INPUTS
OUT
OUTILVL1
OUTILVL2
OUTINV
OUTMODE
OUTPLVL1
OUTPLVL2
OUTPUTS
OUTVLVL1
OUTVLVL2
RELAY
RELAYMODE
SYNCSOURCE
XENCRES
Limits
DICONT
DIPEAK
ESTOPILIM
FOLD
HOMEIHARDSTOP
IFOLD
ILIM
ILIMACT
IMAX
LIMSWITCHNEG
LIMSWITCHPOS
MFOLD
MFOLDDIS
MICONT
MIFOLD
MIPEAK
MSPEED
POSLIMMODE
POSLIMNEG
POSLIMPOS
STALLTIME
STALLVEL
VLIM
VMAX
Linear System
MKF
MMASS
MOTORTYPE
MPITCH
UNITSLINACC
UNITSLINPOS
UNITSLINVEL

CDHD Variable and Command Functions and Types
VarCom Reference Manual 17
Memory – Non-volatile
DICONT
DIPEAK
DUMP
EMBER
FACTORYRESTORE
LOAD
OVTHRESH
PFBBACKUP
PFBBACKUPMODE
SAVE
UVTHRESH
Motion
ACC
DEC
DECSTOP
HOLD
J
MB
MBST
MOVEABS
MOVEINC
MOVEINCCOUNTER
MOVEINCDELAY
MOVEINCDIST1
MOVEINCDIST2
MOVEINCSPEED1
MOVEINCSPEED2
MOVESMOOTHAVG
MOVESMOOTHLPFHZ
PDEN
PEINPOSTIME
PNUM
PTPTE
PTPVCMD
STEP
STOPPED
UNITSLINACC
UNITSLINPOS
UNITSLINVEL
UNITSROTACC
UNITSROTPOS
UNITSROTVEL
VLIM
Motor
DIR
ESTMOTORPARAM
ESTMOTORPARAMST
FEEDBACKTYPE
MENCRES
MENCTYPE
MENCZPOS
MFBDIR
MFOLD
MFOLDD
MFOLDDIS
MFOLDR
MFOLDT
MICONT
MIFOLD
MIFOLDFTHRESH
MIFOLDWTHRESH
MIPEAK
MJ
MKF
MKT
ML
MLGAINC
MLGAINP
MMASS
MOTORCOMMTYPE
MOTORNAME
MOTORSETUP
MOTORSETUPST
MOTORTYPE
MPHASE
MPITCH
MPOLES
MR
MRESPOLES
MRT
MSPEED
MTANGLC
MTANGLP
MVANGLF
MVANGLH
THERM
THERMCLEARLEVEL
THERMODE
THERMREADOUT
THERMTIME
THERMTRIPLEVEL
THERMTYPE
Recording
GET
GETMODE
PRBFRQ
PRBMODE
PRBPARAM
RECDONE
RECING
RECLIST
RECOFF
RECORD
RECRDY
RECTRIG
RECTRIGLIST

Variable and Command Functions and Types CDHD
18 VarCom Reference Manual
Sensorless
SLEKFMKT
SLEKFML
SLEKFMR
SLTFORCED
Temperature
DRIVETEMP
THERM
THERMCLEARLEVEL
THERMODE
THERMREADOUT
THERMTIME
THERMTRIPLEVEL
THERMTYPE
TMTEMP
Unit - Configurable
ABSOFFSET
ACC
ANIN1VSCALE
ANOUTVSCALE
DEC
DECDIST
DECDIST2
DECSTOP
DISSPEED
FRICNVHYST
FRICPVHYST
GEARACCTHRESH
HCFB
HCFB1
HCFB2
HOMEACC
HOMEOFFSET
HOMESPEED1
HOMESPEED2
INDEXPFB
J
KVP
MOVEABS
MOVEINC
MOVEINCDIST1
MOVEINCDIST2
MOVEINCSPEED1
MOVEINCSPEED2
MSPEED
NLTUNEPARAM
OUTPLVL1
OUTPLVL2
OUTVLVL1
OUTVLVL2
PCMD
PDEN
PE
PEINPOS
PELOOP
PEMAX
PFB
PFBOFFSET
PNUM
POSLIMNEG
POSLIMPOS
PTPTE
PTPVCMD
STALLVEL
STEP
V
VCMD
VE
VLIM
VMAX
Unit - Selectable
MOTORTYPE
PDEN
PNUM
UNITSLINACC
UNITSLINPOS
UNITSLINVEL
UNITSROTACC
UNITSROTPOS
UNITSROTVEL

CDHD Variable and Command Functions and Types
VarCom Reference Manual 19
Types
Status
These are read-only variables, serving as status flags that indicate the state of
the drive and certain procedures.
ACTIVE
CLTUNEST
DRIVESCRIPTST
ESTMOTORPARAMST
FLT
HOMESTATE
INDEXFINDST
INPUTS
LIMSWITCHNEG
LIMSWITCHPOS
MBST
MOTORSETUP
NLTUNEST
PHASEFINDST
READY
RECDONE
RECING
RECRDY
RELAY
SININITST
ST
STAT
STATUS
SWEN
WNSERR
Information
These are read-only variables that display utility information.
ADDR
DRIVENAME
FLTHIST
IMAX
INFO
LIST
MOTORNAME
PFBBACKUP
RECLIST
RECTRIGLIST
VELDESIGN
VER
VMAX
WRN
Modes
These are variables that define modes of operation and control. Each variable
has a set of discrete values, each of which defines a different mode. These
variables are also referred to as switch variables.
ANIN2MODE
ANOUTMODE
AUTOHOME
CHECKSUM
COMMODE
DIR
DISMODE
ENCOUTMODE
FEEDBACKTYPE
FILTMODE
GEAR
GEARFILTMODE
GEARINMODE
GEARLIMITSMODE
GEARMODE
GETMODE
HALLSTYPE
HOMETYPE
INMODE
KCMODE
MENCTYPE
MFBDIR
MFBMODE
MFOLDDIS
MOTORCOMMTYPE
MOTORPHASESCAN
MOTORTYPE
MOVESMOOTHMODE
MSGPROMPT
NLSETTLEMODE
OPMODE
OUTMODE
PFBBACKUPMODE
PHASEFINDMODE
POSCONTROLMODE
POSLIMMODE
RELAYMODE
SININITMODE
SWENMODE
SYNCSOURCE
THERMODE
THERMTYPE
UNITSLINACC
UNITSLINPOS
UNITSLINVEL
UNITSROTACC
UNITSROTPOS
UNITSROTVEL
UVMODE
VELCONTROLMODE
VELFILTMODE
Commands
Commands are instructions sent to the drive for immediate execution.
ANIN1ZERO
ANIN2ZERO
ANOUTCMD
BAUDRATE
CLEARFAULTS
CLTUNE
CONFIG
DISPLAYTEST
DRIVESCRIPT

Variable and Command Functions and Types CDHD
20 VarCom Reference Manual
DUMP
EN
ESTMOTORPARAM
FACTORYRESTORE
FLTHISTCLR
GET
GETREC
HIFACEREAD
HOLD
HOMECMD
INDEXFIND
J
K
LOAD
MB
MEMBIT
MEMF
MEML
MEMQ
MEMW
MOTORSETUP
MOVEABS
MOVEINC
NLTUNE
PASSWORD
PHASEFIND
PRBFRQ
PRBMODE
PRBPARAM
RECOFF
RECORD
RECTRIG
SAVE
SININIT
STEP
STOP
T
TMTURNRESET
ZERO
Signals
These are read-only variables that capture and display changing values (such as
current and velocity).
ANIN1
ANIN2
ANOUT
CLVD
CLVQ
DRIVETEMP
ELECTANGLE
FOLD
HALLS
HCFB
HCICMD
HWPEXT
HWPEXTCNTRLR
HWPEXTMACHN
HWPOS
I
ICMD
ID
IFOLD
ILIMACT
IN
INPOS
IQ
IQCMD
IU
IV
KCIMEMD
KCIMEMQ
MECHANGLE
MFOLD
MIFOLD
OUT
OUTPUTS
PCMD
PE
PELOOP
PFB
PTPTE
PTPVCMD
REMOTE
STOPPED
THERM
THERMREADOUT
TMTEMP
TRUN
V
VBUSREADOUT
VCMD
VE
Motor
These are read-write variables that define motor properties.
FEEDBACKTYPE
MENCRES
MENCZPOS
MFOLDD
MFOLDR
MFOLDT
MICONT
MIFOLDFTHRESH
MIFOLDWTHRESH
MIPEAK
MJ
MKT
ML
MLGAINC
MLGAINP
MOTORNAME
MPHASE
MPITCH
MPOLES
MRESPOLES
MSPEED
MTANGLC
MTANGLP
MVANGLF
MVANGLH