0x2003 Motor Specific Settings

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

Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Pole Pairs	0x2003:1	USINT	8			1		readwrite
Number of magnetic pole pairs used in the motor. Please refer to your motor datasheet for this value.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Torque Constant	0x2003:2	DINT	32			1	μNm/A	readwrite
The motor's torque constant is given by the motor design and defines the torque generated by a given current.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Phase Resistance	0x2003:3	DINT	32			1	μΩ	readwrite
If not available, please keep the default value.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Phase Inductance	0x2003:4	DINT	32			1	μH	readwrite
If not available, please keep the default value.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Motor phases inverted	0x2003:5	BOOL	1	No 0 Yes 1				readwrite
Use this parameter only when you have a negative velocity or feedback increment with the positive torque increment.