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.