Standard SERCOS Identification Numbers (IDN)

Position Parameters

The following table lists the IDNs for the position parameters:

IDN	Standard IDN Name
S-0-0032	Primary operating mode
S-0-0053	Position feedback value 2 (external feedback)
S-0-0055	Position polarity parameter
S-0-0116	Resolution of the rotational feedback 1
S-0-0117	Resolution of the rotational feedback 2
S-0-0121	Input revolutions of load gear
S-0-0122	Output revolutions of load gear
S-0-0123	Feed constant
S-0-0206	Drive on delay time
S-0-0207	Drive off delay time
S-0-0256	Multiplication factor 1
S-0-0257	Multiplication factor 2

Speed Parameters

The following table lists the IDNs for the speed parameters:

IDN	Standard IDN Name
S-0-0037	Additive velocity command value
S-0-0040	Velocity feedback value

Torque/Motor Parameters

The following table lists the IDNs for the torque/motor parameters:

IDN	Standard IDN Name
S-0-0084	Torque feedback value
S-0-0092	Bipolar torque limit value
S-0-0111	Motor continuous stall current

Limit Parameters

The following table lists the IDNs for the limit parameters:

IDN	Standard IDN Name
S-0-0038	Positive velocity limit value
S-0-0039	Negative velocity limit value
S-0-0049	Positive position limit value
S-0-0050	Negative position limit value
S-0-0091	Bipolar velocity limit value
S-0-0114	Load limit of the motor
S-0-0136	Positive acceleration limit
S-0-0138	Bipolar acceleration limit value

Diagnostics

The following table lists the IDNs for diagnostics:

IDN	Standard IDN Name
S-0-0011	Class 1 diagnostic (C1D)
S-0-0012	Class 2 diagnostic (C2D)
S-0-0013	Class 3 diagnostic (C3D)
S-0-0041	Homing velocity
S-0-0042	Homing acceleration
S-0-0147	Homing parameter
S-0-0148	Homing command by drive
S-0-0298	Home switch distance
S-0-0400	Home switch
S-0-0403	Position feedback value status

Scaling Parameters

The following table lists the IDNs for the scaling parameters:

IDN	Standard IDN Name
S-0-0044	Velocity data scaling type
S-0-0086	Torque data scaling type
S-0-0093	Torque/effort data scale factor
S-0-0094	Torque/effort data scale exponent
S-0-0160	Acceleration data scaling type

Probe

The following table lists the IDNs for the probe:

IDN	Standard IDN Name
S-0-0130	Probe value positive edge 1
S-0-0131	Probe value negative edge 1
S-0-0169	Probe control parameter
S-0-0170	Probe cycle procedure command
S-0-0179	Probe status

Gains Parameters

The following table lists the IDNs for the gains parameters:

IDN	Standard IDN Name
S-0-0296	Velocity feedforward gain

Drives, Drive Backup and Checksums

The following table lists the IDNs for drives, drive backup and checksums:

IDN	Standard IDN Name
S-0-0192	IDN list of backup operation data
S-0-0271	Drive ID
S-0-0263	Load working memory procedure command
S-0-0264	Backup working memory procedure command