P-0-0010 Feature flags

Feature flags are used to configure backward compatible behavior. Setting a bit is enabling extended functionality.

Attributes

Name	Value
Datatype	binary
Data length in bit	64
Decimal point	-
Min. Value	-
Default	firmware depending
Max. Value	-
Unit	-
Changeable in EtherCAT state	PreOp
Cyclic transfer	No
Device parameter	No
Related to interface revision	changed from Rev. 210

Bit	Description
0	Enable adjusted velocity controller gain scaling 0 = disabled 1 = enabled
1	Enable adapted axis state machine 0 = disabled 1 = enabled
2	View enlarged error history 0 = disabled 1 = enabled
3	Enable excessive position deviation monitoring 0 = disabled 1 = enabled
4	View extended software versions list (P-0-0320) 0 = disabled 1 = enabled
5	Enable extended power management 0 = disabled 1 = enabled
6	Consider ‘the additive position command value’ (S-0-0048) 0 = disabled 1 = enabled
7	rsvd
8	Enable switching frequency reduction 0 = disabled 1 = enabled
9	Enable phase clamping 0 = disabled 1 = enabled
10	Explicit modulo init data saving required 0 = No 1 = Yes
11	Probe unit: Hardware delay compensation 0 = disabled 1 = enabled
12	Feedback value sampling point: Adjusted to sync1 0 = No 1 = Yes
13	Set data length of P-0-0070 to 4 byte (from Rev. 210) 0 = No 1 = Yes
14	Extended thermal motor model P-0-0062 (from Rev. 210) 0 = Yes 1 = No
15	Velocity controller gain in Nm / (rad/s) (from Rev. 210) 0 = Nm//(rad/s) 1 = A//(rad/s)
16	Acceleration feed forward gain (S-0-0348) in “%” (from Rev. 210) 0 = No 1 = Yes
17-63	Reserved (from Rev. 210)