# Menu 3 Single Line Descriptions − Speed Control and Position Feedback

Mode: RFC‑S

Parameter | Range | Default | Type
--- | --- | --- | ---
03.001 | Final Speed Reference | ±VM_SPEED |  | RO | Num | ND | NC | PT | FI
03.002 | Speed Feedback | ±VM_SPEED |  | RO | Num | ND | NC | PT | FI
03.003 | Speed Error | ±VM_SPEED |  | RO | Num | ND | NC | PT | FI
03.004 | Speed Controller Output | ±VM_TORQUE_CURRENT % |  | RO | Num | ND | NC | PT | FI
03.005 | Zero Speed Threshold | 0 to 200 | 5 | RW | Num |  |  |  | US
03.006 | At Speed Lower Limit | 0 to 33000 | 5 | RW | Num |  |  |  | US
03.007 | At Speed Upper Limit | 0 to 33000 | 5 | RW | Num |  |  |  | US
03.008 | Over Speed Threshold | 0 to 33000 | 0 | RW | Num |  |  |  | US
03.009 | Absolute At Speed Select | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.010 | Speed Controller Proportional Gain Kp1 | 0.0000 to 200.0000 s/rad | 0.0100 s/rad | RW | Num |  |  |  | US
03.011 | Speed Controller Integral Gain Ki1 | 0.00 to 655.35 s²/rad | 1.00 s²/rad | RW | Num |  |  |  | US
03.012 | Speed Controller Differential Feedback Gain Kd1 | 0.00000 to 0.65535 1/rad | 0.00000 1/rad | RW | Num |  |  |  | US
03.013 | Speed Controller Proportional Gain Kp2 | 0.0000 to 200.0000 s/rad | 0.0100 s/rad | RW | Num |  |  |  | US
03.014 | Speed Controller Integral Gain Ki2 | 0.00 to 655.35 s²/rad | 1.00 s²/rad | RW | Num |  |  |  | US
03.015 | Speed Controller Differential Feedback Gain Kd2 | 0.00000 to 0.65535 1/rad | 0.00000 1/rad | RW | Num |  |  |  | US
03.016 | Speed Controller Gain Select | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.017 | Speed Controller Set‑up Method | Disabled (0), Bandwidth (1), Comp Angle (2), Kp Gain Times 16 (3), Low Performance (4), Std Performance (5), High Performance (6), First Order (7) | Disabled (0) | RW | Txt |  |  |  | US
03.018 | Motor And Load Inertia | 0.00000 to 1000.00000 kgm² | 0.00000 kgm² | RW | Num |  |  |  | US
03.019 | Compliance Angle | 0.0 to 360.0 ° | 4.0 ° | RW | Num |  |  |  | US
03.020 | Bandwidth | 1 to 1000 Hz | 10 Hz | RW | Num |  |  |  | US
03.021 | Damping Factor | 0.0 to 10.0 | 1.0 | RW | Num |  |  |  | US
03.022 | Hard Speed Reference | ±VM_SPEED_FREQ_REF | 0.0 | RW | Num |  |  |  | US
03.023 | Hard Speed Reference Select | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.024 | RFC Feedback Mode | Feedback (0), Sensorless (1), Feedback NoMax (2), Sensorless NoMax (3) | Feedback (0) | RW | Txt |  |  |  | US
03.025 | Position Feedback Phase Angle | 0.0 to 359.9 ° |  | RW | Num | ND |  |  | US
03.026 | Motor Control Feedback Select | P1 Drive (0), P2 Drive (1), P1 Slot1 (2), P2 Slot1 (3), P1 Slot2 (4), P2 Slot2 (5) | P1 Drive (0) | RW | Txt |  |  |  | US
03.027 | P1 Speed Feedback | ±VM_SPEED |  | RO | Num | ND | NC | PT | FI
03.028 | P1 Revolution/Pole Pitch Counter | 0 to 65535 |  | RO | Num | ND | NC | PT | PS
03.029 | P1 Position | 0 to 65535 |  | RO | Num | ND | NC | PT | PS
03.030 | P1 Fine Position | 0 to 65535 |  | RO | Num | ND | NC | PT |
03.031 | P1 Marker Mode | 0000 to 1111 | 0100 | RW | Bin |  |  |  | US
03.032 | P1 Marker Flag | Off (0) or On (1) | Off (0) | RW | Bit |  | NC |  |
03.033 | P1 Rotary Turns Bits | 0 to 16 | 16 | RW | Num |  |  |  | US
03.034 | P1 Rotary Lines Per Revolution | 1 to 100000 | 4096 | RW | Num |  |  |  | US
03.035 | P1 Comms Bits | 0 to 48 | 0 | RW | Num |  |  |  | US
03.036 | P1 Supply Voltage | 5V (0), 8V (1), 15V (2) | 5V (0) | RW | Txt |  |  |  | US
03.037 | P1 Comms Baud Rate | 100k (0), 200k (1), 300k (2), 400k (3), 500k (4), 1M (5), 1.5M (6), 2M (7), 4M (8) Baud | 300k (2) Baud | RW | Txt |  |  |  | US
03.038 | P1 Device Type | AB (0), FD (1), FR (2), AB Servo (3), FD Servo (4), FR Servo (5), SC (6), SC Hiperface (7), EnDat (8), SC EnDat (9), SSI (10), SC SSI (11), SC Servo (12), BiSS (13), Resolver (14), SC SC (15), Commutation Only (16), SC BiSS (17), Option Slot 1 (18), Option Slot 2 (19), Option Slot 3 (20) | AB Servo (3) | RW | Txt |  |  |  | US
03.039 | P1 Termination Select | 0 to 2 | 1 | RW | Num |  |  |  | US
03.040 | P1 Error Detection Level | 00000000 to 11111111 | 00000001 | RW | Bin |  |  |  | US
03.041 | P1 Auto‑configuration Select | Disabled (0), Enabled (1) | Enabled (1) | RW | Txt |  |  |  | US
03.042 | P1 Feedback Filter | Disabled (0), 1ms (1), 2ms (2), 4ms (3), 8ms (4), 16ms (5) | Disabled (0) | RW | Txt |  |  |  | US
03.043 | P1 Maximum Reference | 0 to 33000 | 3000 | RW | Num |  |  |  | US
03.044 | P1 Reference Scaling | 0.000 to 4.000 | 1.000 | RW | Num |  |  |  | US
03.045 | P1 Reference | ±100.0 % |  | RO | Num | ND | NC | PT | FI
03.046 | P1 Reference destination | 0.000 to 59.999 | 0.000 | RW | Num | DE |  | PT | US
03.047 | P1 SSI Incremental Mode | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.048 | P1 SSI Binary Mode | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.049 | P1 Additional Power‑up Delay | 0.0 to 25.0 s | 0.0 s | RW | Num |  |  |  | US
03.050 | P1 Feedback Lock | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.051 | P1 Linear Feedback Select | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.052 | P1 Linear Comms Pitch | 0.001 to 100.000 | 0.001 | RW | Num |  |  |  | US
03.053 | P1 Linear Line Pitch | 0.001 to 100.000 | 0.001 | RW | Num |  |  |  | US
03.054 | P1 Linear Comms And Line Pitch Units | millimetres (0), micrometres (1) | millimetres (0) | RW | Txt |  |  |  | US
03.055 | P1 Pole Pitch | 0.01 to 1000.00 mm | 10.00 mm | RW | Num |  |  |  | US
03.056 | P1 Feedback Reverse | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.057 | P1 Normalisation Turns | 0 to 16 | 16 | RW | Num |  |  |  | US
03.058 | P1 Normalised Position | -2147483648 to 2147483647 |  | RO | Num | ND | NC | PT |
03.059 | P1 Normalised Marker Position | -2147483648 to 2147483647 |  | RO | Num | ND | NC | PT |
03.060 | P1 Calculation Time | 0 to 20 µs | 5 µs | RW | Num |  |  |  | US
03.061 | P1 Recovery Time | 4 to 100 µs | 30 µs | RW | Num |  |  |  | US
03.062 | P1 Line Delay Time | 0 to 5000 ns |  | RO | Num | ND | NC | PT | US
03.063 | P1 Low Speed Update Rate Active | Off (0) or On (1) |  | RO | Bit | ND | NC | PT |
03.064 | P1 Encoder Protocol Detected | None (0), Hiperface (1), EnDat2.1 (2), EnDat2.2 (3), BiSS (4) |  | RO | Txt | ND | NC | PT |
03.065 | P1 Resolver Poles | 2 (1) to 20 (10) Poles | 2 (1) Poles | RW | Txt |  |  |  | US
03.066 | P1 Resolver Excitation | 6kHz 3V (0), 8kHz 3V (1), 6kHz 2V (2), 8kHz 2V (3), 6kHz 3V Fast (4), 8kHz 3V Fast (5), 6kHz 2V Fast (6), 8kHz 2V Fast (7) | 6kHz 3V Fast (4) | RW | Txt |  |  |  | US
03.067 | P1 User Comms Enable | 0 to 1 | 0 | RW | Num |  | NC | PT |
03.068 | P1 User Comms Transmit Register | 0 to 65535 | 0 | RW | Num |  | NC | PT |
03.069 | P1 User Comms Receive Register | 0 to 65535 | 0 | RW | Num |  | NC | PT |
03.070 | P1 Position Feedback Signals | 000000 to 111111 |  | RO | Bin | ND | NC | PT |
03.071 | P1 Error Detected | Off (0) or On (1) |  | RO | Bit | ND | NC | PT |
03.073 | P1 Absolute Turns Recovery Enable | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.074 | P1 Additional Configuration | 0 to 511116116 | 0 | RW | Num |  |  |  | US
03.075 | Initialise Position Feedback | Off (0) or On (1) | Off (0) | RW | Bit |  | NC |  |
03.076 | Position Feedback Initialized | 0000000000 to 1111111111 | 0000000000 | RO | Bin |  | NC | PT |
03.078 | Sensorless Mode Active | Off (0) or On (1) |  | RO | Bit | ND | NC | PT |
03.079 | Sensorless Mode Filter | 4 (0), 8 (1), 16 (2), 32 (3), 64 (4) ms | 64 (4) ms | RW | Txt |  |  |  | US
03.080 | Sensorless Position | -2147483648 to 2147483647 |  | RO | Num | ND | NC | PT |
03.085 | Encoder Simulation Source | 0.000 to 59.999 | 0.000 | RW | Num |  |  | PT | US
03.086 | Encoder Simulation Status | None (0), Full (1), No Marker Pulse (2) |  | RO | Txt | ND | NC | PT |
03.087 | Encoder Simulation Sample Period | 0.25 (0), 1 (1), 4 (2), 16 (3) ms | 0.25 (0) ms | RW | Txt |  |  |  | US
03.088 | Encoder Simulation Mode | Hardware (0), Lines Per Rev (1), Ratio (2), SSI (3) | Hardware (0) | RW | Txt |  |  |  | US
03.089 | Encoder Simulation Hardware Divider | 0 to 7 | 0 | RW | Num |  |  |  | US
03.090 | Encoder Simulation Hardware Marker Lock | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.091 | Encoder Simulation Incremental Mode Select | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.092 | Encoder Simulation Output Lines Per Revolution | 1 to 16384 | 4096 | RW | Num |  |  |  | US
03.093 | Encoder Simulation Numerator | 1 to 65536 | 65536 | RW | Num |  |  |  | US
03.094 | Encoder Simulation Denominator | 1 to 65536 | 65536 | RW | Num |  |  |  | US
03.095 | Encoder Simulation Output Roll‑over Limit | 1 to 65535 | 65535 | RW | Num |  |  |  | US
03.096 | Encoder Simulation SSI Turns Bits | 0 to 16 | 16 | RW | Num |  |  |  | US
03.097 | Encoder Simulation SSI Comms Bits | 2 to 48 | 33 | RW | Num |  |  |  | US
03.098 | Encoder Simulation Output Mode | AB/Gray (0), FD/Binary (1), FR/Binary (2) | AB/Gray (0) | RW | Txt |  |  |  | US
03.100 | F1 Freeze Trigger Source | Digital Input 4 (0), Digital Input 5 (1), P1 Marker (2), P2 Marker (3), Common (4), P1 Zero (5), P2 Zero (6) | Digital Input 4 (0) | RW | Txt |  |  |  | US
03.101 | F1 Freeze Mode | Rising 1st (0), Falling 1st (1), Rising all (2), Falling all (3) | Rising 1st (0) | RW | Txt |  |  |  | US
03.102 | F1 Freeze Position Source | P1 (0), P2 (1), Time (2) | P1 (0) | RW | Txt |  |  |  | US
03.103 | F1 Normalised Freeze Position | -2147483648 to 2147483647 |  | RO | Num | ND | NC | PT |
03.104 | F1 Freeze Flag | Off (0) or On (1) |  | RW | Bit | ND | NC | PT |
03.105 | F2 Freeze Trigger Source | Digital Input 4 (0), Digital Input 5 (1), P1 Marker (2), P2 Marker (3), Common (4), P1 Zero (5), P2 Zero (6) | Digital Input 4 (0) | RW | Txt |  |  |  | US
03.106 | F2 Freeze Mode | Rising 1st (0), Falling 1st (1), Rising all (2), Falling all (3) | Rising 1st (0) | RW | Txt |  |  |  | US
03.107 | F2 Freeze Position Source | P1 (0), P2 (1), Time (2) | P1 (0) | RW | Txt |  |  |  | US
03.108 | F2 Normalised Freeze Position | -2147483648 to 2147483647 |  | RO | Num | ND | NC | PT |
03.109 | F2 Freeze Flag | Off (0) or On (1) |  | RW | Bit | ND | NC | PT |
03.110 | Common Freeze Source 1 | Digital Input 4 (0), Digital Input 5 (1), P1 Marker (2), P2 Marker (3), Disabled (4) | Digital Input 4 (0) | RW | Txt |  |  |  | US
03.111 | Common Freeze Source 2 | Digital Input 4 (0), Digital Input 5 (1), P1 Marker (2), P2 Marker (3), Disabled (4) | Digital Input 4 (0) | RW | Txt |  |  |  | US
03.112 | Common Freeze Mode | 0000 to 1111 | 0000 | RW | Bin |  |  |  | US
03.113 | Freeze Input States | 00 to 11 |  | RO | Bin | ND | NC | PT |
03.118 | P1 Thermistor Type | DIN44082 (0), KTY84 (1), 0.8mA (2), Encoder (3) | DIN44082 (0) | RW | Txt |  |  |  | US
03.119 | P1 Thermistor Feedback | 0 to 5000 Ω |  | RO | Num | ND | NC | PT |
03.120 | P1 Thermistor Trip Threshold | 0 to 5000 Ω | 3300 Ω | RW | Num |  |  |  | US
03.121 | P1 Thermistor Reset Threshold | 0 to 5000 Ω | 1800 Ω | RW | Num |  |  |  | US
03.122 | P1 Thermistor Temperature | -50 to 300 °C |  | RO | Num | ND | NC | PT |
03.123 | P1 Thermistor Fault Detection | None (0), Temperature (1), Temp or Short (2) | Temperature (1) | RW | Txt |  |  |  | US
03.127 | P2 Speed Feedback | ±VM_SPEED |  | RO | Num | ND | NC | PT | FI
03.128 | P2 Revolution/Pole Pitch Counter | 0 to 65535 |  | RO | Num | ND | NC | PT | PS
03.129 | P2 Position | 0 to 65535 |  | RO | Num | ND | NC | PT | PS
03.130 | P2 Fine Position | 0 to 65535 |  | RO | Num | ND | NC | PT |
03.131 | P2 Marker Mode | 0000 to 1111 | 0100 | RW | Bin |  |  |  | US
03.132 | P2 Marker Flag | Off (0) or On (1) | Off (0) | RW | Bit |  | NC |  |
03.133 | P2 Rotary Turns Bits | 0 to 16 | 16 | RW | Num |  |  |  | US
03.134 | P2 Rotary Lines Per Revolution | 0 to 100000 | 4096 | RW | Num |  |  |  | US
03.135 | P2 Comms Bits | 0 to 48 | 0 | RW | Num |  |  |  | US
03.137 | P2 Comms Baud Rate | 100k (0), 200k (1), 300k (2), 400k (3), 500k (4), 1M (5), 1.5M (6), 2M (7), 4M (8) Baud | 300k (2) Baud | RW | Txt |  |  |  | US
03.138 | P2 Device type | None (0), AB (1), FD (2), FR (3), EnDat (4), SSI (5), BiSS (6) | None (0) | RW | Txt |  |  |  | US
03.140 | P2 Error Detection Level | 00000 to 11111 | 00001 | RW | Bin |  |  |  | US
03.141 | P2 Auto‑configuration Select | Disabled (0), Enabled (1) | Enabled (1) | RW | Txt |  |  |  | US
03.142 | P2 Feedback Filter | Disabled (0), 1ms (1), 2ms (2), 4ms (3), 8ms (4), 16ms (5) | Disabled (0) | RW | Txt |  |  |  | US
03.143 | P2 Maximum Reference | 0 to 33000 | 3000 | RW | Num |  |  |  | US
03.144 | P2 Reference Scaling | 0.000 to 4.000 | 1.000 | RW | Num |  |  |  | US
03.145 | P2 Reference | ±100.0 % |  | RO | Num | ND | NC | PT | FI
03.146 | P2 Reference Destination | 0.000 to 59.999 | 0.000 | RW | Num | DE |  | PT | US
03.147 | P2 SSI Incremental Mode | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.148 | P2 SSI Binary Mode | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.149 | P2 Additional Power‑up Delay | 0.0 to 25.0 s | 0.0 s | RW | Num |  |  |  | US
03.150 | P2 Feedback Lock | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.151 | P2 Linear Feedback Select | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.152 | P2 Linear Comms Pitch | 0.001 to 100.000 | 0.001 | RW | Num |  |  |  | US
03.153 | P2 Linear Line Pitch | 0.001 to 100.000 | 0.001 | RW | Num |  |  |  | US
03.154 | P2 Linear Comms And Line Pitch Units | millimetres (0), micrometres (1) | millimetres (0) | RW | Txt |  |  |  | US
03.155 | P2 Pole Pitch | 0.01 to 1000.00 mm | 10.00 mm | RW | Num |  |  |  | US
03.156 | P2 Feedback Reverse | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.157 | P2 Normalisation Turns | 0 to 16 | 16 | RW | Num |  |  |  | US
03.158 | P2 Normalised Position | -2147483648 to 2147483647 |  | RO | Num | ND | NC | PT |
03.159 | P2 Normalised Marker Position | -2147483648 to 2147483647 |  | RO | Num | ND | NC | PT |
03.160 | P2 Calculation Time | 0 to 20 µs | 5 µs | RW | Num |  |  |  | US
03.161 | P2 Recovery Time | 4 to 100 µs | 30 µs | RW | Num |  |  |  | US
03.162 | P2 Line Delay Time | 0 to 5000 ns |  | RO | Num | ND | NC | PT | US
03.163 | P2 Low Speed Update Rate Active | Off (0) or On (1) |  | RO | Bit | ND | NC | PT |
03.164 | P2 Encoder Protocol Detected | None (0), Hiperface (1), EnDat2.1 (2), EnDat2.2 (3), BiSS (4) |  | RO | Txt | ND | NC | PT |
03.167 | P2 User Comms Enable | 0 to 1 | 0 | RW | Num |  | NC | PT |
03.168 | P2 User Comms Transmit Register | 0 to 65535 | 0 | RW | Num |  | NC | PT |
03.169 | P2 User Comms Receive Register | 0 to 65535 | 0 | RW | Num |  | NC | PT |
03.171 | P2 Error Detected | Off (0) or On (1) |  | RO | Bit | ND | NC | PT |
03.172 | P2 Status | None (0), AB (1), FD (2), FR (3), EnDat (4), SSI (5), BiSS (6), EnDat Alt (7), SSI Alt (8), BiSS Alt (9) |  | RO | Txt | ND | NC | PT |
03.173 | P2 Absolute Turns Recovery Enable | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
03.174 | P2 Additional Configuration | 0 to 511116116 | 0 | RW | Num |  |  |  | US

RW | Read / Write | RO | Read-only | Bit | Bit parameter | Txt | Text string | Date | Date parameter | Time | Time parameter
Chr | Character parameter | Bin | Binary parameter | IP | IP address | Mac | MAC address | Ver | Version number | SMP | Slot, menu, parameter
Num | Number parameter | DE | Destination | ND | No default value | RA | Rating dependent | NC | Non-copyable | PT | Protected
FI | Filtered | US | User save | PS | Power-down save |  |  |  |  |  |