| 0x1000
|
Device type
|
| 0x1001
|
Error register
|
| 0x1008
|
Manufacturer device name
|
| 0x100A
|
Manufacturer software version
|
| 0x1010
|
Store parameters
|
|
0x1010:1
|
Save all parameters
|
| 0x1011
|
Restore default parameters
|
|
0x1011:1
|
Restore all default parameters
|
|
0x1011:2
|
Restore communication default parameters (disabled)
|
|
0x1011:3
|
Restore application default parameters (disabled)
|
|
0x1011:4
|
Restore manufacturer default parameters
|
| 0x1018
|
Identity object
|
|
0x1018:1
|
Vendor ID
|
|
0x1018:2
|
Product Code
|
|
0x1018:3
|
Revision number
|
|
0x1018:4
|
Serial number
|
| 0x1023
|
OS command
|
|
0x1023:1
|
Command
|
|
0x1023:2
|
Status
|
|
0x1023:3
|
Response
|
| 0x1024
|
OS command mode
|
| 0x1400
|
Receive PDO1 parameter
|
|
0x1400:1
|
COB-ID used by PDO
|
|
0x1400:2
|
Transmission type
|
|
0x1400:3
|
Inhibit time
|
| 0x1401
|
Receive PDO2 parameter
|
|
0x1401:1
|
COB-ID used by PDO
|
|
0x1401:2
|
Transmission type
|
|
0x1401:3
|
Inhibit time
|
| 0x1402
|
Receive PDO3 parameter
|
|
0x1402:1
|
COB-ID used by PDO
|
|
0x1402:2
|
Transmission type
|
|
0x1402:3
|
Inhibit time
|
| 0x1403
|
Receive PDO4 parameter
|
|
0x1403:1
|
COB-ID used by PDO
|
|
0x1403:2
|
Transmission type
|
|
0x1403:3
|
Inhibit time
|
| 0x1600
|
Receive PDO1 mapping
|
|
0x1600:1
|
Controlword
|
|
0x1600:2
|
Modes of operation
|
|
0x1600:3
|
Target Torque
|
|
0x1600:4
|
Target position
|
|
0x1600:5
|
Target velocity
|
|
0x1600:6
|
Torque offset
|
|
0x1600:7
|
Tuning command
|
| 0x1601
|
Receive PDO2 mapping
|
|
0x1601:1
|
Physical outputs
|
|
0x1601:2
|
Bit mask
|
| 0x1602
|
Receive PDO3 mapping
|
|
0x1602:1
|
User MOSI
|
|
0x1602:2
|
Velocity offset
|
| 0x1800
|
Transmit PDO1 parameter
|
|
0x1800:1
|
COB-ID used by PDO
|
|
0x1800:2
|
Transmission type
|
|
0x1800:3
|
Inhibit time
|
|
0x1800:4
|
reserved
|
|
0x1800:5
|
Event timer
|
| 0x1801
|
Transmit PDO2 parameter
|
|
0x1801:1
|
COB-ID used by PDO
|
|
0x1801:2
|
Transmission type
|
|
0x1801:3
|
Inhibit time
|
|
0x1801:4
|
reserved
|
|
0x1801:5
|
Event timer
|
| 0x1802
|
Transmit PDO3 parameter
|
|
0x1802:1
|
COB-ID used by PDO
|
|
0x1802:2
|
Transmission type
|
|
0x1802:3
|
Inhibit time
|
|
0x1802:4
|
reserved
|
|
0x1802:5
|
Event timer
|
| 0x1803
|
Transmit PDO4 parameter
|
|
0x1803:1
|
COB-ID used by PDO
|
|
0x1803:2
|
Transmission type
|
|
0x1803:3
|
Inhibit time
|
|
0x1803:4
|
reserved
|
|
0x1803:5
|
Event timer
|
| 0x1A00
|
Transmit PDO1 mapping
|
|
0x1A00:1
|
Statusword
|
|
0x1A00:2
|
Modes of operation display
|
|
0x1A00:3
|
Position actual value
|
|
0x1A00:4
|
Velocity actual value
|
|
0x1A00:5
|
Torque actual value
|
| 0x1A01
|
Transmit PDO2 mapping
|
|
0x1A01:1
|
Analog input 1
|
|
0x1A01:2
|
Analog input 2
|
|
0x1A01:3
|
Analog input 3
|
|
0x1A01:4
|
Analog input 4
|
|
0x1A01:5
|
Tuning status
|
| 0x1A02
|
Transmit PDO3 mapping
|
|
0x1A02:1
|
Digital inputs
|
| 0x1A03
|
Transmit PDO4 mapping
|
|
0x1A03:1
|
User MISO
|
|
0x1A03:2
|
Timestamp
|
|
0x1A03:3
|
Position demand internal value
|
|
0x1A03:4
|
Velocity demand value
|
|
0x1A03:5
|
Torque demand
|
| 0x1C00
|
Sync manager type
|
|
0x1C00:1
|
SyncMan 0
|
|
0x1C00:2
|
SyncMan 1
|
|
0x1C00:3
|
SyncMan 2
|
|
0x1C00:4
|
SyncMan 3
|
| 0x1C10
|
SM 0 Assignment
|
| 0x1C11
|
SM 1 Assignment
|
| 0x1C12
|
SM 2 Assignment
|
|
0x1C12:1
|
SubIndex 001
|
|
0x1C12:2
|
SubIndex 002
|
|
0x1C12:3
|
SubIndex 003
|
| 0x1C13
|
SM 3 Assignment
|
|
0x1C13:1
|
SubIndex 001
|
|
0x1C13:2
|
SubIndex 002
|
|
0x1C13:3
|
SubIndex 003
|
|
0x1C13:4
|
SubIndex 004
|
| 0x1C32
|
Output SyncManager Parameter
|
|
0x1C32:1
|
Synchronization Type
|
|
0x1C32:2
|
Cycle time
|
|
0x1C32:3
|
Shift time
|
|
0x1C32:4
|
Synchronization types supported
|
| 0x1C33
|
Input SyncManager Parameter
|
|
0x1C33:1
|
Synchronization Type
|
|
0x1C33:2
|
Cycle time
|
|
0x1C33:3
|
Shift time
|
|
0x1C33:4
|
Synchronization types supported
|