| 0x2000
|
Command object (disabled)
|
| 0x2001
|
Commutation angle offset
|
| 0x2002
|
Position control strategy
|
| 0x2003
|
Motor specific settings
|
|
0x2003:1
|
Pole pairs
|
|
0x2003:2
|
Torque constant
|
|
0x2003:3
|
Phase resistance
|
|
0x2003:4
|
Phase inductance
|
|
0x2003:5
|
Motor phases inverted
|
| 0x2004
|
Brake options
|
|
0x2004:1
|
Pull voltage
|
|
0x2004:2
|
Hold voltage
|
|
0x2004:3
|
Pull time
|
|
0x2004:4
|
Release strategy
|
|
0x2004:5
|
Controller disable delay
|
|
0x2004:6
|
DC bus voltage (deprecated)
|
|
0x2004:7
|
Brake status
|
|
0x2004:8
|
Minimum displacement (pin brake)
|
|
0x2004:9
|
Percentage of Rated Current (pin brake)
|
|
0x2004:10
|
Output voltage
|
|
0x2004:11
|
Switching frequency
|
| 0x2005
|
Homing Options
|
|
0x2005:1
|
Home Position
|
|
0x2005:2
|
Restore Home Position when loading configuration
|
|
0x2005:3
|
Torque Threshold for Homing on end stop
|
|
0x2005:4
|
Offset From Endstop
|
| 0x2006
|
Protection
|
|
0x2006:1
|
Undervoltage setpoint
|
|
0x2006:2
|
Overvoltage setpoint
|
|
0x2006:3
|
Overcurrent setpoint
|
| 0x2008
|
Cogging torque compensation
|
|
0x2008:1
|
State
|
|
0x2008:2
|
Enabled
|
| 0x2009
|
Commutation offset
|
|
0x2009:1
|
State
|
|
0x2009:2
|
Applied percent of rated torque
|
|
0x2009:3
|
Measurement method
|
|
0x2009:4
|
Phasing controller Kp
|
|
0x2009:5
|
Phasing controller Ki
|
|
0x2009:6
|
Phasing controller Kd
|
| 0x200A
|
I2t and Stall protection
|
|
0x200A:1
|
Enabled
|
|
0x200A:2
|
Peak time
|
|
0x200A:3
|
Percent max
|
|
0x200A:4
|
Protection active
|
| 0x200B
|
Max power
|
| 0x2010
|
Torque controller
|
|
0x2010:1
|
Controller Kp (disabled)
|
|
0x2010:2
|
Controller Ki (disabled)
|
|
0x2010:3
|
Controller Kd (disabled)
|
|
0x2010:4
|
Field weakening enabled
|
|
0x2010:5
|
Field weakening percentage
|
|
0x2010:6
|
Field weakening starting speed
|
|
0x2010:7
|
Field weakening ending speed
|
|
0x2010:8
|
Commutation angle measurement delay
|
|
0x2010:9
|
Switching frequency
|
|
0x2010:10
|
Settling time
|
|
0x2010:11
|
Damping ratio
|
|
0x2010:12
|
Encoder source
|
| 0x2011
|
Velocity controller
|
|
0x2011:1
|
Controller Kp
|
|
0x2011:2
|
Controller Ki
|
|
0x2011:3
|
Controller Kd
|
|
0x2011:4
|
Controller integral limit
|
|
0x2011:5
|
Encoder source
|
| 0x2012
|
Position controller
|
|
0x2012:1
|
Position loop Kp
|
|
0x2012:2
|
Position loop Ki
|
|
0x2012:3
|
Position loop Kd
|
|
0x2012:4
|
Position loop integral limit
|
|
0x2012:5
|
Velocity loop Kp
|
|
0x2012:6
|
Velocity loop Ki
|
|
0x2012:7
|
Velocity loop Kd
|
|
0x2012:8
|
Velocity loop integral limit
|
|
0x2012:9
|
Encoder source
|
| 0x2013
|
Gain scheduling
|
|
0x2013:1
|
Enabled
|
|
0x2013:2
|
Threshold velocity 0
|
|
0x2013:3
|
Position loop Kp 0
|
|
0x2013:4
|
Position loop Ki 0
|
|
0x2013:5
|
Position loop Kd 0
|
|
0x2013:6
|
Position loop integral limit 0
|
|
0x2013:7
|
Velocity loop Kp 0
|
|
0x2013:8
|
Velocity loop Ki 0
|
|
0x2013:9
|
Velocity loop Kd 0
|
|
0x2013:10
|
Velocity loop integral limit 0
|
|
0x2013:11
|
Threshold velocity 1
|
|
0x2013:12
|
Position loop Kp 1
|
|
0x2013:13
|
Position loop Ki 1
|
|
0x2013:14
|
Position loop Kd 1
|
|
0x2013:15
|
Position loop integral limit 1
|
|
0x2013:16
|
Velocity loop Kp 1
|
|
0x2013:17
|
Velocity loop Ki 1
|
|
0x2013:18
|
Velocity loop Kd 1
|
|
0x2013:19
|
Velocity loop integral limit 1
|
| 0x2014
|
Torque window
|
|
0x2014:1
|
Value
|
|
0x2014:2
|
Time
|
| 0x2015
|
Velocity feed forward
|
|
0x2015:1
|
Gain
|
|
0x2015:2
|
Cutoff frequency
|
| 0x2017
|
Following error option codes
|
|
0x2017:1
|
Position following error option code
|
| 0x2021
|
Velocity feedback filter
|
|
0x2021:1
|
Type
|
|
0x2021:2
|
Cutoff frequency
|
| 0x2022
|
Position feedback filter
|
|
0x2022:1
|
Type
|
|
0x2022:2
|
Cutoff frequency
|
| 0x2023
|
Notch filter
|
|
0x2023:1
|
Enabled
|
|
0x2023:2
|
Center frequency
|
|
0x2023:3
|
Rejection band
|
| 0x2027
|
Control input FIR filter
|
|
0x2027:1
|
Enabled
|
|
0x2027:2
|
Order
|
| 0x2030
|
Core temperature
|
|
0x2030:1
|
Measured temperature
|
| 0x2031
|
Drive temperature
|
|
0x2031:1
|
Measured temperature
|
| 0x2038
|
External scaled measurement
|
|
0x2038:1
|
Scaled measurement value
|
|
0x2038:2
|
Analog input
|
|
0x2038:3
|
Resistance
|
|
0x2038:4
|
Constant a0
|
|
0x2038:5
|
Constant a1
|
|
0x2038:6
|
Constant a2
|
|
0x2038:7
|
Constant a3
|
|
0x2038:8
|
Constant a4
|
|
0x2038:9
|
Constant a5
|
|
0x2038:10
|
Cutoff frequency
|
|
0x2038:11
|
Upper error threshold
|
|
0x2038:12
|
Lower error threshold
|
| 0x203F
|
Error report
|
|
0x203F:1
|
Description
|
| 0x2040
|
Input counter
|
| 0x20E1
|
High resolution data
|
|
0x20E1:1
|
Data 1
|
|
0x20E1:2
|
Data 2
|
|
0x20E1:3
|
Data 3
|
|
0x20E1:4
|
Data 4
|
| 0x20F0
|
Timestamp
|
| 0x20F2
|
Assigned name
|
| 0x20F3
|
DC synchronization
|
|
0x20F3:1
|
DC pulse time
|
| 0x2110
|
Encoder 1 configuration
|
|
0x2110:1
|
Sensor port
|
|
0x2110:2
|
Type
|
|
0x2110:3
|
Resolution
|
|
0x2110:4
|
Zero velocity threshold
|
|
0x2110:5
|
Polarity
|
|
0x2110:6
|
Singleturn offset
|
|
0x2110:7
|
Access signal type
|
|
0x2110:8
|
Clock frequency
|
|
0x2110:9
|
Frame size
|
|
0x2110:10
|
Multiturn bits
|
|
0x2110:11
|
Multiturn first bit position
|
|
0x2110:12
|
Singleturn bits
|
|
0x2110:13
|
Singleturn first bit position
|
|
0x2110:14
|
Timeout
|
|
0x2110:15
|
CRC polynomial
|
|
0x2110:16
|
Maximum tbusy
|
|
0x2110:17
|
Status bits active value
|
|
0x2110:18
|
Parity type
|
|
0x2110:19
|
First clock delay
|
|
0x2110:20
|
Data ordering
|
|
0x2110:21
|
Endianness
|
|
0x2110:22
|
Index availability
|
|
0x2110:23
|
Hall sensor port
|
|
0x2110:24
|
Sinewave cycles per revolution
|
|
0x2110:25
|
Sinewave resolution
|
|
0x2110:26
|
Sinusoidal output voltage
|
|
0x2110:27
|
Filter
|
|
0x2110:28
|
Sampling frequency
|
| 0x2111
|
Encoder 1 feedback
|
|
0x2111:1
|
Raw position
|
|
0x2111:2
|
Adjusted position
|
|
0x2111:3
|
Velocity
|
| 0x2112
|
Encoder 2 configuration
|
|
0x2112:1
|
Sensor port
|
|
0x2112:2
|
Type
|
|
0x2112:3
|
Resolution
|
|
0x2112:4
|
Zero velocity threshold
|
|
0x2112:5
|
Polarity
|
|
0x2112:6
|
Singleturn offset
|
|
0x2112:7
|
Access signal type
|
|
0x2112:8
|
Clock frequency
|
|
0x2112:9
|
Frame size
|
|
0x2112:10
|
Multiturn bits
|
|
0x2112:11
|
Multiturn first bit position
|
|
0x2112:12
|
Singleturn bits
|
|
0x2112:13
|
Singleturn first bit position
|
|
0x2112:14
|
Timeout
|
|
0x2112:15
|
CRC polynomial
|
|
0x2112:16
|
Maximum tbusy
|
|
0x2112:17
|
Status bits active value
|
|
0x2112:18
|
Parity type
|
|
0x2112:19
|
First clock delay
|
|
0x2112:20
|
Data ordering
|
|
0x2112:21
|
Endianness
|
|
0x2112:22
|
Index availability
|
|
0x2112:23
|
Hall sensor port
|
|
0x2112:24
|
Sinewave cycles per revolution
|
|
0x2112:25
|
Sinewave resolution
|
|
0x2112:26
|
Sinusoidal output voltage
|
|
0x2112:27
|
Filter
|
|
0x2112:28
|
Sampling frequency
|
| 0x2113
|
Encoder 2 feedback
|
|
0x2113:1
|
Raw position
|
|
0x2113:2
|
Adjusted position
|
|
0x2113:3
|
Velocity
|
| 0x2210
|
GPIO pin configuration
|
|
0x2210:1
|
Digital IO 1
|
|
0x2210:2
|
Digital IO 2
|
|
0x2210:3
|
Digital IO 3
|
|
0x2210:4
|
Digital IO 4
|
|
0x2210:5
|
Digital IO 5
|
|
0x2210:6
|
Digital IO 6
|
|
0x2210:7
|
Digital IO 7
|
| 0x2211
|
GPIO output events
|
|
0x2211:1
|
Timestamp setpoint
|
| 0x2212
|
GPIO input actions
|
|
0x2212:1
|
Timestamp on rising edge
|
| 0x2213
|
GPIO position trigger
|
|
0x2213:1
|
Position setpoint
|
|
0x2213:2
|
Target encoder
|
|
0x2213:3
|
Pulse width
|
| 0x2214
|
GPIO global options
|
|
0x2214:1
|
Voltage level
|
| 0x2215
|
GPIO addressable LED control
|
|
0x2215:1
|
LED color
|
| 0x2401
|
Analog input 1
|
| 0x2402
|
Analog input 2
|
| 0x2403
|
Analog input 3
|
| 0x2404
|
Analog input 4
|
| 0x2701
|
Tuning command
|
| 0x2702
|
Tuning status
|
| 0x2703
|
User MOSI
|
| 0x2704
|
User MISO
|
| 0x2705
|
Setup wizard completed
|