List of all Objects

Communication Area
Index Name
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
0x1018 Identity
0x1018:1 Vendor ID
0x1018:2 Product Code
0x1018:3 Revision
0x1018:4 Serialnumber
0x1C00 Sync Manager
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
0x1C13 SM 3 Assignment
0x1C13:1 SubIndex 001
Standard RxPDO mapped Objects
Index PDO Index Name
0x1600 Rx PDO Mapping
0x1600:1 0x6040 Controlword
0x1600:2 0x6060 Op Mode
0x1600:3 0x6071 Target Torque
0x1600:4 0x607A Target Position
0x1600:5 0x60FF Target Velocity
0x1600:6 0x60B2 Torque offset
0x1600:7 0x2701 Tuning command
0x1600:8 0x2601 Digital Output 1
0x1600:10 0x2602 Digital Output 2
0x1600:12 0x2603 Digital Output 3
0x1600:14 0x2604 Digital Output 4
0x1600:16 0x2703 User MOSI
Standard TxPDO mapped Objects
Index PDO Index Name
0x1A00 Tx PDO Mapping
0x1A00:1 0x6041 Statusword
0x1A00:2 0x6061 Op Mode Display
0x1A00:3 0x6064 Position Value
0x1A00:4 0x606C Velocity Value
0x1A00:5 0x6077 Torque Value
0x1A00:6 0x230A Secondary position value
0x1A00:7 0x230B Secondary velocity value
0x1A00:8 0x2401 Analog input 1
0x1A00:9 0x2402 Analog input 2
0x1A00:10 0x2403 Analog input 3
0x1A00:11 0x2404 Analog input 4
0x1A00:12 0x2702 Tuning status
0x1A00:13 0x2501 Digital Input 1
0x1A00:15 0x2502 Digital Input 2
0x1A00:17 0x2503 Digital Input 3
0x1A00:19 0x2504 Digital Input 4
0x1A00:21 0x2704 User MISO
0x1A00:22 0x20F0 Timestamp
Manufacturer Specific Area
Index Name
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 Engage delay
0x2004:6 DC bus voltage
0x2004:7 Brake status
0x2005 Recuperation
0x2005:1 Recuperation enabled
0x2005:2 Min battery energy
0x2005:3 Max battery energy
0x2005:4 Min recuperation power
0x2005:5 Max recuperation power
0x2005:6 Minimum recuperation speed
0x2005:7 Maximum recuperation speed
0x2006 Protection
0x2006:1 Min DC Voltage
0x2006:2 Max DC Voltage
0x2006:3 Max Current
0x2008 Cogging Torque Compensation
0x2008:1 State
0x2008:2 Enabled
0x2009 Commutation Offset
0x2009:1 State
0x2009:2 Applied percent of rated torque
0x2010 Torque Controller
0x2010:1 Controller Kp
0x2010:2 Controller Ki
0x2010:3 Controller Kd
0x2010:4 Field Weakening Enable
0x2010:5 Field Weakening Percentage
0x2010:6 Field Weakening Starting Speed
0x2010:7 Field Weakening Ending Speed
0x2010:8 Commutation Angle Measurement Delay
0x2011 Velocity Controller
0x2011:1 Controller Kp
0x2011:2 Controller Ki
0x2011:3 Controller Kd
0x2011:4 Controller integral limit
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
0x20F0 Timestamp
0x20F1 Real Time Clock
0x20F2 Assigned Name
0x2100 Feedback sensor ports
0x2100:1 Sensor port 1
0x2100:2 Sensor port 2
0x2100:3 Sensor port 3
0x2201 BISS Encoder 1
0x2201:1 Type
0x2201:2 Function
0x2201:3 Resolution
0x2201:4 Velocity calculation period
0x2201:5 Polarity
0x2201:6 Multiturn resolution
0x2201:7 Clock frequency
0x2201:8 Timeout
0x2201:9 CRC polynom
0x2201:10 Clock port config (disabled)
0x2201:11 Data port config (disabled)
0x2201:12 Number of filling bits
0x2201:13 Number of bits to read while busy
0x2202 BISS Encoder 2
0x2202:1 Type
0x2202:2 Function
0x2202:3 Resolution
0x2202:4 Velocity calculation period
0x2202:5 Polarity
0x2202:6 Multiturn resolution
0x2202:7 Clock frequency
0x2202:8 Timeout
0x2202:9 CRC polynom
0x2202:10 Clock port config (disabled)
0x2202:11 Data port config (disabled)
0x2202:12 Number of filling bits
0x2202:13 Number of bits to read while busy
0x2203 REM 16MT Encoder
0x2203:1 Type
0x2203:2 Function
0x2203:3 Resolution
0x2203:4 Velocity calculation period
0x2203:5 Polarity
0x2203:6 Filter
0x2204 REM 14 Encoder
0x2204:1 Type
0x2204:2 Function
0x2204:3 Resolution
0x2204:4 Velocity calculation period
0x2204:5 Polarity
0x2204:6 Hysteresis
0x2204:7 Noise settings
0x2204:8 Dynamic angle error compensation
0x2204:9 Resolution settings
0x2205 Incremental Encoder 1
0x2205:1 Type
0x2205:2 Function
0x2205:3 Resolution
0x2205:4 Velocity calculation period
0x2205:5 Polarity
0x2205:6 Number of channels
0x2205:7 Access signal type
0x2206 Incremental Encoder 2
0x2206:1 Type
0x2206:2 Function
0x2206:3 Resolution
0x2206:4 Velocity calculation period
0x2206:5 Polarity
0x2206:6 Number of channels
0x2206:7 Access signal type
0x2207 HALL Sensor 1
0x2207:1 Type
0x2207:2 Function
0x2207:3 Resolution
0x2207:4 Velocity calculation period
0x2207:5 Polarity
0x2208 HALL Sensor 2
0x2208:1 Type
0x2208:2 Function
0x2208:3 Resolution
0x2208:4 Velocity calculation period
0x2208:5 Polarity
0x2210 GPIO
0x2210:1 Pin 1
0x2210:2 Pin 2
0x2210:3 Pin 3
0x2210:4 Pin 4
0x230A Secondary position value
0x230B Secondary velocity value
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2501 Digital Input 1
0x2502 Digital Input 2
0x2503 Digital Input 3
0x2504 Digital Input 4
0x2601 Digital Output 1
0x2602 Digital Output 2
0x2603 Digital Output 3
0x2604 Digital Output 4
0x2701 Tuning command
0x2702 Tuning status
0x2703 User MOSI
0x2704 User MISO
0x2705 Setup Wizard Completed
Profile Specific Area
Index Name
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Op Mode
0x6061 Op Mode Display
0x6064 Position Value
0x606C Velocity Value
0x6071 Target Torque
0x6072 Max torque
0x6073 Max current
0x6075 Motor Rated Current
0x6076 Motor Rated Torque
0x6077 Torque Value
0x6079 DC link circuit voltage
0x607A Target Position
0x607B Position Range Limits
0x607B:1 Min position range limit
0x607B:2 Max position range limit
0x607C Home offset
0x607D Software position limit
0x607D:1 Min position limit
0x607D:2 Max position limit
0x607E Polarity
0x607F Max profile velocity
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x60B2 Torque offset
0x60C5 Max acceleration
0x60FF Target Velocity
0x6502 Supported Drive Modes
1.2