List of all Objects

Communication Area
Index Name
0x1000 Device type
0x1001 Error register
0x1005 COB-ID SYNC
0x1006 Communication cycle period
0x1008 Manufacturer device name
0x100A Manufacturer software version
0x100C Guard time
0x100D Life time factor
0x1010 Store parameters
0x1010:1 Save all parameters
0x1011 Restore default parameters
0x1011:1 Restore all default parameters
0x1016 Consumer heartbeat time
0x1016:1 Consumer heartbeat time
0x1017 Producer heartbeat time
0x1018 Identity object
0x1018:1 Vendor-ID
0x1018:2 Product code
0x1018:3 Revision number
0x1018:4 Serial number
0x1019 Synchronous counter overflow value
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
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
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
0x1C12:2 SubIndex 002
0x1C12:3 SubIndex 003
0x1C12:4 SubIndex 004
0x1C13 SM 3 Assignment
0x1C13:1 SubIndex 001
0x1C13:2 SubIndex 002
0x1C13:3 SubIndex 003
0x1C13:4 SubIndex 004
Standard RxPDO mapped Objects
Index PDO Index Name
0x1600 Receive PDO1 mapping
0x1600:1 0x6040 Controlword
0x1600:2 0x6060 Modes of operation
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
0x1601 Receive PDO2 mapping
0x1601:1 0x2601 Digital output 1
0x1601:3 0x2602 Digital output 2
0x1601:5 0x2603 Digital output 3
0x1601:7 0x2604 Digital output 4
0x1602 Receive PDO3 mapping
0x1602:1 0x2703 User MOSI
0x1602:2 0x60B1 Velocity offset
0x1603 Receive PDO4 mapping
Standard TxPDO mapped Objects
Index PDO Index Name
0x1A00 Transmit PDO1 mapping
0x1A00:1 0x6041 Statusword
0x1A00:2 0x6061 Modes of operation display
0x1A00:3 0x6064 Position actual value
0x1A00:4 0x606C Velocity actual value
0x1A00:5 0x6077 Torque actual value
0x1A01 Transmit PDO2 mapping
0x1A01:1 0x230A Secondary position value
0x1A01:2 0x230B Secondary velocity value
0x1A01:3 0x2401 Analog input 1
0x1A01:4 0x2402 Analog input 2
0x1A01:5 0x2403 Analog input 3
0x1A01:6 0x2404 Analog input 4
0x1A01:7 0x2702 Tuning status
0x1A02 Transmit PDO3 mapping
0x1A02:1 0x2501 Digital input 1
0x1A02:3 0x2502 Digital input 2
0x1A02:5 0x2503 Digital input 3
0x1A02:7 0x2504 Digital input 4
0x1A03 Transmit PDO4 mapping
0x1A03:1 0x2704 User MISO
0x1A03:2 0x20F0 Timestamp
0x1A03:3 0x60FC Position demand internal value
0x1A03:4 0x606B Velocity demand value
0x1A03:5 0x6074 Torque demand
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 Controller disable delay
0x2004:6 DC bus voltage (deprecated)
0x2004:7 Brake status
0x2004:8 Minimum displacement (pin brake)
0x2004:9 Maximum torque (pin brake)
0x2004:10 Output voltage
0x2004:11 Switching frequency
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 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
0x200A I2t
0x200A:1 Enabled
0x200A:2 Peak time
0x200A:3 Percent max
0x200A:4 Protection active
0x2010 Torque controller
0x2010:1 Controller Kp
0x2010:2 Controller Ki
0x2010:3 Controller Kd
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
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
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
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
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
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 Synchronization cycle time
0x20F3:2 Time compensation
0x2100 Feedback sensor ports
0x2100:1 Sensor port 1
0x2100:2 Sensor port 2
0x2100:3 Sensor port 3
0x2100:4 Sensor port 4
0x2100:5 Sensor port 5
0x2201 BiSS encoder 1
0x2201:1 Type
0x2201:2 Function
0x2201:3 Resolution
0x2201:4 Zero velocity threshold
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
0x2201:14 Status bits active value
0x2202 BiSS encoder 2
0x2202:1 Type
0x2202:2 Function
0x2202:3 Resolution
0x2202:4 Zero velocity threshold
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
0x2202:14 Status bits active value
0x2203 REM 16MT encoder
0x2203:1 Type
0x2203:2 Function
0x2203:3 Resolution
0x2203:4 Zero velocity threshold
0x2203:5 Polarity
0x2203:6 Filter
0x2205 Incremental encoder 1
0x2205:1 Type
0x2205:2 Function
0x2205:3 Resolution
0x2205:4 Zero velocity threshold
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 Zero velocity threshold
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 Zero velocity threshold
0x2207:5 Polarity
0x2208 Hall sensor 2
0x2208:1 Type
0x2208:2 Function
0x2208:3 Resolution
0x2208:4 Zero velocity threshold
0x2208:5 Polarity
0x2209 SSI encoder 1
0x2209:1 Type
0x2209:2 Function
0x2209:3 Resolution
0x2209:4 Zero velocity threshold
0x2209:5 Polarity
0x2209:6 Clock frequency
0x2209:7 Frame size
0x2209:8 Singleturn bits
0x2209:9 Singleturn first bit position
0x2209:10 Multiturn bits
0x2209:11 Multiturn first bit position
0x2209:12 Parity type
0x2209:13 First clock delay
0x2209:14 Data ordering
0x2209:15 Endianness
0x220A SSI encoder 2
0x220A:1 Type
0x220A:2 Function
0x220A:3 Resolution
0x220A:4 Zero velocity threshold
0x220A:5 Polarity
0x220A:6 Clock frequency
0x220A:7 Frame size
0x220A:8 Singleturn bits
0x220A:9 Singleturn first bit position
0x220A:10 Multiturn bits
0x220A:11 Multiturn first bit position
0x220A:12 Parity type
0x220A:13 First clock delay
0x220A:14 Data ordering
0x220A:15 Endianness
0x220B A Format encoder
0x220B:1 Type
0x220B:2 Function
0x220B:3 Resolution
0x220B:4 Zero velocity threshold
0x220B:5 Polarity
0x220B:6 Transmission speed
0x220B:7 Singleturn resolution
0x220B:8 Absolute encoder type
0x220C Fast ABI module
0x220C:1 Type
0x220C:2 Function
0x220C:3 Resolution
0x220C:4 Zero velocity threshold
0x220C:5 Polarity
0x220C:6 Signal type
0x220C:7 Index availability
0x220C:8 Index-A configuration
0x220C:9 Index-B configuration
0x220C:10 Index inverted
0x220E SinCos module
0x220E:1 Type
0x220E:2 Function
0x220E:3 Resolution
0x220E:4 Zero velocity threshold
0x220E:5 Polarity
0x220E:6 Sinewave cycles per revolution
0x220E:7 Sinewave resolution
0x220E:8 Sinusoidal output voltage
0x220E:9 Index availability
0x2210 GPIO pin configuration
0x2210:1 Pin 1
0x2210:2 Pin 2
0x2210:3 Pin 3
0x2210:4 Pin 4
0x2214 GPIO global options
0x2214:1 Voltage level
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
0x2611 Safety digital input diagnostics
0x2611:1 Input 1
0x2611:2 Input 2
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 Modes of operation
0x6061 Modes of operation display
0x6062 Position demand value
0x6064 Position actual value
0x6065 Following error window
0x6066 Following error time out
0x6067 Position window
0x6068 Position window time
0x606B Velocity demand value
0x606C Velocity actual value
0x606D Velocity window
0x606E Velocity window time
0x606F Velocity threshold
0x6070 Velocity threshold time
0x6071 Target torque
0x6072 Max torque
0x6073 Max current
0x6074 Torque demand
0x6075 Motor rated current
0x6076 Motor rated torque
0x6077 Torque actual value
0x6079 DC link circuit voltage
0x607A Target position
0x607B Position range limit
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
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x6087 Torque slope
0x6088 Torque profile type
0x6091 Gear ratio
0x6091:1 Motor revolutions
0x6091:2 Shaft revolutions
0x6098 Homing method
0x6099 Homing speeds
0x6099:1 Speed during search for switch
0x6099:2 Speed during search for zero
0x609A Homing acceleration
0x60A9 SI unit velocity
0x60B1 Velocity offset
0x60B2 Torque offset
0x60E3 Supported homing methods
0x60E3:1 Method 01
0x60E3:2 Method 02
0x60E3:3 Method 03
0x60E3:4 Method 04
0x60F4 Following error actual value
0x60FA Control effort
0x60FC Position demand internal value
0x60FF Target velocity
0x6502 Supported drive modes
0x6621 Safety statusword
0x6621:1 Byte 1
0x6621:2 Byte 2