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
	0x1011:2	Restore communication default parameters (disabled)
	0x1011:3	Restore application default parameters (disabled)
	0x1011:4	Restore manufacturer 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
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
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
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	0x60FE	Physical outputs
	0x1601:2	0x60FE	Bit mask
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	0x2401	Analog input 1
	0x1A01:2	0x2402	Analog input 2
	0x1A01:3	0x2403	Analog input 3
	0x1A01:4	0x2404	Analog input 4
	0x1A01:5	0x2702	Tuning status
0x1A02			Transmit PDO3 mapping
	0x1A02:1	0x60FD	Digital inputs
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
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
	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
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
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
0x2113		Encoder 2 feedback
	0x2113:1	Raw position
	0x2113:2	Adjusted position
	0x2113:3	Velocity
0x2210		GPIO pin configuration
	0x2210:1	Pin 1
	0x2210:2	Pin 2
	0x2210:3	Pin 3
	0x2210:4	Pin 4
	0x2210:5	Pin 5
	0x2210:6	Pin 6
	0x2210:7	Pin 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
0x2401		Analog input 1
0x2402		Analog input 2
0x2403		Analog input 3
0x2404		Analog input 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
0x605A		Quick stop option code
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
0x60F4		Following error actual value
0x60FA		Control effort
0x60FC		Position demand internal value
0x60FD		Digital inputs
0x60FE		Digital outputs
	0x60FE:1	Physical outputs
	0x60FE:2	Bit mask
0x60FF		Target velocity
0x6502		Supported drive modes
0x6621		Safety statusword
	0x6621:1	Byte 1
	0x6621:2	Byte 2