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