Axis registers

0x00F - Last error

0x010 - Control word

0x011 - Status word

0x014 - Operation mode

0x015 - Operation mode display

0x018 - Voltage quadrature set-point

0x019 - Voltage direct set-point

0x01A - Current quadrature set-point

0x01B - Current direct set-point

0x01C - Current A set-point

0x01D - Current B set-point

0x020 - Position set-point

0x021 - Velocity set-point

0x022 - Torque set-point

0x024 - Positioning option code

0x025 - Profiler max. velocity

0x026 - Profiler max. acceleration

0x027 - Profiler max. deceleration

0x029 - Actual torque

0x030 - Actual position

0x031 - Actual velocity

0x033 - Auxiliar feedback value

0x037 - Bus voltage current counts

0x038 - Current A value

0x039 - Current B value

0x03A - Current C value

0x03B - Current quadrature value

0x03C - Current direct value

0x03D - Current A counts

0x03E - Current B counts

0x03F - Current C counts

0x040 - Commutation angle value

0x041 - Reference angle value

0x04A - Primary Absolute Slave 1 - Position

0x04B - Primary Absolute Slave 1 - Full frame

0x050 - Generator value

0x051 - Secondary Absolute Slave 1 - Position

0x053 - Torque demand

0x054 - Secondary Absolute Slave 1 - Full frame

0x055 - Primary Absolute Slave 2 (daisy chain) - Full frame

0x05D - Power stage temperature 3 value

0x05E - Power stage temperature 3 counts

0x060 - Bus voltage value

0x061 - Power stage temperature 1 value

0x062 - Power stage temperature 1 counts

0x063 - Motor temperature value

0x064 - Power stage temperature 2 value

0x066 - Power stage temperature 2 counts

0x067 - Power stage max. actual temperature

0x068 - Voltage phase A

0x069 - Voltage phase B

0x06A - Voltage phase C

0x06E - Voltage direct command

0x06F - Voltage quadrature command

0x070 - Voltage quadrature demand

0x071 - Voltage direct demand

0x072 - Current quadrature demand

0x073 - Current direct demand

0x076 - Current actual value

0x077 - Current command value

0x078 - Position demand

0x079 - Velocity demand

0x07A - Acceleration demand

0x07B - Velocity loop input offset

0x07C - Current quadrature loop input offset

0x07D - Current direct loop input offset

(Deprecated) 0x07F - Current loop feedback bypass

0x080 - Torque loop input offset

0x081 - Analog input 1 - Counts

0x082 - Analog input 1 - Value

0x083 - Analog 2 counts

0x084 - Analog 2 value

0x086 - Gate voltage value

0x089 - Main logic supply voltage

0x08A - IO level supply voltage

0x08B - MCU logic supply voltage

0x08D - Analog output 1 - Value

0x096 - Position loop control command

0x097 - Velocity loop control command

0x098 - Current quadrature / A control loop command

0x099 - Current direct / B control loop command

0x09A - Rated torque

0x09B - Torque loop control command

0x0C1 - Interpolation data record - Position input

0x0C2 - Interpolation data record - Velocity input

0x0C3 - Interpolation data record - Time input

0x0C4 - Interpolation data record integrity check

0x0C5 - Interpolation data record status

0x100 - Rated current

0x101 - Peak current

0x102 - Peak current time

0x106 - Motor pole pairs

0x109 - Motor temp. protection threshold

0x110 - Motor temperature sensor voltage reference

0x120 - Internal shunt enable voltage

0x121 - Internal shunt disable voltage

0x122 - External shunt enable voltage

0x123 - External shunt disable voltage

0x124 - Brake activation voltage percentage

0x125 - Brake holding voltage percentage

0x126 - Delay before release brake

0x127 - Delay after enable brake

0x128 - Activation brake time

0x129 - Brake override

0x12A - Brake activation current

0x12B - Brake holding current

0x12C - Brake current control Kp

0x12D - Brake current control Ki

0x12E - Brake control mode

0x12F - Brake current error window

0x130 - Brake current error timeout

0x131 - Brake max current

0x133 - Brake current actual value

0x134 - Brake current feedback source

0x141 - Brake current command

0x14F - Commutation modulation

0x150 - Commutation angle offset

0x151 - Commutation feedback sensor

0x152 - Reference angle offset

0x153 - Reference feedback sensor

0x154 - Phasing mode

0x155 - Max. current on phasing sequence

0x156 - Phasing timeout

0x157 - Phasing accuracy

0x17B - Restart all feedbacks

0x17C - Set feedback power supply status

0x1C0 - Power stage maximum duty cycle

0x1C8 - Profiler latching mode

0x1D6 - Velocity threshold

0x1D7 - Velocity threshold time

0x1DC - Velocity following error window

0x1DD - Velocity following error timeout

0x1DE - Min position range limit

0x1DF - Max position range limit

0x1E0 - Max. current

0x1E2 - Position control loop error

0x1E3 - Velocity control loop error

0x1E4 - Torque control loop error

0x1E5 - Current quadrature control loop error

0x1E6 - Current direct control loop error

0x1E8 - Max. velocity

0x1EA - Min position

0x1EB - Max position

0x1EC - Position following error window

0x1ED - Position following error timeout

0x1EE - Following error

0x1EF - Interpolation time mantissa

0x1F0 - Interpolation time exponent

0x1F1 - Position window

0x1F2 - Position window time

0x1F3 - Velocity window

0x1F4 - Velocity window time

0x1F5 - Quick stop deceleration

0x1F6 - Interpolation data record force clear

0x1F7 - Interpolation buffer size

0x1F8 - Interpolation buffer number of elements

0x1F9 - Interpolation buffer maximum size

0x2E0 - Command source 1

0x2E1 - Command source 2

0x2E8 - Analog input 1 - Gain

0x2E9 - Analog input 1 - Offset

0x2EC - Analog input 2 - Gain

0x2ED - Analog input 2 - Offset

0x35F - Enabled feedbacks mask

0x360 - Velocity feedback sensor

0x361 - Position feedback sensor

0x362 - Auxiliar feedback sensor

0x364 - Position to velocity sensor ratio

0x36F - Primary Absolute Slave 1 - Protocol

0x370 - Primary Absolute Slave 1 - Frame size

0x371 - Primary Absolute Slave 1 - Error tolerance

0x372 - DEPRECATED - Primary Absolute Slave 1 - Wait cycles

0x373 - Primary Absolute Slave 1 - Polarity

0x374 - Primary Absolute Slave 1 - Frame type

0x375 - Primary Absolute Slave 1 - Position bits

0x376 - Primary Absolute Slave 1 - Single-turn bits

0x377 - Primary Absolute Slave 1 - Position start bit

0x378 - Secondary Absolute Slave 1 - Frame size

0x379 - Secondary Absolute Slave 1 - Error tolerance

0x37A - DEPRECATED - Secondary Absolute Slave 1 - Wait cycles

0x37B - Secondary Absolute Slave 1 - Polarity

0x37C - Secondary Absolute Slave 1 - Frame type

0x37D - Secondary Absolute Slave 1 - Position bits

0x37E - Secondary Absolute Slave 1 - Single-turn bits

0x37F - Secondary Absolute Slave 1 - Position start bit

0x380 - Generator mode

0x381 - Generator frequency

0x382 - Generator gain

0x383 - Generator offset

0x384 - Generator cycle number

0x385 - Generator rearm

0x386 - Primary Absolute Slave 1 - Baudrate

0x387 - Secondary Absolute Slave 1 - Baudrate

0x388 - Incremental encoder 1 - Resolution

0x389 - Incremental encoder 1 - Polarity

0x38A - Incremental encoder 1 - Filter

0x38B - Incremental encoder 1 - Value

0x38C - Incremental encoder 2 - Resolution

0x38D - Incremental encoder 2 - Polarity

0x38E - Incremental encoder 2 - Filter

0x38F - Incremental encoder 2 - Value

0x390 - Dig. hall polarity

0x391 - Dig. hall filter

0x392 - Dig. hall pole pairs

0x393 - Dig. hall value

0x394 - Feedback runaway source

0x395 - BiSS-C feedbacks in chain

0x398 - Primary Absolute - Maximum refresh rate

0x399 - Secondary Absolute - Maximum refresh rate

0x39A - Primary Absolute - Actual refresh rate

0x39B - Secondary Absolute - Actual refresh rate

0x400 - Primary Absolute Slave 2 (daisy chain) - Frame size

0x401 - Primary Absolute Slave 2 (daisy chain) - Error tolerance

0x403 - Primary Absolute Slave 2 (daisy chain) - Polarity

0x404 - Primary Absolute Slave 2 (daisy chain) - Frame type

0x405 - Primary Absolute Slave 2 (daisy chain) - Position bits

0x406 - Primary Absolute Slave 2 (daisy chain) - Single-turn bits

0x407 - Primary Absolute Slave 2 (daisy chain) - Position start bit

0x408 - Primary Absolute Slave 1 - CRC polynomial

0x409 - Primary Absolute Slave 1 - CRC number of bits

0x40A - Primary Absolute Slave 2 (daisy chain) - CRC polynomial

0x40B - Primary Absolute Slave 2 (daisy chain) - CRC number of bits

0x40C - Primary Absolute Slave 1 - CRC seed

0x40D - Primary Absolute Slave 2 (daisy chain) - CRC seed

0x438 - Primary Absolute Slave 1 - Position offset

0x439 - Primary Absolute Slave 2 (daisy chain) - Position offset

0x43A - Secondary Absolute Slave 1 - Position offset

0x43B - Torque constant

0x43C - Secondary Absolute Slave 1 - Protocol

0x43D - Secondary Absolute Slave 1 - CRC polynomial

0x43E - Secondary Absolute Slave 1 - CRC seed

0x43F - Secondary Absolute Slave 1 - CRC number of bits

0x450 - Homing mode

0x451 - Homing offset

0x452 - Homing timeout

0x453 - Homing limit search speed

0x454 - Homing zero search speed

0x455 - Positive homing switch

0x456 - Negative homing switch

0x457 - Homing index pulse source

0x458 - Current loop rate

0x4FF - Current scaling gain factor

0x500 - Current quadrature loop Kp

0x501 - Current quadrature loop Ki

0x502 - Current quadrature loop max. out

0x503 - Current quadrature loop min. out

0x504 - DEPRECATED - Current quadrature loop Kr

0x505 - Current direct loop Kp

0x506 - Current direct loop Ki

0x507 - Current direct loop max. out

0x508 - Current direct loop min. out

0x509 - DEPRECATED - Current direct loop Kr

0x50A - Velocity loop Kp

0x50B - Velocity loop Ki

0x50C - Velocity loop Kd

0x50D - Velocity loop Kd filter

0x50E - Velocity loop max. output

0x50F - Velocity loop min. output

0x510 - Control loops feedback options

0x511 - Position loop Kp

0x512 - Position loop Ki

0x513 - Position loop Kd

0x514 - Position loop Kd filter

0x515 - Position loop max. output

0x516 - Position loop min. output

0x517 - Current loop status

0x518 - Velocity loop status

0x519 - Position loop status

0x51A - STO status

0x51B - Velocity loop integral reset

0x51C - Position loop integral reset

0x51D - Velocity loop integral value

0x51E - Position loop integral value

0x51F - Maximum voltage bus utilization

0x520 - Position & velocity loop rate

0x521 - Power stage frequency

0x522 - Control loops option code

0x523 - Torque loop Kp

0x524 - Torque loop Ki

0x527 - Torque loop max. output

0x528 - Torque loop min. output

0x530 - Position feedback filter 1 type

0x531 - Position feedback filter 1 frequency

0x532 - Position feedback filter 1 Q-factor

0x533 - Position feedback filter 1 gain

0x538 - Position feedback filter 2 type

0x539 - Position feedback filter 2 frequency

0x53A - Position feedback filter 2 Q-factor

0x53B - Position feedback filter 2 gain

0x540 - Position reference filter 1 type

0x541 - Position reference filter 1 frequency

0x542 - Position reference filter 1 Q-factor

0x543 - Position reference filter 1 gain

0x548 - Position reference filter 2 type

0x549 - Position reference filter 2 frequency

0x54A - Position reference filter 2 Q-factor

0x54B - Position reference filter 2 gain

0x550 - Velocity feedback filter 1 type

0x551 - Velocity feedback filter 1 frequency

0x552 - Velocity feedback filter 1 Q-factor

0x553 - Velocity feedback filter 1 gain

0x558 - Velocity feedback filter 2 type

0x559 - Velocity feedback filter 2 frequency

0x55A - Velocity feedback filter 2 Q-factor

0x55B - Velocity feedback filter 2 gain

0x560 - Velocity reference filter 1 type

0x561 - Velocity reference filter 1 frequency

0x562 - Velocity reference filter 1 Q-factor

0x563 - Velocity reference filter 1 gain

0x568 - Velocity reference filter 2 type

0x569 - Velocity reference filter 2 frequency

0x56A - Velocity reference filter 2 Q-factor

0x56B - Velocity reference filter 2 gain

0x570 - Current feedback filter 1 type

0x571 - Current feedback filter 1 frequency

0x572 - Current feedback filter 1 Q-factor

0x573 - Current feedback filter 1 gain

0x578 - Current feedback filter 2 type

0x579 - Current feedback filter 2 frequency

0x57A - Current feedback filter 2 Q-factor

0x57B - Current feedback filter 2 gain

0x580 - Current reference filter 1 type

0x581 - Current reference filter 1 frequency

0x582 - Current reference filter 1 Q-factor

0x583 - Current reference filter 1 gain

0x588 - Current reference filter 2 type

0x589 - Current reference filter 2 frequency

0x58A - Current reference filter 2 Q-factor

0x58B - Current reference filter 2 gain

0x590 - Velocity loop Kffa

0x591 - Position loop Kffv

0x592 - Position loop Kffa

0x5FC - Map output 1

0x5FD - Map output 2

0x5FE - Map output 3

0x5FF - Map output 4

0x600 - Digital inputs value

0x601 - Digital outputs value

0x602 - Digital outputs set value

0x603 - Digital outputs polarity

0x604 - Digital inputs polarity

0x608 - Positive switch limit

0x609 - Negative switch limit

0x60A - Quick stop input

0x60B - Quick stop option code

0x60D - External error signal reaction

0x60F - User I2T error option code

0x610 - Position feedback out of limits error option code

0x611 - Velocity feedback out of limits error option code

0x612 - Position following error option code

0x613 - Power stage user over-temperature error option code

0x614 - Motor over-temperature error option code

0x615 - Power stage user under-temperature error option code

0x616 - Power stage user over voltage error option code

0x617 - Power stage user under voltage error option code

0x618 - External fault option code

0x619 - Halls sequence error option code

0x61A - Feedback runaway error option code

0x61B - Over current without current control error option code

0x61C - Communications watchdog error option code

0x61D - Velocity following error option code

0x620 - Halt option code

0x621 - Halt input

0x622 - Local control activation

0x623 - Local control operation enable input

0x624 - Fault reset input

0x62B - Fault reaction timeout

0x62F - Over-voltage sensitivity

0x630 - User over voltage level

0x631 - User under voltage level

0x632 - User over temperature level

0x633 - User under temperature level

0x63B - STO error option code

0x641 - Synchronization signal configuration

0x642 - Communications watchdog window

0x643 - Synchronization signal frequency

0x644 - Synchronization signal PLL filter cutoff frequency

0x645 - Synchronization signal PLL phase

0x646 - Synchronization signal PLL Kp

0x64D - Error total number

0x64E - Error list index request

0x64F - Error list requested code

0x6DB - Store all

0x6DC - Restore all

0x6DE - Boot mode

0x6E0 - Vendor ID

0x6E1 - Product code

0x6E2 - Revision number

0x6E4 - Software version

0x6E5 - Ingenia url

0x6E6 - Serial number

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