EtherCAT & CANopen registers

0x1000 - Device type

0x1001 - Error register

0x1003 - Pre-defined error field

0x1005 - COB-ID SYNC

0x1011 - Restore

0x1014 - COB-ID emergency message

0x1016 - Consumer heartbeat time

0x1017 - Producer heartbeat time

0x10F8 - Timestamp object

0x200F - Last error

0x2014 - Operation mode

0x2015 - Operation mode display

0x2018 - Voltage quadrature set-point

0x2019 - Voltage direct set-point

0x201A - Current quadrature set-point

0x201B - Current direct set-point

0x201C - Current A set-point

0x201D - Current B set-point

0x2020 - Position set-point

0x2021 - Velocity set-point

0x2022 - Torque set-point

0x2024 - Positioning option code

0x2025 - Profiler max. velocity

0x2026 - Profiler max. acceleration

0x2027 - Profiler max. deceleration

0x2029 - Actual torque

0x2030 - Actual position

0x2031 - Actual velocity

0x2033 - Auxiliar feedback value

0x2038 - Current A value

0x2039 - Current B value

0x203A - Current C value

0x203B - Current quadrature value

0x203C - Current direct value

0x203D - Current A counts

0x203E - Current B counts

0x203F - Current C counts

0x2040 - Commutation angle value

0x2041 - Reference angle value

0x204A - Primary Absolute Slave 1 - Position

0x204B - Primary Absolute Slave 1 - Full frame

0x2050 - Generator value

0x2051 - Secondary Absolute Slave 1 - Position

0x2052 - Primary Absolute Slave 2 (daisy chain) - Position

0x2053 - Torque demand

0x2054 - Secondary Absolute Slave 1 - Full frame

0x2055 - Primary Absolute Slave 2 (daisy chain) - Full frame

0x205D - Power stage temperature 3 value

0x205E - Power stage temperature 3 counts

0x2060 - Bus voltage value

0x2061 - Power stage temperature 1 value

0x2062 - Power stage temperature 1 counts

0x2063 - Motor temperature value

0x2064 - Power stage temperature 2 value

0x2066 - Power stage temperature 2 counts

0x2067 - Power stage max. actual temperature

0x2068 - Voltage phase A

0x2069 - Voltage phase B

0x206A - Voltage phase C

0x206E - Voltage direct command

0x206F - Voltage quadrature command

0x2070 - Voltage quadrature demand

0x2071 - Voltage direct demand

0x2072 - Current quadrature demand

0x2073 - Current direct demand

0x2076 - Current actual value

0x2077 - Current command value

0x2078 - Position demand

0x2079 - Velocity demand

0x207A - Acceleration demand

0x207B - Velocity loop input offset

0x207C - Current quadrature loop input offset

0x207D - Current direct loop input offset

(Deprecated) 0x207F - Current loop feedback bypass

0x2080 - Torque loop input offset

0x2081 - Analog input 1 - Counts

0x2082 - Analog input 1 - Value

0x2083 - Analog input 2 - Counts

0x2084 - Analog input 2 - Value

0x208D - Analog output 1 - Value

0x2096 - Position loop control command

0x2097 - Velocity loop control command

0x2098 - Current quadrature / A control loop command

0x2099 - Current direct / B control loop command

0x209A - Rated torque

0x209B - Torque loop control command

0x20C1 - Interpolation data record - Position input

0x20C2 - Interpolation data record - Velocity input

0x20C3 - Interpolation data record - Time input

0x20C4 - Interpolation data record integrity check

0x20C5 - Interpolation data record status

0x2100 - Rated current

0x2101 - Peak current

0x2102 - Peak current time

0x2106 - Motor pole pairs

0x2109 - Motor temperature protection threshold

0x210A - Motor temperature sensor type

0x210B - Motor temperature sensor resistance

0x210C - Motor temperature sensor β (25-85)

0x210D - Motor temperature sensor resistance

0x210E - Motor temperature sensor gain

0x210F - Motor temperature sensor offset

0x2110 - Motor temperature sensor voltage reference

0x2111 - Motor temperature sensor Temperature 0

0x2112 - Motor temperature sensor Resistance 0

0x2113 - Motor temperature sensor Temperature 1

0x2114 - Motor temperature sensor Resistance 1

0x2120 - Internal shunt enable voltage

0x2121 - Internal shunt disable voltage

0x2122 - External shunt enable voltage

0x2123 - External shunt disable voltage

0x2124 - Brake activation voltage percentage

0x2125 - Brake holding voltage percentage

0x2126 - Delay before release brake

0x2127 - Delay after enable brake

0x2128 - Activation brake time

0x2129 - Brake override

0x212A - Brake activation current

0x212B - Brake holding current

0x212C - Brake current control Kp

0x212D - Brake current control Ki

0x212E - Brake control mode

0x212F - Brake current error window

0x2130 - Brake current error timeout

0x2131 - Brake max current

0x2133 - Brake current actual value

0x2134 - Brake current feedback source

0x2141 - Brake current command

0x214F - Commutation modulation

0x2150 - Commutation angle offset

0x2151 - Commutation feedback sensor

0x2152 - Reference angle offset

0x2153 - Reference feedback sensor

0x2154 - Phasing mode

0x2155 - Max. current on phasing sequence

0x2156 - Phasing timeout

0x2157 - Phasing accuracy

0x217B - Restart all feedbacks

0x217C - Set feedback power supply status

0x21C0 - Power stage maximum duty cycle

0x21C8 - Profiler latching mode

0x21D6 - Velocity threshold

0x21D7 - Velocity threshold time

0x21DC - Velocity following error window

0x21DD - Velocity following error timeout

0x21DE - Min position range limit

0x21DF - Max position range limit

0x21E0 - Max. current

0x21E2 - Position control loop error

0x21E3 - Velocity control loop error

0x21E4 - Torque control loop error

0x21E5 - Current direct control loop error

0x21E6 - Current quadrature control loop error

0x21E8 - Max. velocity

0x21EA - Min position

0x21EB - Max position

0x21EC - Position following error window

0x21ED - Position following error timeout

0x21EE - Following error

0x21EF - Interpolation time mantissa

0x21F0 - Interpolation time exponent

0x21F1 - Position window

0x21F2 - Position window time

0x21F3 - Velocity window

0x21F4 - Velocity window time

0x21F5 - Quick stop deceleration

0x21F6 - Interpolation data record force clear

0x21F7 - Interpolation buffer size

0x21F8 - Interpolation buffer number of elements

0x21F9 - Interpolation buffer maximum size

0x22E0 - Command source 1

0x22E1 - Command source 2

0x22E8 - Analog input 1 - Gain

0x22E9 - Analog input 1 - Offset

0x22EC - Analog input 2 - Gain

0x22ED - Analog input 2 - Offset

0x2360 - Velocity feedback sensor

0x2361 - Position feedback sensor

0x2362 - Auxiliar feedback sensor

0x2364 - Position to velocity sensor ratio

0x236F - Primary Absolute Slave 1 - Protocol

0x2370 - Primary Absolute Slave 1 - Frame size

0x2371 - Primary Absolute Slave 1 - Error tolerance

0x2372 - DEPRECATED - Primary Absolute Slave 1 - Wait cycles

0x2373 - Primary Absolute Slave 1 - Polarity

0x2374 - Primary Absolute Slave 1 - Frame type

0x2375 - Primary Absolute Slave 1 - Position bits

0x2376 - Primary Absolute Slave 1 - Single-turn bits

0x2378 - Secondary Absolute Slave 1 - Frame size

0x2379 - Secondary Absolute Slave 1 - Error tolerance

0x237A - DEPRECATED - Secondary Absolute Slave 1 - Wait cycles

0x237B - Secondary Absolute Slave 1 - Polarity

0x237C - Secondary Absolute Slave 1 - Frame type

0x237D - Secondary Absolute Slave 1 - Position bits

0x237E - Secondary Absolute Slave 1 - Single-turn bits

0x237F - Secondary Absolute Slave 1 - Position start bit

0x2380 - Generator mode

0x2381 - Generator frequency

0x2382 - Generator gain

0x2383 - Generator offset

0x2384 - Generator cycle number

0x2385 - Generator rearm

0x2386 - Primary Absolute Slave 1 - Baudrate

0x2387 - Secondary Absolute Slave 1 - Baudrate

0x2388 - Incremental encoder 1 - Resolution

0x2389 - Incremental encoder 1 - Polarity

0x238A - Incremental encoder 1 - Filter

0x238B - Incremental encoder 1 - Value

0x238C - Incremental encoder 2 - Resolution

0x238D - Incremental encoder 2 - Polarity

0x238E - Incremental encoder 2 - Filter

0x238F - Incremental encoder 2 - Value

0x2390 - Dig. hall polarity

0x2391 - Dig. hall filter

0x2392 - Dig. hall pole pairs

0x2393 - Dig. hall value

0x2395 - Primary Absolute Feedbacks in Chain

0x2398 - Primary Absolute - Maximum refresh rate

0x2399 - Secondary Absolute - Maximum refresh rate

0x239A - Primary Absolute - Actual refresh rate

0x239B - Secondary Absolute - Actual refresh rate

0x2400 - Primary Absolute Slave 2 (daisy chain) - Frame size

0x2401 - Primary Absolute Slave 2 (daisy chain) - Error tolerance

0x2403 - Primary Absolute Slave 2 (daisy chain) - Polarity

0x2404 - Primary Absolute Slave 2 (daisy chain) - Frame type

0x2405 - Primary Absolute Slave 2 (daisy chain) - Position bits

0x2406 - Primary Absolute Slave 2 (daisy chain) - Single-turn bits

0x2407 - Primary Absolute Slave 2 (daisy chain) - Position start bit

0x2408 - Primary Absolute Slave 1 - CRC polynomial

0x2409 - Primary Absolute Slave 1 - CRC number of bits

0x240A - Primary Absolute Slave 2 (daisy chain) - CRC polynomial

0x240B - Primary Absolute Slave 2 (daisy chain) - CRC number of bits

0x240C - Primary Absolute Slave 1 - CRC seed

0x240D - Primary Absolute Slave 2 (daisy chain) - CRC seed

0x2438 - Primary Absolute Slave 1 - Position offset

0x2439 - Primary Absolute Slave 2 (daisy chain) - Position offset

0x243A - Secondary Absolute Slave 1 - Position offset

0x243B - Torque constant

0x243C - Secondary Absolute Slave 1 - Protocol

0x243D - Secondary Absolute Slave 1 - CRC polynomial

0x243E - Secondary Absolute Slave 1 - CRC seed

0x243F - Secondary Absolute Slave 1 - CRC number of bits

0x2440 - Primary absolute interface - Register address

0x2441 - Primary absolute interface - Register data

0x2442 - Primary absolute interface - Operation status

0x2443 - Primary absolute interface - Control

0x2444 - Secondary absolute interface - Register address

0x2445 - Secondary absolute interface - Register data

0x2446 - Secondary absolute interface - Operation status

0x2447 - Secondary absolute interface - Control

0x2450 - Homing mode

0x2451 - Homing offset

0x2452 - Homing timeout

0x2453 - Homing limit search speed

0x2454 - Homing zero search speed

0x2455 - Positive homing switch

0x2456 - Negative homing switch

0x2457 - Homing index pulse source

0x2458 - Current loop rate

0x24FE - Torque constant (obsolete)

0x24FF - Current scaling gain factor

0x2500 - Current quadrature loop Kp

0x2501 - Current quadrature loop Ki

0x2502 - Current quadrature loop max. out

0x2503 - Current quadrature loop min. out

0x2504 - DEPRECATED - Current quadrature loop Kr

0x2505 - Current direct loop Kp

0x2506 - Current direct loop Ki

0x2507 - Current direct loop max. out

0x2508 - Current direct loop min. out

0x2509 - DEPRECATED - Current direct loop Kr

0x250A - Velocity loop Kp

0x250B - Velocity loop Ki

0x250C - Velocity loop Kd

0x250D - Velocity loop Kd filter

0x250E - Velocity loop max. output

0x250F - Velocity loop min. output

0x2510 - Control loops feedback options

0x2511 - Position loop Kp

0x2512 - Position loop Ki

0x2513 - Position loop Kd

0x2514 - Position loop Kd filter

0x2515 - Position loop max. output

0x2516 - Position loop min. output

0x2517 - Current loop status

0x2518 - Velocity loop status

0x2519 - Position loop status

0x251A - STO status

0x251B - Velocity loop integral reset

0x251C - Position loop integral reset

0x251D - Velocity loop integral value

0x251E - Position loop integral value

0x251F - Maximum voltage bus utilization

0x2520 - Position & velocity loop rate

0x2521 - Power stage frequency

0x2522 - Control loops option code

0x2523 - Torque loop Kp

0x2524 - Torque loop Ki

0x2527 - Torque loop max. output

0x2528 - Torque loop min. output

0x2530 - Position feedback filter 1 type

0x2531 - Position feedback filter 1 frequency

0x2532 - Position feedback filter 1 Q-factor

0x2533 - Position feedback filter 1 gain

0x2538 - Position feedback filter 2 type

0x2539 - Position feedback filter 2 frequency

0x253A - Position feedback filter 2 Q-factor

0x253B - Position feedback filter 2 gain

0x2540 - Position reference filter 1 type

0x2541 - Position reference filter 1 frequency

0x2542 - Position reference filter 1 Q-factor

0x2543 - Position reference filter 1 gain

0x2548 - Position reference filter 2 type

0x2549 - Position reference filter 2 frequency

0x254A - Position reference filter 2 Q-factor

0x254B - Position reference filter 2 gain

0x2550 - Velocity feedback filter 1 type

0x2551 - Velocity feedback filter 1 frequency

0x2552 - Velocity feedback filter 1 Q-factor

0x2553 - Velocity feedback filter 1 gain

0x2558 - Velocity feedback filter 2 type

0x2559 - Velocity feedback filter 2 frequency

0x255A - Velocity feedback filter 2 Q-factor

0x255B - Velocity feedback filter 2 gain

0x2560 - Velocity reference filter 1 type

0x2561 - Velocity reference filter 1 frequency

0x2562 - Velocity reference filter 1 Q-factor

0x2563 - Velocity reference filter 1 gain

0x2568 - Velocity reference filter 2 type

0x2569 - Velocity reference filter 2 frequency

0x256A - Velocity reference filter 2 Q-factor

0x256B - Velocity reference filter 2 gain

0x2570 - Current feedback filter 1 type

0x2571 - Current feedback filter 1 frequency

0x2572 - Current feedback filter 1 Q-factor

0x2573 - Current feedback filter 1 gain

0x2578 - Current feedback filter 2 type

0x2579 - Current feedback filter 2 frequency

0x257A - Current feedback filter 2 Q-factor

0x257B - Current feedback filter 2 gain

0x2580 - Current reference filter 1 type

0x2581 - Current reference filter 1 frequency

0x2582 - Current reference filter 1 Q-factor

0x2583 - Current reference filter 1 gain

0x2588 - Current reference filter 2 type

0x2589 - Current reference filter 2 frequency

0x258A - Current reference filter 2 Q-factor

0x258B - Current reference filter 2 gain

0x2590 - Velocity loop Kffa

0x2591 - Position loop Kffv

0x2592 - Position loop Kffa

0x25FC - Map output 1

0x25FD - Map output 2

0x25FE - Map output 3

0x25FF - Map output 4

0x2600 - Digital inputs value

0x2601 - Digital outputs value

0x2602 - Digital outputs set value

0x2603 - Digital outputs polarity

0x2604 - Digital inputs polarity

0x2608 - Positive switch limit

0x2609 - Negative switch limit

0x260A - Quick stop input

0x260B - Quick stop option code

0x260D - External error signal reaction

0x260F - User I2T error option code

0x2610 - Position feedback out of limits error option code

0x2611 - Velocity feedback out of limits error option code

0x2612 - Position following error option code

0x2613 - Power stage user over-temperature error option code

0x2614 - Motor over-temperature error option code

0x2615 - Power stage user under-temperature error option code

0x2616 - Power stage user over voltage error option code

0x2617 - Power stage user under voltage error option code

0x2618 - External fault option code

0x2619 - Halls sequence error option code

0x261B - Over current without current control error option code

0x261D - Velocity following error option code

0x2620 - Halt option code

0x2621 - Halt input

0x2624 - Fault reset input

0x262B - Fault reaction timeout

0x262F - Over-voltage sensitivity

0x2630 - User over voltage level

0x2631 - User under voltage level

0x2632 - User over temperature level

0x2633 - User under temperature level

0x2641 - Synchronization signal configuration

0x2643 - Synchronization signal frequency

0x2644 - Synchronization signal PLL filter cutoff frequency

0x2645 - Synchronization signal PLL phase

0x2646 - Synchronization signal PLL Kp

0x264D - Error total number

0x6041 - Status Word

0x261A - Feedback runaway error option code

0x263B - STO error option code

0x2377 - Primary Absolute Slave 1 - Position start bit

0x5EC5 - Communication cycle timeout

0x2394 - Feedback runaway source

0x2011 - Status word

0x2010 - Control word

0x2037 - Bus voltage current counts

0x264E - Error list index request

0x264F - Error list requested code

0x26D1 - CRC output motion core

0x26DB - Store all

0x26DC - Restore all

0x26DF - System reset

0x26E0 - Vendor ID

0x26E1 - Product code

0x26E2 - Revision number

0x26E4 - Software version

0x26E5 - Ingenia url

0x26E6 - Serial number

0x2704 - Power stage dead-time (ns)

0x2706 - Min. low side on time 1 (ns)

0x2707 - Min. high side on time (ns)

0x270C - Current calibration offset tolerance

0x2729 - Current acquisition time (ns)

0x1C00 - Sync Manager type

0x1018 - Identity Object

0x1029 - Error behavior

0x10F1 - Error settings

0x272A - Current acquisition advance time (ns)

0x272B - Min. low side on time 2 (ns)

0x272C - Min. low side on time 3 (ns)

0x272D - Min. low side on time 4 (ns)

0x272E - Min. charge bootstrap time (us)

0x2743 - Brake frequency

0x580F - Last error

0x5820 - CANopen Node Id Bits Input

Monitoring-Disturbance registers EtherCAT & CANopen

User memory space accessing

0x58A0 - Number of axes

0x58AA - Bootloader version

0x5D00 - Torque constant (obsolete)

0x5E49 - System last error

0x5E4A - System error total number

0x5E4B - System error list index request

0x5E4C - System error list requested code

0x5E4D - Error total number

0x5E4E - Error list index request

0x5E4F - Error list requested code

0x5E80 - Error notification source

0x5EDB - Store all

0x5EDC - Restore all

0x5EDE - Boot mode

0x5EDF - System reset

0x5EE0 - Vendor ID

0x5EE1 - Product code

0x5EE2 - Revision number

0x5EE4 - Software version

0x5EE6 - Serial number

0x6007 - Abort connection option code

0x603F - Error code

0x6040 - Control Word

0x605A - Quick stop option code

0x605D - Halt option code

0x6060 - Operation mode

0x6061- Operation mode display

0x6062 - Position demand value

0x6064 - Actual position

0x6065 - Position following error window

0x6066 - Position following error timeout

0x606C - Actual velocity

0x606F - Velocity threshold

0x6070 - Velocity threshold time

0x6071 - Target torque

0x6073 - Max. current

0x6074 - Torque demand

0x6075 - Motor rated current

0x6076 - Motor rated torque

0x6077 - Torque actual value

0x6078 - Current actual value

0x607A - Position set-point

0x607B - Position range limit

0x607C - Homing offset

0x607D - Software position limit

0x6081 - Profile velocity

0x6083 - Profile acceleration

0x6084 - Profile deceleration

0x6098 - Homing method

0x6099 - Homing search velocities

0x60B1 - Velocity loop input offset

0x60B2 - Torque offset

0x60C2 - Interpolation time period

0x60F2 - Positioning option code

0x60F4 - Position following error

0x60FF - Target Velocity

0x6502 - Supported drive modes

0x5ED1 - CRC output communication core

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