Data Sheet

CANopen Interface
182 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
TABLE 17-3. Motor Controllers Object Dictionary
Index Sub Entry Name
Data Type
& Access Command Name
0x2104 01 to ee (2) Read Absolute Encoder Count S32 RO C
0x2105 01 to mm (1) Read Absolute Brushless
Counter
S32 RO CB
0x2106 01 to vv (3) Read User Integer Variable 1 S32 RO VAR
0x2107 01 to ee (2) Read Encoder Motor Speed as
1/1000 of Max
S16 RO SR
0x2108 01 to ee (2) Read Encoder Count Relative S32 RO CR
0x2109 01 to mm (1) Read Brushless Count Relative S32 RO CBR
0x210A 01 to mm (1) Read BL Motor Speed in RPM S16 RO BS
0x210B 01 to mm (1) Read BL Motor Speed as 1/1000 of
Max
S16 RO BSR
0x210C 01 to mm (1) Read Battery Amps S16 RO BA
0x210D 01 to 03 Read VInt, VBat, 5VOut U16 RO V
0x210E 00 Read All Digital Inputs U32 RO D
0x210F 01 to tt+1 (5) Read MCU and Transistor
temperature
S8 RO T
0x2110 01 to mm (1) Read Feedback S16 RO F
0x2111 00 Read Status Flags U8 RO FS
0x2112
00 Read Fault Flags U8 RO FF
0x2113 00 Read Current Digital Outputs U8 RO DO
0x2114 01 to mm (1) Read Closed Loop Error S32 RO E
0x2115 01 to bb (4) Read User Bool Variable S32 RO B
0x2116 01 to mm (1) Read Internal Serial Command S32 RO CIS
0x2117 01 to mm (1) Read Internal Analog Command S32 RO CIA
0x2118 01 to mm (1) Read Internal Pulse Command S32 RO CIP
0x2119 00 Read Time U32 RO TM
0x211A 01 to 06 Read Spektrum Radio Capture U16 RO K
0x211B 01 to 06 Destination Pos Reached flag U8 RO DR
0x211D 01 to ss (9) Read Magsensor Track Detect U8 RO MGD
0x211E 01 to ss*3 (9) Read Magsensor Track Position, U8 RO MGT
0x211F 01 to ss*3 (9) Read Magsensor Markers U8 RO MGM
0x2120 01 to ss (9) Read Magsensor Status U16 RO MGS
0x2121 01 to ss (9) Read Magsensor Gyroscope S16 RO MGY
0x2122 01 to mm (1) Read Motor Status Flags U16 RO FM
0x2123 01 to mm (1) Read Hall Sensor States U8 RO HS
0x6400 01 to dd (6) Read Individual Digital Input S32 RO DI
0x2121 01 to 03 Read Magsensor Gyroscope S16 RO MGY
0x2122 01 to mm (1) Read Motor Status Flags U16 RO FM
0x2123 01 to mm (1) Read Hall Sensor States U8 RO HS
0x2125 01 to mm (1) Read Destination Tracking S32 RO TR