AQUARM Motor Driver Object Dictionary

This page documents the CANopen Object Dictionary.

Communication Overview

Item	Value
Protocol	CANopen over Classic CAN / CAN FD
Default Node ID	127 (0x7F)
Valid Node ID	1 ~ 127
SDO request COB-ID	0x600 + Node ID
SDO response COB-ID	0x580 + Node ID
SYNC COB-ID	0x080
Byte order	Little-endian

CAN Bus Load

Frequent SDO requests can saturate the CAN bus. Use PDO for cyclic data and SDO for configuration and diagnostics.

Data Types

Type	Size	Description
UNSIGNED8	1 byte	8-bit unsigned integer
UNSIGNED16	2 bytes	16-bit unsigned integer
UNSIGNED32	4 bytes	32-bit unsigned integer
REAL32	4 bytes	IEEE 754 single-precision floating point
VISIBLE_STRING32	Up to 32 bytes	Segmented SDO upload is supported; segmented download is not supported

Area and Parameter Storage

The Area column follows the firmware's save_en flag.

• EEPROM: Included in the internal flash parameter payload when parameters are saved.
• RAM: Not included in the saved parameter payload and initialized again at boot or updated at runtime.

Changing an EEPROM-area value through SDO does not immediately write flash.
While the node is in Pre-operational state, write 0x73617665 to 0x1010:00 to save parameters.
Write 0x64616F6C to 0x1011:00 to restore defaults and reset the controller.

Control Mode Values

Value	Mode	RPDO1 command
0	Idle	None
1	Torque Control	0x2050:01 Torque Reference [N·m]
2	Speed Control	0x2060:01 Speed Reference [rad/s]
3	Position Control	0x2070:01 Position Reference [rad]

Area (EEPROM, RAM)

Area	Description
EEPROM	Values in the EEPROM area are preserved even when power is turned off (Non-Volatile).
RAM	The RAM area is reset to default values each time power is applied (Volatile).

CiA 301 Core Objects

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x1000	00	EEPROM	Device Type	UNSIGNED32	R	0x4B414354	KACT
0x1001	00	RAM	Error Register	UNSIGNED8	R	0	Bit-coded, latched error status
0x1005	00	EEPROM	COB-ID SYNC	UNSIGNED32	RW	0x080	SYNC message COB-ID
0x1008	00	RAM	Manufacturer Device Name	VISIBLE_STRING32	R	KA-RI60-1-KDA	Up to 32 bytes
0x1009	00	RAM	Manufacturer Hardware Version	VISIBLE_STRING32	R	HW1.0	Up to 32 bytes
0x100A	00	RAM	Manufacturer Software Version	VISIBLE_STRING32	R	SW1.0	Up to 32 bytes
0x1010	00	RAM	Save All Parameters	UNSIGNED32	W	0	Key: 0x73617665; Pre-operational only
0x1011	00	RAM	Restore All Parameters	UNSIGNED32	W	0	Key: 0x64616F6C; restores defaults and resets
0x1017	00	EEPROM	Producer Heartbeat Time	UNSIGNED16	RW	1000	ms; 0 disables periodic heartbeat
0x1018	00	RAM	Identity Entry Count	UNSIGNED8	R	4	Highest supported sub-index
0x1018	01	RAM	Vendor ID	UNSIGNED32	R	0	Not populated by current defaults
0x1018	02	RAM	Product Code	UNSIGNED32	R	1	—
0x1018	03	RAM	Revision Number	UNSIGNED32	R	1	—
0x1018	04	RAM	Serial Number	UNSIGNED32	R	1	—

Error Register

Bit	Meaning	Enable / Threshold Source
0	Generic error	Set whenever another active error bit is set
1	Overcurrent	0x20C0:02, threshold 0x20C0:03
2	Under/overvoltage	0x20C0:04, limits 0x20C0:05 and 0x20C0:06
3	FET or motor overtemperature	0x20C0:07 through 0x20C0:0A
4	Communication error	CAN bus-off controlled by 0x20C0:0B
5	Device-profile-specific error	Encoder status controlled by 0x20C0:0C
6	Reserved	Always 0
7	Manufacturer-specific error	Gate-driver fault controlled by 0x20C0:0D

RPDO Communication and Mapping

Mapping values use index (16 bit) | sub-index (8 bit) | length (8 bit).

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x1400	00	EEPROM	RPDO1 Communication Entry Count	UNSIGNED8	R	2	—
0x1400	01	EEPROM	RPDO1 COB-ID	UNSIGNED32	RW	0x200 for Node 1–16; otherwise 0x200 + Node ID	Synchronized after Node ID changes
0x1400	02	EEPROM	RPDO1 Transmission Type	UNSIGNED8	RW	1	Synchronous
0x1600	00	EEPROM	RPDO1 Mapping Count	UNSIGNED8	R	Dynamic: 0 or 1	Determined by Control Mode
0x1600	01	EEPROM	RPDO1 Mapping 1	UNSIGNED32	R	Dynamic	Torque, speed, or position reference
0x1600	02	EEPROM	RPDO1 Mapping 2	UNSIGNED32	R	0	Unused
0x1401	00	EEPROM	RPDO2 Communication Entry Count	UNSIGNED8	R	2	—
0x1401	01	EEPROM	RPDO2 COB-ID	UNSIGNED32	RW	0x300 + Node ID	—
0x1401	02	EEPROM	RPDO2 Transmission Type	UNSIGNED8	RW	255	Event-driven
0x1601	00	EEPROM	RPDO2 Mapping Count	UNSIGNED8	RW	2	—
0x1601	01	EEPROM	RPDO2 Mapping 1	UNSIGNED32	RW	0x20100108	Control Mode, 8 bit
0x1601	02	EEPROM	RPDO2 Mapping 2	UNSIGNED32	RW	0x20100208	Run, 8 bit
0x1601	03–08	EEPROM	RPDO2 Mapping 3–8	UNSIGNED32	RW	0	Available mapping slots
0x1402	00	EEPROM	RPDO3 Communication Entry Count	UNSIGNED8	R	2	—
0x1402	01	EEPROM	RPDO3 COB-ID	UNSIGNED32	RW	0x400 + Node ID	—
0x1402	02	EEPROM	RPDO3 Transmission Type	UNSIGNED8	RW	255	Event-driven
0x1602	00	EEPROM	RPDO3 Mapping Count	UNSIGNED8	RW	0	Disabled by default
0x1602	01–08	EEPROM	RPDO3 Mapping 1–8	UNSIGNED32	RW	0	Available mapping slots
0x1403	00	EEPROM	RPDO4 Communication Entry Count	UNSIGNED8	R	2	—
0x1403	01	EEPROM	RPDO4 COB-ID	UNSIGNED32	RW	0x500 + Node ID	—
0x1403	02	EEPROM	RPDO4 Transmission Type	UNSIGNED8	RW	255	Event-driven
0x1603	00	EEPROM	RPDO4 Mapping Count	UNSIGNED8	RW	0	Disabled by default
0x1603	01–08	EEPROM	RPDO4 Mapping 1–8	UNSIGNED32	RW	0	Available mapping slots

TPDO Communication and Mapping

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x1800	00	EEPROM	TPDO1 Communication Entry Count	UNSIGNED8	R	2	—
0x1800	01	EEPROM	TPDO1 COB-ID	UNSIGNED32	RW	0x180 + Node ID	—
0x1800	02	EEPROM	TPDO1 Transmission Type	UNSIGNED8	RW	1	Every SYNC
0x1A00	00	EEPROM	TPDO1 Mapping Count	UNSIGNED8	RW	6	—
0x1A00	01	EEPROM	TPDO1 Mapping 1	UNSIGNED32	RW	0x20700220	Position Feedback, 32 bit
0x1A00	02	EEPROM	TPDO1 Mapping 2	UNSIGNED32	RW	0x20600220	Speed Feedback, 32 bit
0x1A00	03	EEPROM	TPDO1 Mapping 3	UNSIGNED32	RW	0x20500220	Torque Feedback, 32 bit
0x1A00	04	EEPROM	TPDO1 Mapping 4	UNSIGNED32	RW	0x10010008	Error Register, 8 bit
0x1A00	05	EEPROM	TPDO1 Mapping 5	UNSIGNED32	RW	0x20100108	Control Mode, 8 bit
0x1A00	06	EEPROM	TPDO1 Mapping 6	UNSIGNED32	RW	0x20100308	NMT State, 8 bit
0x1801	00	EEPROM	TPDO2 Communication Entry Count	UNSIGNED8	R	2	—
0x1801	01	EEPROM	TPDO2 COB-ID	UNSIGNED32	RW	0x280 + Node ID	—
0x1801	02	EEPROM	TPDO2 Transmission Type	UNSIGNED8	RW	10	Every 10 SYNC messages
0x1A01	00	EEPROM	TPDO2 Mapping Count	UNSIGNED8	RW	3	—
0x1A01	01	EEPROM	TPDO2 Mapping 1	UNSIGNED32	RW	0x20400220	Current Feedback, 32 bit
0x1A01	02	EEPROM	TPDO2 Mapping 2	UNSIGNED32	RW	0x20200C20	DC Bus Voltage, 32 bit
0x1A01	03	EEPROM	TPDO2 Mapping 3	UNSIGNED32	RW	0x20A00120	FET Temperature, 32 bit
0x1A01	04	EEPROM	TPDO2 Mapping 4	UNSIGNED32	RW	0	Available mapping slot
0x1802	00	EEPROM	TPDO3 Communication Entry Count	UNSIGNED8	R	2	—
0x1802	01	EEPROM	TPDO3 COB-ID	UNSIGNED32	RW	0x380 + Node ID	—
0x1802	02	EEPROM	TPDO3 Transmission Type	UNSIGNED8	RW	10	Every 10 SYNC messages
0x1A02	00	EEPROM	TPDO3 Mapping Count	UNSIGNED8	RW	8	—
0x1A02	01	EEPROM	TPDO3 Mapping 1	UNSIGNED32	RW	0x30200008	Encoder Status Count, 8 bit
0x1A02	02	EEPROM	TPDO3 Mapping 2	UNSIGNED32	RW	0x20E00008	GPIO Debug Count, 8 bit
0x1A02	03	EEPROM	TPDO3 Mapping 3	UNSIGNED32	RW	0x20E00108	MU_NER, 8 bit
0x1A02	04	EEPROM	TPDO3 Mapping 4	UNSIGNED32	RW	0x20E00208	PVL_NWRN, 8 bit
0x1A02	05	EEPROM	TPDO3 Mapping 5	UNSIGNED32	RW	0x20E00308	PVL_NERR, 8 bit
0x1A02	06	EEPROM	TPDO3 Mapping 6	UNSIGNED32	RW	0x20E00408	READY, 8 bit
0x1A02	07	EEPROM	TPDO3 Mapping 7	UNSIGNED32	RW	0x20E00508	NFAULT, 8 bit
0x1A02	08	EEPROM	TPDO3 Mapping 8	UNSIGNED32	RW	0x20300208	Gate-driver Fault, 8 bit
0x1803	00	EEPROM	TPDO4 Communication Entry Count	UNSIGNED8	R	2	—
0x1803	01	EEPROM	TPDO4 COB-ID	UNSIGNED32	RW	0x480 + Node ID	—
0x1803	02	EEPROM	TPDO4 Transmission Type	UNSIGNED8	RW	0; 1 during calibration	Runtime-selected
0x1A03	00	EEPROM	TPDO4 Mapping Count	UNSIGNED8	RW	1	—
0x1A03	01	EEPROM	TPDO4 Mapping 1	UNSIGNED32	RW	0x30200320	Encoder Raw28, 32 bit
0x1A03	02–04	EEPROM	TPDO4 Mapping 2–4	UNSIGNED32	RW	0	Available mapping slots

Device Information and Control State

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x2000	00	EEPROM	Device Information Entry Count	UNSIGNED8	R	8	—
0x2000	01	EEPROM	Node ID	UNSIGNED8	RW	127	Valid range: 1 ~ 127
0x2000	02	EEPROM	Product Serial Number	UNSIGNED32	RW	0	Not populated by current defaults
0x2000	03	EEPROM	Firmware Version	UNSIGNED32	RW	0	Not populated by current defaults
0x2000	04	RAM	Motor Name	VISIBLE_STRING32	R	RI60	—
0x2000	05	RAM	Motor Driver Name	VISIBLE_STRING32	R	KD-AQA-V50A30N-V1	—
0x2010	00	EEPROM	Control Mode Entry Count	UNSIGNED8	R	3	—
0x2010	01	EEPROM	Control Mode	UNSIGNED8	RW	0	See Control Mode Values
0x2010	02	RAM	Run	UNSIGNED8	RW	0	0: stop, nonzero: run
0x2010	03	RAM	NMT State	UNSIGNED8	R	Runtime	0x00: Boot-up, 0x04: Stopped, 0x05: Operational, 0x7F: Pre-operational

Motor Specification

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x2020	00	EEPROM	Entry Count	UNSIGNED8	R	12	—
0x2020	01	EEPROM	Phase Resistance	REAL32	RW	0.45	Ω
0x2020	02	EEPROM	Phase Inductance	REAL32	RW	0.00043875	H
0x2020	03	EEPROM	Torque Constant	REAL32	RW	0.1	N·m/A
0x2020	04	EEPROM	Velocity Constant	REAL32	RW	120	rpm/V
0x2020	05	EEPROM	Rotor Inertia	REAL32	RW	0.000003305	kg·m²
0x2020	06	EEPROM	Pole Pairs	UNSIGNED16	RW	14	—
0x2020	07	EEPROM	Reducer Ratio	REAL32	RW	1	—
0x2020	08	EEPROM	Reducer Efficiency	REAL32	RW	0	Not initialized to a nonzero value in current defaults
0x2020	09	EEPROM	Maximum Speed	UNSIGNED32	RW	3000	rpm
0x2020	0A	EEPROM	Nominal Torque	REAL32	RW	0.57	N·m
0x2020	0B	EEPROM	Nominal Current	REAL32	RW	5.6	A
0x2020	0C	EEPROM	DC Bus Voltage	REAL32	R	30 at boot	V; updated at runtime

Motor Driver and Current Controller

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x2030	00	EEPROM	Motor Driver Entry Count	UNSIGNED8	R	6	Reserved entries are omitted
0x2030	01	EEPROM	Gate Output Invert Enable	UNSIGNED8	RW	1	Boolean
0x2030	02	RAM	Gate-driver Fault	UNSIGNED8	R	Runtime	GPIO-derived status
0x2030	03	RAM	Gate-driver Status	UNSIGNED8	R	Runtime	Gate-driver status register
0x2040	00	EEPROM	Current Controller Entry Count	UNSIGNED8	R	14	—
0x2040	01	RAM	Current Reference	REAL32	RW	0	A
0x2040	02	RAM	Current Feedback	REAL32	R	Runtime	A
0x2040	03	EEPROM	Iq Kp	REAL32	RW	≈ 1.378374	—
0x2040	04	EEPROM	Iq Ki	REAL32	RW	≈ 1413.7167	—
0x2040	05	EEPROM	Iq Kd	REAL32	RW	0	—
0x2040	06	EEPROM	Iq Ka	REAL32	RW	≈ 3.627463	Anti-windup gain
0x2040	07	EEPROM	Iq Output Maximum	REAL32	RW	≈ 17.320508	V
0x2040	08	EEPROM	Iq Output Minimum	REAL32	RW	≈ -17.320508	V
0x2040	09	EEPROM	Id Kp	REAL32	RW	≈ 1.378374	—
0x2040	0A	EEPROM	Id Ki	REAL32	RW	≈ 1413.7167	—
0x2040	0B	EEPROM	Id Kd	REAL32	RW	0	—
0x2040	0C	EEPROM	Id Ka	REAL32	RW	≈ 3.627463	Anti-windup gain
0x2040	0D	EEPROM	Id Output Maximum	REAL32	RW	≈ 17.320508	V
0x2040	0E	EEPROM	Id Output Minimum	REAL32	RW	≈ -17.320508	V

Torque Controller

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x2050	00	EEPROM	Entry Count	UNSIGNED8	R	6	—
0x2050	01	RAM	Torque Reference	REAL32	RW	0	N·m
0x2050	02	RAM	Torque Feedback	REAL32	R	Runtime	N·m
0x2050	03	EEPROM	Torque Limit Maximum	REAL32	RW	0.57	N·m
0x2050	04	EEPROM	Torque Limit Minimum	REAL32	RW	-0.57	N·m
0x2050	05	EEPROM	Torque Feedforward Gain	REAL32	RW	0	—
0x2050	06	EEPROM	Torque Output Invert Enable	UNSIGNED8	RW	0	Boolean

Speed Controller

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x2060	00	EEPROM	Entry Count	UNSIGNED8	R	14	—
0x2060	01	RAM	Speed Reference	REAL32	RW	0	rad/s
0x2060	02	RAM	Speed Feedback	REAL32	R	Runtime	rad/s
0x2060	03	EEPROM	Speed Limit Maximum	REAL32	RW	≈ 314.159265	rad/s
0x2060	04	EEPROM	Speed Limit Minimum	REAL32	RW	≈ -314.159265	rad/s
0x2060	05	EEPROM	Speed Kp	REAL32	RW	≈ 0.010383	—
0x2060	06	EEPROM	Speed Ki	REAL32	RW	≈ 3.261904	—
0x2060	07	EEPROM	Speed Kd	REAL32	RW	0	—
0x2060	08	EEPROM	Speed Ka	REAL32	RW	≈ 481.558073	Anti-windup gain
0x2060	09	EEPROM	Speed Output Maximum	REAL32	RW	5.6	A
0x2060	0A	EEPROM	Speed Output Minimum	REAL32	RW	-5.6	A
0x2060	0B	EEPROM	Speed Ramp Mode	UNSIGNED8	RW	0	—
0x2060	0C	EEPROM	Speed Ramp Maximum	REAL32	RW	0	rad/s; not assigned in current defaults
0x2060	0D	EEPROM	Speed Ramp Minimum	REAL32	RW	0	rad/s; not assigned in current defaults
0x2060	0E	EEPROM	Speed Output Invert Enable	UNSIGNED8	RW	0	Boolean

Position Controller

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x2070	00	EEPROM	Entry Count	UNSIGNED8	R	14	—
0x2070	01	RAM	Position Reference	REAL32	RW	0	rad
0x2070	02	RAM	Position Feedback	REAL32	R	Runtime	rad
0x2070	03	EEPROM	Position Limit Maximum	REAL32	RW	≈ 816814.089933	rad
0x2070	04	EEPROM	Position Limit Minimum	REAL32	RW	≈ -816814.089933	rad
0x2070	05	EEPROM	Position Kp	REAL32	RW	3	—
0x2070	06	EEPROM	Position Ki	REAL32	RW	0	—
0x2070	07	EEPROM	Position Kd	REAL32	RW	0	—
0x2070	08	EEPROM	Position Ka	REAL32	RW	1	Anti-windup gain
0x2070	09	EEPROM	Position Output Maximum	REAL32	RW	5.6	A
0x2070	0A	EEPROM	Position Output Minimum	REAL32	RW	-5.6	A
0x2070	0B	EEPROM	Position Ramp Mode	UNSIGNED8	RW	0	—
0x2070	0C	EEPROM	Position Ramp Maximum	REAL32	RW	≈ 314.159265	rad/s
0x2070	0D	EEPROM	Position Ramp Minimum	REAL32	RW	≈ -314.159265	rad/s
0x2070	0E	EEPROM	Position Output Invert Enable	UNSIGNED8	RW	0	Boolean

Motor Monitor and Open-loop Parameters

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x2080	00	EEPROM	Motor Monitor Entry Count	UNSIGNED8	R	7	—
0x2080	01	RAM	Phase Current A	REAL32	R	Runtime	A
0x2080	02	RAM	Phase Current B	REAL32	R	Runtime	A
0x2080	03	RAM	Phase Current C	REAL32	R	Runtime	A
0x2080	04	RAM	d-axis Current	REAL32	R	Runtime	A
0x2080	05	RAM	q-axis Current	REAL32	R	Runtime	A
0x2080	06	RAM	d-axis Voltage Output	REAL32	R	Runtime	V
0x2080	07	RAM	q-axis Voltage Output	REAL32	R	Runtime	V
0x2090	00	EEPROM	Open-loop Parameter Entry Count	UNSIGNED8	R	8	Includes reserved sub-indices 06–08
0x2090	01	RAM	Force Align Voltage Reference	REAL32	RW	2.0	V
0x2090	02	RAM	Open-loop QV Voltage Reference	REAL32	RW	0.6	V
0x2090	03	RAM	Open-loop QV Speed	REAL32	RW	≈ 2.094395	rad/s; 20 rpm
0x2090	04	RAM	Calibration Voltage Reference	REAL32	RW	1.0	V
0x2090	05	RAM	Calibration Speed	REAL32	RW	≈ 1.047198	rad/s; 10 rpm

Temperature, Filter, and Error Configuration

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x20A0	00	EEPROM	Temperature Entry Count	UNSIGNED8	R	2	—
0x20A0	01	RAM	FET Temperature	REAL32	R	Runtime	°C
0x20A0	02	RAM	Motor Temperature	REAL32	R	Runtime	°C; motor NTC is not connected in current hardware
0x20B0	00	EEPROM	Filter Entry Count	UNSIGNED8	R	1	—
0x20B0	01	EEPROM	LPF Cutoff Frequency	REAL32	RW	80	Hz
0x20C0	00	EEPROM	Error Monitor Entry Count	UNSIGNED8	R	16	Includes reserved sub-indices 0E–10
0x20C0	01	EEPROM	Error Register Enable	UNSIGNED8	RW	1	Master enable
0x20C0	02	EEPROM	Overcurrent Error Enable	UNSIGNED8	RW	1	Boolean
0x20C0	03	EEPROM	Overcurrent Limit	REAL32	RW	28	A
0x20C0	04	EEPROM	Voltage Error Enable	UNSIGNED8	RW	1	Boolean
0x20C0	05	EEPROM	Undervoltage Limit	UNSIGNED32	RW	16	V
0x20C0	06	EEPROM	Overvoltage Limit	UNSIGNED32	RW	48	V
0x20C0	07	EEPROM	FET Temperature Error Enable	UNSIGNED8	RW	1	Boolean
0x20C0	08	EEPROM	FET Temperature Limit	UNSIGNED8	RW	100	°C
0x20C0	09	EEPROM	Motor Temperature Error Enable	UNSIGNED8	RW	0	Disabled because NTC is not connected
0x20C0	0A	EEPROM	Motor Temperature Limit	UNSIGNED8	RW	100	°C
0x20C0	0B	EEPROM	Communication Error Enable	UNSIGNED8	RW	1	CAN bus-off
0x20C0	0C	EEPROM	Device Profile Error Enable	UNSIGNED8	RW	1	Encoder status
0x20C0	0D	EEPROM	Manufacturer Error Enable	UNSIGNED8	RW	1	Gate-driver fault

Diagnostics

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x20D0	00	RAM	CAN Error Entry Count	UNSIGNED8	R	15	Includes reserved sub-indices 0D–0F
0x20D0	01	RAM	CAN Bus Off	UNSIGNED8	R	Runtime	0 or 1
0x20D0	02	RAM	CAN Error Passive	UNSIGNED8	R	Runtime	Error counter over 127
0x20D0	03	RAM	CAN Warning	UNSIGNED8	R	Runtime	Error counter over 95
0x20D0	04	RAM	CAN Last Error Code	UNSIGNED8	R	Runtime	0: none, 1: stuff, 2: form, 3: ACK, 4: bit1, 5: bit0, 6: CRC, 7: no change
0x20D0	05	RAM	CAN Data Last Error Code	UNSIGNED8	R	Runtime	CAN FD data-phase LEC
0x20D0	06	RAM	CAN Activity	UNSIGNED8	R	Runtime	0: synchronizing, 1: idle, 2: receiver, 3: transmitter
0x20D0	07	RAM	CAN Protocol Exception	UNSIGNED8	R	Runtime	0 or 1
0x20D0	08	RAM	CAN Tx Error Counter	UNSIGNED8	R	Runtime	TEC
0x20D0	09	RAM	CAN Rx Error Counter	UNSIGNED8	R	Runtime	REC
0x20D0	0A	RAM	CAN Error Logging	UNSIGNED8	R	Runtime	Hardware cumulative error log counter
0x20D0	0B	RAM	CAN Rx Overrun Count	UNSIGNED32	R	0	Firmware cumulative counter
0x20D0	0C	RAM	CAN Bus Off Count	UNSIGNED32	R	0	Counts bus-off transitions
0x20E0	00	EEPROM	GPIO Debug Entry Count	UNSIGNED8	R	5	—
0x20E0	01	RAM	MU_NER	UNSIGNED8	R	Runtime	Raw GPIO state
0x20E0	02	RAM	PVL_NWRN	UNSIGNED8	R	Runtime	Raw GPIO state
0x20E0	03	RAM	PVL_NERR	UNSIGNED8	R	Runtime	Raw GPIO state
0x20E0	04	RAM	READY	UNSIGNED8	R	Runtime	Raw GPIO state
0x20E0	05	RAM	NFAULT	UNSIGNED8	R	Runtime	Raw GPIO state

Encoder Input and Output Axis

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x3000	00	EEPROM	Encoder Entry Count	UNSIGNED8	R	18	Includes reserved sub-indices 10–12
0x3000	01	EEPROM	Input Count Maximum	UNSIGNED32	RW	32768	counts/revolution
0x3000	02	RAM	Input Count Value	UNSIGNED32	R	Runtime	count
0x3000	03	RAM	Input Count Offset	UNSIGNED32	R	Runtime	Stored internally as signed int32_t
0x3000	04	RAM	Input Mechanical Angle	REAL32	R	Runtime	rad
0x3000	05	RAM	Input Velocity	REAL32	R	Runtime	rad/s
0x3000	06	EEPROM	Input Direction	UNSIGNED8	RW	0	Boolean
0x3000	07	EEPROM	Input Electrical Angle Offset	REAL32	RW	0	rad
0x3000	08	RAM	Input Electrical Angle	REAL32	R	Runtime	rad
0x3000	09	EEPROM	Output Entry Count	UNSIGNED8	R	6	Firmware field name: Enc_Out_Count
0x3000	0A	EEPROM	Output Count Maximum	UNSIGNED32	RW	32768	counts/revolution
0x3000	0B	RAM	Output Count Value	UNSIGNED32	R	Runtime	count
0x3000	0C	EEPROM	Output Count Offset	UNSIGNED32	RW	0	Stored internally as signed int32_t
0x3000	0D	RAM	Output Mechanical Angle	REAL32	R	Runtime	rad
0x3000	0E	RAM	Output Velocity	REAL32	R	Runtime	rad/s
0x3000	0F	EEPROM	Output Direction	UNSIGNED8	RW	0	Boolean

iC-Haus Calibration Results

:::warning Count mismatch in current firmware 0x3010:00 initializes to decimal 18 (0x12), but co_od_table exposes calibration data through sub-index 0x18 (decimal 24). The table below follows the entries actually exposed by co_od_table. :::

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x3010	00	EEPROM	Calibration Entry Count	UNSIGNED8	R	18	Does not match highest exposed sub-index 0x18
0x3010	01	EEPROM	Master Track GX	UNSIGNED16	RW	0	GX_M
0x3010	02	EEPROM	Master Track VOSS	UNSIGNED16	RW	0	VOSS_M
0x3010	03	EEPROM	Master Track VOSC	UNSIGNED16	RW	0	VOSC_M
0x3010	04	EEPROM	Master Track PH	UNSIGNED16	RW	0	PH_M
0x3010	05	EEPROM	Nonius Track GX	UNSIGNED16	RW	0	GX_N
0x3010	06	EEPROM	Nonius Track VOSS	UNSIGNED16	RW	0	VOSS_N
0x3010	07	EEPROM	Nonius Track VOSC	UNSIGNED16	RW	0	VOSC_N
0x3010	08	EEPROM	Nonius Track PH	UNSIGNED16	RW	0	PH_N
0x3010	09	EEPROM	SPO Base	UNSIGNED8	RW	0	Stored internally as signed int8_t
0x3010	0A–18	EEPROM	SPO 0–14	UNSIGNED8	RW	0	Stored internally as signed int8_t[15]

Encoder Commands and Status

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x3020	00	EEPROM	Encoder Status Entry Count	UNSIGNED8	R	3	—
0x3020	01	RAM	Encoder State	UNSIGNED8	R	Runtime	Encoder error/status value
0x3020	02	EEPROM	Encoder Reset	UNSIGNED8	RW	0	Write 1 to reset and reload encoder state
0x3020	03	RAM	Encoder Raw28	UNSIGNED32	R	Runtime	Calibration raw value
0x3030	00	EEPROM	iC-PVL State Entry Count	UNSIGNED8	R	9	—
0x3030	01	RAM	PVL Startup Error	UNSIGNED8	R	Runtime	—
0x3030	02	RAM	PVL Configuration Error	UNSIGNED8	R	Runtime	—
0x3030	03	RAM	PVL Counter Error	UNSIGNED8	R	Runtime	—
0x3030	04	RAM	PVL Position Error	UNSIGNED8	R	Runtime	—
0x3030	05	RAM	PVL Battery Error	UNSIGNED8	R	Runtime	—
0x3030	06	RAM	PVL Battery Warning	UNSIGNED8	R	Runtime	—
0x3030	07	RAM	PVL Amplitude Error	UNSIGNED8	R	Runtime	—
0x3030	08	RAM	PVL Magnet Error	UNSIGNED8	R	Runtime	—
0x3030	09	RAM	PVL No-magnet Latch	UNSIGNED8	R	Runtime	—
0x3040	00	EEPROM	iC-MU State Entry Count	UNSIGNED8	R	13	—
0x3040	01	RAM	MU Startup Status	UNSIGNED8	R	Runtime	STUP
0x3040	02	RAM	MU Nonius Amplitude Maximum	UNSIGNED8	R	Runtime	AN_MAX
0x3040	03	RAM	MU Nonius Amplitude Minimum	UNSIGNED8	R	Runtime	AN_MIN
0x3040	04	RAM	MU Master Amplitude Maximum	UNSIGNED8	R	Runtime	AM_MAX
0x3040	05	RAM	MU Master Amplitude Minimum	UNSIGNED8	R	Runtime	AM_MIN
0x3040	06	RAM	MU CRC Error	UNSIGNED8	R	Runtime	—
0x3040	07	RAM	MU EEPROM Error	UNSIGNED8	R	Runtime	—
0x3040	08	RAM	MU Multi-turn Error	UNSIGNED8	R	Runtime	—
0x3040	09	RAM	MU Multi-turn Counter	UNSIGNED8	R	Runtime	—
0x3040	0A	RAM	MU Nonius Counter	UNSIGNED8	R	Runtime	—
0x3040	0B	RAM	MU ABZ Frequency	UNSIGNED8	R	Runtime	—
0x3040	0C	RAM	MU Conversion Frequency	UNSIGNED8	R	Runtime	—
0x3040	0D	RAM	MU Command Execution Status	UNSIGNED8	R	Runtime	—

Factory and User Zero

Index	Sub	Area	Data Name	Type	Access	Initial Value	Unit / Notes
0x3050	00	EEPROM	Factory Zero Entry Count	UNSIGNED8	R	3	—
0x3050	01	EEPROM	Factory Zero Command	UNSIGNED32	RW	0	Key: 0x66616374
0x3050	02	EEPROM	Factory Zero Multi-turn Offset	UNSIGNED32	R	0	Internal encoder offset
0x3050	03	EEPROM	Factory Zero Single-turn Offset	UNSIGNED32	R	0	Internal encoder offset
0x3060	00	EEPROM	User Zero Entry Count	UNSIGNED8	R	5	—
0x3060	01	EEPROM	User Zero Command	UNSIGNED32	RW	0	Write 1 to apply user zero
0x3060	02	EEPROM	User Zero Reference	REAL32	RW	0	Output-axis radian reference
0x3060	03	EEPROM	Turn Reset Command	UNSIGNED8	RW	0	Write 1 to reset the turn count
0x3060	04	EEPROM	User Zero Multi-turn Offset	UNSIGNED32	R	0	Internal encoder offset
0x3060	05	EEPROM	User Zero Single-turn Offset	UNSIGNED32	R	0	Internal encoder offset