Word Registers

Communication State_______________RW___01h Last Error________________________RW___02h User Has Disabled_________________R____03h Watchdog__________________________RW___04h Sample Rate_______________________RW___05h Version___________________________R____06h Input Bit 1_______________________R____07h Input Bit 2_______________________R____08h Input Bit 3_______________________R____09h Output Bit 1______________________RW___0Ah Output Bit 2______________________RW___0Bh Output Bit 3______________________RW___0Ch User Task 1_______________________RW___11h User Task 2_______________________RW___12h User Task 3_______________________RW___13h User Task 4_______________________RW___14h User Task 5_______________________RW___15h User Task 6_______________________RW___16h User Task 7_______________________RW___17h User Task 8_______________________RW___18h User Task 9_______________________RW___19h User Task 10______________________RW___1Ah User Task 11______________________RW___1Bh User Task 12______________________RW___1Ch User Task 13______________________RW___1Dh User Task 14______________________RW___1Eh User Task 15______________________RW___1Fh User Task 16______________________RW___20h User Word 1_______________________RW___21h User Word 2_______________________RW___22h User Word 3_______________________RW___23h User Word 4_______________________RW___24h User Word 5_______________________RW___25h User Word 6_______________________RW___26h User Word 7_______________________RW___27h User Word 8_______________________RW___28h User Word 9_______________________RW___29h User Word 10______________________RW___2Ah User Word 11______________________RW___2Bh User Word 12______________________RW___2Ch User Word 13______________________RW___2Dh User Word 14______________________RW___2Eh User Word 15______________________RW___2Fh User Word 16______________________RW___30h User Word 17______________________RW___31h User Word 18______________________RW___32h User Word 19______________________RW___33h User Word 20______________________RW___34h User Word 21______________________RW___35h User Word 22______________________RW___36h User Word 23______________________RW___37h User Word 24______________________RW___38h User Word 25______________________RW___39h User Word 26______________________RW___3Ah User Word 27______________________RW___3Bh User Word 28______________________RW___3Ch User Word 29______________________RW___3Dh User Word 30______________________RW___3Eh User Word 31______________________RW___3Fh User Word 32______________________RW___40h Motor On__________________________RW__101h Set Servo Track____________________W__102h Move Is Finished__________________R___103h Begin Stop_________________________W__104h Abort_____________________________RW__105h Set Input Format To Quadrature_____W__106h Set Variable Current Mode__________W__107h Set Quiet Mode_____________________W__108h Set Encoder Line Count_____________W__109h Set Current Reduction Delay________W__10Ah Set Microsteps Per Step____________W__10Bh Profile Phase_____________________R___10Ch Coordinate Inversion______________RW__10Dh Set Rotor Lead Lag Time____________W__10Eh Set Locked Timeout_________________W__10Fh Rotor Locked______________________R___110h Word Alignment Check Constant_____R___140h

Single Precision Floating Point Registers

User Single 1_____________________RW___41h User Single 2_____________________RW___43h User Single 3_____________________RW___45h User Single 4_____________________RW___47h User Single 5_____________________RW___49h User Single 6_____________________RW___4Bh User Single 7_____________________RW___4Dh User Single 8_____________________RW___4Fh User Single 9_____________________RW___51h User Single 10____________________RW___53h User Single 11____________________RW___55h User Single 12____________________RW___57h User Single 13____________________RW___59h User Single 14____________________RW___5Bh User Single 15____________________RW___5Dh User Single 16____________________RW___5Fh User Single 17____________________RW___61h User Single 18____________________RW___63h User Single 19____________________RW___65h User Single 20____________________RW___67h User Single 21____________________RW___69h User Single 22____________________RW___6Bh User Single 23____________________RW___6Dh User Single 24____________________RW___6Fh User Single 25____________________RW___71h User Single 26____________________RW___73h User Single 27____________________RW___75h User Single 28____________________RW___77h User Single 29____________________RW___79h User Single 30____________________RW___7Bh User Single 31____________________RW___7Dh User Single 32____________________RW___7Fh Speed_____________________________RW__141h Accel_____________________________RW__143h Decel_____________________________RW__145h Jog_______________________________RW__147h Profile Velocity__________________RW__149h Set Tracking Speed________________RW__151h Set Max Current Amps______________RW__153h Set Run Current Percentage________RW__155h Set Reduction Current Percentag___RW__157h Current Percentag_________________RW__159h Single Alignment Check Constant___R___17Fh

Double Precision Floating Point Registers

User Double 1_____________________RW___81h User Double 2_____________________RW___85h User Double 3_____________________RW___89h User Double 4_____________________RW___8Dh User Double 5_____________________RW___91h User Double 6_____________________RW___95h User Double 7_____________________RW___99h User Double 8_____________________RW___9Dh User Double 9_____________________RW___A1h User Double 10____________________RW___A5h User Double 11____________________RW___A9h User Double 12____________________RW___ADh User Double 13____________________RW___B1h User Double 14____________________RW___B5h User Double 15____________________RW___B9h User Double 16____________________RW___BDh User Double 17____________________RW___C1h User Double 18____________________RW___C5h User Double 19____________________RW___C9h User Double 20____________________RW___CDh User Double 21____________________RW___D1h User Double 22____________________RW___D5h User Double 23____________________RW___D9h User Double 24____________________RW___DDh User Double 25____________________RW___E1h User Double 26____________________RW___E5h User Double 27____________________RW___E9h User Double 28____________________RW___EDh User Double 29____________________RW___F1h User Double 30____________________RW___F5h User Double 31____________________RW___F9h User Double 32____________________RW___FDh Begin Move By_____________________RW__181h Begin Move To_____________________RW__185h Actual Position Motor_____________RW__189h Commanded Position________________RW__18Dh Destination Position______________RW__191h Positive Limit____________________RW__195h Negative Limit____________________RW__199h Counts Per User Unit______________RW__19Dh Deflection________________________RW__1A1h Rotor Lead Lag____________________RW__1A5h Actual Position Encoder___________RW__189h Actual Position Master____________RW__189h Double Alignment Check Constant___R___1FDh