1.4.1

Software version: 1.4.1; configuration version: 1.4.

Register Category	Address	Parameter	type	Data Type	Access	Description
Motor	`0x01`	`motor_pole_pairs`	`0`	`int32_t`	`1` menu/error writable	Motor pole pairs
Motor	`0x02`	`motor_phase_resistance`	`2`	`float`	`1` menu/error writable	Phase resistance, in ohm
Motor	`0x03`	`motor_phase_inductance`	`2`	`float`	`1` menu/error writable	Phase inductance, in H
Motor	`0x04`	`inertia`	`2`	`float`	`1` menu/error writable	Controller feedforward inertia parameter
Motor	`0x05`	`reduction_ratio`	`2`	`float`	`3` read-only	Reduction ratio from build configuration
Encoder	`0x10`	`encoder_dir_rev`	`0`	`int32_t`	`1` menu/error writable	ENCI direction reverse flag, `0/1`
Encoder	`0x11`	`encoder_offset`	`0`	`int32_t`	`1` menu/error writable	ENCI electrical angle offset, usually written by calibration
Encoder	`0x12`	`calib_valid`	`0`	`int32_t`	`3` read-only	ENCI calibration valid flag
Encoder	`0x13`	`ENCO_calib_valid`	`0`	`int32_t`	`3` read-only	ENCO calibration valid flag
Encoder	`0x14`	`usr_enc1_offset`	`0`	`int32_t`	`3` read-only	ENCI user zero position
Encoder	`0x15`	`usr_enc2_offset`	`2`	`float`	`3` read-only	ENCO user zero position
Encoder	`0x16`	`enc2_closed_loop_enable`	`1`	`bool`	`0` runtime read/write	Output encoder closed-loop enable, `0` off, non-zero on
Calibration/Test	`0x20`	`calib_current`	`2`	`float`	`0` runtime read/write	Calibration current, in A
Calibration/Test	`0x21`	`calib_max_voltage`	`2`	`float`	`0` runtime read/write	Calibration maximum voltage, in V
Calibration/Test	`0x22`	`current_test_enable`	`1`	`bool`	`0` runtime read/write	Runtime current-test switch
Calibration/Test	`0x23`	`backlash_test_enable`	`1`	`bool`	`0` runtime read/write	Runtime backlash-test switch
Calibration/Test	`0x24`	`aging_test_enable`	`1`	`bool`	`0` runtime read/write	Aging-test switch, can be saved
Control	`0x30`	`control_mode`	`0`	`int32_t`	`0` runtime read/write	Control mode: current, velocity, position, etc.
Control	`0x31`	`pos_gain`	`2`	`float`	`0` runtime read/write	Position-loop proportional gain
Control	`0x32`	`vel_gain`	`2`	`float`	`0` runtime read/write	Velocity-loop proportional gain
Control	`0x33`	`vel_integrator_gain`	`2`	`float`	`0` runtime read/write	Velocity-loop integral gain
Control	`0x34`	`vel_limit`	`2`	`float`	`0` runtime read/write	Velocity limit, in turn/s
Control	`0x35`	`current_limit`	`2`	`float`	`0` runtime read/write	q-axis current limit, in A
Control	`0x36`	`torquet_limit`	`2`	`float`	`0` runtime read/write	MIT/torque-control torque limit
Control	`0x37`	`current_ramp_rate`	`2`	`float`	`0` runtime read/write	Current ramp rate, in A/s
Control	`0x38`	`vel_ramp_rate`	`2`	`float`	`0` runtime read/write	Velocity ramp rate, in turn/s^2
Control	`0x39`	`traj_vel`	`2`	`float`	`0` runtime read/write	Trapezoid trajectory target velocity, in turn/s
Control	`0x3A`	`traj_accel`	`2`	`float`	`0` runtime read/write	Trapezoid trajectory acceleration, in turn/s^2
Control	`0x3B`	`traj_decel`	`2`	`float`	`0` runtime read/write	Trapezoid trajectory deceleration, in turn/s^2
Control	`0x3C`	`field_weaken_mode`	`1`	`bool`	`0` runtime read/write	Field-weakening switch, `0` off, non-zero on
Current Loop	`0x40`	`current_ctrl_p_gain`	`2`	`float`	`1` menu/error writable	Current-loop P gain
Current Loop	`0x41`	`current_ctrl_i_gain`	`2`	`float`	`1` menu/error writable	Current-loop I gain
Current Loop	`0x42`	`current_ctrl_bandwidth`	`0`	`int32_t`	`1` menu/error writable	Current-loop bandwidth parameter
Protection	`0x50`	`protect_under_voltage`	`2`	`float`	`0` runtime read/write	Bus undervoltage protection threshold, in V
Protection	`0x51`	`protect_over_voltage`	`2`	`float`	`0` runtime read/write	Bus overvoltage protection threshold, in V
Protection	`0x52`	`protect_over_speed`	`2`	`float`	`0` runtime read/write	Overspeed protection threshold, in turn/s
Protection	`0x53`	`protect_temperature_low`	`2`	`float`	`0` runtime read/write	Thermal derating start temperature, in C
Protection	`0x54`	`protect_temperature_high`	`2`	`float`	`0` runtime read/write	Overtemperature shutdown threshold, in C
Protection	`0x55`	`protect_i_abc_error`	`2`	`float`	`0` runtime read/write	Three-phase current-sum fault threshold, in A
CAN	`0x60`	`can_id`	`0`	`int32_t`	`2` system communication parameter	Motor node ID
CAN	`0x61`	`master_id`	`0`	`int32_t`	`2` system communication parameter	MIT reply CAN ID
CAN	`0x62`	`sync_boot_id_flag`	`1`	`bool`	`2` system communication parameter	Boot-ID sync switch
CAN	`0x63`	`can_timeout_ms`	`0`	`int32_t`	`0` runtime read/write	CAN control timeout in ms; `0` disables timeout
CAN	`0x64`	`can_sync_target_enable`	`1`	`bool`	`0` runtime read/write	CAN sync-target enable
CAN	`0x65`	`can_mode_switch`	`1`	`bool`	`0` runtime read/write	CAN mode switch flag
MIT	`0x66`	`mit_mode`	`1`	`bool`	`1` menu/error writable	MIT protocol mode switch
MIT	`0x67`	`max_pos`	`2`	`float`	`0` runtime read/write	MIT position mapping range
MIT	`0x68`	`max_vel`	`2`	`float`	`0` runtime read/write	MIT velocity mapping range
MIT	`0x69`	`max_tor`	`2`	`float`	`0` runtime read/write	MIT torque mapping range
MIT	`0x6A`	`kp_max`	`2`	`float`	`0` runtime read/write	MIT `kp` mapping range
MIT	`0x6B`	`kd_max`	`2`	`float`	`0` runtime read/write	MIT `kd` mapping range
MIT	`0x6D`	`mit_aux_enable`	`1`	`bool`	`0` runtime read/write	MIT AUX polling reply switch
Runtime State	`0x70`	`runtime_state`	`0`	`int32_t`	`3` read-only	Current FSM state code
Version	`0x7C`	`config_version`	`4`	`version`	`3` read-only	Configuration layout version