Object Dictionary
CANBus Networking Manual 35
Index Sub (hex) Entry Name Type Access PDO Command
0x2103 01-ee(2) Read Encoder Motor Speed S32 RO Ye s S
0x2104 01-ee(2) Read Absolute Encoder Counter S32 RO Ye s C
0x2105 01-mm(1) Read Absolute Brushless S32 RO Ye s CB
0x2106 01-vv(3) Read User Integer Variable S32 RO Ye s VAR
0x2107 01-ee(2) Read Relative Encoder Motor Speed S16 RO Ye s SR
0x2108 01-ee(2) Read Encoder Count Relative S32 RO Ye s CR
0x2109 0-mm(1) Read Brushless Count Relative S32 RO Ye s BCR
0x210A 01-mm(1) Read BL Motor Speed in RPM S16 RO Ye s BS
0x210B 01-mm(1) Read Relative BL Motor Speed S16 RO Ye s BSR
0x210C 01-mm(1) Read Battery Amps S16 RO Ye s BA
0x210D 01 Read Internal Voltages U16 RO Ye s V
02 Read Internal Voltages (Battery) U16 RO Ye s V
03 Read Internal Voltages (5Vout) U16 RO Ye s V
0x210E 00 Read All Digital Inputs U32 RO Ye s D
0x210F 01-tt(5) + 1 Read MCU temperature (01) and
each transistor temperature (02,
03, …).
S8 RO Ye s T
0x2110 01-mm(1) Read Feedback S16 RO Ye s F
0x2111 00 Read Status Flags U16 RO Ye s FS
0x2112 00 Read Fault Flags U16 RO Ye s FF
0x2113 00 Read Current Digital Outputs U16 RO Ye s DO
0x2114 01-mm(1) Read Closed Loop Error S32 RO Ye s E
0x2115 01-bb(4) Read User Boolean Variable U32 RO Ye s B
0x2116 01-mm(1) Read Internal Serial Command S32 RO Ye s CIS
0x2117 01-mm(1) Read Internal Analog Command S32 RO Ye s CIA
0x2118 01-mm(1) Read Internal Pulse Command S32 RO Yes CIP
0x2119 00 Read Time U32 RO Ye s TM
0x211A 01-kk(6) Read Spektrum Radio Capture U16 RO Ye s K
0x211B 01-mm(1) Destination Pos Reached Flag U8 RO Ye s DR
0x211C 01-ma(7) Read MEMS Accelerometer S32 RO Ye s M
0x211D 01-mg(8) Read Magsensor Track Detect U8 RO Ye s MGD
0x211E 01-3×mg(8) Read Magsensor Track Position
(Left, Right, and Active Track)
S16 RO Ye s MGT
0x211F 01-2×mg(8) Read Magsensor Markers (Left
and Right)
U8 RO Ye s MGM
0x2120 01-mg(8) Read Magsensor Status U16 RO Ye s MGS
0x2121 01-mg(8) Read Magsensor Gyroscope S16 RO Ye s MGY
0x2122 01-mm(1) Read Motor Status Flags U16 RO Ye s FM
0x2123 01-mm(1) Read Hall Sensor States U8 RO Ye s HS
0x2124 00 Read Lock Status U8 RO Ye s LK