<?xml version="1.0" encoding="UTF-8"?>
<IngeniaDictionary>
    <Header>
        <Version>2</Version>
        <DefaultLanguage>en_US</DefaultLanguage>
    </Header>
    <Body>
        <Device family="Summit" firmwareVersion="2.6.1" ProductCode="58920962" PartNumber="DEN-XCR-E" RevisionNumber="327695" Interface="ETH" name="Generic">
            <Categories>
                <Category id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Others</Label>
                    </Labels>
                </Category>
                <Category id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Product Identification</Label>
                    </Labels>
                </Category>
                <Category id="COMMUTATION">
                    <Labels>
                        <Label lang="en_US">Commutation</Label>
                    </Labels>
                </Category>
                <Category id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Protections</Label>
                    </Labels>
                </Category>
                <Category id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Internal</Label>
                    </Labels>
                </Category>
                <Category id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Control loop</Label>
                    </Labels>
                </Category>
                <Category id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Feedback</Label>
                    </Labels>
                </Category>
                <Category id="COMMUNICATIONS">
                    <Labels>
                        <Label lang="en_US">Communications</Label>
                    </Labels>
                </Category>
                <Category id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Motor and Brake</Label>
                    </Labels>
                </Category>
                <Category id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Reporting</Label>
                    </Labels>
                </Category>
                <Category id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Filters</Label>
                    </Labels>
                </Category>
                <Category id="PROFILER">
                    <Labels>
                        <Label lang="en_US">Profiler</Label>
                    </Labels>
                </Category>
                <Category id="LIMITS">
                    <Labels>
                        <Label lang="en_US">Limits</Label>
                    </Labels>
                </Category>
                <Category id="THRESHOLDS">
                    <Labels>
                        <Label lang="en_US">Thresholds</Label>
                    </Labels>
                </Category>
                <Category id="TARGET">
                    <Labels>
                        <Label lang="en_US">Targets</Label>
                    </Labels>
                </Category>
                <Category id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Inputs / Outputs</Label>
                    </Labels>
                </Category>
                <Category id="HOMING">
                    <Labels>
                        <Label lang="en_US">Homing</Label>
                    </Labels>
                </Category>
                <Category id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring</Label>
                    </Labels>
                </Category>
                <Category id="CIA402">
                    <Labels>
                        <Label lang="en_US">CiA402</Label>
                    </Labels>
                </Category>
            </Categories>
            <Registers>
                <Register access="r" address_type="NVM_NONE" address="0x000F"  dtype="s32" id="DRV_DIAG_ERROR_LAST" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Contains the last generated error" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Last error</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0010"  dtype="u16" id="DRV_STATE_CONTROL" units="-" subnode="1" cyclic="CYCLIC_RX" desc="Parameter to manage the drive state machine. It is compliant with DS402." cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Control word</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0011"  dtype="u16" id="DRV_STATE_STATUS" units="-" subnode="1" cyclic="CYCLIC_TX" desc="" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Status word</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0014"  dtype="u16" id="DRV_OP_CMD" units="-" subnode="1" cyclic="CYCLIC_RX" desc="User requested mode of operation" cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Operation mode</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Voltage</Enum>
                        <Enum value="1">Current amplifier</Enum>
                        <Enum value="2">Current</Enum>
                        <Enum value="34">Cyclic current</Enum>
                        <Enum value="3">Velocity</Enum>
                        <Enum value="35">Cyclic velocity</Enum>
                        <Enum value="19">Profile velocity</Enum>
                        <Enum value="4">Position</Enum>
                        <Enum value="36">Cyclic position</Enum>
                        <Enum value="20">Profile position</Enum>
                        <Enum value="68">Profile position S-curve</Enum>
                        <Enum value="180">PVT</Enum>
                        <Enum value="275">Homing</Enum>
                    </Enumerations>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0015"  dtype="u16" id="DRV_OP_VALUE" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Indicates the mode of operation applied in the drive" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Operation mode display</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Voltage</Enum>
                        <Enum value="1">Current amplifier</Enum>
                        <Enum value="2">Current</Enum>
                        <Enum value="34">Cyclic current</Enum>
                        <Enum value="3">Velocity</Enum>
                        <Enum value="35">Cyclic velocity</Enum>
                        <Enum value="19">Profile velocity</Enum>
                        <Enum value="4">Position</Enum>
                        <Enum value="36">Cyclic position</Enum>
                        <Enum value="20">Profile position</Enum>
                        <Enum value="68">Profile position S-curve</Enum>
                        <Enum value="180">PVT</Enum>
                        <Enum value="275">Homing</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0018"  dtype="float" id="CL_VOL_Q_SET_POINT" units="V" subnode="1" cyclic="CYCLIC_RX" desc="User quadrature voltage set-point" cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Voltage quadrature set-point</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0019"  dtype="float" id="CL_VOL_D_SET_POINT" units="V" subnode="1" cyclic="CYCLIC_RX" desc="User direct voltage set-point" cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Voltage direct set-point</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x001A"  dtype="float" id="CL_CUR_Q_SET_POINT" units="A" subnode="1" cyclic="CYCLIC_RX" desc="User set-point of quadrature current in Amperes" cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Current quadrature set-point</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x001B"  dtype="float" id="CL_CUR_D_SET_POINT" units="A" subnode="1" cyclic="CYCLIC_RX" desc="User set-point of direct current in Amperes" cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Current direct set-point</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x001C"  dtype="float" id="CL_CUR_A_SET_POINT" units="A" subnode="1" cyclic="CYCLIC_RX" desc="User set-point for current of phase A in Amperes" cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Current A set-point</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x001D"  dtype="float" id="CL_CUR_B_SET_POINT" units="A" subnode="1" cyclic="CYCLIC_RX" desc="User set-point for current of phase B in Amperes" cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Current B set-point</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0020"  dtype="s32" id="CL_POS_SET_POINT_VALUE" units="cnt" subnode="1" cyclic="CYCLIC_RX" desc="User position set-point in counts" cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Position set-point</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0021"  dtype="float" id="CL_VEL_SET_POINT_VALUE" units="rev/s" subnode="1" cyclic="CYCLIC_RX" desc="User velocity set-point for velocity modes" cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Velocity set-point</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0022"  dtype="float" id="CL_TOR_SET_POINT_VALUE" units="Nm" subnode="1" cyclic="CYCLIC_RX" desc="" cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Torque set-point</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0024"  dtype="u16" id="PROF_POS_OPTION_CODE" units="-" subnode="1" cyclic="CYCLIC_RX" desc="Positioning option code as per CiA402 (0x60F2)  Bits 0, 1 - Relative option (not implemented) Bits 2, 3 - Change immediately option (not implemented) Bits 4, 5 - Request response option (not implemented) Bits 6, 7 - Rotary axis direction option" cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Positioning option code</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0025"  dtype="float" id="PROF_MAX_VEL" units="rev/s" subnode="1" cyclic="CYCLIC_RX" desc="By default indicates the profile velocity used in profile position mode." cat_id="PROFILER">
                    <Labels>
                        <Label lang="en_US">Profiler max. velocity</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0026"  dtype="float" id="PROF_MAX_ACC" units="rev/s2" subnode="1" cyclic="CYCLIC_RX" desc="By default indicates the profile acceleration used in profile position and velocity modes." cat_id="PROFILER">
                    <Labels>
                        <Label lang="en_US">Profiler max. acceleration</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0027"  dtype="float" id="PROF_MAX_DEC" units="rev/s2" subnode="1" cyclic="CYCLIC_RX" desc="By default indicates the profile deceleration used in profile position and velocity modes." cat_id="PROFILER">
                    <Labels>
                        <Label lang="en_US">Profiler max. deceleration</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0029"  dtype="float" id="CL_TOR_FBK_VALUE" units="Nm" subnode="1" cyclic="CYCLIC_TX" desc="" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Actual torque</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0030"  dtype="s32" id="CL_POS_FBK_VALUE" units="cnt" subnode="1" cyclic="CYCLIC_TX" desc="Position obtained from position feedback sensor in counts" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Actual position</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0031"  dtype="float" id="CL_VEL_FBK_VALUE" units="rev/s" subnode="1" cyclic="CYCLIC_TX" desc="Velocity obtained from velocity feedback sensor in revolution per second" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Actual velocity</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0033"  dtype="u32" id="CL_AUX_FBK_VALUE" units="cnt" subnode="1" cyclic="CYCLIC_TX" desc="Raw value of selected auxiliar feedback" cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Auxiliar feedback value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0037"  dtype="u16" id="DRV_PROT_IBUS_COUNTS" units="ADC" subnode="1" cyclic="CYCLIC_TX" desc="Bus current measurements in ADC counts" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Bus voltage current counts</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0038"  dtype="float" id="FBK_CUR_A_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Current reading of phase A in Amperes" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current A value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0039"  dtype="float" id="FBK_CUR_B_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Current readings of phase B in Amperes." cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current B value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x003A"  dtype="float" id="FBK_CUR_C_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Current readings of current C in Amperes" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current C value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x003B"  dtype="float" id="CL_CUR_Q_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Readings of quadrature current in Amperes" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current quadrature value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x003C"  dtype="float" id="CL_CUR_D_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Readings of direct current in Amperes" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current direct value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x003D"  dtype="u16" id="FBK_CUR_A_COUNTS" units="ADC" subnode="1" cyclic="CYCLIC_TX" desc="Current readings of phase A in ADC counts" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Current A counts</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x003E"  dtype="u16" id="FBK_CUR_B_COUNTS" units="ADC" subnode="1" cyclic="CYCLIC_TX" desc="Current readings of phase B in ADC counts" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Current B counts</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x003F"  dtype="u16" id="FBK_CUR_C_COUNTS" units="ADC" subnode="1" cyclic="CYCLIC_TX" desc="Current readings of phase C in ADC counts." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Current C counts</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0040"  dtype="float" id="COMMU_ANGLE_VALUE" units="rev" subnode="1" cyclic="CYCLIC_TX" desc="Angle readings in revolutions from commutation feedback after applying angle offset parameter" cat_id="COMMUTATION">
                    <Labels>
                        <Label lang="en_US">Commutation angle value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0041"  dtype="float" id="COMMU_ANGLE_REF_VALUE" units="rev" subnode="1" cyclic="CYCLIC_TX" desc="Angle read by the reference angle sensor in revolutions" cat_id="COMMUTATION">
                    <Labels>
                        <Label lang="en_US">Reference angle value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x004A"  dtype="s32" id="FBK_BISS1_SSI1_POS_VALUE" units="cnt" subnode="1" cyclic="CYCLIC_TX" desc="Raw position obtained from serial absolute feedback frame" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - Position</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x004B"  dtype="u32" id="FBK_BISS1_SSI1_FULL_FRAME_VALUE" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Raw frame data of the configured absolute encoder" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - Full frame</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0050"  dtype="float" id="FBK_GEN_VALUE" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Output value of the internal generator feedback" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Generator value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0051"  dtype="s32" id="FBK_SSI2_POS_VALUE" units="cnt" subnode="1" cyclic="CYCLIC_TX" desc="Raw position obtained from Secondary BiSS-C / SSI slave 1 feedback frame" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - Position</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0052"  dtype="s32" id="FBK_BISS2_POS_VALUE" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Raw position obtained from serial absolute slave 1 feedback frame" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - Position</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0053"  dtype="float" id="CL_TOR_REF_VALUE" units="Nm" subnode="1" cyclic="CYCLIC_TX" desc="" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Torque demand</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0054"  dtype="u32" id="FBK_SSI2_FULL_FRAME_VALUE" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Full frame value obtained from Secondary BiSS-C / SSI slave 1 feedback" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - Full frame</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0055"  dtype="u32" id="FBK_BISS2_FULL_FRAME_VALUE" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Full frame value obtained from serial absolute slave 1 feedback" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - Full frame</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x005F"  dtype="u16" id="DRV_PROT_VBUS_COUNTS" units="ADC" subnode="1" cyclic="CYCLIC_TX" desc="ADC counts of the bus voltage read by the drive." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Bus voltage counts</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0060"  dtype="float" id="DRV_PROT_VBUS_VALUE" units="V" subnode="1" cyclic="CYCLIC_TX" desc="Bus voltage measurements in volts" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Bus voltage value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0061"  dtype="float" id="DRV_PROT_PRIM_TEMP_VALUE" units="ºC" subnode="1" cyclic="CYCLIC_TX" desc="Temperature reading of the power stage" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Power stage temperature 1 value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0062"  dtype="u16" id="DRV_PROT_PRIM_TEMP_COUNTS" units="ADC" subnode="1" cyclic="CYCLIC_TX" desc="Contains power stage temperature in ADC counts" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temperature 1 counts</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0063"  dtype="float" id="MOT_PROT_TEMP_VALUE" units="ºC" subnode="1" cyclic="CYCLIC_TX" desc="Motor temperature readings in degrees celsius" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Motor temperature value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0064"  dtype="float" id="DRV_PROT_RED_TEMP_VALUE" units="ºC" subnode="1" cyclic="CYCLIC_TX" desc="Redundant temperature readings of the power stage in degrees celsius" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Power stage temperature 2 value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0066"  dtype="u16" id="DRV_PROT_RED_TEMP_COUNTS" units="ADC" subnode="1" cyclic="CYCLIC_TX" desc="Redundant temperature of the power stage in ADC counts" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temperature 2 counts</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0067"  dtype="float" id="DRV_PROT_TEMP_VALUE" units="ºC" subnode="1" cyclic="CYCLIC_TX" desc="Contains power stage temperature in degrees celsius" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Power stage max. actual temperature</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0068"  dtype="float" id="FBK_VOL_A_VALUE" units="V" subnode="1" cyclic="CYCLIC_TX" desc="" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Voltage phase A</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0069"  dtype="float" id="FBK_VOL_B_VALUE" units="V" subnode="1" cyclic="CYCLIC_TX" desc="" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Voltage phase B</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x006A"  dtype="float" id="FBK_VOL_C_VALUE" units="V" subnode="1" cyclic="CYCLIC_TX" desc="" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Voltage phase C</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x006E"  dtype="float" id="CL_VOL_D_CMD" units="V" subnode="1" cyclic="CYCLIC_TX" desc="Commanded direct voltage value" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Voltage direct command</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x006F"  dtype="float" id="CL_VOL_Q_CMD" units="V" subnode="1" cyclic="CYCLIC_TX" desc="Commanded quadrature voltage value" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Voltage quadrature command</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0070"  dtype="float" id="CL_VOL_Q_REF_VALUE" units="V" subnode="1" cyclic="CYCLIC_TX" desc="Internal quadrature voltage set-point that enters to the space vector modulation module" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Voltage quadrature demand</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0071"  dtype="float" id="CL_VOL_D_REF_VALUE" units="V" subnode="1" cyclic="CYCLIC_TX" desc="Internal direct voltage set-point that enters to the space vector modulation module" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Voltage direct demand</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0072"  dtype="float" id="CL_CUR_Q_REF_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Internal set-point of quadrature current sent to drive PI controller in Amperes" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current quadrature demand</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0073"  dtype="float" id="CL_CUR_D_REF_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Internal set-point of direct current sent to drive PI controller in Amperes" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current direct demand</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0074"  dtype="float" id="CL_CUR_A_REF_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Internal set-point sent to drive controller for current of phase A" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current A demand</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0075"  dtype="float" id="CL_CUR_B_REF_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Internal set-point sent to drive controller for current of phase B" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current B demand</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0076"  dtype="float" id="FBK_CUR_MODULE_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Current vector module in Amperes" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current actual value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0077"  dtype="float" id="CL_CUR_CMD_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Commanded current vector module" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current command value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0078"  dtype="s32" id="CL_POS_REF_VALUE" units="cnt" subnode="1" cyclic="CYCLIC_TX" desc="Internal position set-point that enters to the position drive controller" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Position demand</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0079"  dtype="float" id="CL_VEL_REF_VALUE" units="rev/s" subnode="1" cyclic="CYCLIC_TX" desc="Internal velocity set-point that enters to the velocity drive controller" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Velocity demand</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x007A"  dtype="float" id="PROF_ACCEL_REF_VALUE" units="rev/s2" subnode="1" cyclic="CYCLIC_TX" desc="Acceleration generated by the profiler" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Acceleration demand</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x007B"  dtype="float" id="CL_VEL_CMD_OFFSET" units="rev/s" subnode="1" cyclic="CYCLIC_RX" desc="User input offset added at the input of the velocity PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Velocity loop input offset</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x007C"  dtype="float" id="CL_CUR_Q_OFFSET" units="A" subnode="1" cyclic="CYCLIC_RX" desc="Offset added to quadrature current PI controller input in amperes" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current quadrature loop input offset</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x007D"  dtype="float" id="CL_CUR_D_OFFSET" units="A" subnode="1" cyclic="CYCLIC_RX" desc="Offset added to current D PI controller in Amperes" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current direct loop input offset</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0080"  dtype="float" id="CL_TOR_CMD_OFFSET" units="Nm" subnode="1" cyclic="CYCLIC_RX" desc="" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Torque loop input offset</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0081"  dtype="u16" id="IO_ANA1_COUNTS" units="ADC" subnode="1" cyclic="CYCLIC_TX" desc="Counts obtained from analog input 1. ADC resolution is 16 bits for differential signals" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Analog input 1 - Counts</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0082"  dtype="float" id="IO_ANA1_VALUE" units="-" subnode="1" cyclic="CYCLIC_TX" desc="This register allow to read the value obtained from analog input 1, after being normalized and applying corresponding gain and offset.  Analog value is internally computed as: - Value = (Adc(range 0 to 1) * Gain) + Offset" cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Analog input 1 - Value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0083"  dtype="u16" id="IO_ANA2_COUNTS" units="ADC" subnode="1" cyclic="CYCLIC_TX" desc="Counts obtained from analog input 2. ADC resolution is 16 bits for differential signals" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Analog input 2 - Counts</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0084"  dtype="float" id="IO_ANA2_VALUE" units="-" subnode="1" cyclic="CYCLIC_TX" desc="This register allow to read the value obtained from analog input 2, after being normalized and applying corresponding gain and offset.  Analog value is internally computed as: - Value = (Adc(range 0 to 1) * Gain) + Offset" cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Analog input 2 - Value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0089"  dtype="float" id="DRV_PROT_MAIN_LOGIC_VOLT_VAL" units="V" subnode="1" cyclic="CYCLIC_TX" desc="Voltage value of main logic supply" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Main logic supply voltage</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x008A"  dtype="float" id="DRV_PROT_IO_LEVEL_VOLT_VAL" units="V" subnode="1" cyclic="CYCLIC_TX" desc="Voltage value of IO level supply" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">IO level supply voltage</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x008B"  dtype="float" id="DRV_PROT_MCU_VOLT_VAL" units="V" subnode="1" cyclic="CYCLIC_TX" desc="Voltage value of MCU logic supply" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">MCU logic supply voltage</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x008D"  dtype="float" id="IO_ANA_OUT1_VAL" units="-" subnode="1" cyclic="CYCLIC_RX" desc="This register allow to write the value of the analog output 1. The value is in normalized values (-1.0 being minimum output, +1.0 being maximum output). The output range depends on the product" cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Analog output 1 - Value</Label>
                    </Labels>
                    <Range min="-1.0" max="1.0"/>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0096"  dtype="float" id="CL_POS_CMD_VALUE" units="cnt" subnode="1" cyclic="CYCLIC_TX" desc="Position command in position control loop." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position loop control command</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0097"  dtype="float" id="CL_VEL_CMD_VALUE" units="rev/s" subnode="1" cyclic="CYCLIC_TX" desc="Velocity command in velocity control loop." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Velocity loop control command</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0098"  dtype="float" id="CL_CUR_Q_CMD_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Current command in current quadrature and current A control loop." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current quadrature / A control loop command</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0099"  dtype="float" id="CL_CUR_D_CMD_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Current command in current direct and current B control loop." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current direct / B control loop command</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x009A"  dtype="float" id="MOT_RATED_TORQUE" units="Nm" subnode="1" cyclic="CYCLIC_RX" desc="Indicates the continuous torque of the actuator / system" cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Rated torque</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x009B"  dtype="float" id="CL_TOR_CMD_VALUE" units="Nm" subnode="1" cyclic="CYCLIC_TX" desc="Torque command in torque control loop." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Torque control loop command</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0100"  dtype="float" id="MOT_RATED_CURRENT" units="A" subnode="1" cyclic="CYCLIC_RX" desc="Indicates the continuous current of the actuator / system" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Rated current</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0101"  dtype="float" id="DRV_PROT_I2T_PEAK_VALUE" units="A" subnode="1" cyclic="CONFIG" desc="User peak current" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Peak current</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0102"  dtype="u32" id="DRV_PROT_I2T_PEAK_TIME" units="ms" subnode="1" cyclic="CONFIG" desc="User allowed peak current time" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Peak current time</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0106"  dtype="s16" id="MOT_PAIR_POLES" units="-" subnode="1" cyclic="CONFIG" desc="Pole pairs of the actuator" cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Motor pole pairs</Label>
                    </Labels>
                    <Range min="0" max="32767"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0109"  dtype="float" id="MOT_PROT_TEMP_THRESHOLD" units="ºC" subnode="1" cyclic="CONFIG" desc="Motor temperature threshold where derating is started to be applied" cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Motor temp. protection threshold</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x010A"  dtype="u16" id="MOT_PROT_TEMP_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the type of temperature sensor used for motor temperature readings 0: NTC 1: PTC 2: Linear voltage 3: RTD 4: Silicon based 5: Switch 6: None" cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Motor temp. sensor type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">NTC</Enum>
                        <Enum value="1">PTC</Enum>
                        <Enum value="2">Linear voltage</Enum>
                        <Enum value="3">RTD</Enum>
                        <Enum value="4">Silicon</Enum>
                        <Enum value="5">Switch</Enum>
                        <Enum value="6">None</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x010B"  dtype="u32" id="MOT_PROT_TEMP_RES" units="Ω" subnode="1" cyclic="CONFIG" desc="NTC: Resistance value for 25 ºC in ohms PTC: Resistance value where the over-temperature must be detected in ohms Others: Not used." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Motor temp. sensor resistance</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x010C"  dtype="u16" id="MOT_PROT_TEMP_B2585" units="ºK" subnode="1" cyclic="CONFIG" desc="NTC: B(25/85) parameter from datasheet PTC: Not used Others: Not used" cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Motor temp. sensor β (25-85)</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x010D"  dtype="u32" id="MOT_PROT_TEMP_EXT_RES" units="Ω" subnode="1" cyclic="CONFIG" desc="NTC: Resistance in ohms connected to NTC for making the voltage divider PTC: Resistance in ohms connected to PTC for making the voltage divider Others: Not used." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Motor temp. sensor external resistance</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x010E"  dtype="float" id="MOT_PROT_TEMP_GAIN" units="ºC / V" subnode="1" cyclic="CONFIG" desc="Linear voltage sensor: Gain of the sensor Others: Not used" cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Motor temp. sensor gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x010F"  dtype="float" id="MOT_PROT_TEMP_OFFSET" units="ºC" subnode="1" cyclic="CONFIG" desc="NTC: Not used PTC: Not used Others: Offset of the sensor" cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Motor temp. sensor offset</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0110"  dtype="float" id="MOT_PROT_TEMP_VREF" units="V" subnode="1" cyclic="CONFIG" desc="Indicates the voltage reference used on the circuit for motor temperature readings" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Motor temperature sensor voltage reference</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0111"  dtype="float" id="MOT_PROT_TEMP_TEMP0" units="ºC" subnode="1" cyclic="CONFIG" desc="Temperature value at 1 point of a linear temperature resistance sensor curve" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Motor temperature sensor Temperature 0</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0112"  dtype="float" id="MOT_PROT_TEMP_RES0" units="Ω" subnode="1" cyclic="CONFIG" desc="Resistance value at 1 point of the linear temperature resistance sensor curve" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Motor temperature sensor Resistance 0</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0113"  dtype="float" id="MOT_PROT_TEMP_TEMP1" units="ºC" subnode="1" cyclic="CONFIG" desc="Resistance value at 1 point of a linear temperature resistance sensor curve" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Motor temperature sensor Temperature 1</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0114"  dtype="float" id="MOT_PROT_TEMP_RES1" units="Ω" subnode="1" cyclic="CONFIG" desc="Resistance value at 1 point of a linear temperature resistance sensor curve" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Motor temperature sensor Resistance 1</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0120"  dtype="float" id="DRV_PROT_INT_SHUNT_ENA_VOLT" units="V" subnode="1" cyclic="CONFIG" desc="Voltage threshold to enable internal shunt braking resistor" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Internal shunt enable voltage</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0121"  dtype="float" id="DRV_PROT_INT_SHUNT_DIS_VOLT" units="V" subnode="1" cyclic="CONFIG" desc="Voltage threshold to disable internal shunt braking resistor" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Internal shunt disable voltage</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0122"  dtype="float" id="DRV_PROT_EXT_SHUNT_ENA_VOLT" units="V" subnode="1" cyclic="CONFIG" desc="Voltage threshold to enable external shunt braking resistor" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">External shunt enable voltage</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0123"  dtype="float" id="DRV_PROT_EXT_SHUNT_DIS_VOLT" units="V" subnode="1" cyclic="CONFIG" desc="Voltage threshold to disable external shunt braking resistor" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">External shunt disable voltage</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0124"  dtype="u16" id="MOT_BRAKE_ACTIVATION_DUTY" units="%" subnode="1" cyclic="CONFIG" desc="Percentage of voltage applied to release the brake" cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake activation voltage percentage</Label>
                    </Labels>
                    <Range min="0" max="100"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0125"  dtype="u16" id="MOT_BRAKE_HOLDING_DUTY" units="%" subnode="1" cyclic="CONFIG" desc="Percentage of voltage applied to the brake." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake holding voltage percentage</Label>
                    </Labels>
                    <Range min="0" max="100"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0126"  dtype="u32" id="MOT_BRAKE_PRE_TIME" units="ms" subnode="1" cyclic="CONFIG" desc="Indicates the delay in milliseconds the brake starts holding the actual position before the drive stops driving the actuator." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Delay before release brake</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0127"  dtype="u32" id="MOT_BRAKE_POST_TIME" units="ms" subnode="1" cyclic="CONFIG" desc="Indicates the delay in milliseconds the brake is still holding the position after the drive starts driving the actuator." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Delay after enable brake</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0128"  dtype="u32" id="MOT_BRAKE_ACTIVATION_TIME" units="ms" subnode="1" cyclic="CONFIG" desc="Indicates the time in milliseconds the voltage applied to the brake is the configured brake activation voltage percentage.." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Activation brake time</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0129"  dtype="u16" id="MOT_BRAKE_OVERRIDE" units="-" subnode="1" cyclic="CONFIG" desc="If configured, overrides automatic functionality of brake.   0 - Does not override 1 - Overrides brake and applies holding duty 2 - Overrides and enables brake" cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake override</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Override disabled</Enum>
                        <Enum value="1">Release brake</Enum>
                        <Enum value="2">Enable brake</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x012A"  dtype="float" id="MOT_BRAKE_ACTIVATION_CUR" units="A" subnode="1" cyclic="CONFIG" desc="Current in Amperes to release the brake.  -This option is available in brake current control mode." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake activation current</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x012B"  dtype="float" id="MOT_BRAKE_HOLDING_CUR" units="A" subnode="1" cyclic="CONFIG" desc="Current in Amperes to hold the brake disabled. -This option is available in brake current control mode." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake holding current</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x012C"  dtype="float" id="MOT_BRAKE_CL_KP" units="1/A" subnode="1" cyclic="CONFIG" desc="Brake current control loop proportional constant." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake current control Kp</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x012D"  dtype="float" id="MOT_BRAKE_CL_KI" units="Hz" subnode="1" cyclic="CONFIG" desc="Brake current control loop integral constant." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake current control Ki</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x012E"  dtype="u16" id="MOT_BRAKE_CONTROL_MODE" units="-" subnode="1" cyclic="CONFIG" desc="" cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake control mode</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Voltage control</Enum>
                        <Enum value="1">Current control</Enum>
                        <Enum value="2">None</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x012F"  dtype="float" id="MOT_BRAKE_CL_ERROR_WINDOW" units="A" subnode="1" cyclic="CONFIG" desc="Indicates the brake current error window. Error is generated when error exceeded following window during  a given timeout." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake current error window</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0130"  dtype="u32" id="MOT_BRAKE_CL_ERROR_TIMEOUT" units="ms" subnode="1" cyclic="CONFIG" desc="This register is used in current control mode. This register is used to configure the following error detection time threshold ." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake current error timeout</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0131"  dtype="float" id="MOT_BRAKE_MAX_CUR" units="A" subnode="1" cyclic="CONFIG" desc="Indicates the maximum allowed output current at the brake. This register acts as a protection preventing brake overcurrent." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake max current</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0133"  dtype="float" id="MOT_BRAKE_CUR_VALUE" units="A" subnode="1" cyclic="CYCLIC_TX" desc="This register shows the corresponding brake current reading." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake current actual value</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0134"  dtype="u16" id="MOT_BRAKE_CUR_FBK" units="-" subnode="1" cyclic="CONFIG" desc="" cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake current feedback source</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">No feedback</Enum>
                        <Enum value="1">General purpose analog input 1</Enum>
                        <Enum value="2">General purpose analog input 2</Enum>
                    </Enumerations>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0141"  dtype="float" id="MOT_BRAKE_CUR_CMD" units="A" subnode="1" cyclic="CYCLIC_TX" desc="Commanded value on the brake current control loop" cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake current command</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x014F"  dtype="u16" id="MOT_COMMU_MOD" units="-" subnode="1" cyclic="CONFIG" desc="Specifies the modulation used to drive the actuator" cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Commutation modulation</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Sinusoidal</Enum>
                        <Enum value="1">Trapezoidal</Enum>
                        <Enum value="2">Single phase</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0150"  dtype="float" id="COMMU_ANGLE_OFFSET" units="rev" subnode="1" cyclic="CONFIG" desc="Angle offset between the reference feedback vs commutation feedback in revolutions." cat_id="COMMUTATION">
                    <Labels>
                        <Label lang="en_US">Commutation angle offset</Label>
                    </Labels>
                    <Range min="0.0" max="1.0"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0151"  dtype="u16" id="COMMU_ANGLE_SENSOR" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the sensor used for angle readings" cat_id="COMMUTATION">
                    <Labels>
                        <Label lang="en_US">Commutation feedback sensor</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="1">Primary Absolute Slave 1</Enum>
                        <Enum value="3">Internal generator</Enum>
                        <Enum value="4">Incremental encoder 1</Enum>
                        <Enum value="5">Digital halls</Enum>
                        <Enum value="6">Secondary Absolute Slave 1</Enum>
                        <Enum value="7">Primary Absolute Slave 2 (daisy chain)</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0152"  dtype="float" id="COMMU_ANGLE_REF_OFFSET" units="rev" subnode="1" cyclic="CONFIG" desc="Offset between the generated 0 angle position of the drive and the value read by the reference feedback sensor. It is computed automatically by a forced phasing method." cat_id="COMMUTATION">
                    <Labels>
                        <Label lang="en_US">Reference angle offset</Label>
                    </Labels>
                    <Range min="0.0" max="1.0"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0153"  dtype="u16" id="COMMU_ANGLE_REF_SENSOR" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the reference angle sensor used for angle readings." cat_id="COMMUTATION">
                    <Labels>
                        <Label lang="en_US">Reference feedback sensor</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="1">Primary Absolute Slave 1</Enum>
                        <Enum value="3">Internal generator</Enum>
                        <Enum value="4">Incremental encoder 1</Enum>
                        <Enum value="5">Digital halls</Enum>
                        <Enum value="6">Secondary Absolute Slave 1</Enum>
                        <Enum value="7">Primary Absolute Slave 2 (daisy chain)</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0154"  dtype="u16" id="COMMU_PHASING_MODE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the method of actuator alignment" cat_id="COMMUTATION">
                    <Labels>
                        <Label lang="en_US">Phasing mode</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Non-forced</Enum>
                        <Enum value="1">Forced</Enum>
                        <Enum value="2">No phasing</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0155"  dtype="float" id="COMMU_PHASING_MAX_CURRENT" units="A" subnode="1" cyclic="CONFIG" desc="Maximum allowed current during phasing sequence" cat_id="COMMUTATION">
                    <Labels>
                        <Label lang="en_US">Max. current on phasing sequence</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0156"  dtype="u16" id="COMMU_PHASING_TIMEOUT" units="ms" subnode="1" cyclic="CONFIG" desc="Indicates the maximum time that a step is applied in the forced method if the next step condition is not reached." cat_id="COMMUTATION">
                    <Labels>
                        <Label lang="en_US">Phasing timeout</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0157"  dtype="u16" id="COMMU_PHASING_ACCURACY" units="mº" subnode="1" cyclic="CONFIG" desc="Determines the number of steps, the minimum displacement distance and the steps discretization of the binary search method" cat_id="COMMUTATION">
                    <Labels>
                        <Label lang="en_US">Phasing accuracy</Label>
                    </Labels>
                </Register>
                <Register access="w" address_type="NVM_NONE" address="0x017B"  dtype="u16" id="FBK_RESTART_ALL" units="-" subnode="1" cyclic="CONFIG" desc="Writing any value to this parameter will force a restart of all feedbacks" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Restart all feedbacks</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x017C"  dtype="u16" id="FBK_SET_PWR_STATUS" units="-" subnode="1" cyclic="CONFIG" desc="This register allows to enable or disable the power of the feedbacks and I/O." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Set feedback power supply status</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Feedbacks disabled</Enum>
                        <Enum value="1">Feedbacks enabled</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0181"  dtype="s32" id="PROF_IP_POS_INPUT" units="cnt" subnode="1" cyclic="CYCLIC_RX" desc="Position input for interpolation data record in counts. Unless only one parameter is used in the buffer, use interpolation data record parameters with cyclic communications." cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Interpolation data record - Position input</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0182"  dtype="float" id="PROF_IP_VEL_INPUT" units="rev/s" subnode="1" cyclic="CYCLIC_RX" desc="Velocity input for interpolation data record in rev/s. Unless only one parameter is used in the buffer, use interpolation data record parameters with cyclic communications." cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Interpolation data record - Velocity input</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0183"  dtype="u16" id="PROF_IP_TIME_INPUT" units="ms" subnode="1" cyclic="CYCLIC_RX" desc="Time input for interpolation data record in milliseconds. Only the first 16 bits are used. Unless only one parameter is used in the buffer, use interpolation data record parameters with cyclic communications." cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Interpolation data record - Time input</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0184"  dtype="u16" id="PROF_IP_INTEGRITY_INPUT" units="-" subnode="1" cyclic="CYCLIC_RX" desc="This parameter is used to append new PT or PVT data to the interpolated position buffer and is used as a check as well. Data is added to the buffer every time this parameter increases by a value of 1. In other words, to start adding data into the interpolation data record:  1 - Read this parameter 2 - Fill in the interpolation data record with the desired point 3 - Add 1 to the value read in this parameter.  This process can be done with cyclic communications and the value can be added in each transmission without having to read the value again." cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Interpolation data record integrity check</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0185"  dtype="u16" id="PROF_IP_STATUS" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Contains the status of the interpolation buffer (enabled, running, full or empty)" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Interpolation data record status</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01C0"  dtype="float" id="DRV_PS_MAX_DUTY" units="%" subnode="1" cyclic="CONFIG" desc="Maximum allowed duty cycle. Required to avoid bad current measurements in products with slow opamps" cat_id="LIMITS">
                    <Labels>
                        <Label lang="en_US">Power stage maximum duty cycle</Label>
                    </Labels>
                    <Range min="0.0" max="100.0"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01C8"  dtype="u16" id="PROF_LATCH_MODE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates how the input values of the profiler module are latched: automatically by a change on the set-point value or manually by the control word  The bits are defined as follows:  Bit 0 - Current interpolator latching option Bit 1 - Velocity interpolator latching option Bit 2 - Position interpolator latching option Bit 3 - Profile current latching option Bit 4 - Profile velocity latching option Bit 5 - Profile position latching option   Value 0 means automatic latching and value 1 means manual latching." cat_id="PROFILER">
                    <Labels>
                        <Label lang="en_US">Profiler latching mode</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01D6"  dtype="float" id="PROF_VEL_THRESHOLD" units="rev/s" subnode="1" cyclic="CYCLIC_RX" desc="Threshold (in absolute value) below which, the velocity is considered to be zero." cat_id="THRESHOLDS">
                    <Labels>
                        <Label lang="en_US">Velocity threshold</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01D7"  dtype="u32" id="PROF_VEL_THRESHOLD_TIME" units="ms" subnode="1" cyclic="CYCLIC_RX" desc="Time that the velocity (in absolute value) has to remain below velocity threshold in order to detect zero velocity" cat_id="THRESHOLDS">
                    <Labels>
                        <Label lang="en_US">Velocity threshold time</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01DC"  dtype="float" id="CL_VEL_FOLLOWING_WINDOW" units="rev/s" subnode="1" cyclic="CYCLIC_RX" desc="Indicates the maximum allowed difference between demand and actual velocity before generating an error." cat_id="THRESHOLDS">
                    <Labels>
                        <Label lang="en_US">Velocity following error window</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01DD"  dtype="u32" id="CL_VEL_FOLLOWING_TIMEOUT" units="ms" subnode="1" cyclic="CYCLIC_RX" desc="Indicates maximum time in which the difference between demand and actual velocity is allowed to be outside the velocity window." cat_id="THRESHOLDS">
                    <Labels>
                        <Label lang="en_US">Velocity following error timeout</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01DE"  dtype="s32" id="CL_POS_REF_MIN_RANGE" units="cnt" subnode="1" cyclic="CYCLIC_RX" desc="Minimum position value range. On reaching or exceeding this limit, the position set-point and position actual are wrapped automatically to the other end of the range." cat_id="LIMITS">
                    <Labels>
                        <Label lang="en_US">Min position range limit</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01DF"  dtype="s32" id="CL_POS_REF_MAX_RANGE" units="cnt" subnode="1" cyclic="CYCLIC_RX" desc="Maximum position value range. On reaching or exceeding this limit, the position set-point and position actual are wrapped automatically to the other end of the range." cat_id="LIMITS">
                    <Labels>
                        <Label lang="en_US">Max position range limit</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01E0"  dtype="float" id="CL_CUR_REF_MAX" units="A" subnode="1" cyclic="CYCLIC_RX" desc="User allowed maximum current" cat_id="LIMITS">
                    <Labels>
                        <Label lang="en_US">Max. current</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x01E2"  dtype="s32" id="CL_POS_ERROR_FOLLOWING" units="cnt" subnode="1" cyclic="CYCLIC_TX" desc="Position control loop error" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Position control loop error</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x01E3"  dtype="float" id="CL_VEL_ERROR_FOLLOWING" units="rev/s" subnode="1" cyclic="CYCLIC_TX" desc="" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Velocity control loop error</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x01E4"  dtype="float" id="CL_TOR_ERROR_FOLLOWING" units="Nm" subnode="1" cyclic="CYCLIC_TX" desc="" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Torque control loop error</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x01E5"  dtype="float" id="CL_CUR_D_ERROR_FOLLOWING" units="A" subnode="1" cyclic="CYCLIC_TX" desc="" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current direct control loop error</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x01E6"  dtype="float" id="CL_CUR_Q_ERROR_FOLLOWING" units="A" subnode="1" cyclic="CYCLIC_TX" desc="" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Current quadrature control loop error</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01E8"  dtype="float" id="CL_VEL_REF_MAX" units="rev/s" subnode="1" cyclic="CONFIG" desc="Maximum allowed speed in both directions" cat_id="LIMITS">
                    <Labels>
                        <Label lang="en_US">Max. velocity</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01EA"  dtype="s32" id="CL_POS_REF_MIN" units="cnt" subnode="1" cyclic="CYCLIC_RX" desc="User minimum allowed position" cat_id="LIMITS">
                    <Labels>
                        <Label lang="en_US">Min position</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01EB"  dtype="s32" id="CL_POS_REF_MAX" units="cnt" subnode="1" cyclic="CYCLIC_RX" desc="User maximum allowed position" cat_id="LIMITS">
                    <Labels>
                        <Label lang="en_US">Max position</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01EC"  dtype="float" id="CL_POS_ERROR_WINDOW" units="cnt" subnode="1" cyclic="CYCLIC_RX" desc="Indicates the maximum allowed difference between demand and actual position before generating a fault." cat_id="THRESHOLDS">
                    <Labels>
                        <Label lang="en_US">Position following error window</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01ED"  dtype="u32" id="CL_POS_ERROR_TIMEOUT" units="ms" subnode="1" cyclic="CYCLIC_RX" desc="Indicates the maximum time in which the difference between demand and actual position is allowed to be outside the position window." cat_id="THRESHOLDS">
                    <Labels>
                        <Label lang="en_US">Position following error timeout</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x01EE"  dtype="float" id="CL_ERROR_FOLLOWING_1" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Difference between demand and actual value of active operation mode variables." cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Following error</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01EF"  dtype="float" id="PROF_IP_TIME_MANTISSA" units="-" subnode="1" cyclic="CYCLIC_RX" desc="It is used to indicate the interpolation time period between set-point values." cat_id="PROFILER">
                    <Labels>
                        <Label lang="en_US">Interpolation time mantissa</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01F0"  dtype="float" id="PROF_IP_TIME_EXP" units="-" subnode="1" cyclic="CYCLIC_RX" desc="It is used to indicate the interpolation time period between set-point values." cat_id="PROFILER">
                    <Labels>
                        <Label lang="en_US">Interpolation time exponent</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01F1"  dtype="u32" id="PROF_POS_WINDOW_VALUE" units="cnt" subnode="1" cyclic="CONFIG" desc="Window around Position set-point inside which target can be considered reached" cat_id="THRESHOLDS">
                    <Labels>
                        <Label lang="en_US">Position window</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01F2"  dtype="u32" id="PROF_POS_WINDOW_TIME" units="ms" subnode="1" cyclic="CONFIG" desc="Time that the error between Position set-point and Actual position has to be smaller than Position window before detecting a target reached" cat_id="THRESHOLDS">
                    <Labels>
                        <Label lang="en_US">Position window time</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01F3"  dtype="float" id="PROF_VEL_WINDOW_VALUE" units="rev/s" subnode="1" cyclic="CONFIG" desc="Window around Velocity set-point inside which target can be considered reached" cat_id="THRESHOLDS">
                    <Labels>
                        <Label lang="en_US">Velocity window</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01F4"  dtype="u32" id="PROF_VEL_WINDOW_TIME" units="ms" subnode="1" cyclic="CONFIG" desc="Time that the error between Velocity set-point and Actual velocity has to be smaller than Velocity window before detecting a target reached" cat_id="THRESHOLDS">
                    <Labels>
                        <Label lang="en_US">Velocity window time</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01F5"  dtype="float" id="DRV_STATE_QS_DEC" units="rev/s2" subnode="1" cyclic="CONFIG" desc="Deceleration used to slow down when quick stop state is active" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Quick stop deceleration</Label>
                    </Labels>
                </Register>
                <Register access="w" address_type="NVM_NONE" address="0x01F6"  dtype="u16" id="PROF_IP_CLEAR_DATA" units="-" subnode="1" cyclic="CONFIG" desc="Any value written to this parameter will force a clear of" cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Interpolation data record  force clear</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x01F7"  dtype="u16" id="PROF_IP_BUF_SIZE" units="-" subnode="1" cyclic="CONFIG" desc="User defined buffer size. By default it takes maximum buffer size." cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Interpolation buffer size</Label>
                    </Labels>
                    <Range min="1" max="16"/>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x01F8"  dtype="u16" id="PROF_IP_BUF_ELEMENTS" units="-" subnode="1" cyclic="CONFIG" desc="Containts the number of interpolation data records that are contained inside the buffer." cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Interpolation buffer number of elements</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x01F9"  dtype="u16" id="PROF_IP_BUF_MAX_SIZE" units="-" subnode="1" cyclic="CONFIG" desc="Returns the maximum number of data records that can be stored in the interpolation buffer" cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Interpolation buffer maximum size</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM" address="0x02E0"  dtype="u16" id="SET_POINT_SRC" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the source of the set-points for the motion." cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Command source 1</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Network</Enum>
                    </Enumerations>
                </Register>
                <Register access="r" address_type="NVM" address="0x02E1"  dtype="u16" id="SET_POINT_SRC_2" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the source of the second set-points for the motion." cat_id="TARGET">
                    <Labels>
                        <Label lang="en_US">Command source 2</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Network</Enum>
                        <Enum value="1">Analog input 1</Enum>
                        <Enum value="2">Analog input 2</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x02E8"  dtype="float" id="IO_ANA1_GAIN" units="-" subnode="1" cyclic="CONFIG" desc="Gain applied to the unitary analog input 1 readings. Unitary means a value of 0 when 0 counts are read and 1 when full range counts are read." cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Analog input 1 - Gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x02E9"  dtype="float" id="IO_ANA1_OFFSET" units="-" subnode="1" cyclic="CONFIG" desc="Offset  applied to analog input 1 readings after gain amplification." cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Analog input 1 - Offset</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x02EC"  dtype="float" id="IO_ANA2_GAIN" units="-" subnode="1" cyclic="CONFIG" desc="Gain applied to the unitary analog input 2 readings. Unitary means a value of 0 when 0 counts are read and 1 when full range counts are read." cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Analog input 2 - Gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x02ED"  dtype="float" id="IO_ANA2_OFFSET" units="-" subnode="1" cyclic="CONFIG" desc="Offset  applied to analog input 2 readings after gain amplification." cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Analog input 2 - Offset</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x035F"  dtype="u32" id="FBK_ENA_MASK" units="-" subnode="1" cyclic="CONFIG" desc="Boolean mask indicating the enabled feedbacks" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Enabled feedbacks mask</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0360"  dtype="u16" id="CL_VEL_FBK_SENSOR" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the feedback used for velocity measurements." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Velocity feedback sensor</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="1">Primary Absolute Slave 1</Enum>
                        <Enum value="3">Internal generator</Enum>
                        <Enum value="4">Incremental encoder 1</Enum>
                        <Enum value="5">Digital halls</Enum>
                        <Enum value="6">Secondary Absolute Slave 1</Enum>
                        <Enum value="7">Primary Absolute Slave 2 (daisy chain)</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0361"  dtype="u16" id="CL_POS_FBK_SENSOR" units="-" subnode="1" cyclic="CONFIG" desc="Selects the position feedback sensor" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Position feedback sensor</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="1">Primary Absolute Slave 1</Enum>
                        <Enum value="3">Internal generator</Enum>
                        <Enum value="4">Incremental encoder 1</Enum>
                        <Enum value="5">Digital halls</Enum>
                        <Enum value="6">Secondary Absolute Slave 1</Enum>
                        <Enum value="7">Primary Absolute Slave 2 (daisy chain)</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0362"  dtype="u16" id="CL_AUX_FBK_SENSOR" units="none" subnode="1" cyclic="CONFIG" desc="Indicates the sensor used for raw value reading" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Auxiliar feedback sensor</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="1">Primary Absolute Slave 1</Enum>
                        <Enum value="4">Incremental encoder 1</Enum>
                        <Enum value="5">Digital halls</Enum>
                        <Enum value="6">Secondary Absolute Slave 1</Enum>
                        <Enum value="7">Primary Absolute Slave 2 (daisy chain)</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0364"  dtype="float" id="PROF_POS_VEL_RATIO" units="-" subnode="1" cyclic="CONFIG" desc="Ratio between revolutions in position sensor against revolutions in velocity sensor [revs in position sensor / revs in velocity sensor]  For instance, if 1 revolution at the position sensor locations equals 50 revolutions where the velocity sensor is located, the ratio should be 1/50." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Position to velocity sensor ratio</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x036F"  dtype="u16" id="FBK_BISS1_SSI1_PROTOCOL" units="-" subnode="1" cyclic="CONFIG" desc="Serial absolute feedback protocol to be used" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - Protocol</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">BiSS C</Enum>
                        <Enum value="1">SSI</Enum>
                        <Enum value="3">Serial Synchronous 1</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0370"  dtype="u16" id="FBK_BISS1_SSI1_FRAME_SIZE" units="none" subnode="1" cyclic="CONFIG" desc="Defines the size in bits of the frame to be read from the serial absolute interface" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - Frame size</Label>
                    </Labels>
                    <Range min="10" max="64"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0371"  dtype="u16" id="FBK_BISS1_SSI1_ERROR_TOLERANCE" units="-" subnode="1" cyclic="CONFIG" desc="Number of error detections on serial absolute feedback frame allowed before a fault generation." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - Error tolerance</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0373"  dtype="u16" id="FBK_BISS1_SSI1_POS_POLARITY" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the polarity of rotation of the serial absolute feedback sensor" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - Polarity</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Standard</Enum>
                        <Enum value="1">Reversed</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0374"  dtype="u16" id="FBK_BISS1_SSI1_FRAME_TYPE" units="none" subnode="1" cyclic="CONFIG" desc="Selects the frame type of the Serial absolute feedback sensor" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - Frame type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Raw</Enum>
                        <Enum value="1">Raw gray</Enum>
                        <Enum value="2">Zettlex - SSI1</Enum>
                        <Enum value="3">BiSS-C BP3</Enum>
                        <Enum value="4">BiSS-C BP3 Gray</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0375"  dtype="u16" id="FBK_BISS1_SSI1_POS_BITS" units="-" subnode="1" cyclic="CONFIG" desc="Size in bits of position information block in serial absolute feedback frame" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - Position bits</Label>
                    </Labels>
                    <Range min="10" max="32"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0376"  dtype="u16" id="FBK_BISS1_SSI1_POS_ST_BITS" units="-" subnode="1" cyclic="CONFIG" desc="Defines the size in bits of the single-turn information inside the position block of the serial absolute feedback frame" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - Single-turn bits</Label>
                    </Labels>
                    <Range min="10" max="32"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0377"  dtype="u16" id="FBK_BISS1_SSI1_POS_START_BIT" units="-" subnode="1" cyclic="CONFIG" desc="Defines how many bits the position information is displaced from the LSB in the serial absolute feedback frame." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - Position start bit</Label>
                    </Labels>
                    <Range min="0" max="63"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0378"  dtype="u16" id="FBK_SSI2_FRAME_SIZE" units="-" subnode="1" cyclic="CONFIG" desc="Defines the size in bits of the frame to be read from the Secondary BiSS-C / SSI slave 1 interface" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 -  Frame size</Label>
                    </Labels>
                    <Range min="10" max="64"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0379"  dtype="u16" id="FBK_SSI2_ERROR_TOLERANCE" units="-" subnode="1" cyclic="CONFIG" desc="Number of error detections on Secondary BiSS-C / SSI slave 1 feedback frame allowed before a fault generation." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - Error tolerance</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x037B"  dtype="u16" id="FBK_SSI2_POS_POLARITY" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the polarity of rotation of the Secondary BiSS-C / SSI slave 1 feedback sensor" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - Polarity</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Standard</Enum>
                        <Enum value="1">Reversed</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x037C"  dtype="u16" id="FBK_SSI2_FRAME_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Selects the frame type of the Secondary BiSS-C / SSI slave 1 feedback sensor" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 -  Frame type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Raw</Enum>
                        <Enum value="1">Raw gray</Enum>
                        <Enum value="2">Zettlex - SSI1</Enum>
                        <Enum value="3">BiSS-C BP3</Enum>
                        <Enum value="4">BiSS-C BP3 Gray</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x037D"  dtype="u16" id="FBK_SSI2_POS_BITS" units="-" subnode="1" cyclic="CONFIG" desc="Size in bits of position information block in Secondary BiSS-C / SSI slave 1 feedback frame" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - Position bits</Label>
                    </Labels>
                    <Range min="10" max="32"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x037E"  dtype="u16" id="FBK_SSI2_POS_ST_BITS" units="-" subnode="1" cyclic="CONFIG" desc="Defines the size in bits of the single-turn information inside the position block of the Secondary BiSS-C / SSI slave 1 feedback frame" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - Single-turn bits</Label>
                    </Labels>
                    <Range min="10" max="32"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x037F"  dtype="u16" id="FBK_SSI2_POS_START_BIT" units="-" subnode="1" cyclic="CONFIG" desc="Defines how many bits the position information is displaced from the LSB in the Secondary BiSS-C / SSI slave 1 feedback frame." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - Position start bit</Label>
                    </Labels>
                    <Range min="0" max="63"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0380"  dtype="u16" id="FBK_GEN_MODE" units="-" subnode="1" cyclic="CONFIG" desc="Waveform to be injected as input feedback value" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Generator mode</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Constant</Enum>
                        <Enum value="1">Saw tooth</Enum>
                        <Enum value="2">Square</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0381"  dtype="float" id="FBK_GEN_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="Frequency applied to the generated waveform" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Generator frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0382"  dtype="float" id="FBK_GEN_GAIN" units="-" subnode="1" cyclic="CYCLIC_RX" desc="Gain applied to the generated waveform" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Generator gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0383"  dtype="float" id="FBK_GEN_OFFSET" units="-" subnode="1" cyclic="CYCLIC_RX" desc="Offset applied to the generated waveform" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Generator offset</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0384"  dtype="u32" id="FBK_GEN_CYCLES" units="-" subnode="1" cyclic="CONFIG" desc="Number of cycles that the selected waveform is applied" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Generator cycle number</Label>
                    </Labels>
                </Register>
                <Register access="w" address_type="NVM_NONE" address="0x0385"  dtype="u16" id="FBK_GEN_REARM" units="-" subnode="1" cyclic="CONFIG" desc="Rearms the generator to start injecting the selected waveform" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Generator rearm</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="1">Rearm generator</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0386"  dtype="u32" id="FBK_BISS1_SSI1_BAUD" units="kbits/s" subnode="1" cyclic="CONFIG" desc="Biss-C slave 1 / Primary SSI baudrate in kHz" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - Baudrate</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="1000">1000</Enum>
                        <Enum value="2000">2000</Enum>
                        <Enum value="5000">5000</Enum>
                        <Enum value="10000">10000</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0387"  dtype="u32" id="FBK_SSI2_BAUD" units="kbits/s" subnode="1" cyclic="CONFIG" desc="Secondary BiSS-C / SSI slave 1 baudrate in kHz" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - Baudrate</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="1000">1000</Enum>
                        <Enum value="2000">2000</Enum>
                        <Enum value="5000">5000</Enum>
                        <Enum value="10000">10000</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0388"  dtype="u32" id="FBK_DIGENC1_RESOLUTION" units="cnt" subnode="1" cyclic="CONFIG" desc="Number of counts per 1 mechanical revolution of the incremental encoder sensor" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Incremental encoder 1 - Resolution</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0389"  dtype="u16" id="FBK_DIGENC1_POLARITY" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the polarity of rotation of the incremental encoder sensor" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Incremental encoder 1 - Polarity</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Standard</Enum>
                        <Enum value="1">Reversed</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x038A"  dtype="u16" id="FBK_DIGENC1_FILTER" units="-" subnode="1" cyclic="CONFIG" desc="Glitch filter for incremental encoder feedback" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Incremental encoder 1 - Filter</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">100 MHz</Enum>
                        <Enum value="1">33 MHz</Enum>
                        <Enum value="2">16 MHz</Enum>
                        <Enum value="3">8 MHz</Enum>
                        <Enum value="4">4 MHz</Enum>
                        <Enum value="5">2 MHz</Enum>
                        <Enum value="6">1 MHz</Enum>
                        <Enum value="7">520 kHz</Enum>
                        <Enum value="8">260 kHz</Enum>
                        <Enum value="9">130 KHz</Enum>
                        <Enum value="10">65 kHz</Enum>
                    </Enumerations>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x038B"  dtype="s32" id="FBK_DIGENC1_VALUE" units="cnt" subnode="1" cyclic="CYCLIC_TX" desc="Contains raw value read by incremental encoder." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Incremental encoder 1 - Value</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0390"  dtype="u16" id="FBK_DIGHALL_POLARITY" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the polarity of rotation of the digital halls sensor" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Dig. hall polarity</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Standard</Enum>
                        <Enum value="1">Reversed</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0391"  dtype="u16" id="FBK_DIGHALL_FILTER" units="-" subnode="1" cyclic="CONFIG" desc="Glitch filter applied to all digital halls inputs" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Dig. hall filter</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">100 MHz</Enum>
                        <Enum value="1">33 MHz</Enum>
                        <Enum value="2">16 MHz</Enum>
                        <Enum value="3">8 MHz</Enum>
                        <Enum value="4">4 MHz</Enum>
                        <Enum value="5">2 MHz</Enum>
                        <Enum value="6">1 MHz</Enum>
                        <Enum value="7">520 kHz</Enum>
                        <Enum value="8">260 kHz</Enum>
                        <Enum value="9">130 kHz</Enum>
                        <Enum value="10">65 kHz</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0392"  dtype="u16" id="FBK_DIGHALL_PAIRPOLES" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the number of pole pairs  of the digital halls" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Dig. hall pole pairs</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0393"  dtype="u16" id="FBK_DIGHALL_VALUE" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Contains digital input values of digital hall sensors A, B and C, where A is the least significant bit." cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Dig. hall value</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0394"  dtype="u16" id="FBK_PROT_AGAINST_HALLS" units="-" subnode="1" cyclic="CONFIG" desc="Selects feedback to be checked on Hall sensor transitions. Used to check for runaway situations or feedback disconnection." cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Feedback runaway source</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="1">Primary Absolute Slave 1</Enum>
                        <Enum value="4">Incremental encoder 1</Enum>
                        <Enum value="6">Secondary Absolute Slave 1</Enum>
                        <Enum value="7">Primary Absolute Slave 2 (daisy chain)</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0395"  dtype="u16" id="FBK_BISS_CHAIN" units="-" subnode="1" cyclic="CONFIG" desc="Number of serial absolute feedbacks connected in daisy chain. There has to be at least one feedback connected" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Feedbacks in Chain</Label>
                    </Labels>
                    <Range min="1" max="2"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0398"  dtype="u32" id="FBK_BISS1_SSI1_MAX_REFRESH_RATE" units="Hz" subnode="1" cyclic="CONFIG" desc="Maximum refresh rate allowed for requesting data to the primary absolute encoder" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute - Maximum refresh rate</Label>
                    </Labels>
                    <Range min="100" max="25000"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0399"  dtype="u32" id="FBK_SSI2_MAX_REFRESH_RATE" units="Hz" subnode="1" cyclic="CONFIG" desc="Maximum refresh rate allowed for requesting data to the secondary absolute encoder" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute - Maximum refresh rate</Label>
                    </Labels>
                    <Range min="100" max="25000"/>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x039A"  dtype="u32" id="FBK_BISS1_SSI1_ACTUAL_REFRESH_RATE" units="Hz" subnode="1" cyclic="CONFIG" desc="Actual refresh rate at which frames are being requested from primary absolute encoder" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute - Actual refresh rate</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x039B"  dtype="u32" id="FBK_SSI2_ACTUAL_REFRESH_RATE" units="Hz" subnode="1" cyclic="CONFIG" desc="Actual refresh rate at which frames are being requested from secondary absolute encoder" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute - Actual refresh rate</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0400"  dtype="u16" id="FBK_BISS2_FRAME_SIZE" units="-" subnode="1" cyclic="CONFIG" desc="Defines the size in bits of the frame to be read from the serial absolute slave 1 (only usable in daisy chain)" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - Frame size</Label>
                    </Labels>
                    <Range min="10" max="64"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0401"  dtype="u16" id="FBK_BISS2_ERROR_TOLERANCE" units="-" subnode="1" cyclic="CONFIG" desc="Number of error detections on serial absolute feedback frame allowed before a fault generation." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - Error tolerance</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0403"  dtype="u16" id="FBK_BISS2_POS_POLARITY" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the polarity of rotation of the serial absolute feedback sensor" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - Polarity</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Standard</Enum>
                        <Enum value="1">Reversed</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0404"  dtype="u16" id="FBK_BISS2_FRAME_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Selects the frame type of the Serial absolute feedback sensor" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - Frame type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Raw</Enum>
                        <Enum value="1">Raw gray</Enum>
                        <Enum value="2">Zettlex - SSI1</Enum>
                        <Enum value="3">BiSS-C BP3</Enum>
                        <Enum value="4">BiSS-C BP3 Gray</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0405"  dtype="u16" id="FBK_BISS2_POS_BITS" units="-" subnode="1" cyclic="CONFIG" desc="Size in bits of position information block in serial absolute feedback frame" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - Position bits</Label>
                    </Labels>
                    <Range min="10" max="32"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0406"  dtype="u16" id="FBK_BISS2_POS_ST_BITS" units="-" subnode="1" cyclic="CONFIG" desc="Defines the size in bits of the single-turn information inside the position block of the serial absolute feedback frame" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - Single-turn bits</Label>
                    </Labels>
                    <Range min="10" max="32"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0407"  dtype="u16" id="FBK_BISS2_POS_START_BIT" units="-" subnode="1" cyclic="CONFIG" desc="Defines how many bits the position information is displaced from the LSB in the serial absolute feedback frame." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - Position start bit</Label>
                    </Labels>
                    <Range min="0" max="63"/>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0408"  dtype="u16" id="FBK_BISS1_SSI1_CRC_POLY" units="-" subnode="1" cyclic="CONFIG" desc="Biss-C slave 1 / Primary SSI CRC polynomial in binary format." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - CRC polynomial</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0409"  dtype="u16" id="FBK_BISS1_SSI1_CRC_BITS" units="-" subnode="1" cyclic="CONFIG" desc="Biss-C slave 1 / Primary SSI CRC number of bits" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - CRC number of bits</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x040A"  dtype="u16" id="FBK_BISS2_CRC_POLY" units="-" subnode="1" cyclic="CONFIG" desc="Biss-C slave 2 CRC polynomial in binary format." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - CRC polynomial</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x040B"  dtype="u16" id="FBK_BISS2_CRC_BITS" units="-" subnode="1" cyclic="CONFIG" desc="Biss-C slave 2 CRC number of bits" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - CRC number of bits</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x040C"  dtype="u16" id="FBK_BISS1_SSI1_CRC_SEED" units="-" subnode="1" cyclic="CONFIG" desc="Biss-C slave 1 / Primary SSI CRC seed" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - CRC seed</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x040D"  dtype="u16" id="FBK_BISS2_CRC_SEED" units="-" subnode="1" cyclic="CONFIG" desc="Biss-C slave 2 CRC seed" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - CRC seed</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0438"  dtype="s32" id="FBK_BISS1_SSI1_OFFSET" units="cnt" subnode="1" cyclic="CONFIG" desc="Offset added to BiSS-C slave 1 / Primary SSI feedback" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 1 - Position offset</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0439"  dtype="s32" id="FBK_BISS2_OFFSET" units="cnt" subnode="1" cyclic="CONFIG" desc="Offset added to BiSS-C slave 2 (daisy chain) feedback" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary Absolute Slave 2 (daisy chain) - Position offset</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x043A"  dtype="s32" id="FBK_SSI2_OFFSET" units="cnt" subnode="1" cyclic="CONFIG" desc="Position offset added to Secondary BiSS-C / SSI slave 1 feedback" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - Position offset</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x043B"  dtype="float" id="TORQUE_ESTIM_KT" units="Nm/A" subnode="1" cyclic="CONFIG" desc="" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Torque constant</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x043C"  dtype="u16" id="FBK_SSI2_PROTOCOL" units="-" subnode="1" cyclic="CONFIG" desc="Secondary BiSS-C / SSI slave 1 protocol to be used" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - Protocol</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">BiSS C</Enum>
                        <Enum value="1">SSI</Enum>
                        <Enum value="3">Serial Synchronous 1</Enum>
                    </Enumerations>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x043D"  dtype="u16" id="FBK_SSI2_CRC_POLY" units="-" subnode="1" cyclic="CONFIG" desc="Secondary BiSS-C / SSI slave 1 CRC polynomial in binary format." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - CRC polynomial</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x043E"  dtype="u16" id="FBK_SSI2_CRC_SEED" units="-" subnode="1" cyclic="CONFIG" desc="Secondary BiSS-C / SSI slave 1 CRC seed" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - CRC seed</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x043F"  dtype="u16" id="FBK_SSI2_CRC_BITS" units="-" subnode="1" cyclic="CONFIG" desc="Secondary BiSS-C / SSI slave 1 number of Crc bits" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary Absolute Slave 1 - CRC number of bits</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0440"  dtype="u16" id="FBK_BISS1_SSI1_ITF_ADDR" units="-" subnode="1" cyclic="CONFIG" desc="This register allow to select the address of the register to be accessed by bidirectional Biss-C." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary absolute interface - Register address</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0441"  dtype="u16" id="FBK_BISS1_SSI1_ITF_DATA" units="-" subnode="1" cyclic="CONFIG" desc="This register allow to select the data to be to be written to the selected BISS-C register or readed if a read operation has been triggered before." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary absolute interface - Register data</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0442"  dtype="u16" id="FBK_BISS1_SSI1_ITF_STAT" units="-" subnode="1" cyclic="CONFIG" desc="" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary absolute interface - Operation status</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0443"  dtype="u16" id="FBK_BISS1_SSI1_ITF_CTL" units="-" subnode="1" cyclic="CONFIG" desc="" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Primary absolute interface - Control</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0444"  dtype="u16" id="FBK_BISS2_SSI2_ITF_ADDR" units="-" subnode="1" cyclic="CONFIG" desc="This register allow to select the address of the register to be accessed by bidirectional Biss-C." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary absolute interface - Register address</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0445"  dtype="u16" id="FBK_BISS2_SSI2_ITF_DATA" units="-" subnode="1" cyclic="CONFIG" desc="This register allow to select the data to be to be written to the selected BISS-C register or readed if a read operation has been triggered before." cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary absolute interface - Register data</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0446"  dtype="u16" id="FBK_BISS2_SSI2_ITF_STAT" units="-" subnode="1" cyclic="CONFIG" desc="" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary absolute interface - Operation status</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0447"  dtype="u16" id="FBK_BISS2_SSI2_ITF_CTL" units="-" subnode="1" cyclic="CONFIG" desc="" cat_id="FEEDBACK">
                    <Labels>
                        <Label lang="en_US">Secondary absolute interface - Control</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0450"  dtype="u16" id="HOM_MODE" units="-" subnode="1" cyclic="CYCLIC_RX" desc="Indicates the homing mode used for 0 detection" cat_id="HOMING">
                    <Labels>
                        <Label lang="en_US">Homing mode</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">On current position</Enum>
                        <Enum value="1">On positive switch limit</Enum>
                        <Enum value="2">On negative switch limit</Enum>
                        <Enum value="3">On positive index pulse</Enum>
                        <Enum value="4">On negative index pulse</Enum>
                        <Enum value="5">On the positive limit switch and index pulse</Enum>
                        <Enum value="6">On the negative limit switch and index pulse</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0451"  dtype="s32" id="HOM_OFFSET" units="cnt" subnode="1" cyclic="CYCLIC_RX" desc="Offset position in counts applied to indicate the location of 0 once the homing condition is detected" cat_id="HOMING">
                    <Labels>
                        <Label lang="en_US">Homing offset</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0452"  dtype="u32" id="HOM_SEQ_TIMEOUT" units="ms" subnode="1" cyclic="CONFIG" desc="Maximum time allowed to find the 0 position in milliseconds" cat_id="HOMING">
                    <Labels>
                        <Label lang="en_US">Homing timeout</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0453"  dtype="float" id="HOM_SPEED_SEARCH" units="rev/s" subnode="1" cyclic="CYCLIC_RX" desc="Velocity used to look for a limit condition during a homing sequence." cat_id="HOMING">
                    <Labels>
                        <Label lang="en_US">Homing limit search speed</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0454"  dtype="float" id="HOM_SPEED_ZERO" units="rev/s" subnode="1" cyclic="CYCLIC_RX" desc="Velocity used to look for the 0 position during a homing sequence" cat_id="HOMING">
                    <Labels>
                        <Label lang="en_US">Homing zero search speed</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0455"  dtype="u16" id="IO_IN_POS_HOM_SWITCH" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the GPI used as positive homing switch" cat_id="HOMING">
                    <Labels>
                        <Label lang="en_US">Positive homing switch</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">None</Enum>
                        <Enum value="1">GPI1</Enum>
                        <Enum value="2">GPI2</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0456"  dtype="u16" id="IO_IN_NEG_HOM_SWITCH" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the input used as negative homing switch" cat_id="HOMING">
                    <Labels>
                        <Label lang="en_US">Negative homing switch</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">None</Enum>
                        <Enum value="1">GPI1</Enum>
                        <Enum value="2">GPI2</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0457"  dtype="u16" id="HOM_IDX_PULSE_SRC" units="-" subnode="1" cyclic="CONFIG" desc="Indicates which incremental encoder will be used to finish homing procedures based on index pulse" cat_id="HOMING">
                    <Labels>
                        <Label lang="en_US">Homing index pulse source</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Incremental encoder 1</Enum>
                    </Enumerations>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0458"  dtype="u32" id="CL_CUR_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="Indicates the frequency of the current loop" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current loop rate</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x04FF"  dtype="u16" id="FBK_CUR_RANGE_SELECTION" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the gain applied to current amplifier for readings." cat_id="LIMITS">
                    <Labels>
                        <Label lang="en_US">Current scaling gain factor</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Sensor gain 1</Enum>
                        <Enum value="1">Sensor gain 2</Enum>
                        <Enum value="2">Sensor gain 3</Enum>
                        <Enum value="3">Sensor gain 4</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0500"  dtype="float" id="CL_CUR_Q_KP" units="V/A" subnode="1" cyclic="CONFIG" desc="" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current quadrature loop Kp</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0501"  dtype="float" id="CL_CUR_Q_KI" units="Hz" subnode="1" cyclic="CONFIG" desc="Integral gain of the quadrature current PI controller." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current quadrature loop Ki</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0502"  dtype="float" id="CL_CUR_Q_MAX_OUT" units="V" subnode="1" cyclic="CONFIG" desc="Maximum output of the quadrature current PI controller." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current quadrature loop max. out</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0503"  dtype="float" id="CL_CUR_Q_MIN_OUT" units="V" subnode="1" cyclic="CONFIG" desc="Minimum output of the quadrature current PI controller." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current quadrature loop min. out</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0505"  dtype="float" id="CL_CUR_D_KP" units="V/A" subnode="1" cyclic="CONFIG" desc="Proportional gain of the direct current PI controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current direct loop Kp</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0506"  dtype="float" id="CL_CUR_D_KI" units="Hz" subnode="1" cyclic="CONFIG" desc="Integral gain of the direct current PI controller." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current direct loop Ki</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0507"  dtype="float" id="CL_CUR_D_MAX_OUT" units="V" subnode="1" cyclic="CONFIG" desc="Maximum output of the direct current PI controller." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current direct loop max. out</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0508"  dtype="float" id="CL_CUR_D_MIN_OUT" units="V" subnode="1" cyclic="CONFIG" desc="Minimum output of the direct current PI controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current direct loop min. out</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x050A"  dtype="float" id="CL_VEL_PID_KP" units="Nm/(rev/s)" subnode="1" cyclic="CYCLIC_RX" desc="Proportional gain of the velocity PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Velocity loop Kp</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x050B"  dtype="float" id="CL_VEL_PID_KI" units="Hz" subnode="1" cyclic="CYCLIC_RX" desc="Integral gain of the velocity PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Velocity loop Ki</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x050C"  dtype="float" id="CL_VEL_PID_KD" units="s" subnode="1" cyclic="CYCLIC_RX" desc="Derivative gain of the velocity PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Velocity loop Kd</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x050D"  dtype="float" id="CL_VEL_PID_KD_FILTER" units="rad/s" subnode="1" cyclic="CYCLIC_RX" desc="Low pass filter cut off frequency applied after the derivative gain of the velocity PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Velocity loop Kd filter</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x050E"  dtype="float" id="CL_VEL_PID_MAX_OUT" units="Nm" subnode="1" cyclic="CYCLIC_RX" desc="Maximum output of the velocity PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Velocity loop max. output</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x050F"  dtype="float" id="CL_VEL_PID_MIN_OUT" units="Nm" subnode="1" cyclic="CYCLIC_RX" desc="Minimum output of the velocity PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Velocity loop min. output</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0510"  dtype="u16" id="CL_FBK_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Control loops feedback options  Bit 0:     1 - Direct current feedback enabled in control loop  0 - Direct current feedback bypassed in control loop  Bit 1:     1 - Quadrature current feedback enabled in control loop  0 - Quadrature current feedback bypassed in control loop  Bit 2:   Reserved  Bit 3:     1 - Velocity feedback enabled in control loop 0 - Velocity feedback bypassed in control loop  Bit 4:     1 - Position feedback enabled in control loop 0 - Position feedback bypassed in control loop" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Control loops feedback options</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0511"  dtype="float" id="CL_POS_PID_KP" units="(rev/s)/cnt" subnode="1" cyclic="CYCLIC_RX" desc="Proportional gain of the position PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position loop Kp</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0512"  dtype="float" id="CL_POS_PID_KI" units="Hz" subnode="1" cyclic="CYCLIC_RX" desc="Integral gain of the position PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position loop Ki</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0513"  dtype="float" id="CL_POS_PID_KD" units="s" subnode="1" cyclic="CYCLIC_RX" desc="Derivative constant of the position PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position loop Kd</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0514"  dtype="float" id="CL_POS_PID_KD_FILTER" units="rad/s" subnode="1" cyclic="CYCLIC_RX" desc="Low pass filter cut off frequency applied after derivative gain of the position PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position loop Kd filter</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0515"  dtype="float" id="CL_POS_PID_MAX_OUT" units="rev/s" subnode="1" cyclic="CYCLIC_RX" desc="Maximum output of the position PID controller in revolution per second" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position loop max. output</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0516"  dtype="float" id="CL_POS_PID_MIN_OUT" units="rev/s" subnode="1" cyclic="CYCLIC_RX" desc="Minimum output of the position PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position loop min. output</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0517"  dtype="u32" id="CL_CUR_STATUS" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Contains the status of the current controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Current loop status</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0518"  dtype="u32" id="CL_VEL_STATUS" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Indicates the status of the velocity PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Velocity loop status</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0519"  dtype="u32" id="CL_POS_STATUS" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Indicates the status of the position PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position loop status</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x051A"  dtype="u16" id="DRV_PROT_STO_STATUS" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Shows the status of the safe torque off circuit of the board.  Bit 0: STO1 input  Bit 1: STO2 input Bit 2: STO supply fault input (active low) Bit 3: STO abnormal fault input Bit 4: STO report input  STO status = 0x017 means no errors and motor can be enabled." cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">STO status</Label>
                    </Labels>
                </Register>
                <Register access="w" address_type="NVM_NONE" address="0x051B"  dtype="u16" id="CL_VEL_PID_RESET" units="-" subnode="1" cyclic="CONFIG" desc="This register allow to reset the integral accumulator of the velocity control loop PID." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Velocity loop integral reset</Label>
                    </Labels>
                </Register>
                <Register access="w" address_type="NVM_NONE" address="0x051C"  dtype="u16" id="CL_POS_PID_RESET" units="-" subnode="1" cyclic="CONFIG" desc="This register allow to reset the integral accumulator of the position control loop PID." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position loop integral reset</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x051D"  dtype="float" id="CL_VEL_PID_INTEGRAL" units="-" subnode="1" cyclic="CYCLIC_TX" desc="This register contains the integral accumulator value of the velocity PID." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Velocity loop integral value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x051E"  dtype="float" id="CL_POS_PID_INTEGRAL" units="-" subnode="1" cyclic="CYCLIC_TX" desc="This register contains the integral accumulator value of the position PID." cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position loop integral value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x051F"  dtype="float" id="DRV_MAX_VBUS_UTIL" units="%" subnode="1" cyclic="CONFIG" desc="Maximum bus voltage utilization in percentage" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Maximum voltage bus utilization</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0520"  dtype="u32" id="DRV_POS_VEL_RATE" units="Hz" subnode="1" cyclic="CYCLIC_TX" desc="Indicates the frequency of the position and velocity loops" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position &amp; velocity loop rate</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0521"  dtype="u16" id="DRV_PS_FREQ_SELECTION" units="-" subnode="1" cyclic="CONFIG" desc="Selects one of the selectable commutation frequencies of the power stage" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Power stage frequency</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">20 kHz</Enum>
                        <Enum value="1">50 kHz</Enum>
                        <Enum value="2">100 kHz</Enum>
                        <Enum value="3">200 kHz</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0522"  dtype="u32" id="CL_CFG_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="This parameter allows configuring certain options related to the control loops  Bit 0: Position loop continuity Bit 1: Velocity loop continuity Bit 2: Reserved" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Control loops option code</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0523"  dtype="float" id="CL_TOR_PID_KP" units="A/Nm" subnode="1" cyclic="CYCLIC_RX" desc="Proportional gain of the torque PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Torque loop Kp</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0524"  dtype="float" id="CL_TOR_PID_KI" units="Hz" subnode="1" cyclic="CYCLIC_RX" desc="Integral gain of the torque PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Torque loop Ki</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0527"  dtype="float" id="CL_TOR_PID_MAX_OUT" units="A" subnode="1" cyclic="CYCLIC_RX" desc="Maximum output of the torque PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Torque loop max. output</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0528"  dtype="float" id="CL_TOR_PID_MIN_OUT" units="A" subnode="1" cyclic="CYCLIC_RX" desc="Minimum output of the torque PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Torque loop min. output</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0530"  dtype="u16" id="CL_POS_FBK_FILTER1_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the type of filter applied to position feedback sensor" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position feedback filter 1 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Low pass</Enum>
                        <Enum value="2">High pass</Enum>
                        <Enum value="3">Band pass</Enum>
                        <Enum value="4">Peak</Enum>
                        <Enum value="5">Notch</Enum>
                        <Enum value="6">Low shelf</Enum>
                        <Enum value="7">High shelf</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0531"  dtype="u32" id="CL_POS_FBK_FILTER1_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position feedback filter 1 frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0532"  dtype="float" id="CL_POS_FBK_FILTER1_Q" units="-" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position feedback filter 1 Q-factor</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0533"  dtype="float" id="CL_POS_FBK_FILTER1_GAIN" units="dB" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position feedback filter 1 gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0538"  dtype="u16" id="CL_POS_FBK_FILTER2_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the filter applied to position feedback sensor input of the position PID controller" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position feedback filter 2 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Low pass</Enum>
                        <Enum value="2">High pass</Enum>
                        <Enum value="3">Band pass</Enum>
                        <Enum value="4">Peak</Enum>
                        <Enum value="5">Notch</Enum>
                        <Enum value="6">Low shelf</Enum>
                        <Enum value="7">High shelf</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0539"  dtype="u32" id="CL_POS_FBK_FILTER2_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position feedback filter 2 frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x053A"  dtype="float" id="CL_POS_FBK_FILTER2_Q" units="-" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position feedback filter 2 Q-factor</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x053B"  dtype="float" id="CL_POS_FBK_FILTER2_GAIN" units="dB" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position feedback filter 2 gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0540"  dtype="u16" id="CL_POS_REF_FILTER1_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the type of filter applied on the position set-point input of the position PID controller" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position reference filter 1 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Low pass</Enum>
                        <Enum value="2">High pass</Enum>
                        <Enum value="3">Band pass</Enum>
                        <Enum value="4">Peak</Enum>
                        <Enum value="5">Notch</Enum>
                        <Enum value="6">Low shelf</Enum>
                        <Enum value="7">High shelf</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0541"  dtype="u32" id="CL_POS_REF_FILTER1_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position reference filter 1 frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0542"  dtype="float" id="CL_POS_REF_FILTER1_Q" units="-" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position reference filter 1 Q-factor</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0543"  dtype="float" id="CL_POS_REF_FILTER1_GAIN" units="dB" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position reference filter 1 gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0548"  dtype="u16" id="CL_POS_REF_FILTER2_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the type of filter applied to position feedback sensor" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position reference filter 2 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Low pass</Enum>
                        <Enum value="2">High pass</Enum>
                        <Enum value="3">Band pass</Enum>
                        <Enum value="4">Peak</Enum>
                        <Enum value="5">Notch</Enum>
                        <Enum value="6">Low shelf</Enum>
                        <Enum value="7">High shelf</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0549"  dtype="u32" id="CL_POS_REF_FILTER2_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position reference filter 2 frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x054A"  dtype="float" id="CL_POS_REF_FILTER2_Q" units="-" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position reference filter 2 Q-factor</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x054B"  dtype="float" id="CL_POS_REF_FILTER2_GAIN" units="dB" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Position reference filter 2 gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0550"  dtype="u16" id="CL_VEL_FBK_FILTER1_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the filter type applied to the velocity feedback sensor input of the velocity PID controller" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity feedback filter 1 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Low pass</Enum>
                        <Enum value="2">High pass</Enum>
                        <Enum value="3">Band pass</Enum>
                        <Enum value="4">Peak</Enum>
                        <Enum value="5">Notch</Enum>
                        <Enum value="6">Low shelf</Enum>
                        <Enum value="7">High shelf</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0551"  dtype="u32" id="CL_VEL_FBK_FILTER1_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity feedback filter 1 frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0552"  dtype="float" id="CL_VEL_FBK_FILTER1_Q" units="-" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity feedback filter 1 Q-factor</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0553"  dtype="float" id="CL_VEL_FBK_FILTER1_GAIN" units="dB" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity feedback filter 1 gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0558"  dtype="u16" id="CL_VEL_FBK_FILTER2_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the filter type applied to velocity feedback sensor input of the velocity PID controller" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity feedback filter 2 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Low pass</Enum>
                        <Enum value="2">High pass</Enum>
                        <Enum value="3">Band pass</Enum>
                        <Enum value="4">Peak</Enum>
                        <Enum value="5">Notch</Enum>
                        <Enum value="6">Low shelf</Enum>
                        <Enum value="7">High shelf</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0559"  dtype="u32" id="CL_VEL_FBK_FILTER2_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity feedback filter 2 frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x055A"  dtype="float" id="CL_VEL_FBK_FILTER2_Q" units="-" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity feedback filter 2 Q-factor</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x055B"  dtype="float" id="CL_VEL_FBK_FILTER2_GAIN" units="dB" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity feedback filter 2 gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0560"  dtype="u16" id="CL_VEL_REF_FILTER1_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the filter type applied to velocity set-point input of the velocity PID controller" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity reference filter 1 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Low pass</Enum>
                        <Enum value="2">High pass</Enum>
                        <Enum value="3">Band pass</Enum>
                        <Enum value="4">Peak</Enum>
                        <Enum value="5">Notch</Enum>
                        <Enum value="6">Low shelf</Enum>
                        <Enum value="7">High shelf</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0561"  dtype="u32" id="CL_VEL_REF_FILTER1_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity reference filter 1 frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0562"  dtype="float" id="CL_VEL_REF_FILTER1_Q" units="-" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity reference filter 1 Q-factor</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0563"  dtype="float" id="CL_VEL_REF_FILTER1_GAIN" units="dB" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity reference filter 1 gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0568"  dtype="u16" id="CL_VEL_REF_FILTER2_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the filter type applied to velocity set-point input of the velocity PID controller" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity reference filter 2 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Low pass</Enum>
                        <Enum value="2">High pass</Enum>
                        <Enum value="3">Band pass</Enum>
                        <Enum value="4">Peak</Enum>
                        <Enum value="5">Notch</Enum>
                        <Enum value="6">Low shelf</Enum>
                        <Enum value="7">High shelf</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0569"  dtype="u32" id="CL_VEL_REF_FILTER2_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity reference filter 2 frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x056A"  dtype="float" id="CL_VEL_REF_FILTER2_Q" units="-" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity reference filter 2 Q-factor</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x056B"  dtype="float" id="CL_VEL_REF_FILTER2_GAIN" units="dB" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Velocity reference filter 2 gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0570"  dtype="u16" id="CL_CUR_FBK_FILTER1_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the type of filter applied for all current feedback readings" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current feedback filter 1 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Low pass</Enum>
                        <Enum value="2">High pass</Enum>
                        <Enum value="3">Band pass</Enum>
                        <Enum value="4">Peak</Enum>
                        <Enum value="5">Notch</Enum>
                        <Enum value="6">Low shelf</Enum>
                        <Enum value="7">High shelf</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0571"  dtype="u32" id="CL_CUR_FBK_FILTER1_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current feedback filter 1 frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0572"  dtype="float" id="CL_CUR_FBK_FILTER1_Q" units="-" subnode="1" cyclic="CONFIG" desc="The meaning of this registers depends on the filter type" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current feedback filter 1 Q-factor</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0573"  dtype="float" id="CL_CUR_FBK_FILTER1_GAIN" units="dB" subnode="1" cyclic="CONFIG" desc="The meaning of this registers depends on the filter type" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current feedback filter 1 gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0578"  dtype="u16" id="CL_CUR_FBK_FILTER2_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the type of filter applied to all current feedback sensor readings" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current feedback filter 2 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Low pass</Enum>
                        <Enum value="2">High pass</Enum>
                        <Enum value="3">Band pass</Enum>
                        <Enum value="4">Peak</Enum>
                        <Enum value="5">Notch</Enum>
                        <Enum value="6">Low shelf</Enum>
                        <Enum value="7">High shelf</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0579"  dtype="u32" id="CL_CUR_FBK_FILTER2_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="The meaning of this registers depends on the selected filter type" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current feedback filter 2 frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x057A"  dtype="float" id="CL_CUR_FBK_FILTER2_Q" units="-" subnode="1" cyclic="CONFIG" desc="The meaning of this registers depends on the selected filter type" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current feedback filter 2 Q-factor</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x057B"  dtype="float" id="CL_CUR_FBK_FILTER2_GAIN" units="dB" subnode="1" cyclic="CONFIG" desc="The meaning of this registers depends on the selected filter type" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current feedback filter 2 gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0580"  dtype="u16" id="CL_CUR_REF_FILTER1_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the type of filter applied for all current set-points" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current reference filter 1 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Low pass</Enum>
                        <Enum value="2">High pass</Enum>
                        <Enum value="3">Band pass</Enum>
                        <Enum value="4">Peak</Enum>
                        <Enum value="5">Notch</Enum>
                        <Enum value="6">Low shelf</Enum>
                        <Enum value="7">High shelf</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0581"  dtype="u32" id="CL_CUR_REF_FILTER1_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current reference filter 1 frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0582"  dtype="float" id="CL_CUR_REF_FILTER1_Q" units="-" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current reference filter 1 Q-factor</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0583"  dtype="float" id="CL_CUR_REF_FILTER1_GAIN" units="dB" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current reference filter 1 gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0588"  dtype="u16" id="CL_CUR_REF_FILTER2_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the type of filter applied for all current set-points" cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current reference filter 2 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Low pass</Enum>
                        <Enum value="2">High pass</Enum>
                        <Enum value="3">Band pass</Enum>
                        <Enum value="4">Peak</Enum>
                        <Enum value="5">Notch</Enum>
                        <Enum value="6">Low shelf</Enum>
                        <Enum value="7">High shelf</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0589"  dtype="u32" id="CL_CUR_REF_FILTER2_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current reference filter 2 frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x058A"  dtype="float" id="CL_CUR_REF_FILTER2_Q" units="-" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current reference filter 2 Q-factor</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x058B"  dtype="float" id="CL_CUR_REF_FILTER2_GAIN" units="dB" subnode="1" cyclic="CONFIG" desc="The meaning of this register depends on the selected filter type." cat_id="FILTERS">
                    <Labels>
                        <Label lang="en_US">Current reference filter 2 gain</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0590"  dtype="float" id="CL_VEL_FF_KA" units="Nm / (rev/s2)" subnode="1" cyclic="CYCLIC_RX" desc="Acceleration feed-forward gain of the velocity PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Velocity loop Kffa</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0591"  dtype="float" id="CL_POS_FF_KVEL" units="-" subnode="1" cyclic="CYCLIC_RX" desc="Velocity feed-forward constant of the position PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position loop Kffv</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0592"  dtype="float" id="CL_POS_FF_KACC" units="s" subnode="1" cyclic="CYCLIC_RX" desc="Acceleration feed-forward constant of the position PID controller" cat_id="CONTROL">
                    <Labels>
                        <Label lang="en_US">Position loop Kffa</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x05FC"  dtype="u16" id="IO_OUT_MAP_1" units="-" subnode="1" cyclic="CONFIG" desc="" cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Map output 1</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Standard GPO</Enum>
                        <Enum value="1">Operation enabled flag</Enum>
                        <Enum value="2">External shunt</Enum>
                        <Enum value="3">Health signal</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x05FD"  dtype="u16" id="IO_OUT_MAP_2" units="-" subnode="1" cyclic="CONFIG" desc="" cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Map output 2</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Standard GPO</Enum>
                        <Enum value="1">Operation enabled flag</Enum>
                        <Enum value="2">External shunt</Enum>
                        <Enum value="3">Health signal</Enum>
                    </Enumerations>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0600"  dtype="u32" id="IO_IN_VALUE" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Boolean mask indicating the state of all the digital inputs" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Digital inputs value</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0601"  dtype="u32" id="IO_OUT_VALUE" units="-" subnode="1" cyclic="CYCLIC_TX" desc="Boolean mask that reports the state of the digital outputs" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Digital outputs value</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0602"  dtype="u32" id="IO_OUT_SET_POINT" units="-" subnode="1" cyclic="CYCLIC_RX" desc="Boolean mask that sets the state of the digital outputs. Only the outputs that haven&#x27;t been mapped to a special function will be set." cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Digital outputs set value</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0603"  dtype="u32" id="IO_OUT_POLARITY" units="-" subnode="1" cyclic="CONFIG" desc="Boolean polarity mask for digital outputs.  Bit set to 0 means standard polarity (active high), bit set to 1 means reversed polarity (active low)" cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Digital outputs polarity</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0604"  dtype="u32" id="IO_IN_POLARITY" units="-" subnode="1" cyclic="CONFIG" desc="Boolean polarity mask for digital inputs. Bit set to 0 means standard polarity (active high), bit set to 1 means reversed polarity (active low)" cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Digital inputs polarity</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0608"  dtype="u16" id="IO_IN_POS_LIM_SWITCH" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the GPI used as positive switch limit." cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Positive switch limit</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">None</Enum>
                        <Enum value="1">GPI1</Enum>
                        <Enum value="2">GPI2</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0609"  dtype="u16" id="IO_IN_NEG_LIM_SWITCH" units="-" subnode="1" cyclic="CONFIG" desc="" cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Negative switch limit</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">None</Enum>
                        <Enum value="1">GPI1</Enum>
                        <Enum value="2">GPI2</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x060A"  dtype="u16" id="IO_IN_QS" units="-" subnode="1" cyclic="CONFIG" desc="Selects a general purpose input to use as quick stop input whenever parameter is different from 0. Whenever the selected input is active, the system will force quick stop state if possible." cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Quick stop input</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">None</Enum>
                        <Enum value="1">GPI1</Enum>
                        <Enum value="2">GPI2</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x060B"  dtype="s16" id="ERROR_STATE_QS_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Quick stop option code according to CiA402" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Quick stop option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Slow down ramp and disable</Enum>
                        <Enum value="2">Quick stop ramp and disable</Enum>
                        <Enum value="5">Slow down ramp</Enum>
                        <Enum value="6">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x060F"  dtype="u16" id="ERROR_PROT_I2T_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;I2T without current control&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">User I2T error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0610"  dtype="u16" id="ERROR_POS_OUT_LIMITS_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;Position feedback out of limits&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Position feedback out of limits error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0611"  dtype="u16" id="ERROR_VEL_OUT_LIMITS_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;Velocity feedback out of limits&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Velocity feedback out of limits error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0612"  dtype="u16" id="ERROR_POS_FOLLOWING_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;Position following error&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Position following error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0613"  dtype="u16" id="ERROR_PROT_OVER_TEMP_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;Power stage user over temperature&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Power stage user over-temperature error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0614"  dtype="u16" id="ERROR_MOT_OVER_TEMP_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;Motor over temperature&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Motor over-temperature error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0615"  dtype="u16" id="ERROR_PROT_UNDER_TEMP_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;Power stage user under temperature&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Power stage user under-temperature error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0616"  dtype="u16" id="ERROR_PROT_OVER_VOLT_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;Power stage user over voltage&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Power stage user over voltage error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0617"  dtype="u16" id="ERROR_PROT_UNDER_VOLT_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;Power stage user under voltage&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Power stage user under voltage error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0619"  dtype="u16" id="ERROR_DIGHALL_SEQ_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;Halls sequence error&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Halls sequence error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x061A"  dtype="u16" id="ERROR_DIGENC_AGAINST_HALL_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;Incremental encoder against halls error&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Feedback runaway error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x061B"  dtype="u16" id="ERROR_PROT_OVER_CUR_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;Over current without current control&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Over current without current control error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x061D"  dtype="u16" id="CL_VEL_FOLLOWING_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for the &quot;Velocity following error&quot; error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Velocity following error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                        <Enum value="2">Slow down ramp</Enum>
                        <Enum value="3">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0620"  dtype="s16" id="ERROR_STATE_HALT_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Halt option code according to CiA402" cat_id="PROFILER">
                    <Labels>
                        <Label lang="en_US">Halt option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">None</Enum>
                        <Enum value="1">Slow down ramp</Enum>
                        <Enum value="2">Quick stop ramp</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0621"  dtype="u16" id="IO_IN_HALT" units="-" subnode="1" cyclic="CONFIG" desc="Selects a general purpose input to use as halt input whenever parameter is different from 0. Whenever the selected input is active, the system will force halt active state if possible." cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Halt input</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">None</Enum>
                        <Enum value="1">GPI1</Enum>
                        <Enum value="2">GPI2</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0624"  dtype="u16" id="IO_IN_FLT_RESET" units="-" subnode="1" cyclic="CONFIG" desc="Links a digital input to perform fault reset on rising edge" cat_id="IN_OUT">
                    <Labels>
                        <Label lang="en_US">Fault reset input</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">None</Enum>
                        <Enum value="1">GPI1</Enum>
                        <Enum value="2">GPI2</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x062B"  dtype="u32" id="FAULT_REACTION_TIMEOUT" units="ms" subnode="1" cyclic="CONFIG" desc="Timeout in milliseconds after which fault reaction state will be exited into fault state." cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Fault reaction timeout</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x062F"  dtype="u16" id="DRV_PROT_OVER_VOLT_SENS" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the reaction time required by the drive to detect and over-voltage." cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Over-voltage sensitivity</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Fast</Enum>
                        <Enum value="1">Medium</Enum>
                        <Enum value="2">Slow</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0630"  dtype="float" id="DRV_PROT_USER_OVER_VOLT" units="V" subnode="1" cyclic="CONFIG" desc="Indicates the maximum allowed bus voltage by the user in the drive" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">User over voltage level</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0631"  dtype="float" id="DRV_PROT_USER_UNDER_VOLT" units="V" subnode="1" cyclic="CONFIG" desc="Indicates the minimum voltage required by the user for a proper operation" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">User under voltage level</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0632"  dtype="float" id="DRV_PROT_USER_OVER_TEMP" units="ºC" subnode="1" cyclic="CONFIG" desc="Indicates the maximum temperature of the drive allowed by the user" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">User over temperature level</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0633"  dtype="float" id="DRV_PROT_USER_UNDER_TEMP" units="ºC" subnode="1" cyclic="CONFIG" desc="Indicates the minimum temperature of the drive allowed by the user" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">User under temperature level</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x063B"  dtype="u16" id="STO_ERROR_OPTION" units="-" subnode="1" cyclic="CONFIG" desc="Reaction option code for STO error" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">STO error option code</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disable power stage</Enum>
                        <Enum value="1">Do nothing</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0641"  dtype="u16" id="COMMS_SYNC_SIGNAL_CFG" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the number of synchronization signals generated by the MCB protocol" cat_id="COMMUNICATIONS">
                    <Labels>
                        <Label lang="en_US">Sync. signal configuration</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">Disabled</Enum>
                        <Enum value="1">Only Sync 0</Enum>
                        <Enum value="2">Only Sync 1</Enum>
                        <Enum value="3">Sync 0 and Sync 1</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0643"  dtype="u32" id="COMMS_SYNC_SIGNAL_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="Frequency at which the synchronization signal is being generated. It should be an exact multiple of the PWM frequency selected." cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Sync. signal frequency</Label>
                    </Labels>
                    <Range min="10" max="200000"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0644"  dtype="u32" id="COMMS_SYNC_PLL_CUTOFF" units="Hz" subnode="1" cyclic="CONFIG" desc="Cutoff frequency of the synchronization signal PLL filter" cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Sync. signal PLL filter cutoff frequency</Label>
                    </Labels>
                    <Range min="10" max="200000"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0645"  dtype="float" id="COMMS_SYNC_PLL_PHASE" units="-" subnode="1" cyclic="CONFIG" desc="Configures phase difference between the synchronization signal and the generated PWM." cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Sync. signal PLL phase</Label>
                    </Labels>
                    <Range min="0.0" max="1.0"/>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0646"  dtype="float" id="COMMS_SYNC_PLL_KP" units="-" subnode="1" cyclic="CONFIG" desc="Configures proportional constant for phase correction in Pll" cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Sync. signal PLL Kp</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x064D"  dtype="u16" id="DRV_DIAG_ERROR_TOTAL" units="-" subnode="1" cyclic="CONFIG" desc="Total number of errors since power up" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Error total number</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x064E"  dtype="u16" id="DRV_DIAG_ERROR_LIST_IDX" units="-" subnode="1" cyclic="CONFIG" desc="Index to access to the last errors" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Error list index request</Label>
                    </Labels>
                    <Range min="0" max="32"/>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x064F"  dtype="s32" id="DRV_DIAG_ERROR_LIST_CODE" units="-" subnode="1" cyclic="CONFIG" desc="Contains the error code of the indicated by the requested location register" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Error list requested code</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x06DB"  dtype="u32" id="DRV_STORE_MOCO_ALL" units="-" subnode="1" cyclic="CONFIG" desc="" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Store all</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x06DC"  dtype="u32" id="DRV_RESTORE_MOCO_ALL" units="-" subnode="1" cyclic="CONFIG" desc="Using the proper password allows to restore the default parameters of the drive after the next power on" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Restore all</Label>
                    </Labels>
                </Register>
                <Register access="w" address_type="NVM_NONE" address="0x06DF"  dtype="u32" id="DRV_BOOT_RESET" units="-" subnode="1" cyclic="CONFIG" desc="With the proper password resets the drive." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">System reset</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x06E0"  dtype="u32" id="DRV_ID_VENDOR_ID" units="-" subnode="1" cyclic="CONFIG" desc="Identifies the vendor of the product" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Vendor ID</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x06E1"  dtype="u32" id="DRV_ID_PRODUCT_CODE" units="-" subnode="1" cyclic="CONFIG" desc="Contains the product code of the drive" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Product code</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x06E2"  dtype="u32" id="DRV_ID_REVISION_NUMBER" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the revision number of the firmware version on the drive" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Revision number</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x06E4"  dtype="str" id="DRV_ID_SOFTWARE_VERSION" units="-" subnode="1" cyclic="CONFIG" desc="Public software release version" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Software version</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_LOCK" address="0x06E6"  dtype="u32" id="DRV_ID_SERIAL_NUMBER" units="-" subnode="1" cyclic="CONFIG" desc="Unique serial number id of the device" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Serial number</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0700"  dtype="u32" id="DRV_PS_FREQ_1" units="Hz" subnode="1" cyclic="CONFIG" desc="Contains the selectable commutation frequency 1 (Also minimum PWM frequency)" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage frequency 1</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0701"  dtype="u32" id="DRV_PS_FREQ_2" units="Hz" subnode="1" cyclic="CONFIG" desc="Contains the selectable commutation frequency 2" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage frequency 2</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0702"  dtype="u32" id="DRV_PS_FREQ_3" units="Hz" subnode="1" cyclic="CONFIG" desc="Contains the selectable commutation frequency 3" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage frequency 3</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0703"  dtype="u32" id="DRV_PS_FREQ_4" units="Hz" subnode="1" cyclic="CONFIG" desc="Contains the selectable commutation frequency 4 (Also maximum PWM frequency)" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage frequency 4</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0704"  dtype="u32" id="DRV_PS_DEAD_TIME" units="ns" subnode="1" cyclic="CONFIG" desc="Dead-time applied to PWM generation to avoid shoot-through in the power stage" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage dead-time (ns)</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0706"  dtype="u32" id="DRV_PS_MIN_LOW_SIDE_ON_TIME" units="ns" subnode="1" cyclic="CONFIG" desc="Minimum time the power stage low side should be enabled for a proper current measurement." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Min. low side on time (ns)</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0707"  dtype="u32" id="DRV_PS_MIN_HIGH_SIDE_ON_TIME" units="ns" subnode="1" cyclic="CONFIG" desc="" cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Min. high side on time (ns)</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0709"  dtype="u16" id="DRV_PROT_CURR_OVER_RANGE_THRESHOLD" units="cnt" subnode="1" cyclic="CONFIG" desc="Number of counts below ADC ceiling where the upper saturation limit will be placed. Used for ADC saturation error detection" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Current saturation counts from ADC ceiling</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x070A"  dtype="u16" id="DRV_PROT_CURR_UNDER_RANGE_THRESHOLD" units="cnt" subnode="1" cyclic="CONFIG" desc="Number of counts above ADC floor where the lower saturation limit will be placed. Used for ADC saturation error detection" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Current saturation counts from ADC floor</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x070C"  dtype="float" id="DRV_PROT_CURR_CALIB_TOLERANCE" units="A" subnode="1" cyclic="CONFIG" desc="This register defines the allowed tolerance around the ideal calibration offset. The drive prevents enabling the motion if the calibration offset is out of this tolerance." cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Current calibration offset tolerance</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0710"  dtype="float" id="DRV_PROT_MAN_OVER_TEMP" units="ºC" subnode="1" cyclic="CONFIG" desc="Indicates the maximum supported temperature of the drive" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Over-temperature level</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0711"  dtype="float" id="DRV_PROT_MAN_UNDER_TEMP" units="ºC" subnode="1" cyclic="CONFIG" desc="Indicates the minimum temperature allowed for drive operation in degrees celsius" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Under-temperature level</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0712"  dtype="float" id="DRV_PROT_MAN_OVER_VOLT" units="V" subnode="1" cyclic="CONFIG" desc="Indicates the maximum supported bus voltage by the drive" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Over-voltage level</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0713"  dtype="float" id="DRV_PROT_MAN_UNDER_VOLT" units="V" subnode="1" cyclic="CONFIG" desc="Indicates the minimum voltage required by the drive for a proper operation" cat_id="PROTECTIONS">
                    <Labels>
                        <Label lang="en_US">Under-voltage level</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x071D"  dtype="float" id="DRV_PROT_MAN_MAX_CONT_CURRENT_VALUE" units="A" subnode="1" cyclic="CONFIG" desc="Maximum continuous current on the drive" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Maximum drive current</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x071E"  dtype="u32" id="DRV_PROT_MAN_MAX_PEAK_CURRENT_TIME" units="ms" subnode="1" cyclic="CONFIG" desc="Maximum time in milliseconds the maximum peak current can be driven by the drive." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Maximum drive peak current time</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x071F"  dtype="float" id="DRV_PROT_MAN_MAX_PEAK_CURRENT_VALUE" units="A" subnode="1" cyclic="CONFIG" desc="Maximum absolute allowed current on drive" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Maximum drive peak current</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0720"  dtype="float" id="FBK_CUR_MEAS_RANGE1" units="A" subnode="1" cyclic="CONFIG" desc="Full measuring range for the variable gain configuration 1 in Amperes" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Current measuring range 1</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0721"  dtype="float" id="FBK_CUR_MEAS_RANGE2" units="A" subnode="1" cyclic="CONFIG" desc="Full measuring range for the variable gain configuration 2 in Amperes" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Current measuring range 2</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0722"  dtype="float" id="FBK_CUR_MEAS_RANGE3" units="A" subnode="1" cyclic="CONFIG" desc="Full measuring range for the variable gain configuration 3 in Amperes" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Current measuring range 3</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0723"  dtype="float" id="FBK_CUR_MEAS_RANGE4" units="A" subnode="1" cyclic="CONFIG" desc="Full measuring range for the variable gain configuration 4 in Amperes" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Current measuring range 4</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0728"  dtype="u16" id="FBK_CUR_MASK" units="-" subnode="1" cyclic="CONFIG" desc="Inidicates the number of available sensors for current sensing" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Current sensors used mask</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0729"  dtype="u16" id="FBK_CUR_ACQ_TIME" units="ns" subnode="1" cyclic="CONFIG" desc="Current acquisition (sample and hold) time in nanoseconds" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Current acquisition time (ns)</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x072A"  dtype="u16" id="FBK_CUR_ACQ_ADVANCE_TIME" units="ns" subnode="1" cyclic="CONFIG" desc="Current acquisition advance time from center of PWM in nanoseconds" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Current acquisition advance time (ns)</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x072B"  dtype="u32" id="DRV_PS_MIN_LOW_SIDE_ON_TIME_2" units="ns" subnode="1" cyclic="CONFIG" desc="Minimum low side on time in nanoseconds for frequency selection 2" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Min. low side on time 2 (ns)</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x072C"  dtype="u32" id="DRV_PS_MIN_LOW_SIDE_ON_TIME_3" units="ns" subnode="1" cyclic="CONFIG" desc="Minimum low side on time in nanoseconds for frequency selection 3" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Min. low side on time 3 (ns)</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x072D"  dtype="u32" id="DRV_PS_MIN_LOW_SIDE_ON_TIME_4" units="ns" subnode="1" cyclic="CONFIG" desc="Minimum low side on time in nanoseconds for frequency selection 4" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Min. low side on time 4 (ns)</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0732"  dtype="float" id="DRV_PROT_VBUS_MEAS_RANGE" units="V" subnode="1" cyclic="CONFIG" desc="Full range of bus voltage measurements in volts." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Bus voltage measuring range</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0733"  dtype="float" id="DRV_PROT_VBUS_OFFSET" units="V" subnode="1" cyclic="CONFIG" desc="Constant error in volts of the bus voltage measurements" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Bus voltage reading offset</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0734"  dtype="u16" id="DRV_PROT_PRIM_TEMP_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the temperature sensor used for primary temperature readings of the power stage." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temp. sensor 1 type</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0735"  dtype="u32" id="DRV_PROT_PRIM_TEMP_RES" units="Ω" subnode="1" cyclic="CONFIG" desc="NTC: Resistance value for 25 ºC in ohms PTC: Resistance value in ohms where the over-temperature must be detected Others: Not used" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temp. sensor 1 resistance</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0736"  dtype="u16" id="DRV_PROT_PRIM_TEMP_B2585" units="ºK" subnode="1" cyclic="CONFIG" desc="NTC: B(25/85) parameter from datasheet Others: Not used" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temp. sensor 1 β</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0737"  dtype="u32" id="DRV_PROT_PRIM_TEMP_EXT_RES" units="Ω" subnode="1" cyclic="CONFIG" desc="NTC &amp; PTC: Resistance value in ohms connected to sensor for making the voltage divider Other: Not used" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temp. sensor 1 ext. resistance</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0738"  dtype="float" id="DRV_PROT_PRIM_TEMP_GAIN" units="ºC / V" subnode="1" cyclic="CONFIG" desc="Linear voltage sensor: Gain of the sensor Others: Not used" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temp. sensor 1 gain</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0739"  dtype="float" id="DRV_PROT_PRIM_TEMP_OFFSET" units="ºC" subnode="1" cyclic="CONFIG" desc="NTC &amp; PTC: Not used Linear sensor: Offset of the sensor" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temp. sensor 1 offset</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0740"  dtype="u32" id="DRV_PROT_STO_CFG" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the GPI used for detecting STO notification" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">STO configuration</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0741"  dtype="u32" id="MOT_BRAKE_CONFIGURATION" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the GPO used as brake." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Brake configuration</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0742"  dtype="u32" id="MOT_BRAKE_MAX_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="Indicates the maximum allowed commutation frequency by the brake electronics" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Brake max. frequency</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x0743"  dtype="u32" id="MOT_BRAKE_FREQ" units="Hz" subnode="1" cyclic="CONFIG" desc="Brake frequency in hertz. Only values lower than the maximum brake frequency will be allowed. Value 0 disables modulated brake output." cat_id="MOTOR">
                    <Labels>
                        <Label lang="en_US">Brake frequency</Label>
                    </Labels>
                    <Range min="4000" max="40000"/>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0746"  dtype="u16" id="DRV_PROT_RED_TEMP_TYPE" units="-" subnode="1" cyclic="CONFIG" desc="Indicates the type of temperature sensor is used for the redundant temperature sensor type" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temp. sensor 2 type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">NTC</Enum>
                        <Enum value="1">PTC</Enum>
                        <Enum value="2">Linear sensor</Enum>
                    </Enumerations>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0747"  dtype="u32" id="DRV_PROT_RED_TEMP_RES" units="Ω" subnode="1" cyclic="CONFIG" desc="NTC: Resistance value for 25 ºC in ohms PTC: Resistance value in ohms where the over-temperature must be detected Others: Not used" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temp. sensor 2 resistance</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0748"  dtype="u16" id="DRV_PROT_RED_TEMP_B2585" units="ºK" subnode="1" cyclic="CONFIG" desc="NTC: B(25/85) parameter from datasheet PTC: Not used Other: Not used" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temp. sensor 2 β</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0749"  dtype="u32" id="DRV_PROT_RED_TEMP_EXT_RES" units="Ω" subnode="1" cyclic="CONFIG" desc="NTC &amp; PTC: Resistance value in ohms connected to the sensor for making the voltage divider Others: Not used" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temp. sensor 2 ext. resistance</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x074A"  dtype="float" id="DRV_PROT_RED_TEMP_GAIN" units="ºC / V" subnode="1" cyclic="CONFIG" desc="Linear voltage sensor: Gain of the sensor. Others: Not used" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temp. sensor 2 gain</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x074B"  dtype="float" id="DRV_PROT_RED_TEMP_OFFSET" units="ºC" subnode="1" cyclic="CONFIG" desc="NTC &amp; PTC: Not used Others: Offset of the sensor" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage temp. sensor 2 offset</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0750"  dtype="float" id="DRV_PROT_DERATING_CONST" units="-" subnode="1" cyclic="CONFIG" desc="Constant applied in function of the drive temperature to the maximum nominal current" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Derating constant</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0751"  dtype="float" id="DRV_PROT_DERATING_FREQ_CONST1" units="-" subnode="1" cyclic="CONFIG" desc="Derating constant for commutation frequency 1 that modifies the temperature threshold for starting current derating." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Frequency 1 derating constant</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0752"  dtype="float" id="DRV_PROT_DERATING_FREQ_CONST2" units="-" subnode="1" cyclic="CONFIG" desc="Derating constant for commutation frequency 2 that modifies the temperature threshold for starting current derating." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Frequency 2 derating constant</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0753"  dtype="float" id="DRV_PROT_DERATING_FREQ_CONST3" units="-" subnode="1" cyclic="CONFIG" desc="Derating constant for commutation frequency 3 that modifies the temperature threshold for starting current derating." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Frequency 3 derating constant</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0754"  dtype="float" id="DRV_PROT_DERATING_FREQ_CONST4" units="-" subnode="1" cyclic="CONFIG" desc="Derating constant for commutation frequency 4 that modifies the temperature threshold for starting current derating." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Frequency 4 derating constant</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x075A"  dtype="float" id="DRV_PROT_DERATING_TEMP_THRESHOLD_1" units="A" subnode="1" cyclic="CONFIG" desc="Threshold temperature that starts the derating algorithm for selectable frequency 1 at minimum supply voltage" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage derating temperature threshold 1</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x075B"  dtype="float" id="DRV_PROT_DERATING_TEMP_THRESHOLD_2" units="A" subnode="1" cyclic="CONFIG" desc="Threshold temperature that starts the derating algorithm for selectable frequency 2 at minimum supply voltage" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage derating temperature threshold 2</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x075C"  dtype="float" id="DRV_PROT_DERATING_TEMP_THRESHOLD_3" units="A" subnode="1" cyclic="CONFIG" desc="Threshold temperature that starts the derating algorithm for selectable frequency 3 at minimum supply voltage" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage derating temperature threshold 3</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x075D"  dtype="float" id="DRV_PROT_DERATING_TEMP_THRESHOLD_4" units="A" subnode="1" cyclic="CONFIG" desc="Threshold temperature that starts the derating algorithm for selectable frequency 4 at minimum supply voltage" cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">Power stage derating temperature threshold 4</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x000F"  dtype="s32" id="DRV_DIAG_ERROR_LAST_COM" units="-" subnode="0" cyclic="CYCLIC_TX" desc="Contains the last generated error" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Last error</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0090"  dtype="u32" id="DIST_CFG_REG0_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 0." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 0</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0091"  dtype="u32" id="DIST_CFG_REG1_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 1." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 1</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0092"  dtype="u32" id="DIST_CFG_REG2_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 2." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 2</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0093"  dtype="u32" id="DIST_CFG_REG3_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 3." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 3</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0094"  dtype="u32" id="DIST_CFG_REG4_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 4." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 4</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0095"  dtype="u32" id="DIST_CFG_REG5_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 5." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 5</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0096"  dtype="u32" id="DIST_CFG_REG6_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 6." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 6</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0097"  dtype="u32" id="DIST_CFG_REG7_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 7." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 7</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0098"  dtype="u32" id="DIST_CFG_REG8_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 8." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 8</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0099"  dtype="u32" id="DIST_CFG_REG9_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 9." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 9</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x009A"  dtype="u32" id="DIST_CFG_REG10_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 10." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 10</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x009B"  dtype="u32" id="DIST_CFG_REG11_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 11." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 11</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x009C"  dtype="u32" id="DIST_CFG_REG12_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 12." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 12</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x009D"  dtype="u32" id="DIST_CFG_REG13_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 13." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 13</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x009E"  dtype="u32" id="DIST_CFG_REG14_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 14." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 14</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x009F"  dtype="u32" id="DIST_CFG_REG15_MAP" units="-" subnode="0" cyclic="CONFIG" desc="This register allows configuring the disturbance mapped register 15." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance mapped register 15</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00A0"  dtype="u16" id="DRV_AXIS_NUMBER" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Number of axes</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x00A1"  dtype="u32" id="COMMS_ETH_IP" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="COMMUNICATIONS">
                    <Labels>
                        <Label lang="en_US">IP address</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x00A2"  dtype="u32" id="COMMS_ETH_NET_MASK" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="COMMUNICATIONS">
                    <Labels>
                        <Label lang="en_US">Netmask</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x00A3"  dtype="u32" id="COMMS_ETH_GW" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="COMMUNICATIONS">
                    <Labels>
                        <Label lang="en_US">Gateway address</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM" address="0x00A4"  dtype="u64" id="COMMS_ETH_MAC" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="COMMUNICATIONS">
                    <Labels>
                        <Label lang="en_US">MAC address</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00AA"  dtype="str" id="DRV_BOOT_COCO_VERSION" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Bootloader version</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00B0"  dtype="u32" id="MON_DIST_STATUS" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring status</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00B1"  dtype="u32" id="MON_CFG_CYCLES_VALUE" units="cnt" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Actual number of monitoring samples</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00B3"  dtype="u32" id="DIST_CFG_CYCLES" units="cnt" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Actual number of disturbance samples</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00B5"  dtype="u32" id="MON_MAX_SIZE" units="-" subnode="0" cyclic="CONFIG" desc="Monitoring maximum size in bytes" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring maximum size</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00B6"  dtype="u32" id="DIST_MAX_SIZE" units="-" subnode="0" cyclic="CONFIG" desc="Disturbance maximum size in bytes" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance maximum size</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00B7"  dtype="u32" id="MON_CFG_BYTES_VALUE" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Actual number of monitoring bytes</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00B8"  dtype="u32" id="DIST_CFG_BYTES" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance current number of bytes</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00BA"  dtype="u32" id="MON_DIST_VERSION" units="-" subnode="0" cyclic="CONFIG" desc="This register has the monitoring version" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring disturbance version</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00BC"  dtype="u32" id="MON_LIFEGUARD" units="-" subnode="0" cyclic="CONFIG" desc="The objects indicate the maximum time (microseconds units) between two monitoring samples." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring lifeguard time</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00BD"  dtype="u32" id="DIST_LIFEGUARD" units="-" subnode="0" cyclic="CONFIG" desc="The objects indicate the maximum time (microseconds units) between two disturbance samples." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance lifeguard time</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00BF"  dtype="u32" id="DIST_STATUS" units="-" subnode="0" cyclic="CONFIG" desc="This register allows knowing the disturbance status." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance status</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00C0"  dtype="u16" id="MON_DIST_ENABLE" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Enable monitoring</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00C1"  dtype="u16" id="MON_DIST_FREQ_DIV" units="cnt" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring frequency divider</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00C2"  dtype="u32" id="MON_CFG_TRIGGER_DELAY" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring delay</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00C3"  dtype="u32" id="MON_CFG_WINDOW_SAMP" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring buffer size</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00C4"  dtype="u32" id="DIST_CFG_SAMPLES" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance buffer size</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00C5"  dtype="u16" id="DIST_FREQ_DIV" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance frequency divider</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00C7"  dtype="u16" id="DIST_ENABLE" units="-" subnode="0" cyclic="CONFIG" desc="Enables or disables the disturbance method." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Enable disturbance</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00D0"  dtype="u32" id="MON_CFG_REG0_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 0</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00D1"  dtype="u32" id="MON_CFG_REG1_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 1</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00D2"  dtype="u32" id="MON_CFG_REG2_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 2</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00D3"  dtype="u32" id="MON_CFG_REG3_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 3</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00D4"  dtype="u32" id="MON_CFG_REG4_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 4</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00D5"  dtype="u32" id="MON_CFG_REG5_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 5</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00D6"  dtype="u32" id="MON_CFG_REG6_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 6</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00D7"  dtype="u32" id="MON_CFG_REG7_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 7</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00D8"  dtype="u32" id="MON_CFG_REG8_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 8</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00D9"  dtype="u32" id="MON_CFG_REG9_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 9</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00DA"  dtype="u32" id="MON_CFG_REFG10_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 10</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00DB"  dtype="u32" id="MON_CFG_REFG11_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 11</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00DC"  dtype="u32" id="MON_CFG_REFG12_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 12</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00DD"  dtype="u32" id="MON_CFG_REFG13_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 13</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00DE"  dtype="u32" id="MON_CFG_REFG14_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 14</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00DF"  dtype="u32" id="MON_CFG_REFG15_MAP" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring mapped register 15</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00E3"  dtype="u16" id="MON_CFG_TOTAL_MAP" units="cnt" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring number mapped registers</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00E4"  dtype="u16" id="MON_CFG_BYTES_PER_BLOCK" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring number of bytes per sample</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00E8"  dtype="u16" id="DIST_CFG_MAP_REGS" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance number mapped registers</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x00E9"  dtype="u16" id="DIST_CFG_BYTES_PER_BLOCK" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance number of bytes per sample</Label>
                    </Labels>
                </Register>
                <Register access="w" address_type="NVM_NONE" address="0x00EA"  dtype="u16" id="MON_REMOVE_DATA" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring remove data</Label>
                    </Labels>
                </Register>
                <Register access="w" address_type="NVM_NONE" address="0x00EB"  dtype="u16" id="DIST_REMOVE_DATA" units="-" subnode="0" cyclic="CONFIG" desc="Writing 1 value to this register removes the stored disturbance data." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Disturbance remove data</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00F0"  dtype="u16" id="MON_CFG_SOC_TYPE" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring trigger type</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">TRIGGER_EVENT_AUTO</Enum>
                        <Enum value="1">TRIGGER_EVENT_FORCE</Enum>
                        <Enum value="2">TRIGGER_EVENT_EDGE</Enum>
                    </Enumerations>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00F1"  dtype="u16" id="MON_CFG_EOC_TYPE" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring trigger config</Label>
                    </Labels>
                    <Enumerations>
                        <Enum value="0">TRIGGER_CONFIG_RISING_OR_FALLING</Enum>
                        <Enum value="1">TRIGGER_CONFIG_RISING</Enum>
                        <Enum value="2">TRIGGER_CONFIG_FALLING</Enum>
                    </Enumerations>
                </Register>
                <Register access="w" address_type="NVM_NONE" address="0x00F3"  dtype="u16" id="MON_CMD_FORCE_TRIGGER" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring force trigger</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00F4"  dtype="u32" id="MON_CFG_RISING_CONDITION" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring trigger threshold</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x00F5"  dtype="u16" id="MON_IDX_CHECK" units="none" subnode="0" cyclic="CONFIG" desc="" cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring trigger source</Label>
                    </Labels>
                </Register>
                <Register access="w" address_type="NVM_NONE" address="0x00F7"  dtype="u16" id="MON_REARM" units="-" subnode="0" cyclic="CONFIG" desc="Restart and set up the monitoring module to capture new data frame." cat_id="MONITORING">
                    <Labels>
                        <Label lang="en_US">Monitoring rearm</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0140"  dtype="s16" id="MEM_USR_ADDR" units="-" subnode="0" cyclic="CONFIG" desc="This register allow to read or modify the address pointer for accessing the user memory. Memory space is arranged in words (16b), the address value must be an even number." cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">User memory address pointer</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x0141"  dtype="u32" id="MEM_USR_DATA" units="-" subnode="0" cyclic="CONFIG" desc="This register allow to read or modify the data content of the pointed address. A write to this register will store the data into the drive user memory." cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">User memory data</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x0649"  dtype="s32" id="DRV_DIAG_SYS_ERROR_LAST" units="none" subnode="0" cyclic="CYCLIC_TX" desc="Contains the last system generated error" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">System last error</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x064A"  dtype="u16" id="DRV_DIAG_SYS_ERROR_TOTAL_COM" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">System error total number</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x064B"  dtype="u16" id="DRV_DIAG_SYS_ERROR_LIST_IDX_COM" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">System error list index request</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x064C"  dtype="s32" id="DRV_DIAG_SYS_ERROR_LIST_CODE_COM" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">System error list requested code</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x064D"  dtype="u16" id="DRV_DIAG_ERROR_TOTAL_COM" units="-" subnode="0" cyclic="CONFIG" desc="Total number of errors since power up" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Error total number</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x064E"  dtype="u16" id="DRV_DIAG_ERROR_LIST_IDX_COM" units="-" subnode="0" cyclic="CONFIG" desc="Index to access to the last errors" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Error list index request</Label>
                    </Labels>
                    <Range min="0" max="32"/>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x064F"  dtype="s32" id="DRV_DIAG_ERROR_LIST_CODE_COM" units="-" subnode="0" cyclic="CONFIG" desc="Contains the error code of the indicated by the requested location register" cat_id="REPORTING">
                    <Labels>
                        <Label lang="en_US">Error list requested code</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x06DB"  dtype="u32" id="DRV_STORE_COCO_ALL" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Store all</Label>
                    </Labels>
                </Register>
                <Register access="rw" address_type="NVM_NONE" address="0x06DC"  dtype="u32" id="DRV_RESTORE_COCO_ALL" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Restore all</Label>
                    </Labels>
                </Register>
                <Register access="w" address_type="NVM_NONE" address="0x06DE"  dtype="u32" id="DRV_BOOT_COCO_FORCE" units="none" subnode="0" cyclic="CONFIG" desc="Allows to enter in boot mode" cat_id="OTHERS">
                    <Labels>
                        <Label lang="en_US">Boot mode</Label>
                    </Labels>
                </Register>
                <Register access="w" address_type="NVM_NONE" address="0x06DF"  dtype="u32" id="DRV_BOOT_COCO_RESET" units="-" subnode="0" cyclic="CONFIG" desc="With the proper password resets the drive." cat_id="INTERNAL">
                    <Labels>
                        <Label lang="en_US">System reset</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x06E0"  dtype="u32" id="DRV_ID_VENDOR_ID_COCO" units="-" subnode="0" cyclic="CONFIG" desc="Identifies the vendor of the product for products containing a coco" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Vendor ID</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x06E1"  dtype="u32" id="DRV_ID_PRODUCT_CODE_COCO" units="-" subnode="0" cyclic="CONFIG" desc="Contains the product code of the drive for products containing a coco." cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Product code</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x06E2"  dtype="u32" id="DRV_ID_REVISION_NUMBER_COCO" units="-" subnode="0" cyclic="CONFIG" desc="Indicates the revision number of the firmware version on the drive with coco" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Revision number</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x06E4"  dtype="str" id="DRV_APP_COCO_VERSION" units="-" subnode="0" cyclic="CONFIG" desc="" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Software Version</Label>
                    </Labels>
                </Register>
                <Register access="r" address_type="NVM_NONE" address="0x06E6"  dtype="u32" id="DRV_ID_SERIAL_NUMBER_COCO" units="-" subnode="0" cyclic="CONFIG" desc="Unique serial number id of the device, stored in CoCo" cat_id="IDENTIFICATION">
                    <Labels>
                        <Label lang="en_US">Serial number</Label>
                    </Labels>
                </Register>
            </Registers>
        </Device>
        <Errors>
            <Error id="0x00003280" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">STO is active and could have disabled the power stage disabled</Label>
                </Labels>
            </Error>
            <Error id="0x00002280" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">HW over current</Label>
                </Labels>
            </Error>
            <Error id="0x00002288" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">User I2T limit detected without current control</Label>
                </Labels>
            </Error>
            <Error id="0x00003290" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Input stage problem</Label>
                </Labels>
            </Error>
            <Error id="0x00003210" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">HW Over-voltage detected</Label>
                </Labels>
            </Error>
            <Error id="0x00003211" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">FW Over-voltage detected</Label>
                </Labels>
            </Error>
            <Error id="0x00003221" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">FW Under-voltage detected</Label>
                </Labels>
            </Error>
            <Error id="0x00004300" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Over-Temperature detected (internal drive limit).</Label>
                </Labels>
            </Error>
            <Error id="0x00004301" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Under-Temperature detected (internal drive limit)</Label>
                </Labels>
            </Error>
            <Error id="0x00004400" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Motor Over Temperature error</Label>
                </Labels>
            </Error>
            <Error id="0x00007380" affected_module="Feedback" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Too many error bits or invalid position flags detected in absolute encoder</Label>
                </Labels>
            </Error>
            <Error id="0x00007382" affected_module="Feedback" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Too many incorrect CRC checks in absolute encoder readings</Label>
                </Labels>
            </Error>
            <Error id="0x00007385" affected_module="Control Loops" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Position out of limits out of position modes</Label>
                </Labels>
            </Error>
            <Error id="0x00007386" affected_module="Control Loops" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Velocity out of limits out of velocity or position modes</Label>
                </Labels>
            </Error>
            <Error id="0x00007387" affected_module="Control Loops" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Position following error</Label>
                </Labels>
            </Error>
            <Error id="0x06010000" affected_module="Register dictionary" error_type="configuration">
                <Labels>
                    <Label lang="en_US">Incorrect access type</Label>
                </Labels>
            </Error>
            <Error id="0x06020000" affected_module="Register dictionary" error_type="configuration">
                <Labels>
                    <Label lang="en_US">Object doesn't exist</Label>
                </Labels>
            </Error>
            <Error id="0x06040041" affected_module="Register dictionary" error_type="configuration">
                <Labels>
                    <Label lang="en_US">Object isn't PDO mappable as requested</Label>
                </Labels>
            </Error>
            <Error id="0x06070010" affected_module="Register dictionary" error_type="configuration">
                <Labels>
                    <Label lang="en_US">Incorrect specified object size</Label>
                </Labels>
            </Error>
            <Error id="0x06090011" affected_module="Register dictionary" error_type="configuration">
                <Labels>
                    <Label lang="en_US">Sub-Index does not exist</Label>
                </Labels>
            </Error>
            <Error id="0x060A0000" affected_module="Register dictionary" error_type="configuration">
                <Labels>
                    <Label lang="en_US">Unsupported value introduced in register</Label>
                </Labels>
            </Error>
            <Error id="0x08000000" affected_module="Register dictionary" error_type="configuration">
                <Labels>
                    <Label lang="en_US">Read / Write operation not executed</Label>
                </Labels>
            </Error>
            <Error id="0x00003231" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">User Over-voltage detected</Label>
                </Labels>
            </Error>
            <Error id="0x00003241" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">User Under-voltage detected</Label>
                </Labels>
            </Error>
            <Error id="0x00004303" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Over-temperature detected (user limit)</Label>
                </Labels>
            </Error>
            <Error id="0x00004304" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Under-temperature detected (user limit)</Label>
                </Labels>
            </Error>
            <Error id="0x00004500" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">External error</Label>
                </Labels>
            </Error>
            <Error id="0x00007390" affected_module="Profiler" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Interpolation time is to small when PVT is enabled</Label>
                </Labels>
            </Error>
            <Error id="0x00003281" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Abnormal STO Supply. Unit could be damaged</Label>
                </Labels>
            </Error>
            <Error id="0x00003282" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Abnormal STO. STO1 and STO2 inputs differed more than latching time</Label>
                </Labels>
            </Error>
            <Error id="0x00007370" affected_module="Feedbacks" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Halls sequence error</Label>
                </Labels>
            </Error>
            <Error id="0x00007371" affected_module="Feedbacks" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Halls combination error</Label>
                </Labels>
            </Error>
            <Error id="0x00007372" affected_module="Feedbacks" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Feedback runaway error</Label>
                </Labels>
            </Error>
            <Error id="0x00002289" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Over current without current control</Label>
                </Labels>
            </Error>
            <Error id="0x00007391" affected_module="Profiler" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Profiler parameters not valid. They should all have positive values.</Label>
                </Labels>
            </Error>
            <Error id="0x00000000" affected_module="Drive" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">No error</Label>
                </Labels>
            </Error>
            <Error id="0x00007381" affected_module="Feedbacks" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">BiSS-C warning bit active</Label>
                </Labels>
            </Error>
            <Error id="0x00001001" affected_module="Communications" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Communications watchdog error</Label>
                </Labels>
            </Error>
            <Error id="0x00007388" affected_module="Control loops" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Velocity following error</Label>
                </Labels>
            </Error>
            <Error id="0x00007389" affected_module="Commutation" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Angle integrity check 1 error</Label>
                </Labels>
            </Error>
            <Error id="0x0000738A" affected_module="Commutation" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Angle integrity check 2 error</Label>
                </Labels>
            </Error>
            <Error id="0x0000738B" affected_module="Commutation" error_type="configuration">
                <Labels>
                    <Label lang="en_US">Trapezoidal commutation without digital halls not allowed. Review commutation sensor configuration and phasing</Label>
                </Labels>
            </Error>
            <Error id="0x0000228A" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">System I2T detected</Label>
                </Labels>
            </Error>
            <Error id="0x00007383" affected_module="Feedbacks" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Maximum absolute velocity exceeded</Label>
                </Labels>
            </Error>
            <Error id="0x0000738D" affected_module="Feedbacks" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Incremental encoder 1 index pulse integrity check fail</Label>
                </Labels>
            </Error>
            <Error id="0x0000738E" affected_module="Feedbacks" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Incremental encoder 2 index pulse integrity check fail</Label>
                </Labels>
            </Error>
            <Error id="0x00002281" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Fault detected in the power stage gate driver</Label>
                </Labels>
            </Error>
            <Error id="0x00002291" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Open phase detected</Label>
                </Labels>
            </Error>
            <Error id="0x00002290" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Non-zero total phase current</Label>
                </Labels>
            </Error>
            <Error id="0x00002282" affected_module="Control loops" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Current A sensing reached upper saturation limit</Label>
                </Labels>
            </Error>
            <Error id="0x00002283" affected_module="Control loops" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Current A sensing reached lower saturation limit</Label>
                </Labels>
            </Error>
            <Error id="0x00002284" affected_module="Control loops" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Current B sensing reached upper saturation limit</Label>
                </Labels>
            </Error>
            <Error id="0x00002285" affected_module="Control loops" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Current B sensing reached lower saturation limit</Label>
                </Labels>
            </Error>
            <Error id="0x00002286" affected_module="Control loops" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Current C sensing reached upper saturation limit</Label>
                </Labels>
            </Error>
            <Error id="0x00002287" affected_module="Control loops" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Current C sensing reached lower saturation limit</Label>
                </Labels>
            </Error>
            <Error id="0x0000738F" affected_module="Feedbacks" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Digital encoder index pulse integrity check calibration error</Label>
                </Labels>
            </Error>
            <Error id="0x00002302" affected_module="Brake" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Brake current tracking error</Label>
                </Labels>
            </Error>
            <Error id="0x0000228B" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Current derating without current control</Label>
                </Labels>
            </Error>
            <Error id="0x00004305" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Wrong ADC measurements detection</Label>
                </Labels>
            </Error>
            <Error id="0x00004306" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">User over temperature warning threshold exceeded.</Label>
                </Labels>
            </Error>
            <Error id="0x00004307" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">User under temperature warning threshold exceeded.</Label>
                </Labels>
            </Error>
            <Error id="0x00003212" affected_module="Supervisor" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Gate voltage out of limits</Label>
                </Labels>
            </Error>
            <Error id="0x00004501" affected_module="Inputs" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Load cell health signal error detected.</Label>
                </Labels>
            </Error>
            <Error id="0x00004502" affected_module="Inputs" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Load cell analog input out of range</Label>
                </Labels>
            </Error>
            <Error id="0x00007393" affected_module="Control loops" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Current direct following error detected</Label>
                </Labels>
            </Error>
            <Error id="0x00007392" affected_module="Control loops" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Current quadrature following error detected</Label>
                </Labels>
            </Error>
            <Error id="0x00007384" affected_module="Feedbacks" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Absolute encoder error bit active without exceeding error tolerance</Label>
                </Labels>
            </Error>
            <Error id="0x05040000" affected_module="Communications" error_type="configuration">
                <Labels>
                    <Label lang="en_US">COM-KIT Timeout. CORE device is not properly connected</Label>
                </Labels>
            </Error>
            <Error id="0x0000FF42" affected_module="Communications" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">EtherCAT cable is disconnected during operation</Label>
                </Labels>
            </Error>
            <Error id="0x00008130" affected_module="Communications" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Lifeguard error or heartbeat error in CANOpen communication</Label>
                </Labels>
            </Error>
            <Error id="0x0000FF43" affected_module="Communication" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Cyclic timeout Ethercat PDO lifeguard</Label>
                </Labels>
            </Error>
            <Error id="0x00007394" affected_module="Quick stop" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Emergency position set-point not configured.</Label>
                </Labels>
            </Error>
            <Error id="0x0000F011" affected_module="COCO" error_type="configuration">
                <Labels>
                    <Label lang="en_US">Cyclic mode mapping error</Label>
                </Labels>
            </Error>
            <Error id="0x0000228C" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Current calibration error</Label>
                </Labels>
            </Error>
            <Error id="0x0000737E" affected_module="Feedbacks" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Absolute encoder 1 disconnection or frame overlap</Label>
                </Labels>
            </Error>
            <Error id="0x0000737F" affected_module="Feedbacks" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Absolute encoder 2 disconnection or frame overlap</Label>
                </Labels>
            </Error>
            <Error id="0x00008210" affected_module="COCO" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">PDO not processed due to length error</Label>
                </Labels>
            </Error>
            <Error id="0x0000738C" affected_module="MOCO" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Position out of limits in position mode</Label>
                </Labels>
            </Error>
            <Error id="0x00003283" affected_module="Power stage" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">STO is active in operation enabled and has disabled the power stage</Label>
                </Labels>
            </Error>
            <Error id="0x00002301" affected_module="Brake" error_type="cyclic">
                <Labels>
                    <Label lang="en_US">Brake over-current</Label>
                </Labels>
            </Error>
        </Errors>
    </Body>
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
    </DriveImage> 
</IngeniaDictionary>