Original:

![[Pasted image 20250314100128.png|800]]

![[Pasted image 20250314101437.png]]

![[Pasted image 20250314101512.png]]



| PI 1  | 0   | Status Word     |
| ----- | --- | --------------- |
| PI 2  | 2   | Actual Speed    |
| PI 3  | 4   | Fault           |
| PI 4  | 6   | Torque          |
| PI 5  | 8   | DI              |
| PI 6  | 10  | Actual Position |
| PI 7  | 12  |                 |
| PI 8  | 14  |                 |
| PI 9  | 16  |                 |
| PI 10 | 18  |                 |
| PI 11 | 20  |                 |
| PI 12 |     |                 |
| PI 13 |     |                 |
| PI 14 |     |                 |
| PI 15 |     |                 |
| PI 16 |     |                 |
|       |     |                 |
|       |     |                 |

![[Pasted image 20250314150328.png]]

To reset encoder

![[Pasted image 20250315161104.png]]

![[Pasted image 20250315162517.png]]