ASIObjectDictionary.xml

<?xml version="1.0" encoding="utf-8"?>
<InternalAppEntity xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xsd="http://www.w3.org/2001/XMLSchema">
    <Parameters>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>0</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Controller output current rating</Name>
      <Scale>1</Scale>
      <Units>Amps</Units>
      <Description>The drive maximum phase current rating</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>1</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Controller input voltage rating</Name>
      <Scale>1</Scale>
      <Units>Volts</Units>
      <Description>The drive maximum input voltage rating</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>2</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Switching frequency</Name>
      <Scale>1</Scale>
      <Units>Hertz</Units>
      <Description>The switching frequency of the 3 phase bridge</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>3</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Dead time</Name>
      <Scale>1</Scale>
      <Units>ns</Units>
      <Description>The time interval during which MOSFETS of the same bridge leg can't be turned on concurrently</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>4</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Baud rate</Name>
      <Scale>0.01</Scale>
      <Units>Baud</Units>
      <Description>Communications represents the number of symbols transferred per second</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>5</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Slave ID</Name>
      <Scale>1</Scale>
      <Units>Node #</Units>
      <Description>Multi drop slave ID</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 Active low over current enable</string>
        <string>Bit 1 Reserved</string>
        <string>Bit 2 Power supply control of current sensors enable</string>
        <string>Bit 3 enable DPWM mode </string>
        <string>Bit 4 HW slave ID enable</string>
        <string>Bit 5 Reserved</string>
        <string>Bit 6 Light sensor enable</string>
        <string>Bit 7 Reserved</string>
        <string>Bit 8 Locked parameters</string>
        <string>Bit 9 Inverted cutoff brake1</string>
        <string>Bit 10 Enable 6 Step mode</string>
        <string>Bit 11 Reserved</string>
        <string>Bit 12 Reserved</string>
        <string>Bit 13 Reserved</string>
        <string>Bit 14 Current scaling x8 </string>
        <string>Bit 15 Reserved</string>
      </BitField>
      <AccessLevel>2</AccessLevel>
      <Address>6</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>HW configuration vector</Name>
      <Scale>bit vector</Scale>
      <Description>15 14 13 12 11 10  9  8  7  6  5  4  3  2  1  0

1=enabled 0=disabled

bit  0: Active low hardware overcurrent
bit  1:  
bit  2: Power supply control of current sensor
bit  3: enable DPWM mode 
bit  4: HW slave ID 
bit  5: HW parameter select
bit  6: Light sensor 
bit  7:  
bit  8: Locked parameters 
bit  9: Inverted cutoff brake1
bit 10: Enable 6 Step mode 
bit 11:  
bit 12: 
bit 13: 
bit 14: Current scaling x8 
bit 15:</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>7</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Current regulator Kp</Name>
      <Scale>4096</Scale>
      <Description>The current regulator's proportional gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>8</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Current regulator Ki</Name>
      <Scale>16</Scale>
      <Description>The current regulator's integral gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>9</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Speed regulator Kp</Name>
      <Scale>4096</Scale>
      <Description>The speed regulator's proportional gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>10</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Speed regulator Ki</Name>
      <Scale>256</Scale>
      <Description>The speed regulator's integral gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>11</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Speed regulator mode</Name>
      <Scale>enum</Scale>
      <Description>0 is speed / 1 is torque / 2 is torque mode with speed limiting</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>2</AccessLevel>
      <Address>12</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pll Kp old</Name>
      <Scale>1</Scale>
      <Description>The old phase locked loop's proportional gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>2</AccessLevel>
      <Address>13</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pll Ki old</Name>
      <Scale>1</Scale>
      <Description>The old phase locked loop's integral gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>14</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Phase A current gain</Name>
      <Scale>64</Scale>
      <Units>Amps/Volt</Units>
      <Description>Current feedback gain at the ADC</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>15</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Voltage gain</Name>
      <Scale>256</Scale>
      <Units>Volts/Volt</Units>
      <Description>Voltage feedback gain (Vdc and Vphase) at the ADC</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>16</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Phase C current gain</Name>
      <Scale>64</Scale>
      <Units>Amps/Volt</Units>
      <Description>Current feedback gain at the ADC</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>17</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Throttle gain </Name>
      <Scale>1024</Scale>
      <Units>Volts/Volt</Units>
      <Description>Throttle feedback gain at the ADC</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>18</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Brake gain </Name>
      <Scale>1024</Scale>
      <Units>Volts/Volt</Units>
      <Description>Brake feedback gain at the ADC</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>19</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>BMS gain </Name>
      <Scale>1024</Scale>
      <Units>Volts/Volt</Units>
      <Description>BMS feedback gain at the ADC</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>20</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>DC voltage filter shift</Name>
      <Scale>1</Scale>
      <Units>bits</Units>
      <Description>DC voltage measurement low pass filter shift value in bits</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>21</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Temperature filter shift</Name>
      <Scale>1</Scale>
      <Units>bits</Units>
      <Description>Temperature measurement low pass filter shift value in bits</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>22</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>DQ axis filter shift</Name>
      <Scale>1</Scale>
      <Units>bits</Units>
      <Description>DQ axis low pass filter shift value in bits</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>2</AccessLevel>
      <Address>23</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Flux filter shift</Name>
      <Scale>1</Scale>
      <Units>bits</Units>
      <Description>Flux filter shift value in bits</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>2</AccessLevel>
      <Address>24</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Flux hpf shift</Name>
      <Scale>1</Scale>
      <Units>bits</Units>
      <Description>Flux high pass filter shift value in bits</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>2</AccessLevel>
      <Address>25</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Flux frequency filter shift</Name>
      <Scale>1</Scale>
      <Units>bits</Units>
      <Description>Flux frequency filter shift value in bits</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>26</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Voltage feedback filter cutoff frequency</Name>
      <Scale>1</Scale>
      <Units>Hertz</Units>
      <Description>Voltage feedback filter cutoff frequency</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>27</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Averaged over current trip threshold</Name>
      <Scale>1</Scale>
      <Units>Amps</Units>
      <Description>Averaged phase current over current threshold</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>28</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Averaged over current trip sample length</Name>
      <Scale>1</Scale>
      <Units>samples</Units>
      <Description>Number of phase current samples the averaged current is based on</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>29</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Instantaneous over current trip threshold</Name>
      <Scale>1</Scale>
      <Units>Amps</Units>
      <Description>Instantaneous over current trip threshold </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>30</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>MaxHallErrors</Name>
      <Scale>1</Scale>
      <Units>counts</Units>
      <Description>maximum allowable number of hall errors (bad reads)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>31</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Maximum interrupt execution time</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Maximum allowable ISR execution time as fraction of the base ISR time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>32</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Command timeout threshold</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Maximum allowable amount of time between valid command packets for comm dropour detection</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>33</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>DC voltage trip clear hysterisis</Name>
      <Scale>40.96</Scale>
      <Units>% of rated system voltage</Units>
      <Description>% of rated system voltage below  trip threshold required to clear the over voltage fault</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>34</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Heatsink over temperature trip threshold</Name>
      <Scale>1</Scale>
      <Units>deg C</Units>
      <Description>Maximum controller temperature </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>35</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Controller foldback starting temperature</Name>
      <Scale>1</Scale>
      <Units>deg C</Units>
      <Description>Controller temperature at which output current foldback begins</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>36</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Controller foldback ending temperature</Name>
      <Scale>1</Scale>
      <Units>deg C</Units>
      <Description>Controller temperature at which output current is folded back to 0 Amperes</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>37</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Controller temperature feedback V at 0 C</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Controller temperature sensor's output voltage at 0 C</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>38</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Controller temperature feedback V at 25 C</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Controller temperature sensor's output voltage at 25 C</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>39</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Controller temperature feedback V at 50 C</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Controller temperature sensor's output voltage at 50 C</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>40</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Controller temperature feedback V at 75 C</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Controller temperature sensor's output voltage at 75 C</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>41</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Controller temperature feedback V at 100 C</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Controller temperature sensor's output voltage at 100 C</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>42</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Controller temperature feedback V at 125 C</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Controller temperature sensor's output voltage at 125 C</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">      
      <AccessLevel>3</AccessLevel>
      <Address>43</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Reserved L3 21</Name>
      <Scale>1</Scale>
      <Description></Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>44</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Reserved L3 22</Name>
      <Scale>1</Scale>
      <Description></Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>45</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Antitheft enable time</Name>
      <Scale>1</Scale>     
	  <Units>ms</Units>
      <Description>Time since bootup to allow enabling of the anti theft feature (0 to always allow)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>46</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Kd anti theft</Name>
      <Scale>256</Scale>      
      <Units>pu/pu</Units>
      <Description>Speed proportional term for anti theft feature defined in per unit current / per unit speed </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>47</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Open circuit voltage test window </Name>
      <Scale>4096</Scale>
      <Units>V (norm)</Units>
      <Description>Open circuit test voltage bounds</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>3</AccessLevel>
      <Address>48</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>High/Lowside turn on voltage test window</Name>
      <Scale>4096</Scale>
      <Units>V (norm)</Units>
      <Description>Hi/Lo side turn on test voltage bounds</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>49</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Average Command timeout threshold</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Maximum allowable average amount of time between valid command packets (for slow update rate or missed packets)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>50</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote comm loss braking current limit</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Per unit braking current limit for communication loss, where the speed setpoint is set to zero</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>51</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Current Regulator bandwidth</Name>
      <Scale>1</Scale>
      <Units>radians</Units>
      <Description>When non-zero is used with Rs and Ls to calculate the Kp and Ki terms</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>52</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>PLL bandwidth</Name>
      <Scale>1</Scale>
      <Units>radians</Units>
      <Description>When non zero sets the PLL Kp and Ki terms </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>53</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>PLL damping</Name>
      <Scale>256</Scale>
      <Description>When non zero sets the PLL Kp and Ki terms </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>54</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pll Kp </Name>
      <Scale>1</Scale>
      <Description>new PLL Kp gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>55</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pll Ki</Name>
      <Scale>0.03125</Scale>
      <Description>new PLL Ki gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>56</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>CAN baud rate</Name>
      <Scale>1</Scale>
	  <Units>kbps</Units>
      <Description>CAN baud rate in kbps (legal values 1000,500,250 or 125  )</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>57</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>CAN ID </Name>
      <Scale>1</Scale>
      <Description> CAN ID </Description>
    </ParameterDescription>
   <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 Extended 29bit ID</string>
        <string>Bit 1 Reserved</string>
        <string>Bit 2 Reserved</string>
        <string>Bit 3 Sleep on sync loss </string>
        <string>Bit 4 auto operational</string>
        <string>Bit 5 Reserved</string>
        <string>Bit 6 Reserved</string>
        <string>Bit 7 Reserved</string>
        <string>Bit 8 Reserved</string>
        <string>Bit 9 Reserved</string>
        <string>Bit 10 Reserved</string>
        <string>Bit 11 Reserved</string>
        <string>Bit 12 Reserved</string>
        <string>Bit 13 Reserved</string>
        <string>Bit 14 Reserved</string>
        <string>Bit 15 Reserved</string>
      </BitField>
      <AccessLevel>2</AccessLevel>
      <Address>58</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>communications configuration vector</Name>
      <Scale>bit vector</Scale>
      <Description>15 14 13 12 11 10  9  8  7  6  5  4  3  2  1  0

1=enabled 0=disabled

bit  0: Extended 29bit ID
bit  1: reserved 
bit  2: reserved
bit  3: Enable sleep on sync loss
bit  4: Enable auto operational
bit  5:  
bit  6:  
bit  7:  
bit  8:  
bit  9:  
bit 10:  
bit 11:  
bit 12: 
bit 13: 
bit 14: 
bit 15:</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>59</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Battery resistance</Name>
      <Scale>1</Scale>
	  <Units>milliohms</Units>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>60</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>New Phase A current gain</Name>
      <Scale>8</Scale>
	  <Units>Amps/Volt</Units>
      <Description>Current feedback gain at the ADC, when zero, auto migrated in rev 5.8.11 from old gains and hwconfig bit 14</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
    <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>61</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>New Phase C current gain</Name>
      <Scale>8</Scale>
	  <Units>Amps/Volt</Units>
      <Description>Current feedback gain at the ADC, when zero, auto migrated in rev 5.8.11 from old gains and hwconfig bit 14</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>62</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Flash parameter read access code</Name>
      <Scale>1</Scale>
      <Description>When not zero, you will need to enter this code to read parameters (only checked at bootup)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>63</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall stall fault time</Name>
      <Scale>1</Scale>
	  <Units>msec</Units>
      <Description>Time to fault when no change of state on hall signals and running with >20% motor current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>64</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Baud rate port2</Name>
      <Scale>0.01</Scale>
      <Units>Baud</Units>
      <Description>Communications represents the number of symbols transferred per second</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>65</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Slave ID port2</Name>
      <Scale>1</Scale>
      <Units>Node #</Units>
      <Description>Multi drop slave ID for second comm port</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>66</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Alternate display protocol</Name>
      <Scale>1</Scale>
      <Description> 0=disabled, 1=SWLCD open 9 mode, 2=SWLCD(closed) ,3=reserved 4= KM5 (open) 9mode, 5= KM5 (open) 5mode</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>67</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Saved software revision</Name>
      <Scale>1000</Scale>
      <Description>Software version when parameters were last saved to flash memory</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>68</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Kp anti theft</Name>
      <Scale>256</Scale>
	  <Units>pu/rev</Units>
      <Description>Position proportional term for anti theft feature defined in per unit current per mechanical revolution</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>69</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Lm</Name>
      <Scale>1</Scale>
	  <Units>uHenries</Units>
      <Description>Motor magnetizing inductance (default 0)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>70</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Rated system voltage</Name>
      <Scale>1</Scale>
      <Units>Volts</Units>
      <Description>System voltage rating is the battery voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>71</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Rated motor current</Name>
      <Scale>1</Scale>
      <Units>Amps</Units>
      <Description>Nameplate motor peak phase current rating</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>72</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Rated motor speed</Name>
      <Scale>1</Scale>
      <Units>RPM</Units>
      <Description>Nameplate no load rated motor RPM</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>73</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Rated motor power</Name>
      <Scale>1</Scale>
      <Units>Watts</Units>
      <Description>Motor rated electrical power = rated Vbattery * rated Ibattery</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>74</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Ls</Name>
      <Scale>1</Scale>
      <Units>uHenries</Units>
      <Description>Motor phase to neutral stator inductance</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>75</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Rs</Name>
      <Scale>1</Scale>
      <Units>mOhms</Units>
      <Description>Motor phase to neutral stator resistance</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>76</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Kv</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Motor back electromotive force constant that is equivalent to per unit system voltage/per unit rated speed</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>77</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Motor position sensor type</Name>
      <Scale>enum</Scale>
      <Description>0 is hall based / 1 is hall start and sensorless run / 2 is sensorless / 3 is reserved</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>78</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name># of motor pole pairs</Name>
      <Scale>1</Scale>
      <Description>The motor's number of electrical pole pairs</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>79</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall offset</Name>
      <Scale>91.02222222</Scale>
      <Units>degrees</Units>
      <Description>Hall sensor offset angle</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>80</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall sector[0]</Name>
      <Scale>1</Scale>
      <Description>Motor sector represented by Hall sequence 000   -1=illegal state</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>81</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall sector[1]</Name>
      <Scale>1</Scale>
      <Description>Motor sector represented by Hall sequence 001</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>82</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall sector[2]</Name>
      <Scale>1</Scale>
      <Description>Motor sector represented by Hall sequence 010</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>83</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall sector[3]</Name>
      <Scale>1</Scale>
      <Description>Motor sector represented by Hall sequence 011</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>84</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall sector[4]</Name>
      <Scale>1</Scale>
      <Description>Motor sector represented by Hall sequence 100</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>85</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall sector[5]</Name>
      <Scale>1</Scale>
      <Description>Motor sector represented by Hall sequence 101</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>86</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall sector[6]</Name>
      <Scale>1</Scale>
      <Description>Motor sector represented by Hall sequence 110</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>87</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall sector[7]</Name>
      <Scale>1</Scale>
      <Description>Motor sector represented by Hall sequence 111   -1=illegal state</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>88</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall interpolation start frequency</Name>
      <Scale>32</Scale>
      <Units>Hertz</Units>
      <Description>Electrical frequency to start interpolating the halls</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>89</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall interpolation stop frequency</Name>
      <Scale>32</Scale>
      <Units>Hertz</Units>
      <Description>Electrical frequency to stop interpolating the halls</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>90</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Motor over temperature trip threshold</Name>
      <Scale>1</Scale>
      <Units>deg C</Units>
      <Description>Maximum motor temperature</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>91</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Motor foldback starting temperature</Name>
      <Scale>1</Scale>
      <Units>deg C</Units>
      <Description>Motor temperature at which output current foldback begins</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>92</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Motor foldback ending temperature</Name>
      <Scale>1</Scale>
      <Units>deg C</Units>
      <Description>Motor temperature at which output current is folded back to 0 Amperes</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>93</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Temperature feedback V at 0 C</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Temperature sensor's output voltage at 0 C</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>94</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Temperature feedback V at 25 C</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Temperature sensor's output voltage at 25 C</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>95</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Temperature feedback V at 50 C</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Temperature sensor's output voltage at 50 C</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>96</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Temperature feedback V at 75 C</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Temperature sensor's output voltage at 75 C</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>97</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Temperature feedback V at 100 C</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Temperature sensor's output voltage at 100 C</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>98</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Temperature feedback V at 125 C</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Temperature sensor's output voltage at 125 C</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>99</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Overload continous current</Name>
      <Scale>40.96</Scale>
      <Units>% rated</Units>
	  <Description>Current as % of nameplate at which the motor can run without heating up</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>100</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Overload heating current</Name>
      <Scale>40.96</Scale>
      <Units>% rated</Units>
	  <Description>Current as % of nameplate at which the motor will heat up to 100% over the heating time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>101</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Overload heating time</Name>
      <Scale>1</Scale>
      <Units>s</Units>
	  <Description>Time at which 100% heat is accumulated while operating at the Overload heating current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>102</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Overload cooling current</Name>
      <Scale>40.96</Scale>
      <Units>% rated</Units>
	  <Description>Current as % of nameplate at which the motor will cool to 0% over the cooling time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>103</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Overload cooling time</Name>
      <Scale>1</Scale>
      <Units>s</Units>
	  <Description>Time at which 100% heat is dissapated while operating at the Overload cooling current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>104</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Overload foldback start</Name>
      <Scale>40.96</Scale>
      <Units>%</Units>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>105</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Overload foldback end</Name>
      <Scale>40.96</Scale>
      <Units>%</Units>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>106</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Sensorless open loop starting current</Name>
      <Scale>4096</Scale>
      <Units>pu A</Units>
      <Description>Open loop sensorless AC current injection limit with respect to rated current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>107</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Sensorless open loop injection current ramp time</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Duration of time it takes to reach the sensorless AC current injection limit</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>108</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Sensorless closed loop enable frequency</Name>
      <Scale>1</Scale>
      <Units>Hertz</Units>
      <Description>Motor electrical frequency at which the transition from open loop to closed loop sensorless control occurs</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>109</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Sensorless open loop freq ramp time ms</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Duration of time it takes to go from DC to the sensorless closed loop enable frequency</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>110</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Sensorless open loop dc current hold time</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>The length of time the controller maintain DC current in the motor windings during open loop start up</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>111</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening speed 1</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Field weakening map speed setpoint 1 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>112</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening speed 2</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Field weakening map speed setpoint 2</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>113</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening speed 3</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Field weakening map speed setpoint 3 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>114</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening speed 4</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Field weakening map speed setpoint 4</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>115</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening speed 5</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Field weakening map speed setpoint 5 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>116</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening speed 6</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Field weakening map speed setpoint 6</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>117</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening speed 7</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Field weakening map speed setpoint 7</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>118</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening speed 8</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Field weakening map speed setpoint 8</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>119</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening current 1</Name>
      <Scale>40.96</Scale>
      <Units>% of rated motor current</Units>
      <Description>Field weakening map current setpoint 1 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>120</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening current 2</Name>
      <Scale>40.96</Scale>
      <Units>% of rated motor current</Units>
      <Description>Field weakening map current setpoint 2</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>121</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening current 3</Name>
      <Scale>40.96</Scale>
      <Units>% of rated motor current</Units>
      <Description>Field weakening map current setpoint 3</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>122</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening current 4</Name>
      <Scale>40.96</Scale>
      <Units>% of rated motor current</Units>
      <Description>Field weakening map current setpoint 4</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>123</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening current 5</Name>
      <Scale>40.96</Scale>
      <Units>% of rated motor current</Units>
      <Description>Field weakening map current setpoint 5</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>124</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening current 6</Name>
      <Scale>40.96</Scale>
      <Units>% of rated motor current</Units>
      <Description>Field weakening map current setpoint 6</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>125</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening current 7</Name>
      <Scale>40.96</Scale>
      <Units>% of rated motor current</Units>
      <Description>Field weakening map current setpoint 7 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>126</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Field weakening current 8</Name>
      <Scale>40.96</Scale>
      <Units>% of rated motor current</Units>
      <Description>Field weakening map current setpoint 18</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 Swap phase A and phase C</string>
        <string>Bit 1 Fault tolerant hall</string>
        <string>Bit 2 Bottom bracket motor</string>
        <string>Bit 3 Disable motor I^2t enable battery I^2t</string>
        <string>Bit 4 </string>
        <string>Bit 5 </string>
        <string>Bit 6 </string>
        <string>Bit 7 </string>
        <string>Bit 8 </string>
        <string>Bit 9 </string>
        <string>Bit 10 </string>
        <string>Bit 11</string>
        <string>Bit 12</string>
        <string>Bit 13</string>
        <string>Bit 14 </string>
        <string>Bit 15 </string>
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>127</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Motor features</Name>
      <Scale>bit vector</Scale>
      <Description>15 14 13 12 11 10  9  8  7  6  5  4  3  2  1  0

1=enable 0=disable

bit  0: Swap motor phase A and C
bit  1: Fault tolerant hall( switch to sensorless) 
bit  2: Bottom bracket motor (varying gear ratio)
bit  3: Overload I^2t on battery not motor
bit  4: 
bit  5: 
bit  6: 
bit  7: 
bit  8:  
bit  9: 
bit 10:  
bit 11:  
bit 12: 
bit 13: 
bit 14:  
bit 15:</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>128</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall Interpolation Transitions</Name>
      <Scale>1</Scale>
      <Description>number of hall transitions to start interpolating when above the interpolation frequency</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>129</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Maximum Field Weakening current</Name>
      <Scale>40.96</Scale>
      <Units>%</Units>
      <Description>If not zero, then this is the limit for automatic field weakening (the table is ignored)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>130</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Hall angle current correction</Name>
      <Scale>91.02222222</Scale>
      <Units>degrees</Units>
      <Description>Hall correction angle at rated current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>131</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Alternate rated motor power</Name>
      <Scale>1</Scale>
      <Units>W</Units>
      <Description>rated motor power in alternate speed/power limit mode</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>132</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Rolling start sensorless open loop starting current</Name>
      <Scale>4096</Scale>
      <Units>pu A</Units>
      <Description>Pedalec start open loop sensorless AC current injection limit with respect to rated current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>133</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Rolling start sensorless open loop freq ramp time ms</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Pedalec start duration of time it takes to go from DC to the sensorless closed loop enable frequency</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>134</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Rolling start sensorless closed loop enable frequency</Name>
      <Scale>1</Scale>
      <Units>Hertz</Units>
      <Description>Motor electrical frequency at which the transition from open loop to closed loop sensorless control occurs</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>135</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>High battery state of charge foldback starting capacity</Name>
      <Scale>1</Scale>
      <Units>% SOC</Units>
      <Description>Battery state of charge reading where the regen current begins to foldback in order to protect the battery</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>136</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>High battery state of charge foldback end capacity</Name>
      <Scale>1</Scale>
      <Units>% SOC</Units>
      <Description>Battery state of charge reading at which the regen is folded back to 0 Amperes</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>137</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Motor temperature source</Name>
      <Scale>1</Scale>
      <Description>Motor temperature sensor feedback source 0=brake2 1=brake1 2=bms 3=throttle</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>138</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Walk mode signal source</Name>
      <Scale>1</Scale>
      <Description>Walk mode signal source 0=cruise 1=pfs 2= brake1 3=brake2 4=serial(display)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>139</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Alternate power switch source</Name>
      <Scale>1</Scale>
      <Description>Alternate power switch signal source 0=cruise 1=pfs 2= brake1 3=brake2 4=remote pwr sw 5=remote spd sw</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>140</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Alternate speed limit switch source</Name>
      <Scale>1</Scale>
      <Description>Alternate speed limit switch signal source 0=cruise 1=pfs 2= brake1 3=brake2 4=remote pwr sw 5=remote spd sw</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>141</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Low battery foldback starting voltage</Name>
      <Scale>40.96</Scale>
      <Units>% of rated system voltage</Units>
      <Description>Battery voltage level at which output foldback begins in order to protect the battery</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>142</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Low battery foldback end voltage</Name>
      <Scale>40.96</Scale>
      <Units>% of rated system voltage</Units>
      <Description>Battery voltage level at which the output is folded back to 0 Amperes</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>143</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Cold battery foldback starting temperature</Name>
      <Scale>1</Scale>
      <Units>deg C</Units>
      <Description>Battery temperature where the output current begins to foldback in order to protect the battery</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>144</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Cold battery foldback ending temperature</Name>
      <Scale>1</Scale>
      <Units>deg C</Units>
      <Description>Battery temperature at which the output is folded back to 0 Amperes</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>145</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Low battery state of charge foldback starting capacity</Name>
      <Scale>1</Scale>
      <Units>% SOC</Units>
      <Description>Battery state of charge reading where the output current begins to foldback in order to protect the battery</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>146</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Low battery state of charge foldback end capacity</Name>
      <Scale>1</Scale>
      <Units>% SOC</Units>
      <Description>Battery state of charge reading at which the output is folded back to 0 Amperes</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>147</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Fast over voltage threshold</Name>
      <Scale>40.96</Scale>
      <Units>% of rated system voltage</Units>
      <Description>Instantaneous DC over voltage trip threshold </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>148</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Fast under voltage threshold</Name>
      <Scale>40.96</Scale>
      <Units>% of rated system voltage</Units>
      <Description>Instantaneous DC under voltage trip threshold </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>149</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Slow over voltage threshold</Name>
      <Scale>40.96</Scale>
      <Units>% of rated system voltage</Units>
      <Description>Averaged DC over voltage trip threshold</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>150</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Slow under voltage threshold</Name>
      <Scale>40.96</Scale>
      <Units>% of rated system voltage</Units>
      <Description>Averaged DC under voltage trip threshold </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>151</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Throttle deadband threshold</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Voltage value that is defines the amount of throttle travel between neutral and active throttle</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>152</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Throttle fault range</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Voltage added/subtracted to the throttle's measured high/low reading in order determine if the input is valid or not</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>153</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Reserved L1 1</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>154</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Maximum braking torque</Name>
      <Scale>40.96</Scale>
      <Units>% of rated motor current</Units>
      <Description>Maxium braking torque limit as a function maximum motor current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>155</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Battery current limit</Name>
      <Scale>40.96</Scale>
      <Units>% of rated battery current</Units>
      <Description>Maximum controller imposed battery current limit when motoring equal to rated motor power/rated system voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>156</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Regeneration battery current limit</Name>
      <Scale>40.96</Scale>
      <Units>% of rated battery current</Units>
      <Description>Maximum controller imposed battery current limit when generating equal to rated motor power/rated system voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>157</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map Watts setpoint 1</Name>
      <Scale>40.96</Scale>
      <Units>% of rated power</Units>
      <Description>Power map Wattage setpoint 1 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>158</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map Watts setpoint 2</Name>
      <Scale>40.96</Scale>
      <Units>% of rated power</Units>
      <Description>Power map Wattage setpoint 2</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>159</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map Watts setpoint 3</Name>
      <Scale>40.96</Scale>
      <Units>% of rated power</Units>
      <Description>Power map Wattage setpoint 3 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>160</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map Watts setpoint 4</Name>
      <Scale>40.96</Scale>
      <Units>% of rated power</Units>
      <Description>Power map Wattage setpoint 4</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>161</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map Watts setpoint 5</Name>
      <Scale>40.96</Scale>
      <Units>% of rated power</Units>
      <Description>Power map Wattage setpoint 5</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>162</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map Watts setpoint 6</Name>
      <Scale>40.96</Scale>
      <Units>% of rated power</Units>
      <Description>Power map Wattage setpoint 6</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>163</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map Watts setpoint 7</Name>
      <Scale>40.96</Scale>
      <Units>% of rated power</Units>
      <Description>Power map Wattage setpoint 7</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>164</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map Watts setpoint 8</Name>
      <Scale>40.96</Scale>
      <Units>% of rated power</Units>
      <Description>Power map Wattage setpoint 8 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>165</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map speed setpoint 1</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Power map speed setpoint 1 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>166</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map speed setpoint 2</Name>
      <Scale>40.96</Scale>
      <Units>% of maximum speed</Units>
      <Description>Power map speed setpoint 2</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>167</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map speed setpoint 3</Name>
      <Scale>40.96</Scale>
      <Units>% of maximum speed</Units>
      <Description>Power map speed setpoint 3 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>168</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map speed setpoint 4</Name>
      <Scale>40.96</Scale>
	  <Units>% of maximum speed</Units>
      <Description>Power map speed setpoint 4 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>169</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map speed setpoint 5</Name>
      <Scale>40.96</Scale>
      <Units>% of maximum speed</Units>
      <Description>Power map speed setpoint 5 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>170</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map speed setpoint 6</Name>
      <Scale>40.96</Scale>
      <Units>% of maximum speed</Units>
      <Description>Power map speed setpoint 6 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>171</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map speed setpoint 7</Name>
      <Scale>40.96</Scale>
      <Units>% of maximum speed</Units>
      <Description>Power map speed setpoint 7 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>172</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Power map speed setpoint 8</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Power map speed setpoint 8 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>173</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Minimum motoring torque</Name>
      <Scale>4096</Scale>
      <Units>pu A</Units>
      <Description>Torque setpoint at zero % throttle</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>174</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Reserved L1 2</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>175</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedal speed map offset</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Speed setpoint when the pedal rpm equals zero</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>176</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedal speed map end</Name>
      <Scale>64</Scale>
      <Units>RPM</Units>
      <Description>Pedal rpm that equates to full gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>177</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Engine braking torque</Name>
      <Scale>40.96</Scale>
      <Units>%</Units>
      <Description>engine braking in % of full braking torque</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>178</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedalec torque symmetry</Name>
      <Scale>1</Scale>
      <Description>Defines symmetry or torque sensor for filtering  0=one cycle(default)  1=halfcycle  2=quarter cycle </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>179</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedalec power gain</Name>
      <Scale>1024</Scale>
      <Units>G</Units>
      <Description>Scales pedal torque in Nm to throttle % as using the following equation: Throttle = 100%* T(Nm)*G(pu)/64</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>180</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedalec initial torque</Name>
      <Scale>64</Scale>
      <Units>Nm</Units>
      <Description>Initial torque value to compensate for the lack of an intial right leg measurement</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>181</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedalec deadband torque</Name>
      <Scale>64</Scale>
      <Units>Nm</Units>
      <Description>Negative saturation value for calculating average pedal torque; use negative number to correct for pedaling form</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>182</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Torque sensor offset</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Pedal assist torque sensor offset voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>183</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Torque sensor gain</Name>
      <Scale>1</Scale>
      <Units>Nm/Volt</Units>
      <Description>Equates sensor output voltage to a torque measurement </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>184</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Datalog channel 1 select</Name>
      <Scale>enum</Scale>
      <Description>Selection number = modbus address of the parameter/varialbe to be datalogged</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>185</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Datalog channel 2 select</Name>
      <Scale>enum</Scale>
      <Description>Selection number = modbus address of the parameter/varialbe to be datalogged</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>186</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Datalog channel 3 select</Name>
      <Scale>enum</Scale>
      <Description>Selection number = modbus address of the parameter/varialbe to be datalogged</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>187</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Datalog channel 4 select</Name>
      <Scale>enum</Scale>
      <Description>Selection number = modbus address of the parameter/varialbe to be datalogged</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>188</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Datalog trigger level</Name>
      <Scale>int</Scale>
      <Description>Oscilloscope's trigger level as a signed int.</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>189</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Datalog trigger mask</Name>
      <Scale>hex</Scale>
      <Description>Mask for bit values; use 0xFFFF to disable</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>190</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Datalog hold off</Name>
      <Scale>counts</Scale>
      <Description>Number of samples before trigger</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>191</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Datalog timebase</Name>
      <Scale>ISRs</Scale>
      <Description>Number of ISRs per sample</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>192</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Datalog trigger mode</Name>
      <Scale>int</Scale>
      <Description>0 is rising / 1 is falling / 2 is equal to / 3 is not equal to</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>193</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Wheel speed sensor source</Name>
      <Scale>enum</Scale>
      <Description>0 is cruise  / 1 is brake2 /  2 is Hall A</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>194</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>High battery foldback starting voltage</Name>
      <Scale>40.96</Scale>
      <Units>% of rated system voltage</Units>
      <Description>Battery voltage level at which output foldback begins in order to protect the battery</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>195</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>High battery foldback end voltage</Name>
      <Scale>40.96</Scale>
      <Units>% of rated system voltage</Units>
      <Description>Battery voltage level at which the output is folded back to 0 Amperes</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>196</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Low battery state of charge alarm threshold</Name>
      <Scale>1</Scale>
      <Units>%</Units>
      <Description>Low battery state of charge alarm threshold</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>197</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Voltage model battery state of charge gain</Name>
      <Scale>32</Scale>
      <Units>%</Units>
      <Description>% state of charge change for 1pu battery voltage change</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>198</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Voltage model battery state of charge offset</Name>
      <Scale>32</Scale>
      <Units>%</Units>
      <Description>% state of charge offset value </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>199</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Torque assist 1</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>torque sensor gain multiplier for assist mode1</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>200</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Torque assist 2</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>torque sensor gain multiplier for assist mode2</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>201</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Torque assist 3</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>torque sensor gain multiplier for assist mode 3</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>202</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Rolling start speed 1</Name>
      <Scale>256</Scale>
      <Units>km/hr</Units>
      <Description>Starting speed for assist mode 1</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>203</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Rolling start speed 2</Name>
      <Scale>256</Scale>
      <Units>km/hr</Units>
      <Description>Starting speed for assist mode 2</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>204</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Rolling start speed 3</Name>
      <Scale>256</Scale>
      <Units>km/hr</Units>
      <Description>Starting speed for assist mode 3</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>205</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Rolling start speed </Name>
      <Scale>256</Scale>
      <Units>km/hr</Units>
      <Description>Starting speed</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>206</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Regen brake speed</Name>
      <Scale>256</Scale>
      <Units>km/hr</Units>
      <Description>Minimum speed for regen brake</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 - reserved</string>
        <string>Bit 1 - Mode switch enable</string>
        <string>Bit 2 - Computer functions enabled</string>
        <string>Bit 3 - Permanent speed enabled</string>
        <string>Bit 4 - Background light switching enabled</string>
        <string>Bit 5 - Locking enabled</string>
        <string>Bit 6 - Recuperation enabled</string>
        <string>Bit 7 - reserved</string>
        <string>Bit 8 - reserved</string>
        <string>Bit 9 - General parameter setting enabled</string>
        <string>Bit 10 - No Assist enabled</string>
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>207</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Reserved display parameter</Name>
      <Scale>bit vector</Scale>
      <Description>15 14 13 12 11 10  9  8  7  6  5  4  3  2  1  0

1=enable 0=disable

		Bit 0 - reserved
		Bit 1 - Mode switch enable
		Bit 2 - Computer functions enabled
		Bit 3 - Permanent speed enabled
		Bit 4 - Background light switching enabled
		Bit 5 - Locking enabled 
		Bit 6 - Recuperation enabled 
		Bit 7 - reserved 
		Bit 8 - reserved
		Bit 9 - General parameter setting enabled
		Bit 10 - No Assist enabled
		</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>208</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Control command source</Name>
      <Scale>enum</Scale>
      <Description>0 is serial stream / 1 is throttle / 2 is pedal sensor / 3  is throttle AND pedal sensor / 4 is throttle OR pedal sensor /5 is torque sensor</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>209</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Battery management interface type</Name>
      <Scale>enum</Scale>
      <Description>0 is none / 1 is voltage model / 2 is analog 10V / 3 is reserved / 4 is LIN / 5 is ModBus</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>210</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Assist mode source</Name>
      <Scale>enum</Scale>
      <Description>0 is none / 1 is analog / 2 is reserved / 3 is ASI / 4 is LIN / 5 is network gains</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>211</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedal sensor type</Name>
      <Scale>enum</Scale>
      <Description>0  is single Hall / 1 is dual Hall / 2 is FAG / 3 is Quadrature torque / 4 is Quadrature speed  </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 </string>
        <string>Bit 1 Reverse enable</string>
        <string>Bit 2 Anti-theft enable</string>
        <string>Bit 3  </string>
        <string>Bit 4 Analogue braking enable</string>
        <string>Bit 5 Motor temp sensor enable</string>
        <string>Bit 6 Motor stall shutoff enable</string>
        <string>Bit 7 Reverse interlock disable</string>
        <string>Bit 8 Alternate speed limit enable</string>
        <string>Bit 9 Rolling start enable</string>
        <string>Bit 10 Alternate power limit enable</string>
        <string>Bit 11 Walk mode enable</string>
        <string>Bit 12 Boost mode enable</string>
        <string>Bit 13 Engine braking enable</string>
        <string>Bit 14 External Fault LED on HDQ</string>
        <string>Bit 15 Reserved</string>
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>212</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Features</Name>
      <Scale>bit vector</Scale>
      <Description>15 14 13 12 11 10  9  8  7  6  5  4  3  2  1  0

1=enable 0=disable

bit  0:  
bit  1: Reverse enable on cruise
bit  2: Anti theft inhibit on pfs
bit  3:  
bit  4: Analogue braking enable
bit  5: Motor temperature sensor enable
bit  6: Motor shutoff on stall enable
bit  7: Reverse interlock disable
bit  8: Alternate speed limit enable  
bit  9: Rolling start enable
bit 10: Alternate power limit enable
bit 11: Walk mode enable 
bit 12: Boost mode enable
bit 13: Engine braking enable
bit 14: Ext Fault LED on HQD
bit 15:</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>213</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Throttle full voltage</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Throttle voltage reading with the throttle open (fully on)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>214</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Throttle off voltage</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Throttle voltage reading with the throttle closed (fully off)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>215</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Analogue brake full voltage</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Analog brake voltage reading that equates to the maximum brake setpoint</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>216</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Analogue brake off voltage</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Analog brake voltage reading that equates to the brake being off</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>217</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Assist high voltage reading</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Assist voltage reading when high level assist is selected</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>218</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Assist low voltage reading</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Assist voltage reading when low level assist is selected</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>219</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Assist gain 1 </Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Assist mapping output multiplier at low assist voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>220</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Positive motoring torque ramp</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Time required to reach the maximum motoring torque setpoint</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>221</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Negative motoring torque ramp</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Time required to reach the zero motoring torque</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>222</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedalec positive motoring torque ramp</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Time required to reach the maximum motoring torque setpoint for pedal sensors</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>223</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedalec negative motoring torque ramp</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Time required to reach the zero motoring torque for pedal sensors</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>224</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Positive braking torque ramp</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Time required to reach the maximum braking torque setpoint</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>225</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Negative braking torque ramp</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Time required to reach the zero braking torque</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>226</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Gear ratio</Name>
      <Scale>256</Scale>
      <Units>N:1</Units>
      <Description>Ratio of motor revolutions to one wheel revolution</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>227</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Wheel diameter</Name>
      <Scale>1</Scale>
      <Units>mm</Units>
      <Description>Wheel diameter in mm</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>228</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Assist cut out distance</Name>
      <Scale>256</Scale>
      <Units>m</Units>
      <Description>Maximum distance the bike is allowed to travel  and provide assist power to the wheel after pedal activity has ceased</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>229</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Vehicle maximum speed</Name>
      <Scale>256</Scale>
      <Units>km/hr</Units>
      <Description>Vehicle speed limit for foldback in km/hr</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>230</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Vehicle jog speed</Name>
      <Scale>256</Scale>
      <Units>km/hr</Units>
      <Description>Vehicle speed limit for jog mode in km/hr</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>231</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Wheel speed sensor pulses per revolution</Name>
      <Scale>1</Scale>
      <Units>ppr</Units>
      <Description>Represents the wheel speed sensor's number of pulses per wheel revolution. 0 disables this feature</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>232</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedalec minimum timeout</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Minimum time to disable pedal when no change is position is noticed</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>233</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedalec maximum timeout</Name>
      <Scale>1</Scale>
      <Units>ms</Units>
      <Description>Maximum time to disable pedal when no change is position is noticed</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>234</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedal speed sensor pulses per revolution</Name>
      <Scale>1</Scale>
      <Units>ppr</Units>
      <Description>Represents the pedal speed sensor's number of pulses per revolution.</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>235</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Pedal sense delay</Name>
      <Scale>1</Scale>
      <Units>counts</Units>
      <Description>Represents the number of pedal speed pulses that must be observed before the pedals are deemed to be active</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>236</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Vehicle maximum speed 2</Name>
      <Scale>256</Scale>
      <Units>km/hr</Units>
      <Description>Secondary vehicle speed limit for foldback in km/hr</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>237</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Reserved L1 6</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>238</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Reserved L1 7</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>239</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Reserved L1 8</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>240</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Reserved L1 9</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>241</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Assist speed 1 </Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Fraction of maximum speed when in low assist mode</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>242</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Reserved L1 3</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>243</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Reserved L1 4</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
   <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>244</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Reserved L1 5</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>245</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Assist gain 2</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Represents the assist level when using medium assist mode (0.00 to 0.99) for LCD</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>246</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Assist speed 2</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Represents the fraction of maximum speed for medium assist mode (0.00 to 0.99) for LCD</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>247</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Throttle sensor source</Name>
      <Scale>enum</Scale>
      <Description>0= Throttle Voltage,  1=brake1, 2=brake2, 3=CAN torque, 4=LIN, 5=Network Voltage, 6=10V bms in</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>248</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Cutoff brake sensor source</Name>
      <Scale>enum</Scale>
      <Description>0=brake1, 1=brake2, 2=PFS, 3=cruise, 4=Network</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>249</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Regen brake source</Name>
      <Scale>1</Scale>
      <Description>0=brake 2  1= brake 1 2=network 3=ASI</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>250</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Assist Gain 3</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Gain for assist mode 3</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>251</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Assist Speed 3</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Speed for assist mode 3</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>252</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Vehicle jog speed2</Name>
      <Scale>256</Scale>
      <Units>km/hr</Units>
      <Description>Vehicle speed limit for boost mode, and inhibit speed for anti theft in km/hr</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>253</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Assist Gain Walk</Name>
      <Scale>4096</Scale>
      <Description>Gain for walk mode</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>254</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Speed limit ramp time</Name>
      <Scale>1</Scale>
	  <Units>ms</Units>
      <Description>Speed limit ramp time for smooth clutch engagement on freewheel motors, 0 = disable</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>255</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>CAN sync loss timeout</Name>
      <Scale>1</Scale>
	  <Units>ms</Units>
      <Description>timeout for CAN systems when no sync pulses are recieved</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>256</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>software revision level</Name>
      <Scale>1000</Scale>
      <Description>Software revision level </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string />
        <string />
        <string />
        <string />
        <string />
        <string />
        <string />
        <string />
        <string />
        <string />
        <string />
        <string />
        <string />
        <string />
        <string />
        <string />
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>257</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>controller status</Name>
      <Scale>bit vector</Scale>
      <Description>TBD</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="true">
      <BitField>
        <string>Bit 0 Controller over voltage  
</string>
        <string>Bit 1 Filtered phase over current 
</string>
        <string>Bit 2 Bad current sensor calibration  
</string>
        <string>Bit 3 Current sensor over current 
</string>
        <string>Bit 4 Controller over temperature 
</string>
        <string>Bit 5 Motor Hall sensor fault 
</string>
        <string>Bit 6 Controller under voltage 
</string>
        <string>Bit 7 POST static gating test  
</string>
        <string>Bit 8 Network communication timeout 
</string>
        <string>Bit 9 Instantaneous phase over current 
</string>
        <string>Bit 10 Motor over temperature  
</string>
        <string>Bit 11 Throttle voltage outside range  
</string>
        <string>Bit 12 Instantaneous controller over voltage 
</string>
        <string>Bit 13 Internal error  
</string>
        <string>Bit 14 POST dynamic gating test  </string>
        <string>Bit 15 Instantaneous controller under voltage  </string>
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>258</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>faults</Name>
      <Scale>bit vector</Scale>
      <Description>15 14 13 12 11 10  9  8  7  6  5  4  3  2  1  0

1=active 0=not active

bit  0: Controller over voltage (flash code 1,1)
bit  1: Phase over current (flash code 1,2)
bit  2: Current sensor calibration (flash code 1,3)
bit  3: Current sensor over current (flash code 1,4)
bit  4: Controller over temperature (flash code 1,5)
bit  5: Motor Hall sensor fault (flash code 1,6)
bit  6: Controller under voltage (flash code 1,7)
bit  7: POST static gating test (flash code 1,8)
bit  8: Network communication timeout (flash code 2,1)
bit  9: Instantaneous phase over current (flash code 2,2)
bit 10: Motor over temperature (flash code 2,3)
bit 11: Throttle voltage outside range (flash code 2,4)
bit 12: Instantaneous controller over voltage (flash code 2,5)
bit 13: Internal error (flash code 2,6
bit 14: POST dynamic gating test (flash code 2,7)
bit 15: Instantaneous under voltage (flash code 2,8)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>259</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>controller temperature</Name>
      <Scale>1</Scale>
      <Units>deg C</Units>
      <Description>Base plate temperature</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>260</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>vehicle speed</Name>
      <Scale>256</Scale>
      <Units>km/hr</Units>
      <Description>Calculated vehicle speed</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>261</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor temperature</Name>
      <Scale>1</Scale>
      <Units>deg C</Units>
      <Description>Motor temperature </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>262</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor current</Name>
      <Scale>32</Scale>
      <Units>Amps</Units>
      <Description>Motor peak current </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>263</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor rpm</Name>
      <Scale>1</Scale>
      <Units>RPM</Units>
      <Description>Motor speed </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>264</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor speed</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Motor speed</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>265</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>battery voltage</Name>
      <Scale>32</Scale>
      <Units>Volts</Units>
      <Description>Measured battery voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>266</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>battery current</Name>
      <Scale>32</Scale>
      <Units>Amps</Units>
      <Description>Measured battery amperage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>267</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>battery state of charge</Name>
      <Scale>1</Scale>
      <Units>%</Units>
      <Description>Remaining battery capacity</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>268</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>battery power</Name>
      <Scale>1</Scale>
      <Units>Watts</Units>
      <Description>Calculated battery output power</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 Controller over voltage (1 LED flash)</string>
        <string>Bit 1 Filtered phase over current (2 LED flashes)</string>
        <string>Bit 2 Bad current sensor calibration (14 LED flashes)</string>
        <string>Bit 3 Current sensor over current (11 LED flashes)</string>
        <string>Bit 4 Controller over temperature (4 LED flashes)</string>
        <string>Bit 5 Motor Hall sensor fault (15 LED flashes)</string>
        <string>Bit 6 Controller under voltage (13 LED flashes)</string>
        <string>Bit 7 POST static gating test (3 LED flashes)</string>
        <string>Bit 8 Network communication timeout (6 LED flashes)</string>
        <string>Bit 9 Instantaneous phase over current (7 LED flashes)</string>
        <string>Bit 10 Motor over temperature (8 LED flashes)</string>
        <string>Bit 11 Throttle voltage outside range (9 LED flashes)</string>
        <string>Bit 12 Instantaneous controller over voltage (10 LED flashes)</string>
        <string>Bit 13 Internal error (12 LED flashes)</string>
        <string>Bit 14 POST dynamic gating test (5 LED flashes)</string>
        <string>Bit 15 Instantaneous controller under voltage (16 flashes)</string>
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>269</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>last fault</Name>
      <Scale>bit vector</Scale>
      <Description>15 14 13 12 11 10  9  8  7  6  5  4  3  2  1  0

1=active 0=not active

bit  0: Controller over voltage (flash code 1,1)
bit  1: Phase over current (flash code 1,2)
bit  2: Current sensor calibration (flash code 1,3)
bit  3: Current sensor over current (flash code 1,4)
bit  4: Controller over temperature (flash code 1,5)
bit  5: Motor Hall sensor fault (flash code 1,6)
bit  6: Controller under voltage (flash code 1,7)
bit  7: POST static gating test (flash code 1,8)
bit  8: Network communication timeout (flash code 2,1)
bit  9: Instantaneous phase over current (flash code 2,2)
bit 10: Motor over temperature (flash code 2,3)
bit 11: Throttle voltage outside range (flash code 2,4)
bit 12: Instantaneous controller over voltage (flash code 2,5)
bit 13: Internal error (flash code 2,6)
bit 14: POST dynamic gating test (flash code 2,7)
bit 15: Instantaneous under voltage (flash code 2,8)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>270</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>throttle voltage</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Filtered throttle voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>271</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>brake 1 voltage</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Filtered brake 1 voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>272</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>brake 2 voltage</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Filtered brake 2 voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>273</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>raw controller temperature sensor voltage</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Unfiltered controller temperature sensor voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>274</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>light sensor voltage</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Filtered light sensor voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>275</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>analog bms soc voltage</Name>
      <Scale>1024</Scale>
      <Units>Volts</Units>
      <Description>Filtered BMS voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 Hall C input</string>
        <string>Bit 1 Hall B input</string>
        <string>Bit 2 Hall A input</string>
        <string>Bit 3 Pedal First input</string>
        <string>Bit 4 Cruise input</string>
        <string>Bit 5 Brake 1 input</string>
        <string>Bit 6 Brake 2 input</string>
        <string>Bit 7 HWOC pin</string>
        <string>Bit 8 HWOC latch</string>
        <string>Bit 9 Remote Brake</string>
        <string>Bit 10 Remote Pwr rating SW</string>
        <string>BIt 11 Remote Regen1</string>
        <string>Bit 12 Remote Regen2</string>
        <string>Bit 13 Remote Spd rating SW</string>
        <string>Bit 14 Reserved</string>
        <string>Bit 15 Reserved</string>
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>276</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>digital inputs</Name>
      <Scale>bit vector</Scale>
      <Description>9 8  7  6  5  4  3  2  1  0
 
1=logic high 0=logic low

bit  0: Hall C
bit  1: Hall B
bit  2: Hall A
bit  3: Pedal First input
bit  4: Cruise input
bit  5: Brake 1 input
bit  6: Brake 2 input
bit  7: HWOC Pin
bit  8: HWOC Latch
bit  9: Remote Brake
bit 10: Remote Pwr Rating Sw
bit 11: Remote Regen1
bit 12: Remote Regen2
bit 13: Remote Spd Rating Sw</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 Communication timeout</string>
        <string>Bit 1 Hall sensor</string>
        <string>Bit 2 Reserved </string>
        <string>Bit 3 Wheel speed sensor</string>
        <string>Bit 4 Reserved </string>
        <string>Bit 5 Hall sector</string>
        <string>Bit 6 Hall transition</string>
        <string>Bit 7 VdcLowFLDBK</string>
        <string>Bit 8 VdcHighFLDBK</string>
        <string>Bit 9 MotorTempFLDBK</string>
        <string>Bit 10 ContrlTempFLDBK</string>
        <string>Bit 11 LowSOCFLDBK</string>
        <string>Bit 12 HiSOCFLDBK</string>
        <string>Bit 13 I2tFLDBK</string>
        <string>Bit 14 Reserved</string>
        <string>Bit 15 Reserved</string>
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>277</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>warnings</Name>
      <Scale>bit vector</Scale>
      <Description>7  6  5  4  3  2  1  0

1=active 0=not active

bit  0: Communication Timeout (flash code 5,1)
bit  1: Hall Sensor (flash code 5,2)
bit  2:  (flash code 5,3)
bit  3: Wheel Speed Sensor(flash code 5,4)
bit  4:   (flash code 5,5)
bit  5: Hall Illegal sector (flash code 5,6)
bit  6: Hall illegal transition (flash code 5,7)
bit  7: VdcLowFLDBK (flash code 5,8)
bit  8: VdcHighFLDBK (flash code 6,1)
bit  9: MotorTempFLDBK (flash code 6,2)
bit  10: ContrlTempFLDBK (flash code 6,3)
bit  11: LowSOCFLDBK (flash code 6,4)
bit  12: HiSOCFLDBK (flash code 6,5)
bit  13: I2tFLDBK (flash code 6,6)
bit  14:  (flash code 6,7)
bit  15:  (flash code 6,8)
</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>278</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>rotor angle</Name>
      <Scale>182.04444444444444444444444444444</Scale>
      <Units>degrees</Units>
      <Description>Motor electrical position</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>279</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>battery temperature</Name>
      <Scale>1</Scale>
      <Description>battery temperature</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>280</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>battery power percent</Name>
      <Scale>1</Scale>
      <Units>% of rated power</Units>
      <Description>battery power in W divided by rated power in W</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>281</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>dsp core temperature</Name>
      <Scale>1</Scale>
      <Units>deg C</Units>
      <Description>DSP temperature</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>282</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase A current</Name>
      <Scale>32</Scale>
      <Units>Amps</Units>
      <Description>Measured motor phase A current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>283</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase B current</Name>
      <Scale>32</Scale>
      <Units>Amps</Units>
      <Description>Calculated motor phase B current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>284</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase C current</Name>
      <Scale>32</Scale>
      <Units>Amps</Units>
      <Description>Measured motor phase C current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>285</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase A voltage</Name>
      <Scale>32</Scale>
      <Units>Volts</Units>
      <Description>Measured instantaneous motor phase A voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>286</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase B voltage</Name>
      <Scale>32</Scale>
      <Units>Volts</Units>
      <Description>Measured instantaneous motor phase B voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>287</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase C voltage</Name>
      <Scale>32</Scale>
      <Units>Volts</Units>
      <Description>Measured instantaneous motor phase C voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>288</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>boot loader software revision</Name>
      <Scale>1000</Scale>
      <Description>Bootloader software revision</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>289</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>light supply voltage</Name>
      <Scale>1024</Scale>
      <Units>V</Units>
      <Description>6V light supply voltage for headlight brake light and running light</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>290</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>high state of charge foldback gain</Name>
      <Scale>4096</Scale>
      <Units />
      <Description>high state of charge foldback on battery regen current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>291</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>raw battery voltage</Name>
      <Scale>4096</Scale>
      <Units>pu V</Units>
      <Description>Unfiltered battery voltage measurement</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>292</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase A voltage per unit</Name>
      <Scale>4096</Scale>
      <Units>pu V</Units>
      <Description>Instantaneous phase A voltage measurement</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>293</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase B voltage per unit</Name>
      <Scale>4096</Scale>
      <Units>pu V</Units>
      <Description>Instantaneous phase B voltage measurement</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>294</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase C voltage per unit</Name>
      <Scale>4096</Scale>
      <Units>pu V</Units>
      <Description>Instantaneous phase C voltage measurement</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 Headlight</string>
        <string>Bit 1 RS 485 TX</string>
        <string>Bit 2 HDQ TX</string>
        <string>Bit 3 Current sensor power</string>
        <string>Bit 4 Main power</string>
        <string>Bit 5 LED</string>
        <string>Bit 6 Hardware over current reset</string>
        <string>Bit 7 A</string>
        <string>Bit 8 B</string>
        <string>Bit 9 C</string>
        <string>Bit 10 Running light</string>
        <string>BIt 11 Brake light</string>
        <string>Bit 12 LIN enable</string>
        <string>Bit 13 FAG enable</string>
        <string>Bit 14 Charger disable</string>
        <string>Bit 15 Reserved</string>
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>295</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>digital outputs</Name>
      <Scale>bit vector</Scale>
      <Description>15 14 13 12 11 10 9 8 7  6  5  4  3  2  1  0

1=active 0=not active

bit  0: Headlight
bit  1: RS 485 TX
bit  2: HDQ TX
bit  3: Current sensor power
bit  4: Main power
bit  5: LED
bit  6: Hardware over current reset
bit  7: A
bit  8: B
bit  9: C
bit 10: Running light
bit 11: Brake light
bit 12: LIN enable
bit 13: FAG enable
bit 14: Charger disable
bit 15: </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>296</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>ia_pu</Name>
      <Scale>4096</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>297</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>ic_pu</Name>
      <Scale>4096</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>298</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>overload accumulator</Name>
      <Scale>40.96</Scale>
      <Units>%</Units>
      <Description>Accumulated i^2t overload heat in %</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 Parameter CRC</string>
        <string>Bit 1 Current Scaling</string>
        <string>Bit 2 Voltage Scaling</string>
        <string>Bit 3 Headlight Undervoltage</string>
        <string>Bit 4 Torque sensor</string>
        <string>Bit 5 CAN bus</string>
        <string>Bit 6 Hall Stall</string>
        <string>Bit 7 Bootloader</string>
        <string>Bit 8 Parameter2CRC</string>
        <string>Bit 9  </string>
        <string>Bit 10  </string>
        <string>Bit 11  </string>
        <string>Bit 12  </string>
        <string>Bit 13  </string>
        <string>Bit 14  </string>
        <string>Bit 15  </string>
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>299</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>faults2</Name>
      <Scale>bit vector</Scale>
      <Description>15 14 13 12 11 10  9  8  7  6  5  4  3  2  1  0

1=active 0=not active

bit  0: Parameter CRC (flash code 3,1)
bit  1: Current Scaling(flash code 3,2)
bit  2: Voltage Scaling(flash code 3,3)
bit  3: Headlight Undervoltage(flash code 3,4)
bit  4: Torque sensor(flash code 3,5)
bit  5: CAN bus(flash code 3,6)
bit  6: Hall Stall(flash code 3,7)
bit  7: Bootloader(flash code 3,8)
bit  8: Parameter2CRC(flash code 4,1)
bit  9: (flash code 4,2)
bit 10: (flash code 4,3)
bit 11: (flash code 4,4)
bit 12:(flash code 4,5)
bit 13: (flash code 4,6)
bit 14: (flash code 4,7)
bit 15: (flash code 4,8)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>300</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor phase U high voltage POST</Name>
      <Scale>4096</Scale>
      <Units>V (norm)</Units>
      <Description>Measured phase U voltage at 85% duty cycle nomalized to the battery voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>301</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor phase U low voltage POST</Name>
      <Scale>4096</Scale>
      <Units>V (norm)</Units>
      <Description>Measured phase U voltage at 15% duty cycle nomalized to the battery voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>302</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor phase V high voltage POST</Name>
      <Scale>4096</Scale>
      <Units>V (norm)</Units>
      <Description>Measured phase V voltage at 85% duty cycle nomalized to the battery voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>303</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor phase V low voltage POST</Name>
      <Scale>4096</Scale>
      <Units>V (norm)</Units>
      <Description>Measured phase V voltage at 15% duty cycle nomalized to the battery voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>304</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor phase W high voltage POST</Name>
      <Scale>4096</Scale>
      <Units>V (norm)</Units>
      <Description>Measured phase W voltage at 85% duty cycle nomalized to the battery voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>305</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor phase W low voltage POST</Name>
      <Scale>4096</Scale>
      <Units>V (norm)</Units>
      <Description>Measured phase W voltage at 15% duty cycle nomalized to the battery voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>306</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor phase U open circuit voltage POST</Name>
      <Scale>4096</Scale>
      <Units>V (norm)</Units>
      <Description>Measured phase U open circuit voltage nomalized to the battery voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>307</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor phase V open circuit voltage POST</Name>
      <Scale>4096</Scale>
      <Units>V (norm)</Units>
      <Description>Measured phase V open circuit voltage nomalized to the battery voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>308</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor phase W open circuit voltage POST</Name>
      <Scale>4096</Scale>
      <Units>V (norm)</Units>
      <Description>Measured phase W open circuit voltage nomalized to the battery voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>309</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase regen current power limit</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>motor phase current limit due to power or battery current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>310</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>high voltage foldback gain</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>battery limit high voltage foldback gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>311</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>wheel RPM (speed sensor based)</Name>
      <Scale>16</Scale>
      <Units>RPM</Units>
      <Description>Calculated wheel speed based on wheel speed sensor</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>312</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>wheel RPM (motor based)</Name>
      <Scale>16</Scale>
      <Units>RPM</Units>
      <Description>Calculated wheel speed based on motor pole pairs</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>313</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>measured wheel RPM</Name>
      <Scale>16</Scale>
      <Units>RPM</Units>
      <Description>Measured wheel speed</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>314</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>local power limit command</Name>
      <Scale>4096</Scale>
      <Units>pu </Units>
      <Description>switched between 1.0 and ratio of alt rated power</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>315</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase A current sensor offset</Name>
      <Scale>4096</Scale>
      <Units>% of full scale</Units>
      <Description>% of full scale sensor reading (nominal value = 0.5)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>316</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase C current sensor offset</Name>
      <Scale>4096</Scale>
      <Units>% of full scale</Units>
      <Description>% of full scale sensor reading (nominal value = 0.5)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>317</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>low voltage foldback gain</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>battery low voltage foldback gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>318</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>phase motoring current power limit</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>motor phase current limit due to power or battery current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>319</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor i^2t foldback gain</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Motor I^2t overload foldback gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>320</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor temperature foldback gain</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Motor temperature foldback gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>321</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>inverter temperature foldback gain</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Inverter (hot and cold) foldback gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>322</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>speed limiter output</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Current limit due to speed (speed reg mode 2 only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>323</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motoring phase current limit</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Maximum motor current after thermal foldbacks applied</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>324</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>low state of charge foldback gain</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Battery low state of change foldback gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>325</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>throttle setpoint</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Filtered throttle signal</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>326</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>brake setpoint</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Filtered analog brake</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 Brake</string>
        <string>Bit 1 Cut out</string>
        <string>Bit 2 Run Req</string>
        <string>Bit 3 Pedal</string>
        <string>Bit 4 Regen</string>
        <string>Bit 5 Walk</string>
        <string>Bit 6 Walk start</string>
        <string>Bit 7 Throttle</string>
        <string>Bit 8 Reverse Mode</string>
        <string>Bit 9 Interlock Off</string>
        <string>Bit 10 Pedal Ramps </string>
        <string>Bit 11 Gate Req</string>
        <string>Bit 12 Gate Enabled</string>
        <string>Bit 13 Boost mode</string>
        <string>Bit 14 AntiTheft</string>
        <string>Bit 15 Reserved</string>
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>327</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>ebike flags</Name>
      <Scale>bit vector</Scale>
      <Description>11 10 9  8  7  6  5  4  3  2  1  0

1=active 0=not active

bit  0: Brake 
bit  1: Cutout 
bit  2: Run Req 
bit  3: Pedal
bit  4: Regen 
bit  5: Walk
bit  6: Walk start
bit  7: Throttle 
bit  8: Rvs
bit  9: Interlock off
bit  10: Pedal ramp rate active 
bit  11: Gate enble request
bit  12: Gate enabled
bit  13: Boost mode
bit  14: Anti theft enabled
</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>328</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>instantaneous pedal speed</Name>
      <Scale>64</Scale>
      <Units>RPM</Units>
      <Description>instantaneous pedal speed</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>329</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>assist speed limit</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Speed limit reduction based on assist mode</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>330</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>sensorless state</Name>
      <Scale>enum</Scale>
      <Description>Defines current state of sensorless startup state machine</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>331</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>average pedal speed</Name>
      <Scale>64</Scale>
      <Units>RPM</Units>
      <Description>Measured pedal speed in RPM from pedal sensor</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>332</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>average pedal torque</Name>
      <Scale>64</Scale>
      <Units>Nm</Units>
      <Description>Measured pedal torque in Nm from pedal sensor</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>333</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>regen phase current limit</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Maximum motor regen current after thermal foldbacks applied</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>334</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor input power</Name>
	  <Units>W</Units>
      <Scale>1</Scale>       
      <Description>Motor input power in Watts</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>335</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>torque command</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Requested motor torque from sensors before rate limiting</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>336</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>torque reference</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Requested motor torque after rate limiting</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>337</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>speed(ref/limit) command</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Speed limit in local mode</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>338</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pedal speed gain</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Pedal speed gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>339</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>assist level</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Assist level</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>340</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>modbus1 CRC error count</Name>
      <Scale>1</Scale>
      <Units>counts</Units>
      <Description>Number of ModBus CRC errors since power-up or reset on port1.</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>341</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>modbus1 HW errors</Name>
      <Scale>1</Scale>
      <Units>counts</Units>
      <Description>Number of UART errors since power-up or reset on port1.</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>342</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>modbus2 CRC error count</Name>
      <Scale>1</Scale>
      <Units>counts</Units>
      <Description>Number of ModBus CRC errors since power-up or reset on port2.</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>343</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>modbus2 HW errors</Name>
      <Scale>1</Scale>
      <Units>counts</Units>
      <Description>Number of UART errors since power-up or reset on port2.</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>344</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>reserved L4 4</Name>
      <Scale>1</Scale>
      <Units>counts</Units>
      <Description>reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>345</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>vd</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Filtered D axis voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>346</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>vq</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Filtered Q axis voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>347</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>d feedback avg</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Filtered D axis current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>348</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>q feedback avg</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Filtered Q axis current</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>349</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>torque sensor offset voltage</Name>
      <Scale>4096</Scale>
      <Units>V</Units>
      <Description>torque sensor offset voltage power up calibration</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>350</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>current ISR execution time</Name>
      <Scale>60</Scale>
      <Units>us</Units>
      <Description>Measured ISR execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>351</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>peak ISR execution time</Name>
      <Scale>60</Scale>
      <Units>us</Units>
      <Description>Peak ISR execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>352</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>peak 1ms loop time</Name>
      <Scale>15</Scale>
      <Units>us</Units>
      <Description>Measured execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>353</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>average 1ms time</Name>
      <Scale>15</Scale>
      <Units>us</Units>
      <Description>Measured execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>354</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>1ms time</Name>
      <Scale>15</Scale>
      <Units>us</Units>
      <Description>Measured execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>355</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>execution time 4</Name>
      <Scale>60</Scale>
      <Units>us</Units>
      <Description>Measured execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>356</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>execution time 5</Name>
      <Scale>60</Scale>
      <Units>us</Units>
      <Description>Measured execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>357</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>execution time 6</Name>
      <Scale>60</Scale>
      <Units>us</Units>
      <Description>Measured execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>358</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>execution time 7</Name>
      <Scale>60</Scale>
      <Units>us</Units>
      <Description>Measured execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>359</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>execution time 8</Name>
      <Scale>60</Scale>
      <Units>us</Units>
      <Description>Measured execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>360</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>execution time 9</Name>
      <Scale>60</Scale>
      <Units>us</Units>
      <Description>Measured execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>361</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>execution time 10</Name>
      <Scale>60</Scale>
      <Units>us</Units>
      <Description>Measured execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>362</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>execution time 11</Name>
      <Scale>1</Scale>
      <Units>us</Units>
      <Description>Measured execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>363</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>custom code crc high</Name>
      <Scale>hex</Scale>
      <Description>High word of the 32 bit CRC calculation of the custom code</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>364</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>custom code crc low</Name>
      <Scale>hex</Scale>
      <Description>Low word of the 32 bit CRC calculation of the custom code</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>365</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>custom code execution time</Name>
      <Scale>15</Scale>
      <Units>us</Units>
      <Description>Measured execution time</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>366</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>v integral</Name>
      <Scale>2048</Scale>
      <Units>pu</Units>
      <Description>Speed regulator integral term</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>367</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>v output</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Speed regulator output</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>368</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>v error</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Speed regulator error term</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>369</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>v proportional</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Speed regulator proportional term</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>370</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>d integral</Name>
      <Scale>256</Scale>
      <Units>pu</Units>
      <Description>D axis current loop integral term</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>371</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>q integral</Name>
      <Scale>256</Scale>
      <Units>pu</Units>
      <Description>Q axis current loop integral term</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>372</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>d output</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>D axis current loop output</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>373</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>q output</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Q axis current loop output</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>374</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>d error</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>D axis current loop error term</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>375</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>q error</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Q axis current loop error term</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>376</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>d proportional</Name>
      <Scale>256</Scale>
      <Units>pu</Units>
      <Description>D axis current loop proportional term</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>377</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>q proportional</Name>
      <Scale>256</Scale>
      <Units>pu</Units>
      <Description>Q axis current loop proportional term</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>378</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>q limit from d</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>q axis limit based on d axis</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>379</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>battery i^2t foldback gain</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>battery I^2t overload foldback gain</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>380</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>d feedback</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>D axis current loop feedback</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>381</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>q feedback</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Q axis current loop feedback</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>382</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>d reference</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>D axis current loop reference</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>383</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>q reference</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Q axis current loop reference</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>384</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>maximum measurable current</Name>
      <Scale>1</Scale>
      <Units>A</Units>
      <Description></Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>385</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>maximum measurable voltage</Name>
      <Scale>1</Scale>
      <Units>V</Units>
      <Description></Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>386</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>positive battery limit</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>motoring battery current limit after battery foldbacks</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>387</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>negative battery limit</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>regen battery current limit after battery foldbacks</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>388</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>stator current alpha</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Stationary alpha axis rotor current (Factory only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>389</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>stator current beta</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Stationary beta axis rotor current (Factory only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>390</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>flux alpha</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Flux model phase Alpha output</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>391</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>flux beta</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Flux model phase Beta output</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>392</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>flux frequency</Name>
      <Scale>1</Scale>
      <Units>Hertz</Units>
      <Description>Frequency of flux model</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>393</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>flux magnitude</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Magnitude of flux</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>394</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>flux angle</Name>
      <Scale>65536</Scale>
      <Units>pu</Units>
      <Description>Angle of flux</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>395</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>open loop angle</Name>
      <Scale>91.022222</Scale>
      <Units>deg</Units>
      <Description>Open loop mode angle</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>396</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>calculated battery current motoring limit</Name>
      <Scale>8</Scale>
      <Units>A</Units>
      <Description>Effective motoring battery current limit</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>397</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>calculated battery current braking limit</Name>
      <Scale>8</Scale>
      <Units>A</Units>
      <Description>Effective braking battery current limit</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>398</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>motor temperature sensor voltage</Name>
      <Scale>4096</Scale>
      <Units>V</Units>
      <Description>Motor temperature sensor voltage at the A/D converter to compare with the table.</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>399</Address>
      <Read>true</Read>
      <Write>false</Write>
	  <Name>pu Lm</Name>
      <Scale>4096</Scale>
	  <Units>pu</Units>
      <Description>per unit magnetizing inductance</Description>      
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>400</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>debug1</Name>
      <Scale>1</Scale>
      <Description>Debug variable for general development use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>401</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>debug2</Name>
      <Scale>1</Scale>
      <Description>Debug variable for general development use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>402</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>debug3</Name>
      <Scale>1</Scale>
      <Description>Debug variable for general development use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>403</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>debug4</Name>
      <Scale>1</Scale>
      <Description>Debug variable for general development use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>404</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>debug5</Name>
      <Scale>1</Scale>
      <Description>Debug variable for general development use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>405</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>debug6</Name>
      <Scale>1</Scale>
      <Description>Debug variable for general development use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>406</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>debug7</Name>
      <Scale>1</Scale>
      <Description>Debug variable for general development use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>407</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>debug8</Name>
      <Scale>1</Scale>
      <Description>Debug variable for general development use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>408</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>trip meter</Name>
      <Scale>100</Scale>
	  <Units>km</Units>
      <Description>distance travelled in km since power up</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>409</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pedalec_timeout_delay</Name>
      <Scale>1</Scale>
      <Description>calculated pedalec_timeout_delay from speed and stop distance</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>410</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pll angle</Name>
      <Scale>65536</Scale>
      <Units>pu</Units>
      <Description>Phase locked loop angle</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>411</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pll error</Name>
      <Scale>65536</Scale>
      <Units>pu</Units>
      <Description>Phase locked loop error term</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>412</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pll PI frequency</Name>
      <Scale>1</Scale>
      <Units>Hertz</Units>
      <Description>Phase locked loop PI frequency</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>413</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pll proportional</Name>
      <Scale>1</Scale>
      <Units>Hertz</Units>
      <Description>Phase locked loop proportional term</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>414</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pll integral</Name>
      <Scale>256</Scale>
      <Units>Hertz</Units>
      <Description>Phase locked loop intergral term</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>415</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>rotor frequency</Name>
      <Scale>1</Scale>
      <Units>Hertz</Units>
      <Description>Rotor's electrical frequency of rotation</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>416</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pll reference angle</Name>
      <Scale>65536</Scale>
      <Units>pu</Units>
      <Description>Phase locked loop reference angle</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>417</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>hall angle</Name>
      <Scale>65536</Scale>
      <Units>pu</Units>
      <Description>Motor Hall angle</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 Parameter CRC</string>
        <string>Bit 1 Current Scaling</string>
        <string>Bit 2 Voltage Scaling</string>
        <string>Bit 3 Headlight Undervoltage</string>
        <string>Bit 4 Torque sensor</string>
        <string>Bit 5 CAN bus</string>
        <string>Bit 6 Hall Stall</string>
        <string>Bit 7 </string>
        <string>Bit 8 </string>
        <string>Bit 9  </string>
        <string>Bit 10  </string>
        <string>Bit 11  </string>
        <string>Bit 12  </string>
        <string>Bit 13  </string>
        <string>Bit 14  </string>
        <string>Bit 15  </string>
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>418</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>last fault2</Name>
      <Scale>bit vector</Scale>
      <Description>15 14 13 12 11 10  9  8  7  6  5  4  3  2  1  0

1=active 0=not active

bit  0: Parameter CRC 
bit  1: Current Scaling
bit  2: Voltage Scaling
bit  3: Headlight Undervoltage
bit  4: Torque sensor
bit  5: CAN bus
bit  6: Hall Stall
bit  7: 
bit  8: 
bit  9: 
bit 10: 
bit 11: 
bit 12:
bit 13: 
bit 14: 
bit 15: </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>419</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>hall frequency</Name>
      <Scale>1</Scale>
      <Units>Hertz</Units>
      <Description>Hall signal frequency</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>420</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>q limit</Name>
      <Scale>256</Scale>
      <Description />
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>421</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>d limit</Name>
      <Scale>256</Scale>
      <Description />
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>422</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>id ref trim</Name>
      <Scale>4096</Scale>
      <Description />
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>423</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>id ref fdfwd</Name>
      <Scale>4096</Scale>
      <Description />
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>424</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune Lm</Name>
      <Scale>1</Scale>
      <Units>uHenries</Units>
      <Description>Autotuned value for magnetizing inductance as calculated by the autotune motor parameter test</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>425</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune Rs</Name>
      <Scale>1</Scale>
      <Units>mOhms</Units>
      <Description>Stator winding resistance as calculated by the autotune motor parameter test</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>426</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune Ls</Name>
      <Scale>1</Scale>
      <Units>uHenries</Units>
      <Description>Stator winding inductance as calculated by the autotune motor parameter test</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>427</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pu Rs</Name>
      <Scale>4096</Scale>
      <Units>pu mohm</Units>
      <Description>Per unit stator line to neutral stator resistance (factory use only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>428</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pu Ls</Name>
      <Scale>4096</Scale>
      <Units>pu uHenries</Units>
      <Description>Per unit stator line to neutral stator inductance (factory use only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>429</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>rated electrical frequency</Name>
      <Scale>8</Scale>
      <Units>Hz</Units>
      <Description>The rated electrical commutation frequency = Npolepairs*Rated_rpm/60</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>430</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>spare var 7</Name>
      <Scale>1</Scale>
      <Units>pu</Units>
      <Description>(factory use only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>431</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>spare var 8</Name>
      <Scale>1</Scale>
      <Units>pu</Units>
      <Description>(factory use only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>432</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>spare var 9</Name>
      <Scale>1</Scale>
      <Units>pu</Units>
      <Description>(factory use only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>433</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>Ia_rms</Name>
      <Scale>32</Scale>
      <Units>Arms</Units>
      <Description>phase a rms current for calibration</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>434</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>Ic_rms</Name>
      <Scale>32</Scale>
      <Units>Arms</Units>
      <Description>phase c rms current for calibration</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>435</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>Iq_trim_q12</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>(factory use only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>436</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>modulation index</Name>
      <Scale>4096</Scale>
      <Units></Units>
      <Description>(factory use only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>437</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pwm cmd a pwm</Name>
      <Scale>1</Scale>
      <Description>(Factory only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>438</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pwm cmd b pwm</Name>
      <Scale>1</Scale>
      <Description>(Factory only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>439</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>pwm cmd c pwm</Name>
      <Scale>1</Scale>
      <Description>(Factory only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>440</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune hall sector[0]</Name>
      <Scale>4096</Scale>
      <Description>Output of the auto tune hall sequence test for sector [0]</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>441</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune hall sector[1]</Name>
      <Scale>4096</Scale>
      <Description>Output of the auto tune hall sequence test for sector [1]</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>442</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune hall sector[2]</Name>
      <Scale>4096</Scale>
      <Description>Output of the auto tune hall sequence test for sector [2]</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>443</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune hall sector[3]</Name>
      <Scale>4096</Scale>
      <Description>Output of the auto tune hall sequence test for sector [3]</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>444</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune hall sector[4]</Name>
      <Scale>4096</Scale>
      <Description>Output of the auto tune hall sequence test for sector [4]</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>445</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune hall sector[5]</Name>
      <Scale>4096</Scale>
      <Description>Output of the auto tune hall sequence test for sector [5]</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>446</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune hall sector[6]</Name>
      <Scale>4096</Scale>
      <Description>Output of the auto tune hall sequence test for sector [6]</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>447</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune hall sector[7]</Name>
      <Scale>4096</Scale>
      <Description>Output of the auto tune hall sequence test for sector [7]</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>448</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>parameter CRC32 high word</Name>
      <Scale>hex</Scale>
      <Description>High word of the 32 bit CRC calculation of the parameters</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>449</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>parameter CRC32 low word</Name>
      <Scale>hex</Scale>
      <Description>Low word of the 32 bit CRC calculation of the parameters</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>450</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>user access level</Name>
      <Scale>1</Scale>
      <Description>Current user parameter access level</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>451</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>bootloader CRC32 high word</Name>
      <Scale>hex</Scale>
      <Description>High word of the 32 bit CRC calculation of the bootloader</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>452</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>bootloader CRC32 low word</Name>
      <Scale>hex</Scale>
      <Description>Low word of the 32 bit CRC calculation of the bootloader</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>453</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>application CRC32 high word</Name>
      <Scale>hex</Scale>
      <Description>High word of the 32 bit CRC calculation of the application software</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>454</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>application CRC32 low word</Name>
      <Scale>hex</Scale>
      <Description>Low word of the 32 bit CRC calculation of the application software</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>455</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>Silicon Revision</Name>
      <Scale>1</Scale>
      <Description>Reserved for factory use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>456</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>execution time 15</Name>
      <Scale>60</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>457</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>check execution time 16</Name>
      <Scale>60</Scale>
      <Units>us</Units>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>458</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>peak background period</Name>
      <Scale>15</Scale>
      <Units>us</Units>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>459</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>avg background period</Name>
      <Scale>15</Scale>
      <Units>us</Units>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>460</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune hall offset angle</Name>
      <Scale>91.02222222</Scale>
      <Units>degrees</Units>
      <Description>estimated hall offset angle</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>461</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune Kv</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Motor back electromotive force constant that is equivalent to per unit system voltage/per unit rated speed</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>462</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>autotune rated rpm</Name>
      <Scale>1</Scale>
      <Units>RPM</Units>
      <Description>Nameplate no load rated motor RPM</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>463</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>torque assist</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>torque sensor multiplier for assist mode</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>464</Address>
      <Read>true</Read>
      <Write>false</Write>
      <Name>rolling start speed</Name>
      <Scale>256</Scale>
      <Units>km/hr</Units>
      <Description>rolling start speed for assist mode</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>465</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>OTP serial number0</Name>
      <Scale>hex</Scale>
      <Description>Reserved for factory use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>466</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>OTP serial number1</Name>
      <Scale>hex</Scale>
      <Description>Reserved for factory use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>467</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>OTP serial number2</Name>
      <Scale>hex</Scale>
      <Description>Reserved for factory use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>468</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>OTP serial number3</Name>
      <Scale>hex</Scale>
      <Description>Reserved for factory use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>469</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>OTP serial number4</Name>
      <Scale>hex</Scale>
      <Description>Reserved for factory use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>470</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>OTP serial number5</Name>
      <Scale>hex</Scale>
      <Description>Reserved for factory use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>471</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>OTP serial number6</Name>
      <Scale>hex</Scale>
      <Description>Reserved for factory use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>472</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>OTP serial number7</Name>
      <Scale>hex</Scale>
      <Description>Reserved for factory use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>473</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Speed command</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Speed command scaled a % of rated motor speed (used in networked configuration only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>474</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Maximum motoring current</Name>
      <Scale>40.96</Scale>
      <Units>% of rated motor current</Units>
      <Description>Maximum motoring current limit scaled a % of rated rated motor current (from local or remote VCM)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>475</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Maximum braking current</Name>
      <Scale>40.96</Scale>
      <Units>% of rated motor current</Units>
      <Description>Maximum braking current limit scaled a % of rated rated motor current (from local or remote VCM)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>476</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>State command</Name>
      <Scale>enum</Scale>
      <Description>State command where 1 = IDLE and 2 = RUN (used in networked configuration only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>477</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Torque command</Name>
      <Scale>40.96</Scale>
      <Units>%</Units>
      <Description>Torque command scaled a % of rated motor current (used in networked configuration only)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>478</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>reserved L4 10</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>479</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>reserved L4 9</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>480</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Test mode</Name>
      <Scale>enum</Scale>
      <Description>0 is closed loop current mode (standard operating mode) / 2 is open loop voltage mode / 3 is open loop current mode</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>481</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Motor discover mode</Name>
      <Scale>enum</Scale>
      <Description>0 is off / 1 is motor stationary parameter discover / 2 is moving parameter discover</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>482</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Open loop modulation</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Per unit modulation current/voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>483</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Open loop current</Name>
      <Scale>1</Scale>
      <Units>Amps</Units>
      <Description>Open loop current injection mode setpoint</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>484</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Open loop frequency</Name>
      <Scale>16</Scale>
      <Units>Hertz</Units>
      <Description>Frequency of open loop current/voltage injection (if open loop angle is zero)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>485</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Open loop angle</Name>
      <Scale>91.022222</Scale>
      <Units>degrees</Units>
      <Description>Open loop static electrical angle (over-rides frequency setpoint)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>486</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>debug_cmd1</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>487</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>debug_cmd2</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>488</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>debug_cmd3</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>489</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>debug_cmd4</Name>
      <Scale>1</Scale>
      <Description>Reserved for future use</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>490</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote speed command</Name>
      <Scale>40.96</Scale>
      <Units>% of rated rpm</Units>
      <Description>Speed command scaled a % of rated motor speed (only used if command control source = serial)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>491</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote maximum motoring current</Name>
      <Scale>40.96</Scale>
      <Units>%</Units>
      <Description>Maximum motoring current limit scaled a % of rated rated motor current (only used if command control source = serial)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>492</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote maximum braking current</Name>
      <Scale>40.96</Scale>
      <Units>%</Units>
      <Description>Maximum braking current limit scaled a % of rated rated motor current (only used if command control source = serial)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>493</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote state command</Name>
      <Scale>enum</Scale>
      <Description>State command where 1 = IDLE and 2 = RUN (only used if command control source = serial)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>494</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote torque command</Name>
      <Scale>40.96</Scale>
      <Units>%</Units>
      <Description>Torque command scaled a % of rated motor xxxx (only used if command control source = serial)</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>495</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote Throttle Voltage</Name>
      <Scale>4096</Scale>
      <Units>Volts</Units>
      <Description>Networked throttle voltage</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField>
        <string>Bit 0 Cut out</string>
        <string>Bit 1 Head Light</string>
        <string>Bit 2 Run Light</string>
        <string>Bit 3 Brk Light</string>
        <string>Bit 4 Chrg Disable</string>
        <string>Bit 5 Alt Speed Rating</string>
        <string>Bit 6 Alt Power Rating</string>
        <string>Bit 7 Regen1</string>
        <string>Bit 8 Regen2</string>
        <string>Bit 9 HDQ</string>
        <string>Bit 10 Reserved</string>
        <string>Bit 11 Reserved</string>
        <string>Bit 12 Reserved</string>
        <string>Bit 13 Reserved</string>
        <string>Bit 14 Reserved</string>
        <string>Bit 15 Reserved</string>
      </BitField>
      <AccessLevel>0</AccessLevel>
      <Address>496</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote Digital Commands</Name>
      <Scale>bit vector</Scale>
      <Description>9  8  7  6  5  4  3  2  1  0

1=active 0=not active

bit  0: Cut out 
bit  1: HeadLight 
bit  2: RunLight 
bit  3: BrkLight
bit  4: ChrgDisable 
bit  5: Alt Spd 
bit  6: Alt Pwr 
bit  7: Regen1
bit  8: Regen2
bit  9: HDQ
 </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>497</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote Analog brake voltage</Name>
      <Scale>4096</Scale>
      <Units>V</Units>
      <Description>for remote analog brake levers on a display</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>498</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Parameter read access code</Name>
      <Scale>1</Scale>
      <Description>enter code here to enable reading of parameters</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>499</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Bidirectional torque command</Name>
      <Scale>10000</Scale>
      <Description>positive for motoring, zero for idle negative for braking</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>500</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Display speed limit command</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Fraction of maximum speed when using a display based assist mode</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>501</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Display assist level command</Name>
      <Scale>4096</Scale>
      <Units>pu</Units>
      <Description>Fraction of maximum assist level when using a display based assist mode</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>502</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Display walk command</Name>
      <Scale>enum</Scale>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>503</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote battery SOC</Name>
      <Scale>1</Scale>
      <Description>state of charge from modbus from remote bms</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>504</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote battery temperature</Name>
      <Scale>1</Scale>
      <Units>C</Units>
      <Description>battery temperature from BMS</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>505</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote light sensor voltage</Name>
      <Scale>4096</Scale>
      <Units>V</Units>
      <Description>light sensor voltage from display</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>506</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Remote assist mode</Name>
      <Scale>enum</Scale>
      <Description>assist mode from display 0=off, 1,2,3,4=mode, 6=walk</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>507</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Arm datalogger</Name>
      <Scale>1</Scale>
      <Description>Set to 1 to arm the built in scope. Reports 2 if stopped</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>508</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Fault clear</Name>
      <Scale>1</Scale>
      <Description>Write a nonzero value to clear fault</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>509</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Parameter access code</Name>
      <Scale>1</Scale>
      <Description>This hex code determines which level of parameters the user has access to</Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>510</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Load firmware to flash</Name>
      <Scale>hex</Scale>
      <Description>Set to 0x7FFF to load new application software </Description>
    </ParameterDescription>
    <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>511</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>Write parameters to flash</Name>
      <Scale>1</Scale>
      <Description>Set to 0x7FFF to save parameters to flash. 0x3FFF to burn serial number to OTP. Returns 0x1000 if OK or 0x2000 if fail.</Description>
    </ParameterDescription>
	
	 <ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1536</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>ptable1</Name>
      <Scale>1</Scale>
      <Description>ptable test</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1537</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>ptable2</Name>
      <Scale>1</Scale>
      <Description>ptable test</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1538</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>ptable3</Name>
      <Scale>1</Scale>
      <Description>ptable test</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1539</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>ptable4</Name>
      <Scale>1</Scale>
      <Description>ptable test</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1540</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>ptable5</Name>
      <Scale>1</Scale>
      <Description>ptable test</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1541</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>ptable6</Name>
      <Scale>1</Scale>
      <Description>ptable test</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1542</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>ptable7</Name>
      <Scale>1</Scale>
      <Description>ptable test</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1543</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>ptable8</Name>
      <Scale>1</Scale>
      <Description>ptable test</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1544</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>ptable9</Name>
      <Scale>1</Scale>
      <Description>ptable test</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1545</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>ptable10</Name>
      <Scale>1</Scale>
      <Description>ptable test</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1792</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO1 map1 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO1 map1 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1793</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO1 map1 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO1 map1 index</Description>
    </ParameterDescription>
	
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1794</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO1 map2 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO1 map2 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1795</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO1 map2 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO1 map2 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1796</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO1 map3 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO1 map3 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1797</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO1 map3 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO1 map3 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1798</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO1 map4 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO1 map4 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1799</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO1 map4 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO1 map4 index</Description>
    </ParameterDescription>
	 
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1800</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO1 size (words)</Name>
      <Scale>1</Scale>
      <Description>RPDO1 size in words</Description>
    </ParameterDescription>	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1801</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO1 transmission type</Name>
      <Scale>1</Scale>
      <Description>asynchronous only (0 to disable, N to enable)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1802</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO1 timeout</Name>
      <Scale>1</Scale>
	  <Units>ms</Units>
      <Description>RPDO1 timeout in ms (0 to disable)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1803</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>parameters2 spare1</Name>
      <Scale>1</Scale>
      <Description>(not used)</Description>
    </ParameterDescription>
	 
	 
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1804</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO2 map1 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO2 map1 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1805</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO2 map1 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO2 map1 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1806</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO2 map2 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO2 map2 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1807</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO2 map2 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO2 map2 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1808</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO2 map3 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO2 map3 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1809</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO2 map3 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO2 map3 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1810</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO2 map4 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO2 map4 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1811</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO2 map4 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>RPDO2 map4 index</Description>
    </ParameterDescription>
		
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1812</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO2 size (words)</Name>
      <Scale>1</Scale>
      <Description>RPDO2 size in words</Description>
    </ParameterDescription>	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1813</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO2 transmission type</Name>
      <Scale>1</Scale>
      <Description>asynchronous only (0 to disable, N to enable)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1814</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>RPDO2 timeout</Name>
      <Scale>1</Scale>
	  <Units>ms</Units>
      <Description>RPDO2 timeout in ms (0 to disable)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1815</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>parameters2 spare2</Name>
      <Scale>1</Scale>
      <Description>(not used)</Description>
    </ParameterDescription>	
		
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1816</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO1 map1 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO1 map1 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1817</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO1 map1 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO1 map1 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1818</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO1 map2 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO1 map2 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1819</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO1 map2 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO1 map2 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1820</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO1 map3 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO1 map3 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1821</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO1 map3 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO1 map3 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1822</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO1 map4 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO1 map4 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1823</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO1 map4 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO1 map4 index</Description>
    </ParameterDescription>		
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1824</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO1 size (words)</Name>
      <Scale>1</Scale>
      <Description>TPDO1 size in words</Description>
    </ParameterDescription>	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1825</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO1 transmission type</Name>
      <Scale>1</Scale>
      <Description>TPDO1 number of syncs per transmission 0 to 240 (0 to disable, N for every Nth sync)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1826</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO1 event time</Name>
      <Scale>1</Scale>
	  <Units>ms</Units>
      <Description>TPDO1 event time in ms for async tpdos (0 to disable)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1827</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO1 sync window</Name>
      <Scale>1</Scale>
      <Description>TPDO1  sync window (not used)</Description>
    </ParameterDescription>
	
	
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1828</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO2 map1 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO2 map1 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1829</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO2 map1 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO2 map1 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1830</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO2 map2 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO2 map2 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1831</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO2 map2 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO2 map2 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1832</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO2 map3 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO2 map3 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1833</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO2 map3 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO2 map3 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1834</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO2 map4 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO2 map4 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1835</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO2 map4 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO2 map4 index</Description>
    </ParameterDescription>		
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1836</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO2 size (words)</Name>
      <Scale>1</Scale>
      <Description>TPDO2 size in words</Description>
    </ParameterDescription>	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1837</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO2 transmission type</Name>
      <Scale>1</Scale>
      <Description>TPDO2 number of syncs per transmission 0 to 240 (0 to disable, N for every Nth sync)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1838</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO2 event time</Name>
      <Scale>1</Scale>
	  <Units>ms</Units>
      <Description>TPDO2 event time in ms for async tpdos (0 to disable)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1839</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO2  sync window</Name>
      <Scale>1</Scale>
      <Description>TPDO2  sync window (not used)</Description>
    </ParameterDescription>
	
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1840</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO3 map1 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO3 map1 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1841</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO3 map1 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO3 map1 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1842</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO3 map2 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO3 map2 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1843</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO3 map2 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO3 map2 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1844</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO3 map3 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO3 map3 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1845</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO3 map3 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO3 map3 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1846</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO3 map4 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO3 map4 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1847</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO3 map4 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO3 map4 index</Description>
    </ParameterDescription>		
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1848</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO3 size (words)</Name>
      <Scale>1</Scale>
      <Description>TPDO3 size in words</Description>
    </ParameterDescription>	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1849</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO3 transmission type</Name>
      <Scale>1</Scale>
      <Description>TPDO3 number of syncs per transmission 0 to 240 (0 to disable, N for every Nth sync)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1850</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO3 event time</Name>
      <Scale>1</Scale>
	  <Units>ms</Units>
      <Description>TPDO3 event time in ms for async tpdos (0 to disable)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1851</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO3  sync window</Name>
      <Scale>1</Scale>
      <Description>TPDO3  sync window (not used)</Description>
    </ParameterDescription>
	
	
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1852</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO4 map1 sub index and size</Name>
      <Scale>hex</Scale>
	  <Units>hex</Units>
      <Description>TPDO4 map1 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1853</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO4 map1 index</Name>
      <Scale>hex</Scale>
	  <Units>hex</Units>
      <Description>TPDO4 map1 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1854</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO4 map2 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO4 map2 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1855</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO4 map2 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO4 map2 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1856</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO4 map3 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO4 map3 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1857</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO4 map3 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO4 map3 index</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1858</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO4 map4 sub index and size</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO4 map4 sub index (high byte) and size in bits (low bit)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1859</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO4 map4 index</Name>
      <Scale>hex</Scale><Units>hex</Units>
      <Description>TPDO4 map4 index</Description>
    </ParameterDescription>		
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1860</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO4 size (words)</Name>
      <Scale>1</Scale>
      <Description>TPDO4 size in words</Description>
    </ParameterDescription>	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1861</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO4 transmission type</Name>
      <Scale>1</Scale>
      <Description>TPDO4 number of syncs per transmission 0 to 240 (0 to disable, N for every Nth sync)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1862</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO4 event time</Name>
      <Scale>1</Scale>
	  <Units>ms</Units>
      <Description>TPDO4 event time in ms for async tpdos (0 to disable)</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1863</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>TPDO4  sync window</Name>
      <Scale>1</Scale>
      <Description>TPDO4  sync window (not used)</Description>
    </ParameterDescription>
	
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1864</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>CAN quiet after sleep command</Name>
      <Scale>1</Scale>
	  <Units>ms</Units>
      <Description>time the controller is quiet (no CAN packets) after a sleep command</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1865</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>CAN quiet after sync loss</Name>
      <Scale>1</Scale>
	  <Units>ms</Units>
      <Description>time the controller is quiet (no CAN packets) after a sync loss</Description>
    </ParameterDescription>
	<ParameterDescription FaultIndicator="false">
      <BitField />
      <AccessLevel>0</AccessLevel>
      <Address>1866</Address>
      <Read>true</Read>
      <Write>true</Write>
      <Name>heartbeat period</Name>
      <Scale>1</Scale>
	  <Units>ms</Units>
      <Description>period for transmitting the hearbeat signal in ms</Description>
    </ParameterDescription>
	
	
	
	
	
  </Parameters>
</InternalAppEntity>