[
  {
    "descriptor": "general_fortiq_stepdir-4",
    "Entries": [
      {
        "type_idn": 59,
        "descriptor": "Trajectory Queue Mode",
	      "info": "Append mode will add a trajectory segment to the queue.  Overwrite mode will immediately execute any commanded trajectory as if the queue length is one.",
        "sub_idn": 27,
        "format": "b",
        "unit": "enum",
        "frame_type": 1,
        "list_name": [
          "Append",
          "Overwrite"
        ],
        "list_value": [
          0,
          1
	      ]
      },
      {
        "type_idn": 59,
        "descriptor": "Meters per radian",
	      "info": "Rotational to linear conversion. For applications like driving lead screws.",
        "sub_idn": 13,
        "format": "f",
        "unit": "m/rad",
        "frame_type": 2,
        "maximum": 1,
        "minimum": -1,
        "decimal": 6,
        "single_step": 0.000001,
        "nan": true
      },
      {
        "type_idn": 79,
        "descriptor": "Anticogging",
	      "info": "This electrically cancels cogging torque to make your motor smoother.",
        "sub_idn": 0,
        "format": "B",
        "unit": "enum",
        "frame_type": 1,
        "list_name": [
          "Off",
          "On"
        ],
        "list_value": [
          0,
          1
	      ]
      },
      {
        "type_idn": 58,
        "descriptor": "Step angle",
	      "info": "The angle that the motor moves per step edge.   Step sizes that are a multiple of 1/65536th of a rotation (9.58738e-5 radians) will be exact, while non-multiples will be floored to the nearest multiple.",
        "sub_idn": 1,
        "format": "f",
        "unit": "rad",
        "frame_type": 2,
        "maximum": 32768,
        "minimum": -32768,
        "decimal": 6,
        "single_step": 9.58738e-5
      },
      {
          "type_idn": 59,
          "descriptor": "Maximum Angular Velocity",
          "info": "Sets the maximum angular speed the motor will move at when moving to a position.",
          "sub_idn": 18,
          "format": "f",
          "unit": "rad/s",
          "frame_type": 2,
          "maximum": 10000,
          "minimum": -10000,
          "decimal": 2,
          "single_step": 0.1
      }
    ]
  }
]