diff --git a/EPOS/EPOS4 SS2_2023_Propulsion_V1.pjm b/EPOS/EPOS4 SS2_2023_Propulsion_V1.pjm new file mode 100644 index 0000000..cded4f8 --- /dev/null +++ b/EPOS/EPOS4 SS2_2023_Propulsion_V1.pjm @@ -0,0 +1,254 @@ + + + + EPOS4 SS2_2023_Propulsion_V1 + + 500 + + + + LocalHost + + USB + 676F8FBA-4A05-401E-BF12-032E13726F6B + B6B3AB64-3321-46d1-BFE3-F9155A6D1E69 + + USB0 + + EPOS4 CAN + F44CB9AF-4ABE-48C4-9A96-A39FA5777DC7 + 537B707D-8114-4e6d-BA72-1296EF36A841 + + EXT1 + + + EXT2 + + + CAN + + + + + + + + + Cyclic Sync Torque Mode - EPOS4 CAN [Node 1] + 537B707D-8114-4e6d-BA72-1296EF36A841 + 67108864 + E31F10B9-06E5-4505-975D-257852138F39 + + -8 + -31 + 1666 + 788 + + + + + + + USB + B6B3AB64-3321-46d1-BFE3-F9155A6D1E69 + + + + USB + maxon motor ag + 0001h + + + + + USB + + + 1 + UNDEFINED + + + MAXON SERIAL V2 + USB + USB0 + 1000000 + 500 + + + + All + All + All + Standard + 1000000 + 1 + + + + + + + + + EPOS4 CAN + 537B707D-8114-4e6d-BA72-1296EF36A841 + + + + EPOS4 + maxon motor ag + 0001h + + + + + + 1 + CAN + + + + + 1 + Positioning + + + + EPOS4 CAN + 251 + 1 + + + + Axis + + + + Custom + Configuration customizable by user + + + + 0x00000000 + + + + + + 0x00000000 + + + + + + 0x00000000 + + + + + + 0x00000000 + + + + + + 0x60410000 + + + + + + + + + + 0x00000000 + + + + + + 0x00000000 + + + + + + 0xFFFFFFFF + + + + + + 120 + + + + + + 0 + + + + + + 500 + + + singleTrigger + + + + + + 1 + SlotChannel + + + + 1 + SlotChannel + + + + 1 + GatewayChannel + + + + All + All + All + Standard + 1000000 + 800000 + 500000 + 250000 + 125000 + 50000 + 20000 + 127 + + + 1 + + 1 + 1 + Range + 1 + 127 + + + + + + + + E31F10B9-06E5-4505-975D-257852138F39 + 67108864 + + + + + \ No newline at end of file diff --git a/EPOS/EPOS_V2_Propulsion.dcf b/EPOS/EPOS_V2_Propulsion.dcf new file mode 100644 index 0000000..90cb6fa --- /dev/null +++ b/EPOS/EPOS_V2_Propulsion.dcf @@ -0,0 +1,5957 @@ +;***************************************************************** +; maxon motor ag +; all rights reserved +;***************************************************************** + +[FileInfo] +FileName=EPOS_V2_Propulsion.dcf +FileVersion=3 +FileRevision=0 +Description=Device Configuration File +EDSVersion=4.0 +CreationTime=03:00PM +CreationDate=09-07-2023 +CreatedBy=Jbb +ModificationTime=03:00PM +ModificationDate=09-07-2023 +ModifiedBy=Jbb + +[ToolInfos] +ToolVersion=EPOS4 Device Driver 3.7.1.0 + +[Comments] +Lines=4 +Line1=Software Version: 0x0161 +Line2=Hardware Version: 0x6450 +Line3=Application Number: 0x0000 +Line4=Application Version: 0x0000 + +[DeviceInfo] +VendorName=maxon motor ag +VendorNumber=0x000000FB +ProductName=EPOS4 70/15 +ProductNumber=0x64500000 +RevisionNumber=0x01610000 +OrderCode=0 +BaudRate_1000=1 +BaudRate_800=1 +BaudRate_500=1 +BaudRate_250=1 +BaudRate_125=1 +BaudRate_50=1 +BaudRate_20=1 +BaudRate_10=0 +SimpleBootUpMaster=0 +SimpleBootUpSlave=1 +Granularity=8 +DynamicChannelsSupported=0 +GroupMessaging=0 +NrOfRXPDO=4 +NrOfTXPDO=4 +LSS_Supported=1 + +[DeviceComissioning] +NodeID=1 +NodeName=EPOS4 +Baudrate=0 +NetNumber=0 +NetworkName=Network 0 +CANopenManager=0 +LSS_SerialNumber=0x55001028 + +[DummyUsage] +Dummy0001=0 +Dummy0002=0 +Dummy0003=0 +Dummy0004=0 +Dummy0005=0 +Dummy0006=0 +Dummy0007=0 + +;***************************************************************** +; Object Dictionary +;***************************************************************** + +[MandatoryObjects] +SupportedObjects=3 +1=0x1000 +2=0x1001 +3=0x1018 + +[OptionalObjects] +SupportedObjects=84 +1=0x1003 +2=0x1005 +3=0x1008 +4=0x1010 +5=0x1011 +6=0x1014 +7=0x1016 +8=0x1017 +9=0x1200 +10=0x1400 +11=0x1401 +12=0x1402 +13=0x1403 +14=0x1600 +15=0x1601 +16=0x1602 +17=0x1603 +18=0x1800 +19=0x1801 +20=0x1802 +21=0x1803 +22=0x1A00 +23=0x1A01 +24=0x1A02 +25=0x1A03 +26=0x1F50 +27=0x1F51 +28=0x1F56 +29=0x1F57 +30=0x6007 +31=0x603F +32=0x6040 +33=0x6041 +34=0x605A +35=0x605B +36=0x605C +37=0x605E +38=0x6060 +39=0x6061 +40=0x6062 +41=0x6064 +42=0x6065 +43=0x6066 +44=0x606B +45=0x606C +46=0x6071 +47=0x6076 +48=0x6077 +49=0x607A +50=0x607B +51=0x607D +52=0x607F +53=0x6080 +54=0x6081 +55=0x6083 +56=0x6084 +57=0x6085 +58=0x6086 +59=0x6098 +60=0x6099 +61=0x609A +62=0x60A8 +63=0x60A9 +64=0x60AA +65=0x60B0 +66=0x60B1 +67=0x60B2 +68=0x60B8 +69=0x60B9 +70=0x60BA +71=0x60BB +72=0x60C2 +73=0x60C5 +74=0x60D0 +75=0x60D5 +76=0x60D6 +77=0x60E4 +78=0x60E5 +79=0x60F4 +80=0x60FD +81=0x60FE +82=0x60FF +83=0x6402 +84=0x6502 + +[ManufacturerObjects] +SupportedObjects=71 +1=0x2000 +2=0x2001 +3=0x2002 +4=0x2005 +5=0x2006 +6=0x200A +7=0x2010 +8=0x2100 +9=0x210C +10=0x2200 +11=0x2EC0 +12=0x3000 +13=0x3001 +14=0x3002 +15=0x3003 +16=0x3010 +17=0x3011 +18=0x3012 +19=0x301A +20=0x3020 +21=0x30A0 +22=0x30A1 +23=0x30A2 +24=0x30A3 +25=0x30A4 +26=0x30AE +27=0x30B0 +28=0x30B1 +29=0x30B2 +30=0x30B5 +31=0x30D0 +32=0x30D1 +33=0x30D2 +34=0x30D3 +35=0x30E0 +36=0x3141 +37=0x3142 +38=0x3150 +39=0x3151 +40=0x3158 +41=0x3160 +42=0x3161 +43=0x3162 +44=0x3163 +45=0x3170 +46=0x3171 +47=0x3180 +48=0x3181 +49=0x3182 +50=0x31E0 +51=0x31E1 +52=0x31E2 +53=0x31E4 +54=0x31E5 +55=0x31E6 +56=0x31E7 +57=0x31E8 +58=0x31E9 +59=0x3200 +60=0x3201 +61=0x3202 +62=0x3240 +63=0x3241 +64=0x3248 +65=0x3249 +66=0x324B +67=0x324C +68=0x324D +69=0x324E +70=0x324F +71=0x3250 + +[1000] +ParameterName=Device type +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00020192 + +[1001] +ParameterName=Error register +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00 + +[1003] +SubNumber=6 +ParameterName=Error history +ObjectType=0x8 + +[1003sub0] +ParameterName=Number of errors +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[1003sub1] +ParameterName=Error history 1 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1003sub2] +ParameterName=Error history 2 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1003sub3] +ParameterName=Error history 3 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1003sub4] +ParameterName=Error history 4 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1003sub5] +ParameterName=Error history 5 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1005] +ParameterName=COB-ID SYNC +ObjectType=0x7 +DataType=0x7 +AccessType=const +DefaultValue=0x00000080 +LowLimit=0x00000080 +HighLimit=0x00000080 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000080 + +[1008] +ParameterName=Manufacturer device name +ObjectType=0x7 +DataType=0x9 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=EPOS4 + +[1010] +SubNumber=2 +ParameterName=Store parameters +ObjectType=0x8 + +[1010sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1010sub1] +ParameterName=Save all parameters +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000001 + +[1011] +SubNumber=3 +ParameterName=Restore default parameters +ObjectType=0x8 + +[1011sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[1011sub1] +ParameterName=Restore all default parameters +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000001 + +[1011sub4] +ParameterName=Internal restore factory default parameters +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000001 + +[1014] +ParameterName=COB-ID EMCY +ObjectType=0x7 +DataType=0x7 +AccessType=ro +DefaultValue=$NODEID+0x00000080 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000081 + +[1016] +SubNumber=3 +ParameterName=Consumer heartbeat time +ObjectType=0x8 + +[1016sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1016sub1] +ParameterName=Consumer 1 heartbeat time +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[1016sub2] +ParameterName=Consumer 2 heartbeat time +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[1017] +ParameterName=Producer heartbeat time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[1018] +SubNumber=5 +ParameterName=Identity object +ObjectType=0x8 + +[1018sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[1018sub1] +ParameterName=Vendor ID +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x000000FB + +[1018sub2] +ParameterName=Product code +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x64500000 + +[1018sub3] +ParameterName=Revision number +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x01610000 + +[1018sub4] +ParameterName=Serial number +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x55001028 + +[1200] +SubNumber=3 +ParameterName=SDO server parameter +ObjectType=0x9 + +[1200sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1200sub1] +ParameterName=COB-ID SDO client to server +ObjectType=0x7 +DataType=0x7 +AccessType=ro +DefaultValue=$NODEID+0x00000600 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000601 + +[1200sub2] +ParameterName=COB-ID SDO server to client +ObjectType=0x7 +DataType=0x7 +AccessType=ro +DefaultValue=$NODEID+0x00000580 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000581 + +[1400] +SubNumber=3 +ParameterName=Receive PDO 1 parameter +ObjectType=0x9 + +[1400sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1400sub1] +ParameterName=COB-ID used by RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x00000200 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000220 + +[1400sub2] +ParameterName=Transmission type RxPDO 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1401] +SubNumber=3 +ParameterName=Receive PDO 2 parameter +ObjectType=0x9 + +[1401sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1401sub1] +ParameterName=COB-ID used by RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x00000300 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000320 + +[1401sub2] +ParameterName=Transmission type RxPDO 2 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1402] +SubNumber=3 +ParameterName=Receive PDO 3 parameter +ObjectType=0x9 + +[1402sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1402sub1] +ParameterName=COB-ID used by RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x00000400 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000420 + +[1402sub2] +ParameterName=Transmission type RxPDO 3 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1403] +SubNumber=3 +ParameterName=Receive PDO 4 parameter +ObjectType=0x9 + +[1403sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1403sub1] +ParameterName=COB-ID used by RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x00000500 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000520 + +[1403sub2] +ParameterName=Transmission type RxPDO 4 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1600] +SubNumber=13 +ParameterName=Receive PDO 1 mapping +ObjectType=0x9 + +[1600sub0] +ParameterName=Number of mapped objects in RxPDO 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[1600sub1] +ParameterName=1st mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60400010 + +[1600sub2] +ParameterName=2nd mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub3] +ParameterName=3rd mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub4] +ParameterName=4th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub5] +ParameterName=5th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub6] +ParameterName=6th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub7] +ParameterName=7th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub8] +ParameterName=8th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub9] +ParameterName=9th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600subA] +ParameterName=10th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600subB] +ParameterName=11th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600subC] +ParameterName=12th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601] +SubNumber=13 +ParameterName=Receive PDO 2 mapping +ObjectType=0x9 + +[1601sub0] +ParameterName=Number of mapped objects in RxPDO 2 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1601sub1] +ParameterName=1st mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60400010 + +[1601sub2] +ParameterName=2nd mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60600008 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60600008 + +[1601sub3] +ParameterName=3rd mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub4] +ParameterName=4th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub5] +ParameterName=5th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub6] +ParameterName=6th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub7] +ParameterName=7th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub8] +ParameterName=8th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub9] +ParameterName=9th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601subA] +ParameterName=10th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601subB] +ParameterName=11th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601subC] +ParameterName=12th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602] +SubNumber=13 +ParameterName=Receive PDO 3 mapping +ObjectType=0x9 + +[1602sub0] +ParameterName=Number of mapped objects in RxPDO 3 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1602sub1] +ParameterName=1st mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60400010 + +[1602sub2] +ParameterName=2nd mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x607A0020 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x607A0020 + +[1602sub3] +ParameterName=3rd mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub4] +ParameterName=4th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub5] +ParameterName=5th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub6] +ParameterName=6th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub7] +ParameterName=7th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub8] +ParameterName=8th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub9] +ParameterName=9th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602subA] +ParameterName=10th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602subB] +ParameterName=11th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602subC] +ParameterName=12th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603] +SubNumber=13 +ParameterName=Receive PDO 4 mapping +ObjectType=0x9 + +[1603sub0] +ParameterName=Number of mapped objects in RxPDO 4 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1603sub1] +ParameterName=1st mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60400010 + +[1603sub2] +ParameterName=2nd mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60FF0020 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60FF0020 + +[1603sub3] +ParameterName=3rd mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub4] +ParameterName=4th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub5] +ParameterName=5th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub6] +ParameterName=6th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub7] +ParameterName=7th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub8] +ParameterName=8th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub9] +ParameterName=9th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603subA] +ParameterName=10th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603subB] +ParameterName=11th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603subC] +ParameterName=12th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1800] +SubNumber=4 +ParameterName=Transmit PDO 1 parameter +ObjectType=0x9 + +[1800sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[1800sub1] +ParameterName=COB-ID used by TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x40000180 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x400001A0 + +[1800sub2] +ParameterName=Transmission type TxPDO 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1800sub3] +ParameterName=Inhibit time TxPDO 1 +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[1801] +SubNumber=4 +ParameterName=Transmit PDO 2 parameter +ObjectType=0x9 + +[1801sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[1801sub1] +ParameterName=COB-ID used by TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0xC0000280 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0xC00002A0 + +[1801sub2] +ParameterName=Transmission type TxPDO 2 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1801sub3] +ParameterName=Inhibit time TxPDO 2 +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[1802] +SubNumber=4 +ParameterName=Transmit PDO 3 parameter +ObjectType=0x9 + +[1802sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[1802sub1] +ParameterName=COB-ID used by TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0xC0000380 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0xC00003A0 + +[1802sub2] +ParameterName=Transmission type TxPDO 3 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1802sub3] +ParameterName=Inhibit time TxPDO 3 +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[1803] +SubNumber=4 +ParameterName=Transmit PDO 4 parameter +ObjectType=0x9 + +[1803sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[1803sub1] +ParameterName=COB-ID used by TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0xC0000480 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0xC00004A0 + +[1803sub2] +ParameterName=Transmission type TxPDO 4 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1803sub3] +ParameterName=Inhibit time TxPDO 4 +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[1A00] +SubNumber=13 +ParameterName=Transmit PDO 1 mapping +ObjectType=0x9 + +[1A00sub0] +ParameterName=Number of mapped objects in TxPDO 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[1A00sub1] +ParameterName=1st mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60410010 + +[1A00sub2] +ParameterName=2nd mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub3] +ParameterName=3rd mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub4] +ParameterName=4th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub5] +ParameterName=5th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub6] +ParameterName=6th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub7] +ParameterName=7th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub8] +ParameterName=8th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub9] +ParameterName=9th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00subA] +ParameterName=10th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00subB] +ParameterName=11th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00subC] +ParameterName=12th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01] +SubNumber=13 +ParameterName=Transmit PDO 2 mapping +ObjectType=0x9 + +[1A01sub0] +ParameterName=Number of mapped objects in TxPDO 2 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1A01sub1] +ParameterName=1st mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60410010 + +[1A01sub2] +ParameterName=2nd mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60610008 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60610008 + +[1A01sub3] +ParameterName=3rd mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub4] +ParameterName=4th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub5] +ParameterName=5th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub6] +ParameterName=6th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub7] +ParameterName=7th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub8] +ParameterName=8th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub9] +ParameterName=9th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01subA] +ParameterName=10th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01subB] +ParameterName=11th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01subC] +ParameterName=12th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02] +SubNumber=13 +ParameterName=Transmit PDO 3 mapping +ObjectType=0x9 + +[1A02sub0] +ParameterName=Number of mapped objects in TxPDO 3 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1A02sub1] +ParameterName=1st mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60410010 + +[1A02sub2] +ParameterName=2nd mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60640020 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60640020 + +[1A02sub3] +ParameterName=3rd mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub4] +ParameterName=4th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub5] +ParameterName=5th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub6] +ParameterName=6th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub7] +ParameterName=7th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub8] +ParameterName=8th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub9] +ParameterName=9th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02subA] +ParameterName=10th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02subB] +ParameterName=11th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02subC] +ParameterName=12th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03] +SubNumber=13 +ParameterName=Transmit PDO 4 mapping +ObjectType=0x9 + +[1A03sub0] +ParameterName=Number of mapped objects in TxPDO 4 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1A03sub1] +ParameterName=1st mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60410010 + +[1A03sub2] +ParameterName=2nd mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x606C0020 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x606C0020 + +[1A03sub3] +ParameterName=3rd mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub4] +ParameterName=4th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub5] +ParameterName=5th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub6] +ParameterName=6th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub7] +ParameterName=7th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub8] +ParameterName=8th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub9] +ParameterName=9th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03subA] +ParameterName=10th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03subB] +ParameterName=11th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03subC] +ParameterName=12th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1F50] +SubNumber=2 +ParameterName=Program data +ObjectType=0x8 + +[1F50sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1F50sub1] +ParameterName=Program number 1 +ObjectType=0x7 +DataType=0xA +AccessType=wo +PDOMapping=0 +ObjFlags=3 + +[1F51] +SubNumber=2 +ParameterName=Program control +ObjectType=0x8 + +[1F51sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1F51sub1] +ParameterName=Program number 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0x01 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x01 + +[1F56] +SubNumber=2 +ParameterName=Program software identification +ObjectType=0x8 + +[1F56sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1F56sub1] +ParameterName=Program number 1 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0xC2DFD97B + +[1F57] +SubNumber=2 +ParameterName=Flash status identification +ObjectType=0x8 + +[1F57sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1F57sub1] +ParameterName=Program number 1 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[2000] +ParameterName=Node-ID +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[2001] +ParameterName=CAN bit rate +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=9 + +[2002] +ParameterName=RS232 bit rate +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=5 +PDOMapping=0 +ObjFlags=0 +ParameterValue=5 + +[2005] +ParameterName=RS232 frame timeout +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=500 +LowLimit=50 +HighLimit=65535 +PDOMapping=0 +ObjFlags=0 +ParameterValue=500 + +[2006] +ParameterName=USB frame timeout +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=500 +LowLimit=50 +HighLimit=65535 +PDOMapping=0 +ObjFlags=0 +ParameterValue=475 + +[200A] +ParameterName=CAN bit rate display +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=9 + +[2010] +ParameterName=Active fieldbus +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[2100] +SubNumber=2 +ParameterName=Additional identity +ObjectType=0x8 + +[2100sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[2100sub1] +ParameterName=Serial number complete +ObjectType=0x7 +DataType=0x1B +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x0000662155001028 + +[210C] +SubNumber=5 +ParameterName=Custom persistent memory +ObjectType=0x8 + +[210Csub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[210Csub1] +ParameterName=Custom persistent memory 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[210Csub2] +ParameterName=Custom persistent memory 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[210Csub3] +ParameterName=Custom persistent memory 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[210Csub4] +ParameterName=Custom persistent memory 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[2200] +SubNumber=3 +ParameterName=Power supply +ObjectType=0x9 + +[2200sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[2200sub1] +ParameterName=Power supply voltage +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2200sub2] +ParameterName=Internal valid logic supply +ObjectType=0x7 +DataType=0x1 +AccessType=ro +PDOMapping=0 +ObjFlags=1 + +[2EC0] +SubNumber=7 +ParameterName=Internal device control +ObjectType=0x9 + +[2EC0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=6 +PDOMapping=0 +ObjFlags=1 +ParameterValue=6 + +[2EC0sub1] +ParameterName=Internal error control +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=3 + +[2EC0sub2] +ParameterName=Internal CAN NMT state +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub3] +ParameterName=Internal bootloader revision number +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub4] +ParameterName=Internal bootloader product code +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub5] +ParameterName=Internal Extension communication error code +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub6] +ParameterName=Internal ESM state +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3000] +SubNumber=7 +ParameterName=Axis configuration +ObjectType=0x8 + +[3000sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=6 +PDOMapping=0 +ObjFlags=1 +ParameterValue=6 + +[3000sub1] +ParameterName=Sensors configuration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00100001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00100000 + +[3000sub2] +ParameterName=Control structure +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00010111 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00030111 + +[3000sub3] +ParameterName=Commutation sensors +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000031 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000030 + +[3000sub4] +ParameterName=Axis configuration miscellaneous +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[3000sub5] +ParameterName=Main sensor resolution +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=48 + +[3000sub6] +ParameterName=Max system speed +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=4000 + +[3001] +SubNumber=6 +ParameterName=Motor data +ObjectType=0x9 + +[3001sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=5 +PDOMapping=0 +ObjFlags=1 +ParameterValue=5 + +[3001sub1] +ParameterName=Nominal current +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=15000 +LowLimit=0 +HighLimit=15000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=9792 + +[3001sub2] +ParameterName=Output current limit +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=30000 +LowLimit=0 +HighLimit=30000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=30000 + +[3001sub3] +ParameterName=Number of pole pairs +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +LowLimit=1 +HighLimit=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=8 + +[3001sub4] +ParameterName=Thermal time constant winding +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=40 +LowLimit=1 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=40 + +[3001sub5] +ParameterName=Torque constant +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=10000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=108900 + +[3002] +SubNumber=3 +ParameterName=Electrical system parameters +ObjectType=0x9 + +[3002sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3002sub1] +ParameterName=Electrical resistance +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=0 +ParameterValue=211 + +[3002sub2] +ParameterName=Electrical inductance +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=65535 +PDOMapping=0 +ObjFlags=0 +ParameterValue=440 + +[3003] +SubNumber=5 +ParameterName=Gear configuration +ObjectType=0x8 + +[3003sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3003sub1] +ParameterName=Gear reduction numerator +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=1 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[3003sub2] +ParameterName=Gear reduction denominator +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=1 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[3003sub3] +ParameterName=Max gear input speed +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=100000 +LowLimit=1 +HighLimit=100000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=100000 + +[3003sub4] +ParameterName=Gear miscellaneous configuration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +LowLimit=0x00000000 +HighLimit=0x00000001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[3010] +SubNumber=4 +ParameterName=Digital incremental encoder 1 +ObjectType=0x9 + +[3010sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3010sub1] +ParameterName=Digital incremental encoder 1 number of pulses +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=500 +LowLimit=16 +HighLimit=2500000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=500 + +[3010sub2] +ParameterName=Digital incremental encoder 1 type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[3010sub4] +ParameterName=Digital incremental encoder 1 index position +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3011] +SubNumber=4 +ParameterName=Analog incremental encoder +ObjectType=0x9 + +[3011sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3011sub1] +ParameterName=Analog incremental encoder type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[3011sub2] +ParameterName=Analog incremental encoder resolution +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00080004 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00080004 + +[3011sub3] +ParameterName=Analog incremental encoder index position +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3012] +SubNumber=13 +ParameterName=SSI absolute encoder +ObjectType=0x9 + +[3012sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=13 +PDOMapping=0 +ObjFlags=1 +ParameterValue=13 + +[3012sub1] +ParameterName=SSI data rate +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=2000 +LowLimit=400 +HighLimit=2000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2000 + +[3012sub2] +ParameterName=SSI number of data bits +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000C00 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000C00 + +[3012sub3] +ParameterName=SSI encoding type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[3012sub5] +ParameterName=SSI timeout time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=30 +LowLimit=0 +HighLimit=50 +PDOMapping=0 +ObjFlags=0 +ParameterValue=30 + +[3012sub6] +ParameterName=SSI special bits trailing data +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[3012sub7] +ParameterName=SSI refresh frequency +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=12500 + +[3012sub8] +ParameterName=SSI power up time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=200 +LowLimit=0 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=200 + +[3012sub9] +ParameterName=SSI position raw value +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3012subA] +ParameterName=SSI commutation offset value +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3012subB] +ParameterName=SSI position bits +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x0000000C +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0000000C + +[3012subC] +ParameterName=SSI special bits leading data +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3012subD] +ParameterName=SSI position raw value complete +ObjectType=0x7 +DataType=0x1B +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[301A] +SubNumber=3 +ParameterName=Digital Hall sensor +ObjectType=0x8 + +[301Asub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[301Asub1] +ParameterName=Digital Hall sensor type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[301Asub2] +ParameterName=Digital Hall sensor pattern +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x0006 + +[3020] +SubNumber=4 +ParameterName=Digital incremental encoder 2 +ObjectType=0x9 + +[3020sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3020sub1] +ParameterName=Digital incremental encoder 2 number of pulses +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=500 +LowLimit=16 +HighLimit=2500000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=500 + +[3020sub2] +ParameterName=Digital incremental encoder 2 type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[3020sub4] +ParameterName=Digital incremental encoder 2 index position +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30A0] +SubNumber=3 +ParameterName=Current control parameter set +ObjectType=0x8 + +[30A0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[30A0sub1] +ParameterName=Current controller P gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1171880 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000000 + +[30A0sub2] +ParameterName=Current controller I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=3906250 +PDOMapping=1 +ObjFlags=0 +ParameterValue=2000000 + +[30A1] +SubNumber=6 +ParameterName=Position control parameter set +ObjectType=0x8 + +[30A1sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=5 +PDOMapping=0 +ObjFlags=1 +ParameterValue=5 + +[30A1sub1] +ParameterName=Position controller P gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1500000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1500000 + +[30A1sub2] +ParameterName=Position controller I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=780000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=780000 + +[30A1sub3] +ParameterName=Position controller D gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=16000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=16000 + +[30A1sub4] +ParameterName=Position controller FF velocity gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30A1sub5] +ParameterName=Position controller FF acceleration gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30A2] +SubNumber=5 +ParameterName=Velocity control parameter set +ObjectType=0x8 + +[30A2sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[30A2sub1] +ParameterName=Velocity controller P gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=20000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=20000 + +[30A2sub2] +ParameterName=Velocity controller I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=500000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=500000 + +[30A2sub3] +ParameterName=Velocity controller FF velocity gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30A2sub4] +ParameterName=Velocity controller FF acceleration gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30A3] +SubNumber=6 +ParameterName=Velocity observer parameter set +ObjectType=0x8 + +[30A3sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=5 +PDOMapping=0 +ObjFlags=1 +ParameterValue=5 + +[30A3sub1] +ParameterName=Velocity observer position correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=400 +PDOMapping=1 +ObjFlags=0 +ParameterValue=400 + +[30A3sub2] +ParameterName=Velocity observer velocity correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100000 + +[30A3sub3] +ParameterName=Velocity observer load correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=33 +PDOMapping=1 +ObjFlags=0 +ParameterValue=33 + +[30A3sub4] +ParameterName=Velocity observer friction +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10 + +[30A3sub5] +ParameterName=Velocity observer inertia +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30A4] +SubNumber=2 +ParameterName=Internal Velocity filter parameter set +ObjectType=0x8 + +[30A4sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[30A4sub1] +ParameterName=Internal velocity filter bandwidth correction factor +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100 +LowLimit=1 +HighLimit=10000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100 + +[30AE] +SubNumber=19 +ParameterName=Dual loop position control parameter set +ObjectType=0x9 + +[30AEsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=64 +PDOMapping=0 +ObjFlags=1 +ParameterValue=64 + +[30AEsub1] +ParameterName=Main loop P gain low bandwidth +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10000 + +[30AEsub2] +ParameterName=Main loop P gain high bandwidth +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100000 + +[30AEsub3] +ParameterName=Main loop gain scheduling weight +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=12500 +LowLimit=5000 +HighLimit=20000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=12500 + +[30AEsub10] +ParameterName=Main loop filter coefficient a +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub11] +ParameterName=Main loop filter coefficient b +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub12] +ParameterName=Main loop filter coefficient c +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub13] +ParameterName=Main loop filter coefficient d +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub14] +ParameterName=Main loop filter coefficient e +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub20] +ParameterName=Auxiliary loop P gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=20000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=20000 + +[30AEsub21] +ParameterName=Auxiliary loop I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=500000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=500000 + +[30AEsub22] +ParameterName=Auxiliary loop FF velocity gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30AEsub23] +ParameterName=Auxiliary loop FF acceleration gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30AEsub30] +ParameterName=Auxiliary loop observer position correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=400 +PDOMapping=1 +ObjFlags=0 +ParameterValue=400 + +[30AEsub31] +ParameterName=Auxiliary loop observer velocity correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100000 + +[30AEsub32] +ParameterName=Auxiliary loop observer load correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=33 +PDOMapping=1 +ObjFlags=0 +ParameterValue=33 + +[30AEsub33] +ParameterName=Auxiliary loop observer friction +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10 + +[30AEsub34] +ParameterName=Auxiliary loop observer inertia +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub40] +ParameterName=Dual loop configuration miscellaneous +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=0x0000 +LowLimit=0x0000 +HighLimit=0x0003 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0x0000 + +[30B0] +ParameterName=Home position +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30B1] +ParameterName=Home offset move distance +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[30B2] +ParameterName=Current threshold for homing mode +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=500 +LowLimit=0 +HighLimit=30000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=500 + +[30B5] +SubNumber=3 +ParameterName=Internal homing data +ObjectType=0x9 + +[30B5sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[30B5sub1] +ParameterName=Internal absolute home reference +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[30B5sub2] +ParameterName=Internal absolute home reference state +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[30D0] +ParameterName=Current demand value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30D1] +SubNumber=3 +ParameterName=Current actual values +ObjectType=0x8 + +[30D1sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[30D1sub1] +ParameterName=Current actual value averaged +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30D1sub2] +ParameterName=Current actual value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30D2] +SubNumber=2 +ParameterName=Torque actual values +ObjectType=0x8 + +[30D2sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[30D2sub1] +ParameterName=Torque actual value averaged +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30D3] +SubNumber=2 +ParameterName=Velocity actual values +ObjectType=0x8 + +[30D3sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[30D3sub1] +ParameterName=Velocity actual value averaged +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30E0] +SubNumber=4 +ParameterName=Standstill window configuration +ObjectType=0x9 + +[30E0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[30E0sub1] +ParameterName=Standstill window +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=30 +PDOMapping=0 +ObjFlags=0 +ParameterValue=30 + +[30E0sub2] +ParameterName=Standstill window time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=2 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[30E0sub3] +ParameterName=Standstill window timeout +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=1000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1000 + +[3141] +SubNumber=3 +ParameterName=Digital input properties +ObjectType=0x8 + +[3141sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3141sub1] +ParameterName=Digital inputs logic state +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[3141sub2] +ParameterName=Digital inputs polarity +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0000 + +[3142] +SubNumber=9 +ParameterName=Configuration of digital inputs +ObjectType=0x8 + +[3142sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=8 +PDOMapping=0 +ObjFlags=1 +ParameterValue=8 + +[3142sub1] +ParameterName=Digital input 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub2] +ParameterName=Digital input 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub3] +ParameterName=Digital input 3 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub4] +ParameterName=Digital input 4 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=19 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub5] +ParameterName=High-speed digital input 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub6] +ParameterName=High-speed digital input 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub7] +ParameterName=High-speed digital input 3 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub8] +ParameterName=High-speed digital input 4 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3150] +SubNumber=3 +ParameterName=Digital output properties +ObjectType=0x8 + +[3150sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3150sub1] +ParameterName=Digital outputs logic state +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[3150sub2] +ParameterName=Digital outputs polarity +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0000 + +[3151] +SubNumber=4 +ParameterName=Configuration of digital outputs +ObjectType=0x8 + +[3151sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3151sub1] +ParameterName=Digital output 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=16 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3151sub2] +ParameterName=Digital output 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=17 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3151sub3] +ParameterName=High-speed digital output 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3158] +SubNumber=4 +ParameterName=Holding brake parameters +ObjectType=0x9 + +[3158sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3158sub1] +ParameterName=Holding brake rise time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +LowLimit=0 +HighLimit=5000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[3158sub2] +ParameterName=Holding brake fall time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +LowLimit=0 +HighLimit=5000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[3158sub3] +ParameterName=Holding brake state +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3160] +SubNumber=3 +ParameterName=Analog input properties +ObjectType=0x8 + +[3160sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3160sub1] +ParameterName=Analog input 1 voltage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=-25 + +[3160sub2] +ParameterName=Analog input 2 voltage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=-31 + +[3161] +SubNumber=3 +ParameterName=Configuration of analog inputs +ObjectType=0x8 + +[3161sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3161sub1] +ParameterName=Analog input 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3161sub2] +ParameterName=Analog input 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3162] +SubNumber=3 +ParameterName=Analog input general purpose +ObjectType=0x8 + +[3162sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3162sub1] +ParameterName=Analog input general purpose A +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3162sub2] +ParameterName=Analog input general purpose B +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3163] +SubNumber=5 +ParameterName=Analog input adjustment +ObjectType=0x9 + +[3163sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3163sub1] +ParameterName=Analog input 1 adjustment offset +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3163sub2] +ParameterName=Analog input 1 adjustment gain factor +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10000 +LowLimit=5000 +HighLimit=20000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10000 + +[3163sub3] +ParameterName=Analog input 2 adjustment offset +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3163sub4] +ParameterName=Analog input 2 adjustment gain factor +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10000 +LowLimit=5000 +HighLimit=20000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10000 + +[3170] +SubNumber=5 +ParameterName=Analog input current set value properties +ObjectType=0x8 + +[3170sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3170sub1] +ParameterName=Current set value first voltage +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-10000 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3170sub2] +ParameterName=Current set value first current +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-30000 +HighLimit=30000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3170sub3] +ParameterName=Current set value second voltage +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-10000 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3170sub4] +ParameterName=Current set value second current +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-30000 +HighLimit=30000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3171] +SubNumber=5 +ParameterName=Analog input velocity set value properties +ObjectType=0x8 + +[3171sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3171sub1] +ParameterName=Velocity set value first voltage +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-10000 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3171sub2] +ParameterName=Velocity set value first velocity +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-100000 +HighLimit=100000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3171sub3] +ParameterName=Velocity set value second voltage +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-10000 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3171sub4] +ParameterName=Velocity set value second velocity +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-100000 +HighLimit=100000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3180] +SubNumber=3 +ParameterName=Analog output properties +ObjectType=0x8 + +[3180sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3180sub1] +ParameterName=Analog output 1 voltage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3180sub2] +ParameterName=Analog output 2 voltage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3181] +SubNumber=3 +ParameterName=Configuration of analog outputs +ObjectType=0x8 + +[3181sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3181sub1] +ParameterName=Analog output 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3181sub2] +ParameterName=Analog output 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3182] +SubNumber=3 +ParameterName=Analog output general purpose +ObjectType=0x8 + +[3182sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3182sub1] +ParameterName=Analog output general purpose A +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=-4000 +HighLimit=4000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[3182sub2] +ParameterName=Analog output general purpose B +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=-4000 +HighLimit=4000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[31E0] +SubNumber=5 +ParameterName=Internal data recorder variable index +ObjectType=0x8 + +[31E0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[31E0sub1] +ParameterName=Internal data recorder variable index 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[31E0sub2] +ParameterName=Internal data recorder variable index 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[31E0sub3] +ParameterName=Internal data recorder variable index 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[31E0sub4] +ParameterName=Internal data recorder variable index 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[31E1] +SubNumber=3 +ParameterName=Internal data recorder configuration +ObjectType=0x8 + +[31E1sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E1sub1] +ParameterName=Internal data recorder sampling period +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=120 +LowLimit=40 +HighLimit=65534 +PDOMapping=0 +ObjFlags=1 +ParameterValue=120 + +[31E1sub2] +ParameterName=Internal data recorder max number of samples +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=500 +LowLimit=1 +HighLimit=500 +PDOMapping=0 +ObjFlags=1 +ParameterValue=500 + +[31E2] +SubNumber=7 +ParameterName=Internal data recorder trigger +ObjectType=0x9 + +[31E2sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=6 +PDOMapping=0 +ObjFlags=1 +ParameterValue=6 + +[31E2sub1] +ParameterName=Internal data recorder trigger variable index +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[31E2sub2] +ParameterName=Internal data recorder trigger mode +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E2sub3] +ParameterName=Internal data recorder trigger high value +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E2sub4] +ParameterName=Internal data recorder trigger low value +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E2sub5] +ParameterName=Internal data recorder trigger mask +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0xFFFFFFFF +PDOMapping=0 +ObjFlags=1 +ParameterValue=0xFFFFFFFF + +[31E2sub6] +ParameterName=Internal data recorder trigger number of preceding samples +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=499 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E4] +SubNumber=3 +ParameterName=Internal data recorder control +ObjectType=0x8 + +[31E4sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E4sub1] +ParameterName=Internal data recorder controlword +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x0000 + +[31E4sub2] +ParameterName=Internal data recorder statusword +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x0000 + +[31E5] +SubNumber=4 +ParameterName=Internal data recorder data +ObjectType=0x9 + +[31E5sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[31E5sub1] +ParameterName=Internal data recorder number of recorded samples +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E5sub2] +ParameterName=Internal recorder buffer timestamp +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E5sub3] +ParameterName=Internal data recorder snapshot +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E6] +SubNumber=3 +ParameterName=Internal data recorder buffer variable 1 +ObjectType=0x8 + +[31E6sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E6sub1] +ParameterName=Internal data recorder buffer variable 1 complete +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E6sub2] +ParameterName=Internal data recorder buffer variable 1 part 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E7] +SubNumber=3 +ParameterName=Internal data recorder buffer variable 2 +ObjectType=0x8 + +[31E7sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E7sub1] +ParameterName=Internal data recorder buffer variable 2 complete +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E7sub2] +ParameterName=Internal data recorder buffer variable 2 part 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E8] +SubNumber=3 +ParameterName=Internal data recorder buffer variable 3 +ObjectType=0x8 + +[31E8sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E8sub1] +ParameterName=Internal data recorder buffer variable 3 complete +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E8sub2] +ParameterName=Internal data recorder buffer variable 3 part 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E9] +SubNumber=3 +ParameterName=Internal data recorder buffer variable 4 +ObjectType=0x8 + +[31E9sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E9sub1] +ParameterName=Internal data recorder buffer variable 4 complete +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E9sub2] +ParameterName=Internal data recorder buffer variable 4 part 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3200] +SubNumber=3 +ParameterName=Motor protection +ObjectType=0x8 + +[3200sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3200sub1] +ParameterName=I2t level motor +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3200sub2] +ParameterName=I2t level controller +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3201] +SubNumber=2 +ParameterName=Thermal controller protection +ObjectType=0x8 + +[3201sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[3201sub1] +ParameterName=Temperature power stage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3202] +SubNumber=2 +ParameterName=Functional safety +ObjectType=0x8 + +[3202sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[3202sub1] +ParameterName=STO input states +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x03 + +[3240] +SubNumber=4 +ParameterName=Internal test object +ObjectType=0x9 + +[3240sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3240sub1] +ParameterName=Internal spi extension test +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[3240sub2] +ParameterName=Internal ADC encoder 2 channel A analog value +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3240sub3] +ParameterName=Internal ADC encoder 2 channel B analog value +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3241] +SubNumber=7 +ParameterName=Internal motor control +ObjectType=0x9 + +[3241sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=6 +PDOMapping=0 +ObjFlags=1 +ParameterValue=6 + +[3241sub1] +ParameterName=Internal ADC current offset simultaneous phase U +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub2] +ParameterName=Internal ADC current offset simultaneous phase V +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub3] +ParameterName=Internal ADC current offset sequential phase U +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub4] +ParameterName=Internal ADC current offset sequential phase V +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub5] +ParameterName=Internal ADC current offset sequential phase W +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub6] +ParameterName=Internal electrical rotor angle +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=16 + +[3248] +SubNumber=3 +ParameterName=Internal configuration electrical system tuning +ObjectType=0x8 + +[3248sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3248sub1] +ParameterName=Internal LR identification current +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=15000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3248sub2] +ParameterName=Internal LR identification frequency +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3249] +SubNumber=4 +ParameterName=Internal parameters electrical system tuning +ObjectType=0x9 + +[3249sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3249sub1] +ParameterName=Internal resistance +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3249sub2] +ParameterName=Internal inductance +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3249sub3] +ParameterName=Internal frequency +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324B] +SubNumber=7 +ParameterName=Internal configuration mechanical system tuning +ObjectType=0x9 + +[324Bsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=34 +PDOMapping=0 +ObjFlags=1 +ParameterValue=34 + +[324Bsub1] +ParameterName=Internal cut-off frequency of oscillation +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=8 +LowLimit=1 +HighLimit=200 +PDOMapping=0 +ObjFlags=1 +ParameterValue=8 + +[324Bsub2] +ParameterName=Internal target amplitude of oscillation +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=1 +LowLimit=1 +HighLimit=82000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[324Bsub3] +ParameterName=Internal identify Km +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +LowLimit=0 +HighLimit=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[324Bsub20] +ParameterName=Internal auxiliary target velocity +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Bsub21] +ParameterName=Internal auxiliary profile acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=1 +ParameterValue=10000 + +[324Bsub22] +ParameterName=Internal auxiliary profile deceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=1 +ParameterValue=10000 + +[324C] +SubNumber=8 +ParameterName=Internal parameters mechanical system tuning +ObjectType=0x9 + +[324Csub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=33 +PDOMapping=0 +ObjFlags=1 +ParameterValue=33 + +[324Csub1] +ParameterName=Internal cycle duration +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub2] +ParameterName=Internal set value of current +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub3] +ParameterName=Internal actual position peak value +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=2147483647 + +[324Csub4] +ParameterName=Internal actual value of dynamic friction +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub5] +ParameterName=Internal number of oscillation cycles +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub20] +ParameterName=Internal auxiliary velocity demand value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub21] +ParameterName=Internal auxiliary velocity actual value averaged +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324D] +SubNumber=5 +ParameterName=Internal PRBS velocity tuning configuration +ObjectType=0x9 + +[324Dsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[324Dsub1] +ParameterName=Internal PRBS velocity tuning step amplitude +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=500 +LowLimit=1 +HighLimit=2500000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=500 + +[324Dsub2] +ParameterName=Internal PRBS velocity tuning cycle time +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Dsub3] +ParameterName=Internal PRBS velocity tuning target amplitude +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=3 +LowLimit=3 +HighLimit=3000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=3 + +[324Dsub4] +ParameterName=Internal PRBS velocity tuning max cycle time factor +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=11 +LowLimit=11 +HighLimit=60 +PDOMapping=0 +ObjFlags=0 +ParameterValue=11 + +[324E] +SubNumber=2 +ParameterName=Internal PRBS velocity tuning parameter +ObjectType=0x8 + +[324Esub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[324Esub1] +ParameterName=Internal PRBS velocity tuning excitation amplitude +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324F] +SubNumber=8 +ParameterName=Internal PRBS velocity tuning position values +ObjectType=0x8 + +[324Fsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=7 +PDOMapping=0 +ObjFlags=1 +ParameterValue=7 + +[324Fsub1] +ParameterName=Internal PRBS velocity tuning position values 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub2] +ParameterName=Internal PRBS velocity tuning position values 2 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub3] +ParameterName=Internal PRBS velocity tuning position values 3 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub4] +ParameterName=Internal PRBS velocity tuning position values 4 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub5] +ParameterName=Internal PRBS velocity tuning position values 5 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub6] +ParameterName=Internal PRBS velocity tuning position values 6 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub7] +ParameterName=Internal PRBS velocity tuning position values 7 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3250] +SubNumber=4 +ParameterName=Internal PRBS velocity tuning excitation offset +ObjectType=0x8 + +[3250sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3250sub1] +ParameterName=Internal PRBS velocity tuning excitation offset 1 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3250sub2] +ParameterName=Internal PRBS velocity tuning excitation offset 2 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3250sub3] +ParameterName=Internal PRBS velocity tuning excitation offset 3 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[6007] +ParameterName=Abort connection option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=3 +PDOMapping=0 +ObjFlags=0 +ParameterValue=3 + +[603F] +ParameterName=Error code +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[6040] +ParameterName=Controlword +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=0x0000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[6041] +ParameterName=Statusword +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0040 + +[605A] +ParameterName=Quick stop option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=6 +PDOMapping=0 +ObjFlags=0 +ParameterValue=6 + +[605B] +ParameterName=Shutdown option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[605C] +ParameterName=Disable operation option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[605E] +ParameterName=Fault reaction option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=2 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[6060] +ParameterName=Modes of operation +ObjectType=0x7 +DataType=0x2 +AccessType=rww +DefaultValue=1 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10 + +[6061] +ParameterName=Modes of operation display +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=10 + +[6062] +ParameterName=Position demand value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6064] +ParameterName=Position actual value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=32834 + +[6065] +ParameterName=Following error window +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=2000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=2000 + +[6066] +ParameterName=Following error timeout +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=0 +LowLimit=0 +HighLimit=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[606B] +ParameterName=Velocity demand value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[606C] +ParameterName=Velocity actual value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6071] +ParameterName=Target torque +ObjectType=0x7 +DataType=0x3 +AccessType=rww +DefaultValue=0 +LowLimit=-2000 +HighLimit=2000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=1000 + +[6076] +ParameterName=Motor rated torque +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1066349 + +[6077] +ParameterName=Torque actual value +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[607A] +ParameterName=Target position +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[607B] +SubNumber=3 +ParameterName=Position range limit +ObjectType=0x8 + +[607Bsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[607Bsub1] +ParameterName=Min position range limit +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=0 +HighLimit=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[607Bsub2] +ParameterName=Max position range limit +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=0 +HighLimit=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[607D] +SubNumber=3 +ParameterName=Software position limit +ObjectType=0x8 + +[607Dsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[607Dsub1] +ParameterName=Min position limit +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[607Dsub2] +ParameterName=Max position limit +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[607F] +ParameterName=Max profile velocity +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=50000 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=4000 + +[6080] +ParameterName=Max motor speed +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=50000 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=4000 + +[6081] +ParameterName=Profile velocity +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[6083] +ParameterName=Profile acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10000 + +[6084] +ParameterName=Profile deceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10000 + +[6085] +ParameterName=Quick stop deceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10000 + +[6086] +ParameterName=Motion profile type +ObjectType=0x7 +DataType=0x3 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[6098] +ParameterName=Homing method +ObjectType=0x7 +DataType=0x2 +AccessType=rww +DefaultValue=7 +PDOMapping=1 +ObjFlags=0 +ParameterValue=23 + +[6099] +SubNumber=3 +ParameterName=Homing speeds +ObjectType=0x8 + +[6099sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[6099sub1] +ParameterName=Speed for switch search +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100 + +[6099sub2] +ParameterName=Speed for zero search +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10 + +[609A] +ParameterName=Homing acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[60A8] +ParameterName=SI unit position +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00B50000 +LowLimit=0x00B50000 +HighLimit=0x00B50000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00B50000 + +[60A9] +ParameterName=SI unit velocity +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00B44700 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00B44700 + +[60AA] +ParameterName=SI unit acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00C00300 +LowLimit=0x00C00300 +HighLimit=0x00C00300 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00C00300 + +[60B0] +ParameterName=Position offset +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60B1] +ParameterName=Velocity offset +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60B2] +ParameterName=Torque offset +ObjectType=0x7 +DataType=0x3 +AccessType=rww +DefaultValue=0 +LowLimit=-2000 +HighLimit=2000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60B8] +ParameterName=Touch probe function +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[60B9] +ParameterName=Touch probe status +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60BA] +ParameterName=Touch probe position 1 positive value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60BB] +ParameterName=Touch probe position 1 negative value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60C2] +SubNumber=3 +ParameterName=Interpolation time period +ObjectType=0x9 + +[60C2sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[60C2sub1] +ParameterName=Interpolation time period value +ObjectType=0x7 +DataType=0x5 +AccessType=rww +DefaultValue=0 +LowLimit=0 +HighLimit=100 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[60C2sub2] +ParameterName=Interpolation time index +ObjectType=0x7 +DataType=0x2 +AccessType=rww +DefaultValue=-3 +PDOMapping=1 +ObjFlags=1 +ParameterValue=-3 + +[60C5] +ParameterName=Max acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=4294967295 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=4294967295 + +[60D0] +SubNumber=2 +ParameterName=Touch probe source +ObjectType=0x8 + +[60D0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[60D0sub1] +ParameterName=Touch probe 1 source +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[60D5] +ParameterName=Touch probe 1 positive edge counter +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60D6] +ParameterName=Touch probe 1 negative edge counter +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E4] +SubNumber=4 +ParameterName=Additional position actual values +ObjectType=0x8 + +[60E4sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[60E4sub1] +ParameterName=Position actual value sensor 1 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E4sub2] +ParameterName=Position actual value sensor 2 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E4sub3] +ParameterName=Position actual value sensor 3 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=32834 + +[60E5] +SubNumber=7 +ParameterName=Additional velocity actual values +ObjectType=0x8 + +[60E5sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=11 +PDOMapping=0 +ObjFlags=1 +ParameterValue=11 + +[60E5sub1] +ParameterName=Velocity actual value sensor 1 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5sub2] +ParameterName=Velocity actual value sensor 2 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5sub3] +ParameterName=Velocity actual value sensor 3 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5sub9] +ParameterName=Velocity actual value averaged sensor 1 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5subA] +ParameterName=Velocity actual value averaged sensor 2 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5subB] +ParameterName=Velocity actual value averaged sensor 3 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60F4] +ParameterName=Following error actual value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60FD] +ParameterName=Digital inputs +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x00000000 + +[60FE] +SubNumber=2 +ParameterName=Digital outputs +ObjectType=0x8 + +[60FEsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[60FEsub1] +ParameterName=Physical outputs +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0x00000000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x00000000 + +[60FF] +ParameterName=Target velocity +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=-100000 +HighLimit=100000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6402] +ParameterName=Motor type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=11 + +[6502] +ParameterName=Supported drive modes +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x000003A5 + diff --git a/EPOS/EPOS_V8_DirectionGear.dcf b/EPOS/EPOS_V8_DirectionGear.dcf new file mode 100644 index 0000000..e305c50 --- /dev/null +++ b/EPOS/EPOS_V8_DirectionGear.dcf @@ -0,0 +1,5957 @@ +;***************************************************************** +; maxon motor ag +; all rights reserved +;***************************************************************** + +[FileInfo] +FileName=EPOS_V8_DirectionGear.dcf +FileVersion=3 +FileRevision=0 +Description=Device Configuration File +EDSVersion=4.0 +CreationTime=03:46PM +CreationDate=09-07-2023 +CreatedBy=Jbb +ModificationTime=03:46PM +ModificationDate=09-07-2023 +ModifiedBy=Jbb + +[ToolInfos] +ToolVersion=EPOS4 Device Driver 3.7.1.0 + +[Comments] +Lines=4 +Line1=Software Version: 0x0161 +Line2=Hardware Version: 0x6450 +Line3=Application Number: 0x0000 +Line4=Application Version: 0x0000 + +[DeviceInfo] +VendorName=maxon motor ag +VendorNumber=0x000000FB +ProductName=EPOS4 70/15 +ProductNumber=0x64500000 +RevisionNumber=0x01610000 +OrderCode=0 +BaudRate_1000=1 +BaudRate_800=1 +BaudRate_500=1 +BaudRate_250=1 +BaudRate_125=1 +BaudRate_50=1 +BaudRate_20=1 +BaudRate_10=0 +SimpleBootUpMaster=0 +SimpleBootUpSlave=1 +Granularity=8 +DynamicChannelsSupported=0 +GroupMessaging=0 +NrOfRXPDO=4 +NrOfTXPDO=4 +LSS_Supported=1 + +[DeviceComissioning] +NodeID=1 +NodeName=EPOS4 +Baudrate=0 +NetNumber=0 +NetworkName=Network 0 +CANopenManager=0 +LSS_SerialNumber=0x55001008 + +[DummyUsage] +Dummy0001=0 +Dummy0002=0 +Dummy0003=0 +Dummy0004=0 +Dummy0005=0 +Dummy0006=0 +Dummy0007=0 + +;***************************************************************** +; Object Dictionary +;***************************************************************** + +[MandatoryObjects] +SupportedObjects=3 +1=0x1000 +2=0x1001 +3=0x1018 + +[OptionalObjects] +SupportedObjects=84 +1=0x1003 +2=0x1005 +3=0x1008 +4=0x1010 +5=0x1011 +6=0x1014 +7=0x1016 +8=0x1017 +9=0x1200 +10=0x1400 +11=0x1401 +12=0x1402 +13=0x1403 +14=0x1600 +15=0x1601 +16=0x1602 +17=0x1603 +18=0x1800 +19=0x1801 +20=0x1802 +21=0x1803 +22=0x1A00 +23=0x1A01 +24=0x1A02 +25=0x1A03 +26=0x1F50 +27=0x1F51 +28=0x1F56 +29=0x1F57 +30=0x6007 +31=0x603F +32=0x6040 +33=0x6041 +34=0x605A +35=0x605B +36=0x605C +37=0x605E +38=0x6060 +39=0x6061 +40=0x6062 +41=0x6064 +42=0x6065 +43=0x6066 +44=0x606B +45=0x606C +46=0x6071 +47=0x6076 +48=0x6077 +49=0x607A +50=0x607B +51=0x607D +52=0x607F +53=0x6080 +54=0x6081 +55=0x6083 +56=0x6084 +57=0x6085 +58=0x6086 +59=0x6098 +60=0x6099 +61=0x609A +62=0x60A8 +63=0x60A9 +64=0x60AA +65=0x60B0 +66=0x60B1 +67=0x60B2 +68=0x60B8 +69=0x60B9 +70=0x60BA +71=0x60BB +72=0x60C2 +73=0x60C5 +74=0x60D0 +75=0x60D5 +76=0x60D6 +77=0x60E4 +78=0x60E5 +79=0x60F4 +80=0x60FD +81=0x60FE +82=0x60FF +83=0x6402 +84=0x6502 + +[ManufacturerObjects] +SupportedObjects=71 +1=0x2000 +2=0x2001 +3=0x2002 +4=0x2005 +5=0x2006 +6=0x200A +7=0x2010 +8=0x2100 +9=0x210C +10=0x2200 +11=0x2EC0 +12=0x3000 +13=0x3001 +14=0x3002 +15=0x3003 +16=0x3010 +17=0x3011 +18=0x3012 +19=0x301A +20=0x3020 +21=0x30A0 +22=0x30A1 +23=0x30A2 +24=0x30A3 +25=0x30A4 +26=0x30AE +27=0x30B0 +28=0x30B1 +29=0x30B2 +30=0x30B5 +31=0x30D0 +32=0x30D1 +33=0x30D2 +34=0x30D3 +35=0x30E0 +36=0x3141 +37=0x3142 +38=0x3150 +39=0x3151 +40=0x3158 +41=0x3160 +42=0x3161 +43=0x3162 +44=0x3163 +45=0x3170 +46=0x3171 +47=0x3180 +48=0x3181 +49=0x3182 +50=0x31E0 +51=0x31E1 +52=0x31E2 +53=0x31E4 +54=0x31E5 +55=0x31E6 +56=0x31E7 +57=0x31E8 +58=0x31E9 +59=0x3200 +60=0x3201 +61=0x3202 +62=0x3240 +63=0x3241 +64=0x3248 +65=0x3249 +66=0x324B +67=0x324C +68=0x324D +69=0x324E +70=0x324F +71=0x3250 + +[1000] +ParameterName=Device type +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00020192 + +[1001] +ParameterName=Error register +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00 + +[1003] +SubNumber=6 +ParameterName=Error history +ObjectType=0x8 + +[1003sub0] +ParameterName=Number of errors +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[1003sub1] +ParameterName=Error history 1 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1003sub2] +ParameterName=Error history 2 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1003sub3] +ParameterName=Error history 3 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1003sub4] +ParameterName=Error history 4 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1003sub5] +ParameterName=Error history 5 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1005] +ParameterName=COB-ID SYNC +ObjectType=0x7 +DataType=0x7 +AccessType=const +DefaultValue=0x00000080 +LowLimit=0x00000080 +HighLimit=0x00000080 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000080 + +[1008] +ParameterName=Manufacturer device name +ObjectType=0x7 +DataType=0x9 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=EPOS4 + +[1010] +SubNumber=2 +ParameterName=Store parameters +ObjectType=0x8 + +[1010sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1010sub1] +ParameterName=Save all parameters +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000001 + +[1011] +SubNumber=3 +ParameterName=Restore default parameters +ObjectType=0x8 + +[1011sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[1011sub1] +ParameterName=Restore all default parameters +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000001 + +[1011sub4] +ParameterName=Internal restore factory default parameters +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000001 + +[1014] +ParameterName=COB-ID EMCY +ObjectType=0x7 +DataType=0x7 +AccessType=ro +DefaultValue=$NODEID+0x00000080 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000081 + +[1016] +SubNumber=3 +ParameterName=Consumer heartbeat time +ObjectType=0x8 + +[1016sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1016sub1] +ParameterName=Consumer 1 heartbeat time +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[1016sub2] +ParameterName=Consumer 2 heartbeat time +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[1017] +ParameterName=Producer heartbeat time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[1018] +SubNumber=5 +ParameterName=Identity object +ObjectType=0x8 + +[1018sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[1018sub1] +ParameterName=Vendor ID +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x000000FB + +[1018sub2] +ParameterName=Product code +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x64500000 + +[1018sub3] +ParameterName=Revision number +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x01610000 + +[1018sub4] +ParameterName=Serial number +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x55001008 + +[1200] +SubNumber=3 +ParameterName=SDO server parameter +ObjectType=0x9 + +[1200sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1200sub1] +ParameterName=COB-ID SDO client to server +ObjectType=0x7 +DataType=0x7 +AccessType=ro +DefaultValue=$NODEID+0x00000600 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000601 + +[1200sub2] +ParameterName=COB-ID SDO server to client +ObjectType=0x7 +DataType=0x7 +AccessType=ro +DefaultValue=$NODEID+0x00000580 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000581 + +[1400] +SubNumber=3 +ParameterName=Receive PDO 1 parameter +ObjectType=0x9 + +[1400sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1400sub1] +ParameterName=COB-ID used by RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x00000200 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000220 + +[1400sub2] +ParameterName=Transmission type RxPDO 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1401] +SubNumber=3 +ParameterName=Receive PDO 2 parameter +ObjectType=0x9 + +[1401sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1401sub1] +ParameterName=COB-ID used by RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x00000300 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000320 + +[1401sub2] +ParameterName=Transmission type RxPDO 2 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1402] +SubNumber=3 +ParameterName=Receive PDO 3 parameter +ObjectType=0x9 + +[1402sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1402sub1] +ParameterName=COB-ID used by RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x00000400 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000420 + +[1402sub2] +ParameterName=Transmission type RxPDO 3 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1403] +SubNumber=3 +ParameterName=Receive PDO 4 parameter +ObjectType=0x9 + +[1403sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1403sub1] +ParameterName=COB-ID used by RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x00000500 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000520 + +[1403sub2] +ParameterName=Transmission type RxPDO 4 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1600] +SubNumber=13 +ParameterName=Receive PDO 1 mapping +ObjectType=0x9 + +[1600sub0] +ParameterName=Number of mapped objects in RxPDO 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[1600sub1] +ParameterName=1st mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60400010 + +[1600sub2] +ParameterName=2nd mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub3] +ParameterName=3rd mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub4] +ParameterName=4th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub5] +ParameterName=5th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub6] +ParameterName=6th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub7] +ParameterName=7th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub8] +ParameterName=8th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub9] +ParameterName=9th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600subA] +ParameterName=10th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600subB] +ParameterName=11th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600subC] +ParameterName=12th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601] +SubNumber=13 +ParameterName=Receive PDO 2 mapping +ObjectType=0x9 + +[1601sub0] +ParameterName=Number of mapped objects in RxPDO 2 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1601sub1] +ParameterName=1st mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60400010 + +[1601sub2] +ParameterName=2nd mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60600008 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60600008 + +[1601sub3] +ParameterName=3rd mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub4] +ParameterName=4th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub5] +ParameterName=5th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub6] +ParameterName=6th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub7] +ParameterName=7th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub8] +ParameterName=8th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub9] +ParameterName=9th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601subA] +ParameterName=10th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601subB] +ParameterName=11th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601subC] +ParameterName=12th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602] +SubNumber=13 +ParameterName=Receive PDO 3 mapping +ObjectType=0x9 + +[1602sub0] +ParameterName=Number of mapped objects in RxPDO 3 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1602sub1] +ParameterName=1st mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60400010 + +[1602sub2] +ParameterName=2nd mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x607A0020 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x607A0020 + +[1602sub3] +ParameterName=3rd mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub4] +ParameterName=4th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub5] +ParameterName=5th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub6] +ParameterName=6th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub7] +ParameterName=7th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub8] +ParameterName=8th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub9] +ParameterName=9th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602subA] +ParameterName=10th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602subB] +ParameterName=11th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602subC] +ParameterName=12th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603] +SubNumber=13 +ParameterName=Receive PDO 4 mapping +ObjectType=0x9 + +[1603sub0] +ParameterName=Number of mapped objects in RxPDO 4 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1603sub1] +ParameterName=1st mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60400010 + +[1603sub2] +ParameterName=2nd mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60FF0020 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60FF0020 + +[1603sub3] +ParameterName=3rd mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub4] +ParameterName=4th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub5] +ParameterName=5th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub6] +ParameterName=6th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub7] +ParameterName=7th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub8] +ParameterName=8th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub9] +ParameterName=9th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603subA] +ParameterName=10th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603subB] +ParameterName=11th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603subC] +ParameterName=12th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1800] +SubNumber=4 +ParameterName=Transmit PDO 1 parameter +ObjectType=0x9 + +[1800sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[1800sub1] +ParameterName=COB-ID used by TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x40000180 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x400001A0 + +[1800sub2] +ParameterName=Transmission type TxPDO 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1800sub3] +ParameterName=Inhibit time TxPDO 1 +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[1801] +SubNumber=4 +ParameterName=Transmit PDO 2 parameter +ObjectType=0x9 + +[1801sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[1801sub1] +ParameterName=COB-ID used by TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0xC0000280 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0xC00002A0 + +[1801sub2] +ParameterName=Transmission type TxPDO 2 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1801sub3] +ParameterName=Inhibit time TxPDO 2 +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[1802] +SubNumber=4 +ParameterName=Transmit PDO 3 parameter +ObjectType=0x9 + +[1802sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[1802sub1] +ParameterName=COB-ID used by TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0xC0000380 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0xC00003A0 + +[1802sub2] +ParameterName=Transmission type TxPDO 3 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1802sub3] +ParameterName=Inhibit time TxPDO 3 +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[1803] +SubNumber=4 +ParameterName=Transmit PDO 4 parameter +ObjectType=0x9 + +[1803sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[1803sub1] +ParameterName=COB-ID used by TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0xC0000480 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0xC00004A0 + +[1803sub2] +ParameterName=Transmission type TxPDO 4 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1803sub3] +ParameterName=Inhibit time TxPDO 4 +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[1A00] +SubNumber=13 +ParameterName=Transmit PDO 1 mapping +ObjectType=0x9 + +[1A00sub0] +ParameterName=Number of mapped objects in TxPDO 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[1A00sub1] +ParameterName=1st mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60410010 + +[1A00sub2] +ParameterName=2nd mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub3] +ParameterName=3rd mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub4] +ParameterName=4th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub5] +ParameterName=5th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub6] +ParameterName=6th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub7] +ParameterName=7th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub8] +ParameterName=8th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub9] +ParameterName=9th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00subA] +ParameterName=10th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00subB] +ParameterName=11th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00subC] +ParameterName=12th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01] +SubNumber=13 +ParameterName=Transmit PDO 2 mapping +ObjectType=0x9 + +[1A01sub0] +ParameterName=Number of mapped objects in TxPDO 2 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1A01sub1] +ParameterName=1st mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60410010 + +[1A01sub2] +ParameterName=2nd mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60610008 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60610008 + +[1A01sub3] +ParameterName=3rd mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub4] +ParameterName=4th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub5] +ParameterName=5th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub6] +ParameterName=6th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub7] +ParameterName=7th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub8] +ParameterName=8th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub9] +ParameterName=9th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01subA] +ParameterName=10th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01subB] +ParameterName=11th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01subC] +ParameterName=12th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02] +SubNumber=13 +ParameterName=Transmit PDO 3 mapping +ObjectType=0x9 + +[1A02sub0] +ParameterName=Number of mapped objects in TxPDO 3 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1A02sub1] +ParameterName=1st mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60410010 + +[1A02sub2] +ParameterName=2nd mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60640020 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60640020 + +[1A02sub3] +ParameterName=3rd mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub4] +ParameterName=4th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub5] +ParameterName=5th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub6] +ParameterName=6th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub7] +ParameterName=7th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub8] +ParameterName=8th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub9] +ParameterName=9th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02subA] +ParameterName=10th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02subB] +ParameterName=11th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02subC] +ParameterName=12th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03] +SubNumber=13 +ParameterName=Transmit PDO 4 mapping +ObjectType=0x9 + +[1A03sub0] +ParameterName=Number of mapped objects in TxPDO 4 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1A03sub1] +ParameterName=1st mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60410010 + +[1A03sub2] +ParameterName=2nd mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x606C0020 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x606C0020 + +[1A03sub3] +ParameterName=3rd mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub4] +ParameterName=4th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub5] +ParameterName=5th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub6] +ParameterName=6th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub7] +ParameterName=7th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub8] +ParameterName=8th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub9] +ParameterName=9th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03subA] +ParameterName=10th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03subB] +ParameterName=11th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03subC] +ParameterName=12th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1F50] +SubNumber=2 +ParameterName=Program data +ObjectType=0x8 + +[1F50sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1F50sub1] +ParameterName=Program number 1 +ObjectType=0x7 +DataType=0xA +AccessType=wo +PDOMapping=0 +ObjFlags=3 + +[1F51] +SubNumber=2 +ParameterName=Program control +ObjectType=0x8 + +[1F51sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1F51sub1] +ParameterName=Program number 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0x01 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x01 + +[1F56] +SubNumber=2 +ParameterName=Program software identification +ObjectType=0x8 + +[1F56sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1F56sub1] +ParameterName=Program number 1 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0xC2DFD97B + +[1F57] +SubNumber=2 +ParameterName=Flash status identification +ObjectType=0x8 + +[1F57sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1F57sub1] +ParameterName=Program number 1 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[2000] +ParameterName=Node-ID +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[2001] +ParameterName=CAN bit rate +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=9 + +[2002] +ParameterName=RS232 bit rate +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=5 +PDOMapping=0 +ObjFlags=0 +ParameterValue=5 + +[2005] +ParameterName=RS232 frame timeout +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=500 +LowLimit=50 +HighLimit=65535 +PDOMapping=0 +ObjFlags=0 +ParameterValue=500 + +[2006] +ParameterName=USB frame timeout +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=500 +LowLimit=50 +HighLimit=65535 +PDOMapping=0 +ObjFlags=0 +ParameterValue=475 + +[200A] +ParameterName=CAN bit rate display +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=9 + +[2010] +ParameterName=Active fieldbus +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[2100] +SubNumber=2 +ParameterName=Additional identity +ObjectType=0x8 + +[2100sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[2100sub1] +ParameterName=Serial number complete +ObjectType=0x7 +DataType=0x1B +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x0000662155001008 + +[210C] +SubNumber=5 +ParameterName=Custom persistent memory +ObjectType=0x8 + +[210Csub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[210Csub1] +ParameterName=Custom persistent memory 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[210Csub2] +ParameterName=Custom persistent memory 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[210Csub3] +ParameterName=Custom persistent memory 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[210Csub4] +ParameterName=Custom persistent memory 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[2200] +SubNumber=3 +ParameterName=Power supply +ObjectType=0x9 + +[2200sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[2200sub1] +ParameterName=Power supply voltage +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2200sub2] +ParameterName=Internal valid logic supply +ObjectType=0x7 +DataType=0x1 +AccessType=ro +PDOMapping=0 +ObjFlags=1 + +[2EC0] +SubNumber=7 +ParameterName=Internal device control +ObjectType=0x9 + +[2EC0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=6 +PDOMapping=0 +ObjFlags=1 +ParameterValue=6 + +[2EC0sub1] +ParameterName=Internal error control +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=3 + +[2EC0sub2] +ParameterName=Internal CAN NMT state +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub3] +ParameterName=Internal bootloader revision number +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub4] +ParameterName=Internal bootloader product code +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub5] +ParameterName=Internal Extension communication error code +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub6] +ParameterName=Internal ESM state +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3000] +SubNumber=7 +ParameterName=Axis configuration +ObjectType=0x8 + +[3000sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=6 +PDOMapping=0 +ObjFlags=1 +ParameterValue=6 + +[3000sub1] +ParameterName=Sensors configuration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00100001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00100001 + +[3000sub2] +ParameterName=Control structure +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00010111 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00011111 + +[3000sub3] +ParameterName=Commutation sensors +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000031 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000031 + +[3000sub4] +ParameterName=Axis configuration miscellaneous +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[3000sub5] +ParameterName=Main sensor resolution +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=10000 + +[3000sub6] +ParameterName=Max system speed +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=4000 + +[3001] +SubNumber=6 +ParameterName=Motor data +ObjectType=0x9 + +[3001sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=5 +PDOMapping=0 +ObjFlags=1 +ParameterValue=5 + +[3001sub1] +ParameterName=Nominal current +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=15000 +LowLimit=0 +HighLimit=15000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=5741 + +[3001sub2] +ParameterName=Output current limit +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=30000 +LowLimit=0 +HighLimit=30000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=22110 + +[3001sub3] +ParameterName=Number of pole pairs +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +LowLimit=1 +HighLimit=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=4 + +[3001sub4] +ParameterName=Thermal time constant winding +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=40 +LowLimit=1 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=40 + +[3001sub5] +ParameterName=Torque constant +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=10000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=57300 + +[3002] +SubNumber=3 +ParameterName=Electrical system parameters +ObjectType=0x9 + +[3002sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3002sub1] +ParameterName=Electrical resistance +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=0 +ParameterValue=622 + +[3002sub2] +ParameterName=Electrical inductance +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=65535 +PDOMapping=0 +ObjFlags=0 +ParameterValue=486 + +[3003] +SubNumber=5 +ParameterName=Gear configuration +ObjectType=0x8 + +[3003sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3003sub1] +ParameterName=Gear reduction numerator +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=1 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[3003sub2] +ParameterName=Gear reduction denominator +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=1 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=0 +ParameterValue=125 + +[3003sub3] +ParameterName=Max gear input speed +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=100000 +LowLimit=1 +HighLimit=100000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=4000 + +[3003sub4] +ParameterName=Gear miscellaneous configuration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +LowLimit=0x00000000 +HighLimit=0x00000001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[3010] +SubNumber=4 +ParameterName=Digital incremental encoder 1 +ObjectType=0x9 + +[3010sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3010sub1] +ParameterName=Digital incremental encoder 1 number of pulses +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=500 +LowLimit=16 +HighLimit=2500000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2500 + +[3010sub2] +ParameterName=Digital incremental encoder 1 type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0011 + +[3010sub4] +ParameterName=Digital incremental encoder 1 index position +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=552474 + +[3011] +SubNumber=4 +ParameterName=Analog incremental encoder +ObjectType=0x9 + +[3011sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3011sub1] +ParameterName=Analog incremental encoder type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[3011sub2] +ParameterName=Analog incremental encoder resolution +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00080004 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00080004 + +[3011sub3] +ParameterName=Analog incremental encoder index position +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3012] +SubNumber=13 +ParameterName=SSI absolute encoder +ObjectType=0x9 + +[3012sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=13 +PDOMapping=0 +ObjFlags=1 +ParameterValue=13 + +[3012sub1] +ParameterName=SSI data rate +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=2000 +LowLimit=400 +HighLimit=2000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2000 + +[3012sub2] +ParameterName=SSI number of data bits +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000C00 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000C00 + +[3012sub3] +ParameterName=SSI encoding type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[3012sub5] +ParameterName=SSI timeout time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=30 +LowLimit=0 +HighLimit=50 +PDOMapping=0 +ObjFlags=0 +ParameterValue=30 + +[3012sub6] +ParameterName=SSI special bits trailing data +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[3012sub7] +ParameterName=SSI refresh frequency +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=12500 + +[3012sub8] +ParameterName=SSI power up time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=200 +LowLimit=0 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=200 + +[3012sub9] +ParameterName=SSI position raw value +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3012subA] +ParameterName=SSI commutation offset value +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3012subB] +ParameterName=SSI position bits +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x0000000C +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0000000C + +[3012subC] +ParameterName=SSI special bits leading data +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3012subD] +ParameterName=SSI position raw value complete +ObjectType=0x7 +DataType=0x1B +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[301A] +SubNumber=3 +ParameterName=Digital Hall sensor +ObjectType=0x8 + +[301Asub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[301Asub1] +ParameterName=Digital Hall sensor type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[301Asub2] +ParameterName=Digital Hall sensor pattern +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x0004 + +[3020] +SubNumber=4 +ParameterName=Digital incremental encoder 2 +ObjectType=0x9 + +[3020sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3020sub1] +ParameterName=Digital incremental encoder 2 number of pulses +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=500 +LowLimit=16 +HighLimit=2500000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=500 + +[3020sub2] +ParameterName=Digital incremental encoder 2 type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[3020sub4] +ParameterName=Digital incremental encoder 2 index position +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30A0] +SubNumber=3 +ParameterName=Current control parameter set +ObjectType=0x8 + +[30A0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[30A0sub1] +ParameterName=Current controller P gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1171880 +PDOMapping=1 +ObjFlags=0 +ParameterValue=638057 + +[30A0sub2] +ParameterName=Current controller I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=3906250 +PDOMapping=1 +ObjFlags=0 +ParameterValue=796058 + +[30A1] +SubNumber=6 +ParameterName=Position control parameter set +ObjectType=0x8 + +[30A1sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=5 +PDOMapping=0 +ObjFlags=1 +ParameterValue=5 + +[30A1sub1] +ParameterName=Position controller P gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1500000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=9065763 + +[30A1sub2] +ParameterName=Position controller I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=780000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=39128652 + +[30A1sub3] +ParameterName=Position controller D gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=16000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=146501 + +[30A1sub4] +ParameterName=Position controller FF velocity gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=28537 + +[30A1sub5] +ParameterName=Position controller FF acceleration gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1127 + +[30A2] +SubNumber=5 +ParameterName=Velocity control parameter set +ObjectType=0x8 + +[30A2sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[30A2sub1] +ParameterName=Velocity controller P gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=20000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=166765 + +[30A2sub2] +ParameterName=Velocity controller I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=500000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10556823 + +[30A2sub3] +ParameterName=Velocity controller FF velocity gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=26699 + +[30A2sub4] +ParameterName=Velocity controller FF acceleration gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1148 + +[30A3] +SubNumber=6 +ParameterName=Velocity observer parameter set +ObjectType=0x8 + +[30A3sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=5 +PDOMapping=0 +ObjFlags=1 +ParameterValue=5 + +[30A3sub1] +ParameterName=Velocity observer position correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=400 +PDOMapping=1 +ObjFlags=0 +ParameterValue=400 + +[30A3sub2] +ParameterName=Velocity observer velocity correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100000 + +[30A3sub3] +ParameterName=Velocity observer load correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=33 +PDOMapping=1 +ObjFlags=0 +ParameterValue=33 + +[30A3sub4] +ParameterName=Velocity observer friction +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10 + +[30A3sub5] +ParameterName=Velocity observer inertia +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30A4] +SubNumber=2 +ParameterName=Internal Velocity filter parameter set +ObjectType=0x8 + +[30A4sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[30A4sub1] +ParameterName=Internal velocity filter bandwidth correction factor +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100 +LowLimit=1 +HighLimit=10000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100 + +[30AE] +SubNumber=19 +ParameterName=Dual loop position control parameter set +ObjectType=0x9 + +[30AEsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=64 +PDOMapping=0 +ObjFlags=1 +ParameterValue=64 + +[30AEsub1] +ParameterName=Main loop P gain low bandwidth +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10000 + +[30AEsub2] +ParameterName=Main loop P gain high bandwidth +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100000 + +[30AEsub3] +ParameterName=Main loop gain scheduling weight +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=12500 +LowLimit=5000 +HighLimit=20000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=12500 + +[30AEsub10] +ParameterName=Main loop filter coefficient a +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub11] +ParameterName=Main loop filter coefficient b +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub12] +ParameterName=Main loop filter coefficient c +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub13] +ParameterName=Main loop filter coefficient d +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub14] +ParameterName=Main loop filter coefficient e +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub20] +ParameterName=Auxiliary loop P gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=20000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=20000 + +[30AEsub21] +ParameterName=Auxiliary loop I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=500000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=500000 + +[30AEsub22] +ParameterName=Auxiliary loop FF velocity gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30AEsub23] +ParameterName=Auxiliary loop FF acceleration gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30AEsub30] +ParameterName=Auxiliary loop observer position correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=400 +PDOMapping=1 +ObjFlags=0 +ParameterValue=400 + +[30AEsub31] +ParameterName=Auxiliary loop observer velocity correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100000 + +[30AEsub32] +ParameterName=Auxiliary loop observer load correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=33 +PDOMapping=1 +ObjFlags=0 +ParameterValue=33 + +[30AEsub33] +ParameterName=Auxiliary loop observer friction +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10 + +[30AEsub34] +ParameterName=Auxiliary loop observer inertia +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub40] +ParameterName=Dual loop configuration miscellaneous +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=0x0000 +LowLimit=0x0000 +HighLimit=0x0003 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0x0000 + +[30B0] +ParameterName=Home position +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30B1] +ParameterName=Home offset move distance +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[30B2] +ParameterName=Current threshold for homing mode +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=500 +LowLimit=0 +HighLimit=30000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=9800 + +[30B5] +SubNumber=3 +ParameterName=Internal homing data +ObjectType=0x9 + +[30B5sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[30B5sub1] +ParameterName=Internal absolute home reference +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[30B5sub2] +ParameterName=Internal absolute home reference state +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[30D0] +ParameterName=Current demand value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30D1] +SubNumber=3 +ParameterName=Current actual values +ObjectType=0x8 + +[30D1sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[30D1sub1] +ParameterName=Current actual value averaged +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30D1sub2] +ParameterName=Current actual value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30D2] +SubNumber=2 +ParameterName=Torque actual values +ObjectType=0x8 + +[30D2sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[30D2sub1] +ParameterName=Torque actual value averaged +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30D3] +SubNumber=2 +ParameterName=Velocity actual values +ObjectType=0x8 + +[30D3sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[30D3sub1] +ParameterName=Velocity actual value averaged +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30E0] +SubNumber=4 +ParameterName=Standstill window configuration +ObjectType=0x9 + +[30E0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[30E0sub1] +ParameterName=Standstill window +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=30 +PDOMapping=0 +ObjFlags=0 +ParameterValue=30 + +[30E0sub2] +ParameterName=Standstill window time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=2 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[30E0sub3] +ParameterName=Standstill window timeout +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=1000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1000 + +[3141] +SubNumber=3 +ParameterName=Digital input properties +ObjectType=0x8 + +[3141sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3141sub1] +ParameterName=Digital inputs logic state +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[3141sub2] +ParameterName=Digital inputs polarity +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0000 + +[3142] +SubNumber=9 +ParameterName=Configuration of digital inputs +ObjectType=0x8 + +[3142sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=8 +PDOMapping=0 +ObjFlags=1 +ParameterValue=8 + +[3142sub1] +ParameterName=Digital input 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub2] +ParameterName=Digital input 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub3] +ParameterName=Digital input 3 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub4] +ParameterName=Digital input 4 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=19 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub5] +ParameterName=High-speed digital input 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub6] +ParameterName=High-speed digital input 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub7] +ParameterName=High-speed digital input 3 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub8] +ParameterName=High-speed digital input 4 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3150] +SubNumber=3 +ParameterName=Digital output properties +ObjectType=0x8 + +[3150sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3150sub1] +ParameterName=Digital outputs logic state +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[3150sub2] +ParameterName=Digital outputs polarity +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0000 + +[3151] +SubNumber=4 +ParameterName=Configuration of digital outputs +ObjectType=0x8 + +[3151sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3151sub1] +ParameterName=Digital output 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=16 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3151sub2] +ParameterName=Digital output 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=17 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3151sub3] +ParameterName=High-speed digital output 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3158] +SubNumber=4 +ParameterName=Holding brake parameters +ObjectType=0x9 + +[3158sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3158sub1] +ParameterName=Holding brake rise time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +LowLimit=0 +HighLimit=5000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[3158sub2] +ParameterName=Holding brake fall time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +LowLimit=0 +HighLimit=5000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[3158sub3] +ParameterName=Holding brake state +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3160] +SubNumber=3 +ParameterName=Analog input properties +ObjectType=0x8 + +[3160sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3160sub1] +ParameterName=Analog input 1 voltage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=-25 + +[3160sub2] +ParameterName=Analog input 2 voltage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=-2 + +[3161] +SubNumber=3 +ParameterName=Configuration of analog inputs +ObjectType=0x8 + +[3161sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3161sub1] +ParameterName=Analog input 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3161sub2] +ParameterName=Analog input 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3162] +SubNumber=3 +ParameterName=Analog input general purpose +ObjectType=0x8 + +[3162sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3162sub1] +ParameterName=Analog input general purpose A +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3162sub2] +ParameterName=Analog input general purpose B +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3163] +SubNumber=5 +ParameterName=Analog input adjustment +ObjectType=0x9 + +[3163sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3163sub1] +ParameterName=Analog input 1 adjustment offset +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3163sub2] +ParameterName=Analog input 1 adjustment gain factor +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10000 +LowLimit=5000 +HighLimit=20000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10000 + +[3163sub3] +ParameterName=Analog input 2 adjustment offset +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3163sub4] +ParameterName=Analog input 2 adjustment gain factor +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10000 +LowLimit=5000 +HighLimit=20000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10000 + +[3170] +SubNumber=5 +ParameterName=Analog input current set value properties +ObjectType=0x8 + +[3170sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3170sub1] +ParameterName=Current set value first voltage +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-10000 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3170sub2] +ParameterName=Current set value first current +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-30000 +HighLimit=30000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3170sub3] +ParameterName=Current set value second voltage +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-10000 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3170sub4] +ParameterName=Current set value second current +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-30000 +HighLimit=30000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3171] +SubNumber=5 +ParameterName=Analog input velocity set value properties +ObjectType=0x8 + +[3171sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3171sub1] +ParameterName=Velocity set value first voltage +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-10000 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3171sub2] +ParameterName=Velocity set value first velocity +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-100000 +HighLimit=100000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3171sub3] +ParameterName=Velocity set value second voltage +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-10000 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3171sub4] +ParameterName=Velocity set value second velocity +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-100000 +HighLimit=100000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3180] +SubNumber=3 +ParameterName=Analog output properties +ObjectType=0x8 + +[3180sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3180sub1] +ParameterName=Analog output 1 voltage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3180sub2] +ParameterName=Analog output 2 voltage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3181] +SubNumber=3 +ParameterName=Configuration of analog outputs +ObjectType=0x8 + +[3181sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3181sub1] +ParameterName=Analog output 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3181sub2] +ParameterName=Analog output 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3182] +SubNumber=3 +ParameterName=Analog output general purpose +ObjectType=0x8 + +[3182sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3182sub1] +ParameterName=Analog output general purpose A +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=-4000 +HighLimit=4000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[3182sub2] +ParameterName=Analog output general purpose B +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=-4000 +HighLimit=4000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[31E0] +SubNumber=5 +ParameterName=Internal data recorder variable index +ObjectType=0x8 + +[31E0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[31E0sub1] +ParameterName=Internal data recorder variable index 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[31E0sub2] +ParameterName=Internal data recorder variable index 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[31E0sub3] +ParameterName=Internal data recorder variable index 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[31E0sub4] +ParameterName=Internal data recorder variable index 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[31E1] +SubNumber=3 +ParameterName=Internal data recorder configuration +ObjectType=0x8 + +[31E1sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E1sub1] +ParameterName=Internal data recorder sampling period +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=120 +LowLimit=40 +HighLimit=65534 +PDOMapping=0 +ObjFlags=1 +ParameterValue=120 + +[31E1sub2] +ParameterName=Internal data recorder max number of samples +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=500 +LowLimit=1 +HighLimit=500 +PDOMapping=0 +ObjFlags=1 +ParameterValue=500 + +[31E2] +SubNumber=7 +ParameterName=Internal data recorder trigger +ObjectType=0x9 + +[31E2sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=6 +PDOMapping=0 +ObjFlags=1 +ParameterValue=6 + +[31E2sub1] +ParameterName=Internal data recorder trigger variable index +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[31E2sub2] +ParameterName=Internal data recorder trigger mode +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E2sub3] +ParameterName=Internal data recorder trigger high value +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E2sub4] +ParameterName=Internal data recorder trigger low value +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E2sub5] +ParameterName=Internal data recorder trigger mask +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0xFFFFFFFF +PDOMapping=0 +ObjFlags=1 +ParameterValue=0xFFFFFFFF + +[31E2sub6] +ParameterName=Internal data recorder trigger number of preceding samples +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=499 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E4] +SubNumber=3 +ParameterName=Internal data recorder control +ObjectType=0x8 + +[31E4sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E4sub1] +ParameterName=Internal data recorder controlword +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x0000 + +[31E4sub2] +ParameterName=Internal data recorder statusword +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x0000 + +[31E5] +SubNumber=4 +ParameterName=Internal data recorder data +ObjectType=0x9 + +[31E5sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[31E5sub1] +ParameterName=Internal data recorder number of recorded samples +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E5sub2] +ParameterName=Internal recorder buffer timestamp +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E5sub3] +ParameterName=Internal data recorder snapshot +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E6] +SubNumber=3 +ParameterName=Internal data recorder buffer variable 1 +ObjectType=0x8 + +[31E6sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E6sub1] +ParameterName=Internal data recorder buffer variable 1 complete +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E6sub2] +ParameterName=Internal data recorder buffer variable 1 part 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E7] +SubNumber=3 +ParameterName=Internal data recorder buffer variable 2 +ObjectType=0x8 + +[31E7sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E7sub1] +ParameterName=Internal data recorder buffer variable 2 complete +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E7sub2] +ParameterName=Internal data recorder buffer variable 2 part 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E8] +SubNumber=3 +ParameterName=Internal data recorder buffer variable 3 +ObjectType=0x8 + +[31E8sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E8sub1] +ParameterName=Internal data recorder buffer variable 3 complete +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E8sub2] +ParameterName=Internal data recorder buffer variable 3 part 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E9] +SubNumber=3 +ParameterName=Internal data recorder buffer variable 4 +ObjectType=0x8 + +[31E9sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E9sub1] +ParameterName=Internal data recorder buffer variable 4 complete +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E9sub2] +ParameterName=Internal data recorder buffer variable 4 part 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3200] +SubNumber=3 +ParameterName=Motor protection +ObjectType=0x8 + +[3200sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3200sub1] +ParameterName=I2t level motor +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3200sub2] +ParameterName=I2t level controller +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3201] +SubNumber=2 +ParameterName=Thermal controller protection +ObjectType=0x8 + +[3201sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[3201sub1] +ParameterName=Temperature power stage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3202] +SubNumber=2 +ParameterName=Functional safety +ObjectType=0x8 + +[3202sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[3202sub1] +ParameterName=STO input states +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x03 + +[3240] +SubNumber=4 +ParameterName=Internal test object +ObjectType=0x9 + +[3240sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3240sub1] +ParameterName=Internal spi extension test +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[3240sub2] +ParameterName=Internal ADC encoder 2 channel A analog value +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3240sub3] +ParameterName=Internal ADC encoder 2 channel B analog value +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3241] +SubNumber=7 +ParameterName=Internal motor control +ObjectType=0x9 + +[3241sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=6 +PDOMapping=0 +ObjFlags=1 +ParameterValue=6 + +[3241sub1] +ParameterName=Internal ADC current offset simultaneous phase U +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub2] +ParameterName=Internal ADC current offset simultaneous phase V +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub3] +ParameterName=Internal ADC current offset sequential phase U +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub4] +ParameterName=Internal ADC current offset sequential phase V +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub5] +ParameterName=Internal ADC current offset sequential phase W +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub6] +ParameterName=Internal electrical rotor angle +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=12 + +[3248] +SubNumber=3 +ParameterName=Internal configuration electrical system tuning +ObjectType=0x8 + +[3248sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3248sub1] +ParameterName=Internal LR identification current +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=15000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3248sub2] +ParameterName=Internal LR identification frequency +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3249] +SubNumber=4 +ParameterName=Internal parameters electrical system tuning +ObjectType=0x9 + +[3249sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3249sub1] +ParameterName=Internal resistance +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3249sub2] +ParameterName=Internal inductance +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3249sub3] +ParameterName=Internal frequency +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324B] +SubNumber=7 +ParameterName=Internal configuration mechanical system tuning +ObjectType=0x9 + +[324Bsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=34 +PDOMapping=0 +ObjFlags=1 +ParameterValue=34 + +[324Bsub1] +ParameterName=Internal cut-off frequency of oscillation +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=8 +LowLimit=1 +HighLimit=200 +PDOMapping=0 +ObjFlags=1 +ParameterValue=8 + +[324Bsub2] +ParameterName=Internal target amplitude of oscillation +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=1 +LowLimit=1 +HighLimit=82000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[324Bsub3] +ParameterName=Internal identify Km +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +LowLimit=0 +HighLimit=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[324Bsub20] +ParameterName=Internal auxiliary target velocity +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Bsub21] +ParameterName=Internal auxiliary profile acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=1 +ParameterValue=10000 + +[324Bsub22] +ParameterName=Internal auxiliary profile deceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=1 +ParameterValue=10000 + +[324C] +SubNumber=8 +ParameterName=Internal parameters mechanical system tuning +ObjectType=0x9 + +[324Csub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=33 +PDOMapping=0 +ObjFlags=1 +ParameterValue=33 + +[324Csub1] +ParameterName=Internal cycle duration +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub2] +ParameterName=Internal set value of current +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub3] +ParameterName=Internal actual position peak value +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=2147483647 + +[324Csub4] +ParameterName=Internal actual value of dynamic friction +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub5] +ParameterName=Internal number of oscillation cycles +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub20] +ParameterName=Internal auxiliary velocity demand value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub21] +ParameterName=Internal auxiliary velocity actual value averaged +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324D] +SubNumber=5 +ParameterName=Internal PRBS velocity tuning configuration +ObjectType=0x9 + +[324Dsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[324Dsub1] +ParameterName=Internal PRBS velocity tuning step amplitude +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=500 +LowLimit=1 +HighLimit=2500000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=500 + +[324Dsub2] +ParameterName=Internal PRBS velocity tuning cycle time +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Dsub3] +ParameterName=Internal PRBS velocity tuning target amplitude +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=3 +LowLimit=3 +HighLimit=3000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=3 + +[324Dsub4] +ParameterName=Internal PRBS velocity tuning max cycle time factor +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=11 +LowLimit=11 +HighLimit=60 +PDOMapping=0 +ObjFlags=0 +ParameterValue=11 + +[324E] +SubNumber=2 +ParameterName=Internal PRBS velocity tuning parameter +ObjectType=0x8 + +[324Esub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[324Esub1] +ParameterName=Internal PRBS velocity tuning excitation amplitude +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324F] +SubNumber=8 +ParameterName=Internal PRBS velocity tuning position values +ObjectType=0x8 + +[324Fsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=7 +PDOMapping=0 +ObjFlags=1 +ParameterValue=7 + +[324Fsub1] +ParameterName=Internal PRBS velocity tuning position values 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub2] +ParameterName=Internal PRBS velocity tuning position values 2 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub3] +ParameterName=Internal PRBS velocity tuning position values 3 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub4] +ParameterName=Internal PRBS velocity tuning position values 4 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub5] +ParameterName=Internal PRBS velocity tuning position values 5 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub6] +ParameterName=Internal PRBS velocity tuning position values 6 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub7] +ParameterName=Internal PRBS velocity tuning position values 7 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3250] +SubNumber=4 +ParameterName=Internal PRBS velocity tuning excitation offset +ObjectType=0x8 + +[3250sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3250sub1] +ParameterName=Internal PRBS velocity tuning excitation offset 1 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3250sub2] +ParameterName=Internal PRBS velocity tuning excitation offset 2 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3250sub3] +ParameterName=Internal PRBS velocity tuning excitation offset 3 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[6007] +ParameterName=Abort connection option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=3 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[603F] +ParameterName=Error code +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[6040] +ParameterName=Controlword +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=0x0000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x003F + +[6041] +ParameterName=Statusword +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x8040 + +[605A] +ParameterName=Quick stop option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=6 +PDOMapping=0 +ObjFlags=0 +ParameterValue=6 + +[605B] +ParameterName=Shutdown option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[605C] +ParameterName=Disable operation option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[605E] +ParameterName=Fault reaction option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=2 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[6060] +ParameterName=Modes of operation +ObjectType=0x7 +DataType=0x2 +AccessType=rww +DefaultValue=1 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1 + +[6061] +ParameterName=Modes of operation display +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=1 + +[6062] +ParameterName=Position demand value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6064] +ParameterName=Position actual value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=560022 + +[6065] +ParameterName=Following error window +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=2000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=4294967295 + +[6066] +ParameterName=Following error timeout +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=0 +LowLimit=0 +HighLimit=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[606B] +ParameterName=Velocity demand value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[606C] +ParameterName=Velocity actual value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6071] +ParameterName=Target torque +ObjectType=0x7 +DataType=0x3 +AccessType=rww +DefaultValue=0 +LowLimit=-2000 +HighLimit=2000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6076] +ParameterName=Motor rated torque +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=328959 + +[6077] +ParameterName=Torque actual value +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[607A] +ParameterName=Target position +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=560024 + +[607B] +SubNumber=3 +ParameterName=Position range limit +ObjectType=0x8 + +[607Bsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[607Bsub1] +ParameterName=Min position range limit +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=0 +HighLimit=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[607Bsub2] +ParameterName=Max position range limit +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=0 +HighLimit=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[607D] +SubNumber=3 +ParameterName=Software position limit +ObjectType=0x8 + +[607Dsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[607Dsub1] +ParameterName=Min position limit +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[607Dsub2] +ParameterName=Max position limit +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[607F] +ParameterName=Max profile velocity +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=50000 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=4000 + +[6080] +ParameterName=Max motor speed +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=50000 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=5000 + +[6081] +ParameterName=Profile velocity +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=2000 + +[6083] +ParameterName=Profile acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10000 + +[6084] +ParameterName=Profile deceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10000 + +[6085] +ParameterName=Quick stop deceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10000 + +[6086] +ParameterName=Motion profile type +ObjectType=0x7 +DataType=0x3 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[6098] +ParameterName=Homing method +ObjectType=0x7 +DataType=0x2 +AccessType=rww +DefaultValue=7 +PDOMapping=1 +ObjFlags=0 +ParameterValue=-4 + +[6099] +SubNumber=3 +ParameterName=Homing speeds +ObjectType=0x8 + +[6099sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[6099sub1] +ParameterName=Speed for switch search +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=500 + +[6099sub2] +ParameterName=Speed for zero search +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=500 + +[609A] +ParameterName=Homing acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=500 + +[60A8] +ParameterName=SI unit position +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00B50000 +LowLimit=0x00B50000 +HighLimit=0x00B50000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00B50000 + +[60A9] +ParameterName=SI unit velocity +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00B44700 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00B44700 + +[60AA] +ParameterName=SI unit acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00C00300 +LowLimit=0x00C00300 +HighLimit=0x00C00300 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00C00300 + +[60B0] +ParameterName=Position offset +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60B1] +ParameterName=Velocity offset +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60B2] +ParameterName=Torque offset +ObjectType=0x7 +DataType=0x3 +AccessType=rww +DefaultValue=0 +LowLimit=-2000 +HighLimit=2000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60B8] +ParameterName=Touch probe function +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[60B9] +ParameterName=Touch probe status +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60BA] +ParameterName=Touch probe position 1 positive value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60BB] +ParameterName=Touch probe position 1 negative value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60C2] +SubNumber=3 +ParameterName=Interpolation time period +ObjectType=0x9 + +[60C2sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[60C2sub1] +ParameterName=Interpolation time period value +ObjectType=0x7 +DataType=0x5 +AccessType=rww +DefaultValue=0 +LowLimit=0 +HighLimit=100 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[60C2sub2] +ParameterName=Interpolation time index +ObjectType=0x7 +DataType=0x2 +AccessType=rww +DefaultValue=-3 +PDOMapping=1 +ObjFlags=1 +ParameterValue=-3 + +[60C5] +ParameterName=Max acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=4294967295 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=4294967295 + +[60D0] +SubNumber=2 +ParameterName=Touch probe source +ObjectType=0x8 + +[60D0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[60D0sub1] +ParameterName=Touch probe 1 source +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[60D5] +ParameterName=Touch probe 1 positive edge counter +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60D6] +ParameterName=Touch probe 1 negative edge counter +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E4] +SubNumber=4 +ParameterName=Additional position actual values +ObjectType=0x8 + +[60E4sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[60E4sub1] +ParameterName=Position actual value sensor 1 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=-1272 + +[60E4sub2] +ParameterName=Position actual value sensor 2 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E4sub3] +ParameterName=Position actual value sensor 3 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=3 + +[60E5] +SubNumber=7 +ParameterName=Additional velocity actual values +ObjectType=0x8 + +[60E5sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=11 +PDOMapping=0 +ObjFlags=1 +ParameterValue=11 + +[60E5sub1] +ParameterName=Velocity actual value sensor 1 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5sub2] +ParameterName=Velocity actual value sensor 2 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5sub3] +ParameterName=Velocity actual value sensor 3 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5sub9] +ParameterName=Velocity actual value averaged sensor 1 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5subA] +ParameterName=Velocity actual value averaged sensor 2 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5subB] +ParameterName=Velocity actual value averaged sensor 3 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60F4] +ParameterName=Following error actual value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60FD] +ParameterName=Digital inputs +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x00000000 + +[60FE] +SubNumber=2 +ParameterName=Digital outputs +ObjectType=0x8 + +[60FEsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[60FEsub1] +ParameterName=Physical outputs +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0x00000000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x00000000 + +[60FF] +ParameterName=Target velocity +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=-100000 +HighLimit=100000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6402] +ParameterName=Motor type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[6502] +ParameterName=Supported drive modes +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x000003A5 + diff --git a/EPOS/ParamPropulsion_V1.dcf b/EPOS/ParamPropulsion_V1.dcf new file mode 100644 index 0000000..566677a --- /dev/null +++ b/EPOS/ParamPropulsion_V1.dcf @@ -0,0 +1,6295 @@ +;***************************************************************** +; maxon motor ag +; all rights reserved +;***************************************************************** + +[FileInfo] +FileName=ParamPropulsion_V1.dcf +FileVersion=3 +FileRevision=0 +Description=Device Configuration File +EDSVersion=4.0 +CreationTime=01:24PM +CreationDate=08-23-2023 +CreatedBy=Axel Bonetti +ModificationTime=01:24PM +ModificationDate=08-23-2023 +ModifiedBy=Axel Bonetti + +[ToolInfos] +ToolVersion=EPOS4 Device Driver 3.7.1.0 + +[Comments] +Lines=4 +Line1=Software Version: 0x0170 +Line2=Hardware Version: 0x6450 +Line3=Application Number: 0x0000 +Line4=Application Version: 0x0000 + +[DeviceInfo] +VendorName=maxon motor ag +VendorNumber=0x000000FB +ProductName=EPOS4 70/15 +ProductNumber=0x64500000 +RevisionNumber=0x01700000 +OrderCode=0 +BaudRate_1000=1 +BaudRate_800=1 +BaudRate_500=1 +BaudRate_250=1 +BaudRate_125=1 +BaudRate_50=1 +BaudRate_20=1 +BaudRate_10=0 +SimpleBootUpMaster=0 +SimpleBootUpSlave=1 +Granularity=8 +DynamicChannelsSupported=0 +GroupMessaging=0 +NrOfRXPDO=4 +NrOfTXPDO=4 +LSS_Supported=1 + +[DeviceComissioning] +NodeID=1 +NodeName=EPOS4 +Baudrate=0 +NetNumber=0 +NetworkName=Network 0 +CANopenManager=0 +LSS_SerialNumber=0x55002384 + +[DummyUsage] +Dummy0001=0 +Dummy0002=0 +Dummy0003=0 +Dummy0004=0 +Dummy0005=0 +Dummy0006=0 +Dummy0007=0 + +;***************************************************************** +; Object Dictionary +;***************************************************************** + +[MandatoryObjects] +SupportedObjects=3 +1=0x1000 +2=0x1001 +3=0x1018 + +[OptionalObjects] +SupportedObjects=88 +1=0x1003 +2=0x1005 +3=0x1008 +4=0x1010 +5=0x1011 +6=0x1014 +7=0x1016 +8=0x1017 +9=0x1029 +10=0x1200 +11=0x1400 +12=0x1401 +13=0x1402 +14=0x1403 +15=0x1600 +16=0x1601 +17=0x1602 +18=0x1603 +19=0x1800 +20=0x1801 +21=0x1802 +22=0x1803 +23=0x1A00 +24=0x1A01 +25=0x1A02 +26=0x1A03 +27=0x1F50 +28=0x1F51 +29=0x1F56 +30=0x1F57 +31=0x6007 +32=0x603F +33=0x6040 +34=0x6041 +35=0x605A +36=0x605B +37=0x605C +38=0x605E +39=0x6060 +40=0x6061 +41=0x6062 +42=0x6064 +43=0x6065 +44=0x6066 +45=0x6067 +46=0x6068 +47=0x606B +48=0x606C +49=0x6071 +50=0x6076 +51=0x6077 +52=0x607A +53=0x607B +54=0x607D +55=0x607F +56=0x6080 +57=0x6081 +58=0x6083 +59=0x6084 +60=0x6085 +61=0x6086 +62=0x6098 +63=0x6099 +64=0x609A +65=0x60A8 +66=0x60A9 +67=0x60AA +68=0x60B0 +69=0x60B1 +70=0x60B2 +71=0x60B8 +72=0x60B9 +73=0x60BA +74=0x60BB +75=0x60C2 +76=0x60C5 +77=0x60D0 +78=0x60D5 +79=0x60D6 +80=0x60E3 +81=0x60E4 +82=0x60E5 +83=0x60F4 +84=0x60FD +85=0x60FE +86=0x60FF +87=0x6402 +88=0x6502 + +[ManufacturerObjects] +SupportedObjects=73 +1=0x2000 +2=0x2001 +3=0x2002 +4=0x2005 +5=0x2006 +6=0x200A +7=0x2010 +8=0x2100 +9=0x210C +10=0x2200 +11=0x2201 +12=0x2EC0 +13=0x3000 +14=0x3001 +15=0x3002 +16=0x3003 +17=0x3010 +18=0x3011 +19=0x3012 +20=0x301A +21=0x3020 +22=0x30A0 +23=0x30A1 +24=0x30A2 +25=0x30A3 +26=0x30A4 +27=0x30AE +28=0x30B0 +29=0x30B1 +30=0x30B2 +31=0x30B5 +32=0x30D0 +33=0x30D1 +34=0x30D2 +35=0x30D3 +36=0x30E0 +37=0x3141 +38=0x3142 +39=0x3150 +40=0x3151 +41=0x3158 +42=0x3160 +43=0x3161 +44=0x3162 +45=0x3163 +46=0x3170 +47=0x3171 +48=0x3180 +49=0x3181 +50=0x3182 +51=0x31E0 +52=0x31E1 +53=0x31E2 +54=0x31E4 +55=0x31E5 +56=0x31E6 +57=0x31E7 +58=0x31E8 +59=0x31E9 +60=0x3200 +61=0x3201 +62=0x3202 +63=0x3203 +64=0x3240 +65=0x3241 +66=0x3248 +67=0x3249 +68=0x324B +69=0x324C +70=0x324D +71=0x324E +72=0x324F +73=0x3250 + +[1000] +ParameterName=Device type +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00020192 + +[1001] +ParameterName=Error register +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00 + +[1003] +SubNumber=6 +ParameterName=Error history +ObjectType=0x8 + +[1003sub0] +ParameterName=Number of errors +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[1003sub1] +ParameterName=Error history 1 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1003sub2] +ParameterName=Error history 2 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1003sub3] +ParameterName=Error history 3 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1003sub4] +ParameterName=Error history 4 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1003sub5] +ParameterName=Error history 5 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[1005] +ParameterName=COB-ID SYNC +ObjectType=0x7 +DataType=0x7 +AccessType=const +DefaultValue=0x00000080 +LowLimit=0x00000080 +HighLimit=0x00000080 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000080 + +[1008] +ParameterName=Manufacturer device name +ObjectType=0x7 +DataType=0x9 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=EPOS4 + +[1010] +SubNumber=2 +ParameterName=Store parameters +ObjectType=0x8 + +[1010sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1010sub1] +ParameterName=Save all parameters +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000001 + +[1011] +SubNumber=3 +ParameterName=Restore default parameters +ObjectType=0x8 + +[1011sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[1011sub1] +ParameterName=Restore all default parameters +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000001 + +[1011sub4] +ParameterName=Internal restore factory default parameters +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000001 + +[1014] +ParameterName=COB-ID EMCY +ObjectType=0x7 +DataType=0x7 +AccessType=ro +DefaultValue=$NODEID+0x00000080 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000081 + +[1016] +SubNumber=3 +ParameterName=Consumer heartbeat time +ObjectType=0x8 + +[1016sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1016sub1] +ParameterName=Consumer 1 heartbeat time +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[1016sub2] +ParameterName=Consumer 2 heartbeat time +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[1017] +ParameterName=Producer heartbeat time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[1018] +SubNumber=5 +ParameterName=Identity object +ObjectType=0x8 + +[1018sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[1018sub1] +ParameterName=Vendor ID +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x000000FB + +[1018sub2] +ParameterName=Product code +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x64500000 + +[1018sub3] +ParameterName=Revision number +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x01700000 + +[1018sub4] +ParameterName=Serial number +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x55002384 + +[1029] +SubNumber=2 +ParameterName=Error behavior +ObjectType=0x8 + +[1029sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1029sub1] +ParameterName=Communication error +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[1200] +SubNumber=3 +ParameterName=SDO server parameter +ObjectType=0x9 + +[1200sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1200sub1] +ParameterName=COB-ID SDO client to server +ObjectType=0x7 +DataType=0x7 +AccessType=ro +DefaultValue=$NODEID+0x00000600 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000601 + +[1200sub2] +ParameterName=COB-ID SDO server to client +ObjectType=0x7 +DataType=0x7 +AccessType=ro +DefaultValue=$NODEID+0x00000580 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000581 + +[1400] +SubNumber=3 +ParameterName=Receive PDO 1 parameter +ObjectType=0x9 + +[1400sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1400sub1] +ParameterName=COB-ID used by RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x00000200 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000220 + +[1400sub2] +ParameterName=Transmission type RxPDO 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1401] +SubNumber=3 +ParameterName=Receive PDO 2 parameter +ObjectType=0x9 + +[1401sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1401sub1] +ParameterName=COB-ID used by RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x00000300 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000320 + +[1401sub2] +ParameterName=Transmission type RxPDO 2 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1402] +SubNumber=3 +ParameterName=Receive PDO 3 parameter +ObjectType=0x9 + +[1402sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1402sub1] +ParameterName=COB-ID used by RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x00000400 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000420 + +[1402sub2] +ParameterName=Transmission type RxPDO 3 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1403] +SubNumber=3 +ParameterName=Receive PDO 4 parameter +ObjectType=0x9 + +[1403sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[1403sub1] +ParameterName=COB-ID used by RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x00000500 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000520 + +[1403sub2] +ParameterName=Transmission type RxPDO 4 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1600] +SubNumber=13 +ParameterName=Receive PDO 1 mapping +ObjectType=0x9 + +[1600sub0] +ParameterName=Number of mapped objects in RxPDO 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[1600sub1] +ParameterName=1st mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60400010 + +[1600sub2] +ParameterName=2nd mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub3] +ParameterName=3rd mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub4] +ParameterName=4th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub5] +ParameterName=5th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub6] +ParameterName=6th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub7] +ParameterName=7th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub8] +ParameterName=8th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600sub9] +ParameterName=9th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600subA] +ParameterName=10th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600subB] +ParameterName=11th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1600subC] +ParameterName=12th mapped object in RxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601] +SubNumber=13 +ParameterName=Receive PDO 2 mapping +ObjectType=0x9 + +[1601sub0] +ParameterName=Number of mapped objects in RxPDO 2 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1601sub1] +ParameterName=1st mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60400010 + +[1601sub2] +ParameterName=2nd mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60600008 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60600008 + +[1601sub3] +ParameterName=3rd mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub4] +ParameterName=4th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub5] +ParameterName=5th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub6] +ParameterName=6th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub7] +ParameterName=7th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub8] +ParameterName=8th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601sub9] +ParameterName=9th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601subA] +ParameterName=10th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601subB] +ParameterName=11th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1601subC] +ParameterName=12th mapped object in RxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602] +SubNumber=13 +ParameterName=Receive PDO 3 mapping +ObjectType=0x9 + +[1602sub0] +ParameterName=Number of mapped objects in RxPDO 3 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1602sub1] +ParameterName=1st mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60400010 + +[1602sub2] +ParameterName=2nd mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x607A0020 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x607A0020 + +[1602sub3] +ParameterName=3rd mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub4] +ParameterName=4th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub5] +ParameterName=5th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub6] +ParameterName=6th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub7] +ParameterName=7th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub8] +ParameterName=8th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602sub9] +ParameterName=9th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602subA] +ParameterName=10th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602subB] +ParameterName=11th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1602subC] +ParameterName=12th mapped object in RxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603] +SubNumber=13 +ParameterName=Receive PDO 4 mapping +ObjectType=0x9 + +[1603sub0] +ParameterName=Number of mapped objects in RxPDO 4 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1603sub1] +ParameterName=1st mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60400010 + +[1603sub2] +ParameterName=2nd mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60FF0020 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60FF0020 + +[1603sub3] +ParameterName=3rd mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub4] +ParameterName=4th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub5] +ParameterName=5th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub6] +ParameterName=6th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub7] +ParameterName=7th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub8] +ParameterName=8th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603sub9] +ParameterName=9th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603subA] +ParameterName=10th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603subB] +ParameterName=11th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1603subC] +ParameterName=12th mapped object in RxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1800] +SubNumber=4 +ParameterName=Transmit PDO 1 parameter +ObjectType=0x9 + +[1800sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[1800sub1] +ParameterName=COB-ID used by TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0x40000180 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x400001A0 + +[1800sub2] +ParameterName=Transmission type TxPDO 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1800sub3] +ParameterName=Inhibit time TxPDO 1 +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[1801] +SubNumber=4 +ParameterName=Transmit PDO 2 parameter +ObjectType=0x9 + +[1801sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[1801sub1] +ParameterName=COB-ID used by TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0xC0000280 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0xC00002A0 + +[1801sub2] +ParameterName=Transmission type TxPDO 2 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1801sub3] +ParameterName=Inhibit time TxPDO 2 +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[1802] +SubNumber=4 +ParameterName=Transmit PDO 3 parameter +ObjectType=0x9 + +[1802sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[1802sub1] +ParameterName=COB-ID used by TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0xC0000380 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0xC00003A0 + +[1802sub2] +ParameterName=Transmission type TxPDO 3 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1802sub3] +ParameterName=Inhibit time TxPDO 3 +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[1803] +SubNumber=4 +ParameterName=Transmit PDO 4 parameter +ObjectType=0x9 + +[1803sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[1803sub1] +ParameterName=COB-ID used by TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=$NODEID+0xC0000480 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0xC00004A0 + +[1803sub2] +ParameterName=Transmission type TxPDO 4 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[1803sub3] +ParameterName=Inhibit time TxPDO 4 +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[1A00] +SubNumber=13 +ParameterName=Transmit PDO 1 mapping +ObjectType=0x9 + +[1A00sub0] +ParameterName=Number of mapped objects in TxPDO 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[1A00sub1] +ParameterName=1st mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60410010 + +[1A00sub2] +ParameterName=2nd mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub3] +ParameterName=3rd mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub4] +ParameterName=4th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub5] +ParameterName=5th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub6] +ParameterName=6th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub7] +ParameterName=7th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub8] +ParameterName=8th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00sub9] +ParameterName=9th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00subA] +ParameterName=10th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00subB] +ParameterName=11th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A00subC] +ParameterName=12th mapped object in TxPDO 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01] +SubNumber=13 +ParameterName=Transmit PDO 2 mapping +ObjectType=0x9 + +[1A01sub0] +ParameterName=Number of mapped objects in TxPDO 2 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1A01sub1] +ParameterName=1st mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60410010 + +[1A01sub2] +ParameterName=2nd mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60610008 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60610008 + +[1A01sub3] +ParameterName=3rd mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub4] +ParameterName=4th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub5] +ParameterName=5th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub6] +ParameterName=6th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub7] +ParameterName=7th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub8] +ParameterName=8th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01sub9] +ParameterName=9th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01subA] +ParameterName=10th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01subB] +ParameterName=11th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A01subC] +ParameterName=12th mapped object in TxPDO 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02] +SubNumber=13 +ParameterName=Transmit PDO 3 mapping +ObjectType=0x9 + +[1A02sub0] +ParameterName=Number of mapped objects in TxPDO 3 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1A02sub1] +ParameterName=1st mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60410010 + +[1A02sub2] +ParameterName=2nd mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60640020 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60640020 + +[1A02sub3] +ParameterName=3rd mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub4] +ParameterName=4th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub5] +ParameterName=5th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub6] +ParameterName=6th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub7] +ParameterName=7th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub8] +ParameterName=8th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02sub9] +ParameterName=9th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02subA] +ParameterName=10th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02subB] +ParameterName=11th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A02subC] +ParameterName=12th mapped object in TxPDO 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03] +SubNumber=13 +ParameterName=Transmit PDO 4 mapping +ObjectType=0x9 + +[1A03sub0] +ParameterName=Number of mapped objects in TxPDO 4 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +LowLimit=0 +HighLimit=12 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[1A03sub1] +ParameterName=1st mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x60410010 + +[1A03sub2] +ParameterName=2nd mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x606C0020 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x606C0020 + +[1A03sub3] +ParameterName=3rd mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub4] +ParameterName=4th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub5] +ParameterName=5th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub6] +ParameterName=6th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub7] +ParameterName=7th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub8] +ParameterName=8th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03sub9] +ParameterName=9th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03subA] +ParameterName=10th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03subB] +ParameterName=11th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1A03subC] +ParameterName=12th mapped object in TxPDO 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[1F50] +SubNumber=2 +ParameterName=Program data +ObjectType=0x8 + +[1F50sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1F50sub1] +ParameterName=Program number 1 +ObjectType=0x7 +DataType=0xA +AccessType=wo +PDOMapping=0 +ObjFlags=3 + +[1F51] +SubNumber=2 +ParameterName=Program control +ObjectType=0x8 + +[1F51sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1F51sub1] +ParameterName=Program number 1 +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0x01 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x01 + +[1F56] +SubNumber=2 +ParameterName=Program software identification +ObjectType=0x8 + +[1F56sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1F56sub1] +ParameterName=Program number 1 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x23A9E59F + +[1F57] +SubNumber=2 +ParameterName=Flash status identification +ObjectType=0x8 + +[1F57sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[1F57sub1] +ParameterName=Program number 1 +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[2000] +ParameterName=Node-ID +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[2001] +ParameterName=CAN bit rate +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=9 + +[2002] +ParameterName=RS232 bit rate +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=5 +PDOMapping=0 +ObjFlags=0 +ParameterValue=5 + +[2005] +ParameterName=RS232 frame timeout +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=500 +LowLimit=50 +HighLimit=65535 +PDOMapping=0 +ObjFlags=0 +ParameterValue=500 + +[2006] +ParameterName=USB frame timeout +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=500 +LowLimit=50 +HighLimit=65535 +PDOMapping=0 +ObjFlags=0 +ParameterValue=475 + +[200A] +ParameterName=CAN bit rate display +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=9 + +[2010] +ParameterName=Active fieldbus +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[2100] +SubNumber=2 +ParameterName=Additional identity +ObjectType=0x8 + +[2100sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[2100sub1] +ParameterName=Serial number complete +ObjectType=0x7 +DataType=0x1B +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x0000662155002384 + +[210C] +SubNumber=5 +ParameterName=Custom persistent memory +ObjectType=0x8 + +[210Csub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[210Csub1] +ParameterName=Custom persistent memory 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[210Csub2] +ParameterName=Custom persistent memory 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[210Csub3] +ParameterName=Custom persistent memory 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[210Csub4] +ParameterName=Custom persistent memory 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[2200] +SubNumber=3 +ParameterName=Power supply +ObjectType=0x9 + +[2200sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[2200sub1] +ParameterName=Power supply voltage +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2200sub2] +ParameterName=Internal valid logic supply +ObjectType=0x7 +DataType=0x1 +AccessType=ro +PDOMapping=0 +ObjFlags=1 + +[2201] +SubNumber=3 +ParameterName=Power supply supervision +ObjectType=0x8 + +[2201sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[2201sub1] +ParameterName=Power supply undervoltage limit +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=8000 +LowLimit=8000 +HighLimit=74500 +PDOMapping=0 +ObjFlags=0 +ParameterValue=8000 + +[2201sub2] +ParameterName=Power supply overvoltage limit +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=78000 +LowLimit=3508 +HighLimit=78000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=78000 + +[2EC0] +SubNumber=9 +ParameterName=Internal device control +ObjectType=0x9 + +[2EC0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=9 +PDOMapping=0 +ObjFlags=1 +ParameterValue=9 + +[2EC0sub1] +ParameterName=Internal error control +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=3 + +[2EC0sub2] +ParameterName=Internal CAN NMT state +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub3] +ParameterName=Internal bootloader revision number +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub4] +ParameterName=Internal bootloader product code +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub5] +ParameterName=Internal Extension communication error code +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub6] +ParameterName=Internal ESM state +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[2EC0sub8] +ParameterName=Internal LED Identification +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[2EC0sub9] +ParameterName=Internal debug state +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3000] +SubNumber=7 +ParameterName=Axis configuration +ObjectType=0x8 + +[3000sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=6 +PDOMapping=0 +ObjFlags=1 +ParameterValue=6 + +[3000sub1] +ParameterName=Sensors configuration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00100001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00100000 + +[3000sub2] +ParameterName=Control structure +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00010111 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000001 + +[3000sub3] +ParameterName=Commutation sensors +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000031 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000030 + +[3000sub4] +ParameterName=Axis configuration miscellaneous +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[3000sub5] +ParameterName=Main sensor resolution +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3000sub6] +ParameterName=Max system speed +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=4000 + +[3001] +SubNumber=6 +ParameterName=Motor data +ObjectType=0x9 + +[3001sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=5 +PDOMapping=0 +ObjFlags=1 +ParameterValue=5 + +[3001sub1] +ParameterName=Nominal current +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=15000 +LowLimit=0 +HighLimit=15000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=9792 + +[3001sub2] +ParameterName=Output current limit +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=30000 +LowLimit=0 +HighLimit=30000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=30000 + +[3001sub3] +ParameterName=Number of pole pairs +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +LowLimit=1 +HighLimit=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=8 + +[3001sub4] +ParameterName=Thermal time constant winding +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=40 +LowLimit=1 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=40 + +[3001sub5] +ParameterName=Torque constant +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=10000000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=108900 + +[3002] +SubNumber=3 +ParameterName=Electrical system parameters +ObjectType=0x9 + +[3002sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3002sub1] +ParameterName=Electrical resistance +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=0 +ParameterValue=211 + +[3002sub2] +ParameterName=Electrical inductance +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=65535 +PDOMapping=0 +ObjFlags=0 +ParameterValue=440 + +[3003] +SubNumber=5 +ParameterName=Gear configuration +ObjectType=0x8 + +[3003sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3003sub1] +ParameterName=Gear reduction numerator +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=1 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[3003sub2] +ParameterName=Gear reduction denominator +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=1 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[3003sub3] +ParameterName=Max gear input speed +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=100000 +LowLimit=1 +HighLimit=100000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=100000 + +[3003sub4] +ParameterName=Gear miscellaneous configuration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +LowLimit=0x00000000 +HighLimit=0x00000001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000000 + +[3010] +SubNumber=4 +ParameterName=Digital incremental encoder 1 +ObjectType=0x9 + +[3010sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3010sub1] +ParameterName=Digital incremental encoder 1 number of pulses +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=500 +LowLimit=16 +HighLimit=2500000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=500 + +[3010sub2] +ParameterName=Digital incremental encoder 1 type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[3010sub4] +ParameterName=Digital incremental encoder 1 index position +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3011] +SubNumber=4 +ParameterName=Analog incremental encoder +ObjectType=0x9 + +[3011sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3011sub1] +ParameterName=Analog incremental encoder type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[3011sub2] +ParameterName=Analog incremental encoder resolution +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00080004 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00080004 + +[3011sub3] +ParameterName=Analog incremental encoder index position +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3012] +SubNumber=13 +ParameterName=SSI absolute encoder +ObjectType=0x9 + +[3012sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=13 +PDOMapping=0 +ObjFlags=1 +ParameterValue=13 + +[3012sub1] +ParameterName=SSI data rate +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=2000 +LowLimit=400 +HighLimit=2000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2000 + +[3012sub2] +ParameterName=SSI number of data bits +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000C00 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00000C00 + +[3012sub3] +ParameterName=SSI encoding type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[3012sub5] +ParameterName=SSI timeout time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=30 +LowLimit=0 +HighLimit=50 +PDOMapping=0 +ObjFlags=0 +ParameterValue=30 + +[3012sub6] +ParameterName=SSI special bits trailing data +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[3012sub7] +ParameterName=SSI refresh frequency +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=12500 + +[3012sub8] +ParameterName=SSI power up time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=200 +LowLimit=0 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=200 + +[3012sub9] +ParameterName=SSI position raw value +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3012subA] +ParameterName=SSI commutation offset value +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3012subB] +ParameterName=SSI position bits +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x0000000C +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0000000C + +[3012subC] +ParameterName=SSI special bits leading data +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3012subD] +ParameterName=SSI position raw value complete +ObjectType=0x7 +DataType=0x1B +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[301A] +SubNumber=3 +ParameterName=Digital Hall sensor +ObjectType=0x8 + +[301Asub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[301Asub1] +ParameterName=Digital Hall sensor type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0000 + +[301Asub2] +ParameterName=Digital Hall sensor pattern +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x0006 + +[3020] +SubNumber=4 +ParameterName=Digital incremental encoder 2 +ObjectType=0x9 + +[3020sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3020sub1] +ParameterName=Digital incremental encoder 2 number of pulses +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=500 +LowLimit=16 +HighLimit=2500000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=500 + +[3020sub2] +ParameterName=Digital incremental encoder 2 type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0001 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0001 + +[3020sub4] +ParameterName=Digital incremental encoder 2 index position +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30A0] +SubNumber=3 +ParameterName=Current control parameter set +ObjectType=0x8 + +[30A0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[30A0sub1] +ParameterName=Current controller P gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1171880 +PDOMapping=1 +ObjFlags=0 +ParameterValue=639090 + +[30A0sub2] +ParameterName=Current controller I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=3906250 +PDOMapping=1 +ObjFlags=0 +ParameterValue=303552 + +[30A1] +SubNumber=7 +ParameterName=Position control parameter set +ObjectType=0x8 + +[30A1sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=9 +PDOMapping=0 +ObjFlags=1 +ParameterValue=9 + +[30A1sub1] +ParameterName=Position controller P gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1500000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1500000 + +[30A1sub2] +ParameterName=Position controller I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=780000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=780000 + +[30A1sub3] +ParameterName=Position controller D gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=16000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=16000 + +[30A1sub4] +ParameterName=Position controller FF velocity gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30A1sub5] +ParameterName=Position controller FF acceleration gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30A1sub9] +ParameterName=SI unit position controller I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0xFA040300 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0xFA040300 + +[30A2] +SubNumber=6 +ParameterName=Velocity control parameter set +ObjectType=0x9 + +[30A2sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=5 +PDOMapping=0 +ObjFlags=1 +ParameterValue=5 + +[30A2sub1] +ParameterName=Velocity controller P gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=20000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=20000 + +[30A2sub2] +ParameterName=Velocity controller I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=500000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=500000 + +[30A2sub3] +ParameterName=Velocity controller FF velocity gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30A2sub4] +ParameterName=Velocity controller FF acceleration gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30A2sub5] +ParameterName=Velocity controller filter cut-off frequency +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=600 +LowLimit=1 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=600 + +[30A3] +SubNumber=6 +ParameterName=Velocity observer parameter set +ObjectType=0x8 + +[30A3sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=5 +PDOMapping=0 +ObjFlags=1 +ParameterValue=5 + +[30A3sub1] +ParameterName=Velocity observer position correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=400 +PDOMapping=1 +ObjFlags=0 +ParameterValue=400 + +[30A3sub2] +ParameterName=Velocity observer velocity correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100000 + +[30A3sub3] +ParameterName=Velocity observer load correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=33 +PDOMapping=1 +ObjFlags=0 +ParameterValue=33 + +[30A3sub4] +ParameterName=Velocity observer friction +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10 + +[30A3sub5] +ParameterName=Velocity observer inertia +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30A4] +SubNumber=2 +ParameterName=Internal Velocity filter parameter set +ObjectType=0x8 + +[30A4sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[30A4sub1] +ParameterName=Internal velocity filter bandwidth correction factor +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100 +LowLimit=1 +HighLimit=10000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100 + +[30AE] +SubNumber=19 +ParameterName=Dual loop position control parameter set +ObjectType=0x9 + +[30AEsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=64 +PDOMapping=0 +ObjFlags=1 +ParameterValue=64 + +[30AEsub1] +ParameterName=Main loop P gain low bandwidth +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10000 + +[30AEsub2] +ParameterName=Main loop P gain high bandwidth +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100000 + +[30AEsub3] +ParameterName=Main loop gain scheduling weight +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=12500 +LowLimit=5000 +HighLimit=20000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=12500 + +[30AEsub10] +ParameterName=Main loop filter coefficient a +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub11] +ParameterName=Main loop filter coefficient b +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub12] +ParameterName=Main loop filter coefficient c +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub13] +ParameterName=Main loop filter coefficient d +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub14] +ParameterName=Main loop filter coefficient e +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=0 +HighLimit=1000000000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub20] +ParameterName=Auxiliary loop P gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=20000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=20000 + +[30AEsub21] +ParameterName=Auxiliary loop I gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=500000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=500000 + +[30AEsub22] +ParameterName=Auxiliary loop FF velocity gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30AEsub23] +ParameterName=Auxiliary loop FF acceleration gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30AEsub30] +ParameterName=Auxiliary loop observer position correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=400 +PDOMapping=1 +ObjFlags=0 +ParameterValue=400 + +[30AEsub31] +ParameterName=Auxiliary loop observer velocity correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100000 + +[30AEsub32] +ParameterName=Auxiliary loop observer load correction gain +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=33 +PDOMapping=1 +ObjFlags=0 +ParameterValue=33 + +[30AEsub33] +ParameterName=Auxiliary loop observer friction +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10 + +[30AEsub34] +ParameterName=Auxiliary loop observer inertia +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[30AEsub40] +ParameterName=Dual loop configuration miscellaneous +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=0x0000 +LowLimit=0x0000 +HighLimit=0x0003 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0x0000 + +[30B0] +ParameterName=Home position +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[30B1] +ParameterName=Home offset move distance +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[30B2] +ParameterName=Current threshold for homing mode +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=500 +LowLimit=0 +HighLimit=30000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=500 + +[30B5] +SubNumber=3 +ParameterName=Internal homing data +ObjectType=0x9 + +[30B5sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[30B5sub1] +ParameterName=Internal absolute home reference +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[30B5sub2] +ParameterName=Internal absolute home reference state +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[30D0] +ParameterName=Current demand value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30D1] +SubNumber=3 +ParameterName=Current actual values +ObjectType=0x8 + +[30D1sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[30D1sub1] +ParameterName=Current actual value averaged +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=1 + +[30D1sub2] +ParameterName=Current actual value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=2 + +[30D2] +SubNumber=2 +ParameterName=Torque actual values +ObjectType=0x8 + +[30D2sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[30D2sub1] +ParameterName=Torque actual value averaged +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30D3] +SubNumber=2 +ParameterName=Velocity actual values +ObjectType=0x8 + +[30D3sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[30D3sub1] +ParameterName=Velocity actual value averaged +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[30E0] +SubNumber=4 +ParameterName=Standstill window configuration +ObjectType=0x9 + +[30E0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[30E0sub1] +ParameterName=Standstill window +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=30 +PDOMapping=0 +ObjFlags=0 +ParameterValue=30 + +[30E0sub2] +ParameterName=Standstill window time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=2 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[30E0sub3] +ParameterName=Standstill window timeout +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=1000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1000 + +[3141] +SubNumber=3 +ParameterName=Digital input properties +ObjectType=0x8 + +[3141sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3141sub1] +ParameterName=Digital inputs logic state +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[3141sub2] +ParameterName=Digital inputs polarity +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0000 + +[3142] +SubNumber=9 +ParameterName=Configuration of digital inputs +ObjectType=0x8 + +[3142sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=8 +PDOMapping=0 +ObjFlags=1 +ParameterValue=8 + +[3142sub1] +ParameterName=Digital input 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub2] +ParameterName=Digital input 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub3] +ParameterName=Digital input 3 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub4] +ParameterName=Digital input 4 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=19 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub5] +ParameterName=High-speed digital input 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub6] +ParameterName=High-speed digital input 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub7] +ParameterName=High-speed digital input 3 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3142sub8] +ParameterName=High-speed digital input 4 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3150] +SubNumber=3 +ParameterName=Digital output properties +ObjectType=0x8 + +[3150sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3150sub1] +ParameterName=Digital outputs logic state +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[3150sub2] +ParameterName=Digital outputs polarity +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x0000 + +[3151] +SubNumber=4 +ParameterName=Configuration of digital outputs +ObjectType=0x8 + +[3151sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3151sub1] +ParameterName=Digital output 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=16 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3151sub2] +ParameterName=Digital output 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=17 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3151sub3] +ParameterName=High-speed digital output 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=255 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3158] +SubNumber=4 +ParameterName=Holding brake parameters +ObjectType=0x9 + +[3158sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3158sub1] +ParameterName=Holding brake rise time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +LowLimit=0 +HighLimit=5000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[3158sub2] +ParameterName=Holding brake fall time +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +LowLimit=0 +HighLimit=5000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10 + +[3158sub3] +ParameterName=Holding brake state +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3160] +SubNumber=3 +ParameterName=Analog input properties +ObjectType=0x8 + +[3160sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3160sub1] +ParameterName=Analog input 1 voltage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=-59 + +[3160sub2] +ParameterName=Analog input 2 voltage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=-59 + +[3161] +SubNumber=3 +ParameterName=Configuration of analog inputs +ObjectType=0x8 + +[3161sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3161sub1] +ParameterName=Analog input 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3161sub2] +ParameterName=Analog input 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3162] +SubNumber=3 +ParameterName=Analog input general purpose +ObjectType=0x8 + +[3162sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3162sub1] +ParameterName=Analog input general purpose A +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3162sub2] +ParameterName=Analog input general purpose B +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3163] +SubNumber=5 +ParameterName=Analog input adjustment +ObjectType=0x9 + +[3163sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3163sub1] +ParameterName=Analog input 1 adjustment offset +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3163sub2] +ParameterName=Analog input 1 adjustment gain factor +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10000 +LowLimit=5000 +HighLimit=20000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10000 + +[3163sub3] +ParameterName=Analog input 2 adjustment offset +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3163sub4] +ParameterName=Analog input 2 adjustment gain factor +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10000 +LowLimit=5000 +HighLimit=20000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=10000 + +[3170] +SubNumber=5 +ParameterName=Analog input current set value properties +ObjectType=0x8 + +[3170sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3170sub1] +ParameterName=Current set value first voltage +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-10000 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3170sub2] +ParameterName=Current set value first current +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-30000 +HighLimit=30000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3170sub3] +ParameterName=Current set value second voltage +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-10000 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3170sub4] +ParameterName=Current set value second current +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-30000 +HighLimit=30000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3171] +SubNumber=5 +ParameterName=Analog input velocity set value properties +ObjectType=0x8 + +[3171sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3171sub1] +ParameterName=Velocity set value first voltage +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-10000 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3171sub2] +ParameterName=Velocity set value first velocity +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-100000 +HighLimit=100000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3171sub3] +ParameterName=Velocity set value second voltage +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-10000 +HighLimit=10000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3171sub4] +ParameterName=Velocity set value second velocity +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +LowLimit=-100000 +HighLimit=100000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[3180] +SubNumber=3 +ParameterName=Analog output properties +ObjectType=0x8 + +[3180sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3180sub1] +ParameterName=Analog output 1 voltage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3180sub2] +ParameterName=Analog output 2 voltage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3181] +SubNumber=3 +ParameterName=Configuration of analog outputs +ObjectType=0x8 + +[3181sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3181sub1] +ParameterName=Analog output 1 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3181sub2] +ParameterName=Analog output 2 configuration +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=255 + +[3182] +SubNumber=3 +ParameterName=Analog output general purpose +ObjectType=0x8 + +[3182sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3182sub1] +ParameterName=Analog output general purpose A +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=-4000 +HighLimit=4000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[3182sub2] +ParameterName=Analog output general purpose B +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=-4000 +HighLimit=4000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[31E0] +SubNumber=5 +ParameterName=Internal data recorder variable index +ObjectType=0x8 + +[31E0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[31E0sub1] +ParameterName=Internal data recorder variable index 1 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x60710000 + +[31E0sub2] +ParameterName=Internal data recorder variable index 2 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x30D20100 + +[31E0sub3] +ParameterName=Internal data recorder variable index 3 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[31E0sub4] +ParameterName=Internal data recorder variable index 4 +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[31E1] +SubNumber=3 +ParameterName=Internal data recorder configuration +ObjectType=0x8 + +[31E1sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E1sub1] +ParameterName=Internal data recorder sampling period +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=120 +LowLimit=40 +HighLimit=65534 +PDOMapping=0 +ObjFlags=1 +ParameterValue=400 + +[31E1sub2] +ParameterName=Internal data recorder max number of samples +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=500 +LowLimit=1 +HighLimit=500 +PDOMapping=0 +ObjFlags=1 +ParameterValue=500 + +[31E2] +SubNumber=7 +ParameterName=Internal data recorder trigger +ObjectType=0x9 + +[31E2sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=6 +PDOMapping=0 +ObjFlags=1 +ParameterValue=6 + +[31E2sub1] +ParameterName=Internal data recorder trigger variable index +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x60710000 + +[31E2sub2] +ParameterName=Internal data recorder trigger mode +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[31E2sub3] +ParameterName=Internal data recorder trigger high value +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E2sub4] +ParameterName=Internal data recorder trigger low value +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E2sub5] +ParameterName=Internal data recorder trigger mask +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0xFFFFFFFF +PDOMapping=0 +ObjFlags=1 +ParameterValue=0xFFFFFFFF + +[31E2sub6] +ParameterName=Internal data recorder trigger number of preceding samples +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=499 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[31E4] +SubNumber=3 +ParameterName=Internal data recorder control +ObjectType=0x8 + +[31E4sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E4sub1] +ParameterName=Internal data recorder controlword +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x0000 + +[31E4sub2] +ParameterName=Internal data recorder statusword +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x000C + +[31E5] +SubNumber=4 +ParameterName=Internal data recorder data +ObjectType=0x9 + +[31E5sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[31E5sub1] +ParameterName=Internal data recorder number of recorded samples +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=500 + +[31E5sub2] +ParameterName=Internal recorder buffer timestamp +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=221572607 + +[31E5sub3] +ParameterName=Internal data recorder snapshot +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E6] +SubNumber=3 +ParameterName=Internal data recorder buffer variable 1 +ObjectType=0x8 + +[31E6sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E6sub1] +ParameterName=Internal data recorder buffer variable 1 complete +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E6sub2] +ParameterName=Internal data recorder buffer variable 1 part 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E7] +SubNumber=3 +ParameterName=Internal data recorder buffer variable 2 +ObjectType=0x8 + +[31E7sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E7sub1] +ParameterName=Internal data recorder buffer variable 2 complete +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E7sub2] +ParameterName=Internal data recorder buffer variable 2 part 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E8] +SubNumber=3 +ParameterName=Internal data recorder buffer variable 3 +ObjectType=0x8 + +[31E8sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E8sub1] +ParameterName=Internal data recorder buffer variable 3 complete +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E8sub2] +ParameterName=Internal data recorder buffer variable 3 part 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E9] +SubNumber=3 +ParameterName=Internal data recorder buffer variable 4 +ObjectType=0x8 + +[31E9sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[31E9sub1] +ParameterName=Internal data recorder buffer variable 4 complete +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[31E9sub2] +ParameterName=Internal data recorder buffer variable 4 part 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3200] +SubNumber=3 +ParameterName=Power limitation +ObjectType=0x8 + +[3200sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3200sub1] +ParameterName=I2t level motor +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3200sub2] +ParameterName=I2t level power stage +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3201] +SubNumber=3 +ParameterName=Thermal overload protection +ObjectType=0x9 + +[3201sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[3201sub1] +ParameterName=Temperature power stage +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3201sub4] +ParameterName=Maximal temperature power stage +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=950 +LowLimit=0 +HighLimit=950 +PDOMapping=0 +ObjFlags=0 +ParameterValue=950 + +[3202] +SubNumber=2 +ParameterName=Functional safety +ObjectType=0x8 + +[3202sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[3202sub1] +ParameterName=STO input states +ObjectType=0x7 +DataType=0x5 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3203] +SubNumber=2 +ParameterName=Motor control +ObjectType=0x8 + +[3203sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[3203sub1] +ParameterName=PWM duty cycle actual value +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[3240] +SubNumber=4 +ParameterName=Internal test object +ObjectType=0x9 + +[3240sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3240sub1] +ParameterName=Internal spi extension test +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0x00000000 + +[3240sub2] +ParameterName=Internal ADC encoder 2 channel A analog value +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3240sub3] +ParameterName=Internal ADC encoder 2 channel B analog value +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3241] +SubNumber=7 +ParameterName=Internal motor control +ObjectType=0x9 + +[3241sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=6 +PDOMapping=0 +ObjFlags=1 +ParameterValue=6 + +[3241sub1] +ParameterName=Internal ADC current offset simultaneous phase U +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub2] +ParameterName=Internal ADC current offset simultaneous phase V +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub3] +ParameterName=Internal ADC current offset sequential phase U +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub4] +ParameterName=Internal ADC current offset sequential phase V +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub5] +ParameterName=Internal ADC current offset sequential phase W +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=3 + +[3241sub6] +ParameterName=Internal electrical rotor angle +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=16 + +[3248] +SubNumber=3 +ParameterName=Internal configuration electrical system tuning +ObjectType=0x8 + +[3248sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[3248sub1] +ParameterName=Internal LR identification current +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0 +LowLimit=0 +HighLimit=15000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3248sub2] +ParameterName=Internal LR identification frequency +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3249] +SubNumber=4 +ParameterName=Internal parameters electrical system tuning +ObjectType=0x9 + +[3249sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3249sub1] +ParameterName=Internal resistance +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3249sub2] +ParameterName=Internal inductance +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3249sub3] +ParameterName=Internal frequency +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324B] +SubNumber=9 +ParameterName=Internal configuration mechanical system tuning +ObjectType=0x9 + +[324Bsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=34 +PDOMapping=0 +ObjFlags=1 +ParameterValue=34 + +[324Bsub1] +ParameterName=Internal cut-off frequency of oscillation +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=8000 +LowLimit=1 +HighLimit=200000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=8000 + +[324Bsub2] +ParameterName=Internal target amplitude of oscillation +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=1 +LowLimit=1 +HighLimit=82000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[324Bsub3] +ParameterName=Internal identify Km +ObjectType=0x7 +DataType=0x5 +AccessType=rw +DefaultValue=1 +LowLimit=0 +HighLimit=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[324Bsub4] +ParameterName=Internal proportional gain for dynamic friction +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=1000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1000 + +[324Bsub5] +ParameterName=Internal integral gain for dynamic friction +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=100 +PDOMapping=0 +ObjFlags=1 +ParameterValue=100 + +[324Bsub20] +ParameterName=Internal auxiliary target velocity +ObjectType=0x7 +DataType=0x4 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Bsub21] +ParameterName=Internal auxiliary profile acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=1 +ParameterValue=10000 + +[324Bsub22] +ParameterName=Internal auxiliary profile deceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=0 +ObjFlags=1 +ParameterValue=10000 + +[324C] +SubNumber=8 +ParameterName=Internal parameters mechanical system tuning +ObjectType=0x9 + +[324Csub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=33 +PDOMapping=0 +ObjFlags=1 +ParameterValue=33 + +[324Csub1] +ParameterName=Internal cycle duration +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub2] +ParameterName=Internal set value of current +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub3] +ParameterName=Internal actual position peak value +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub4] +ParameterName=Internal actual value of dynamic friction +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub6] +ParameterName=Internal extra delay +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub20] +ParameterName=Internal auxiliary velocity demand value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Csub21] +ParameterName=Internal auxiliary velocity actual value averaged +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324D] +SubNumber=5 +ParameterName=Internal PRBS velocity tuning configuration +ObjectType=0x9 + +[324Dsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=4 +PDOMapping=0 +ObjFlags=1 +ParameterValue=4 + +[324Dsub1] +ParameterName=Internal PRBS velocity tuning step amplitude +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=500 +LowLimit=1 +HighLimit=2500000 +PDOMapping=0 +ObjFlags=1 +ParameterValue=500 + +[324Dsub2] +ParameterName=Internal PRBS velocity tuning cycle time +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324Dsub3] +ParameterName=Internal PRBS velocity tuning target amplitude +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=3 +LowLimit=3 +HighLimit=3000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=3 + +[324Dsub4] +ParameterName=Internal PRBS velocity tuning max cycle time factor +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=11 +LowLimit=11 +HighLimit=60 +PDOMapping=0 +ObjFlags=0 +ParameterValue=11 + +[324E] +SubNumber=2 +ParameterName=Internal PRBS velocity tuning parameter +ObjectType=0x8 + +[324Esub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[324Esub1] +ParameterName=Internal PRBS velocity tuning excitation amplitude +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[324F] +SubNumber=8 +ParameterName=Internal PRBS velocity tuning position values +ObjectType=0x8 + +[324Fsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=7 +PDOMapping=0 +ObjFlags=1 +ParameterValue=7 + +[324Fsub1] +ParameterName=Internal PRBS velocity tuning position values 1 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub2] +ParameterName=Internal PRBS velocity tuning position values 2 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub3] +ParameterName=Internal PRBS velocity tuning position values 3 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub4] +ParameterName=Internal PRBS velocity tuning position values 4 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub5] +ParameterName=Internal PRBS velocity tuning position values 5 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub6] +ParameterName=Internal PRBS velocity tuning position values 6 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[324Fsub7] +ParameterName=Internal PRBS velocity tuning position values 7 +ObjectType=0x7 +DataType=0xA +AccessType=ro +PDOMapping=0 +ObjFlags=3 + +[3250] +SubNumber=4 +ParameterName=Internal PRBS velocity tuning excitation offset +ObjectType=0x8 + +[3250sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[3250sub1] +ParameterName=Internal PRBS velocity tuning excitation offset 1 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3250sub2] +ParameterName=Internal PRBS velocity tuning excitation offset 2 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[3250sub3] +ParameterName=Internal PRBS velocity tuning excitation offset 3 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[6007] +ParameterName=Abort connection option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=3 +PDOMapping=0 +ObjFlags=0 +ParameterValue=3 + +[603F] +ParameterName=Error code +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x0000 + +[6040] +ParameterName=Controlword +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=0x0000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x000F + +[6041] +ParameterName=Statusword +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x1037 + +[605A] +ParameterName=Quick stop option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=6 +PDOMapping=0 +ObjFlags=0 +ParameterValue=6 + +[605B] +ParameterName=Shutdown option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0 + +[605C] +ParameterName=Disable operation option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=1 +PDOMapping=0 +ObjFlags=0 +ParameterValue=1 + +[605E] +ParameterName=Fault reaction option code +ObjectType=0x7 +DataType=0x3 +AccessType=rw +DefaultValue=2 +PDOMapping=0 +ObjFlags=0 +ParameterValue=2 + +[6060] +ParameterName=Modes of operation +ObjectType=0x7 +DataType=0x2 +AccessType=rww +DefaultValue=1 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10 + +[6061] +ParameterName=Modes of operation display +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=10 + +[6062] +ParameterName=Position demand value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6064] +ParameterName=Position actual value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6065] +ParameterName=Following error window +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=2000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=2000 + +[6066] +ParameterName=Following error time out +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=0 +LowLimit=0 +HighLimit=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6067] +ParameterName=Position window +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=4294967295 + +[6068] +ParameterName=Position window time +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[606B] +ParameterName=Velocity demand value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[606C] +ParameterName=Velocity actual value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6071] +ParameterName=Target torque +ObjectType=0x7 +DataType=0x3 +AccessType=rww +DefaultValue=0 +LowLimit=-2000 +HighLimit=2000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6076] +ParameterName=Motor rated torque +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1066349 + +[6077] +ParameterName=Torque actual value +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=-2 + +[607A] +ParameterName=Target position +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[607B] +SubNumber=3 +ParameterName=Position range limit +ObjectType=0x8 + +[607Bsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[607Bsub1] +ParameterName=Min position range limit +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=0 +HighLimit=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[607Bsub2] +ParameterName=Max position range limit +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=0 +HighLimit=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[607D] +SubNumber=3 +ParameterName=Software position limit +ObjectType=0x8 + +[607Dsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[607Dsub1] +ParameterName=Min position limit +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[607Dsub2] +ParameterName=Max position limit +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[607F] +ParameterName=Max profile velocity +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=50000 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=4000 + +[6080] +ParameterName=Max motor speed +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=50000 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=4000 + +[6081] +ParameterName=Profile velocity +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[6083] +ParameterName=Profile acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10000 + +[6084] +ParameterName=Profile deceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10000 + +[6085] +ParameterName=Quick stop deceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10000 + +[6086] +ParameterName=Motion profile type +ObjectType=0x7 +DataType=0x3 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[6098] +ParameterName=Homing method +ObjectType=0x7 +DataType=0x2 +AccessType=rww +DefaultValue=7 +PDOMapping=1 +ObjFlags=0 +ParameterValue=23 + +[6099] +SubNumber=3 +ParameterName=Homing speeds +ObjectType=0x8 + +[6099sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[6099sub1] +ParameterName=Speed for switch search +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=100 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=100 + +[6099sub2] +ParameterName=Speed for zero search +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=10 +LowLimit=1 +HighLimit=50000 +PDOMapping=1 +ObjFlags=0 +ParameterValue=10 + +[609A] +ParameterName=Homing acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=1000 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=1000 + +[60A8] +ParameterName=SI unit position +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00B50000 +LowLimit=0x00B50000 +HighLimit=0x00B50000 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00B50000 + +[60A9] +ParameterName=SI unit velocity +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00B44700 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00B44700 + +[60AA] +ParameterName=SI unit acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rw +DefaultValue=0x00C00300 +LowLimit=0x00C00300 +HighLimit=0x00C00300 +PDOMapping=0 +ObjFlags=0 +ParameterValue=0x00C00300 + +[60B0] +ParameterName=Position offset +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60B1] +ParameterName=Velocity offset +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60B2] +ParameterName=Torque offset +ObjectType=0x7 +DataType=0x3 +AccessType=rww +DefaultValue=0 +LowLimit=-2000 +HighLimit=2000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60B8] +ParameterName=Touch probe function +ObjectType=0x7 +DataType=0x6 +AccessType=rww +DefaultValue=0 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[60B9] +ParameterName=Touch probe status +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60BA] +ParameterName=Touch probe 1 positive edge +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60BB] +ParameterName=Touch probe 1 negative edge +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60C2] +SubNumber=3 +ParameterName=Interpolation time period +ObjectType=0x9 + +[60C2sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=2 +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[60C2sub1] +ParameterName=Interpolation time period value +ObjectType=0x7 +DataType=0x5 +AccessType=rww +DefaultValue=0 +LowLimit=0 +HighLimit=100 +PDOMapping=1 +ObjFlags=0 +ParameterValue=0 + +[60C2sub2] +ParameterName=Interpolation time index +ObjectType=0x7 +DataType=0x2 +AccessType=rww +DefaultValue=-3 +PDOMapping=1 +ObjFlags=1 +ParameterValue=-3 + +[60C5] +ParameterName=Max acceleration +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=4294967295 +LowLimit=1 +HighLimit=4294967295 +PDOMapping=1 +ObjFlags=0 +ParameterValue=4294967295 + +[60D0] +SubNumber=2 +ParameterName=Touch probe source +ObjectType=0x8 + +[60D0sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[60D0sub1] +ParameterName=Touch probe 1 source +ObjectType=0x7 +DataType=0x3 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=0 + +[60D5] +ParameterName=Touch probe 1 positive edge counter +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60D6] +ParameterName=Touch probe 1 negative edge counter +ObjectType=0x7 +DataType=0x6 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E3] +SubNumber=16 +ParameterName=Supported homing methods +ObjectType=0x8 + +[60E3sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=ro +DefaultValue=15 +PDOMapping=0 +ObjFlags=1 +ParameterValue=15 + +[60E3sub1] +ParameterName=1st supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=37 + +[60E3sub2] +ParameterName=2nd supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=34 + +[60E3sub3] +ParameterName=3rd supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=33 + +[60E3sub4] +ParameterName=4th supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=27 + +[60E3sub5] +ParameterName=5th supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=23 + +[60E3sub6] +ParameterName=6th supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=18 + +[60E3sub7] +ParameterName=7th supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=17 + +[60E3sub8] +ParameterName=8th supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=11 + +[60E3sub9] +ParameterName=9th supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=7 + +[60E3subA] +ParameterName=10th supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=2 + +[60E3subB] +ParameterName=11th supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[60E3subC] +ParameterName=12th supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=-1 + +[60E3subD] +ParameterName=13th supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=-2 + +[60E3subE] +ParameterName=14th supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=-3 + +[60E3subF] +ParameterName=15th supported homing method +ObjectType=0x7 +DataType=0x2 +AccessType=ro +PDOMapping=0 +ObjFlags=1 +ParameterValue=-4 + +[60E4] +SubNumber=4 +ParameterName=Additional position actual values +ObjectType=0x8 + +[60E4sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=3 +PDOMapping=0 +ObjFlags=1 +ParameterValue=3 + +[60E4sub1] +ParameterName=Position actual value sensor 1 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E4sub2] +ParameterName=Position actual value sensor 2 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E4sub3] +ParameterName=Position actual value sensor 3 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=-19816 + +[60E5] +SubNumber=7 +ParameterName=Additional velocity actual values +ObjectType=0x8 + +[60E5sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=11 +PDOMapping=0 +ObjFlags=1 +ParameterValue=11 + +[60E5sub1] +ParameterName=Velocity actual value sensor 1 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5sub2] +ParameterName=Velocity actual value sensor 2 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5sub3] +ParameterName=Velocity actual value sensor 3 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5sub9] +ParameterName=Velocity actual value averaged sensor 1 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5subA] +ParameterName=Velocity actual value averaged sensor 2 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60E5subB] +ParameterName=Velocity actual value averaged sensor 3 +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60F4] +ParameterName=Following error actual value +ObjectType=0x7 +DataType=0x4 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[60FD] +ParameterName=Digital inputs +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x00000000 + +[60FE] +SubNumber=2 +ParameterName=Digital outputs +ObjectType=0x8 + +[60FEsub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +DataType=0x5 +AccessType=const +DefaultValue=1 +PDOMapping=0 +ObjFlags=1 +ParameterValue=1 + +[60FEsub1] +ParameterName=Physical outputs +ObjectType=0x7 +DataType=0x7 +AccessType=rww +DefaultValue=0x00000000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x00000000 + +[60FF] +ParameterName=Target velocity +ObjectType=0x7 +DataType=0x4 +AccessType=rww +DefaultValue=0 +LowLimit=-100000 +HighLimit=100000 +PDOMapping=1 +ObjFlags=1 +ParameterValue=0 + +[6402] +ParameterName=Motor type +ObjectType=0x7 +DataType=0x6 +AccessType=rw +DefaultValue=10 +PDOMapping=0 +ObjFlags=0 +ParameterValue=11 + +[6502] +ParameterName=Supported drive modes +ObjectType=0x7 +DataType=0x7 +AccessType=ro +PDOMapping=1 +ObjFlags=1 +ParameterValue=0x000003A5 +