;***************************************************************** ; 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