eKart/EPOS/ParamPropulsion_V1.dcf

;*****************************************************************
; maxon motor ag
; all rights reserved
;*****************************************************************

[FileInfo]
FileName=ParamPropulsion_V1.dcf
FileVersion=3
FileRevision=0
Description=Device Configuration File
EDSVersion=4.0
CreationTime=01:24PM
CreationDate=08-23-2023
CreatedBy=Axel Bonetti
ModificationTime=01:24PM
ModificationDate=08-23-2023
ModifiedBy=Axel Bonetti

[ToolInfos]
ToolVersion=EPOS4 Device Driver 3.7.1.0

[Comments]
Lines=4
Line1=Software Version:    0x0170
Line2=Hardware Version:    0x6450
Line3=Application Number:  0x0000
Line4=Application Version: 0x0000

[DeviceInfo]
VendorName=maxon motor ag
VendorNumber=0x000000FB
ProductName=EPOS4 70/15
ProductNumber=0x64500000
RevisionNumber=0x01700000
OrderCode=0
BaudRate_1000=1
BaudRate_800=1
BaudRate_500=1
BaudRate_250=1
BaudRate_125=1
BaudRate_50=1
BaudRate_20=1
BaudRate_10=0
SimpleBootUpMaster=0
SimpleBootUpSlave=1
Granularity=8
DynamicChannelsSupported=0
GroupMessaging=0
NrOfRXPDO=4
NrOfTXPDO=4
LSS_Supported=1

[DeviceComissioning]
NodeID=1
NodeName=EPOS4
Baudrate=0
NetNumber=0
NetworkName=Network 0
CANopenManager=0
LSS_SerialNumber=0x55002384

[DummyUsage]
Dummy0001=0
Dummy0002=0
Dummy0003=0
Dummy0004=0
Dummy0005=0
Dummy0006=0
Dummy0007=0

;*****************************************************************
; Object Dictionary
;*****************************************************************

[MandatoryObjects]
SupportedObjects=3
1=0x1000
2=0x1001
3=0x1018

[OptionalObjects]
SupportedObjects=88
1=0x1003
2=0x1005
3=0x1008
4=0x1010
5=0x1011
6=0x1014
7=0x1016
8=0x1017
9=0x1029
10=0x1200
11=0x1400
12=0x1401
13=0x1402
14=0x1403
15=0x1600
16=0x1601
17=0x1602
18=0x1603
19=0x1800
20=0x1801
21=0x1802
22=0x1803
23=0x1A00
24=0x1A01
25=0x1A02
26=0x1A03
27=0x1F50
28=0x1F51
29=0x1F56
30=0x1F57
31=0x6007
32=0x603F
33=0x6040
34=0x6041
35=0x605A
36=0x605B
37=0x605C
38=0x605E
39=0x6060
40=0x6061
41=0x6062
42=0x6064
43=0x6065
44=0x6066
45=0x6067
46=0x6068
47=0x606B
48=0x606C
49=0x6071
50=0x6076
51=0x6077
52=0x607A
53=0x607B
54=0x607D
55=0x607F
56=0x6080
57=0x6081
58=0x6083
59=0x6084
60=0x6085
61=0x6086
62=0x6098
63=0x6099
64=0x609A
65=0x60A8
66=0x60A9
67=0x60AA
68=0x60B0
69=0x60B1
70=0x60B2
71=0x60B8
72=0x60B9
73=0x60BA
74=0x60BB
75=0x60C2
76=0x60C5
77=0x60D0
78=0x60D5
79=0x60D6
80=0x60E3
81=0x60E4
82=0x60E5
83=0x60F4
84=0x60FD
85=0x60FE
86=0x60FF
87=0x6402
88=0x6502

[ManufacturerObjects]
SupportedObjects=73
1=0x2000
2=0x2001
3=0x2002
4=0x2005
5=0x2006
6=0x200A
7=0x2010
8=0x2100
9=0x210C
10=0x2200
11=0x2201
12=0x2EC0
13=0x3000
14=0x3001
15=0x3002
16=0x3003
17=0x3010
18=0x3011
19=0x3012
20=0x301A
21=0x3020
22=0x30A0
23=0x30A1
24=0x30A2
25=0x30A3
26=0x30A4
27=0x30AE
28=0x30B0
29=0x30B1
30=0x30B2
31=0x30B5
32=0x30D0
33=0x30D1
34=0x30D2
35=0x30D3
36=0x30E0
37=0x3141
38=0x3142
39=0x3150
40=0x3151
41=0x3158
42=0x3160
43=0x3161
44=0x3162
45=0x3163
46=0x3170
47=0x3171
48=0x3180
49=0x3181
50=0x3182
51=0x31E0
52=0x31E1
53=0x31E2
54=0x31E4
55=0x31E5
56=0x31E6
57=0x31E7
58=0x31E8
59=0x31E9
60=0x3200
61=0x3201
62=0x3202
63=0x3203
64=0x3240
65=0x3241
66=0x3248
67=0x3249
68=0x324B
69=0x324C
70=0x324D
71=0x324E
72=0x324F
73=0x3250

[1000]
ParameterName=Device type
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x00020192

[1001]
ParameterName=Error register
ObjectType=0x7
DataType=0x5
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x00

[1003]
SubNumber=6
ParameterName=Error history
ObjectType=0x8

[1003sub0]
ParameterName=Number of errors
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=1
ParameterValue=0

[1003sub1]
ParameterName=Error history 1
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000000

[1003sub2]
ParameterName=Error history 2
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000000

[1003sub3]
ParameterName=Error history 3
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000000

[1003sub4]
ParameterName=Error history 4
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000000

[1003sub5]
ParameterName=Error history 5
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000000

[1005]
ParameterName=COB-ID SYNC
ObjectType=0x7
DataType=0x7
AccessType=const
DefaultValue=0x00000080
LowLimit=0x00000080
HighLimit=0x00000080
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000080

[1008]
ParameterName=Manufacturer device name
ObjectType=0x7
DataType=0x9
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=EPOS4

[1010]
SubNumber=2
ParameterName=Store parameters
ObjectType=0x8

[1010sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[1010sub1]
ParameterName=Save all parameters
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000001

[1011]
SubNumber=3
ParameterName=Restore default parameters
ObjectType=0x8

[1011sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=4
PDOMapping=0
ObjFlags=1
ParameterValue=4

[1011sub1]
ParameterName=Restore all default parameters
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000001

[1011sub4]
ParameterName=Internal restore factory default parameters
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000001

[1014]
ParameterName=COB-ID EMCY
ObjectType=0x7
DataType=0x7
AccessType=ro
DefaultValue=$NODEID+0x00000080
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000081

[1016]
SubNumber=3
ParameterName=Consumer heartbeat time
ObjectType=0x8

[1016sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[1016sub1]
ParameterName=Consumer 1 heartbeat time
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=0

[1016sub2]
ParameterName=Consumer 2 heartbeat time
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=0

[1017]
ParameterName=Producer heartbeat time
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=0

[1018]
SubNumber=5
ParameterName=Identity object
ObjectType=0x8

[1018sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=4
PDOMapping=0
ObjFlags=1
ParameterValue=4

[1018sub1]
ParameterName=Vendor ID
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x000000FB

[1018sub2]
ParameterName=Product code
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x64500000

[1018sub3]
ParameterName=Revision number
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x01700000

[1018sub4]
ParameterName=Serial number
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x55002384

[1029]
SubNumber=2
ParameterName=Error behavior
ObjectType=0x8

[1029sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[1029sub1]
ParameterName=Communication error
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=0

[1200]
SubNumber=3
ParameterName=SDO server parameter
ObjectType=0x9

[1200sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[1200sub1]
ParameterName=COB-ID SDO client to server
ObjectType=0x7
DataType=0x7
AccessType=ro
DefaultValue=$NODEID+0x00000600
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000601

[1200sub2]
ParameterName=COB-ID SDO server to client
ObjectType=0x7
DataType=0x7
AccessType=ro
DefaultValue=$NODEID+0x00000580
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000581

[1400]
SubNumber=3
ParameterName=Receive PDO 1 parameter
ObjectType=0x9

[1400sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[1400sub1]
ParameterName=COB-ID used by RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=$NODEID+0x00000200
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000220

[1400sub2]
ParameterName=Transmission type RxPDO 1
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[1401]
SubNumber=3
ParameterName=Receive PDO 2 parameter
ObjectType=0x9

[1401sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[1401sub1]
ParameterName=COB-ID used by RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=$NODEID+0x00000300
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000320

[1401sub2]
ParameterName=Transmission type RxPDO 2
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[1402]
SubNumber=3
ParameterName=Receive PDO 3 parameter
ObjectType=0x9

[1402sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[1402sub1]
ParameterName=COB-ID used by RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=$NODEID+0x00000400
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000420

[1402sub2]
ParameterName=Transmission type RxPDO 3
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[1403]
SubNumber=3
ParameterName=Receive PDO 4 parameter
ObjectType=0x9

[1403sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[1403sub1]
ParameterName=COB-ID used by RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=$NODEID+0x00000500
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000520

[1403sub2]
ParameterName=Transmission type RxPDO 4
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[1600]
SubNumber=13
ParameterName=Receive PDO 1 mapping
ObjectType=0x9

[1600sub0]
ParameterName=Number of mapped objects in RxPDO 1
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=1
LowLimit=0
HighLimit=12
PDOMapping=0
ObjFlags=0
ParameterValue=1

[1600sub1]
ParameterName=1st mapped object in RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x60400010
PDOMapping=0
ObjFlags=0
ParameterValue=0x60400010

[1600sub2]
ParameterName=2nd mapped object in RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1600sub3]
ParameterName=3rd mapped object in RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1600sub4]
ParameterName=4th mapped object in RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1600sub5]
ParameterName=5th mapped object in RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1600sub6]
ParameterName=6th mapped object in RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1600sub7]
ParameterName=7th mapped object in RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1600sub8]
ParameterName=8th mapped object in RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1600sub9]
ParameterName=9th mapped object in RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1600subA]
ParameterName=10th mapped object in RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1600subB]
ParameterName=11th mapped object in RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1600subC]
ParameterName=12th mapped object in RxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1601]
SubNumber=13
ParameterName=Receive PDO 2 mapping
ObjectType=0x9

[1601sub0]
ParameterName=Number of mapped objects in RxPDO 2
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=2
LowLimit=0
HighLimit=12
PDOMapping=0
ObjFlags=0
ParameterValue=2

[1601sub1]
ParameterName=1st mapped object in RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x60400010
PDOMapping=0
ObjFlags=0
ParameterValue=0x60400010

[1601sub2]
ParameterName=2nd mapped object in RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x60600008
PDOMapping=0
ObjFlags=0
ParameterValue=0x60600008

[1601sub3]
ParameterName=3rd mapped object in RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1601sub4]
ParameterName=4th mapped object in RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1601sub5]
ParameterName=5th mapped object in RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1601sub6]
ParameterName=6th mapped object in RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1601sub7]
ParameterName=7th mapped object in RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1601sub8]
ParameterName=8th mapped object in RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1601sub9]
ParameterName=9th mapped object in RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1601subA]
ParameterName=10th mapped object in RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1601subB]
ParameterName=11th mapped object in RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1601subC]
ParameterName=12th mapped object in RxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1602]
SubNumber=13
ParameterName=Receive PDO 3 mapping
ObjectType=0x9

[1602sub0]
ParameterName=Number of mapped objects in RxPDO 3
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=2
LowLimit=0
HighLimit=12
PDOMapping=0
ObjFlags=0
ParameterValue=2

[1602sub1]
ParameterName=1st mapped object in RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x60400010
PDOMapping=0
ObjFlags=0
ParameterValue=0x60400010

[1602sub2]
ParameterName=2nd mapped object in RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x607A0020
PDOMapping=0
ObjFlags=0
ParameterValue=0x607A0020

[1602sub3]
ParameterName=3rd mapped object in RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1602sub4]
ParameterName=4th mapped object in RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1602sub5]
ParameterName=5th mapped object in RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1602sub6]
ParameterName=6th mapped object in RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1602sub7]
ParameterName=7th mapped object in RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1602sub8]
ParameterName=8th mapped object in RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1602sub9]
ParameterName=9th mapped object in RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1602subA]
ParameterName=10th mapped object in RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1602subB]
ParameterName=11th mapped object in RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1602subC]
ParameterName=12th mapped object in RxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1603]
SubNumber=13
ParameterName=Receive PDO 4 mapping
ObjectType=0x9

[1603sub0]
ParameterName=Number of mapped objects in RxPDO 4
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=2
LowLimit=0
HighLimit=12
PDOMapping=0
ObjFlags=0
ParameterValue=2

[1603sub1]
ParameterName=1st mapped object in RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x60400010
PDOMapping=0
ObjFlags=0
ParameterValue=0x60400010

[1603sub2]
ParameterName=2nd mapped object in RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x60FF0020
PDOMapping=0
ObjFlags=0
ParameterValue=0x60FF0020

[1603sub3]
ParameterName=3rd mapped object in RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1603sub4]
ParameterName=4th mapped object in RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1603sub5]
ParameterName=5th mapped object in RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1603sub6]
ParameterName=6th mapped object in RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1603sub7]
ParameterName=7th mapped object in RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1603sub8]
ParameterName=8th mapped object in RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1603sub9]
ParameterName=9th mapped object in RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1603subA]
ParameterName=10th mapped object in RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1603subB]
ParameterName=11th mapped object in RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1603subC]
ParameterName=12th mapped object in RxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1800]
SubNumber=4
ParameterName=Transmit PDO 1 parameter
ObjectType=0x9

[1800sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[1800sub1]
ParameterName=COB-ID used by TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=$NODEID+0x40000180
PDOMapping=0
ObjFlags=0
ParameterValue=0x400001A0

[1800sub2]
ParameterName=Transmission type TxPDO 1
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[1800sub3]
ParameterName=Inhibit time TxPDO 1
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=10
PDOMapping=0
ObjFlags=0
ParameterValue=10

[1801]
SubNumber=4
ParameterName=Transmit PDO 2 parameter
ObjectType=0x9

[1801sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[1801sub1]
ParameterName=COB-ID used by TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=$NODEID+0xC0000280
PDOMapping=0
ObjFlags=0
ParameterValue=0xC00002A0

[1801sub2]
ParameterName=Transmission type TxPDO 2
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[1801sub3]
ParameterName=Inhibit time TxPDO 2
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=10
PDOMapping=0
ObjFlags=0
ParameterValue=10

[1802]
SubNumber=4
ParameterName=Transmit PDO 3 parameter
ObjectType=0x9

[1802sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[1802sub1]
ParameterName=COB-ID used by TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=$NODEID+0xC0000380
PDOMapping=0
ObjFlags=0
ParameterValue=0xC00003A0

[1802sub2]
ParameterName=Transmission type TxPDO 3
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[1802sub3]
ParameterName=Inhibit time TxPDO 3
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=10
PDOMapping=0
ObjFlags=0
ParameterValue=10

[1803]
SubNumber=4
ParameterName=Transmit PDO 4 parameter
ObjectType=0x9

[1803sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[1803sub1]
ParameterName=COB-ID used by TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=$NODEID+0xC0000480
PDOMapping=0
ObjFlags=0
ParameterValue=0xC00004A0

[1803sub2]
ParameterName=Transmission type TxPDO 4
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[1803sub3]
ParameterName=Inhibit time TxPDO 4
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=10
PDOMapping=0
ObjFlags=0
ParameterValue=10

[1A00]
SubNumber=13
ParameterName=Transmit PDO 1 mapping
ObjectType=0x9

[1A00sub0]
ParameterName=Number of mapped objects in TxPDO 1
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=1
LowLimit=0
HighLimit=12
PDOMapping=0
ObjFlags=0
ParameterValue=1

[1A00sub1]
ParameterName=1st mapped object in TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x60410010
PDOMapping=0
ObjFlags=0
ParameterValue=0x60410010

[1A00sub2]
ParameterName=2nd mapped object in TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A00sub3]
ParameterName=3rd mapped object in TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A00sub4]
ParameterName=4th mapped object in TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A00sub5]
ParameterName=5th mapped object in TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A00sub6]
ParameterName=6th mapped object in TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A00sub7]
ParameterName=7th mapped object in TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A00sub8]
ParameterName=8th mapped object in TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A00sub9]
ParameterName=9th mapped object in TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A00subA]
ParameterName=10th mapped object in TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A00subB]
ParameterName=11th mapped object in TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A00subC]
ParameterName=12th mapped object in TxPDO 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A01]
SubNumber=13
ParameterName=Transmit PDO 2 mapping
ObjectType=0x9

[1A01sub0]
ParameterName=Number of mapped objects in TxPDO 2
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=2
LowLimit=0
HighLimit=12
PDOMapping=0
ObjFlags=0
ParameterValue=2

[1A01sub1]
ParameterName=1st mapped object in TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x60410010
PDOMapping=0
ObjFlags=0
ParameterValue=0x60410010

[1A01sub2]
ParameterName=2nd mapped object in TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x60610008
PDOMapping=0
ObjFlags=0
ParameterValue=0x60610008

[1A01sub3]
ParameterName=3rd mapped object in TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A01sub4]
ParameterName=4th mapped object in TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A01sub5]
ParameterName=5th mapped object in TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A01sub6]
ParameterName=6th mapped object in TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A01sub7]
ParameterName=7th mapped object in TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A01sub8]
ParameterName=8th mapped object in TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A01sub9]
ParameterName=9th mapped object in TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A01subA]
ParameterName=10th mapped object in TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A01subB]
ParameterName=11th mapped object in TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A01subC]
ParameterName=12th mapped object in TxPDO 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A02]
SubNumber=13
ParameterName=Transmit PDO 3 mapping
ObjectType=0x9

[1A02sub0]
ParameterName=Number of mapped objects in TxPDO 3
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=2
LowLimit=0
HighLimit=12
PDOMapping=0
ObjFlags=0
ParameterValue=2

[1A02sub1]
ParameterName=1st mapped object in TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x60410010
PDOMapping=0
ObjFlags=0
ParameterValue=0x60410010

[1A02sub2]
ParameterName=2nd mapped object in TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x60640020
PDOMapping=0
ObjFlags=0
ParameterValue=0x60640020

[1A02sub3]
ParameterName=3rd mapped object in TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A02sub4]
ParameterName=4th mapped object in TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A02sub5]
ParameterName=5th mapped object in TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A02sub6]
ParameterName=6th mapped object in TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A02sub7]
ParameterName=7th mapped object in TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A02sub8]
ParameterName=8th mapped object in TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A02sub9]
ParameterName=9th mapped object in TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A02subA]
ParameterName=10th mapped object in TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A02subB]
ParameterName=11th mapped object in TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A02subC]
ParameterName=12th mapped object in TxPDO 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A03]
SubNumber=13
ParameterName=Transmit PDO 4 mapping
ObjectType=0x9

[1A03sub0]
ParameterName=Number of mapped objects in TxPDO 4
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=2
LowLimit=0
HighLimit=12
PDOMapping=0
ObjFlags=0
ParameterValue=2

[1A03sub1]
ParameterName=1st mapped object in TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x60410010
PDOMapping=0
ObjFlags=0
ParameterValue=0x60410010

[1A03sub2]
ParameterName=2nd mapped object in TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x606C0020
PDOMapping=0
ObjFlags=0
ParameterValue=0x606C0020

[1A03sub3]
ParameterName=3rd mapped object in TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A03sub4]
ParameterName=4th mapped object in TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A03sub5]
ParameterName=5th mapped object in TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A03sub6]
ParameterName=6th mapped object in TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A03sub7]
ParameterName=7th mapped object in TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A03sub8]
ParameterName=8th mapped object in TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A03sub9]
ParameterName=9th mapped object in TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A03subA]
ParameterName=10th mapped object in TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A03subB]
ParameterName=11th mapped object in TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1A03subC]
ParameterName=12th mapped object in TxPDO 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[1F50]
SubNumber=2
ParameterName=Program data
ObjectType=0x8

[1F50sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[1F50sub1]
ParameterName=Program number 1
ObjectType=0x7
DataType=0xA
AccessType=wo
PDOMapping=0
ObjFlags=3

[1F51]
SubNumber=2
ParameterName=Program control
ObjectType=0x8

[1F51sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[1F51sub1]
ParameterName=Program number 1
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=0x01
PDOMapping=0
ObjFlags=1
ParameterValue=0x01

[1F56]
SubNumber=2
ParameterName=Program software identification
ObjectType=0x8

[1F56sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[1F56sub1]
ParameterName=Program number 1
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x23A9E59F

[1F57]
SubNumber=2
ParameterName=Flash status identification
ObjectType=0x8

[1F57sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[1F57sub1]
ParameterName=Program number 1
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000000

[2000]
ParameterName=Node-ID
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=1
PDOMapping=0
ObjFlags=0
ParameterValue=1

[2001]
ParameterName=CAN bit rate
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=9

[2002]
ParameterName=RS232 bit rate
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=5
PDOMapping=0
ObjFlags=0
ParameterValue=5

[2005]
ParameterName=RS232 frame timeout
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=500
LowLimit=50
HighLimit=65535
PDOMapping=0
ObjFlags=0
ParameterValue=500

[2006]
ParameterName=USB frame timeout
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=500
LowLimit=50
HighLimit=65535
PDOMapping=0
ObjFlags=0
ParameterValue=475

[200A]
ParameterName=CAN bit rate display
ObjectType=0x7
DataType=0x5
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=9

[2010]
ParameterName=Active fieldbus
ObjectType=0x7
DataType=0x5
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=1

[2100]
SubNumber=2
ParameterName=Additional identity
ObjectType=0x8

[2100sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[2100sub1]
ParameterName=Serial number complete
ObjectType=0x7
DataType=0x1B
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x0000662155002384

[210C]
SubNumber=5
ParameterName=Custom persistent memory
ObjectType=0x8

[210Csub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=4
PDOMapping=0
ObjFlags=1
ParameterValue=4

[210Csub1]
ParameterName=Custom persistent memory 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[210Csub2]
ParameterName=Custom persistent memory 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[210Csub3]
ParameterName=Custom persistent memory 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[210Csub4]
ParameterName=Custom persistent memory 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[2200]
SubNumber=3
ParameterName=Power supply
ObjectType=0x9

[2200sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[2200sub1]
ParameterName=Power supply voltage
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=3

[2200sub2]
ParameterName=Internal valid logic supply
ObjectType=0x7
DataType=0x1
AccessType=ro
PDOMapping=0
ObjFlags=1

[2201]
SubNumber=3
ParameterName=Power supply supervision
ObjectType=0x8

[2201sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[2201sub1]
ParameterName=Power supply undervoltage limit
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=8000
LowLimit=8000
HighLimit=74500
PDOMapping=0
ObjFlags=0
ParameterValue=8000

[2201sub2]
ParameterName=Power supply overvoltage limit
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=78000
LowLimit=3508
HighLimit=78000
PDOMapping=0
ObjFlags=0
ParameterValue=78000

[2EC0]
SubNumber=9
ParameterName=Internal device control
ObjectType=0x9

[2EC0sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=9
PDOMapping=0
ObjFlags=1
ParameterValue=9

[2EC0sub1]
ParameterName=Internal error control
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=3

[2EC0sub2]
ParameterName=Internal CAN NMT state
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=3

[2EC0sub3]
ParameterName=Internal bootloader revision number
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=3

[2EC0sub4]
ParameterName=Internal bootloader product code
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=3

[2EC0sub5]
ParameterName=Internal Extension communication error code
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=3

[2EC0sub6]
ParameterName=Internal ESM state
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=3

[2EC0sub8]
ParameterName=Internal LED Identification
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=1
PDOMapping=0
ObjFlags=1
ParameterValue=0

[2EC0sub9]
ParameterName=Internal debug state
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[3000]
SubNumber=7
ParameterName=Axis configuration
ObjectType=0x8

[3000sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=6
PDOMapping=0
ObjFlags=1
ParameterValue=6

[3000sub1]
ParameterName=Sensors configuration
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00100001
PDOMapping=0
ObjFlags=0
ParameterValue=0x00100000

[3000sub2]
ParameterName=Control structure
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00010111
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000001

[3000sub3]
ParameterName=Commutation sensors
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000031
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000030

[3000sub4]
ParameterName=Axis configuration miscellaneous
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[3000sub5]
ParameterName=Main sensor resolution
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[3000sub6]
ParameterName=Max system speed
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=4000

[3001]
SubNumber=6
ParameterName=Motor data
ObjectType=0x9

[3001sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=5
PDOMapping=0
ObjFlags=1
ParameterValue=5

[3001sub1]
ParameterName=Nominal current
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=15000
LowLimit=0
HighLimit=15000
PDOMapping=1
ObjFlags=0
ParameterValue=9792

[3001sub2]
ParameterName=Output current limit
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=30000
LowLimit=0
HighLimit=30000
PDOMapping=1
ObjFlags=0
ParameterValue=30000

[3001sub3]
ParameterName=Number of pole pairs
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=1
LowLimit=1
HighLimit=255
PDOMapping=0
ObjFlags=0
ParameterValue=8

[3001sub4]
ParameterName=Thermal time constant winding
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=40
LowLimit=1
HighLimit=10000
PDOMapping=0
ObjFlags=0
ParameterValue=40

[3001sub5]
ParameterName=Torque constant
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=10000000
PDOMapping=0
ObjFlags=0
ParameterValue=108900

[3002]
SubNumber=3
ParameterName=Electrical system parameters
ObjectType=0x9

[3002sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[3002sub1]
ParameterName=Electrical resistance
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=4294967295
PDOMapping=0
ObjFlags=0
ParameterValue=211

[3002sub2]
ParameterName=Electrical inductance
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=65535
PDOMapping=0
ObjFlags=0
ParameterValue=440

[3003]
SubNumber=5
ParameterName=Gear configuration
ObjectType=0x8

[3003sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=4
PDOMapping=0
ObjFlags=1
ParameterValue=4

[3003sub1]
ParameterName=Gear reduction numerator
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=1
LowLimit=1
HighLimit=4294967295
PDOMapping=0
ObjFlags=0
ParameterValue=1

[3003sub2]
ParameterName=Gear reduction denominator
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=1
LowLimit=1
HighLimit=4294967295
PDOMapping=0
ObjFlags=0
ParameterValue=1

[3003sub3]
ParameterName=Max gear input speed
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=100000
LowLimit=1
HighLimit=100000
PDOMapping=0
ObjFlags=0
ParameterValue=100000

[3003sub4]
ParameterName=Gear miscellaneous configuration
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
LowLimit=0x00000000
HighLimit=0x00000001
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000000

[3010]
SubNumber=4
ParameterName=Digital incremental encoder 1
ObjectType=0x9

[3010sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=4
PDOMapping=0
ObjFlags=1
ParameterValue=4

[3010sub1]
ParameterName=Digital incremental encoder 1 number of pulses
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=500
LowLimit=16
HighLimit=2500000
PDOMapping=0
ObjFlags=0
ParameterValue=500

[3010sub2]
ParameterName=Digital incremental encoder 1 type
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0x0001
PDOMapping=0
ObjFlags=0
ParameterValue=0x0001

[3010sub4]
ParameterName=Digital incremental encoder 1 index position
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[3011]
SubNumber=4
ParameterName=Analog incremental encoder
ObjectType=0x9

[3011sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[3011sub1]
ParameterName=Analog incremental encoder type
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0x0001
PDOMapping=0
ObjFlags=0
ParameterValue=0x0001

[3011sub2]
ParameterName=Analog incremental encoder resolution
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00080004
PDOMapping=0
ObjFlags=0
ParameterValue=0x00080004

[3011sub3]
ParameterName=Analog incremental encoder index position
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[3012]
SubNumber=13
ParameterName=SSI absolute encoder
ObjectType=0x9

[3012sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=13
PDOMapping=0
ObjFlags=1
ParameterValue=13

[3012sub1]
ParameterName=SSI data rate
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=2000
LowLimit=400
HighLimit=2000
PDOMapping=0
ObjFlags=0
ParameterValue=2000

[3012sub2]
ParameterName=SSI number of data bits
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000C00
PDOMapping=0
ObjFlags=0
ParameterValue=0x00000C00

[3012sub3]
ParameterName=SSI encoding type
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0x0001
PDOMapping=0
ObjFlags=0
ParameterValue=0x0001

[3012sub5]
ParameterName=SSI timeout time
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=30
LowLimit=0
HighLimit=50
PDOMapping=0
ObjFlags=0
ParameterValue=30

[3012sub6]
ParameterName=SSI special bits trailing data
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0x0000

[3012sub7]
ParameterName=SSI refresh frequency
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=12500

[3012sub8]
ParameterName=SSI power up time
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=200
LowLimit=0
HighLimit=10000
PDOMapping=0
ObjFlags=0
ParameterValue=200

[3012sub9]
ParameterName=SSI position raw value
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[3012subA]
ParameterName=SSI commutation offset value
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=0

[3012subB]
ParameterName=SSI position bits
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x0000000C
PDOMapping=0
ObjFlags=0
ParameterValue=0x0000000C

[3012subC]
ParameterName=SSI special bits leading data
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[3012subD]
ParameterName=SSI position raw value complete
ObjectType=0x7
DataType=0x1B
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[301A]
SubNumber=3
ParameterName=Digital Hall sensor
ObjectType=0x8

[301Asub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[301Asub1]
ParameterName=Digital Hall sensor type
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0x0000
PDOMapping=0
ObjFlags=0
ParameterValue=0x0000

[301Asub2]
ParameterName=Digital Hall sensor pattern
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x0006

[3020]
SubNumber=4
ParameterName=Digital incremental encoder 2
ObjectType=0x9

[3020sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=4
PDOMapping=0
ObjFlags=1
ParameterValue=4

[3020sub1]
ParameterName=Digital incremental encoder 2 number of pulses
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=500
LowLimit=16
HighLimit=2500000
PDOMapping=0
ObjFlags=0
ParameterValue=500

[3020sub2]
ParameterName=Digital incremental encoder 2 type
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0x0001
PDOMapping=0
ObjFlags=0
ParameterValue=0x0001

[3020sub4]
ParameterName=Digital incremental encoder 2 index position
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[30A0]
SubNumber=3
ParameterName=Current control parameter set
ObjectType=0x8

[30A0sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[30A0sub1]
ParameterName=Current controller P gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=1171880
PDOMapping=1
ObjFlags=0
ParameterValue=639090

[30A0sub2]
ParameterName=Current controller I gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=3906250
PDOMapping=1
ObjFlags=0
ParameterValue=303552

[30A1]
SubNumber=7
ParameterName=Position control parameter set
ObjectType=0x8

[30A1sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=9
PDOMapping=0
ObjFlags=1
ParameterValue=9

[30A1sub1]
ParameterName=Position controller P gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=1500000
PDOMapping=1
ObjFlags=0
ParameterValue=1500000

[30A1sub2]
ParameterName=Position controller I gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=780000
PDOMapping=1
ObjFlags=0
ParameterValue=780000

[30A1sub3]
ParameterName=Position controller D gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=16000
PDOMapping=1
ObjFlags=0
ParameterValue=16000

[30A1sub4]
ParameterName=Position controller FF velocity gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=0
ParameterValue=0

[30A1sub5]
ParameterName=Position controller FF acceleration gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=0
ParameterValue=0

[30A1sub9]
ParameterName=SI unit position controller I gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=0xFA040300
PDOMapping=1
ObjFlags=0
ParameterValue=0xFA040300

[30A2]
SubNumber=6
ParameterName=Velocity control parameter set
ObjectType=0x9

[30A2sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=5
PDOMapping=0
ObjFlags=1
ParameterValue=5

[30A2sub1]
ParameterName=Velocity controller P gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=20000
PDOMapping=1
ObjFlags=0
ParameterValue=20000

[30A2sub2]
ParameterName=Velocity controller I gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=500000
PDOMapping=1
ObjFlags=0
ParameterValue=500000

[30A2sub3]
ParameterName=Velocity controller FF velocity gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=0
ParameterValue=0

[30A2sub4]
ParameterName=Velocity controller FF acceleration gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=0
ParameterValue=0

[30A2sub5]
ParameterName=Velocity controller filter cut-off frequency
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=600
LowLimit=1
HighLimit=10000
PDOMapping=0
ObjFlags=0
ParameterValue=600

[30A3]
SubNumber=6
ParameterName=Velocity observer parameter set
ObjectType=0x8

[30A3sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=5
PDOMapping=0
ObjFlags=1
ParameterValue=5

[30A3sub1]
ParameterName=Velocity observer position correction gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=400
PDOMapping=1
ObjFlags=0
ParameterValue=400

[30A3sub2]
ParameterName=Velocity observer velocity correction gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=100000
PDOMapping=1
ObjFlags=0
ParameterValue=100000

[30A3sub3]
ParameterName=Velocity observer load correction gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=33
PDOMapping=1
ObjFlags=0
ParameterValue=33

[30A3sub4]
ParameterName=Velocity observer friction
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=10
PDOMapping=1
ObjFlags=0
ParameterValue=10

[30A3sub5]
ParameterName=Velocity observer inertia
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=1000
PDOMapping=1
ObjFlags=0
ParameterValue=1000

[30A4]
SubNumber=2
ParameterName=Internal Velocity filter parameter set
ObjectType=0x8

[30A4sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[30A4sub1]
ParameterName=Internal velocity filter bandwidth correction factor
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=100
LowLimit=1
HighLimit=10000
PDOMapping=1
ObjFlags=0
ParameterValue=100

[30AE]
SubNumber=19
ParameterName=Dual loop position control parameter set
ObjectType=0x9

[30AEsub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=64
PDOMapping=0
ObjFlags=1
ParameterValue=64

[30AEsub1]
ParameterName=Main loop P gain low bandwidth
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=10000
LowLimit=0
HighLimit=1000000000
PDOMapping=1
ObjFlags=0
ParameterValue=10000

[30AEsub2]
ParameterName=Main loop P gain high bandwidth
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=100000
LowLimit=0
HighLimit=1000000000
PDOMapping=1
ObjFlags=0
ParameterValue=100000

[30AEsub3]
ParameterName=Main loop gain scheduling weight
ObjectType=0x7
DataType=0x6
AccessType=rww
DefaultValue=12500
LowLimit=5000
HighLimit=20000
PDOMapping=1
ObjFlags=0
ParameterValue=12500

[30AEsub10]
ParameterName=Main loop filter coefficient a
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=1000
LowLimit=0
HighLimit=1000000000
PDOMapping=1
ObjFlags=0
ParameterValue=1000

[30AEsub11]
ParameterName=Main loop filter coefficient b
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=1000
LowLimit=0
HighLimit=1000000000
PDOMapping=1
ObjFlags=0
ParameterValue=1000

[30AEsub12]
ParameterName=Main loop filter coefficient c
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=1000
LowLimit=0
HighLimit=1000000000
PDOMapping=1
ObjFlags=0
ParameterValue=1000

[30AEsub13]
ParameterName=Main loop filter coefficient d
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=1000
LowLimit=0
HighLimit=1000000000
PDOMapping=1
ObjFlags=0
ParameterValue=1000

[30AEsub14]
ParameterName=Main loop filter coefficient e
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=1000
LowLimit=0
HighLimit=1000000000
PDOMapping=1
ObjFlags=0
ParameterValue=1000

[30AEsub20]
ParameterName=Auxiliary loop P gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=20000
PDOMapping=1
ObjFlags=0
ParameterValue=20000

[30AEsub21]
ParameterName=Auxiliary loop I gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=500000
PDOMapping=1
ObjFlags=0
ParameterValue=500000

[30AEsub22]
ParameterName=Auxiliary loop FF velocity gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=0
ParameterValue=0

[30AEsub23]
ParameterName=Auxiliary loop FF acceleration gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=0
ParameterValue=0

[30AEsub30]
ParameterName=Auxiliary loop observer position correction gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=400
PDOMapping=1
ObjFlags=0
ParameterValue=400

[30AEsub31]
ParameterName=Auxiliary loop observer velocity correction gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=100000
PDOMapping=1
ObjFlags=0
ParameterValue=100000

[30AEsub32]
ParameterName=Auxiliary loop observer load correction gain
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=33
PDOMapping=1
ObjFlags=0
ParameterValue=33

[30AEsub33]
ParameterName=Auxiliary loop observer friction
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=10
PDOMapping=1
ObjFlags=0
ParameterValue=10

[30AEsub34]
ParameterName=Auxiliary loop observer inertia
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=1000
PDOMapping=1
ObjFlags=0
ParameterValue=1000

[30AEsub40]
ParameterName=Dual loop configuration miscellaneous
ObjectType=0x7
DataType=0x6
AccessType=rww
DefaultValue=0x0000
LowLimit=0x0000
HighLimit=0x0003
PDOMapping=1
ObjFlags=0
ParameterValue=0x0000

[30B0]
ParameterName=Home position
ObjectType=0x7
DataType=0x4
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=0
ParameterValue=0

[30B1]
ParameterName=Home offset move distance
ObjectType=0x7
DataType=0x4
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=2

[30B2]
ParameterName=Current threshold for homing mode
ObjectType=0x7
DataType=0x6
AccessType=rww
DefaultValue=500
LowLimit=0
HighLimit=30000
PDOMapping=1
ObjFlags=0
ParameterValue=500

[30B5]
SubNumber=3
ParameterName=Internal homing data
ObjectType=0x9

[30B5sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[30B5sub1]
ParameterName=Internal absolute home reference
ObjectType=0x7
DataType=0x4
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=0

[30B5sub2]
ParameterName=Internal absolute home reference state
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=0

[30D0]
ParameterName=Current demand value
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[30D1]
SubNumber=3
ParameterName=Current actual values
ObjectType=0x8

[30D1sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[30D1sub1]
ParameterName=Current actual value averaged
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=1

[30D1sub2]
ParameterName=Current actual value
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=2

[30D2]
SubNumber=2
ParameterName=Torque actual values
ObjectType=0x8

[30D2sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[30D2sub1]
ParameterName=Torque actual value averaged
ObjectType=0x7
DataType=0x3
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[30D3]
SubNumber=2
ParameterName=Velocity actual values
ObjectType=0x8

[30D3sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[30D3sub1]
ParameterName=Velocity actual value averaged
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[30E0]
SubNumber=4
ParameterName=Standstill window configuration
ObjectType=0x9

[30E0sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[30E0sub1]
ParameterName=Standstill window
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=30
PDOMapping=0
ObjFlags=0
ParameterValue=30

[30E0sub2]
ParameterName=Standstill window time
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=2
PDOMapping=0
ObjFlags=0
ParameterValue=2

[30E0sub3]
ParameterName=Standstill window timeout
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=1000
PDOMapping=0
ObjFlags=0
ParameterValue=1000

[3141]
SubNumber=3
ParameterName=Digital input properties
ObjectType=0x8

[3141sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[3141sub1]
ParameterName=Digital inputs logic state
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0x0000

[3141sub2]
ParameterName=Digital inputs polarity
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0x0000
PDOMapping=0
ObjFlags=0
ParameterValue=0x0000

[3142]
SubNumber=9
ParameterName=Configuration of digital inputs
ObjectType=0x8

[3142sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=8
PDOMapping=0
ObjFlags=1
ParameterValue=8

[3142sub1]
ParameterName=Digital input 1 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3142sub2]
ParameterName=Digital input 2 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=1
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3142sub3]
ParameterName=Digital input 3 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=2
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3142sub4]
ParameterName=Digital input 4 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=19
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3142sub5]
ParameterName=High-speed digital input 1 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3142sub6]
ParameterName=High-speed digital input 2 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3142sub7]
ParameterName=High-speed digital input 3 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3142sub8]
ParameterName=High-speed digital input 4 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3150]
SubNumber=3
ParameterName=Digital output properties
ObjectType=0x8

[3150sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[3150sub1]
ParameterName=Digital outputs logic state
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0x0000

[3150sub2]
ParameterName=Digital outputs polarity
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0x0000
PDOMapping=0
ObjFlags=0
ParameterValue=0x0000

[3151]
SubNumber=4
ParameterName=Configuration of digital outputs
ObjectType=0x8

[3151sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[3151sub1]
ParameterName=Digital output 1 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=16
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3151sub2]
ParameterName=Digital output 2 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=17
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3151sub3]
ParameterName=High-speed digital output 1 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=255
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3158]
SubNumber=4
ParameterName=Holding brake parameters
ObjectType=0x9

[3158sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[3158sub1]
ParameterName=Holding brake rise time
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=10
LowLimit=0
HighLimit=5000
PDOMapping=0
ObjFlags=0
ParameterValue=10

[3158sub2]
ParameterName=Holding brake fall time
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=10
LowLimit=0
HighLimit=5000
PDOMapping=0
ObjFlags=0
ParameterValue=10

[3158sub3]
ParameterName=Holding brake state
ObjectType=0x7
DataType=0x5
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[3160]
SubNumber=3
ParameterName=Analog input properties
ObjectType=0x8

[3160sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[3160sub1]
ParameterName=Analog input 1 voltage
ObjectType=0x7
DataType=0x3
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=-59

[3160sub2]
ParameterName=Analog input 2 voltage
ObjectType=0x7
DataType=0x3
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=-59

[3161]
SubNumber=3
ParameterName=Configuration of analog inputs
ObjectType=0x8

[3161sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[3161sub1]
ParameterName=Analog input 1 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3161sub2]
ParameterName=Analog input 2 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=1
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3162]
SubNumber=3
ParameterName=Analog input general purpose
ObjectType=0x8

[3162sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[3162sub1]
ParameterName=Analog input general purpose A
ObjectType=0x7
DataType=0x3
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[3162sub2]
ParameterName=Analog input general purpose B
ObjectType=0x7
DataType=0x3
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[3163]
SubNumber=5
ParameterName=Analog input adjustment
ObjectType=0x9

[3163sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=4
PDOMapping=0
ObjFlags=1
ParameterValue=4

[3163sub1]
ParameterName=Analog input 1 adjustment offset
ObjectType=0x7
DataType=0x3
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=0

[3163sub2]
ParameterName=Analog input 1 adjustment gain factor
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=10000
LowLimit=5000
HighLimit=20000
PDOMapping=0
ObjFlags=0
ParameterValue=10000

[3163sub3]
ParameterName=Analog input 2 adjustment offset
ObjectType=0x7
DataType=0x3
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=0

[3163sub4]
ParameterName=Analog input 2 adjustment gain factor
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=10000
LowLimit=5000
HighLimit=20000
PDOMapping=0
ObjFlags=0
ParameterValue=10000

[3170]
SubNumber=5
ParameterName=Analog input current set value properties
ObjectType=0x8

[3170sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=4
PDOMapping=0
ObjFlags=1
ParameterValue=4

[3170sub1]
ParameterName=Current set value first voltage
ObjectType=0x7
DataType=0x4
AccessType=rw
DefaultValue=0
LowLimit=-10000
HighLimit=10000
PDOMapping=0
ObjFlags=0
ParameterValue=0

[3170sub2]
ParameterName=Current set value first current
ObjectType=0x7
DataType=0x4
AccessType=rw
DefaultValue=0
LowLimit=-30000
HighLimit=30000
PDOMapping=0
ObjFlags=0
ParameterValue=0

[3170sub3]
ParameterName=Current set value second voltage
ObjectType=0x7
DataType=0x4
AccessType=rw
DefaultValue=0
LowLimit=-10000
HighLimit=10000
PDOMapping=0
ObjFlags=0
ParameterValue=0

[3170sub4]
ParameterName=Current set value second current
ObjectType=0x7
DataType=0x4
AccessType=rw
DefaultValue=0
LowLimit=-30000
HighLimit=30000
PDOMapping=0
ObjFlags=0
ParameterValue=0

[3171]
SubNumber=5
ParameterName=Analog input velocity set value properties
ObjectType=0x8

[3171sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=4
PDOMapping=0
ObjFlags=1
ParameterValue=4

[3171sub1]
ParameterName=Velocity set value first voltage
ObjectType=0x7
DataType=0x4
AccessType=rw
DefaultValue=0
LowLimit=-10000
HighLimit=10000
PDOMapping=0
ObjFlags=0
ParameterValue=0

[3171sub2]
ParameterName=Velocity set value first velocity
ObjectType=0x7
DataType=0x4
AccessType=rw
DefaultValue=0
LowLimit=-100000
HighLimit=100000
PDOMapping=0
ObjFlags=0
ParameterValue=0

[3171sub3]
ParameterName=Velocity set value second voltage
ObjectType=0x7
DataType=0x4
AccessType=rw
DefaultValue=0
LowLimit=-10000
HighLimit=10000
PDOMapping=0
ObjFlags=0
ParameterValue=0

[3171sub4]
ParameterName=Velocity set value second velocity
ObjectType=0x7
DataType=0x4
AccessType=rw
DefaultValue=0
LowLimit=-100000
HighLimit=100000
PDOMapping=0
ObjFlags=0
ParameterValue=0

[3180]
SubNumber=3
ParameterName=Analog output properties
ObjectType=0x8

[3180sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[3180sub1]
ParameterName=Analog output 1 voltage
ObjectType=0x7
DataType=0x3
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[3180sub2]
ParameterName=Analog output 2 voltage
ObjectType=0x7
DataType=0x3
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[3181]
SubNumber=3
ParameterName=Configuration of analog outputs
ObjectType=0x8

[3181sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[3181sub1]
ParameterName=Analog output 1 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3181sub2]
ParameterName=Analog output 2 configuration
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=1
PDOMapping=0
ObjFlags=0
ParameterValue=255

[3182]
SubNumber=3
ParameterName=Analog output general purpose
ObjectType=0x8

[3182sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[3182sub1]
ParameterName=Analog output general purpose A
ObjectType=0x7
DataType=0x4
AccessType=rww
DefaultValue=0
LowLimit=-4000
HighLimit=4000
PDOMapping=1
ObjFlags=0
ParameterValue=0

[3182sub2]
ParameterName=Analog output general purpose B
ObjectType=0x7
DataType=0x4
AccessType=rww
DefaultValue=0
LowLimit=-4000
HighLimit=4000
PDOMapping=1
ObjFlags=0
ParameterValue=0

[31E0]
SubNumber=5
ParameterName=Internal data recorder variable index
ObjectType=0x8

[31E0sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=4
PDOMapping=0
ObjFlags=1
ParameterValue=4

[31E0sub1]
ParameterName=Internal data recorder variable index 1
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=1
ParameterValue=0x60710000

[31E0sub2]
ParameterName=Internal data recorder variable index 2
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=1
ParameterValue=0x30D20100

[31E0sub3]
ParameterName=Internal data recorder variable index 3
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000000

[31E0sub4]
ParameterName=Internal data recorder variable index 4
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000000

[31E1]
SubNumber=3
ParameterName=Internal data recorder configuration
ObjectType=0x8

[31E1sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[31E1sub1]
ParameterName=Internal data recorder sampling period
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=120
LowLimit=40
HighLimit=65534
PDOMapping=0
ObjFlags=1
ParameterValue=400

[31E1sub2]
ParameterName=Internal data recorder max number of samples
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=500
LowLimit=1
HighLimit=500
PDOMapping=0
ObjFlags=1
ParameterValue=500

[31E2]
SubNumber=7
ParameterName=Internal data recorder trigger
ObjectType=0x9

[31E2sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=6
PDOMapping=0
ObjFlags=1
ParameterValue=6

[31E2sub1]
ParameterName=Internal data recorder trigger variable index
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=1
ParameterValue=0x60710000

[31E2sub2]
ParameterName=Internal data recorder trigger mode
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=1
ParameterValue=3

[31E2sub3]
ParameterName=Internal data recorder trigger high value
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=1
ParameterValue=0

[31E2sub4]
ParameterName=Internal data recorder trigger low value
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=1
ParameterValue=0

[31E2sub5]
ParameterName=Internal data recorder trigger mask
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0
ObjFlags=1
ParameterValue=0xFFFFFFFF

[31E2sub6]
ParameterName=Internal data recorder trigger number of preceding samples
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=499
PDOMapping=0
ObjFlags=1
ParameterValue=0

[31E4]
SubNumber=3
ParameterName=Internal data recorder control
ObjectType=0x8

[31E4sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[31E4sub1]
ParameterName=Internal data recorder controlword
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0x0000
PDOMapping=0
ObjFlags=1
ParameterValue=0x0000

[31E4sub2]
ParameterName=Internal data recorder statusword
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0x000C

[31E5]
SubNumber=4
ParameterName=Internal data recorder data
ObjectType=0x9

[31E5sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[31E5sub1]
ParameterName=Internal data recorder number of recorded samples
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=500

[31E5sub2]
ParameterName=Internal recorder buffer timestamp
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=221572607

[31E5sub3]
ParameterName=Internal data recorder snapshot
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[31E6]
SubNumber=3
ParameterName=Internal data recorder buffer variable 1
ObjectType=0x8

[31E6sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[31E6sub1]
ParameterName=Internal data recorder buffer variable 1 complete
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[31E6sub2]
ParameterName=Internal data recorder buffer variable 1 part 1
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[31E7]
SubNumber=3
ParameterName=Internal data recorder buffer variable 2
ObjectType=0x8

[31E7sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[31E7sub1]
ParameterName=Internal data recorder buffer variable 2 complete
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[31E7sub2]
ParameterName=Internal data recorder buffer variable 2 part 1
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[31E8]
SubNumber=3
ParameterName=Internal data recorder buffer variable 3
ObjectType=0x8

[31E8sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[31E8sub1]
ParameterName=Internal data recorder buffer variable 3 complete
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[31E8sub2]
ParameterName=Internal data recorder buffer variable 3 part 1
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[31E9]
SubNumber=3
ParameterName=Internal data recorder buffer variable 4
ObjectType=0x8

[31E9sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[31E9sub1]
ParameterName=Internal data recorder buffer variable 4 complete
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[31E9sub2]
ParameterName=Internal data recorder buffer variable 4 part 1
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[3200]
SubNumber=3
ParameterName=Power limitation
ObjectType=0x8

[3200sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[3200sub1]
ParameterName=I2t level motor
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[3200sub2]
ParameterName=I2t level power stage
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[3201]
SubNumber=3
ParameterName=Thermal overload protection
ObjectType=0x9

[3201sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=4
PDOMapping=0
ObjFlags=1
ParameterValue=4

[3201sub1]
ParameterName=Temperature power stage
ObjectType=0x7
DataType=0x3
AccessType=ro
PDOMapping=0
ObjFlags=3

[3201sub4]
ParameterName=Maximal temperature power stage
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=950
LowLimit=0
HighLimit=950
PDOMapping=0
ObjFlags=0
ParameterValue=950

[3202]
SubNumber=2
ParameterName=Functional safety
ObjectType=0x8

[3202sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[3202sub1]
ParameterName=STO input states
ObjectType=0x7
DataType=0x5
AccessType=ro
PDOMapping=0
ObjFlags=3

[3203]
SubNumber=2
ParameterName=Motor control
ObjectType=0x8

[3203sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[3203sub1]
ParameterName=PWM duty cycle actual value
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[3240]
SubNumber=4
ParameterName=Internal test object
ObjectType=0x9

[3240sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[3240sub1]
ParameterName=Internal spi extension test
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0
ObjFlags=1
ParameterValue=0x00000000

[3240sub2]
ParameterName=Internal ADC encoder 2 channel A analog value
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=3

[3240sub3]
ParameterName=Internal ADC encoder 2 channel B analog value
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=3

[3241]
SubNumber=7
ParameterName=Internal motor control
ObjectType=0x9

[3241sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=6
PDOMapping=0
ObjFlags=1
ParameterValue=6

[3241sub1]
ParameterName=Internal ADC current offset simultaneous phase U
ObjectType=0x7
DataType=0x3
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=3

[3241sub2]
ParameterName=Internal ADC current offset simultaneous phase V
ObjectType=0x7
DataType=0x3
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=3

[3241sub3]
ParameterName=Internal ADC current offset sequential phase U
ObjectType=0x7
DataType=0x3
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=3

[3241sub4]
ParameterName=Internal ADC current offset sequential phase V
ObjectType=0x7
DataType=0x3
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=3

[3241sub5]
ParameterName=Internal ADC current offset sequential phase W
ObjectType=0x7
DataType=0x3
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=3

[3241sub6]
ParameterName=Internal electrical rotor angle
ObjectType=0x7
DataType=0x4
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=1
ParameterValue=16

[3248]
SubNumber=3
ParameterName=Internal configuration electrical system tuning
ObjectType=0x8

[3248sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[3248sub1]
ParameterName=Internal LR identification current
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0
LowLimit=0
HighLimit=15000
PDOMapping=0
ObjFlags=1
ParameterValue=0

[3248sub2]
ParameterName=Internal LR identification frequency
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[3249]
SubNumber=4
ParameterName=Internal parameters electrical system tuning
ObjectType=0x9

[3249sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[3249sub1]
ParameterName=Internal resistance
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[3249sub2]
ParameterName=Internal inductance
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[3249sub3]
ParameterName=Internal frequency
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[324B]
SubNumber=9
ParameterName=Internal configuration mechanical system tuning
ObjectType=0x9

[324Bsub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=34
PDOMapping=0
ObjFlags=1
ParameterValue=34

[324Bsub1]
ParameterName=Internal cut-off frequency of oscillation
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=8000
LowLimit=1
HighLimit=200000
PDOMapping=0
ObjFlags=1
ParameterValue=8000

[324Bsub2]
ParameterName=Internal target amplitude of oscillation
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=1
LowLimit=1
HighLimit=82000
PDOMapping=0
ObjFlags=1
ParameterValue=1

[324Bsub3]
ParameterName=Internal identify Km
ObjectType=0x7
DataType=0x5
AccessType=rw
DefaultValue=1
LowLimit=0
HighLimit=1
PDOMapping=0
ObjFlags=0
ParameterValue=0

[324Bsub4]
ParameterName=Internal proportional gain for dynamic friction
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=1000
PDOMapping=0
ObjFlags=1
ParameterValue=1000

[324Bsub5]
ParameterName=Internal integral gain for dynamic friction
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=100
PDOMapping=0
ObjFlags=1
ParameterValue=100

[324Bsub20]
ParameterName=Internal auxiliary target velocity
ObjectType=0x7
DataType=0x4
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=1
ParameterValue=0

[324Bsub21]
ParameterName=Internal auxiliary profile acceleration
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=10000
LowLimit=1
HighLimit=4294967295
PDOMapping=0
ObjFlags=1
ParameterValue=10000

[324Bsub22]
ParameterName=Internal auxiliary profile deceleration
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=10000
LowLimit=1
HighLimit=4294967295
PDOMapping=0
ObjFlags=1
ParameterValue=10000

[324C]
SubNumber=8
ParameterName=Internal parameters mechanical system tuning
ObjectType=0x9

[324Csub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=33
PDOMapping=0
ObjFlags=1
ParameterValue=33

[324Csub1]
ParameterName=Internal cycle duration
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[324Csub2]
ParameterName=Internal set value of current
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[324Csub3]
ParameterName=Internal actual position peak value
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[324Csub4]
ParameterName=Internal actual value of dynamic friction
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[324Csub6]
ParameterName=Internal extra delay
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[324Csub20]
ParameterName=Internal auxiliary velocity demand value
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[324Csub21]
ParameterName=Internal auxiliary velocity actual value averaged
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[324D]
SubNumber=5
ParameterName=Internal PRBS velocity tuning configuration
ObjectType=0x9

[324Dsub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=4
PDOMapping=0
ObjFlags=1
ParameterValue=4

[324Dsub1]
ParameterName=Internal PRBS velocity tuning step amplitude
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=500
LowLimit=1
HighLimit=2500000
PDOMapping=0
ObjFlags=1
ParameterValue=500

[324Dsub2]
ParameterName=Internal PRBS velocity tuning cycle time
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[324Dsub3]
ParameterName=Internal PRBS velocity tuning target amplitude
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=3
LowLimit=3
HighLimit=3000
PDOMapping=0
ObjFlags=0
ParameterValue=3

[324Dsub4]
ParameterName=Internal PRBS velocity tuning max cycle time factor
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=11
LowLimit=11
HighLimit=60
PDOMapping=0
ObjFlags=0
ParameterValue=11

[324E]
SubNumber=2
ParameterName=Internal PRBS velocity tuning parameter
ObjectType=0x8

[324Esub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[324Esub1]
ParameterName=Internal PRBS velocity tuning excitation amplitude
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[324F]
SubNumber=8
ParameterName=Internal PRBS velocity tuning position values
ObjectType=0x8

[324Fsub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=7
PDOMapping=0
ObjFlags=1
ParameterValue=7

[324Fsub1]
ParameterName=Internal PRBS velocity tuning position values 1
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[324Fsub2]
ParameterName=Internal PRBS velocity tuning position values 2
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[324Fsub3]
ParameterName=Internal PRBS velocity tuning position values 3
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[324Fsub4]
ParameterName=Internal PRBS velocity tuning position values 4
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[324Fsub5]
ParameterName=Internal PRBS velocity tuning position values 5
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[324Fsub6]
ParameterName=Internal PRBS velocity tuning position values 6
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[324Fsub7]
ParameterName=Internal PRBS velocity tuning position values 7
ObjectType=0x7
DataType=0xA
AccessType=ro
PDOMapping=0
ObjFlags=3

[3250]
SubNumber=4
ParameterName=Internal PRBS velocity tuning excitation offset
ObjectType=0x8

[3250sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[3250sub1]
ParameterName=Internal PRBS velocity tuning excitation offset 1
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[3250sub2]
ParameterName=Internal PRBS velocity tuning excitation offset 2
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[3250sub3]
ParameterName=Internal PRBS velocity tuning excitation offset 3
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[6007]
ParameterName=Abort connection option code
ObjectType=0x7
DataType=0x3
AccessType=rw
DefaultValue=3
PDOMapping=0
ObjFlags=0
ParameterValue=3

[603F]
ParameterName=Error code
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0x0000

[6040]
ParameterName=Controlword
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=0x0000
PDOMapping=1
ObjFlags=1
ParameterValue=0x000F

[6041]
ParameterName=Statusword
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0x1037

[605A]
ParameterName=Quick stop option code
ObjectType=0x7
DataType=0x3
AccessType=rw
DefaultValue=6
PDOMapping=0
ObjFlags=0
ParameterValue=6

[605B]
ParameterName=Shutdown option code
ObjectType=0x7
DataType=0x3
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=0
ParameterValue=0

[605C]
ParameterName=Disable operation option code
ObjectType=0x7
DataType=0x3
AccessType=rw
DefaultValue=1
PDOMapping=0
ObjFlags=0
ParameterValue=1

[605E]
ParameterName=Fault reaction option code
ObjectType=0x7
DataType=0x3
AccessType=rw
DefaultValue=2
PDOMapping=0
ObjFlags=0
ParameterValue=2

[6060]
ParameterName=Modes of operation
ObjectType=0x7
DataType=0x2
AccessType=rww
DefaultValue=1
PDOMapping=1
ObjFlags=0
ParameterValue=10

[6061]
ParameterName=Modes of operation display
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=10

[6062]
ParameterName=Position demand value
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[6064]
ParameterName=Position actual value
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[6065]
ParameterName=Following error window
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=2000
PDOMapping=1
ObjFlags=0
ParameterValue=2000

[6066]
ParameterName=Following error time out
ObjectType=0x7
DataType=0x6
AccessType=rww
DefaultValue=0
LowLimit=0
HighLimit=0
PDOMapping=1
ObjFlags=1
ParameterValue=0

[6067]
ParameterName=Position window
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=4294967295
PDOMapping=1
ObjFlags=0
ParameterValue=4294967295

[6068]
ParameterName=Position window time
ObjectType=0x7
DataType=0x6
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=0
ParameterValue=0

[606B]
ParameterName=Velocity demand value
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[606C]
ParameterName=Velocity actual value
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[6071]
ParameterName=Target torque
ObjectType=0x7
DataType=0x3
AccessType=rww
DefaultValue=0
LowLimit=-2000
HighLimit=2000
PDOMapping=1
ObjFlags=1
ParameterValue=0

[6076]
ParameterName=Motor rated torque
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0
PDOMapping=0
ObjFlags=1
ParameterValue=1066349

[6077]
ParameterName=Torque actual value
ObjectType=0x7
DataType=0x3
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=-2

[607A]
ParameterName=Target position
ObjectType=0x7
DataType=0x4
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=1
ParameterValue=0

[607B]
SubNumber=3
ParameterName=Position range limit
ObjectType=0x8

[607Bsub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=const
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[607Bsub1]
ParameterName=Min position range limit
ObjectType=0x7
DataType=0x4
AccessType=rww
DefaultValue=0
LowLimit=0
HighLimit=0
PDOMapping=1
ObjFlags=1
ParameterValue=0

[607Bsub2]
ParameterName=Max position range limit
ObjectType=0x7
DataType=0x4
AccessType=rww
DefaultValue=0
LowLimit=0
HighLimit=0
PDOMapping=1
ObjFlags=1
ParameterValue=0

[607D]
SubNumber=3
ParameterName=Software position limit
ObjectType=0x8

[607Dsub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=const
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[607Dsub1]
ParameterName=Min position limit
ObjectType=0x7
DataType=0x4
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=0
ParameterValue=0

[607Dsub2]
ParameterName=Max position limit
ObjectType=0x7
DataType=0x4
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=0
ParameterValue=0

[607F]
ParameterName=Max profile velocity
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=50000
LowLimit=1
HighLimit=50000
PDOMapping=1
ObjFlags=0
ParameterValue=4000

[6080]
ParameterName=Max motor speed
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=50000
LowLimit=1
HighLimit=50000
PDOMapping=1
ObjFlags=0
ParameterValue=4000

[6081]
ParameterName=Profile velocity
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=1000
LowLimit=1
HighLimit=50000
PDOMapping=1
ObjFlags=0
ParameterValue=1000

[6083]
ParameterName=Profile acceleration
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=10000
LowLimit=1
HighLimit=4294967295
PDOMapping=1
ObjFlags=0
ParameterValue=10000

[6084]
ParameterName=Profile deceleration
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=10000
LowLimit=1
HighLimit=4294967295
PDOMapping=1
ObjFlags=0
ParameterValue=10000

[6085]
ParameterName=Quick stop deceleration
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=10000
LowLimit=1
HighLimit=4294967295
PDOMapping=1
ObjFlags=0
ParameterValue=10000

[6086]
ParameterName=Motion profile type
ObjectType=0x7
DataType=0x3
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=0
ParameterValue=0

[6098]
ParameterName=Homing method
ObjectType=0x7
DataType=0x2
AccessType=rww
DefaultValue=7
PDOMapping=1
ObjFlags=0
ParameterValue=23

[6099]
SubNumber=3
ParameterName=Homing speeds
ObjectType=0x8

[6099sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=const
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[6099sub1]
ParameterName=Speed for switch search
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=100
LowLimit=1
HighLimit=50000
PDOMapping=1
ObjFlags=0
ParameterValue=100

[6099sub2]
ParameterName=Speed for zero search
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=10
LowLimit=1
HighLimit=50000
PDOMapping=1
ObjFlags=0
ParameterValue=10

[609A]
ParameterName=Homing acceleration
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=1000
LowLimit=1
HighLimit=4294967295
PDOMapping=1
ObjFlags=0
ParameterValue=1000

[60A8]
ParameterName=SI unit position
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00B50000
LowLimit=0x00B50000
HighLimit=0x00B50000
PDOMapping=0
ObjFlags=0
ParameterValue=0x00B50000

[60A9]
ParameterName=SI unit velocity
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00B44700
PDOMapping=0
ObjFlags=0
ParameterValue=0x00B44700

[60AA]
ParameterName=SI unit acceleration
ObjectType=0x7
DataType=0x7
AccessType=rw
DefaultValue=0x00C00300
LowLimit=0x00C00300
HighLimit=0x00C00300
PDOMapping=0
ObjFlags=0
ParameterValue=0x00C00300

[60B0]
ParameterName=Position offset
ObjectType=0x7
DataType=0x4
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60B1]
ParameterName=Velocity offset
ObjectType=0x7
DataType=0x4
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60B2]
ParameterName=Torque offset
ObjectType=0x7
DataType=0x3
AccessType=rww
DefaultValue=0
LowLimit=-2000
HighLimit=2000
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60B8]
ParameterName=Touch probe function
ObjectType=0x7
DataType=0x6
AccessType=rww
DefaultValue=0
PDOMapping=1
ObjFlags=0
ParameterValue=0

[60B9]
ParameterName=Touch probe status
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60BA]
ParameterName=Touch probe 1 positive edge
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60BB]
ParameterName=Touch probe 1 negative edge
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60C2]
SubNumber=3
ParameterName=Interpolation time period
ObjectType=0x9

[60C2sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=const
DefaultValue=2
PDOMapping=0
ObjFlags=1
ParameterValue=2

[60C2sub1]
ParameterName=Interpolation time period value
ObjectType=0x7
DataType=0x5
AccessType=rww
DefaultValue=0
LowLimit=0
HighLimit=100
PDOMapping=1
ObjFlags=0
ParameterValue=0

[60C2sub2]
ParameterName=Interpolation time index
ObjectType=0x7
DataType=0x2
AccessType=rww
DefaultValue=-3
PDOMapping=1
ObjFlags=1
ParameterValue=-3

[60C5]
ParameterName=Max acceleration
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=4294967295
LowLimit=1
HighLimit=4294967295
PDOMapping=1
ObjFlags=0
ParameterValue=4294967295

[60D0]
SubNumber=2
ParameterName=Touch probe source
ObjectType=0x8

[60D0sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[60D0sub1]
ParameterName=Touch probe 1 source
ObjectType=0x7
DataType=0x3
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=0

[60D5]
ParameterName=Touch probe 1 positive edge counter
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60D6]
ParameterName=Touch probe 1 negative edge counter
ObjectType=0x7
DataType=0x6
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60E3]
SubNumber=16
ParameterName=Supported homing methods
ObjectType=0x8

[60E3sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=15
PDOMapping=0
ObjFlags=1
ParameterValue=15

[60E3sub1]
ParameterName=1st supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=37

[60E3sub2]
ParameterName=2nd supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=34

[60E3sub3]
ParameterName=3rd supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=33

[60E3sub4]
ParameterName=4th supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=27

[60E3sub5]
ParameterName=5th supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=23

[60E3sub6]
ParameterName=6th supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=18

[60E3sub7]
ParameterName=7th supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=17

[60E3sub8]
ParameterName=8th supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=11

[60E3sub9]
ParameterName=9th supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=7

[60E3subA]
ParameterName=10th supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=2

[60E3subB]
ParameterName=11th supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=1

[60E3subC]
ParameterName=12th supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=-1

[60E3subD]
ParameterName=13th supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=-2

[60E3subE]
ParameterName=14th supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=-3

[60E3subF]
ParameterName=15th supported homing method
ObjectType=0x7
DataType=0x2
AccessType=ro
PDOMapping=0
ObjFlags=1
ParameterValue=-4

[60E4]
SubNumber=4
ParameterName=Additional position actual values
ObjectType=0x8

[60E4sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=const
DefaultValue=3
PDOMapping=0
ObjFlags=1
ParameterValue=3

[60E4sub1]
ParameterName=Position actual value sensor 1
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60E4sub2]
ParameterName=Position actual value sensor 2
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60E4sub3]
ParameterName=Position actual value sensor 3
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=-19816

[60E5]
SubNumber=7
ParameterName=Additional velocity actual values
ObjectType=0x8

[60E5sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=const
DefaultValue=11
PDOMapping=0
ObjFlags=1
ParameterValue=11

[60E5sub1]
ParameterName=Velocity actual value sensor 1
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60E5sub2]
ParameterName=Velocity actual value sensor 2
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60E5sub3]
ParameterName=Velocity actual value sensor 3
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60E5sub9]
ParameterName=Velocity actual value averaged sensor 1
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60E5subA]
ParameterName=Velocity actual value averaged sensor 2
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60E5subB]
ParameterName=Velocity actual value averaged sensor 3
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60F4]
ParameterName=Following error actual value
ObjectType=0x7
DataType=0x4
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0

[60FD]
ParameterName=Digital inputs
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0x00000000

[60FE]
SubNumber=2
ParameterName=Digital outputs
ObjectType=0x8

[60FEsub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=const
DefaultValue=1
PDOMapping=0
ObjFlags=1
ParameterValue=1

[60FEsub1]
ParameterName=Physical outputs
ObjectType=0x7
DataType=0x7
AccessType=rww
DefaultValue=0x00000000
PDOMapping=1
ObjFlags=1
ParameterValue=0x00000000

[60FF]
ParameterName=Target velocity
ObjectType=0x7
DataType=0x4
AccessType=rww
DefaultValue=0
LowLimit=-100000
HighLimit=100000
PDOMapping=1
ObjFlags=1
ParameterValue=0

[6402]
ParameterName=Motor type
ObjectType=0x7
DataType=0x6
AccessType=rw
DefaultValue=10
PDOMapping=0
ObjFlags=0
ParameterValue=11

[6502]
ParameterName=Supported drive modes
ObjectType=0x7
DataType=0x7
AccessType=ro
PDOMapping=1
ObjFlags=1
ParameterValue=0x000003A5