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Configuration files for trinamic motor to run canopen_motor_node
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| can0 000 [2] 82 01 | |
| can0 701 [1] 00 | |
| can0 601 [8] 2B 17 10 00 00 00 00 00 | |
| can0 581 [8] 60 17 10 00 00 00 00 00 | |
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| can0 181 [2] 50 06 | |
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| can0 080 [0] | |
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| can0 080 [0] | |
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| can0 601 [8] 40 01 10 00 00 00 00 00 | |
| can0 581 [8] 4F 01 10 00 00 00 00 00 | |
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| can0 381 [6] 50 06 00 00 00 00 | |
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| can0 581 [8] 4F 01 10 00 00 00 00 00 | |
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| can0 281 [3] 50 06 00 | |
| can0 080 [0] | |
| can0 381 [6] 50 06 00 00 00 00 | |
| can0 601 [8] 40 01 10 00 00 00 00 00 | |
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| can0 080 [0] | |
| can0 381 [6] 50 06 00 00 00 00 | |
| can0 080 [0] | |
| can0 381 [6] 50 06 00 00 00 00 | |
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| can0 000 [2] 02 01 |
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| ; This EDS file was created by the CANopen Design Tool 2.2.55.0. | |
| ; port GmbH Halle/Saale Germany, http://www.port.de, mailto:service@port.de | |
| [FileInfo] | |
| FileName=TMCM-1160.eds | |
| FileVersion=1 | |
| FileRevision=4 | |
| EDSVersion=4.0 | |
| Description=60mm stepper motor with controller / driver and integrated sensOstep Encoder | |
| CreationTime=04:09PM | |
| CreationDate=08-06-2012 | |
| CreatedBy=Mr. Eggers | |
| ModificationTime=02:46PM | |
| ModificationDate=04-25-2014 | |
| ModifiedBy=Mr. Eggers | |
| [DeviceInfo] | |
| VendorName=Trinamic Motion Control GmbH | |
| VendorNumber=0x286 | |
| ProductName=PD-1160 | |
| ProductNumber=0x488 | |
| RevisionNumber=0x00030012 | |
| OrderCode=PD-1160 | |
| BaudRate_10=0 | |
| BaudRate_20=1 | |
| BaudRate_50=1 | |
| BaudRate_125=1 | |
| BaudRate_250=1 | |
| BaudRate_500=1 | |
| BaudRate_800=1 | |
| BaudRate_1000=1 | |
| DynamicChannelsSupported=0 | |
| GroupMessaging=0 | |
| LSS_Supported=0 | |
| Granularity=8 | |
| SimpleBootUpSlave=1 | |
| SimpleBootUpMaster=0 | |
| NrOfRXPDO=5 | |
| NrOfTXPDO=5 | |
| [Comments] | |
| Lines=0 | |
| [DummyUsage] | |
| Dummy0001=0 | |
| Dummy0002=0 | |
| Dummy0003=0 | |
| Dummy0004=0 | |
| Dummy0005=0 | |
| Dummy0006=0 | |
| Dummy0007=0 | |
| [MandatoryObjects] | |
| SupportedObjects=3 | |
| 1=0x1000 | |
| 2=0x1001 | |
| 3=0x1018 | |
| [OptionalObjects] | |
| SupportedObjects=74 | |
| 1=0x1005 | |
| 2=0x1008 | |
| 3=0x1009 | |
| 4=0x100A | |
| 5=0x100C | |
| 6=0x100D | |
| 7=0x1010 | |
| 8=0x1011 | |
| 9=0x1014 | |
| 10=0x1015 | |
| 11=0x1016 | |
| 12=0x1017 | |
| 13=0x1023 | |
| 14=0x1029 | |
| 15=0x1400 | |
| 16=0x1401 | |
| 17=0x1402 | |
| 18=0x1403 | |
| 19=0x1405 | |
| 20=0x1600 | |
| 21=0x1601 | |
| 22=0x1602 | |
| 23=0x1603 | |
| 24=0x1605 | |
| 25=0x1800 | |
| 26=0x1801 | |
| 27=0x1802 | |
| 28=0x1803 | |
| 29=0x1805 | |
| 30=0x1A00 | |
| 31=0x1A01 | |
| 32=0x1A02 | |
| 33=0x1A03 | |
| 34=0x1A05 | |
| 35=0x6040 | |
| 36=0x6041 | |
| 37=0x6042 | |
| 38=0x6043 | |
| 39=0x6044 | |
| 40=0x6046 | |
| 41=0x6048 | |
| 42=0x6049 | |
| 43=0x605A | |
| 44=0x605B | |
| 45=0x605C | |
| 46=0x605D | |
| 47=0x605E | |
| 48=0x6060 | |
| 49=0x6061 | |
| 50=0x6062 | |
| 51=0x6063 | |
| 52=0x6064 | |
| 53=0x6065 | |
| 54=0x6067 | |
| 55=0x6068 | |
| 56=0x606A | |
| 57=0x606C | |
| 58=0x607A | |
| 59=0x607C | |
| 60=0x607D | |
| 61=0x607F | |
| 62=0x6081 | |
| 63=0x6083 | |
| 64=0x6084 | |
| 65=0x6085 | |
| 66=0x6086 | |
| 67=0x6098 | |
| 68=0x6099 | |
| 69=0x609A | |
| 70=0x60C5 | |
| 71=0x60C6 | |
| 72=0x60FD | |
| 73=0x60FF | |
| 74=0x6502 | |
| [ManufacturerObjects] | |
| SupportedObjects=66 | |
| 1=0x2000 | |
| 2=0x2001 | |
| 3=0x2002 | |
| 4=0x2003 | |
| 5=0x2004 | |
| 6=0x2005 | |
| 7=0x2006 | |
| 8=0x2007 | |
| 9=0x2008 | |
| 10=0x2009 | |
| 11=0x200A | |
| 12=0x200B | |
| 13=0x200C | |
| 14=0x204E | |
| 15=0x2085 | |
| 16=0x2086 | |
| 17=0x2087 | |
| 18=0x2088 | |
| 19=0x208C | |
| 20=0x208E | |
| 21=0x2090 | |
| 22=0x2091 | |
| 23=0x2092 | |
| 24=0x2093 | |
| 25=0x2094 | |
| 26=0x2095 | |
| 27=0x2096 | |
| 28=0x2097 | |
| 29=0x2098 | |
| 30=0x2099 | |
| 31=0x209A | |
| 32=0x209B | |
| 33=0x209C | |
| 34=0x209D | |
| 35=0x209E | |
| 36=0x209F | |
| 37=0x20A0 | |
| 38=0x20A1 | |
| 39=0x20A2 | |
| 40=0x20A3 | |
| 41=0x20A4 | |
| 42=0x20A5 | |
| 43=0x20A6 | |
| 44=0x2100 | |
| 45=0x2101 | |
| 46=0x2102 | |
| 47=0x2103 | |
| 48=0x2104 | |
| 49=0x2105 | |
| 50=0x2106 | |
| 51=0x2107 | |
| 52=0x2108 | |
| 53=0x210B | |
| 54=0x2700 | |
| 55=0x2701 | |
| 56=0x2702 | |
| 57=0x2703 | |
| 58=0x2704 | |
| 59=0x2705 | |
| 60=0x2706 | |
| 61=0x2707 | |
| 62=0x2708 | |
| 63=0x270B | |
| 64=0x270C | |
| 65=0x270E | |
| 66=0x270F | |
| [1000] | |
| ParameterName=Device Type | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=const | |
| DefaultValue=0x40192 | |
| PDOMapping=0 | |
| [1001] | |
| ParameterName=Error Register | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [1005] | |
| ParameterName=COB-ID SYNC | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x00000080 | |
| PDOMapping=0 | |
| [1008] | |
| ParameterName=Manufacturer Device Name | |
| ObjectType=0x07 | |
| DataType=0x0009 | |
| AccessType=const | |
| PDOMapping=0 | |
| [1009] | |
| ParameterName=Manufacturer Hardware Version | |
| ObjectType=0x07 | |
| DataType=0x0009 | |
| AccessType=const | |
| PDOMapping=0 | |
| [100A] | |
| ParameterName=Manufacturer Software Version | |
| ObjectType=0x07 | |
| DataType=0x0009 | |
| AccessType=const | |
| PDOMapping=0 | |
| [100C] | |
| ParameterName=Guard Time | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x00000000 | |
| PDOMapping=0 | |
| [100D] | |
| ParameterName=Life Time Factor | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x00000000 | |
| PDOMapping=0 | |
| [1010] | |
| SubNumber=8 | |
| ParameterName=Store Parameter Field | |
| ObjectType=0x08 | |
| [1010sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x7 | |
| PDOMapping=0 | |
| [1010sub1] | |
| ParameterName=Save all Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1010sub2] | |
| ParameterName=Save Communication Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1010sub3] | |
| ParameterName=Save Device Profile Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1010sub4] | |
| ParameterName=Save Axis 0 Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1010sub5] | |
| ParameterName=Save Axis 1 Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1010sub6] | |
| ParameterName=Save Axis 2 Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1010sub7] | |
| ParameterName=Save Device Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1011] | |
| SubNumber=8 | |
| ParameterName=Restore Default Parameters | |
| ObjectType=0x08 | |
| [1011sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x7 | |
| PDOMapping=0 | |
| [1011sub1] | |
| ParameterName=Restore all Default Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| ObjFlags=0x00000001 | |
| [1011sub2] | |
| ParameterName=Restore Communication Default Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1011sub3] | |
| ParameterName=Restore Device Profile Default Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1011sub4] | |
| ParameterName=Restore Axis 0 Default Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1011sub5] | |
| ParameterName=Restore Axis 1 Default Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1011sub6] | |
| ParameterName=Restore Axis 2 Default Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1011sub7] | |
| ParameterName=Restore Device Default Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [1014] | |
| ParameterName=COB-ID EMCY | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=$NODEID+0x80 | |
| PDOMapping=0 | |
| [1015] | |
| ParameterName=Inhibit Time Emergency | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x0000 | |
| PDOMapping=0 | |
| [1016] | |
| SubNumber=2 | |
| ParameterName=Heartbeat Consumer Entries | |
| ObjectType=0x08 | |
| [1016sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x1 | |
| PDOMapping=0 | |
| [1016sub1] | |
| ParameterName=Consumer Heartbeat Time 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [1017] | |
| ParameterName=Producer Heartbeat Time | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x00000000 | |
| PDOMapping=0 | |
| [1018] | |
| SubNumber=5 | |
| ParameterName=Identity Object | |
| ObjectType=0x09 | |
| [1018sub0] | |
| ParameterName=number of entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x4 | |
| PDOMapping=0 | |
| [1018sub1] | |
| ParameterName=Vendor Id | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| DefaultValue=0x286 | |
| PDOMapping=0 | |
| [1018sub2] | |
| ParameterName=Product Code | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| DefaultValue=0x474 | |
| PDOMapping=0 | |
| [1018sub3] | |
| ParameterName=Revision number | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [1018sub4] | |
| ParameterName=Serial number | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [1023] | |
| SubNumber=4 | |
| ParameterName=OS Command | |
| ObjectType=0x09 | |
| [1023sub0] | |
| ParameterName=NumOfEntries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x3 | |
| PDOMapping=0 | |
| [1023sub1] | |
| ParameterName=Command | |
| ObjectType=0x07 | |
| DataType=0x000A | |
| AccessType=rw | |
| PDOMapping=0 | |
| ObjFlags=0x00000001 | |
| [1023sub2] | |
| ParameterName=Status | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [1023sub3] | |
| ParameterName=Reply | |
| ObjectType=0x07 | |
| DataType=0x000A | |
| AccessType=ro | |
| PDOMapping=0 | |
| [1029] | |
| SubNumber=3 | |
| ParameterName=Error Behaviour | |
| ObjectType=0x08 | |
| [1029sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [1029sub1] | |
| ParameterName=Communication Error | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [1029sub2] | |
| ParameterName=Application Error | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x1 | |
| PDOMapping=0 | |
| [1400] | |
| SubNumber=3 | |
| ParameterName=Receive PDO Communication Parameter 1 | |
| ObjectType=0x09 | |
| [1400sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x02 | |
| PDOMapping=0 | |
| [1400sub1] | |
| ParameterName=COB-ID | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=$NODEID+0x200 | |
| PDOMapping=0 | |
| [1400sub2] | |
| ParameterName=Transmission Type | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0xFF | |
| PDOMapping=0 | |
| [1401] | |
| SubNumber=3 | |
| ParameterName=Receive PDO Communication Parameter 2 | |
| ObjectType=0x09 | |
| [1401sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [1401sub1] | |
| ParameterName=COB-ID | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=$NODEID+0x300 | |
| PDOMapping=0 | |
| [1401sub2] | |
| ParameterName=Transmission Type | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0xFF | |
| PDOMapping=0 | |
| [1402] | |
| SubNumber=3 | |
| ParameterName=Receive PDO Communication Parameter 3 | |
| ObjectType=0x09 | |
| [1402sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [1402sub1] | |
| ParameterName=COB-ID | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=$NODEID+0x400 | |
| PDOMapping=0 | |
| [1402sub2] | |
| ParameterName=Transmission Type | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0xFF | |
| PDOMapping=0 | |
| [1403] | |
| SubNumber=3 | |
| ParameterName=Receive PDO Communication Parameter 4 | |
| ObjectType=0x09 | |
| [1403sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x02 | |
| PDOMapping=0 | |
| [1403sub1] | |
| ParameterName=COB-ID | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=$NODEID+0x500 | |
| PDOMapping=0 | |
| [1403sub2] | |
| ParameterName=Transmission Type | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0xFF | |
| PDOMapping=0 | |
| [1405] | |
| SubNumber=3 | |
| ParameterName=Receive PDO Communication Parameter 6 | |
| ObjectType=0x09 | |
| [1405sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [1405sub1] | |
| ParameterName=COB-ID | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0xC0000000 | |
| PDOMapping=0 | |
| [1405sub2] | |
| ParameterName=Transmission Type | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0xFF | |
| PDOMapping=0 | |
| [1600] | |
| SubNumber=4 | |
| ParameterName=Receive PDO Mapping Parameter 1 | |
| ObjectType=0x09 | |
| [1600sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x01 | |
| PDOMapping=0 | |
| [1600sub1] | |
| ParameterName=Mapping Entry 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60400010 | |
| PDOMapping=0 | |
| [1600sub2] | |
| ParameterName=Mapping Entry 2 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x00000000 | |
| PDOMapping=0 | |
| [1600sub3] | |
| ParameterName=Mapping Entry 3 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x00000000 | |
| PDOMapping=0 | |
| [1601] | |
| SubNumber=4 | |
| ParameterName=Receive PDO Mapping Parameter 2 | |
| ObjectType=0x09 | |
| [1601sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [1601sub1] | |
| ParameterName=Mapping Entry 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60400010 | |
| PDOMapping=0 | |
| [1601sub2] | |
| ParameterName=Mapping Entry 2 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60600008 | |
| PDOMapping=0 | |
| [1601sub3] | |
| ParameterName=Mapping Entry 3 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [1602] | |
| SubNumber=4 | |
| ParameterName=Receive PDO Mapping Parameter 3 | |
| ObjectType=0x09 | |
| [1602sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [1602sub1] | |
| ParameterName=Mapping Entry 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60400010 | |
| PDOMapping=0 | |
| [1602sub2] | |
| ParameterName=Mapping Entry 2 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x607A0020 | |
| PDOMapping=0 | |
| [1602sub3] | |
| ParameterName=Mapping Entry 3 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [1603] | |
| SubNumber=4 | |
| ParameterName=Receive PDO Mapping Parameter 4 | |
| ObjectType=0x09 | |
| [1603sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [1603sub1] | |
| ParameterName=Mapping Entry 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60400010 | |
| PDOMapping=0 | |
| [1603sub2] | |
| ParameterName=Mapping Entry 2 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60FF0020 | |
| PDOMapping=0 | |
| [1603sub3] | |
| ParameterName=Mapping Entry 3 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [1605] | |
| SubNumber=4 | |
| ParameterName=Receive PDO Mapping Parameter 6 | |
| ObjectType=0x09 | |
| [1605sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [1605sub1] | |
| ParameterName=Mapping Entry 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60400010 | |
| PDOMapping=0 | |
| [1605sub2] | |
| ParameterName=Mapping Entry 2 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60420010 | |
| PDOMapping=0 | |
| [1605sub3] | |
| ParameterName=Mapping Entry 3 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [1800] | |
| SubNumber=6 | |
| ParameterName=Transmit PDO Communication Parameter 1 | |
| ObjectType=0x09 | |
| [1800sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x05 | |
| PDOMapping=0 | |
| [1800sub1] | |
| ParameterName=COB-ID | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=$NODEID+0x180 | |
| PDOMapping=0 | |
| [1800sub2] | |
| ParameterName=Transmission Type | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0xFF | |
| PDOMapping=0 | |
| [1800sub3] | |
| ParameterName=Inhibit Time | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [1800sub4] | |
| ParameterName=Compatibility Entry | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [1800sub5] | |
| ParameterName=Event Timer | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [1801] | |
| SubNumber=6 | |
| ParameterName=Transmit PDO Communication Parameter 2 | |
| ObjectType=0x09 | |
| [1801sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x05 | |
| PDOMapping=0 | |
| [1801sub1] | |
| ParameterName=COB-ID | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=$NODEID+0x280 | |
| PDOMapping=0 | |
| [1801sub2] | |
| ParameterName=Transmission Type | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0xFF | |
| PDOMapping=0 | |
| [1801sub3] | |
| ParameterName=Inhibit Time | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x0000 | |
| PDOMapping=0 | |
| [1801sub4] | |
| ParameterName=Compatibility Entry | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [1801sub5] | |
| ParameterName=Event Timer | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x0000 | |
| PDOMapping=0 | |
| [1802] | |
| SubNumber=6 | |
| ParameterName=Transmit PDO Communication Parameter 3 | |
| ObjectType=0x09 | |
| [1802sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x05 | |
| PDOMapping=0 | |
| [1802sub1] | |
| ParameterName=COB-ID | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=$NODEID+0x380 | |
| PDOMapping=0 | |
| [1802sub2] | |
| ParameterName=Transmission Type | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x1 | |
| PDOMapping=0 | |
| [1802sub3] | |
| ParameterName=Inhibit Time | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x0000 | |
| PDOMapping=0 | |
| [1802sub4] | |
| ParameterName=Compatibility Entry | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [1802sub5] | |
| ParameterName=Event Timer | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x0000 | |
| PDOMapping=0 | |
| [1803] | |
| SubNumber=6 | |
| ParameterName=Transmit PDO Communication Parameter 4 | |
| ObjectType=0x09 | |
| [1803sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x05 | |
| PDOMapping=0 | |
| [1803sub1] | |
| ParameterName=COB-ID | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=$NODEID+0x480 | |
| PDOMapping=0 | |
| [1803sub2] | |
| ParameterName=Transmission Type | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0xFE | |
| PDOMapping=0 | |
| [1803sub3] | |
| ParameterName=Inhibit Time | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x0000 | |
| PDOMapping=0 | |
| [1803sub4] | |
| ParameterName=Compatibility Entry | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [1803sub5] | |
| ParameterName=Event Timer | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x0000 | |
| PDOMapping=0 | |
| [1805] | |
| SubNumber=6 | |
| ParameterName=Transmit PDO Communication Parameter 6 | |
| ObjectType=0x09 | |
| [1805sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x05 | |
| PDOMapping=0 | |
| [1805sub1] | |
| ParameterName=COB-ID | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0xC0000000 | |
| PDOMapping=0 | |
| [1805sub2] | |
| ParameterName=Transmission Type | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x1 | |
| PDOMapping=0 | |
| [1805sub3] | |
| ParameterName=Inhibit Time | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x0000 | |
| PDOMapping=0 | |
| [1805sub4] | |
| ParameterName=Compatibility Entry | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [1805sub5] | |
| ParameterName=Event Timer | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x0000 | |
| PDOMapping=0 | |
| [1A00] | |
| SubNumber=4 | |
| ParameterName=Transmit PDO Mapping Parameter 1 | |
| ObjectType=0x09 | |
| [1A00sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x01 | |
| PDOMapping=0 | |
| [1A00sub1] | |
| ParameterName=Mapping Entry 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60410010 | |
| PDOMapping=0 | |
| [1A00sub2] | |
| ParameterName=Mapping Entry 2 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x00000000 | |
| PDOMapping=0 | |
| [1A00sub3] | |
| ParameterName=Mapping Entry 3 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x00000000 | |
| PDOMapping=0 | |
| [1A01] | |
| SubNumber=4 | |
| ParameterName=Transmit PDO Mapping Parameter 2 | |
| ObjectType=0x09 | |
| [1A01sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [1A01sub1] | |
| ParameterName=Mapping Entry 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60410010 | |
| PDOMapping=0 | |
| [1A01sub2] | |
| ParameterName=Mapping Entry 2 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60610008 | |
| PDOMapping=0 | |
| [1A01sub3] | |
| ParameterName=Mapping Entry 3 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x00 | |
| PDOMapping=0 | |
| [1A02] | |
| SubNumber=4 | |
| ParameterName=Transmit PDO Mapping Parameter 3 | |
| ObjectType=0x09 | |
| [1A02sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [1A02sub1] | |
| ParameterName=Mapping Entry 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60410010 | |
| PDOMapping=0 | |
| [1A02sub2] | |
| ParameterName=Mapping Entry 2 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60640020 | |
| PDOMapping=0 | |
| [1A02sub3] | |
| ParameterName=Mapping Entry 3 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x00 | |
| PDOMapping=0 | |
| [1A03] | |
| SubNumber=4 | |
| ParameterName=Transmit PDO Mapping Parameter 4 | |
| ObjectType=0x09 | |
| [1A03sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [1A03sub1] | |
| ParameterName=Mapping Entry 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60410010 | |
| PDOMapping=0 | |
| [1A03sub2] | |
| ParameterName=Mapping Entry 2 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x606C0020 | |
| PDOMapping=0 | |
| [1A03sub3] | |
| ParameterName=Mapping Entry 3 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [1A05] | |
| SubNumber=4 | |
| ParameterName=Transmit PDO Mapping Parameter 6 | |
| ObjectType=0x09 | |
| [1A05sub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [1A05sub1] | |
| ParameterName=Mapping Entry 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60410010 | |
| PDOMapping=0 | |
| [1A05sub2] | |
| ParameterName=Mapping Entry 2 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x60440010 | |
| PDOMapping=0 | |
| [1A05sub3] | |
| ParameterName=Mapping Entry 3 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x00000000 | |
| PDOMapping=0 | |
| [2000] | |
| ParameterName=Microstep Resolution | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2001] | |
| ParameterName=Fullstep Resolution | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0xC8 | |
| PDOMapping=0 | |
| [2002] | |
| SubNumber=3 | |
| ParameterName=Brake Delay Time | |
| ObjectType=0x08 | |
| [2002sub0] | |
| ParameterName=highest sub-index supported | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=const | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [2002sub1] | |
| ParameterName=apply | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2002sub2] | |
| ParameterName=release | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2003] | |
| ParameterName=Absolute Max Current | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2004] | |
| ParameterName=Standby Current | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2005] | |
| ParameterName=Switch Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2006] | |
| ParameterName=Mixed Decay Threshold | |
| ObjectType=0x07 | |
| DataType=0x0004 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2007] | |
| ParameterName=Stall Detection Threshold | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2008] | |
| ParameterName=Encoder Pre-scaler | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [2009] | |
| ParameterName=Fullstep Threshold | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [200A] | |
| ParameterName=Enable drive delay time | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x00 | |
| PDOMapping=0 | |
| [200B] | |
| SubNumber=4 | |
| ParameterName=Encoder Parameters 1 | |
| ObjectType=0x09 | |
| [200Bsub0] | |
| ParameterName=NumOfEntries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=const | |
| DefaultValue=0x3 | |
| PDOMapping=0 | |
| [200Bsub1] | |
| ParameterName=polarity | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [200Bsub2] | |
| ParameterName=direction | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=const | |
| PDOMapping=0 | |
| [200Bsub3] | |
| ParameterName=initPosition | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [200C] | |
| SubNumber=3 | |
| ParameterName=Brake Current Feed | |
| ObjectType=0x08 | |
| [200Csub0] | |
| ParameterName=Higest sub-index supported | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=const | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [200Csub1] | |
| ParameterName=applied | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [200Csub2] | |
| ParameterName=released | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [204E] | |
| ParameterName=Boost Current | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2085] | |
| ParameterName=Ramp Divisor | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2086] | |
| ParameterName=Pulse Divisor | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2087] | |
| ParameterName=Max Velocity | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x7FF | |
| PDOMapping=0 | |
| [2088] | |
| ParameterName=Max Acceleration | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x7FF | |
| PDOMapping=0 | |
| [208C] | |
| ParameterName=Velocity Dimension Index | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [208E] | |
| ParameterName=Acceleration Dimension Index | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [2090] | |
| ParameterName=Step Interpolation Enable | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2091] | |
| ParameterName=Double Step Enable | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2092] | |
| ParameterName=Chopper Blank Time | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2093] | |
| ParameterName=Chopper Mode | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2094] | |
| ParameterName=Chopper Hysteresis Decrement | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2095] | |
| ParameterName=Chopper Hysteresis End | |
| ObjectType=0x07 | |
| DataType=0x0002 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2096] | |
| ParameterName=Chopper Hysteresis Start | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2097] | |
| ParameterName=Chopper Off Time | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2098] | |
| ParameterName=Smart Energy Current Minimum | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2099] | |
| ParameterName=Smart Energy CurrentDown Step | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [209A] | |
| ParameterName=Smart Energy Hysteresis | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [209B] | |
| ParameterName=Smart Energy Current Up Step | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [209C] | |
| ParameterName=Smart Energy Hysteresis Start | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [209D] | |
| ParameterName=Stall Guard2 Filter Enable | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [209E] | |
| ParameterName=Stall Guard2 Threshold | |
| ObjectType=0x07 | |
| DataType=0x0002 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [209F] | |
| ParameterName=Slope Control High Side | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [20A0] | |
| ParameterName=Slope Control Low Side | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [20A1] | |
| ParameterName=Short Protection Disable | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [20A2] | |
| ParameterName=Short Detection Timer | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [20A3] | |
| ParameterName=Vsense | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [20A4] | |
| ParameterName=Stop On Stall | |
| ObjectType=0x07 | |
| DataType=0x0003 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [20A5] | |
| ParameterName=SmartEnergy Threshold Speed | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [20A6] | |
| ParameterName=SmartEnergy Slow Run Current | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2100] | |
| ParameterName=Home Offset Display | |
| ObjectType=0x07 | |
| DataType=0x0004 | |
| AccessType=ro | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [2101] | |
| ParameterName=Actual Load Value | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [2102] | |
| ParameterName=Driver Error Flags | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [2103] | |
| ParameterName=Pulse Divisor Display | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [2104] | |
| ParameterName=Max Velocity Display | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| DefaultValue=0x7FF | |
| PDOMapping=0 | |
| [2105] | |
| ParameterName=Ramp Divisor Display | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [2106] | |
| ParameterName=Max Acceleration Display | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| DefaultValue=0x7FF | |
| PDOMapping=0 | |
| [2107] | |
| ParameterName=Microstep Resolution Display | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [2108] | |
| ParameterName=Absolute Resolver Value 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [210B] | |
| SubNumber=4 | |
| ParameterName=Step Counter | |
| ObjectType=0x09 | |
| [210Bsub0] | |
| ParameterName=NumOfEntries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x3 | |
| PDOMapping=0 | |
| [210Bsub1] | |
| ParameterName=value_low_U32 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [210Bsub2] | |
| ParameterName=value_high_U32 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [210Bsub3] | |
| ParameterName=value_U64 | |
| ObjectType=0x07 | |
| DataType=0x001B | |
| AccessType=ro | |
| PDOMapping=0 | |
| [2700] | |
| ParameterName=TMCL Direct Communication | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [2701] | |
| ParameterName=PDO Disabling | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [2702] | |
| ParameterName=Device Digital Inputs | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=1 | |
| [2703] | |
| SubNumber=3 | |
| ParameterName=Device Digital Outputs | |
| ObjectType=0x08 | |
| [2703sub0] | |
| ParameterName=Higheat sub-index supported | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=const | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [2703sub1] | |
| ParameterName=Physical Outputs | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rww | |
| DefaultValue=0x0 | |
| PDOMapping=1 | |
| [2703sub2] | |
| ParameterName=Output Mask | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [2704] | |
| ParameterName=CAN Bit Rate | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| PDOMapping=0 | |
| ObjFlags=0x00000003 | |
| [2705] | |
| ParameterName=Node ID | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [2706] | |
| SubNumber=2 | |
| ParameterName=Store | |
| ObjectType=0x08 | |
| [2706sub0] | |
| ParameterName=Highest sub-index supported | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=const | |
| DefaultValue=0x1 | |
| PDOMapping=0 | |
| [2706sub1] | |
| ParameterName=Save all Parameters | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| ObjFlags=0x00000001 | |
| [2707] | |
| ParameterName=CAN Bit Rate Load | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=ro | |
| PDOMapping=0 | |
| ObjFlags=0x00000002 | |
| [2708] | |
| ParameterName=Node-ID Load | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270B] | |
| ParameterName=HAL version | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270C] | |
| SubNumber=7 | |
| ParameterName=CL Information | |
| ObjectType=0x08 | |
| [270Csub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=const | |
| DefaultValue=0x6 | |
| PDOMapping=0 | |
| [270Csub1] | |
| ParameterName=info 1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270Csub2] | |
| ParameterName=info 2 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270Csub3] | |
| ParameterName=info 3 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270Csub4] | |
| ParameterName=info 4 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270Csub5] | |
| ParameterName=info 5 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270Csub6] | |
| ParameterName=info 6 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270E] | |
| SubNumber=9 | |
| ParameterName=Device Analog Inputs | |
| ObjectType=0x08 | |
| [270Esub0] | |
| ParameterName=Number of Entries | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=ro | |
| DefaultValue=0x8 | |
| PDOMapping=0 | |
| [270Esub1] | |
| ParameterName=AIN0 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270Esub2] | |
| ParameterName=AIN1 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270Esub3] | |
| ParameterName=AIN2 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270Esub4] | |
| ParameterName=AIN3 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270Esub5] | |
| ParameterName=AIN4 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270Esub6] | |
| ParameterName=AIN5 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270Esub7] | |
| ParameterName=AIN6 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270Esub8] | |
| ParameterName=AIN7 | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [270F] | |
| ParameterName=Service Period | |
| ObjectType=0x07 | |
| DataType=0x0004 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [6040] | |
| ParameterName=Controlword | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rww | |
| DefaultValue=384 | |
| PDOMapping=1 | |
| [6041] | |
| ParameterName=Statusword | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=ro | |
| PDOMapping=1 | |
| [6042] | |
| ParameterName=vl Target Velocity | |
| ObjectType=0x07 | |
| DataType=0x0003 | |
| AccessType=rww | |
| DefaultValue=0x0000 | |
| PDOMapping=1 | |
| [6043] | |
| ParameterName=vl Velocity Demand | |
| ObjectType=0x07 | |
| DataType=0x0003 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [6044] | |
| ParameterName=vl Velocity Actual Value | |
| ObjectType=0x07 | |
| DataType=0x0003 | |
| AccessType=ro | |
| PDOMapping=1 | |
| [6046] | |
| SubNumber=3 | |
| ParameterName=vl Velocity Min Max Amount | |
| ObjectType=0x08 | |
| [6046sub0] | |
| ParameterName=Highest sub-index supported | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=const | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [6046sub1] | |
| ParameterName=vl_velocity_min_amount | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [6046sub2] | |
| ParameterName=vl_velocity_max_amount | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| DefaultValue=0x7FF | |
| PDOMapping=0 | |
| [6048] | |
| SubNumber=3 | |
| ParameterName=vl Velocity Acceleration | |
| ObjectType=0x09 | |
| [6048sub0] | |
| ParameterName=Highest sub-index supported | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=const | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [6048sub1] | |
| ParameterName=Delta speed | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [6048sub2] | |
| ParameterName=Delta time | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=ro | |
| DefaultValue=0x1 | |
| PDOMapping=0 | |
| [6049] | |
| SubNumber=3 | |
| ParameterName=vl Velocity Deceleration | |
| ObjectType=0x09 | |
| [6049sub0] | |
| ParameterName=Highest sub-index supported | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=const | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [6049sub1] | |
| ParameterName=Delta speed | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [6049sub2] | |
| ParameterName=Delta time | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=ro | |
| DefaultValue=0x1 | |
| PDOMapping=0 | |
| [605A] | |
| ParameterName=Quick Stop Option Code | |
| ObjectType=0x07 | |
| DataType=0x0003 | |
| AccessType=rw | |
| DefaultValue=0x0002 | |
| PDOMapping=0 | |
| [605B] | |
| ParameterName=Shutdown Option Code | |
| ObjectType=0x07 | |
| DataType=0x0003 | |
| AccessType=ro | |
| DefaultValue=0x0000 | |
| PDOMapping=0 | |
| [605C] | |
| ParameterName=Disable Operation Option Code | |
| ObjectType=0x07 | |
| DataType=0x0003 | |
| AccessType=ro | |
| DefaultValue=0x0001 | |
| PDOMapping=0 | |
| [605D] | |
| ParameterName=Halt Option Code | |
| ObjectType=0x07 | |
| DataType=0x0003 | |
| AccessType=ro | |
| DefaultValue=0x0001 | |
| PDOMapping=0 | |
| [605E] | |
| ParameterName=Fault Reaction Option Code | |
| ObjectType=0x07 | |
| DataType=0x0003 | |
| AccessType=ro | |
| DefaultValue=0x0002 | |
| PDOMapping=0 | |
| [6060] | |
| ParameterName=Modes of Operation | |
| ObjectType=0x07 | |
| DataType=0x0002 | |
| AccessType=rww | |
| DefaultValue=0x00 | |
| ParameterValue=0x02 | |
| PDOMapping=1 | |
| [6061] | |
| ParameterName=Modes of Operation Display | |
| ObjectType=0x07 | |
| DataType=0x0002 | |
| AccessType=ro | |
| PDOMapping=1 | |
| [6062] | |
| ParameterName=Position Demand Value | |
| ObjectType=0x07 | |
| DataType=0x0004 | |
| AccessType=ro | |
| PDOMapping=1 | |
| [6063] | |
| ParameterName=Position Actual Internal Value | |
| ObjectType=0x07 | |
| DataType=0x0004 | |
| AccessType=ro | |
| PDOMapping=1 | |
| [6064] | |
| ParameterName=Position Actual Value | |
| ObjectType=0x07 | |
| DataType=0x0004 | |
| AccessType=ro | |
| PDOMapping=1 | |
| [6065] | |
| ParameterName=Following Error Window | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [6067] | |
| ParameterName=Position Window | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| DefaultValue=0xFFFFFFFF | |
| PDOMapping=0 | |
| [6068] | |
| ParameterName=Position Window Time | |
| ObjectType=0x07 | |
| DataType=0x0006 | |
| AccessType=rw | |
| DefaultValue=0x0000 | |
| PDOMapping=0 | |
| [606A] | |
| ParameterName=Sensor Selection Code 1 | |
| ObjectType=0x07 | |
| DataType=0x0003 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [606C] | |
| ParameterName=Velocity Actual Value 1 | |
| ObjectType=0x07 | |
| DataType=0x0004 | |
| AccessType=ro | |
| PDOMapping=1 | |
| [607A] | |
| ParameterName=Target Position | |
| ObjectType=0x07 | |
| DataType=0x0004 | |
| AccessType=rww | |
| DefaultValue=0x0 | |
| PDOMapping=1 | |
| [607C] | |
| ParameterName=Home Offset | |
| ObjectType=0x07 | |
| DataType=0x0004 | |
| AccessType=rw | |
| DefaultValue=0x0 | |
| PDOMapping=0 | |
| [607D] | |
| SubNumber=3 | |
| ParameterName=Software Position Limit | |
| ObjectType=0x08 | |
| [607Dsub0] | |
| ParameterName=Highest sub-index supported | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=const | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [607Dsub1] | |
| ParameterName=Min Software Position Limit | |
| ObjectType=0x07 | |
| DataType=0x0004 | |
| AccessType=rw | |
| DefaultValue=0x80000001 | |
| PDOMapping=0 | |
| [607Dsub2] | |
| ParameterName=Max Software Position Limit | |
| ObjectType=0x07 | |
| DataType=0x0004 | |
| AccessType=rw | |
| DefaultValue=0x7FFFFFFF | |
| PDOMapping=0 | |
| [607F] | |
| ParameterName=Max Profile Velocity | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [6081] | |
| ParameterName=Profile Velocity in pp-mode | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [6083] | |
| ParameterName=Profile Acceleration | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [6084] | |
| ParameterName=Profile Deceleration | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [6085] | |
| ParameterName=Quick Stop Deceleration | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [6086] | |
| ParameterName=Motion Profile Type | |
| ObjectType=0x07 | |
| DataType=0x0003 | |
| AccessType=rw | |
| DefaultValue=0x0000 | |
| PDOMapping=0 | |
| [6098] | |
| ParameterName=Homing Method | |
| ObjectType=0x07 | |
| DataType=0x0002 | |
| AccessType=rw | |
| DefaultValue=0x00 | |
| PDOMapping=0 | |
| [6099] | |
| SubNumber=3 | |
| ParameterName=Homing Speeds | |
| ObjectType=0x08 | |
| [6099sub0] | |
| ParameterName=Highest sub-index supported | |
| ObjectType=0x07 | |
| DataType=0x0005 | |
| AccessType=const | |
| DefaultValue=0x2 | |
| PDOMapping=0 | |
| [6099sub1] | |
| ParameterName=Fast Homing Speed | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [6099sub2] | |
| ParameterName=Slow Homing Speed | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [609A] | |
| ParameterName=Homing Acceleration | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=rw | |
| PDOMapping=0 | |
| [60C5] | |
| ParameterName=Max Acceleration | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [60C6] | |
| ParameterName=Max Deceleration | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=0 | |
| [60FD] | |
| ParameterName=Digital Inputs | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| PDOMapping=1 | |
| [60FF] | |
| ParameterName=Target Velocity 1 | |
| ObjectType=0x07 | |
| DataType=0x0004 | |
| AccessType=rww | |
| PDOMapping=1 | |
| [6502] | |
| ParameterName=Supported Drive Modes | |
| ObjectType=0x07 | |
| DataType=0x0007 | |
| AccessType=ro | |
| DefaultValue=0x00000025 | |
| PDOMapping=0 |
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| bus: | |
| device: can0 # socketcan network | |
| master_allocator: canopen::SimpleMaster::Allocator # defaults to canopen::LocalMaster::Allocator | |
| sync: | |
| interval_ms: 1000 # set to 0 to disable sync | |
| overflow: 0 # overflow sync counter at value or do not set it (0, default) | |
| nodes: | |
| node1: | |
| id: 1 | |
| name: motor_joint | |
| eds_file: ".../config/trinamic.dcf" #path to EDS/DCF file | |
| motor_allocator: canopen::Motor402::Allocator # select allocator for motor layer | |
| motor_layer: # settings passed to motor layer (plugin-specific) | |
| switching_state: 2 # (Switch_On_Disabled), state for mode switching | |
| pos_to_device: "rint(rad2deg(pos)*1000)" # rad -> mdeg | |
| pos_from_device: "deg2rad(obj6064)/1000" # actual position [mdeg] -> rad | |
| vel_to_device: "rint(rad2deg(vel)*1000)" # rad/s -> mdeg/s | |
| vel_from_device: "deg2rad(obj606C)/1000" # actual velocity [mdeg/s] -> rad/s | |
| eff_to_device: "rint(eff)" # just round to integer | |
| eff_from_device: "0" # unset |
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