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jacknlliu/Kollmorgen_RGM_remap.eds

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Kollmorgen RGM PDO remapping
Raw
Kollmorgen_RGM_remap.eds
; This file contains the CANopen Electronic Data Sheet for
; the KOLLMORGEN RGM C01 amplifier family.
;
; The EDS is a standard CANopen file format used to describe the
; device's object dictionary. It is used as part of the CANopen
; test tool.
[FileInfo]
CreatedBy=Daniel Tian; Kollmorgen Corp.
ModifiedBy=Daniel Tian; Kollmorgen Corp.
Description=CANopen Electronic Datasheet
CreationTime=01:25AM
CreationDate=10-01-2018
ModificationTime=01:25AM
ModificationDate=10-01-2018
FileName=Kollmorgen RGM-000 20180528.eds
FileVersion=1
FileRevision=6
EDSVersion=3.0
[DeviceInfo]
VendorName=Kollmorgen Corp.
VendorNumber=0x000000AB
ProductName=RGMC01
ProductNumber=0
RevisionNumber=0
OrderCode=0
BaudRate_10=0
BaudRate_20=1
BaudRate_50=1
BaudRate_125=1
BaudRate_250=1
BaudRate_500=1
BaudRate_800=1
BaudRate_1000=1
SimpleBootUpMaster=0
SimpleBootUpSlave=1
Granularity=8
DynamicChannelsSupported=0
CompactPDO=0
GroupMessaging=0
NrOfRXPDO=8
NrOfTXPDO=8
LSS_Supported=0
[DummyUsage]
Dummy0001=0
Dummy0002=1
Dummy0003=1
Dummy0004=1
Dummy0005=1
Dummy0006=1
Dummy0007=1
[Comments]
Lines=0
[MandatoryObjects]
SupportedObjects=3
1=0x1000
2=0x1001
3=0x1018
[1000]
ParameterName=Device Type
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=459154
PDOMapping=0
LowLimit=459154
HighLimit=459154
[1001]
ParameterName=Error Register
ObjectType=0x7
DataType=0x0005
AccessType=ro
PDOMapping=1
[1018]
ParameterName=Identity Object
ObjectType=0x8
SubNumber=5
[1018sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=4
PDOMapping=0
LowLimit=4
HighLimit=4
[1018sub1]
ParameterName=CANopen Vendor ID
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x000000AB
PDOMapping=0
LowLimit=106
HighLimit=106
[1018sub2]
ParameterName=Product Code
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0
[1018sub3]
ParameterName=Revision Number
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0
[1018sub4]
ParameterName=Serial number
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[OptionalObjects]
SupportedObjects=105
1=0x1002
2=0x1003
3=0x1005
4=0x1006
5=0x1008
6=0x1009
7=0x100A
8=0x100C
9=0x100D
10=0x1010
11=0x1013
12=0x1014
13=0x1015
14=0x1017
15=0x1200
16=0x1400
17=0x1401
18=0x1402
19=0x1403
20=0x1404
21=0x1405
22=0x1406
23=0x1407
24=0x1600
25=0x1601
26=0x1602
27=0x1603
28=0x1604
29=0x1605
30=0x1606
31=0x1607
32=0x1800
33=0x1801
34=0x1802
35=0x1803
36=0x1804
37=0x1805
38=0x1806
39=0x1807
40=0x1A00
41=0x1A01
42=0x1A02
43=0x1A03
44=0x1A04
45=0x1A05
46=0x1A06
47=0x1A07
48=0x6040
49=0x6041
50=0x605A
51=0x605B
52=0x605C
53=0x605D
54=0x6060
55=0x6061
56=0x6062
57=0x6063
58=0x6064
59=0x6065
60=0x6067
61=0x6068
62=0x6069
63=0x606A
64=0x606B
65=0x606C
66=0x606D
67=0x606E
68=0x6071
69=0x6074
70=0x6076
71=0x6077
72=0x607A
73=0x607C
74=0x607D
75=0x6081
76=0x6083
77=0x6084
78=0x6085
79=0x6086
80=0x6087
81=0x6088
82=0x6098
83=0x6099
84=0x609A
85=0x60B0
86=0x60B1
87=0x60B2
88=0x60C0
89=0x60C1
90=0x60C2
91=0x60F4
92=0x60F6
93=0x60F8
94=0x60F9
95=0x60FA
96=0x60FB
97=0x60FC
98=0x60FD
99=0x60FF
100=0x6403
101=0x6404
102=0x6410
103=0x6502
104=0x6510
105=0x67FF
[1002]
ParameterName=Amplifier event word
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=1
[1003]
ParameterName=Pre-defined error object
ObjectType=0x8
SubNumber=8
[1003sub0]
ParameterName=Number of errors in error history
ObjectType=0x7
DataType=0x0005
AccessType=rw
PDOMapping=0
[1003sub1]
ParameterName=Standard error field 1
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[1003sub2]
ParameterName=Standard error field 2
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[1003sub3]
ParameterName=Standard error field 3
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[1003sub4]
ParameterName=Standard error field 4
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[1003sub5]
ParameterName=Standard error field 5
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[1003sub6]
ParameterName=Standard error field 6
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[1003sub7]
ParameterName=Standard error field 7
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[1005]
ParameterName=COB-ID SYNC message
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=128
PDOMapping=0
[1006]
ParameterName=Communication Cycle Period
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[1008]
ParameterName=Amplifier model number
ObjectType=0x7
DataType=0x0009
AccessType=ro
PDOMapping=0
[1009]
ParameterName=Hardware version string
ObjectType=0x7
DataType=0x0009
AccessType=ro
PDOMapping=0
[100a]
ParameterName=Manufacturer Software Version
ObjectType=0x7
DataType=0x0009
AccessType=ro
PDOMapping=0
[100c]
ParameterName=Node Guarding time
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=65535
[100d]
ParameterName=Life Time Factor
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=255
[1010]
ParameterName=Store Parameters
ObjectType=0x8
SubNumber=5
[1010sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=4
PDOMapping=0
LowLimit=4
HighLimit=4
[1010sub1]
ParameterName=Save all parameters
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[1010sub2]
ParameterName=Save communication parameters
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[1010sub3]
ParameterName=Save application parameters
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[1010sub4]
ParameterName=Save manufacturer defined parameters
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[1013]
ParameterName=High resolution time stamp
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[1014]
ParameterName=Emergency object ID
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[1015]
ParameterName=Emergency object inhibit time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[1017]
ParameterName=Heartbeat Time
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=65535
[1200]
ParameterName=Server SDO parameter
ObjectType=0x9
SubNumber=3
[1200sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
LowLimit=2
HighLimit=2
[1200sub1]
ParameterName=SDO COB-ID Client->Server
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=$NODEID+1536
PDOMapping=0
LowLimit=$NODEID+1536
HighLimit=$NODEID+1536
[1200sub2]
ParameterName=SDO COB-ID Server->Client
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=$NODEID+1408
PDOMapping=0
LowLimit=$NODEID+1408
HighLimit=$NODEID+1408
[1400]
ParameterName=Receive PDO 0 Communication Parameter
ObjectType=0x9
SubNumber=3
[1400sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
LowLimit=2
HighLimit=2
[1400sub1]
ParameterName=COB-ID use by RPDO 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+512
PDOMapping=0
[1400sub2]
ParameterName=Transmission type RPDO 1
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0xFE
PDOMapping=0
LowLimit=0
HighLimit=255
[1401]
ParameterName=Receive PDO 1 Communication Parameter
ObjectType=0x9
SubNumber=3
[1401sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
LowLimit=2
HighLimit=2
[1401sub1]
ParameterName=COB-ID use by RPDO 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+768
PDOMapping=0
[1401sub2]
ParameterName=Transmission type RPDO 2
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0xFE
PDOMapping=0
LowLimit=0
HighLimit=255
[1402]
ParameterName=Receive PDO 2 Communication Parameter
ObjectType=0x9
SubNumber=3
[1402sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
LowLimit=2
HighLimit=2
[1402sub1]
ParameterName=COB-ID use by RPDO 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+1024
PDOMapping=0
[1402sub2]
ParameterName=Transmission type RPDO 3
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0xFE
PDOMapping=0
LowLimit=0
HighLimit=255
[1403]
ParameterName=Receive PDO 3 Communication Parameter
ObjectType=0x9
SubNumber=3
[1403sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
LowLimit=2
HighLimit=2
[1403sub1]
ParameterName=COB-ID use by RPDO 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+1280
PDOMapping=0
[1403sub2]
ParameterName=Transmission type RPDO 4
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0xFE
PDOMapping=0
LowLimit=0
HighLimit=255
[1404]
ParameterName=Receive PDO 4 Communication Parameter
ObjectType=0x9
SubNumber=3
[1404sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=0
LowLimit=2
HighLimit=2
[1404sub1]
ParameterName=COB-ID use by RPDO 5
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1404sub2]
ParameterName=Transmission type RPDO 5
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=255
PDOMapping=0
LowLimit=0
HighLimit=255
[1405]
ParameterName=Receive PDO 5 Communication Parameter
ObjectType=0x9
SubNumber=3
[1405sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=0
LowLimit=2
HighLimit=2
[1405sub1]
ParameterName=COB-ID use by RPDO 6
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1405sub2]
ParameterName=Transmission type RPDO 6
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=255
PDOMapping=0
LowLimit=0
HighLimit=255
[1406]
ParameterName=Receive PDO 6 Communication Parameter
ObjectType=0x9
SubNumber=3
[1406sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=0
LowLimit=2
HighLimit=2
[1406sub1]
ParameterName=COB-ID use by RPDO 7
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1406sub2]
ParameterName=Transmission type RPDO 7
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=255
PDOMapping=0
LowLimit=0
HighLimit=255
[1407]
ParameterName=Receive PDO 7 Communication Parameter
ObjectType=0x9
SubNumber=3
[1407sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=0
LowLimit=2
HighLimit=2
[1407sub1]
ParameterName=COB-ID use by RPDO 8
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1407sub2]
ParameterName=Transmission type RPDO 8
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=255
PDOMapping=0
LowLimit=0
HighLimit=255
[1600]
ParameterName=Receive PDO 0 mapping parameter
ObjectType=0x9
SubNumber=5
[1600sub0]
ParameterName=Number of mapped objects RPDO 1
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=2
PDOMapping=0
LowLimit=0
HighLimit=4
[1600sub1]
ParameterName=RPDO 1 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x60400010
PDOMapping=0
[1600sub2]
ParameterName=RPDO 1 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x60600008
PDOMapping=0
[1600sub3]
ParameterName=RPDO 1 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1600sub4]
ParameterName=RPDO 1 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1601]
ParameterName=Receive PDO 1 mapping parameter
ObjectType=0x9
SubNumber=5
[1601sub0]
ParameterName=Number of mapped objects RPDO 2
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=2
PDOMapping=0
LowLimit=0
HighLimit=4
[1601sub1]
ParameterName=RPDO 2 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x607a0020
PDOMapping=0
[1601sub2]
ParameterName=RPDO 2 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x60810020
PDOMapping=0
[1601sub3]
ParameterName=RPDO 2 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1601sub4]
ParameterName=RPDO 2 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1602]
ParameterName=Receive PDO 2 mapping parameter
ObjectType=0x9
SubNumber=5
[1602sub0]
ParameterName=Number of mapped objects RPDO 3
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
LowLimit=0
HighLimit=4
[1602sub1]
ParameterName=RPDO 3 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x60ff0020
PDOMapping=0
[1602sub2]
ParameterName=RPDO 3 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1602sub3]
ParameterName=RPDO 3 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1602sub4]
ParameterName=RPDO 3 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1603]
ParameterName=Receive PDO 3 mapping parameter
ObjectType=0x9
SubNumber=5
[1603sub0]
ParameterName=Number of mapped objects RPDO 4
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
LowLimit=0
HighLimit=4
[1603sub1]
ParameterName=RPDO 4 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x60710010
PDOMapping=0
[1603sub2]
ParameterName=RPDO 4 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1603sub3]
ParameterName=RPDO 4 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1603sub4]
ParameterName=RPDO 4 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1604]
ParameterName=Receive PDO 4 mapping parameter
ObjectType=0x9
SubNumber=5
[1604sub0]
ParameterName=Number of mapped objects RPDO 5
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=4
[1604sub1]
ParameterName=RPDO 5 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1604sub2]
ParameterName=RPDO 5 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1604sub3]
ParameterName=RPDO 5 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1604sub4]
ParameterName=RPDO 5 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1605]
ParameterName=Receive PDO 5 mapping parameter
ObjectType=0x9
SubNumber=5
[1605sub0]
ParameterName=Number of mapped objects RPDO 6
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=4
[1605sub1]
ParameterName=RPDO 6 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1605sub2]
ParameterName=RPDO 6 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1605sub3]
ParameterName=RPDO 6 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1605sub4]
ParameterName=RPDO 6 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1606]
ParameterName=Receive PDO 6 mapping parameter
ObjectType=0x9
SubNumber=5
[1606sub0]
ParameterName=Number of mapped objects RPDO 7
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=4
[1606sub1]
ParameterName=RPDO 7 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1606sub2]
ParameterName=RPDO 7 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1606sub3]
ParameterName=RPDO 7 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1606sub4]
ParameterName=RPDO 7 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1607]
ParameterName=Receive PDO 7 mapping parameter
ObjectType=0x9
SubNumber=5
[1607sub0]
ParameterName=Number of mapped objects RPDO 8
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=4
[1607sub1]
ParameterName=RPDO 8 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1607sub2]
ParameterName=RPDO 8 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1607sub3]
ParameterName=RPDO 8 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1607sub4]
ParameterName=RPDO 8 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1800]
ParameterName=Transmit PDO 0 communication parameters
ObjectType=0x9
SubNumber=3
[1800sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
LowLimit=2
HighLimit=2
[1800sub1]
ParameterName=COB-ID use by TPDO 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+384
PDOMapping=0
[1800sub2]
ParameterName=Transmission type TPDO 1
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
LowLimit=0
HighLimit=255
[1801]
ParameterName=Transmit PDO 1 communication parameters
ObjectType=0x9
SubNumber=3
[1801sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
LowLimit=2
HighLimit=2
[1801sub1]
ParameterName=COB-ID use by TPDO 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+640
PDOMapping=0
[1801sub2]
ParameterName=Transmission type TPDO 2
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
LowLimit=0
HighLimit=255
[1802]
ParameterName=Transmit PDO 2 communication parameters
ObjectType=0x9
SubNumber=3
[1802sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
LowLimit=2
HighLimit=2
[1802sub1]
ParameterName=COB-ID use by TPDO 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+896
PDOMapping=0
[1802sub2]
ParameterName=Transmission type TPDO 3
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
LowLimit=0
HighLimit=255
[1803]
ParameterName=Transmit PDO 3 communication parameters
ObjectType=0x9
SubNumber=3
[1803sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
LowLimit=2
HighLimit=2
[1803sub1]
ParameterName=COB-ID use by TPDO 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+1152
PDOMapping=0
[1803sub2]
ParameterName=Transmission type TPDO 4
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
LowLimit=0
HighLimit=255
[1804]
ParameterName=Transmit PDO 4 communication parameters
ObjectType=0x9
SubNumber=3
[1804sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=0
LowLimit=2
HighLimit=2
[1804sub1]
ParameterName=COB-ID use by TPDO 5
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1804sub2]
ParameterName=Transmission type TPDO 5
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=255
[1805]
ParameterName=Transmit PDO 5 communication parameters
ObjectType=0x9
SubNumber=3
[1805sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=0
LowLimit=2
HighLimit=2
[1805sub1]
ParameterName=COB-ID use by TPDO 6
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1805sub2]
ParameterName=Transmission type TPDO 6
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=255
[1806]
ParameterName=Transmit PDO 6 communication parameters
ObjectType=0x9
SubNumber=3
[1806sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=0
LowLimit=2
HighLimit=2
[1806sub1]
ParameterName=COB-ID use by TPDO 7
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1806sub2]
ParameterName=Transmission type TPDO 7
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=255
PDOMapping=0
LowLimit=0
HighLimit=255
[1807]
ParameterName=Transmit PDO 7 communication parameters
ObjectType=0x9
SubNumber=3
[1807sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=0
LowLimit=2
HighLimit=2
[1807sub1]
ParameterName=COB-ID use by TPDO 8
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1807sub2]
ParameterName=Transmission type TPDO 8
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=255
[1a00]
ParameterName=Transmit PDO 0 mapping parameter
ObjectType=0x9
SubNumber=5
[1a00sub0]
ParameterName=Number of mapped objects TPDO 1
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=2
PDOMapping=0
LowLimit=0
HighLimit=4
[1a00sub1]
ParameterName=TPDO 1 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x60410010
PDOMapping=0
[1a00sub2]
ParameterName=TPDO 1 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x60610008
PDOMapping=0
[1a00sub3]
ParameterName=TPDO 1 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a00sub4]
ParameterName=TPDO 1 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a01]
ParameterName=Transmit PDO 1 mapping parameter
ObjectType=0x9
SubNumber=5
[1a01sub0]
ParameterName=Number of mapped objects TPDO 2
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
LowLimit=0
HighLimit=4
[1a01sub1]
ParameterName=TPDO 2 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x60640020
PDOMapping=0
[1a01sub2]
ParameterName=TPDO 2 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a01sub3]
ParameterName=TPDO 2 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a01sub4]
ParameterName=TPDO 2 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a02]
ParameterName=Transmit PDO 2 mapping parameter
ObjectType=0x9
SubNumber=5
[1a02sub0]
ParameterName=Number of mapped objects TPDO 3
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
LowLimit=0
HighLimit=4
[1a02sub1]
ParameterName=TPDO 3 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x606c0020
PDOMapping=0
[1a02sub2]
ParameterName=TPDO 3 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a02sub3]
ParameterName=TPDO 3 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a02sub4]
ParameterName=TPDO 3 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a03]
ParameterName=Transmit PDO 3 mapping parameter
ObjectType=0x9
SubNumber=5
[1a03sub0]
ParameterName=Number of mapped objects TPDO 4
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
LowLimit=0
HighLimit=4
[1a03sub1]
ParameterName=TPDO 4 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x60770010
PDOMapping=0
[1a03sub2]
ParameterName=TPDO 4 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a03sub3]
ParameterName=TPDO 4 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a03sub4]
ParameterName=TPDO 4 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a04]
ParameterName=Transmit PDO 4 mapping parameter
ObjectType=0x9
SubNumber=5
[1a04sub0]
ParameterName=Number of mapped objects TPDO 5
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=4
[1a04sub1]
ParameterName=TPDO 5 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a04sub2]
ParameterName=TPDO 5 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a04sub3]
ParameterName=TPDO 5 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a04sub4]
ParameterName=TPDO 5 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a05]
ParameterName=Transmit PDO 5 mapping parameter
ObjectType=0x9
SubNumber=5
[1a05sub0]
ParameterName=Number of mapped objects TPDO 6
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=4
[1a05sub1]
ParameterName=TPDO 6 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a05sub2]
ParameterName=TPDO 6 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a05sub3]
ParameterName=TPDO 6 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a05sub4]
ParameterName=TPDO 6 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a06]
ParameterName=Transmit PDO 6 mapping parameter
ObjectType=0x9
SubNumber=5
[1a06sub0]
ParameterName=Number of mapped objects TPDO 7
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=4
[1a06sub1]
ParameterName=TPDO 7 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a06sub2]
ParameterName=TPDO 7 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a06sub3]
ParameterName=TPDO 7 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a06sub4]
ParameterName=TPDO 7 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a07]
ParameterName=Transmit PDO 7 mapping parameter
ObjectType=0x9
SubNumber=5
[1a07sub0]
ParameterName=Number of mapped objects TPDO 8
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=4
[1a07sub1]
ParameterName=TPDO 8 mapping information 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a07sub2]
ParameterName=TPDO 8 mapping information 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a07sub3]
ParameterName=TPDO 8 mapping information 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[1a07sub4]
ParameterName=TPDO 8 mapping information 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0
[6040]
ParameterName=Control word
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[6041]
ParameterName=Status word
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=1
[605a]
ParameterName=Quick stop option code
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[605b]
ParameterName=Shutdown option code
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[605c]
ParameterName=Disable option code
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[605d]
ParameterName=Halt option code
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[6060]
ParameterName=Modes of operation
ObjectType=0x7
DataType=0x0002
AccessType=rw
PDOMapping=1
[6061]
ParameterName=Modes of operation display
ObjectType=0x7
DataType=0x0002
AccessType=ro
PDOMapping=1
[6062]
ParameterName=Commanded position
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[6063]
ParameterName=Actual load position
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[6064]
ParameterName=Actual load position
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[6065]
ParameterName=Tracking warning distance
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[6067]
ParameterName=Tracking window distance
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[6068]
ParameterName=Tracking window time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[6069]
ParameterName=Actual motor velocity
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[606a]
ParameterName=Velocity sensor selection
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[606b]
ParameterName=Commanded velocity
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[606c]
ParameterName=Actual motor velocity
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[606d]
ParameterName=Velocity window (16-bit version)
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[606e]
ParameterName=Velocity window time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[6071]
ParameterName=Target Torque
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[6074]
ParameterName=Torque demand value
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[6076]
ParameterName=Motor rated torque
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[6077]
ParameterName=Torque actual value
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[607a]
ParameterName=Profile target position
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[607c]
ParameterName=Homing offset
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[607d]
ParameterName=Software position limits
ObjectType=0x8
SubNumber=3
[607dsub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
LowLimit=2
HighLimit=2
[607dsub1]
ParameterName=Negative software limit position
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[607dsub2]
ParameterName=Positive software limit position
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[6081]
ParameterName=Profile target velocity
ObjectType=0x7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1
LowLimit=0
HighLimit=500000000
[6083]
ParameterName=Profile acceleration
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[6084]
ParameterName=Profile deceleration
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[6085]
ParameterName=Profile abort acceleration
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[6086]
ParameterName=Motion profile type
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[6087]
ParameterName=Torque slope
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[6088]
ParameterName=Torque profile type
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[6098]
ParameterName=Homing method
ObjectType=0x7
DataType=0x0002
AccessType=rw
PDOMapping=1
[6099]
ParameterName=Homing speeds
ObjectType=0x8
SubNumber=3
[6099sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
LowLimit=2
HighLimit=2
[6099sub1]
ParameterName=Homing velocity (fast)
ObjectType=0x7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1
LowLimit=0
HighLimit=500000000
[6099sub2]
ParameterName=Homing velocity (slow)
ObjectType=0x7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1
LowLimit=0
HighLimit=500000000
[609a]
ParameterName=Homing acceleration
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[60b0]
ParameterName=Position offset
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[60b1]
ParameterName=Velocity offset
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[60b2]
ParameterName=Torque offset
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[60c0]
ParameterName=Interpolation submode select
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[60c1]
ParameterName=Interpolation data record
ObjectType=0x9
SubNumber=4
[60c1sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=3
PDOMapping=0
LowLimit=3
HighLimit=3
[60c1sub1]
ParameterName=Interpolated position value
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=0
[60c1sub2]
ParameterName=Interpolated time value
ObjectType=0x7
DataType=0x0005
AccessType=rw
PDOMapping=0
[60c1sub3]
ParameterName=Interpolated velocity value
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=0
[60c2]
ParameterName=Interpolation time period
ObjectType=0x8
SubNumber=3
[60c2sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
LowLimit=2
HighLimit=2
[60c2sub1]
ParameterName=Interpolation time value
ObjectType=0x7
DataType=0x0005
AccessType=rw
PDOMapping=0
[60c2sub2]
ParameterName=Interpolation time units
ObjectType=0x7
DataType=0x0002
AccessType=ro
PDOMapping=0
[60f4]
ParameterName=Position loop error.
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[60f6]
ParameterName=Current loop control parameters
ObjectType=0x9
SubNumber=4
[60f6sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=3
PDOMapping=0
LowLimit=3
HighLimit=3
[60f6sub1]
ParameterName=Proportional gain for current loop
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[60f6sub2]
ParameterName=Integral gain for current loop
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[60f6sub3]
ParameterName=Current offset value
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[60f8]
ParameterName=Tracking warning distance
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[60f9]
ParameterName=Velocity control parameters
ObjectType=0x9
SubNumber=5
[60f9sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=4
PDOMapping=0
LowLimit=4
HighLimit=4
[60f9sub1]
ParameterName=Proportional gain for velocity loop
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[60f9sub2]
ParameterName=Integral gain for velocity loop
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[60f9sub3]
ParameterName=Velocity loop acceleration feed forward
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[60f9sub4]
ParameterName=Shift value for velocity loop gain
ObjectType=0x7
DataType=0x0003
AccessType=rw
DefaultValue=0
PDOMapping=1
LowLimit=-2
HighLimit=10
[60fa]
ParameterName=Commanded velocity
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[60fb]
ParameterName=Position control parameter set
ObjectType=0x9
SubNumber=5
[60fbsub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=4
PDOMapping=0
LowLimit=4
HighLimit=4
[60fbsub1]
ParameterName=Proportional gain for position loop
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[60fbsub2]
ParameterName=Velocity feed forward for position loop
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[60fbsub3]
ParameterName=Acceleration feed forward for position loop
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[60fbsub4]
ParameterName=Position loop scaling factor
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=100
PDOMapping=1
LowLimit=1
HighLimit=25000
[60fc]
ParameterName=Commanded position
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[60fd]
ParameterName=Digital input line status
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=1
[60ff]
ParameterName=Target velocity
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[6403]
ParameterName=Motor model number
ObjectType=0x7
DataType=0x0009
AccessType=rw
PDOMapping=0
[6404]
ParameterName=Motor manufacturer
ObjectType=0x7
DataType=0x0009
AccessType=rw
PDOMapping=0
[6410]
ParameterName=Motor data
ObjectType=0x9
SubNumber=35
[6410sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=34
PDOMapping=0
LowLimit=34
HighLimit=34
[6410sub1]
ParameterName=Motor type
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[6410sub2]
ParameterName=Motor pole pairs
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=0
[6410sub3]
ParameterName=Motor wiring reversed
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[6410sub4]
ParameterName=Motor hall type
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=0
[6410sub5]
ParameterName=Motor hall wiring
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=0
[6410sub6]
ParameterName=Motor hall offset
ObjectType=0x7
DataType=0x0003
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=-180
HighLimit=180
[6410sub7]
ParameterName=Motor resistance
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[6410sub8]
ParameterName=Motor inductance
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[6410sub9]
ParameterName=Motor intertia
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=0
[6410suba]
ParameterName=Motor back EMF constant
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[6410subb]
ParameterName=Motor max velocity
ObjectType=0x7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=500000000
[6410subc]
ParameterName=Motor torque constant
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[6410subd]
ParameterName=Motor peak torque
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=0
[6410sube]
ParameterName=Motor continuous torque
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=0
[6410subf]
ParameterName=Motor has temp sensor
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[6410sub10]
ParameterName=Motor has brake
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[6410sub11]
ParameterName=Delay from error to brake active
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[6410sub12]
ParameterName=Delay from brake to PWM disable
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[6410sub13]
ParameterName=Velocity where brake may be activated without delay
ObjectType=0x7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=500000000
[6410sub14]
ParameterName=Motor encoder type
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=7
[6410sub15]
ParameterName=Encoder units
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=0
[6410sub16]
ParameterName=Encoder direction
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[6410sub17]
ParameterName=Encoder counts per rev
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[6410sub18]
ParameterName=Encoder resolution
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=0
[6410sub19]
ParameterName=Encoder electrical distance (linear only)
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=0
[6410sub1a]
ParameterName=Encoder index pulse distance
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=0
[6410sub1b]
ParameterName=Motor Units
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=0
[6410sub1c]
ParameterName=Shift amount for analog encoder
ObjectType=0x7
DataType=0x0003
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=10
[6410sub1d]
ParameterName=Microstepping resolution
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[6410sub1e]
ParameterName=Load encoder type
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0
LowLimit=0
HighLimit=5
[6410sub1f]
ParameterName=Load encoder direction
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=0
[6410sub20]
ParameterName=Load encoder resolution
ObjectType=0x7
DataType=0x0004
AccessType=rw
DefaultValue=1
PDOMapping=0
LowLimit=1
HighLimit=2147483647
[6410sub21]
ParameterName=Motor gear ratio
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=0
[6410sub22]
ParameterName=Resolver cycles / rev
ObjectType=0x7
DataType=0x0003
AccessType=rw
DefaultValue=1
PDOMapping=0
LowLimit=1
HighLimit=8
[6502]
ParameterName=Supported drive modes
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=1005
PDOMapping=0
LowLimit=1005
HighLimit=1005
[6510]
ParameterName=Drive Data
ObjectType=0x9
SubNumber=30
[6510sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=29
PDOMapping=0
LowLimit=29
HighLimit=29
[6510sub1]
ParameterName=Serial number
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[6510sub3]
ParameterName=Amplifier peak current limit
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sub4]
ParameterName=Amplifier continuous current limit
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sub5]
ParameterName=Amplifer time at peak current
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0
[6510sub6]
ParameterName=Amplifier maximum voltage
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sub7]
ParameterName=Amplifier minimum voltage
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sub8]
ParameterName=Amplifier over voltage hysteresis
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sub9]
ParameterName=Amplifier maximum temperature
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510suba]
ParameterName=Amplifier temperature hysteresis
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510subb]
ParameterName=Amplifier PWM period
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0
[6510subc]
ParameterName=Amplifier Servo period
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0
[6510subd]
ParameterName=Amplifier hardware type
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sube]
ParameterName=Amplifier current scaler
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510subf]
ParameterName=Amplifier voltage scaler
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sub10]
ParameterName=Analog reference scaling factor
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0
[6510sub11]
ParameterName=minimum PWM off time
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0
[6510sub12]
ParameterName=PWM Deadtime at continuous limit
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0
[6510sub13]
ParameterName=PWM Deadtime at zero current
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0
[6510sub14]
ParameterName=Regen transister peak current
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sub15]
ParameterName=Regen transister continuous current
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sub16]
ParameterName=Regen transister time at peak current
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0
[6510sub17]
ParameterName=Amplifier analog encoder scaling factor
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0
[6510sub18]
ParameterName=Firmware version number
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sub19]
ParameterName=Max axes supported by amplifier
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sub1a]
ParameterName=Amp regen transistor current limit
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sub1b]
ParameterName=FPGA image version number
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=0
[6510sub1c]
ParameterName=NIOS processor firmware version
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[6510sub1d]
ParameterName=Misc hardware options
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[67ff]
ParameterName=Device Type
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=459154
PDOMapping=0
LowLimit=459154
HighLimit=459154
[ManufacturerObjects]
SupportedObjects=157
1=0x2000
2=0x2001
3=0x2002
4=0x2010
5=0x2011
6=0x2012
7=0x2013
8=0x2080
9=0x2100
10=0x2101
11=0x2102
12=0x2103
13=0x2104
14=0x2105
15=0x2106
16=0x2107
17=0x2108
18=0x2109
19=0x2110
20=0x2111
21=0x2112
22=0x2113
23=0x2114
24=0x2115
25=0x2116
26=0x2117
27=0x2120
28=0x2121
29=0x2122
30=0x2140
31=0x2141
32=0x2150
33=0x2151
34=0x2152
35=0x2153
36=0x2154
37=0x2155
38=0x2156
39=0x2157
40=0x2180
41=0x2181
42=0x2182
43=0x2183
44=0x2184
45=0x2190
46=0x2191
47=0x2192
48=0x2193
49=0x2194
50=0x2195
51=0x2196
52=0x2197
53=0x21A0
54=0x21B0
55=0x21B1
56=0x21B2
57=0x21B3
58=0x21C0
59=0x21C1
60=0x21C2
61=0x21C3
62=0x21C4
63=0x21D0
64=0x21D1
65=0x21D2
66=0x21D5
67=0x21D6
68=0x21D7
69=0x21D8
70=0x2200
71=0x2201
72=0x2202
73=0x2203
74=0x2204
75=0x2205
76=0x2206
77=0x2207
78=0x2210
79=0x2211
80=0x2212
81=0x2213
82=0x2214
83=0x2215
84=0x2216
85=0x2217
86=0x2218
87=0x2219
88=0x221A
89=0x221B
90=0x221C
91=0x221D
92=0x221E
93=0x2220
94=0x2221
95=0x2222
96=0x2223
97=0x2230
98=0x2231
99=0x2240
100=0x2241
101=0x2242
102=0x2250
103=0x2251
104=0x2252
105=0x2253
106=0x2260
107=0x2261
108=0x2262
109=0x2263
110=0x2300
111=0x2310
112=0x2311
113=0x2312
114=0x2313
115=0x2320
116=0x2321
117=0x2322
118=0x2323
119=0x2330
120=0x2331
121=0x2332
122=0x2333
123=0x2340
124=0x2341
125=0x2350
126=0x2351
127=0x2352
128=0x2353
129=0x2360
130=0x2361
131=0x2362
132=0x2363
133=0x2370
134=0x2371
135=0x2400
136=0x2401
137=0x2402
138=0x2403
139=0x2404
140=0x2405
141=0x2420
142=0x2421
143=0x2422
144=0x2500
145=0x2501
146=0x2502
147=0x2503
148=0x2504
149=0x2505
150=0x2506
151=0x2507
152=0x2508
153=0x2509
154=0x250A
155=0x250B
156=0x250C
157=0x2600
[2000]
ParameterName=Serial command handler
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[2001]
ParameterName=Flash program updater
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[2002]
ParameterName=PDO request object
ObjectType=0x7
DataType=0x0005
AccessType=rw
PDOMapping=0
[2010]
ParameterName=PVT Buffer data
ObjectType=0x7
DataType=0x001b
AccessType=rw
PDOMapping=1
[2011]
ParameterName=PVT buffer count
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=1
[2012]
ParameterName=PVT buffer status
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=1
[2013]
ParameterName=PVT segment ID
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=1
[2080]
ParameterName=Amplifier scaling info
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[2100]
ParameterName=Velocity loop acceleration limit
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2101]
ParameterName=Velocity loop deceleration limit
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2102]
ParameterName=Velocity loop e-stop decel limit
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2103]
ParameterName=Velocity loop velocity limit
ObjectType=0x7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1
LowLimit=0
HighLimit=500000000
[2104]
ParameterName=Velocity window
ObjectType=0x7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1
LowLimit=0
HighLimit=500000000
[2105]
ParameterName=Velocity window time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2106]
ParameterName=Velocity loop output filter coefficients
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=0
[2107]
ParameterName=Hall velocity mode shift value
ObjectType=0x7
DataType=0x0003
AccessType=rw
DefaultValue=0
PDOMapping=1
LowLimit=0
HighLimit=8
[2108]
ParameterName=Velocity loop command filter coefficients
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=0
[2109]
ParameterName=Analog reference input filter
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=0
[2110]
ParameterName=Peak current limit
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2111]
ParameterName=Continuous current limit
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2112]
ParameterName=Time at peak current limit
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2113]
ParameterName=Current max rate of change mA/sec
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2114]
ParameterName=Period over which RMS current is calculated
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2115]
ParameterName=RMS current
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2116]
ParameterName=User current limit running sum
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2117]
ParameterName=Amp current limit running sum
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2120]
ParameterName=Tracking error distance
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2121]
ParameterName=Profile target jerk
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2122]
ParameterName=Trajectory generator destination position
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[2140]
ParameterName=PWM output mode and status bits
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2141]
ParameterName=Amplifier time
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=1
[2150]
ParameterName=Regen resistor resistance
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2151]
ParameterName=Regen resistor continuous power
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2152]
ParameterName=Regen resistor peak power
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2153]
ParameterName=Regen resistor peak time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2154]
ParameterName=Regen turn on voltage
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2155]
ParameterName=Regen turn off voltage
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2156]
ParameterName=Regen resistor model number string
ObjectType=0x7
DataType=0x0009
AccessType=rw
PDOMapping=0
[2157]
ParameterName=Regen flags
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2180]
ParameterName=Sticky version of event status
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=1
[2181]
ParameterName=Amplifier latched events
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2182]
ParameterName=Latching fault mask
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2183]
ParameterName=Latching faults
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2184]
ParameterName=Event mask for CANopen status word drive limit bit
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2190]
ParameterName=General purpose inputs
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=1
[2191]
ParameterName=Input pull-up control mask
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192]
ParameterName=Input pin configuration
ObjectType=0x8
SubNumber=17
[2192sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=16
PDOMapping=0
LowLimit=16
HighLimit=16
[2192sub1]
ParameterName=Input 0 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192sub2]
ParameterName=Input 1 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192sub3]
ParameterName=Input 2 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192sub4]
ParameterName=Input 3 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192sub5]
ParameterName=Input 4 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192sub6]
ParameterName=Input 5 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192sub7]
ParameterName=Input 6 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192sub8]
ParameterName=Input 7 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192sub9]
ParameterName=Input 8 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192suba]
ParameterName=Input 9 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192subb]
ParameterName=Input 10 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192subc]
ParameterName=Input 11 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192subd]
ParameterName=Input 12 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192sube]
ParameterName=Input 13 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192subf]
ParameterName=Input 14 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2192sub10]
ParameterName=Input 15 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2193]
ParameterName=Output pin configuration
ObjectType=0x8
SubNumber=9
[2193sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=8
PDOMapping=0
LowLimit=8
HighLimit=8
[2193sub1]
ParameterName=Output 0 configuration
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=1
[2193sub2]
ParameterName=Output 1 configuration
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=1
[2193sub3]
ParameterName=Output 2 configuration
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=1
[2193sub4]
ParameterName=Output 3 configuration
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=1
[2193sub5]
ParameterName=Output 4 configuration
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=1
[2193sub6]
ParameterName=Output 5 configuration
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=1
[2193sub7]
ParameterName=Output 6 configuration
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=1
[2193sub8]
ParameterName=Output 7 configuration
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=1
[2194]
ParameterName=Output pin values
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195]
ParameterName=Input pin debounce time
ObjectType=0x8
SubNumber=17
[2195sub0]
ParameterName=Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=16
PDOMapping=0
LowLimit=16
HighLimit=16
[2195sub1]
ParameterName=Input 0 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195sub2]
ParameterName=Input 1 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195sub3]
ParameterName=Input 2 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195sub4]
ParameterName=Input 3 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195sub5]
ParameterName=Input 4 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195sub6]
ParameterName=Input 5 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195sub7]
ParameterName=Input 6 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195sub8]
ParameterName=Input 7 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195sub9]
ParameterName=Input 8 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195suba]
ParameterName=Input 9 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195subb]
ParameterName=Input 10 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195subc]
ParameterName=Input 11 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195subd]
ParameterName=Input 12 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195sube]
ParameterName=Input 13 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195subf]
ParameterName=Input 14 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2195sub10]
ParameterName=Input 15 debounce time
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2196]
ParameterName=General purpose inputs without debouncing
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=1
[2197]
ParameterName=Current state of the CAN ID selection switch
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[21a0]
ParameterName=Axis name string
ObjectType=0x7
DataType=0x0009
AccessType=rw
PDOMapping=0
[21b0]
ParameterName=CAN node ID configuration
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=0
[21b1]
ParameterName=Input pin mapping for CAN ID selection
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=0
[21b2]
ParameterName=Node guarding error action
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[21b3]
ParameterName=CAN bus protocol configuration
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=0
[21c0]
ParameterName=Motor phasing mode
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=1
LowLimit=0
HighLimit=6
[21c1]
ParameterName=Microstepping rate
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[21c2]
ParameterName=Max current for algorithmic phase init.
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[21c3]
ParameterName=Time for algorithmic phase init.
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[21c4]
ParameterName=Algorithmic phase init configuration
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[21d0]
ParameterName=Holding current for microstepping
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[21d1]
ParameterName=Run to hold time for microstepping
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[21d2]
ParameterName=Stepper detent scaling factor
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[21d5]
ParameterName=Hold current to voltage mode time for microstepping
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[21d6]
ParameterName=Stepper configuration
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[21d7]
ParameterName=KP gain for stepper encoder adjustment
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[21d8]
ParameterName=Max adjustment velocity for encoder outter loop
ObjectType=0x7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1
LowLimit=0
HighLimit=500000000
[2200]
ParameterName=Reference A/D input
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=1
[2201]
ParameterName=Bus voltage
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2202]
ParameterName=Amplifier temperature A/D input
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2203]
ParameterName=Actual current A/D reading, winding A
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2204]
ParameterName=Actual current A/D reading, winding B
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2205]
ParameterName=Analog encoder sine input
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=1
[2206]
ParameterName=Analog encoder cosine input
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=1
[2207]
ParameterName=A/D unit offset value (filtered)
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2210]
ParameterName=Winding A current reading offset value
ObjectType=0x7
DataType=0x0003
AccessType=rwr
PDOMapping=1
[2211]
ParameterName=Winding B current reading offset value
ObjectType=0x7
DataType=0x0003
AccessType=rwr
PDOMapping=1
[2212]
ParameterName=X axis of calculated stator current vector
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2213]
ParameterName=Y axis of calculated stator current vector
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2214]
ParameterName=D axis of calculated rotor current vector
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2215]
ParameterName=Q axis of calculated rotor current vector
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2216]
ParameterName=D axis of commanded rotor current vector
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2217]
ParameterName=Q axis of commanded rotor current vector
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2218]
ParameterName=D axis of rotor commanded voltage vector
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2219]
ParameterName=Q axis of rotor commanded voltage vector
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[221a]
ParameterName=X axis of stator output voltage vector
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[221b]
ParameterName=Y axis of stator output voltage vector
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[221c]
ParameterName=Actual motor current
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[221d]
ParameterName=Commanded current being sent to current loop
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[221e]
ParameterName=Limited version of commanded current
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2220]
ParameterName=Motor encoder wrap position
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=0
[2221]
ParameterName=Load encoder wrap position
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=0
[2222]
ParameterName=Motor encoder options
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[2223]
ParameterName=Load encoder options
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=0
[2230]
ParameterName=Limited version of commanded velocity
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[2231]
ParameterName=Load encoder velocity
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[2240]
ParameterName=Actual motor position
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2241]
ParameterName=Buffered encoder output configuration
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2242]
ParameterName=Position of load encoder
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2250]
ParameterName=Velocity output from trajectory generator
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[2251]
ParameterName=Acceleration output from trajectory generator
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[2252]
ParameterName=Profile status
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2253]
ParameterName=Software limit acceleration
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2260]
ParameterName=Phase Angle
ObjectType=0x7
DataType=0x0003
AccessType=rwr
PDOMapping=1
[2261]
ParameterName=Hall sensor state
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2262]
ParameterName=Phase Angle
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2263]
ParameterName=Motor encoder phase Angle
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2300]
ParameterName=Desired amplifier state
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2310]
ParameterName=Analog reference scaler
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2311]
ParameterName=Analog reference input offset value
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2312]
ParameterName=Analog reference calibration offset value
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2313]
ParameterName=Analog reference deadband
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2320]
ParameterName=PWM input configuration
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2321]
ParameterName=PWM input scaling factor
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2322]
ParameterName=PWM Input frequency
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2323]
ParameterName=Registration offset for step and direction mode
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=0
[2330]
ParameterName=Function generator configuration
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2331]
ParameterName=Function generator frequency
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2332]
ParameterName=Function generator amplitude
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2333]
ParameterName=Function generator duty cycle
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2340]
ParameterName=Programmed current command used in amplifier state 1
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2341]
ParameterName=Programmed velocity for mode 11
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2350]
ParameterName=Homing current
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2351]
ParameterName=Delay for hard stop homing mode
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2352]
ParameterName=Homing configuration
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2353]
ParameterName=Last home position adjustment
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[2360]
ParameterName=Camming mode configuration
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2361]
ParameterName=Camming mode delay in forward direction
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2362]
ParameterName=Camming mode delay in reverse direction
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2363]
ParameterName=Camming mode virtual master velocity
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2370]
ParameterName=Gain scheduling configuration
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2371]
ParameterName=Gain schedulong key parameter
ObjectType=0x7
DataType=0x0009
AccessType=rw
PDOMapping=1
[2400]
ParameterName=Position capture control register
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=1
[2401]
ParameterName=Position capture status register
ObjectType=0x7
DataType=0x0003
AccessType=ro
PDOMapping=1
[2402]
ParameterName=Captured index position
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[2403]
ParameterName=Captured home position
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[2404]
ParameterName=Time (microseconds) of last high speed capture
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2405]
ParameterName=Position of last high speed capture
ObjectType=0x7
DataType=0x0004
AccessType=ro
PDOMapping=1
[2420]
ParameterName=Misclaneous amplifiers options
ObjectType=0x7
DataType=0x0004
AccessType=rw
PDOMapping=1
[2421]
ParameterName=Reserved for CME2 software use
ObjectType=0x7
DataType=0x0009
AccessType=rw
PDOMapping=0
[2422]
ParameterName=Extended firmware version information
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[2500]
ParameterName=Trace channel configuration
ObjectType=0x8
SubNumber=7
[2500sub0]
ParameterName=Number of trace channels
ObjectType=0x7
DataType=0x0005
AccessType=ro
PDOMapping=0
[2500sub1]
ParameterName=Trace channel 1 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[2500sub2]
ParameterName=Trace channel 2 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[2500sub3]
ParameterName=Trace channel 3 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[2500sub4]
ParameterName=Trace channel 4 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[2500sub5]
ParameterName=Trace channel 5 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[2500sub6]
ParameterName=Trace channel 6 configuration
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[2501]
ParameterName=Trace system status
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=1
[2502]
ParameterName=Trace reference period
ObjectType=0x7
DataType=0x0007
AccessType=ro
PDOMapping=0
[2503]
ParameterName=Trace sample count
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=1
[2504]
ParameterName=Trace system maximum samples
ObjectType=0x7
DataType=0x0006
AccessType=ro
PDOMapping=0
[2505]
ParameterName=Trace period
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=0
[2506]
ParameterName=Trace trigger configuration
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=0
[2507]
ParameterName=Trace trigger delay
ObjectType=0x7
DataType=0x0003
AccessType=rw
PDOMapping=0
[2508]
ParameterName=Trace start/stop control
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[2509]
ParameterName=Trace data
ObjectType=0x7
DataType=0x000a
AccessType=ro
PDOMapping=0
[250a]
ParameterName=Trace memory reserve size
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[250b]
ParameterName=Trace memory address
ObjectType=0x7
DataType=0x0006
AccessType=rw
PDOMapping=1
[250c]
ParameterName=Trace memory access
ObjectType=0x7
DataType=0x000a
AccessType=rw
PDOMapping=1
[2600]
ParameterName=Indexer register values
ObjectType=0x8
SubNumber=33
[2600sub0]
ParameterName=Number of indexer registers
ObjectType=0x7
DataType=0x0005
AccessType=ro
PDOMapping=0
[2600sub1]
ParameterName=Indexer register 0
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub2]
ParameterName=Indexer register 1
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub3]
ParameterName=Indexer register 2
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub4]
ParameterName=Indexer register 3
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub5]
ParameterName=Indexer register 4
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub6]
ParameterName=Indexer register 5
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub7]
ParameterName=Indexer register 6
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub8]
ParameterName=Indexer register 7
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub9]
ParameterName=Indexer register 8
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600suba]
ParameterName=Indexer register 9
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600subb]
ParameterName=Indexer register 10
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600subc]
ParameterName=Indexer register 11
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600subd]
ParameterName=Indexer register 12
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sube]
ParameterName=Indexer register 13
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600subf]
ParameterName=Indexer register 14
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub10]
ParameterName=Indexer register 15
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub11]
ParameterName=Indexer register 16
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub12]
ParameterName=Indexer register 17
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub13]
ParameterName=Indexer register 18
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub14]
ParameterName=Indexer register 19
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub15]
ParameterName=Indexer register 20
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub16]
ParameterName=Indexer register 21
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub17]
ParameterName=Indexer register 22
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub18]
ParameterName=Indexer register 23
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub19]
ParameterName=Indexer register 24
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub1a]
ParameterName=Indexer register 25
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub1b]
ParameterName=Indexer register 26
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub1c]
ParameterName=Indexer register 27
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub1d]
ParameterName=Indexer register 28
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub1e]
ParameterName=Indexer register 29
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub1f]
ParameterName=Indexer register 30
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
[2600sub20]
ParameterName=Indexer register 31
ObjectType=0x7
DataType=0x0007
AccessType=rw
PDOMapping=1
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