[FileInfo] CreatedBy=AMA ModifiedBy=AMA Description=EDS for Step CANopen Drives CreationTime=04:51PM CreationDate=09-24-2015 ModificationTime=04:51PM ModificationDate=09-24-2015 FileName=CAN_EDS 212E_ST_STM_STB.eds FileVersion=3.0 FileRevision=0 EDSVersion=4.0 [DeviceInfo] VendorName=Shanghai AMP & Moons' Automation VendorNumber=0x000002D9 ProductName=Step CANopen Drive ProductNumber=0 RevisionNumber=0 OrderCode=0 BaudRate_10=1 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=4 NrOfTXPDO=4 LSS_Supported=0 [DummyUsage] Dummy0001=0 Dummy0002=1 Dummy0003=1 Dummy0004=1 Dummy0005=1 Dummy0006=1 Dummy0007=1 [Comments] Lines=4 Line1=EDS File for CANopen device Line2=CANopen DS301 & DSP402 implementation Line3=Stack Version: V212D Line4=Created by AMA shanghai [MandatoryObjects] SupportedObjects=3 1=0x1000 2=0x1001 3=0x1018 [1000] ParameterName=Device type ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x60192 PDOMapping=0 [1001] ParameterName=Error register ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0 PDOMapping=1 [1018] ParameterName=Identity ObjectType=0x9 SubNumber=5 [1018sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [1018sub1] ParameterName=Vendor-ID ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x000002D9 PDOMapping=0 [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 DefaultValue=0x00000000 PDOMapping=0 [OptionalObjects] SupportedObjects=76 1=0x1002 2=0x1003 3=0x1005 4=0x1006 5=0x1007 6=0x1008 7=0x1009 8=0x100A 9=0x1010 10=0x1011 11=0x1014 12=0x1015 13=0x1017 14=0x1019 15=0x1029 16=0x1200 17=0x1400 18=0x1401 19=0x1402 20=0x1403 21=0x1600 22=0x1601 23=0x1602 24=0x1603 25=0x1800 26=0x1801 27=0x1802 28=0x1803 29=0x1A00 30=0x1A01 31=0x1A02 32=0x1A03 33=0x1F80 34=0x603F 35=0x6040 36=0x6041 37=0x605A 38=0x6060 39=0x6061 40=0x6064 41=0x6065 42=0x606C 43=0x6071 44=0x6073 45=0x6074 46=0x6078 47=0x607A 48=0x607C 49=0x607E 50=0x607F 51=0x6081 52=0x6083 53=0x6084 54=0x6085 55=0x6087 56=0x6098 57=0x6099 58=0x609A 59=0x60F4 60=0x60FE 61=0x60FF 62=0x6502 63=0x7001 64=0x7002 65=0x7003 66=0x7005 67=0x7006 68=0x7007 69=0x7009 70=0x700A 71=0x700B 72=0x700C 73=0x700D 74=0x700E 75=0x7011 76=0x7012 [1002] ParameterName=Manufacturer status register ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [1003] ParameterName=Pre-defined error field ObjectType=0x8 SubNumber=9 [1003sub0] ParameterName=Number of errors ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1003sub1] ParameterName=Standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub2] ParameterName=Standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub3] ParameterName=Standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub4] ParameterName=Standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub5] ParameterName=Standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub6] ParameterName=Standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub7] ParameterName=Standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub8] ParameterName=Standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1005] ParameterName=COB-ID SYNC message ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000080 PDOMapping=0 [1006] ParameterName=Communication cycle period ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1007] ParameterName=Synchronous window length ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1008] ParameterName=Manufacturer device name ObjectType=0x7 DataType=0x0009 AccessType=const DefaultValue=AMA CANopen Motor Driver PDOMapping=0 [1009] ParameterName=Manufacturer hardware version ObjectType=0x7 DataType=0x0009 AccessType=const DefaultValue=3.00 PDOMapping=0 [100A] ParameterName=Manufacturer software version ObjectType=0x7 DataType=0x0009 AccessType=const DefaultValue=2.12 PDOMapping=0 [1010] ParameterName=Store parameters ObjectType=0x8 SubNumber=3 [1010sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [1010sub1] ParameterName=save config parameters ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000003 PDOMapping=0 [1010sub2] ParameterName=Save Communication Parameters ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [1011] ParameterName=Restore default parameters ObjectType=0x8 SubNumber=3 [1011sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [1011sub1] ParameterName=restore all default parameters(not yet) ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [1011sub2] ParameterName=Restore Communication Default Parameters ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [1014] ParameterName=COB-ID EMCY ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NODEID+0x80 PDOMapping=0 [1015] ParameterName=inhibit time EMCY ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=200 PDOMapping=0 [1017] ParameterName=Producer heartbeat time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 [1019] ParameterName=Synchronous counter overflow value ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1029] ParameterName=Error behavior ObjectType=0x8 SubNumber=7 [1029sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=6 PDOMapping=0 [1029sub1] ParameterName=Communication ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1029sub2] ParameterName=Communication other ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1029sub3] ParameterName=Communication passive ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x01 PDOMapping=0 [1029sub4] ParameterName=Generic ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1029sub5] ParameterName=Device profile ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1029sub6] ParameterName=Manufacturer specific ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1200] ParameterName=SDO server parameter ObjectType=0x9 SubNumber=3 [1200sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [1200sub1] ParameterName=COB-ID client to server ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NODEID+0x600 PDOMapping=0 [1200sub2] ParameterName=COB-ID server to client ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NODEID+0x580 PDOMapping=0 [1400] ParameterName=RPDO communication parameter ObjectType=0x9 SubNumber=3 [1400sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [1400sub1] ParameterName=COB-ID used by RPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x200 PDOMapping=0 [1400sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1401] ParameterName=RPDO communication parameter ObjectType=0x9 SubNumber=3 [1401sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [1401sub1] ParameterName=COB-ID used by RPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x300 PDOMapping=0 [1401sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=254 PDOMapping=0 [1402] ParameterName=RPDO communication parameter ObjectType=0x9 SubNumber=3 [1402sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [1402sub1] ParameterName=COB-ID used by RPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x400 PDOMapping=0 [1402sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=254 PDOMapping=0 [1403] ParameterName=RPDO communication parameter ObjectType=0x9 SubNumber=3 [1403sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [1403sub1] ParameterName=COB-ID used by RPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x500 PDOMapping=0 [1403sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=254 PDOMapping=0 [1600] ParameterName=RPDO mapping parameter ObjectType=0x9 SubNumber=9 [1600sub0] ParameterName=Number of mapped objects ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=0 [1600sub1] ParameterName=mapped object 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 [1600sub2] ParameterName=mapped object 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1600sub3] ParameterName=mapped object 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1600sub4] ParameterName=mapped object 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1600sub5] ParameterName=mapped object 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1600sub6] ParameterName=mapped object 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1600sub7] ParameterName=mapped object 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1600sub8] ParameterName=mapped object 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1601] ParameterName=RPDO mapping parameter ObjectType=0x9 SubNumber=9 [1601sub0] ParameterName=Number of mapped objects ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 [1601sub1] ParameterName=mapped object 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 [1601sub2] ParameterName=mapped object 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x607A0020 PDOMapping=0 [1601sub3] ParameterName=mapped object 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1601sub4] ParameterName=mapped object 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1601sub5] ParameterName=mapped object 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1601sub6] ParameterName=mapped object 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1601sub7] ParameterName=mapped object 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1601sub8] ParameterName=mapped object 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1602] ParameterName=RPDO mapping parameter ObjectType=0x9 SubNumber=9 [1602sub0] ParameterName=Number of mapped objects ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 [1602sub1] ParameterName=mapped object 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 [1602sub2] ParameterName=mapped object 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60FF0020 PDOMapping=0 [1602sub3] ParameterName=mapped object 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1602sub4] ParameterName=mapped object 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1602sub5] ParameterName=mapped object 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1602sub6] ParameterName=mapped object 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1602sub7] ParameterName=mapped object 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1602sub8] ParameterName=mapped object 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603] ParameterName=RPDO mapping parameter ObjectType=0x9 SubNumber=9 [1603sub0] ParameterName=Number of mapped objects ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=0 [1603sub1] ParameterName=mapped object 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60FE0120 PDOMapping=0 [1603sub2] ParameterName=mapped object 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603sub3] ParameterName=mapped object 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603sub4] ParameterName=mapped object 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603sub5] ParameterName=mapped object 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603sub6] ParameterName=mapped object 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603sub7] ParameterName=mapped object 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603sub8] ParameterName=mapped object 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1800] ParameterName=TPDO communication parameter ObjectType=0x9 SubNumber=7 [1800sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=6 PDOMapping=0 [1800sub1] ParameterName=COB-ID used by TPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x180 PDOMapping=0 [1800sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1800sub3] ParameterName=inhibit time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=100 PDOMapping=0 [1800sub4] ParameterName=compatibility entry ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1800sub5] ParameterName=event timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1800sub6] ParameterName=SYNC start value ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1801] ParameterName=TPDO communication parameter ObjectType=0x9 SubNumber=7 [1801sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=6 PDOMapping=0 [1801sub1] ParameterName=COB-ID used by TPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x280 PDOMapping=0 [1801sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1801sub3] ParameterName=inhibit time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1801sub4] ParameterName=compatibility entry ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1801sub5] ParameterName=event timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1801sub6] ParameterName=SYNC start value ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1802] ParameterName=TPDO communication parameter ObjectType=0x9 SubNumber=7 [1802sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=6 PDOMapping=0 [1802sub1] ParameterName=COB-ID used by TPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x380 PDOMapping=0 [1802sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1802sub3] ParameterName=inhibit time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1802sub4] ParameterName=compatibility entry ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1802sub5] ParameterName=event timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1802sub6] ParameterName=SYNC start value ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1803] ParameterName=TPDO communication parameter ObjectType=0x9 SubNumber=7 [1803sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=6 PDOMapping=0 [1803sub1] ParameterName=COB-ID used by TPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x480 PDOMapping=0 [1803sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1803sub3] ParameterName=inhibit time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1803sub4] ParameterName=compatibility entry ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1803sub5] ParameterName=event timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1803sub6] ParameterName=SYNC start value ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1A00] ParameterName=TPDO mapping parameter ObjectType=0x9 SubNumber=9 [1A00sub0] ParameterName=Number of mapped objects ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=0 [1A00sub1] ParameterName=mapped object 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60410010 PDOMapping=0 [1A00sub2] ParameterName=mapped object 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A00sub3] ParameterName=mapped object 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A00sub4] ParameterName=mapped object 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A00sub5] ParameterName=mapped object 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A00sub6] ParameterName=mapped object 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A00sub7] ParameterName=mapped object 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A00sub8] ParameterName=mapped object 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01] ParameterName=TPDO mapping parameter ObjectType=0x9 SubNumber=9 [1A01sub0] ParameterName=Number of mapped objects ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 [1A01sub1] ParameterName=mapped object 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60410010 PDOMapping=0 [1A01sub2] ParameterName=mapped object 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x700A0020 PDOMapping=0 [1A01sub3] ParameterName=mapped object 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01sub4] ParameterName=mapped object 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01sub5] ParameterName=mapped object 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01sub6] ParameterName=mapped object 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01sub7] ParameterName=mapped object 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01sub8] ParameterName=mapped object 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02] ParameterName=TPDO mapping parameter ObjectType=0x9 SubNumber=9 [1A02sub0] ParameterName=Number of mapped objects ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 [1A02sub1] ParameterName=mapped object 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60410010 PDOMapping=0 [1A02sub2] ParameterName=mapped object 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x70090010 PDOMapping=0 [1A02sub3] ParameterName=mapped object 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02sub4] ParameterName=mapped object 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02sub5] ParameterName=mapped object 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02sub6] ParameterName=mapped object 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02sub7] ParameterName=mapped object 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02sub8] ParameterName=mapped object 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03] ParameterName=TPDO mapping parameter ObjectType=0x9 SubNumber=9 [1A03sub0] ParameterName=Number of mapped objects ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=0 [1A03sub1] ParameterName=mapped object 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x70030010 PDOMapping=0 [1A03sub2] ParameterName=mapped object 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03sub3] ParameterName=mapped object 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03sub4] ParameterName=mapped object 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03sub5] ParameterName=mapped object 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03sub6] ParameterName=mapped object 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03sub7] ParameterName=mapped object 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03sub8] ParameterName=mapped object 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1F80] ParameterName=NMT startup ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [603F] ParameterName=DSP Error Code ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [6040] ParameterName=ControlWord ObjectType=0x7 DataType=0x0006 AccessType=wo DefaultValue=0 PDOMapping=1 [6041] ParameterName=StatusWord ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [605A] ParameterName=Quick_stop_option_code ObjectType=0x7 DataType=0x0003 AccessType=rw DefaultValue=0 PDOMapping=0 [6060] ParameterName=Modes_of_operation ObjectType=0x7 DataType=0x0002 AccessType=wo DefaultValue=0 PDOMapping=1 [6061] ParameterName=Modes_of_operation_display ObjectType=0x7 DataType=0x0002 AccessType=ro DefaultValue=0 PDOMapping=1 [6064] ParameterName=Position_value_calaculated ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [6065] ParameterName=following_error_window ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [606C] ParameterName=Velocity_value_calaculated ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [6071] ParameterName=target_torque ObjectType=0x7 DataType=0x0003 AccessType=rww DefaultValue=0 PDOMapping=1 [6073] ParameterName=max_current ObjectType=0x7 DataType=0x0006 AccessType=rww DefaultValue=0 PDOMapping=1 [6074] ParameterName=torque_demand_value ObjectType=0x7 DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 [6078] ParameterName=current_actual_value ObjectType=0x7 DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 [607A] ParameterName=target_position ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [607C] ParameterName=home_offset ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [607E] ParameterName=polarity ObjectType=0x7 DataType=0x0005 AccessType=rww DefaultValue=0 PDOMapping=1 [607F] ParameterName=max_profile_speed ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0 PDOMapping=1 [6081] ParameterName=P2P_profile_velocity ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0 PDOMapping=1 [6083] ParameterName=profile_acceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0 PDOMapping=1 [6084] ParameterName=profile_deceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0 PDOMapping=1 [6085] ParameterName=quick_stop_deceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0 PDOMapping=1 [6087] ParameterName=torque_slope ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0 PDOMapping=1 [6098] ParameterName=homing_method ObjectType=0x7 DataType=0x0002 AccessType=rww DefaultValue=0 PDOMapping=1 [6099] ParameterName=homing_speed ObjectType=0x8 SubNumber=3 [6099sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [6099sub1] ParameterName=speed_during_search_for_switch ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0 PDOMapping=1 [6099sub2] ParameterName=speed_during_search_for_zero ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0 PDOMapping=1 [609A] ParameterName=homing_acceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0 PDOMapping=1 [60F4] ParameterName=pos_err_actual_value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [60FE] ParameterName=digital_outputs ObjectType=0x9 SubNumber=2 [60FEsub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=1 PDOMapping=0 [60FEsub1] ParameterName=physical_outputs ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0 PDOMapping=1 [60FF] ParameterName=profile_velocity ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [6502] ParameterName=supported_drive_modes ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [7001] ParameterName=home_switch ObjectType=0x7 DataType=0x0005 AccessType=rww DefaultValue=3 PDOMapping=0 [7002] ParameterName=idle_current ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [7003] ParameterName=drive_inputs ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [7005] ParameterName=torque_Constant ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [7006] ParameterName=DSP_clearAlarm ObjectType=0x7 DataType=0x0005 AccessType=wo DefaultValue=0 PDOMapping=0 [7007] ParameterName=QSegment ObjectType=0x7 DataType=0x0005 AccessType=rww DefaultValue=0 PDOMapping=1 [7009] ParameterName=velocity_actual_value ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [700A] ParameterName=position_actual_value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [700B] ParameterName=DSP_statuscode ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [700C] ParameterName=zero_Position ObjectType=0x7 DataType=0x0005 AccessType=wo DefaultValue=0 PDOMapping=0 [700D] ParameterName=Acceleration_Current ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [700E] ParameterName=Analog_Input1 ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [7011] ParameterName=Peak Current ObjectType=0x7 DataType=0x0006 AccessType=rww DefaultValue=0 PDOMapping=1 [7012] ParameterName=Driver_Temperature ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=0 [ManufacturerObjects] SupportedObjects=12 1=0x2014 2=0x2015 3=0x2016 4=0x2017 5=0x2100 6=0x2101 7=0x2102 8=0x2103 9=0x2104 10=0x2200 11=0x3000 12=0x4000 [2014] ParameterName=PDO1_transmit_mask ObjectType=0x8 SubNumber=3 [2014sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [2014sub1] ParameterName=PDO1_mask_LowerBytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2014sub2] ParameterName=PDO1_mask_upperBytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2015] ParameterName=PDO2_transmit_mask ObjectType=0x8 SubNumber=3 [2015sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [2015sub1] ParameterName=PDO2_mask_LowerBytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2015sub2] ParameterName=PDO2_mask_upperBytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2016] ParameterName=PDO3_transmit_mask ObjectType=0x8 SubNumber=3 [2016sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [2016sub1] ParameterName=PDO3_mask_LowerBytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2016sub2] ParameterName=PDO3_mask_upperBytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2017] ParameterName=PDO4_transmit_mask ObjectType=0x8 SubNumber=3 [2017sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [2017sub1] ParameterName=PDO4_mask_LowerBytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2017sub2] ParameterName=PDO4_mask_upperBytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2100] ParameterName=Error status bits ObjectType=0x7 DataType=0x000a AccessType=ro DefaultValue=00000000000000000000 PDOMapping=1 [2101] ParameterName=CAN node ID ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x30 PDOMapping=0 [2102] ParameterName=CAN bit rate ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=250 PDOMapping=0 [2103] ParameterName=SYNC counter ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [2104] ParameterName=SYNC time ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=0 [2200] ParameterName=FWName ObjectType=0x7 DataType=0x0009 AccessType=const DefaultValue=UNK PDOMapping=0 [3000] ParameterName=Switch value ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=0 [4000] ParameterName=UserRegisters ObjectType=0x8 SubNumber=24 [4000sub0] ParameterName=max sub-index ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=23 PDOMapping=0 [4000sub1] ParameterName=userRegister1 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub2] ParameterName=userRegister2 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub3] ParameterName=userRegister3 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub4] ParameterName=userRegister4 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub5] ParameterName=userRegister5 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub6] ParameterName=userRegister6 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub7] ParameterName=userRegister7 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub8] ParameterName=userRegister8 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub9] ParameterName=userRegister9 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000subA] ParameterName=userRegister10 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000subB] ParameterName=userRegister11 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000subC] ParameterName=userRegister12 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000subD] ParameterName=userRegister13 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000subE] ParameterName=userRegister14 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000subF] ParameterName=userRegister15 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub10] ParameterName=userRegister16 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub11] ParameterName=userRegister17 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub12] ParameterName=userRegister18 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub13] ParameterName=userRegister19 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub14] ParameterName=userRegister20 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub15] ParameterName=userRegister21 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub16] ParameterName=userRegister22 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [4000sub17] ParameterName=userRegister23 ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1