[FileInfo] CreatedBy=AMA ModifiedBy=AMA Description=EDS for Step-Servo CANopen Drives CreationTime=01:01PM CreationDate=04-14-2022 ModificationTime=01:01PM ModificationDate=04-14-2022 FileName=CANOPEN_EDS_MBDV_Servo_SingleAxis_V1.1.eds FileVersion=3.0 FileRevision=0 EDSVersion=1.0 [DeviceInfo] VendorName=Shanghai AMP & Moons' Automation VendorNumber=0x000002D9 ProductName=MDB CANopen Drive ProductNumber=0x00000000 RevisionNumber=0x00000000 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: V1.0 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=0x00 PDOMapping=1 [1018] ParameterName=Identity ObjectType=0x9 SubNumber=5 [1018sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x4 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=0x00000000 PDOMapping=0 [1018sub3] ParameterName=revision number ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=0 [1018sub4] ParameterName=serial number ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=0 [OptionalObjects] SupportedObjects=74 1=0x1002 2=0x1003 3=0x1005 4=0x1006 5=0x1007 6=0x1008 7=0x1009 8=0x100A 9=0x1010 10=0x1011 11=0x1014 12=0x1017 13=0x1019 14=0x1029 15=0x1200 16=0x1400 17=0x1401 18=0x1402 19=0x1403 20=0x1600 21=0x1601 22=0x1602 23=0x1603 24=0x1800 25=0x1801 26=0x1802 27=0x1803 28=0x1A00 29=0x1A01 30=0x1A02 31=0x1A03 32=0x603F 33=0x6040 34=0x6041 35=0x605A 36=0x605B 37=0x605C 38=0x605D 39=0x605E 40=0x6060 41=0x6061 42=0x6064 43=0x606C 44=0x6071 45=0x6073 46=0x6074 47=0x6075 48=0x6076 49=0x6077 50=0x6078 51=0x607A 52=0x607C 53=0x607D 54=0x607E 55=0x607F 56=0x6081 57=0x6083 58=0x6084 59=0x6085 60=0x6087 61=0x6098 62=0x6099 63=0x609A 64=0x60B0 65=0x60B1 66=0x60B2 67=0x60C2 68=0x60E0 69=0x60E1 70=0x60F4 71=0x60FD 72=0x60FE 73=0x60FF 74=0x6502 [1002] ParameterName=Manufacturer status register ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=1 [1003] ParameterName=Pre-defined error field ObjectType=0x8 SubNumber=9 [1003sub0] ParameterName=number of errors ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1003sub1] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=0 [1003sub2] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=0 [1003sub3] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=0 [1003sub4] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=0 [1003sub5] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=0 [1003sub6] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=0 [1003sub7] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=0 [1003sub8] ParameterName=standard error field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 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=0x00000000 PDOMapping=0 [1007] ParameterName=Synchronous window length ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 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=A001 PDOMapping=0 [100A] ParameterName=Manufacturer software version ObjectType=0x7 DataType=0x0009 AccessType=const DefaultValue=310B PDOMapping=0 [1010] ParameterName=Store parameters ObjectType=0x8 SubNumber=3 [1010sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x2 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 DefaultValue=0x00000003 PDOMapping=0 [1011] ParameterName=Restore default parameters ObjectType=0x8 SubNumber=3 [1011sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [1011sub1] ParameterName=restore all default parameters ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [1011sub2] ParameterName=restore communication default parameters ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [1014] ParameterName=COB-ID EMCY ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NODEID+0x80 PDOMapping=0 [1017] ParameterName=Producer heartbeat time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x3e8 PDOMapping=0 [1019] ParameterName=Synchronous counter overflow value ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1029] ParameterName=Error behavior ObjectType=0x8 SubNumber=7 [1029sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x6 PDOMapping=0 [1029sub1] ParameterName=communication error ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1029sub2] ParameterName=communication other ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1029sub3] ParameterName=communication passive ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x01 PDOMapping=0 [1029sub4] ParameterName=generic ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1029sub5] ParameterName=device profile ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1029sub6] ParameterName=manufacturer specific ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1200] ParameterName=SDO server parameter ObjectType=0x9 SubNumber=3 [1200sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [1200sub1] ParameterName=COB-ID client to server ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NODEID+0x600 PDOMapping=0 [1200sub2] ParameterName=COB-ID server to client ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NODEID+0x580 PDOMapping=0 [1400] ParameterName=RPDO communication parameter ObjectType=0x9 SubNumber=3 [1400sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [1400sub1] ParameterName=COB-ID used by RPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x200 PDOMapping=0 [1400sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0xff PDOMapping=0 [1401] ParameterName=RPDO communication parameter ObjectType=0x9 SubNumber=3 [1401sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [1401sub1] ParameterName=COB-ID used by RPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x300 PDOMapping=0 [1401sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0xfe PDOMapping=0 [1402] ParameterName=RPDO communication parameter ObjectType=0x9 SubNumber=3 [1402sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [1402sub1] ParameterName=COB-ID used by RPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x400 PDOMapping=0 [1402sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0xfe PDOMapping=0 [1403] ParameterName=RPDO communication parameter ObjectType=0x9 SubNumber=3 [1403sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x2 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=0x9 DataType=0x0005 AccessType=rw DefaultValue=0xfe [1600] ParameterName=RPDO mapping parameter ObjectType=0x9 SubNumber=9 [1600sub0] ParameterName=number of mapped application objects in RPDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x1 PDOMapping=0 [1600sub1] ParameterName=1st application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 [1600sub2] ParameterName=2nd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1600sub3] ParameterName=3rd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1600sub4] ParameterName=4th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1600sub5] ParameterName=5th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1600sub6] ParameterName=6th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1600sub7] ParameterName=7th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1600sub8] ParameterName=8th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1601] ParameterName=RPDO mapping parameter ObjectType=0x9 SubNumber=9 [1601sub0] ParameterName=number of mapped application objects in RPDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x2 PDOMapping=0 [1601sub1] ParameterName=1st application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 [1601sub2] ParameterName=2nd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x607A0020 PDOMapping=0 [1601sub3] ParameterName=3rd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1601sub4] ParameterName=4th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1601sub5] ParameterName=5th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1601sub6] ParameterName=6th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1601sub7] ParameterName=7th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1601sub8] ParameterName=8th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1602] ParameterName=RPDO mapping parameter ObjectType=0x9 SubNumber=9 [1602sub0] ParameterName=number of mapped application objects in RPDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x2 PDOMapping=0 [1602sub1] ParameterName=1st application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 [1602sub2] ParameterName=2nd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60FF0020 PDOMapping=0 [1602sub3] ParameterName=3rd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1602sub4] ParameterName=4th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1602sub5] ParameterName=5th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1602sub6] ParameterName=6th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1602sub7] ParameterName=7th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1602sub8] ParameterName=8th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603] ParameterName=RPDO mapping parameter ObjectType=0x9 SubNumber=9 [1603sub0] ParameterName=number of mapped application objects in RPDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x1 PDOMapping=0 [1603sub1] ParameterName=1st application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60FE0120 PDOMapping=0 [1603sub2] ParameterName=2nd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603sub3] ParameterName=3rd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603sub4] ParameterName=4th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603sub5] ParameterName=5th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603sub6] ParameterName=6th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603sub7] ParameterName=7th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1603sub8] ParameterName=8th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1800] ParameterName=TPDO communication parameter ObjectType=0x9 SubNumber=7 [1800sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x6 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=0xff PDOMapping=0 [1800sub3] ParameterName=inhibit time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x64 PDOMapping=0 [1800sub4] ParameterName=compatibility entry ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1800sub5] ParameterName=event timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [1800sub6] ParameterName=SYNC start value ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1801] ParameterName=TPDO communication parameter ObjectType=0x9 SubNumber=7 [1801sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x6 PDOMapping=0 [1801sub1] ParameterName=COB-ID used by TPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x280 PDOMapping=0 [1801sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0xff PDOMapping=0 [1801sub3] ParameterName=inhibit time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [1801sub4] ParameterName=compatibility entry ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1801sub5] ParameterName=event timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [1801sub6] ParameterName=SYNC start value ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1802] ParameterName=TPDO communication parameter ObjectType=0x9 SubNumber=7 [1802sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x6 PDOMapping=0 [1802sub1] ParameterName=COB-ID used by TPDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x380 PDOMapping=0 [1802sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0xff PDOMapping=0 [1802sub3] ParameterName=inhibit time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [1802sub4] ParameterName=compatibility entry ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1802sub5] ParameterName=event timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [1802sub6] ParameterName=SYNC start value ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1803] ParameterName=TPDO communication parameter ObjectType=0x9 SubNumber=7 [1803sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x6 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=0xff PDOMapping=0 [1803sub3] ParameterName=inhibit time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [1803sub4] ParameterName=compatibility entry ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1803sub5] ParameterName=event timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [1803sub6] ParameterName=SYNC start value ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1A00] ParameterName=TPDO mapping parameter ObjectType=0x9 SubNumber=9 [1A00sub0] ParameterName=number of mapped application objects in TPDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x1 PDOMapping=0 [1A00sub1] ParameterName=1st application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60410010 PDOMapping=0 [1A00sub2] ParameterName=2nd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A00sub3] ParameterName=3rd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A00sub4] ParameterName=4th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A00sub5] ParameterName=5th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A00sub6] ParameterName=6th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A00sub7] ParameterName=7th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A00sub8] ParameterName=8th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01] ParameterName=TPDO mapping parameter ObjectType=0x9 SubNumber=9 [1A01sub0] ParameterName=number of mapped application objects in TPDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x1 PDOMapping=0 [1A01sub1] ParameterName=1st application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60640020 PDOMapping=0 [1A01sub2] ParameterName=2nd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01sub3] ParameterName=3rd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01sub4] ParameterName=4th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01sub5] ParameterName=5th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01sub6] ParameterName=6th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01sub7] ParameterName=7th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A01sub8] ParameterName=8th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02] ParameterName=TPDO mapping parameter ObjectType=0x9 SubNumber=9 [1A02sub0] ParameterName=number of mapped application objects in TPDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x1 PDOMapping=0 [1A02sub1] ParameterName=1st application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x606C0020 PDOMapping=0 [1A02sub2] ParameterName=2nd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02sub3] ParameterName=3rd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02sub4] ParameterName=4th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02sub5] ParameterName=5th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02sub6] ParameterName=6th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02sub7] ParameterName=7th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A02sub8] ParameterName=8th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03] ParameterName=TPDO mapping parameter ObjectType=0x9 SubNumber=9 [1A03sub0] ParameterName=number of mapped application objects in TPDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x2 PDOMapping=0 [1A03sub1] ParameterName=1st application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60640020 PDOMapping=0 [1A03sub2] ParameterName=2nd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x606C0020 PDOMapping=0 [1A03sub3] ParameterName=3rd application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03sub4] ParameterName=4th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03sub5] ParameterName=5th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03sub6] ParameterName=6th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03sub7] ParameterName=7th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1A03sub8] ParameterName=8th application object ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [603F] ParameterName=Error code ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [6040] ParameterName=Control word ObjectType=0x7 DataType=0x0006 AccessType=rww DefaultValue=0x0000 PDOMapping=1 [6041] ParameterName=Status word ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [605A] ParameterName=Quick stop option code ObjectType=0x7 DataType=0x0003 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [605B] ParameterName=Shutdown option code ObjectType=0x7 DataType=0x0003 AccessType=rw PDOMapping=0 [605C] ParameterName=Disable operation option code ObjectType=0x7 DataType=0x0003 AccessType=rw PDOMapping=0 [605D] ParameterName=Halt option code ObjectType=0x7 DataType=0x0003 AccessType=rw PDOMapping=0 [605E] ParameterName=Fault option code ObjectType=0x7 DataType=0x0003 AccessType=rw PDOMapping=0 [6060] ParameterName=Modes of operation ObjectType=0x7 DataType=0x0002 AccessType=rww DefaultValue=0 PDOMapping=1 [6061] ParameterName=Modes of operation display ObjectType=0x7 DataType=0x0002 AccessType=ro DefaultValue=0 PDOMapping=1 [6064] ParameterName=Position value calculated ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [606C] ParameterName=Velocity value calculated 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=0x0000 PDOMapping=1 [6074] ParameterName=Torque demand ObjectType=0x7 DataType=0x0003 AccessType=rww DefaultValue=0 PDOMapping=1 [6075] ParameterName=Motor rated current ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [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=0 [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 [607D] ParameterName=Software position limit ObjectType=0x8 SubNumber=3 [607Dsub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [607Dsub1] ParameterName=min position range limit ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [607Dsub2] ParameterName=max position range limit ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [607E] ParameterName=Polarity ObjectType=0x7 DataType=0x0005 AccessType=rww DefaultValue=0x00 PDOMapping=1 [607F] ParameterName=Max profile speed ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [6081] ParameterName=Profile velocity ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [6083] ParameterName=Profile acceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [6084] ParameterName=Profile deceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [6085] ParameterName=Quick stop deceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [6087] ParameterName=Torque slope ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 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=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [6099sub1] ParameterName=speed during search for switch ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [6099sub2] ParameterName=speed during search for zero ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [609A] ParameterName=Homing acceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [60B0] ParameterName=Position offset ObjectType=0x7 DataType=0x0004 AccessType=rww PDOMapping=1 [60B1] ParameterName=Velocity offset ObjectType=0x7 DataType=0x0004 AccessType=rww PDOMapping=1 [60B2] ParameterName=Torque offset ObjectType=0x7 DataType=0x0003 AccessType=rww PDOMapping=1 [60C2] ParameterName=Interpolation Time Period ObjectType=0x9 SubNumber=3 [60C2sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [60C2sub1] ParameterName=Interpolation Period ObjectType=0x7 DataType=0x0005 AccessType=rw PDOMapping=0 [60C2sub2] ParameterName=Interpolation Index ObjectType=0x7 DataType=0x0002 AccessType=rw PDOMapping=0 [60E0] ParameterName=Positive torque limit value ObjectType=0x7 DataType=0x0006 AccessType=rww PDOMapping=1 [60E1] ParameterName=Negative torque limit value ObjectType=0x7 DataType=0x0006 AccessType=rww PDOMapping=1 [60F4] ParameterName=Following error actual value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [60FD] ParameterName=Ditigal inputs ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=1 [60FE] ParameterName=Digital outputs ObjectType=0x9 SubNumber=3 [60FEsub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [60FEsub1] ParameterName=physical outputs ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [60FEsub2] ParameterName=bit mask ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [60FF] ParameterName=Target velocity ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [6502] ParameterName=Supported drive modes ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x1012D PDOMapping=0 [ManufacturerObjects] SupportedObjects=142 1=0x2001 2=0x2002 3=0x2006 4=0x2007 5=0x200B 6=0x200C 7=0x200F 8=0x2019 9=0x2020 10=0x2021 11=0x2030 12=0x2031 13=0x2032 14=0x2033 15=0x2038 16=0x2040 17=0x2041 18=0x2042 19=0x2043 20=0x2050 21=0x2051 22=0x2060 23=0x2070 24=0x2100 25=0x2A01 26=0x2A02 27=0x2A03 28=0x2A04 29=0x2A05 30=0x2A06 31=0x2A07 32=0x2A08 33=0x2A09 34=0x2A0A 35=0x2A0B 36=0x2A10 37=0x2A11 38=0x2A12 39=0x2A13 40=0x2A14 41=0x2A15 42=0x2A16 43=0x2A17 44=0x2A18 45=0x2A20 46=0x2A21 47=0x2A22 48=0x2A23 49=0x2A25 50=0x2A26 51=0x2A27 52=0x2A30 53=0x2A31 54=0x2A32 55=0x2A33 56=0x2A34 57=0x2A35 58=0x2A36 59=0x2A37 60=0x2A42 61=0x2A43 62=0x2A44 63=0x2A45 64=0x2A46 65=0x2A47 66=0x2A4C 67=0x2A4D 68=0x2A4E 69=0x2A50 70=0x2A51 71=0x2A52 72=0x2A53 73=0x2A54 74=0x2A55 75=0x2A56 76=0x2A57 77=0x2A58 78=0x2A59 79=0x2A5A 80=0x2A5B 81=0x2A5C 82=0x2A5D 83=0x2A5E 84=0x2A5F 85=0x2A60 86=0x2A61 87=0x2A62 88=0x2A63 89=0x2A64 90=0x2A65 91=0x2A66 92=0x2A67 93=0x2A68 94=0x2A69 95=0x2A6A 96=0x2A6B 97=0x2A6C 98=0x2A6D 99=0x2A6E 100=0x2A6F 101=0x2A70 102=0x2A71 103=0x2A72 104=0x2A73 105=0x2A74 106=0x2A75 107=0x2A76 108=0x2A77 109=0x2A78 110=0x2A80 111=0x2A81 112=0x2A82 113=0x2A83 114=0x2A84 115=0x2A85 116=0x2A86 117=0x2A87 118=0x2A88 119=0x2A90 120=0x2A91 121=0x2A92 122=0x2A93 123=0x2A94 124=0x2A9A 125=0x2A9B 126=0x2A9C 127=0x2AA0 128=0x2AA1 129=0x2AA2 130=0x2AA3 131=0x2AA8 132=0x2AB0 133=0x2AB1 134=0x2AC0 135=0x2AC1 136=0x2AC2 137=0x2AC3 138=0x2AC4 139=0x3010 140=0x3011 141=0x3012 142=0x3013 [2001] ParameterName=Home switch ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x3 PDOMapping=0 [2002] ParameterName=Output Status ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2006] ParameterName=DSP clear alarm ObjectType=0x7 DataType=0x0005 AccessType=wo DefaultValue=0x00 PDOMapping=1 [2007] ParameterName=Q procedure segment ObjectType=0x7 DataType=0x0005 AccessType=rww DefaultValue=0x00 PDOMapping=1 [200B] ParameterName=DSP status code ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [200C] ParameterName=Zero position ObjectType=0x7 DataType=0x0005 AccessType=wo DefaultValue=0x00 PDOMapping=0 [200F] ParameterName=DSP alarm code ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [2019] ParameterName=Device temperature ObjectType=0x8 SubNumber=5 [2019sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [2019sub1] ParameterName=drive temperature ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=1 [2019sub2] ParameterName=DSP temperature ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=1 [2019sub3] ParameterName=reserved 1 ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [2019sub4] ParameterName=reserved 2 ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [2020] ParameterName=Node ID ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0x00 PDOMapping=0 [2021] ParameterName=Bit rate ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0x00 PDOMapping=0 [2030] ParameterName=DC bus voltage ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=1 [2031] ParameterName=DSP version ObjectType=0x7 DataType=0x0009 AccessType=ro PDOMapping=0 [2032] ParameterName=FPGA version ObjectType=0x7 DataType=0x0009 AccessType=ro PDOMapping=0 [2033] ParameterName=ENC version ObjectType=0x7 DataType=0x0009 AccessType=ro PDOMapping=0 [2038] ParameterName=IO Emergency Options ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x5 PDOMapping=0 [2040] ParameterName=PDO1 transmit mask ObjectType=0x8 SubNumber=3 [2040sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [2040sub1] ParameterName=PDO1 mask lower bytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2040sub2] ParameterName=PDO1 mask upper bytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2041] ParameterName=PDO2 transmit mask ObjectType=0x8 SubNumber=3 [2041sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [2041sub1] ParameterName=PDO2 mask lower bytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2041sub2] ParameterName=PDO2 mask upper bytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2042] ParameterName=PDO3 transmit mask ObjectType=0x8 SubNumber=3 [2042sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [2042sub1] ParameterName=PDO3 mask lower bytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2042sub2] ParameterName=PDO3 mask upper bytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2043] ParameterName=PDO4 transmit mask ObjectType=0x8 SubNumber=3 [2043sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [2043sub1] ParameterName=PDO4 mask lower bytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2043sub2] ParameterName=PDO4 mask upper bytes ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0xFFFFFFFF PDOMapping=0 [2050] ParameterName=Product series ObjectType=0x7 DataType=0x0009 AccessType=const DefaultValue=MBDV PDOMapping=0 [2051] ParameterName=Customer name ObjectType=0x7 DataType=0x000a AccessType=ro DefaultValue=---- PDOMapping=0 [2060] ParameterName=Comm. watchdog ObjectType=0x9 SubNumber=6 [2060sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x5 PDOMapping=0 [2060sub1] ParameterName=enable ObjectType=0x7 DataType=0x0006 AccessType=rww DefaultValue=0x00 PDOMapping=1 [2060sub2] ParameterName=status ObjectType=0x7 DataType=0x0006 AccessType=ro DefaultValue=0x00 PDOMapping=1 [2060sub3] ParameterName=timeout ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x1f4 PDOMapping=0 [2060sub4] ParameterName=trigger event ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0xF PDOMapping=0 [2060sub5] ParameterName=timeout option code ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x00 PDOMapping=0 [2070] ParameterName=Switch value ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x0000 PDOMapping=0 [2100] ParameterName=User registers ObjectType=0x8 SubNumber=27 [2100sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=26 PDOMapping=0 [2100sub1] ParameterName=user register 1 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub2] ParameterName=user register 2 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub3] ParameterName=user register 3 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub4] ParameterName=user register 4 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub5] ParameterName=user register 5 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub6] ParameterName=user register 6 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub7] ParameterName=user register 7 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub8] ParameterName=user register 8 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub9] ParameterName=user register 9 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100subA] ParameterName=user register 10 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100subB] ParameterName=user register 11 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100subC] ParameterName=user register 12 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100subD] ParameterName=user register 13 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100subE] ParameterName=user register 14 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100subF] ParameterName=user register 15 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub10] ParameterName=user register 16 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub11] ParameterName=user register 17 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub12] ParameterName=user register 18 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub13] ParameterName=user register 19 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub14] ParameterName=user register 20 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub15] ParameterName=user register 21 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub16] ParameterName=user register 22 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub17] ParameterName=user register 23 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub18] ParameterName=user register 24 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub19] ParameterName=user register 25 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2100sub1A] ParameterName=user register 26 ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [2A01] ParameterName=Current limit ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A02] ParameterName=Current limit method ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A03] ParameterName=Max Current ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A04] ParameterName=Max Current 1 ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A05] ParameterName=IO torque limit ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A06] ParameterName=IO torque limit ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A07] ParameterName=Peak Current ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A08] ParameterName=Hard Stop Current Limit ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A09] ParameterName=Halt Time ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A0A] ParameterName=Reserved Motor Dir ObjectType=0x7 DataType=0x0005 AccessType=rw PDOMapping=0 [2A0B] ParameterName=Encoder Resolution ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A10] ParameterName=Output Configure ObjectType=0x8 SubNumber=7 [2A10sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=6 PDOMapping=0 [2A10sub1] ParameterName=Output Configure1 ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [2A10sub2] ParameterName=Output Configure2 ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [2A10sub3] ParameterName=Output Configure3 ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [2A10sub4] ParameterName=Output Configure4 ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [2A10sub5] ParameterName=Output Configure5 ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [2A10sub6] ParameterName=Output Configure6 ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [2A11] ParameterName=Analog Output 1 Config ObjectType=0x9 SubNumber=4 [2A11sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=3 PDOMapping=0 [2A11sub1] ParameterName=Analog Offset ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A11sub2] ParameterName=Analog Scaling ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A11sub3] ParameterName=Analog Func ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A12] ParameterName=Analog Output 2 Config ObjectType=0x9 SubNumber=4 [2A12sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=3 PDOMapping=0 [2A12sub1] ParameterName=Analog Offset ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A12sub2] ParameterName=Analog Scaling ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A12sub3] ParameterName=Analog Func ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A13] ParameterName=Brake Output Parameters ObjectType=0x9 SubNumber=3 [2A13sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [2A13sub1] ParameterName=Brake Disengage ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A13sub2] ParameterName=Brake Engage ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A14] ParameterName=Absolute Position Reach ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A15] ParameterName=In Position Parameters ObjectType=0x9 SubNumber=5 [2A15sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [2A15sub1] ParameterName=Position Limit ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A15sub2] ParameterName=In Position Timing ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A15sub3] ParameterName=In Position Counts ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A15sub4] ParameterName=CSP In Position Timing ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A16] ParameterName=Speed Clamp Parameters ObjectType=0x9 SubNumber=4 [2A16sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=3 PDOMapping=0 [2A16sub1] ParameterName=Zero Speed Threshold ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A16sub2] ParameterName=Target Speed Reach Threshold ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A16sub3] ParameterName=Speed Ripple Limit ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A17] ParameterName=Torque Ripple Limit ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A18] ParameterName=Current Threshold ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A20] ParameterName=Input Config Parameters ObjectType=0x8 SubNumber=11 [2A20sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=10 PDOMapping=0 [2A20sub1] ParameterName=Input Config 1 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A20sub2] ParameterName=Input Config 2 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A20sub3] ParameterName=Input Config 3 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A20sub4] ParameterName=Input Config 4 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A20sub5] ParameterName=Input Config 5 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A20sub6] ParameterName=Input Config 6 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A20sub7] ParameterName=Input Config 7 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A20sub8] ParameterName=Input Config 8 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A20sub9] ParameterName=Input Config 9 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A20subA] ParameterName=Input Config 10 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A21] ParameterName=Input Filter ObjectType=0x8 SubNumber=11 [2A21sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=10 PDOMapping=0 [2A21sub1] ParameterName=Input Filter 1 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A21sub2] ParameterName=Input Filter 2 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A21sub3] ParameterName=Input Filter 3 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A21sub4] ParameterName=Input Filter 4 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A21sub5] ParameterName=Input Filter 5 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A21sub6] ParameterName=Input Filter 6 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A21sub7] ParameterName=Input Filter 7 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A21sub8] ParameterName=Input Filter 8 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A21sub9] ParameterName=Input Filter 9 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A21subA] ParameterName=Input Filter 10 ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A22] ParameterName=Analog Input 1 Config ObjectType=0x9 SubNumber=6 [2A22sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 [2A22sub1] ParameterName=Analog Deadband ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A22sub2] ParameterName=Analog Offset ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A22sub3] ParameterName=Analog Filter ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A22sub4] ParameterName=Analog Threshold ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A22sub5] ParameterName=Analog Scaling ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A23] ParameterName=Analog Input 2 Config ObjectType=0x9 SubNumber=6 [2A23sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 [2A23sub1] ParameterName=Analog Deadband ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A23sub2] ParameterName=Analog Offset ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A23sub3] ParameterName=Analog Filter ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A23sub4] ParameterName=Analog Threshold ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A23sub5] ParameterName=Analog Scaling ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A25] ParameterName=Analog Input Reading ObjectType=0x9 SubNumber=4 [2A25sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=3 PDOMapping=0 [2A25sub1] ParameterName=Analog Reading Input 1 ObjectType=0x7 DataType=0x0004 AccessType=ro PDOMapping=0 [2A25sub2] ParameterName=Analog Reading Input 2 ObjectType=0x7 DataType=0x0004 AccessType=ro PDOMapping=0 [2A25sub3] ParameterName=Analog Input Reading Diff ObjectType=0x7 DataType=0x0004 AccessType=ro PDOMapping=0 [2A26] ParameterName=Analog Input AZ ObjectType=0x9 SubNumber=4 [2A26sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=3 PDOMapping=0 [2A26sub1] ParameterName=Analog AZ input 1 ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [2A26sub2] ParameterName=Analog AZ input 2 ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [2A26sub3] ParameterName=Analog AZ input 3 ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [2A27] ParameterName=AnalogInput Functionality ObjectType=0x9 SubNumber=7 [2A27sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=6 PDOMapping=0 [2A27sub1] ParameterName=Analog Input 1 Func ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A27sub2] ParameterName=Analog Input 2 Func ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A27sub3] ParameterName=Analog Diff Func ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A27sub4] ParameterName=Analog Pos Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A27sub5] ParameterName=Analog Velo Gain ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A27sub6] ParameterName=Analog Torque Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A30] ParameterName=Control Mode ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A31] ParameterName=Control Mode 2 ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A32] ParameterName=Operation Mode ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A33] ParameterName=Jog Mode ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A34] ParameterName=Regen Configure ObjectType=0x9 SubNumber=5 [2A34sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [2A34sub1] ParameterName=Cleamp Resistor ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A34sub2] ParameterName=Clamp Power ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A34sub3] ParameterName=Clamp Time ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A34sub4] ParameterName=Clamp Voltage ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A35] ParameterName=Parameter Lock ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A36] ParameterName=Default Display ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A37] ParameterName=Mask of Alarm ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A42] ParameterName=Jog Speed ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A43] ParameterName=Jog Acceleration ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A44] ParameterName=Jog Deceleration ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A45] ParameterName=Change Velocity ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A46] ParameterName=Jog Change Velocity ObjectType=0x8 SubNumber=9 [2A46sub0] ParameterName=NrOfObjects ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=8 PDOMapping=0 [2A46sub1] ParameterName=Jog Change Velocity1 ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A46sub2] ParameterName=Jog Change Velocity2 ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A46sub3] ParameterName=Jog Change Velocity3 ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A46sub4] ParameterName=Jog Change Velocity4 ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A46sub5] ParameterName=Jog Change Velocity5 ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A46sub6] ParameterName=Jog Change Velocity6 ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A46sub7] ParameterName=Jog Change Velocity7 ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A46sub8] ParameterName=Jog Change Velocity8 ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A47] ParameterName=Max Torque Velocity ObjectType=0x7 DataType=0x0007 AccessType=rww PDOMapping=1 [2A4C] ParameterName=S Curve Filter ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A4D] ParameterName=Jerk Filter ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A4E] ParameterName=FIR Filter ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A50] ParameterName=Auto Tuning Mode ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A51] ParameterName=Load Type ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A52] ParameterName=Inertia Ratio ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A53] ParameterName=Global Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A54] ParameterName=Global Gain 2 ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A55] ParameterName=Pos P Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A56] ParameterName=Pos I Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A57] ParameterName=Pos DeriGain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A58] ParameterName=Pos DeriFilter ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A59] ParameterName=Velocity FF Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A5A] ParameterName=Velocity FF Filter ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A5B] ParameterName=Velocity Ref Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A5C] ParameterName=Velocity P Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A5D] ParameterName=Velocity I Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A5E] ParameterName=Torque FF Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A5F] ParameterName=Torque FF Filter ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A60] ParameterName=PID Filter ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A61] ParameterName=Pos P Gain 2 ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A62] ParameterName=Pos I Gain 2 ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A63] ParameterName=Pos DeriGain 2 ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A64] ParameterName=Pos DeriFilger 2 ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A65] ParameterName=Velocity RefGain 2 ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A66] ParameterName=Velocity P Gain 2 ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A67] ParameterName=Velocity I Gain 2 ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A68] ParameterName=PID Filter 2 ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A69] ParameterName=PID Switch ObjectType=0x9 SubNumber=7 [2A69sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=6 PDOMapping=0 [2A69sub1] ParameterName=Switch Mode ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A69sub2] ParameterName=Switch Pos Condition ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A69sub3] ParameterName=Switch Vel Condition ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A69sub4] ParameterName=Switch Torque Condition ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2A69sub5] ParameterName=Switch Condition Delay ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A69sub6] ParameterName=Switch Time ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A6A] ParameterName=Full-Closed-Loop Mode ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A6B] ParameterName=2nd Encoder Resolution ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A6C] ParameterName=FC_Direction ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A6D] ParameterName=FCL Pos P Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A6E] ParameterName=FCL Pos I Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A6F] ParameterName=FCL Pos Deri Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A70] ParameterName=FCL Pos DeriFilter ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A71] ParameterName=FCL Vel Ref Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A72] ParameterName=FCL Vel P Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A73] ParameterName=FCL Vel I Gain ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A74] ParameterName=FCL PID Filter ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A75] ParameterName=FCL MechRatio Num ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A76] ParameterName=FCL MechRatio Den ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A77] ParameterName=FCL Check Turns ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A78] ParameterName=FCL Turns PosErr ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A80] ParameterName=Pos Phase Compensation ObjectType=0x9 SubNumber=6 [2A80sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 [2A80sub1] ParameterName=Phase NotchFreq ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A80sub2] ParameterName=Phase NotchBW ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A80sub3] ParameterName=Phase ResFreq ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A80sub4] ParameterName=Phase ResBW ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A80sub5] ParameterName=Phase Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A81] ParameterName=Pos Notch Filter ObjectType=0x9 SubNumber=5 [2A81sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [2A81sub1] ParameterName=Notch Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A81sub2] ParameterName=Notch Freq ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A81sub3] ParameterName=Notch DeadBand ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A81sub4] ParameterName=Notch Ampt ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A82] ParameterName=Vel Phase Compensation ObjectType=0x9 SubNumber=6 [2A82sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 [2A82sub1] ParameterName=Phase NotchFreq ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A82sub2] ParameterName=Phase NotchBW ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A82sub3] ParameterName=Phase ResFreq ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A82sub4] ParameterName=Phase ResBW ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A82sub5] ParameterName=Phase Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A83] ParameterName=Vel Notch Filter ObjectType=0x9 SubNumber=5 [2A83sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [2A83sub1] ParameterName=Notch Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A83sub2] ParameterName=Notch Freq ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A83sub3] ParameterName=Notch DeadBand ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A83sub4] ParameterName=Notch Ampt ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A84] ParameterName=Torque Phase Compensation ObjectType=0x9 SubNumber=6 [2A84sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 [2A84sub1] ParameterName=Phase NotchFreq ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A84sub2] ParameterName=Phase NotchBW ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A84sub3] ParameterName=Phase ResFreq ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A84sub4] ParameterName=Phase ResBW ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A84sub5] ParameterName=Phase Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A85] ParameterName=Torque Notch Filter 0 ObjectType=0x9 SubNumber=5 [2A85sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [2A85sub1] ParameterName=Notch Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A85sub2] ParameterName=Notch Freq ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A85sub3] ParameterName=Notch DeadBand ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A85sub4] ParameterName=Phase Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A86] ParameterName=Torque Notch Filter 1 ObjectType=0x9 SubNumber=5 [2A86sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [2A86sub1] ParameterName=Notch Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A86sub2] ParameterName=Notch Freq ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A86sub3] ParameterName=Notch DeadBand ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A86sub4] ParameterName=Phase Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A87] ParameterName=Torque Notch Filter 2 ObjectType=0x9 SubNumber=5 [2A87sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [2A87sub1] ParameterName=Notch Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A87sub2] ParameterName=Notch Freq ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A87sub3] ParameterName=Notch DeadBand ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A87sub4] ParameterName=Phase Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A88] ParameterName=Torque Notch Filter 3 ObjectType=0x9 SubNumber=5 [2A88sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [2A88sub1] ParameterName=Notch Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A88sub2] ParameterName=Notch Freq ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A88sub3] ParameterName=Notch DeadBand ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A88sub4] ParameterName=Phase Switch ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A90] ParameterName=Steps Per Rev ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A91] ParameterName=Input Noise Filter ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A92] ParameterName=Pulse Type ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A93] ParameterName=ElecGear ObjectType=0x9 SubNumber=3 [2A93sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [2A93sub1] ParameterName=ElecRatioNum ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A93sub2] ParameterName=ElecRatioDen ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A94] ParameterName=Encoder Simulator Output Configure ObjectType=0x9 SubNumber=6 [2A94sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 [2A94sub1] ParameterName=Output Mode ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A94sub2] ParameterName=Output Pulse NUM ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A94sub3] ParameterName=Output Pulse DEN ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A94sub4] ParameterName=AB QuadPhase Lead ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A94sub5] ParameterName=Z Phase Polarity ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A9A] ParameterName=Motor Abs encoder ObjectType=0x9 SubNumber=8 [2A9Asub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=7 PDOMapping=0 [2A9Asub1] ParameterName=IsConnected ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A9Asub2] ParameterName=acMotorName ObjectType=0x8 DataType=0x0002 AccessType=ro [2A9Asub3] ParameterName=Motor SN ObjectType=0x8 DataType=0x0002 AccessType=ro [2A9Asub4] ParameterName=Rated Current ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A9Asub5] ParameterName=Rated Torque ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A9Asub6] ParameterName=Rated Speed ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A9Asub7] ParameterName=Reserved ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A9B] ParameterName=Motor Inc encoder ObjectType=0x9 SubNumber=8 [2A9Bsub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=7 PDOMapping=0 [2A9Bsub1] ParameterName=IsConnected ObjectType=0x7 DataType=0x0005 AccessType=ro PDOMapping=0 [2A9Bsub2] ParameterName=Motor Model ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2A9Bsub3] ParameterName=Motor SN ObjectType=0x8 DataType=0x0002 AccessType=ro [2A9Bsub4] ParameterName=Rated Current ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A9Bsub5] ParameterName=Rated Torque ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A9Bsub6] ParameterName=Motor Inertia ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A9Bsub7] ParameterName=Rated Speed ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A9C] ParameterName=Abs encoder ObjectType=0x9 SubNumber=6 [2A9Csub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 [2A9Csub1] ParameterName=Usage Type ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2A9Csub2] ParameterName=Encoder ErrCode ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2A9Csub3] ParameterName=Encoder Temp ObjectType=0x7 DataType=0x0004 AccessType=ro PDOMapping=0 [2A9Csub4] ParameterName=Encoder Mode ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [2A9Csub5] ParameterName=Clear MultiTurn ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2AA0] ParameterName=Actual Current ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2AA1] ParameterName=Torque Constant ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=0 [2AA2] ParameterName=Steps Position ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=1 [2AA3] ParameterName=Snd Encoder Position ObjectType=0x7 DataType=0x0004 AccessType=ro PDOMapping=1 [2AA8] ParameterName=Following Error Window ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2AB0] ParameterName=Virtual Inputs ObjectType=0x9 SubNumber=3 [2AB0sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [2AB0sub1] ParameterName=Virtual Inputs ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2AB0sub2] ParameterName=Bit Mask ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [2AB1] ParameterName=Dyanmic Brake Config ObjectType=0x9 SubNumber=6 [2AB1sub0] ParameterName=highest sub-index supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 [2AB1sub1] ParameterName=Brake Mode Disable ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2AB1sub2] ParameterName=Max Decel Time Disable ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2AB1sub3] ParameterName=Brake Mode Fault ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2AB1sub4] ParameterName=Max Decel Time Fault ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2AB1sub5] ParameterName=DB_ActiveVel ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2AC0] ParameterName=Sub Alarm Code ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 [2AC1] ParameterName=Current Ramp Max ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2AC2] ParameterName=Phase Lost Detect ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2AC3] ParameterName=Velocity Feedback Filter ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [2AC4] ParameterName=Self Adapting Switch ObjectType=0x7 DataType=0x0004 AccessType=rw PDOMapping=0 [3010] ParameterName=PVT config ObjectType=0x9 SubNumber=6 [3010sub0] ParameterName=NrOfObjects ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 [3010sub1] ParameterName=max buffer size ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 [3010sub2] ParameterName=PVT position type ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [3010sub3] ParameterName=PVT velocity units ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [3010sub4] ParameterName=PVT time units ObjectType=0x7 DataType=0x0006 AccessType=rw PDOMapping=0 [3010sub5] ParameterName=PVT interpolation period ObjectType=0x7 DataType=0x0005 AccessType=rw PDOMapping=0 [3011] ParameterName=PVT data record ObjectType=0x9 SubNumber=3 [3011sub0] ParameterName=NrOfObjects ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [3011sub1] ParameterName=PVT OpCode ObjectType=0x7 DataType=0x0005 AccessType=wo PDOMapping=1 [3011sub2] ParameterName=PVT Data ObjectType=0x7 DataType=0x001b AccessType=wo PDOMapping=1 [3012] ParameterName=PVT buffer free counts ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=1 [3013] ParameterName=PVT status ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=1