diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 00000000..e14b9eb0 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "src/lib/CANopenNode"] + path = src/lib/CANopenNode + url = https://github.com/CANopenNode/CANopenNode.git diff --git a/platformio.ini b/platformio.ini index baa56466..bd76cade 100644 --- a/platformio.ini +++ b/platformio.ini @@ -23,10 +23,14 @@ build_flags = -fmax-errors=5 # Compiler flags -g -ggdb - -Wl,-u_printf_float + -Wl,-u_printf_float -Wall #-save-temps # save prepprocessing files .i, .ii, .s // comment out this line for faster compilation + # For medium density F103 + -D STM32F10X_MD + -D USE_STDPERIPH_DRIVER + # Set the priority for external interrupts (for STEP pin interrupt) -D EXTI_IRQ_PRIO=6 -D EXTI_IRQ_SUBPRIO=0 @@ -41,6 +45,11 @@ build_flags = -fmax-errors=5 -I src/hardware -I src/main + -I src/CANopen/STM32-HAL + -I src/CANopen/OD + + -I src/lib/CANopenNode + [env:BTT_S42B_V2] platform = ststm32 framework = arduino @@ -48,5 +57,6 @@ board = genericSTM32F103CB upload_protocol = stlink debug_tool = stlink build_flags = ${common.build_flags} +src_filter = +<*> - lib_deps = # None \ No newline at end of file diff --git a/src/CANopen/OD/BTT-Intellistep-CANopen.eds b/src/CANopen/OD/BTT-Intellistep-CANopen.eds new file mode 100644 index 00000000..c70f5f4d --- /dev/null +++ b/src/CANopen/OD/BTT-Intellistep-CANopen.eds @@ -0,0 +1,3125 @@ +[FileInfo] +FileName=BTT-Intellistep-CANopen.eds +FileVersion=101 +FileRevision=100 +LastEDS= +EDSVersion=4.0 +Description=EDS BTT-Intellistep-CANopen Slave +CreationTime=4:35PM +CreationDate=11-26-2014 +CreatedBy=IhorNehrutsa +ModificationTime=3:06PM +ModificationDate=08-18-2021 +ModifiedBy=IhorNehrutsa + +[DeviceInfo] +VendorName=Intellistep +VendorNumber=0x00000331 +ProductName=BTT-Intellistep-CANopen +ProductNumber=0x00008200 +RevisionNumber=256 +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=1 +NrOfTXPDO=1 +LSS_Supported=1 + +[DummyUsage] +Dummy0001=0 +Dummy0002=1 +Dummy0003=1 +Dummy0004=1 +Dummy0005=1 +Dummy0006=1 +Dummy0007=1 + +[Comments] +Lines=4 +Line1=Example for Intellistep Drives and Motion Control +Line2=1 axis +Line3=several profile modes +Line4=all mandatory objects + +[MandatoryObjects] +SupportedObjects=3 +1=0x1000 +2=0x1001 +3=0x1018 + +[1000] +ParameterName=Device Type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x40192 +PDOMapping=0 + +[1001] +ParameterName=Error Register +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x0 +PDOMapping=0 + +[1018] +ParameterName=Identity Object +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x5 + +[1018sub0] +ParameterName=number of Entries +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=const +DefaultValue=0x4 +PDOMapping=0 + +[1018sub1] +ParameterName=Vendor-ID +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x331 +PDOMapping=0 + +[1018sub2] +ParameterName=Product code +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x8200 +PDOMapping=0 + +[1018sub3] +ParameterName=Revision number +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x100 +PDOMapping=0 + +[1018sub4] +ParameterName=Serial number +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x0 +PDOMapping=0 + +[OptionalObjects] +SupportedObjects=51 +1=0x1003 +2=0x1005 +3=0x1006 +4=0x1007 +5=0x1008 +6=0x1009 +7=0x100A +8=0x100C +9=0x100D +10=0x1010 +11=0x1011 +12=0x1014 +13=0x1016 +14=0x1017 +15=0x1401 +16=0x1600 +17=0x1601 +18=0x1602 +19=0x1603 +20=0x1604 +21=0x1605 +22=0x1801 +23=0x1A00 +24=0x1A01 +25=0x1A02 +26=0x1A03 +27=0x1A04 +28=0x1A05 +29=0x6040 +30=0x6041 +31=0x6060 +32=0x6061 +33=0x6062 +34=0x6064 +35=0x606B +36=0x606C +37=0x607A +38=0x607C +39=0x6081 +40=0x6082 +41=0x6083 +42=0x6084 +43=0x6085 +44=0x6093 +45=0x6098 +46=0x6099 +47=0x609A +48=0x60F4 +49=0x60FD +50=0x60FE +51=0x60FF + +[1003] +ParameterName=Pre-defined Error Field +ObjectType=0x8 +;StorageLocation=RAM +SubNumber=0x5 + +[1003sub0] +ParameterName=number of errors +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1003sub1] +ParameterName=standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x4 +PDOMapping=0 + +[1003sub2] +ParameterName=standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x4 +PDOMapping=0 + +[1003sub3] +ParameterName=standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x4 +PDOMapping=0 + +[1003sub4] +ParameterName=standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x4 +PDOMapping=0 + +[1005] +ParameterName=COB-ID SYNC +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x80 +PDOMapping=0 + +[1006] +ParameterName=Cycle Period +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1007] +ParameterName=Sync Windows Length +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1008] +ParameterName=device name +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0009 +AccessType=const +DefaultValue=BTT-Intellistep-CANopen +PDOMapping=0 + +[1009] +ParameterName=hardware version +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0009 +AccessType=const +DefaultValue=V1.00 +PDOMapping=0 + +[100A] +ParameterName=software version +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0009 +AccessType=const +DefaultValue=V1.00 +PDOMapping=0 + +[100C] +ParameterName=Guard Time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[100D] +ParameterName=Life Time Factor +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1010] +ParameterName=Store Parameters +ObjectType=0x8 +;StorageLocation=RAM +SubNumber=0x5 + +[1010sub0] +ParameterName=largest supported Sub-Index +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=const +DefaultValue=0x4 +PDOMapping=0 + +[1010sub1] +ParameterName=save all parameters +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x3 +PDOMapping=0 + +[1010sub2] +ParameterName=save communication parameters +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x3 +PDOMapping=0 + +[1010sub3] +ParameterName=save application parameters +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x3 +PDOMapping=0 + +[1010sub4] +ParameterName=save manufacturer parameters +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x3 +PDOMapping=0 + +[1011] +ParameterName=restore default parameters +ObjectType=0x8 +;StorageLocation=RAM +SubNumber=0x5 + +[1011sub0] +ParameterName=largest supported Sub-Index +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=const +DefaultValue=0x4 +PDOMapping=0 + +[1011sub1] +ParameterName=restore all default para. +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x3 +PDOMapping=0 + +[1011sub2] +ParameterName=restore comm. default para. +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x3 +PDOMapping=0 + +[1011sub3] +ParameterName=restore app. default para. +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x3 +PDOMapping=0 + +[1011sub4] +ParameterName=restore manufacturer. default para. +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x3 +PDOMapping=0 + +[1014] +ParameterName=COB-ID Emergency message +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1016] +ParameterName=Consumer heartbeat time +ObjectType=0x8 +;StorageLocation=RAM +SubNumber=0x6 + +[1016sub0] +ParameterName=highest subindex supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x5 +PDOMapping=0 + +[1016sub1] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x5 +PDOMapping=0 + +[1016sub2] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x5 +PDOMapping=0 + +[1016sub3] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x5 +PDOMapping=0 + +[1016sub4] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x5 +PDOMapping=0 + +[1016sub5] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x5 +PDOMapping=0 + +[1017] +ParameterName=Producer Heartbeat Time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1401] +ParameterName=RPDO communication parameter +ObjectType=0x9 +;StorageLocation=ROM +SubNumber=0x3 + +[1401sub0] +ParameterName=max sub-index +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=2 +PDOMapping=0 + +[1401sub1] +ParameterName=COB-ID used by RPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=$NODEID+0x200 +PDOMapping=0 + +[1401sub2] +ParameterName=transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1600] +ParameterName=RPDO 1 mapping parameter +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x9 + +[1600sub0] +ParameterName=number of mapped objects +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x1 +PDOMapping=0 + +[1600sub1] +ParameterName=PDO mapping 1. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 + +[1600sub2] +ParameterName=PDO mapping 2. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1600sub3] +ParameterName=PDO mapping 3. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1600sub4] +ParameterName=PDO mapping 4. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1600sub5] +ParameterName=PDO mapping 5. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1600sub6] +ParameterName=PDO mapping 6. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1600sub7] +ParameterName=PDO mapping 7. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1600sub8] +ParameterName=PDO mapping 8. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1601] +ParameterName=RPDO mapping parameter +ObjectType=0x9 +;StorageLocation=ROM +SubNumber=0x9 + +[1601sub0] +ParameterName=Number of mapped objects +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0 +PDOMapping=0 + +[1601sub1] +ParameterName=mapped object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub2] +ParameterName=mapped object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub3] +ParameterName=mapped object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub4] +ParameterName=mapped object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub5] +ParameterName=mapped object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub6] +ParameterName=mapped object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub7] +ParameterName=mapped object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub8] +ParameterName=mapped object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1602] +ParameterName=RPDO 3 mapping parameter +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x9 + +[1602sub0] +ParameterName=number of mapped objects +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x2 +PDOMapping=0 + +[1602sub1] +ParameterName=PDO mapping 1. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 + +[1602sub2] +ParameterName=PDO mapping 2. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x607A0020 +PDOMapping=0 + +[1602sub3] +ParameterName=PDO mapping 3. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1602sub4] +ParameterName=PDO mapping 4. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1602sub5] +ParameterName=PDO mapping 5. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1602sub6] +ParameterName=PDO mapping 6. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1602sub7] +ParameterName=PDO mapping 7. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1602sub8] +ParameterName=PDO mapping 8. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1603] +ParameterName=RPDO 4 mapping parameter +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x9 + +[1603sub0] +ParameterName=number of mapped objects +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x2 +PDOMapping=0 + +[1603sub1] +ParameterName=PDO mapping 1. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 + +[1603sub2] +ParameterName=PDO mapping 2. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x60FF0020 +PDOMapping=0 + +[1603sub3] +ParameterName=PDO mapping 3. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1603sub4] +ParameterName=PDO mapping 4. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1603sub5] +ParameterName=PDO mapping 5. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1603sub6] +ParameterName=PDO mapping 6. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1603sub7] +ParameterName=PDO mapping 7. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1603sub8] +ParameterName=PDO mapping 8. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1604] +ParameterName=RPDO 5 mapping parameter +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x8 + +[1604sub0] +ParameterName=number of mapped objects +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x2 +PDOMapping=0 + +[1604sub1] +ParameterName=PDO mapping 1. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 + +[1604sub3] +ParameterName=PDO mapping 3. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1604sub4] +ParameterName=PDO mapping 4. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1604sub5] +ParameterName=PDO mapping 5. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1604sub6] +ParameterName=PDO mapping 6. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1604sub7] +ParameterName=PDO mapping 7. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1604sub8] +ParameterName=PDO mapping 8. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1605] +ParameterName=RPDO 6 mapping parameter +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x8 + +[1605sub0] +ParameterName=number of mapped objects +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x2 +PDOMapping=0 + +[1605sub1] +ParameterName=PDO mapping 1. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x60400010 +PDOMapping=0 + +[1605sub3] +ParameterName=PDO mapping 3. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1605sub4] +ParameterName=PDO mapping 4. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1605sub5] +ParameterName=PDO mapping 5. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1605sub6] +ParameterName=PDO mapping 6. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1605sub7] +ParameterName=PDO mapping 7. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1605sub8] +ParameterName=PDO mapping 8. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1801] +ParameterName=TPDO communication parameter +ObjectType=0x9 +;StorageLocation=ROM +SubNumber=0x6 + +[1801sub0] +ParameterName=max sub-index +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[1801sub1] +ParameterName=COB-ID used by TPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=$NODEID+0x180 +PDOMapping=0 + +[1801sub2] +ParameterName=transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1801sub3] +ParameterName=inhibit time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1801sub5] +ParameterName=event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1801sub6] +ParameterName=SYNC start value +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1A00] +ParameterName=TPDO 1 mapping parameter +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x9 + +[1A00sub0] +ParameterName=number of mapped objects +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x1 +PDOMapping=0 + +[1A00sub1] +ParameterName=PDO mapping 1. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 + +[1A00sub2] +ParameterName=PDO mapping 2. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A00sub3] +ParameterName=PDO mapping 3. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A00sub4] +ParameterName=PDO mapping 4. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A00sub5] +ParameterName=PDO mapping 5. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A00sub6] +ParameterName=PDO mapping 6. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A00sub7] +ParameterName=PDO mapping 7. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A00sub8] +ParameterName=PDO mapping 8. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A01] +ParameterName=TPDO mapping parameter +ObjectType=0x9 +;StorageLocation=ROM +SubNumber=0x9 + +[1A01sub0] +ParameterName=Number of mapped objects +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0 +PDOMapping=0 + +[1A01sub1] +ParameterName=mapped object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub2] +ParameterName=mapped object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub3] +ParameterName=mapped object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub4] +ParameterName=mapped object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub5] +ParameterName=mapped object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub6] +ParameterName=mapped object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub7] +ParameterName=mapped object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub8] +ParameterName=mapped object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02] +ParameterName=TPDO 3 mapping parameter +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x9 + +[1A02sub0] +ParameterName=number of mapped app. objects +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x2 +PDOMapping=0 + +[1A02sub1] +ParameterName=PDO mapping 1. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 + +[1A02sub2] +ParameterName=PDO mapping 2. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x60640020 +PDOMapping=0 + +[1A02sub3] +ParameterName=PDO mapping 3. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A02sub4] +ParameterName=PDO mapping 4. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A02sub5] +ParameterName=PDO mapping 5. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A02sub6] +ParameterName=PDO mapping 6. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A02sub7] +ParameterName=PDO mapping 7. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A02sub8] +ParameterName=PDO mapping 8. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A03] +ParameterName=TPDO 4 mapping parameter +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x9 + +[1A03sub0] +ParameterName=number of mapped app. objects +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x2 +PDOMapping=0 + +[1A03sub1] +ParameterName=PDO mapping 1. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 + +[1A03sub2] +ParameterName=PDO mapping 2. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x606C0020 +PDOMapping=0 + +[1A03sub3] +ParameterName=PDO mapping 3. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A03sub4] +ParameterName=PDO mapping 4. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A03sub5] +ParameterName=PDO mapping 5. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A03sub6] +ParameterName=PDO mapping 6. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A03sub7] +ParameterName=PDO mapping 7. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A03sub8] +ParameterName=PDO mapping 8. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A04] +ParameterName=TPDO 5 mapping parameter +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x8 + +[1A04sub0] +ParameterName=number of mapped app. objects +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x2 +PDOMapping=0 + +[1A04sub1] +ParameterName=PDO mapping 1. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 + +[1A04sub3] +ParameterName=PDO mapping 3. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A04sub4] +ParameterName=PDO mapping 4. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A04sub5] +ParameterName=PDO mapping 5. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A04sub6] +ParameterName=PDO mapping 6. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A04sub7] +ParameterName=PDO mapping 7. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A04sub8] +ParameterName=PDO mapping 8. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A05] +ParameterName=TPDO 6 mapping parameter +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x8 + +[1A05sub0] +ParameterName=number of mapped app. objects +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x2 +PDOMapping=0 + +[1A05sub1] +ParameterName=PDO mapping 1. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x60410010 +PDOMapping=0 + +[1A05sub3] +ParameterName=PDO mapping 3. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A05sub4] +ParameterName=PDO mapping 4. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A05sub5] +ParameterName=PDO mapping 5. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A05sub6] +ParameterName=PDO mapping 6. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A05sub7] +ParameterName=PDO mapping 7. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[1A05sub8] +ParameterName=PDO mapping 8. app. object +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[6040] +ParameterName=controlword +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0x0 +PDOMapping=1 + +[6041] +ParameterName=statusword +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=ro +DefaultValue=0x0 +PDOMapping=1 + +[6060] +ParameterName=modes of operation +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0002 +AccessType=rw +DefaultValue=3 +PDOMapping=1 + +[6061] +ParameterName=modes of operation display +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0002 +AccessType=ro +DefaultValue=0 +PDOMapping=1 + +[6062] +ParameterName=commanded_position +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0004 +AccessType=ro +DefaultValue=0 +PDOMapping=1 + +[6064] +ParameterName=position actual value +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0004 +AccessType=ro +DefaultValue=0 +PDOMapping=1 + +[606B] +ParameterName=velocity demand value +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0004 +AccessType=ro +DefaultValue=0 +PDOMapping=1 + +[606C] +ParameterName=velocity actual value +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0004 +AccessType=ro +DefaultValue=0 +PDOMapping=1 + +[607A] +ParameterName=target position +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0004 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[607C] +ParameterName=home offset +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0004 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[6081] +ParameterName=profile velocity +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=1 + +[6082] +ParameterName=end_velocity +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=1 + +[6083] +ParameterName=profile acceleration +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=1 + +[6084] +ParameterName=profile deceleration +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=1 + +[6085] +ParameterName=quick_stop_deceleration +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=1 + +[6093] +ParameterName=position_factor +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x3 + +[6093sub0] +ParameterName=number_of_entries +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=const +DefaultValue= +PDOMapping=0 + +[6093sub1] +ParameterName=numerator +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue= +PDOMapping=1 + +[6093sub2] +ParameterName=feed_constant +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue= +PDOMapping=1 + +[6098] +ParameterName=hm homing methode +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0002 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[6099] +ParameterName=hm homing speeds +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x3 + +[6099sub0] +ParameterName=number_of_entries +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=const +DefaultValue= +PDOMapping=0 + +[6099sub1] +ParameterName=hm_homing_fast_speeds +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue= +PDOMapping=1 + +[6099sub2] +ParameterName=hm_homing_slow_speeds +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue= +PDOMapping=1 + +[609A] +ParameterName=hm_homing_acceleration +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x0 +PDOMapping=1 + +[60F4] +ParameterName=following_error +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0004 +AccessType=ro +DefaultValue= +PDOMapping=1 + +[60FD] +ParameterName=digital_inputs +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=1 + +[60FE] +ParameterName=digital_output +ObjectType=0x8 +;StorageLocation=RAM +SubNumber=0x3 + +[60FEsub0] +ParameterName=Number of Entries +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=const +DefaultValue=0x2 +PDOMapping=0 + +[60FEsub1] +ParameterName=physical_outputs +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue= +PDOMapping=1 + +[60FEsub2] +ParameterName=bit_mask +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue= +PDOMapping=1 + +[60FF] +ParameterName=target velocity +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0004 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[ManufacturerObjects] +SupportedObjects=89 +1=0x2000 +2=0x2001 +3=0x2002 +4=0x2003 +5=0x2005 +6=0x2006 +7=0x2007 +8=0x2008 +9=0x2009 +10=0x2010 +11=0x2012 +12=0x2013 +13=0x2015 +14=0x2016 +15=0x2017 +16=0x2020 +17=0x2021 +18=0x2022 +19=0x2023 +20=0x2024 +21=0x2026 +22=0x2027 +23=0x2028 +24=0x2030 +25=0x2031 +26=0x2032 +27=0x2033 +28=0x2034 +29=0x2035 +30=0x2036 +31=0x2037 +32=0x2038 +33=0x2039 +34=0x2040 +35=0x2041 +36=0x2042 +37=0x2043 +38=0x2044 +39=0x2046 +40=0x2047 +41=0x2048 +42=0x2049 +43=0x2050 +44=0x2051 +45=0x2052 +46=0x2053 +47=0x2054 +48=0x2056 +49=0x2057 +50=0x2058 +51=0x2059 +52=0x2060 +53=0x2061 +54=0x2062 +55=0x2063 +56=0x2064 +57=0x2065 +58=0x2066 +59=0x2067 +60=0x2068 +61=0x2069 +62=0x2070 +63=0x2071 +64=0x2072 +65=0x2073 +66=0x2074 +67=0x2075 +68=0x2076 +69=0x2093 +70=0x2094 +71=0x2095 +72=0x2096 +73=0x2097 +74=0x2098 +75=0x2099 +76=0x2150 +77=0x2151 +78=0x2152 +79=0x2153 +80=0x2154 +81=0x2155 +82=0x2162 +83=0x3FFE +84=0x3FFF +85=0x4000 +86=0x4001 +87=0x4002 +88=0x5000 +89=0x5FFF + +[2000] +ParameterName=current peak +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x15E0 +LowLimit=0x1 +DefaultValue=0xC80 +PDOMapping=1 + +[2001] +ParameterName=motor resolution +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0xC800 +LowLimit=0xC8 +DefaultValue=0xC350 +PDOMapping=1 + +[2002] +ParameterName=standby time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x2710 +LowLimit=0x64 +DefaultValue=0x1F4 +PDOMapping=1 + +[2003] +ParameterName=standby current percentage +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x64 +LowLimit=0x0 +DefaultValue=0x32 +PDOMapping=1 + +[2005] +ParameterName=outputs_function +ObjectType=0x8 +;StorageLocation=RAM +SubNumber=0x3 + +[2005sub0] +ParameterName=Number of Entries +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=const +DefaultValue=0x2 +PDOMapping=0 + +[2005sub1] +ParameterName=outputs_function_1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0x0 +PDOMapping=1 + +[2005sub2] +ParameterName=outputs_function_2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0x0 +PDOMapping=1 + +[2006] +ParameterName=enable valid level +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1 +LowLimit=0x0 +DefaultValue=0x1 +PDOMapping=1 + +[2007] +ParameterName=disable mode +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1 +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2008] +ParameterName=output1 set +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1 +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2009] +ParameterName=filter enable +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1 +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2010] +ParameterName=filter time +ObjectType=0x8 +;StorageLocation=RAM +SubNumber=0x3 + +[2010sub0] +ParameterName=Number of Entries +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=const +DefaultValue=0x2 +PDOMapping=0 + +[2010sub1] +ParameterName=IIR filter time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=wo +HighLimit=0x6400 +LowLimit=0x32 +DefaultValue=0x3E8 +PDOMapping=1 + +[2010sub2] +ParameterName=FIR filter time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=wo +HighLimit=0x6400 +LowLimit=0x32 +DefaultValue=0x3E8 +PDOMapping=1 + +[2012] +ParameterName=soft start time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0xFFFF +LowLimit=0xFA0 +DefaultValue=0x1000 +PDOMapping=1 + +[2013] +ParameterName=autotune enable +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1 +LowLimit=0x0 +DefaultValue=0x1 +PDOMapping=1 + +[2015] +ParameterName=Current loop Kp +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x7FFF +LowLimit=0xC8 +DefaultValue=0x3E8 +PDOMapping=1 + +[2016] +ParameterName=Current loop Ki +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x7FFF +LowLimit=0x0 +DefaultValue=0xC8 +PDOMapping=1 + +[2017] +ParameterName=current loop Kc +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x12C +LowLimit=0x50 +DefaultValue=0x2D +PDOMapping=1 + +[2020] +ParameterName=motor resistance +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x4E20 +LowLimit=0x1 +DefaultValue=0x3E8 +PDOMapping=1 + +[2021] +ParameterName=motor inductance +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1770 +LowLimit=0x1 +DefaultValue=0x1 +PDOMapping=1 + +[2022] +ParameterName=step test current +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x834 +LowLimit=0x1 +DefaultValue=0x3E8 +PDOMapping=1 + +[2023] +ParameterName=step test start stop +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1 +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2024] +ParameterName=close loop switch +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1 +LowLimit=0x0 +DefaultValue=0x1 +PDOMapping=1 + +[2026] +ParameterName=open current percentage +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x64 +LowLimit=0x0 +DefaultValue=0x32 +PDOMapping=1 + +[2027] +ParameterName=close current percentage +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x64 +LowLimit=0x0 +DefaultValue=0x64 +PDOMapping=1 + +[2028] +ParameterName=anti disturbance time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x64 +LowLimit=0x0 +DefaultValue=0x1 +PDOMapping=1 + +[2030] +ParameterName=position error alarm range +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0xEA60 +LowLimit=0x1 +DefaultValue=0x3E8 +PDOMapping=1 + +[2031] +ParameterName=position error alarm enable +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1 +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2032] +ParameterName=data acquisition start stop +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1 +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2033] +ParameterName=data sample time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x51E +LowLimit=0x1 +DefaultValue=0x1 +PDOMapping=1 + +[2034] +ParameterName=sample type of channel 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1FF +LowLimit=0x0 +DefaultValue=0x1 +PDOMapping=1 + +[2035] +ParameterName=position loop Kp +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1388 +LowLimit=0x3E8 +DefaultValue=0x9C4 +PDOMapping=1 + +[2036] +ParameterName=position loop Ki +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1388 +LowLimit=0x0 +DefaultValue=0x1F4 +PDOMapping=1 + +[2037] +ParameterName=position loop Kd +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1388 +LowLimit=0x0 +DefaultValue=0xFB +PDOMapping=1 + +[2038] +ParameterName=position loop Kvff +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1F4 +LowLimit=0x0 +DefaultValue=0x32 +PDOMapping=1 + +[2039] +ParameterName=sum of pluse input h +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0003 +AccessType=ro +DefaultValue=0 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+[2054] +ParameterName=anti vibration coefficient +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x3E8 +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2056] +ParameterName=fault detect set +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0xFFFF +LowLimit=0x0 +DefaultValue=0x3 +PDOMapping=1 + +[2057] +ParameterName=clear fault enable +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x1 +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2058] +ParameterName=soft start time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x2710 +LowLimit=0x0 +DefaultValue=0x1 +PDOMapping=1 + +[2059] +ParameterName=reserve +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0x0 +PDOMapping=0 + +[2060] +ParameterName=amplitude of first anti vibration +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x64 +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2061] +ParameterName=phase A of first anti vibration +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0xFF +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2062] +ParameterName=phase B of first anti vibration +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0xFF +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2063] +ParameterName=amplitude of second anti vibration +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0x64 +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2064] +ParameterName=phase A of second anti vibration +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0xFF +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + +[2065] +ParameterName=phase B of second anti vibration +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +HighLimit=0xFF +LowLimit=0x0 +DefaultValue=0x0 +PDOMapping=1 + 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+DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602] +ParameterName=RPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1602sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1602sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603] +ParameterName=RPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1603sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1603sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1800] +ParameterName=TPDO communication parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x6 + +[1800sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x06 +PDOMapping=0 + +[1800sub1] +ParameterName=COB-ID used by TPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0xC0000180+$NODEID +PDOMapping=0 + +[1800sub2] +ParameterName=Transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1800sub3] +ParameterName=Inhibit time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1800sub5] +ParameterName=Event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1800sub6] +ParameterName=SYNC start value +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1801] +ParameterName=TPDO communication parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x6 + +[1801sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x06 +PDOMapping=0 + +[1801sub1] +ParameterName=COB-ID used by TPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0xC0000280+$NODEID +PDOMapping=0 + +[1801sub2] +ParameterName=Transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1801sub3] +ParameterName=Inhibit time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1801sub5] +ParameterName=Event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1801sub6] +ParameterName=SYNC start value +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1802] +ParameterName=TPDO communication parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x6 + +[1802sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x06 +PDOMapping=0 + +[1802sub1] +ParameterName=COB-ID used by TPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0xC0000380+$NODEID +PDOMapping=0 + +[1802sub2] +ParameterName=Transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1802sub3] +ParameterName=Inhibit time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1802sub5] +ParameterName=Event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1802sub6] +ParameterName=SYNC start value +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1803] +ParameterName=TPDO communication parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x6 + +[1803sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x06 +PDOMapping=0 + +[1803sub1] +ParameterName=COB-ID used by TPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0xC0000480+$NODEID +PDOMapping=0 + +[1803sub2] +ParameterName=Transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1803sub3] +ParameterName=Inhibit time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1803sub5] +ParameterName=Event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1803sub6] +ParameterName=SYNC start value +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1A00] +ParameterName=TPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1A00sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1A00sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01] +ParameterName=TPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1A01sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1A01sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02] +ParameterName=TPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1A02sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1A02sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03] +ParameterName=TPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1A03sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1A03sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[ManufacturerObjects] +SupportedObjects=0 + diff --git a/src/CANopen/OD/DS301_profile.xpd b/src/CANopen/OD/DS301_profile.xpd new file mode 100644 index 00000000..913bd715 --- /dev/null +++ b/src/CANopen/OD/DS301_profile.xpd @@ -0,0 +1,2623 @@ + + + + + + + CANopen device profile + 1.1 + + + Device + + 1 + 1 + CANopen + + + + + + + New Product + + 0 + 0 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * bit 16-31: Additional information +* bit 0-15: Device profile number + + + + + + + * bit 7: manufacturer specific +* bit 6: Reserved (always 0) +* bit 5: device profile specific +* bit 4: communication error (overrun, error state) +* bit 3: temperature +* bit 2: voltage +* bit 1: current +* bit 0: generic error + + + + + + + + + + + + * Sub Index 0: Contains number of actual errors. 0 can be written to clear error history. +* sub-index 1 and above: + * bit 16-31: Manufacturer specific additional information + * bit 0-15: Error code as transmited in the Emergency object + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * bit 31: set to 0 +* bit 30: If set, CANopen device generates SYNC object +* bit 11-29: set to 0 +* bit 0-10: 11-bit CAN-ID + + + + + + + Period of SYNC transmission in µs (0 = transmission disabled). + + + + + + + Synchronous window leghth in µs (0 = not used). All synchronous PDOs must be transmitted within this time window. + + + + + + + + + + + + + + + + + + + + + + + + Sub-indexes 1 and above: +* Reading provides information about its storage functionality: + * bit 1: If set, CANopen device saves parameters autonomously + * bit 0: If set, CANopen device saves parameters on command +* Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) stores corresponding data. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Sub-indexes 1 and above: +* Reading provides information about its restoring capability: + * bit 0: If set, CANopen device restores parameters +* Writing value 0x64616F6C ('l','o','a','d' from LSB to MSB) restores corresponding data. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * bit 31: If set, CANopen device consumes TIME message +* bit 30: If set, CANopen device produces TIME message +* bit 11-29: set to 0 +* bit 0-10: 11-bit CAN-ID + + + + + + + + + + + + + * bit 31: If set, EMCY does NOT exist / is NOT valid +* bit 11-30: set to 0 +* bit 0-10: 11-bit CAN-ID + + + + + + + Inhibit time of emergency message in multiples of 100µs. The value 0 disables the inhibit time. + + + + + + Consumer Heartbeat Time: + * bit 24-31: set to 0 + * bit 16-23: Node ID of the monitored node. If 0 or greater than 127, sub-entry is not used. + * bit 0-15: Heartbeat time in ms (if 0, sub-intry is not used). Value should be higher than the corresponding producer heartbeat time. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Heartbeat producer time in ms (0 = disable transmission). + + + + + + + * Vendor-ID, assigned by CiA +* Product code, manufacturer specific +* Revision number: + * bit 16-31: Major revision number (CANopen behavior has changed) + * bit 0-15: Minor revision num. (CANopen behavior has not changed) +* Serial number, manufacturer specific + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * Value 0: SYNC message is transmitted with data length 0. +* Value 1: reserved. +* Value 2-240: SYNC message has one data byte, which contains the counter. +* Value 241-255: reserved. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Emergency consumer 1 to 127: +* bit 31: If set, EMCY consumer does NOT exist / is NOT valid +* bit 11-30: set to 0 +* bit 0-10: 11-bit CAN-ID + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Sub-indexes 1 and above: +* Value 0x00: on error change to NMT state Pre-operational (only if currently in NMT state Operational) +* Value 0x01: on error do nothing +* Value 0x02: on error change to NMT state Stopped + + + + + + + + + + + + + + + + + + + + + Sub-indexes 1 and 2: +* bit 11-31: set to 0 +* bit 0-10: 11-bit CAN-ID + + + + + + + + + + + + + + + + + + + + * Sub-indexes 1 and 2: + * bit 31: If set, SDO does NOT exist / is NOT valid + * bit 30: If set, value is assigned dynamically + * bit 11-29: set to 0 + * bit 0-10: 11-bit CAN-ID +* Node-ID of the SDO client, 0x01 to 0x7F + + + + + + + + + + + + + + + + + + + + + + + + + + + * Sub-indexes 1 and 2: + * bit 31: If set, SDO does NOT exist / is NOT valid + * bit 30: If set, value is assigned dynamically + * bit 11-29: set to 0 + * bit 0-10: 11-bit CAN-ID +* Node-ID of the SDO server, 0x01 to 0x7F + + + + + + + + + + + + + + + + + + + + + + + + + + * COB-ID used by RPDO: + * bit 31: If set, PDO does not exist / is not valid + * bit 11-30: set to 0 + * bit 0-10: 11-bit CAN-ID +* Transmission type: + * Value 0-240: synchronous, processed after next reception of SYNC object + * Value 241-253: not used + * Value 254: event-driven (manufacturer-specific) + * Value 255: event-driven (device profile and application profile specific) +* Event timer in ms (0 = disabled) for deadline monitoring. + + + + + + + + + + + + + + + + + + + + + + + + + + * COB-ID used by RPDO: + * bit 31: If set, PDO does not exist / is not valid + * bit 11-30: set to 0 + * bit 0-10: 11-bit CAN-ID +* Transmission type: + * Value 0-240: synchronous, processed after next reception of SYNC object + * Value 241-253: not used + * Value 254: event-driven (manufacturer-specific) + * Value 255: event-driven (device profile and application profile specific) +* Event timer in ms (0 = disabled) for deadline monitoring. + + + + + + + + + + + + + + + + + + + + + + + + + + * COB-ID used by RPDO: + * bit 31: If set, PDO does not exist / is not valid + * bit 11-30: set to 0 + * bit 0-10: 11-bit CAN-ID +* Transmission type: + * Value 0-240: synchronous, processed after next reception of SYNC object + * Value 241-253: not used + * Value 254: event-driven (manufacturer-specific) + * Value 255: event-driven (device profile and application profile specific) +* Event timer in ms (0 = disabled) for deadline monitoring. + + + + + + + + + + + + + + + + + + + + + + + + + + * COB-ID used by RPDO: + * bit 31: If set, PDO does not exist / is not valid + * bit 11-30: set to 0 + * bit 0-10: 11-bit CAN-ID +* Transmission type: + * Value 0-240: synchronous, processed after next reception of SYNC object + * Value 241-253: not used + * Value 254: event-driven (manufacturer-specific) + * Value 255: event-driven (device profile and application profile specific) +* Event timer in ms (0 = disabled) for deadline monitoring. + + + + + + + + + + + + + + + + + + + + + + + + + + * COB-ID used by RPDO: + * bit 31: If set, PDO does not exist / is not valid + * bit 11-30: set to 0 + * bit 0-10: 11-bit CAN-ID +* Transmission type: + * Value 0-240: synchronous, processed after next reception of SYNC object + * Value 241-253: not used + * Value 254: event-driven (manufacturer-specific) + * Value 255: event-driven (device profile and application profile specific) +* Event timer in ms (0 = disabled) for deadline monitoring. + + + + + + + + + + + + + + + + + + + + + + + + + + + * Number of mapped application objects in PDO: + * Value 0: mapping is disabled. + * Value 1: sub-index 0x01 is valid. + * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. +* Application object 1-8: + * bit 16-31: index + * bit 8-15: sub-index + * bit 0-7: data length in bits + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * Number of mapped application objects in PDO: + * Value 0: mapping is disabled. + * Value 1: sub-index 0x01 is valid. + * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. +* Application object 1-8: + * bit 16-31: index + * bit 8-15: sub-index + * bit 0-7: data length in bits + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * Number of mapped application objects in PDO: + * Value 0: mapping is disabled. + * Value 1: sub-index 0x01 is valid. + * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. +* Application object 1-8: + * bit 16-31: index + * bit 8-15: sub-index + * bit 0-7: data length in bits + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * Number of mapped application objects in PDO: + * Value 0: mapping is disabled. + * Value 1: sub-index 0x01 is valid. + * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. +* Application object 1-8: + * bit 16-31: index + * bit 8-15: sub-index + * bit 0-7: data length in bits + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * Number of mapped application objects in PDO: + * Value 0: mapping is disabled. + * Value 1: sub-index 0x01 is valid. + * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. +* Application object 1-8: + * bit 16-31: index + * bit 8-15: sub-index + * bit 0-7: data length in bits + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * COB-ID used by RPDO: + * bit 31: If set, PDO does not exist / is not valid + * bit 30: If set, NO RTR is allowed on this PDO + * bit 11-29: set to 0 + * bit 0-10: 11-bit CAN-ID +* Transmission type: + * Value 0: synchronous (acyclic) + * Value 1-240: synchronous (cyclic every (1-240)-th sync) + * Value 241-253: not used + * Value 254: event-driven (manufacturer-specific) + * Value 255: event-driven (device profile and application profile specific) +* Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). +* Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). +* SYNC start value + * Value 0: Counter of the SYNC message shall not be processed. + * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * COB-ID used by RPDO: + * bit 31: If set, PDO does not exist / is not valid + * bit 30: If set, NO RTR is allowed on this PDO + * bit 11-29: set to 0 + * bit 0-10: 11-bit CAN-ID +* Transmission type: + * Value 0: synchronous (acyclic) + * Value 1-240: synchronous (cyclic every (1-240)-th sync) + * Value 241-253: not used + * Value 254: event-driven (manufacturer-specific) + * Value 255: event-driven (device profile and application profile specific) +* Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). +* Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). +* SYNC start value + * Value 0: Counter of the SYNC message shall not be processed. + * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * COB-ID used by RPDO: + * bit 31: If set, PDO does not exist / is not valid + * bit 30: If set, NO RTR is allowed on this PDO + * bit 11-29: set to 0 + * bit 0-10: 11-bit CAN-ID +* Transmission type: + * Value 0: synchronous (acyclic) + * Value 1-240: synchronous (cyclic every (1-240)-th sync) + * Value 241-253: not used + * Value 254: event-driven (manufacturer-specific) + * Value 255: event-driven (device profile and application profile specific) +* Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). +* Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). +* SYNC start value + * Value 0: Counter of the SYNC message shall not be processed. + * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * COB-ID used by RPDO: + * bit 31: If set, PDO does not exist / is not valid + * bit 30: If set, NO RTR is allowed on this PDO + * bit 11-29: set to 0 + * bit 0-10: 11-bit CAN-ID +* Transmission type: + * Value 0: synchronous (acyclic) + * Value 1-240: synchronous (cyclic every (1-240)-th sync) + * Value 241-253: not used + * Value 254: event-driven (manufacturer-specific) + * Value 255: event-driven (device profile and application profile specific) +* Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). +* Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). +* SYNC start value + * Value 0: Counter of the SYNC message shall not be processed. + * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * COB-ID used by RPDO: + * bit 31: If set, PDO does not exist / is not valid + * bit 30: If set, NO RTR is allowed on this PDO + * bit 11-29: set to 0 + * bit 0-10: 11-bit CAN-ID +* Transmission type: + * Value 0: synchronous (acyclic) + * Value 1-240: synchronous (cyclic every (1-240)-th sync) + * Value 241-253: not used + * Value 254: event-driven (manufacturer-specific) + * Value 255: event-driven (device profile and application profile specific) +* Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled). +* Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled). +* SYNC start value + * Value 0: Counter of the SYNC message shall not be processed. + * Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * Number of mapped application objects in PDO: + * Value 0: mapping is disabled. + * Value 1: sub-index 0x01 is valid. + * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. +* Application object 1-8: + * bit 16-31: index + * bit 8-15: sub-index + * bit 0-7: data length in bits + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * Number of mapped application objects in PDO: + * Value 0: mapping is disabled. + * Value 1: sub-index 0x01 is valid. + * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. +* Application object 1-8: + * bit 16-31: index + * bit 8-15: sub-index + * bit 0-7: data length in bits + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * Number of mapped application objects in PDO: + * Value 0: mapping is disabled. + * Value 1: sub-index 0x01 is valid. + * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. +* Application object 1-8: + * bit 16-31: index + * bit 8-15: sub-index + * bit 0-7: data length in bits + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * Number of mapped application objects in PDO: + * Value 0: mapping is disabled. + * Value 1: sub-index 0x01 is valid. + * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. +* Application object 1-8: + * bit 16-31: index + * bit 8-15: sub-index + * bit 0-7: data length in bits + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + * Number of mapped application objects in PDO: + * Value 0: mapping is disabled. + * Value 1: sub-index 0x01 is valid. + * Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid. +* Application object 1-8: + * bit 16-31: index + * bit 8-15: sub-index + * bit 0-7: data length in bits + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + CANopen communication network profile + 1.1 + + + CommunicationNetwork + + 1 + 1 + CANopen + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/CANopen/OD/DS301_profile_from_xpd.eds b/src/CANopen/OD/DS301_profile_from_xpd.eds new file mode 100644 index 00000000..7e8984e4 --- /dev/null +++ b/src/CANopen/OD/DS301_profile_from_xpd.eds @@ -0,0 +1,1760 @@ +[FileInfo] +FileName=DS301_profile_from_xpd.eds +FileVersion=1 +FileRevision=1 +LastEDS= +EDSVersion=4.0 +Description= +CreationTime=2:00PM +CreationDate=11-23-2020 +CreatedBy= +ModificationTime=7:39PM +ModificationDate=08-09-2021 +ModifiedBy= + +[DeviceInfo] +VendorName= +VendorNumber= +ProductName=New Product +ProductNumber= +RevisionNumber=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=0 +Granularity=8 +DynamicChannelsSupported=0 +CompactPDO=0 +GroupMessaging=0 +NrOfRXPDO=4 +NrOfTXPDO=4 +LSS_Supported=1 + +[DummyUsage] +Dummy0001=0 +Dummy0002=1 +Dummy0003=1 +Dummy0004=1 +Dummy0005=1 +Dummy0006=1 +Dummy0007=1 + +[Comments] +Lines=0 + +[MandatoryObjects] +SupportedObjects=3 +1=0x1000 +2=0x1001 +3=0x1018 + +[1000] +ParameterName=Device type +ObjectType=0x7 +;StorageLocation=PERSIST_COMM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1001] +ParameterName=Error register +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x00 +PDOMapping=1 + +[1018] +ParameterName=Identity +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x5 + +[1018sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x04 +PDOMapping=0 + +[1018sub1] +ParameterName=Vendor-ID +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1018sub2] +ParameterName=Product code +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1018sub3] +ParameterName=Revision number +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[1018sub4] +ParameterName=Serial number +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x00000000 +PDOMapping=0 + +[OptionalObjects] +SupportedObjects=30 +1=0x1003 +2=0x1005 +3=0x1006 +4=0x1007 +5=0x1010 +6=0x1011 +7=0x1012 +8=0x1014 +9=0x1015 +10=0x1016 +11=0x1017 +12=0x1019 +13=0x1200 +14=0x1280 +15=0x1400 +16=0x1401 +17=0x1402 +18=0x1403 +19=0x1600 +20=0x1601 +21=0x1602 +22=0x1603 +23=0x1800 +24=0x1801 +25=0x1802 +26=0x1803 +27=0x1A00 +28=0x1A01 +29=0x1A02 +30=0x1A03 + +[1003] +ParameterName=Pre-defined error field +ObjectType=0x8 +;StorageLocation=RAM +SubNumber=0x11 + +[1003sub0] +ParameterName=Number of errors +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue= +PDOMapping=0 + +[1003sub1] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003sub2] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003sub3] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003sub4] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003sub5] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003sub6] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003sub7] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003sub8] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003sub9] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003subA] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003subB] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003subC] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003subD] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003subE] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003subF] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1003sub10] +ParameterName=Standard error field +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue= +PDOMapping=0 + +[1005] +ParameterName=COB-ID SYNC message +ObjectType=0x7 +;StorageLocation=PERSIST_COMM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000080 +PDOMapping=0 + +[1006] +ParameterName=Communication cycle period +ObjectType=0x7 +;StorageLocation=PERSIST_COMM +DataType=0x0007 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1007] +ParameterName=Synchronous window length +ObjectType=0x7 +;StorageLocation=PERSIST_COMM +DataType=0x0007 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1010] +ParameterName=Store parameters +ObjectType=0x8 +;StorageLocation=RAM +SubNumber=0x5 + +[1010sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x04 +PDOMapping=0 + +[1010sub1] +ParameterName=Save all parameters +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 + +[1010sub2] +ParameterName=Save communication parameters +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 + +[1010sub3] +ParameterName=Save application parameters +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 + +[1010sub4] +ParameterName=Save manufacturer defined parameters +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 + +[1011] +ParameterName=Restore default parameters +ObjectType=0x8 +;StorageLocation=RAM +SubNumber=0x5 + +[1011sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x04 +PDOMapping=0 + +[1011sub1] +ParameterName=Restore all default parameters +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 + +[1011sub2] +ParameterName=Restore communication default parameters +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 + +[1011sub3] +ParameterName=Restore application default parameters +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 + +[1011sub4] +ParameterName=Restore manufacturer defined default parameters +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000001 +PDOMapping=0 + +[1012] +ParameterName=COB-ID time stamp object +ObjectType=0x7 +;StorageLocation=PERSIST_COMM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000100 +PDOMapping=0 + +[1014] +ParameterName=COB-ID EMCY +ObjectType=0x7 +;StorageLocation=PERSIST_COMM +DataType=0x0007 +AccessType=rw +DefaultValue=0x80+$NODEID +PDOMapping=0 + +[1015] +ParameterName=Inhibit time EMCY +ObjectType=0x7 +;StorageLocation=PERSIST_COMM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1016] +ParameterName=Consumer heartbeat time +ObjectType=0x8 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1016sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x08 +PDOMapping=0 + +[1016sub1] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1016sub2] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1016sub3] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1016sub4] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1016sub5] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1016sub6] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1016sub7] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1016sub8] +ParameterName=Consumer heartbeat time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1017] +ParameterName=Producer heartbeat time +ObjectType=0x7 +;StorageLocation=PERSIST_COMM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1019] +ParameterName=Synchronous counter overflow value +ObjectType=0x7 +;StorageLocation=PERSIST_COMM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1200] +ParameterName=SDO server parameter +ObjectType=0x9 +;StorageLocation=RAM +SubNumber=0x3 + +[1200sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=2 +PDOMapping=0 + +[1200sub1] +ParameterName=COB-ID client to server (rx) +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x600+$NODEID +PDOMapping=1 + +[1200sub2] +ParameterName=COB-ID server to client (tx) +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=ro +DefaultValue=0x580+$NODEID +PDOMapping=1 + +[1280] +ParameterName=SDO client parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x4 + +[1280sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x03 +PDOMapping=0 + +[1280sub1] +ParameterName=COB-ID client to server (tx) +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x80000000 +PDOMapping=1 + +[1280sub2] +ParameterName=COB-ID server to client (rx) +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x80000000 +PDOMapping=1 + +[1280sub3] +ParameterName=Node-ID of the SDO server +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0x01 +PDOMapping=0 + +[1400] +ParameterName=RPDO communication parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x4 + +[1400sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x05 +PDOMapping=0 + +[1400sub1] +ParameterName=COB-ID used by RPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x80000200+$NODEID +PDOMapping=0 + +[1400sub2] +ParameterName=Transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1400sub5] +ParameterName=Event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1401] +ParameterName=RPDO communication parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x4 + +[1401sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x05 +PDOMapping=0 + +[1401sub1] +ParameterName=COB-ID used by RPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x80000300+$NODEID +PDOMapping=0 + +[1401sub2] +ParameterName=Transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1401sub5] +ParameterName=Event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1402] +ParameterName=RPDO communication parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x4 + +[1402sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x05 +PDOMapping=0 + +[1402sub1] +ParameterName=COB-ID used by RPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x80000400+$NODEID +PDOMapping=0 + +[1402sub2] +ParameterName=Transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1402sub5] +ParameterName=Event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1403] +ParameterName=RPDO communication parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x4 + +[1403sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x05 +PDOMapping=0 + +[1403sub1] +ParameterName=COB-ID used by RPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x80000500+$NODEID +PDOMapping=0 + +[1403sub2] +ParameterName=Transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1403sub5] +ParameterName=Event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1600] +ParameterName=RPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1600sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1600sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1600sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1600sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1600sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1600sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1600sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1600sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1600sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1601] +ParameterName=RPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1601sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1601sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1601sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602] +ParameterName=RPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1602sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1602sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1602sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603] +ParameterName=RPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1603sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1603sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1603sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1800] +ParameterName=TPDO communication parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x6 + +[1800sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x06 +PDOMapping=0 + +[1800sub1] +ParameterName=COB-ID used by TPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0xC0000180+$NODEID +PDOMapping=0 + +[1800sub2] +ParameterName=Transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1800sub3] +ParameterName=Inhibit time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1800sub5] +ParameterName=Event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1800sub6] +ParameterName=SYNC start value +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1801] +ParameterName=TPDO communication parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x6 + +[1801sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x06 +PDOMapping=0 + +[1801sub1] +ParameterName=COB-ID used by TPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0xC0000280+$NODEID +PDOMapping=0 + +[1801sub2] +ParameterName=Transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1801sub3] +ParameterName=Inhibit time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1801sub5] +ParameterName=Event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1801sub6] +ParameterName=SYNC start value +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1802] +ParameterName=TPDO communication parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x6 + +[1802sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x06 +PDOMapping=0 + +[1802sub1] +ParameterName=COB-ID used by TPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0xC0000380+$NODEID +PDOMapping=0 + +[1802sub2] +ParameterName=Transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1802sub3] +ParameterName=Inhibit time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1802sub5] +ParameterName=Event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1802sub6] +ParameterName=SYNC start value +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1803] +ParameterName=TPDO communication parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x6 + +[1803sub0] +ParameterName=Highest sub-index supported +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=ro +DefaultValue=0x06 +PDOMapping=0 + +[1803sub1] +ParameterName=COB-ID used by TPDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0xC0000480+$NODEID +PDOMapping=0 + +[1803sub2] +ParameterName=Transmission type +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=254 +PDOMapping=0 + +[1803sub3] +ParameterName=Inhibit time +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1803sub5] +ParameterName=Event timer +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1803sub6] +ParameterName=SYNC start value +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1A00] +ParameterName=TPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1A00sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1A00sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A00sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01] +ParameterName=TPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1A01sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1A01sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A01sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02] +ParameterName=TPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1A02sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1A02sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A02sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03] +ParameterName=TPDO mapping parameter +ObjectType=0x9 +;StorageLocation=PERSIST_COMM +SubNumber=0x9 + +[1A03sub0] +ParameterName=Number of mapped application objects in PDO +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1A03sub1] +ParameterName=Application object 1 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub2] +ParameterName=Application object 2 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub3] +ParameterName=Application object 3 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub4] +ParameterName=Application object 4 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub5] +ParameterName=Application object 5 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub6] +ParameterName=Application object 6 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub7] +ParameterName=Application object 7 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[1A03sub8] +ParameterName=Application object 8 +ObjectType=0x7 +;StorageLocation=RAM +DataType=0x0007 +AccessType=rw +DefaultValue=0x00000000 +PDOMapping=0 + +[ManufacturerObjects] +SupportedObjects=0 + diff --git a/src/CANopen/OD/Network PDO report.html b/src/CANopen/OD/Network PDO report.html new file mode 100644 index 00000000..53551804 --- /dev/null +++ b/src/CANopen/OD/Network PDO report.html @@ -0,0 +1,194 @@ + + +Network PDO report + + + +

PDO Network Documentation

+ + + + + + + +
Node IDName
0BTT-Intellistep-CANopen
+

PDO Map

+

PDO 0x180 +

+ + + + + + + + + + + + + + + + + + + + + + +
Parametervalue
COB0x180
Type0xff
Inhibit0x0 (0)
Event timer0x0 (0)
Sync start0x0 (0)
PDO Size (Bytes)0x2
+ + + + + + + + + + + + + + + +
NodeDev nameOD IndexNameSizeReceivers
0x00BTT-Intellistep-CANopen0x6041/0x00statusword16 + + + + + + + +
NodeDev NameOD IndexNameSize
+

PDO 0x380 +

+ + + + + + + + + + + + + + + + + + + + + + +
Parametervalue
COB0x380
Type0x1
Inhibit0x0 (0)
Event timer0x0 (0)
Sync start0x0 (0)
PDO Size (Bytes)0x6
+ + + + + + + + + + + + + + + + + + + + + + +
NodeDev nameOD IndexNameSizeReceivers
0x00BTT-Intellistep-CANopen0x6041/0x00statusword16 + + + + + + + +
NodeDev NameOD IndexNameSize
0x00BTT-Intellistep-CANopen0x6064/0x00position actual value32 + + + + + + + +
NodeDev NameOD IndexNameSize
+

PDO 0x480 +

+ + + + + + + + + + + + + + + + + + + + + + +
Parametervalue
COB0x480
Type0x1
Inhibit0x0 (0)
Event timer0x0 (0)
Sync start0x0 (0)
PDO Size (Bytes)0x6
+ + + + + + + + + + + + + + + + + + + + + + +
NodeDev nameOD IndexNameSizeReceivers
0x00BTT-Intellistep-CANopen0x6041/0x00statusword16 + + + + + + + +
NodeDev NameOD IndexNameSize
0x00BTT-Intellistep-CANopen0x606c/0x00velocity actual value32 + + + + + + + +
NodeDev NameOD IndexNameSize

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#fafafa; BORDER-BOTTOM: #e0e0e0 1px solid; PADDING-BOTTOM: 5px; PADDING-TOP: 5px; PADDING-LEFT: 5px; BORDER-LEFT: #e0e0e0 1px solid; PADDING-RIGHT: 5px +} +TABLE TR.even TD { + BACKGROUND: #f6f6f6 +} +TABLE TR:unknown TD { + BORDER-BOTTOM-WIDTH: 0px +} +TABLE TR:unknown TD:first-child { + -moz-border-radius-bottomleft: 3px; -webkit-border-bottom-left-radius: 3px; border-bottom-left-radius: 3px +} +TABLE TR:unknown TD:unknown { + -moz-border-radius-bottomright: 3px; -webkit-border-bottom-right-radius: 3px; border-bottom-right-radius: 3px +} +TABLE TR:hover TD { + BACKGROUND: #f2f2f2 +} +.receivers { + WIDTH: 90% +} diff --git a/src/CANopen/OD/OD.c b/src/CANopen/OD/OD.c new file mode 100644 index 00000000..ac19ef37 --- /dev/null +++ b/src/CANopen/OD/OD.c @@ -0,0 +1,1161 @@ +/******************************************************************************* + CANopen Object Dictionary definition for CANopenNode V4 + + This file was automatically generated by CANopenEditor v4.0-51-g2d9b1ad + + https://github.com/CANopenNode/CANopenNode + https://github.com/CANopenNode/CANopenEditor + + DON'T EDIT THIS FILE MANUALLY, UNLESS YOU KNOW WHAT YOU ARE DOING !!!! +*******************************************************************************/ + +#define OD_DEFINITION +#include "301/CO_ODinterface.h" +#include "OD.h" + +#if CO_VERSION_MAJOR < 4 +#error This Object dictionary is compatible with CANopenNode V4.0 and above! +#endif + +/******************************************************************************* + OD data initialization of all groups +*******************************************************************************/ +OD_ATTR_PERSIST_COMM OD_PERSIST_COMM_t OD_PERSIST_COMM = { + .x1000_deviceType = 0x00000000, + .x1005_COB_ID_SYNCMessage = 0x00000080, + .x1006_communicationCyclePeriod = 0x00000000, + .x1007_synchronousWindowLength = 0x00000000, + .x1012_COB_IDTimeStampObject = 0x00000100, + .x1014_COB_ID_EMCY = 0x00000080, + .x1015_inhibitTimeEMCY = 0x0000, + .x1016_consumerHeartbeatTime_sub0 = 0x08, + .x1016_consumerHeartbeatTime = {0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000}, + .x1017_producerHeartbeatTime = 0x0000, + .x1018_identity = { + .highestSub_indexSupported = 0x04, + .vendor_ID = 0x00000000, + .productCode = 0x00000000, + .revisionNumber = 0x00000000, + .serialNumber = 0x00000000 + }, + .x1019_synchronousCounterOverflowValue = 0x00, + .x1280_SDOClientParameter = { + .highestSub_indexSupported = 0x03, + .COB_IDClientToServerTx = 0x80000000, + .COB_IDServerToClientRx = 0x80000000, + .node_IDOfTheSDOServer = 0x01 + }, + .x1400_RPDOCommunicationParameter = { + .highestSub_indexSupported = 0x05, + .COB_IDUsedByRPDO = 0x80000200, + .transmissionType = 0xFE, + .eventTimer = 0x0000 + }, + .x1401_RPDOCommunicationParameter = { + .highestSub_indexSupported = 0x05, + .COB_IDUsedByRPDO = 0x80000300, + .transmissionType = 0xFE, + .eventTimer = 0x0000 + }, + .x1402_RPDOCommunicationParameter = { + .highestSub_indexSupported = 0x05, + .COB_IDUsedByRPDO = 0x80000400, + .transmissionType = 0xFE, + .eventTimer = 0x0000 + }, + .x1403_RPDOCommunicationParameter = { + .highestSub_indexSupported = 0x05, + .COB_IDUsedByRPDO = 0x80000500, + .transmissionType = 0xFE, + .eventTimer = 0x0000 + }, + .x1600_RPDOMappingParameter = { + .numberOfMappedApplicationObjectsInPDO = 0x00, + .applicationObject_1 = 0x00000000, + .applicationObject_2 = 0x00000000, + .applicationObject_3 = 0x00000000, + .applicationObject_4 = 0x00000000, + .applicationObject_5 = 0x00000000, + .applicationObject_6 = 0x00000000, + .applicationObject_7 = 0x00000000, + .applicationObject_8 = 0x00000000 + }, + .x1601_RPDOMappingParameter = { + .numberOfMappedApplicationObjectsInPDO = 0x00, + .applicationObject_1 = 0x00000000, + .applicationObject_2 = 0x00000000, + .applicationObject_3 = 0x00000000, + .applicationObject_4 = 0x00000000, + .applicationObject_5 = 0x00000000, + .applicationObject_6 = 0x00000000, + .applicationObject_7 = 0x00000000, + .applicationObject_8 = 0x00000000 + }, + .x1602_RPDOMappingParameter = { + .numberOfMappedApplicationObjectsInPDO = 0x00, + .applicationObject_1 = 0x00000000, + .applicationObject_2 = 0x00000000, + .applicationObject_3 = 0x00000000, + .applicationObject_4 = 0x00000000, + .applicationObject_5 = 0x00000000, + .applicationObject_6 = 0x00000000, + .applicationObject_7 = 0x00000000, + .applicationObject_8 = 0x00000000 + }, + .x1603_RPDOMappingParameter = { + .numberOfMappedApplicationObjectsInPDO = 0x00, + .applicationObject_1 = 0x00000000, + .applicationObject_2 = 0x00000000, + .applicationObject_3 = 0x00000000, + .applicationObject_4 = 0x00000000, + .applicationObject_5 = 0x00000000, + .applicationObject_6 = 0x00000000, + .applicationObject_7 = 0x00000000, + .applicationObject_8 = 0x00000000 + }, + .x1800_TPDOCommunicationParameter = { + .highestSub_indexSupported = 0x06, + .COB_IDUsedByTPDO = 0xC0000180, + .transmissionType = 0xFE, + .inhibitTime = 0x0000, + .eventTimer = 0x0000, + .SYNCStartValue = 0x00 + }, + .x1801_TPDOCommunicationParameter = { + .highestSub_indexSupported = 0x06, + .COB_IDUsedByTPDO = 0xC0000280, + .transmissionType = 0xFE, + .inhibitTime = 0x0000, + .eventTimer = 0x0000, + .SYNCStartValue = 0x00 + }, + .x1802_TPDOCommunicationParameter = { + .highestSub_indexSupported = 0x06, + .COB_IDUsedByTPDO = 0xC0000380, + .transmissionType = 0xFE, + .inhibitTime = 0x0000, + .eventTimer = 0x0000, + .SYNCStartValue = 0x00 + }, + .x1803_TPDOCommunicationParameter = { + .highestSub_indexSupported = 0x06, + .COB_IDUsedByTPDO = 0xC0000480, + .transmissionType = 0xFE, + .inhibitTime = 0x0000, + .eventTimer = 0x0000, + .SYNCStartValue = 0x00 + }, + .x1A00_TPDOMappingParameter = { + .numberOfMappedApplicationObjectsInPDO = 0x00, + .applicationObject_1 = 0x00000000, + .applicationObject_2 = 0x00000000, + .applicationObject_3 = 0x00000000, + .applicationObject_4 = 0x00000000, + .applicationObject_5 = 0x00000000, + .applicationObject_6 = 0x00000000, + .applicationObject_7 = 0x00000000, + .applicationObject_8 = 0x00000000 + }, + .x1A01_TPDOMappingParameter = { + .numberOfMappedApplicationObjectsInPDO = 0x00, + .applicationObject_1 = 0x00000000, + .applicationObject_2 = 0x00000000, + .applicationObject_3 = 0x00000000, + .applicationObject_4 = 0x00000000, + .applicationObject_5 = 0x00000000, + .applicationObject_6 = 0x00000000, + .applicationObject_7 = 0x00000000, + .applicationObject_8 = 0x00000000 + }, + .x1A02_TPDOMappingParameter = { + .numberOfMappedApplicationObjectsInPDO = 0x00, + .applicationObject_1 = 0x00000000, + .applicationObject_2 = 0x00000000, + .applicationObject_3 = 0x00000000, + .applicationObject_4 = 0x00000000, + .applicationObject_5 = 0x00000000, + .applicationObject_6 = 0x00000000, + .applicationObject_7 = 0x00000000, + .applicationObject_8 = 0x00000000 + }, + .x1A03_TPDOMappingParameter = { + .numberOfMappedApplicationObjectsInPDO = 0x00, + .applicationObject_1 = 0x00000000, + .applicationObject_2 = 0x00000000, + .applicationObject_3 = 0x00000000, + .applicationObject_4 = 0x00000000, + .applicationObject_5 = 0x00000000, + .applicationObject_6 = 0x00000000, + .applicationObject_7 = 0x00000000, + .applicationObject_8 = 0x00000000 + } +}; + +OD_ATTR_RAM OD_RAM_t OD_RAM = { + .x1001_errorRegister = 0x00, + .x1010_storeParameters_sub0 = 0x04, + .x1010_storeParameters = {0x00000001, 0x00000001, 0x00000001, 0x00000001}, + .x1011_restoreDefaultParameters_sub0 = 0x04, + .x1011_restoreDefaultParameters = {0x00000001, 0x00000001, 0x00000001, 0x00000001}, + .x1200_SDOServerParameter = { + .highestSub_indexSupported = 0x02, + .COB_IDClientToServerRx = 0x00000600, + .COB_IDServerToClientTx = 0x00000580 + } +}; + + + +/******************************************************************************* + All OD objects (constant definitions) +*******************************************************************************/ +typedef struct { + OD_obj_var_t o_1000_deviceType; + OD_obj_var_t o_1001_errorRegister; + OD_obj_array_t o_1003_pre_definedErrorField; + OD_obj_var_t o_1005_COB_ID_SYNCMessage; + OD_obj_var_t o_1006_communicationCyclePeriod; + OD_obj_var_t o_1007_synchronousWindowLength; + OD_obj_array_t o_1010_storeParameters; + OD_obj_array_t o_1011_restoreDefaultParameters; + OD_obj_var_t o_1012_COB_IDTimeStampObject; + OD_obj_var_t o_1014_COB_ID_EMCY; + OD_obj_var_t o_1015_inhibitTimeEMCY; + OD_obj_array_t o_1016_consumerHeartbeatTime; + OD_obj_var_t o_1017_producerHeartbeatTime; + OD_obj_record_t o_1018_identity[5]; + OD_obj_var_t o_1019_synchronousCounterOverflowValue; + OD_obj_record_t o_1200_SDOServerParameter[3]; + OD_obj_record_t o_1280_SDOClientParameter[4]; + OD_obj_record_t o_1400_RPDOCommunicationParameter[4]; + OD_obj_record_t o_1401_RPDOCommunicationParameter[4]; + OD_obj_record_t o_1402_RPDOCommunicationParameter[4]; + OD_obj_record_t o_1403_RPDOCommunicationParameter[4]; + OD_obj_record_t o_1600_RPDOMappingParameter[9]; + OD_obj_record_t o_1601_RPDOMappingParameter[9]; + OD_obj_record_t o_1602_RPDOMappingParameter[9]; + OD_obj_record_t o_1603_RPDOMappingParameter[9]; + OD_obj_record_t o_1800_TPDOCommunicationParameter[6]; + OD_obj_record_t o_1801_TPDOCommunicationParameter[6]; + OD_obj_record_t o_1802_TPDOCommunicationParameter[6]; + OD_obj_record_t o_1803_TPDOCommunicationParameter[6]; + OD_obj_record_t o_1A00_TPDOMappingParameter[9]; + OD_obj_record_t o_1A01_TPDOMappingParameter[9]; + OD_obj_record_t o_1A02_TPDOMappingParameter[9]; + OD_obj_record_t o_1A03_TPDOMappingParameter[9]; +} ODObjs_t; + +static CO_PROGMEM ODObjs_t ODObjs = { + .o_1000_deviceType = { + .dataOrig = &OD_PERSIST_COMM.x1000_deviceType, + .attribute = ODA_SDO_R | ODA_MB, + .dataLength = 4 + }, + .o_1001_errorRegister = { + .dataOrig = &OD_RAM.x1001_errorRegister, + .attribute = ODA_SDO_R | ODA_TPDO, + .dataLength = 1 + }, + .o_1003_pre_definedErrorField = { + .dataOrig0 = NULL, + .dataOrig = NULL, + .attribute0 = ODA_SDO_RW, + .attribute = ODA_SDO_R | ODA_MB, + .dataElementLength = 4, + .dataElementSizeof = sizeof(uint32_t) + }, + .o_1005_COB_ID_SYNCMessage = { + .dataOrig = &OD_PERSIST_COMM.x1005_COB_ID_SYNCMessage, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + .o_1006_communicationCyclePeriod = { + .dataOrig = &OD_PERSIST_COMM.x1006_communicationCyclePeriod, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + .o_1007_synchronousWindowLength = { + .dataOrig = &OD_PERSIST_COMM.x1007_synchronousWindowLength, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + .o_1010_storeParameters = { + .dataOrig0 = &OD_RAM.x1010_storeParameters_sub0, + .dataOrig = &OD_RAM.x1010_storeParameters[0], + .attribute0 = ODA_SDO_R, + .attribute = ODA_SDO_RW | ODA_MB, + .dataElementLength = 4, + .dataElementSizeof = sizeof(uint32_t) + }, + .o_1011_restoreDefaultParameters = { + .dataOrig0 = &OD_RAM.x1011_restoreDefaultParameters_sub0, + .dataOrig = &OD_RAM.x1011_restoreDefaultParameters[0], + .attribute0 = ODA_SDO_R, + .attribute = ODA_SDO_RW | ODA_MB, + .dataElementLength = 4, + .dataElementSizeof = sizeof(uint32_t) + }, + .o_1012_COB_IDTimeStampObject = { + .dataOrig = &OD_PERSIST_COMM.x1012_COB_IDTimeStampObject, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + .o_1014_COB_ID_EMCY = { + .dataOrig = &OD_PERSIST_COMM.x1014_COB_ID_EMCY, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + .o_1015_inhibitTimeEMCY = { + .dataOrig = &OD_PERSIST_COMM.x1015_inhibitTimeEMCY, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + }, + .o_1016_consumerHeartbeatTime = { + .dataOrig0 = &OD_PERSIST_COMM.x1016_consumerHeartbeatTime_sub0, + .dataOrig = &OD_PERSIST_COMM.x1016_consumerHeartbeatTime[0], + .attribute0 = ODA_SDO_R, + .attribute = ODA_SDO_RW | ODA_MB, + .dataElementLength = 4, + .dataElementSizeof = sizeof(uint32_t) + }, + .o_1017_producerHeartbeatTime = { + .dataOrig = &OD_PERSIST_COMM.x1017_producerHeartbeatTime, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + }, + .o_1018_identity = { + { + .dataOrig = &OD_PERSIST_COMM.x1018_identity.highestSub_indexSupported, + .subIndex = 0, + .attribute = ODA_SDO_R, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1018_identity.vendor_ID, + .subIndex = 1, + .attribute = ODA_SDO_R | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1018_identity.productCode, + .subIndex = 2, + .attribute = ODA_SDO_R | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1018_identity.revisionNumber, + .subIndex = 3, + .attribute = ODA_SDO_R | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1018_identity.serialNumber, + .subIndex = 4, + .attribute = ODA_SDO_R | ODA_MB, + .dataLength = 4 + } + }, + .o_1019_synchronousCounterOverflowValue = { + .dataOrig = &OD_PERSIST_COMM.x1019_synchronousCounterOverflowValue, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + .o_1200_SDOServerParameter = { + { + .dataOrig = &OD_RAM.x1200_SDOServerParameter.highestSub_indexSupported, + .subIndex = 0, + .attribute = ODA_SDO_R, + .dataLength = 1 + }, + { + .dataOrig = &OD_RAM.x1200_SDOServerParameter.COB_IDClientToServerRx, + .subIndex = 1, + .attribute = ODA_SDO_R | ODA_TPDO | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_RAM.x1200_SDOServerParameter.COB_IDServerToClientTx, + .subIndex = 2, + .attribute = ODA_SDO_R | ODA_TPDO | ODA_MB, + .dataLength = 4 + } + }, + .o_1280_SDOClientParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1280_SDOClientParameter.highestSub_indexSupported, + .subIndex = 0, + .attribute = ODA_SDO_R, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1280_SDOClientParameter.COB_IDClientToServerTx, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1280_SDOClientParameter.COB_IDServerToClientRx, + .subIndex = 2, + .attribute = ODA_SDO_RW | ODA_TRPDO | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1280_SDOClientParameter.node_IDOfTheSDOServer, + .subIndex = 3, + .attribute = ODA_SDO_RW, + .dataLength = 1 + } + }, + .o_1400_RPDOCommunicationParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1400_RPDOCommunicationParameter.highestSub_indexSupported, + .subIndex = 0, + .attribute = ODA_SDO_R, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1400_RPDOCommunicationParameter.COB_IDUsedByRPDO, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1400_RPDOCommunicationParameter.transmissionType, + .subIndex = 2, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1400_RPDOCommunicationParameter.eventTimer, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + } + }, + .o_1401_RPDOCommunicationParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1401_RPDOCommunicationParameter.highestSub_indexSupported, + .subIndex = 0, + .attribute = ODA_SDO_R, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1401_RPDOCommunicationParameter.COB_IDUsedByRPDO, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1401_RPDOCommunicationParameter.transmissionType, + .subIndex = 2, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1401_RPDOCommunicationParameter.eventTimer, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + } + }, + .o_1402_RPDOCommunicationParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1402_RPDOCommunicationParameter.highestSub_indexSupported, + .subIndex = 0, + .attribute = ODA_SDO_R, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1402_RPDOCommunicationParameter.COB_IDUsedByRPDO, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1402_RPDOCommunicationParameter.transmissionType, + .subIndex = 2, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1402_RPDOCommunicationParameter.eventTimer, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + } + }, + .o_1403_RPDOCommunicationParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1403_RPDOCommunicationParameter.highestSub_indexSupported, + .subIndex = 0, + .attribute = ODA_SDO_R, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1403_RPDOCommunicationParameter.COB_IDUsedByRPDO, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1403_RPDOCommunicationParameter.transmissionType, + .subIndex = 2, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1403_RPDOCommunicationParameter.eventTimer, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + } + }, + .o_1600_RPDOMappingParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, + .subIndex = 0, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_1, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_2, + .subIndex = 2, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_3, + .subIndex = 3, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_4, + .subIndex = 4, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_5, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_6, + .subIndex = 6, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_7, + .subIndex = 7, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1600_RPDOMappingParameter.applicationObject_8, + .subIndex = 8, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + } + }, + .o_1601_RPDOMappingParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, + .subIndex = 0, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_1, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_2, + .subIndex = 2, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_3, + .subIndex = 3, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_4, + .subIndex = 4, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_5, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_6, + .subIndex = 6, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_7, + .subIndex = 7, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1601_RPDOMappingParameter.applicationObject_8, + .subIndex = 8, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + } + }, + .o_1602_RPDOMappingParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, + .subIndex = 0, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_1, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_2, + .subIndex = 2, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_3, + .subIndex = 3, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_4, + .subIndex = 4, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_5, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_6, + .subIndex = 6, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_7, + .subIndex = 7, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1602_RPDOMappingParameter.applicationObject_8, + .subIndex = 8, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + } + }, + .o_1603_RPDOMappingParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, + .subIndex = 0, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_1, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_2, + .subIndex = 2, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_3, + .subIndex = 3, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_4, + .subIndex = 4, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_5, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_6, + .subIndex = 6, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_7, + .subIndex = 7, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1603_RPDOMappingParameter.applicationObject_8, + .subIndex = 8, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + } + }, + .o_1800_TPDOCommunicationParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.highestSub_indexSupported, + .subIndex = 0, + .attribute = ODA_SDO_R, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.COB_IDUsedByTPDO, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.transmissionType, + .subIndex = 2, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.inhibitTime, + .subIndex = 3, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.eventTimer, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1800_TPDOCommunicationParameter.SYNCStartValue, + .subIndex = 6, + .attribute = ODA_SDO_RW, + .dataLength = 1 + } + }, + .o_1801_TPDOCommunicationParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.highestSub_indexSupported, + .subIndex = 0, + .attribute = ODA_SDO_R, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.COB_IDUsedByTPDO, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.transmissionType, + .subIndex = 2, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.inhibitTime, + .subIndex = 3, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.eventTimer, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1801_TPDOCommunicationParameter.SYNCStartValue, + .subIndex = 6, + .attribute = ODA_SDO_RW, + .dataLength = 1 + } + }, + .o_1802_TPDOCommunicationParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.highestSub_indexSupported, + .subIndex = 0, + .attribute = ODA_SDO_R, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.COB_IDUsedByTPDO, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.transmissionType, + .subIndex = 2, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.inhibitTime, + .subIndex = 3, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.eventTimer, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1802_TPDOCommunicationParameter.SYNCStartValue, + .subIndex = 6, + .attribute = ODA_SDO_RW, + .dataLength = 1 + } + }, + .o_1803_TPDOCommunicationParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.highestSub_indexSupported, + .subIndex = 0, + .attribute = ODA_SDO_R, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.COB_IDUsedByTPDO, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.transmissionType, + .subIndex = 2, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.inhibitTime, + .subIndex = 3, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.eventTimer, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 2 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1803_TPDOCommunicationParameter.SYNCStartValue, + .subIndex = 6, + .attribute = ODA_SDO_RW, + .dataLength = 1 + } + }, + .o_1A00_TPDOMappingParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, + .subIndex = 0, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_1, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_2, + .subIndex = 2, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_3, + .subIndex = 3, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_4, + .subIndex = 4, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_5, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_6, + .subIndex = 6, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_7, + .subIndex = 7, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A00_TPDOMappingParameter.applicationObject_8, + .subIndex = 8, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + } + }, + .o_1A01_TPDOMappingParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, + .subIndex = 0, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_1, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_2, + .subIndex = 2, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_3, + .subIndex = 3, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_4, + .subIndex = 4, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_5, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_6, + .subIndex = 6, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_7, + .subIndex = 7, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A01_TPDOMappingParameter.applicationObject_8, + .subIndex = 8, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + } + }, + .o_1A02_TPDOMappingParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, + .subIndex = 0, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_1, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_2, + .subIndex = 2, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_3, + .subIndex = 3, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_4, + .subIndex = 4, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_5, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_6, + .subIndex = 6, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_7, + .subIndex = 7, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A02_TPDOMappingParameter.applicationObject_8, + .subIndex = 8, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + } + }, + .o_1A03_TPDOMappingParameter = { + { + .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.numberOfMappedApplicationObjectsInPDO, + .subIndex = 0, + .attribute = ODA_SDO_RW, + .dataLength = 1 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_1, + .subIndex = 1, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_2, + .subIndex = 2, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_3, + .subIndex = 3, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_4, + .subIndex = 4, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_5, + .subIndex = 5, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_6, + .subIndex = 6, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_7, + .subIndex = 7, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + }, + { + .dataOrig = &OD_PERSIST_COMM.x1A03_TPDOMappingParameter.applicationObject_8, + .subIndex = 8, + .attribute = ODA_SDO_RW | ODA_MB, + .dataLength = 4 + } + } +}; + + +/******************************************************************************* + Object dictionary +*******************************************************************************/ +static OD_ATTR_OD OD_entry_t ODList[] = { + {0x1000, 0x01, ODT_VAR, &ODObjs.o_1000_deviceType, NULL}, + {0x1001, 0x01, ODT_VAR, &ODObjs.o_1001_errorRegister, NULL}, + {0x1003, 0x11, ODT_ARR, &ODObjs.o_1003_pre_definedErrorField, NULL}, + {0x1005, 0x01, ODT_VAR, &ODObjs.o_1005_COB_ID_SYNCMessage, NULL}, + {0x1006, 0x01, ODT_VAR, &ODObjs.o_1006_communicationCyclePeriod, NULL}, + {0x1007, 0x01, ODT_VAR, &ODObjs.o_1007_synchronousWindowLength, NULL}, + {0x1010, 0x05, ODT_ARR, &ODObjs.o_1010_storeParameters, NULL}, + {0x1011, 0x05, ODT_ARR, &ODObjs.o_1011_restoreDefaultParameters, NULL}, + {0x1012, 0x01, ODT_VAR, &ODObjs.o_1012_COB_IDTimeStampObject, NULL}, + {0x1014, 0x01, ODT_VAR, &ODObjs.o_1014_COB_ID_EMCY, NULL}, + {0x1015, 0x01, ODT_VAR, &ODObjs.o_1015_inhibitTimeEMCY, NULL}, + {0x1016, 0x09, ODT_ARR, &ODObjs.o_1016_consumerHeartbeatTime, NULL}, + {0x1017, 0x01, ODT_VAR, &ODObjs.o_1017_producerHeartbeatTime, NULL}, + {0x1018, 0x05, ODT_REC, &ODObjs.o_1018_identity, NULL}, + {0x1019, 0x01, ODT_VAR, &ODObjs.o_1019_synchronousCounterOverflowValue, NULL}, + {0x1200, 0x03, ODT_REC, &ODObjs.o_1200_SDOServerParameter, NULL}, + {0x1280, 0x04, ODT_REC, &ODObjs.o_1280_SDOClientParameter, NULL}, + {0x1400, 0x04, ODT_REC, &ODObjs.o_1400_RPDOCommunicationParameter, NULL}, + {0x1401, 0x04, ODT_REC, &ODObjs.o_1401_RPDOCommunicationParameter, NULL}, + {0x1402, 0x04, ODT_REC, &ODObjs.o_1402_RPDOCommunicationParameter, NULL}, + {0x1403, 0x04, ODT_REC, &ODObjs.o_1403_RPDOCommunicationParameter, NULL}, + {0x1600, 0x09, ODT_REC, &ODObjs.o_1600_RPDOMappingParameter, NULL}, + {0x1601, 0x09, ODT_REC, &ODObjs.o_1601_RPDOMappingParameter, NULL}, + {0x1602, 0x09, ODT_REC, &ODObjs.o_1602_RPDOMappingParameter, NULL}, + {0x1603, 0x09, ODT_REC, &ODObjs.o_1603_RPDOMappingParameter, NULL}, + {0x1800, 0x06, ODT_REC, &ODObjs.o_1800_TPDOCommunicationParameter, NULL}, + {0x1801, 0x06, ODT_REC, &ODObjs.o_1801_TPDOCommunicationParameter, NULL}, + {0x1802, 0x06, ODT_REC, &ODObjs.o_1802_TPDOCommunicationParameter, NULL}, + {0x1803, 0x06, ODT_REC, &ODObjs.o_1803_TPDOCommunicationParameter, NULL}, + {0x1A00, 0x09, ODT_REC, &ODObjs.o_1A00_TPDOMappingParameter, NULL}, + {0x1A01, 0x09, ODT_REC, &ODObjs.o_1A01_TPDOMappingParameter, NULL}, + {0x1A02, 0x09, ODT_REC, &ODObjs.o_1A02_TPDOMappingParameter, NULL}, + {0x1A03, 0x09, ODT_REC, &ODObjs.o_1A03_TPDOMappingParameter, NULL}, + {0x0000, 0x00, 0, NULL, NULL} +}; + +static OD_t _OD = { + (sizeof(ODList) / sizeof(ODList[0])) - 1, + &ODList[0] +}; + +OD_t *OD = &_OD; diff --git a/src/CANopen/OD/OD.h b/src/CANopen/OD/OD.h new file mode 100644 index 00000000..146a4e82 --- /dev/null +++ b/src/CANopen/OD/OD.h @@ -0,0 +1,387 @@ +/******************************************************************************* + CANopen Object Dictionary definition for CANopenNode V4 + + This file was automatically generated by CANopenEditor v4.0-51-g2d9b1ad + + https://github.com/CANopenNode/CANopenNode + https://github.com/CANopenNode/CANopenEditor + + DON'T EDIT THIS FILE MANUALLY !!!! +******************************************************************************** + + File info: + File Names: OD.h; OD.c + Project File: DS301_profile.xpd + File Version: 1 + + Created: 23.11.2020 14:00:00 + Created By: + Modified: 09.08.2021 19:39:55 + Modified By: + + Device Info: + Vendor Name: + Vendor ID: + Product Name: New Product + Product ID: + + Description: +*******************************************************************************/ + +#ifndef OD_H +#define OD_H +/******************************************************************************* + Counters of OD objects +*******************************************************************************/ +#define OD_CNT_NMT 1 +#define OD_CNT_EM 1 +#define OD_CNT_SYNC 1 +#define OD_CNT_SYNC_PROD 1 +#define OD_CNT_STORAGE 1 +#define OD_CNT_TIME 1 +#define OD_CNT_EM_PROD 1 +#define OD_CNT_HB_CONS 1 +#define OD_CNT_HB_PROD 1 +#define OD_CNT_SDO_SRV 1 +#define OD_CNT_SDO_CLI 1 +#define OD_CNT_RPDO 4 +#define OD_CNT_TPDO 4 + + +/******************************************************************************* + Sizes of OD arrays +*******************************************************************************/ +#define OD_CNT_ARR_1003 16 +#define OD_CNT_ARR_1010 4 +#define OD_CNT_ARR_1011 4 +#define OD_CNT_ARR_1016 8 + + +/******************************************************************************* + OD data declaration of all groups +*******************************************************************************/ +typedef struct { + uint32_t x1000_deviceType; + uint32_t x1005_COB_ID_SYNCMessage; + uint32_t x1006_communicationCyclePeriod; + uint32_t x1007_synchronousWindowLength; + uint32_t x1012_COB_IDTimeStampObject; + uint32_t x1014_COB_ID_EMCY; + uint16_t x1015_inhibitTimeEMCY; + uint8_t x1016_consumerHeartbeatTime_sub0; + uint32_t x1016_consumerHeartbeatTime[OD_CNT_ARR_1016]; + uint16_t x1017_producerHeartbeatTime; + struct { + uint8_t highestSub_indexSupported; + uint32_t vendor_ID; + uint32_t productCode; + uint32_t revisionNumber; + uint32_t serialNumber; + } x1018_identity; + uint8_t x1019_synchronousCounterOverflowValue; + struct { + uint8_t highestSub_indexSupported; + uint32_t COB_IDClientToServerTx; + uint32_t COB_IDServerToClientRx; + uint8_t node_IDOfTheSDOServer; + } x1280_SDOClientParameter; + struct { + uint8_t highestSub_indexSupported; + uint32_t COB_IDUsedByRPDO; + uint8_t transmissionType; + uint16_t eventTimer; + } x1400_RPDOCommunicationParameter; + struct { + uint8_t highestSub_indexSupported; + uint32_t COB_IDUsedByRPDO; + uint8_t transmissionType; + uint16_t eventTimer; + } x1401_RPDOCommunicationParameter; + struct { + uint8_t highestSub_indexSupported; + uint32_t COB_IDUsedByRPDO; + uint8_t transmissionType; + uint16_t eventTimer; + } x1402_RPDOCommunicationParameter; + struct { + uint8_t highestSub_indexSupported; + uint32_t COB_IDUsedByRPDO; + uint8_t transmissionType; + uint16_t eventTimer; + } x1403_RPDOCommunicationParameter; + struct { + uint8_t numberOfMappedApplicationObjectsInPDO; + uint32_t applicationObject_1; + uint32_t applicationObject_2; + uint32_t applicationObject_3; + uint32_t applicationObject_4; + uint32_t applicationObject_5; + uint32_t applicationObject_6; + uint32_t applicationObject_7; + uint32_t applicationObject_8; + } x1600_RPDOMappingParameter; + struct { + uint8_t numberOfMappedApplicationObjectsInPDO; + uint32_t applicationObject_1; + uint32_t applicationObject_2; + uint32_t applicationObject_3; + uint32_t applicationObject_4; + uint32_t applicationObject_5; + uint32_t applicationObject_6; + uint32_t applicationObject_7; + uint32_t applicationObject_8; + } x1601_RPDOMappingParameter; + struct { + uint8_t numberOfMappedApplicationObjectsInPDO; + uint32_t applicationObject_1; + uint32_t applicationObject_2; + uint32_t applicationObject_3; + uint32_t applicationObject_4; + uint32_t applicationObject_5; + uint32_t applicationObject_6; + uint32_t applicationObject_7; + uint32_t applicationObject_8; + } x1602_RPDOMappingParameter; + struct { + uint8_t numberOfMappedApplicationObjectsInPDO; + uint32_t applicationObject_1; + uint32_t applicationObject_2; + uint32_t applicationObject_3; + uint32_t applicationObject_4; + uint32_t applicationObject_5; + uint32_t applicationObject_6; + uint32_t applicationObject_7; + uint32_t applicationObject_8; + } x1603_RPDOMappingParameter; + struct { + uint8_t highestSub_indexSupported; + uint32_t COB_IDUsedByTPDO; + uint8_t transmissionType; + uint16_t inhibitTime; + uint16_t eventTimer; + uint8_t SYNCStartValue; + } x1800_TPDOCommunicationParameter; + struct { + uint8_t highestSub_indexSupported; + uint32_t COB_IDUsedByTPDO; + uint8_t transmissionType; + uint16_t inhibitTime; + uint16_t eventTimer; + uint8_t SYNCStartValue; + } x1801_TPDOCommunicationParameter; + struct { + uint8_t highestSub_indexSupported; + uint32_t COB_IDUsedByTPDO; + uint8_t transmissionType; + uint16_t inhibitTime; + uint16_t eventTimer; + uint8_t SYNCStartValue; + } x1802_TPDOCommunicationParameter; + struct { + uint8_t highestSub_indexSupported; + uint32_t COB_IDUsedByTPDO; + uint8_t transmissionType; + uint16_t inhibitTime; + uint16_t eventTimer; + uint8_t SYNCStartValue; + } x1803_TPDOCommunicationParameter; + struct { + uint8_t numberOfMappedApplicationObjectsInPDO; + uint32_t applicationObject_1; + uint32_t applicationObject_2; + uint32_t applicationObject_3; + uint32_t applicationObject_4; + uint32_t applicationObject_5; + uint32_t applicationObject_6; + uint32_t applicationObject_7; + uint32_t applicationObject_8; + } x1A00_TPDOMappingParameter; + struct { + uint8_t numberOfMappedApplicationObjectsInPDO; + uint32_t applicationObject_1; + uint32_t applicationObject_2; + uint32_t applicationObject_3; + uint32_t applicationObject_4; + uint32_t applicationObject_5; + uint32_t applicationObject_6; + uint32_t applicationObject_7; + uint32_t applicationObject_8; + } x1A01_TPDOMappingParameter; + struct { + uint8_t numberOfMappedApplicationObjectsInPDO; + uint32_t applicationObject_1; + uint32_t applicationObject_2; + uint32_t applicationObject_3; + uint32_t applicationObject_4; + uint32_t applicationObject_5; + uint32_t applicationObject_6; + uint32_t applicationObject_7; + uint32_t applicationObject_8; + } x1A02_TPDOMappingParameter; + struct { + uint8_t numberOfMappedApplicationObjectsInPDO; + uint32_t applicationObject_1; + uint32_t applicationObject_2; + uint32_t applicationObject_3; + uint32_t applicationObject_4; + uint32_t applicationObject_5; + uint32_t applicationObject_6; + uint32_t applicationObject_7; + uint32_t applicationObject_8; + } x1A03_TPDOMappingParameter; +} OD_PERSIST_COMM_t; + +typedef struct { + uint8_t x1001_errorRegister; + uint8_t x1010_storeParameters_sub0; + uint32_t x1010_storeParameters[OD_CNT_ARR_1010]; + uint8_t x1011_restoreDefaultParameters_sub0; + uint32_t x1011_restoreDefaultParameters[OD_CNT_ARR_1011]; + struct { + uint8_t highestSub_indexSupported; + uint32_t COB_IDClientToServerRx; + uint32_t COB_IDServerToClientTx; + } x1200_SDOServerParameter; +} OD_RAM_t; + +#ifndef OD_ATTR_PERSIST_COMM +#define OD_ATTR_PERSIST_COMM +#endif +extern OD_ATTR_PERSIST_COMM OD_PERSIST_COMM_t OD_PERSIST_COMM; + +#ifndef OD_ATTR_RAM +#define OD_ATTR_RAM +#endif +extern OD_ATTR_RAM OD_RAM_t OD_RAM; + +#ifndef OD_ATTR_OD +#define OD_ATTR_OD +#endif +extern OD_ATTR_OD OD_t *OD; + + +/******************************************************************************* + Object dictionary entries - shortcuts +*******************************************************************************/ +#define OD_ENTRY_H1000 &OD->list[0] +#define OD_ENTRY_H1001 &OD->list[1] +#define OD_ENTRY_H1003 &OD->list[2] +#define OD_ENTRY_H1005 &OD->list[3] +#define OD_ENTRY_H1006 &OD->list[4] +#define OD_ENTRY_H1007 &OD->list[5] +#define OD_ENTRY_H1010 &OD->list[6] +#define OD_ENTRY_H1011 &OD->list[7] +#define OD_ENTRY_H1012 &OD->list[8] +#define OD_ENTRY_H1014 &OD->list[9] +#define OD_ENTRY_H1015 &OD->list[10] +#define OD_ENTRY_H1016 &OD->list[11] +#define OD_ENTRY_H1017 &OD->list[12] +#define OD_ENTRY_H1018 &OD->list[13] +#define OD_ENTRY_H1019 &OD->list[14] +#define OD_ENTRY_H1200 &OD->list[15] +#define OD_ENTRY_H1280 &OD->list[16] +#define OD_ENTRY_H1400 &OD->list[17] +#define OD_ENTRY_H1401 &OD->list[18] +#define OD_ENTRY_H1402 &OD->list[19] +#define OD_ENTRY_H1403 &OD->list[20] +#define OD_ENTRY_H1600 &OD->list[21] +#define OD_ENTRY_H1601 &OD->list[22] +#define OD_ENTRY_H1602 &OD->list[23] +#define OD_ENTRY_H1603 &OD->list[24] +#define OD_ENTRY_H1800 &OD->list[25] +#define OD_ENTRY_H1801 &OD->list[26] +#define OD_ENTRY_H1802 &OD->list[27] +#define OD_ENTRY_H1803 &OD->list[28] +#define OD_ENTRY_H1A00 &OD->list[29] +#define OD_ENTRY_H1A01 &OD->list[30] +#define OD_ENTRY_H1A02 &OD->list[31] +#define OD_ENTRY_H1A03 &OD->list[32] + + +/******************************************************************************* + Object dictionary entries - shortcuts with names +*******************************************************************************/ +#define OD_ENTRY_H1000_deviceType &OD->list[0] +#define OD_ENTRY_H1001_errorRegister &OD->list[1] +#define OD_ENTRY_H1003_pre_definedErrorField &OD->list[2] +#define OD_ENTRY_H1005_COB_ID_SYNCMessage &OD->list[3] +#define OD_ENTRY_H1006_communicationCyclePeriod &OD->list[4] +#define OD_ENTRY_H1007_synchronousWindowLength &OD->list[5] +#define OD_ENTRY_H1010_storeParameters &OD->list[6] +#define OD_ENTRY_H1011_restoreDefaultParameters &OD->list[7] +#define OD_ENTRY_H1012_COB_IDTimeStampObject &OD->list[8] +#define OD_ENTRY_H1014_COB_ID_EMCY &OD->list[9] +#define OD_ENTRY_H1015_inhibitTimeEMCY &OD->list[10] +#define OD_ENTRY_H1016_consumerHeartbeatTime &OD->list[11] +#define OD_ENTRY_H1017_producerHeartbeatTime &OD->list[12] +#define OD_ENTRY_H1018_identity &OD->list[13] +#define OD_ENTRY_H1019_synchronousCounterOverflowValue &OD->list[14] +#define OD_ENTRY_H1200_SDOServerParameter &OD->list[15] +#define OD_ENTRY_H1280_SDOClientParameter &OD->list[16] +#define OD_ENTRY_H1400_RPDOCommunicationParameter &OD->list[17] +#define OD_ENTRY_H1401_RPDOCommunicationParameter &OD->list[18] +#define OD_ENTRY_H1402_RPDOCommunicationParameter &OD->list[19] +#define OD_ENTRY_H1403_RPDOCommunicationParameter &OD->list[20] +#define OD_ENTRY_H1600_RPDOMappingParameter &OD->list[21] +#define OD_ENTRY_H1601_RPDOMappingParameter &OD->list[22] +#define OD_ENTRY_H1602_RPDOMappingParameter &OD->list[23] +#define OD_ENTRY_H1603_RPDOMappingParameter &OD->list[24] +#define OD_ENTRY_H1800_TPDOCommunicationParameter &OD->list[25] +#define OD_ENTRY_H1801_TPDOCommunicationParameter &OD->list[26] +#define OD_ENTRY_H1802_TPDOCommunicationParameter &OD->list[27] +#define OD_ENTRY_H1803_TPDOCommunicationParameter &OD->list[28] +#define OD_ENTRY_H1A00_TPDOMappingParameter &OD->list[29] +#define OD_ENTRY_H1A01_TPDOMappingParameter &OD->list[30] +#define OD_ENTRY_H1A02_TPDOMappingParameter &OD->list[31] +#define OD_ENTRY_H1A03_TPDOMappingParameter &OD->list[32] + + +/******************************************************************************* + OD config structure +*******************************************************************************/ +#ifdef CO_MULTIPLE_OD +#define OD_INIT_CONFIG(config) {\ + (config).CNT_NMT = OD_CNT_NMT;\ + (config).ENTRY_H1017 = OD_ENTRY_H1017;\ + (config).CNT_HB_CONS = OD_CNT_HB_CONS;\ + (config).CNT_ARR_1016 = OD_CNT_ARR_1016;\ + (config).ENTRY_H1016 = OD_ENTRY_H1016;\ + (config).CNT_EM = OD_CNT_EM;\ + (config).ENTRY_H1001 = OD_ENTRY_H1001;\ + (config).ENTRY_H1014 = OD_ENTRY_H1014;\ + (config).ENTRY_H1015 = OD_ENTRY_H1015;\ + (config).CNT_ARR_1003 = OD_CNT_ARR_1003;\ + (config).ENTRY_H1003 = OD_ENTRY_H1003;\ + (config).CNT_SDO_SRV = OD_CNT_SDO_SRV;\ + (config).ENTRY_H1200 = OD_ENTRY_H1200;\ + (config).CNT_SDO_CLI = OD_CNT_SDO_CLI;\ + (config).ENTRY_H1280 = OD_ENTRY_H1280;\ + (config).CNT_TIME = OD_CNT_TIME;\ + (config).ENTRY_H1012 = OD_ENTRY_H1012;\ + (config).CNT_SYNC = OD_CNT_SYNC;\ + (config).ENTRY_H1005 = OD_ENTRY_H1005;\ + (config).ENTRY_H1006 = OD_ENTRY_H1006;\ + (config).ENTRY_H1007 = OD_ENTRY_H1007;\ + (config).ENTRY_H1019 = OD_ENTRY_H1019;\ + (config).CNT_RPDO = OD_CNT_RPDO;\ + (config).ENTRY_H1400 = OD_ENTRY_H1400;\ + (config).ENTRY_H1600 = OD_ENTRY_H1600;\ + (config).CNT_TPDO = OD_CNT_TPDO;\ + (config).ENTRY_H1800 = OD_ENTRY_H1800;\ + (config).ENTRY_H1A00 = OD_ENTRY_H1A00;\ + (config).CNT_LEDS = 0;\ + (config).CNT_GFC = 0;\ + (config).ENTRY_H1300 = NULL;\ + (config).CNT_SRDO = 0;\ + (config).ENTRY_H1301 = NULL;\ + (config).ENTRY_H1381 = NULL;\ + (config).ENTRY_H13FE = NULL;\ + (config).ENTRY_H13FF = NULL;\ + (config).CNT_LSS_SLV = 0;\ + (config).CNT_LSS_MST = 0;\ + (config).CNT_GTWA = 0;\ + (config).CNT_TRACE = 0;\ +} +#endif + +#endif /* OD_H */ diff --git a/src/CANopen/OD/documentation.html b/src/CANopen/OD/documentation.html new file mode 100644 index 00000000..9c8d271b --- /dev/null +++ b/src/CANopen/OD/documentation.html @@ -0,0 +1,9909 @@ + + + + + + +

BTT-Intellistep-CANopen Documentation

+

Device Information

+ + + + + + + + + + + + + +
Product nameBTT-Intellistep-CANopen
Product number0x00008200
Revision number256
Vendor nameIntellistep
+

Mandatory objects

+
+ +

0x1000 - Device Type

+ + + + + + + + + + + + + + + + + + + + + + + + + +
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x40192
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+

+
+
0x1001 - Error Register

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x0
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+

+
+
0x1018 - Identity Object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typero
PDO mappingFalse
No Sub index5

+
0x1018 sub 0x00 - number of Entries

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x4
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x1018 sub 0x01 - Vendor-ID

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x331
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1018 sub 0x02 - Product code

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x8200
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1018 sub 0x03 - Revision number

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x100
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1018 sub 0x04 - Serial number

+
+  
+  
+    
+    
+  
+    
+    
+  
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+    
+  
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+  
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+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
Optional objects

+

+
+
0x1003 - Pre-defined Error Field

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeARRAY
Data TypeUNSIGNED32
Default Value
LocationRAM
Access typeUNKNOWN
PDO mappingFalse
No Sub index5

+
0x1003 sub 0x00 - number of errors

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1003 sub 0x01 - standard error field

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x4
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1003 sub 0x02 - standard error field

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x4
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1003 sub 0x03 - standard error field

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x4
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1003 sub 0x04 - standard error field

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x4
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+

+
+
0x1005 - COB-ID SYNC

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x80
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1006 - Cycle Period

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1007 - Sync Windows Length

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1008 - device name

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeVISIBLE_STRING
Default ValueBTT-Intellistep-CANopen
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+

+
+
0x1009 - hardware version

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeVISIBLE_STRING
Default ValueV1.00
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+

+
+
0x100a - software version

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeVISIBLE_STRING
Default ValueV1.00
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+

+
+
0x100c - Guard Time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x100d - Life Time Factor

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1010 - Store Parameters

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeARRAY
Data TypeUNSIGNED32
Default Value
LocationRAM
Access typeUNKNOWN
PDO mappingFalse
No Sub index5

+
0x1010 sub 0x00 - largest supported Sub-Index

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x4
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x1010 sub 0x01 - save all parameters

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x3
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1010 sub 0x02 - save communication parameters

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x3
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1010 sub 0x03 - save application parameters

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x3
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1010 sub 0x04 - save manufacturer parameters

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x3
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1011 - restore default parameters

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeARRAY
Data TypeUNSIGNED32
Default Value
LocationRAM
Access typeUNKNOWN
PDO mappingFalse
No Sub index5

+
0x1011 sub 0x00 - largest supported Sub-Index

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x4
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x1011 sub 0x01 - restore all default para.

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x3
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1011 sub 0x02 - restore comm. default para.

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x3
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1011 sub 0x03 - restore app. default para.

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x3
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1011 sub 0x04 - restore manufacturer. default para.

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x3
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1014 - COB-ID Emergency message

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1016 - Consumer heartbeat time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeARRAY
Data TypeUNSIGNED32
Default Value
LocationRAM
Access typeUNKNOWN
PDO mappingFalse
No Sub index6

+
0x1016 sub 0x00 - highest subindex supported

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x5
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1016 sub 0x01 - Consumer heartbeat time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x5
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1016 sub 0x02 - Consumer heartbeat time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x5
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1016 sub 0x03 - Consumer heartbeat time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x5
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1016 sub 0x04 - Consumer heartbeat time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x5
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1016 sub 0x05 - Consumer heartbeat time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x5
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1017 - Producer Heartbeat Time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1400 - RPDO 1

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index4

+
0x1400 sub 0x00 - largest subindex supported

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x3
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x1400 sub 0x01 - COB-Id used

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value$NodeID+0x00000200
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1400 sub 0x02 - transmission type

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0xFF
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1400 sub 0x03 - inhibit time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1401 - RPDO communication parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationROM
Access typerw
PDO mappingFalse
No Sub index3

+
0x1401 sub 0x00 - max sub-index

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value2
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1401 sub 0x01 - COB-ID used by RPDO

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value$NODEID+0x200
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1401 sub 0x02 - transmission type

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value254
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1402 - RPDO 3

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index4

+
0x1402 sub 0x00 - largest subindex supported

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x3
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x1402 sub 0x01 - COB-ID used

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value$NodeID+0x00000400
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1402 sub 0x02 - transmission type

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0xFF
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1402 sub 0x03 - Inhibit Time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1403 - RPDO 4

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index4

+
0x1403 sub 0x00 - largest subindex supported

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x3
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x1403 sub 0x01 - COB-ID used

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value$NodeID+0x00000500
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1403 sub 0x02 - transmission type

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0xFF
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1403 sub 0x03 - Inhibit Time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1600 - RPDO 1 mapping parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index9

+
0x1600 sub 0x00 - number of mapped objects

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x1
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1600 sub 0x01 - PDO mapping 1. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60400010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1600 sub 0x02 - PDO mapping 2. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1600 sub 0x03 - PDO mapping 3. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1600 sub 0x04 - PDO mapping 4. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1600 sub 0x05 - PDO mapping 5. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1600 sub 0x06 - PDO mapping 6. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1600 sub 0x07 - PDO mapping 7. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1600 sub 0x08 - PDO mapping 8. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1601 - RPDO mapping parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationROM
Access typero
PDO mappingFalse
No Sub index9

+
0x1601 sub 0x00 - Number of mapped objects

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1601 sub 0x01 - mapped object 1

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1601 sub 0x02 - mapped object 2

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1601 sub 0x03 - mapped object 3

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1601 sub 0x04 - mapped object 4

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1601 sub 0x05 - mapped object 5

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1601 sub 0x06 - mapped object 6

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1601 sub 0x07 - mapped object 7

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1601 sub 0x08 - mapped object 8

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+

+
+
0x1602 - RPDO 3 mapping parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index9

+
0x1602 sub 0x00 - number of mapped objects

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x2
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1602 sub 0x01 - PDO mapping 1. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60400010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1602 sub 0x02 - PDO mapping 2. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x607A0020
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1602 sub 0x03 - PDO mapping 3. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1602 sub 0x04 - PDO mapping 4. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1602 sub 0x05 - PDO mapping 5. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1602 sub 0x06 - PDO mapping 6. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1602 sub 0x07 - PDO mapping 7. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1602 sub 0x08 - PDO mapping 8. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1603 - RPDO 4 mapping parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index9

+
0x1603 sub 0x00 - number of mapped objects

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x2
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1603 sub 0x01 - PDO mapping 1. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60400010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1603 sub 0x02 - PDO mapping 2. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60FF0020
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1603 sub 0x03 - PDO mapping 3. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1603 sub 0x04 - PDO mapping 4. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1603 sub 0x05 - PDO mapping 5. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1603 sub 0x06 - PDO mapping 6. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1603 sub 0x07 - PDO mapping 7. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1603 sub 0x08 - PDO mapping 8. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1604 - RPDO 5 mapping parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index9

+
0x1604 sub 0x00 - number of mapped objects

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x2
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1604 sub 0x01 - PDO mapping 1. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60400010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1604 sub 0x02 - PDO mapping 2. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60710010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1604 sub 0x03 - PDO mapping 3. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1604 sub 0x04 - PDO mapping 4. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1604 sub 0x05 - PDO mapping 5. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1604 sub 0x06 - PDO mapping 6. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1604 sub 0x07 - PDO mapping 7. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1604 sub 0x08 - PDO mapping 8. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1605 - RPDO 6 mapping parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index9

+
0x1605 sub 0x00 - number of mapped objects

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x2
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1605 sub 0x01 - PDO mapping 1. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60400010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1605 sub 0x02 - PDO mapping 2. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60420010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1605 sub 0x03 - PDO mapping 3. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1605 sub 0x04 - PDO mapping 4. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1605 sub 0x05 - PDO mapping 5. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1605 sub 0x06 - PDO mapping 6. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1605 sub 0x07 - PDO mapping 7. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1605 sub 0x08 - PDO mapping 8. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1800 - TPDO 1

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index5

+
0x1800 sub 0x00 - largest subindex supported

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x5
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x1800 sub 0x01 - COB-ID used

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value$NodeID+0x00000180
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1800 sub 0x02 - transmission type

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0xFF
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1800 sub 0x03 - inhibit time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1800 sub 0x05 - event timer

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1801 - TPDO communication parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationROM
Access typerw
PDO mappingFalse
No Sub index6

+
0x1801 sub 0x00 - max sub-index

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value6
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1801 sub 0x01 - COB-ID used by TPDO

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value$NODEID+0x180
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1801 sub 0x02 - transmission type

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value254
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1801 sub 0x03 - inhibit time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1801 sub 0x05 - event timer

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1801 sub 0x06 - SYNC start value

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1802 - TPDO 3

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index5

+
0x1802 sub 0x00 - largest subindex supported

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x5
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x1802 sub 0x01 - COB-ID used

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value$NodeID+0x00000380
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1802 sub 0x02 - transmission type

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x1
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1802 sub 0x03 - inhibit time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1802 sub 0x05 - event timer

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1803 - TPDO 4

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index5

+
0x1803 sub 0x00 - largest subindex supported

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x5
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x1803 sub 0x01 - COB-ID used

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value$NodeID+0x00000480
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1803 sub 0x02 - transmission type

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x1
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1803 sub 0x03 - inhibit time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1803 sub 0x05 - event timer

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1a00 - TPDO 1 mapping parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index9

+
0x1a00 sub 0x00 - number of mapped objects

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x1
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a00 sub 0x01 - PDO mapping 1. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60410010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a00 sub 0x02 - PDO mapping 2. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a00 sub 0x03 - PDO mapping 3. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a00 sub 0x04 - PDO mapping 4. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a00 sub 0x05 - PDO mapping 5. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a00 sub 0x06 - PDO mapping 6. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a00 sub 0x07 - PDO mapping 7. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a00 sub 0x08 - PDO mapping 8. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1a01 - TPDO mapping parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationROM
Access typero
PDO mappingFalse
No Sub index9

+
0x1a01 sub 0x00 - Number of mapped objects

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1a01 sub 0x01 - mapped object 1

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1a01 sub 0x02 - mapped object 2

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1a01 sub 0x03 - mapped object 3

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1a01 sub 0x04 - mapped object 4

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1a01 sub 0x05 - mapped object 5

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1a01 sub 0x06 - mapped object 6

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1a01 sub 0x07 - mapped object 7

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+
0x1a01 sub 0x08 - mapped object 8

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x00000000
LocationRAM
Access typero
PDO mappingFalse
No Sub index0

+

+
+
0x1a02 - TPDO 3 mapping parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index9

+
0x1a02 sub 0x00 - number of mapped app. objects

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x2
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a02 sub 0x01 - PDO mapping 1. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60410010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a02 sub 0x02 - PDO mapping 2. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60640020
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a02 sub 0x03 - PDO mapping 3. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a02 sub 0x04 - PDO mapping 4. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a02 sub 0x05 - PDO mapping 5. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a02 sub 0x06 - PDO mapping 6. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a02 sub 0x07 - PDO mapping 7. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a02 sub 0x08 - PDO mapping 8. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1a03 - TPDO 4 mapping parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index9

+
0x1a03 sub 0x00 - number of mapped app. objects

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x2
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a03 sub 0x01 - PDO mapping 1. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60410010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a03 sub 0x02 - PDO mapping 2. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x606C0020
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a03 sub 0x03 - PDO mapping 3. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a03 sub 0x04 - PDO mapping 4. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a03 sub 0x05 - PDO mapping 5. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a03 sub 0x06 - PDO mapping 6. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a03 sub 0x07 - PDO mapping 7. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a03 sub 0x08 - PDO mapping 8. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1a04 - TPDO 5 mapping parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index9

+
0x1a04 sub 0x00 - number of mapped app. objects

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x2
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a04 sub 0x01 - PDO mapping 1. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60410010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a04 sub 0x02 - PDO mapping 2. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60770010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a04 sub 0x03 - PDO mapping 3. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a04 sub 0x04 - PDO mapping 4. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a04 sub 0x05 - PDO mapping 5. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a04 sub 0x06 - PDO mapping 6. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a04 sub 0x07 - PDO mapping 7. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a04 sub 0x08 - PDO mapping 8. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x1a05 - TPDO 6 mapping parameter

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index9

+
0x1a05 sub 0x00 - number of mapped app. objects

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x2
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a05 sub 0x01 - PDO mapping 1. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60410010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a05 sub 0x02 - PDO mapping 2. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x60440010
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a05 sub 0x03 - PDO mapping 3. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a05 sub 0x04 - PDO mapping 4. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a05 sub 0x05 - PDO mapping 5. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a05 sub 0x06 - PDO mapping 6. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a05 sub 0x07 - PDO mapping 7. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+
0x1a05 sub 0x08 - PDO mapping 8. app. object

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x6040 - controlword

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x6041 - statusword

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x6060 - modes of operation

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER8
Default Value3
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x6061 - modes of operation display

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER8
Default Value0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x6062 - commanded_position

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER32
Default Value0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x6064 - position actual value

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER32
Default Value0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x606b - velocity demand value

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER32
Default Value0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x606c - velocity actual value

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER32
Default Value0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x607a - target position

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER32
Default Value0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x607c - home offset

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER32
Default Value0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x6081 - profile velocity

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x6082 - end_velocity

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x6083 - profile acceleration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x6084 - profile deceleration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x6085 - quick_stop_deceleration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x6093 - position_factor

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index3

+
0x6093 sub 0x00 - number_of_entries

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x6093 sub 0x01 - numerator

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+
0x6093 sub 0x02 - feed_constant

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x6098 - hm homing methode

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER8
Default Value0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x6099 - hm homing speeds

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index3

+
0x6099 sub 0x00 - number_of_entries

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x6099 sub 0x01 - hm_homing_fast_speeds

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+
0x6099 sub 0x02 - hm_homing_slow_speeds

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x609a - hm_homing_acceleration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x60f4 - following_error

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER32
Default Value
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x60fd - digital_inputs

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x60fe - digital_output

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeARRAY
Data TypeUNSIGNED32
Default Value
LocationRAM
Access typeUNKNOWN
PDO mappingFalse
No Sub index3

+
0x60fe sub 0x00 - Number of Entries

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x2
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x60fe sub 0x01 - physical_outputs

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+
0x60fe sub 0x02 - bit_mask

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED32
Default Value
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x60ff - target velocity

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER32
Default Value0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+
Manufacturer specific objects

+

+
+
0x2000 - current peak

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0xC80
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2001 - motor resolution

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0xC350
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2002 - standby time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1F4
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2003 - standby current percentage

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x32
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2005 - outputs_function

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeARRAY
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typeUNKNOWN
PDO mappingFalse
No Sub index3

+
0x2005 sub 0x00 - Number of Entries

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x2
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x2005 sub 0x01 - outputs_function_1

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+
0x2005 sub 0x02 - outputs_function_2

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2006 - enable valid level

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2007 - disable mode

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2008 - output1 set

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2009 - filter enable

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2010 - filter time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeARRAY
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typeUNKNOWN
PDO mappingFalse
No Sub index3

+
0x2010 sub 0x00 - Number of Entries

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x2
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x2010 sub 0x01 - IIR filter time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x3E8
LocationRAM
Access typewo
PDO mappingTrue
No Sub index0

+
0x2010 sub 0x02 - FIR filter time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x3E8
LocationRAM
Access typewo
PDO mappingTrue
No Sub index0

+

+
+
0x2012 - soft start time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1000
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2013 - autotune enable

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2015 - Current loop Kp

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x3E8
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2016 - Current loop Ki

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0xC8
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2017 - current loop Kc

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x2D
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2020 - motor resistance

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x3E8
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2021 - motor inductance

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2022 - step test current

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x3E8
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2023 - step test start stop

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2024 - close loop switch

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2026 - open current percentage

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x32
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2027 - close current percentage

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x64
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2028 - anti disturbance time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2030 - position error alarm range

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x3E8
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2031 - position error alarm enable

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2032 - data acquisition start stop

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2033 - data sample time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2034 - sample type of channel 1

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2035 - position loop Kp

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x9C4
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2036 - position loop Ki

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1F4
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2037 - position loop Kd

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0xFB
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2038 - position loop Kvff

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x32
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2039 - sum of pluse input h

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER16
Default Value0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x2040 - sum of pluse input l

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER16
Default Value0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2041 - sum of pluse feedback h

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER16
Default Value0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x2042 - sum of pluse feedback l

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER16
Default Value0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2043 - speed reference

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER16
Default Value0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x2044 - speed feedback

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeINTEGER16
Default Value0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x2046 - advance angle

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x2047 - actual set current

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x2048 - bus voltage

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x2049 - pulse mode

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2050 - Pulse edge level

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2051 - motor running direction

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2052 - sample data type

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x178
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x2053 - output mode of target reached

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2054 - anti vibration coefficient

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2056 - fault detect set

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x3
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2057 - clear fault enable

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2058 - soft start time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2059 - reserve

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x2060 - amplitude of first anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2061 - phase A of first anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2062 - phase B of first anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2063 - amplitude of second anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2064 - phase A of second anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2065 - phase B of second anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2066 - amplitude of third anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2067 - phase A of third anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2068 - phase B of third anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2069 - amplitude of fourth anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2070 - phase A of fourth anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2071 - phase B of fourth anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2072 - phase of z shaft anti vibration

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2073 - motor return power on

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2074 - torque feedforward

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2075 - gravity_compensation

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x64
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2076 - pulse target reached

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x4
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2093 - clear fault record

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2094 - sample type of channel 2

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2095 - sample type of channel 3

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2096 - sample type of channel 4

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2097 - sample type of channel 5

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2098 - sample type of channel 6

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2099 - channel selection

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x2
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x2150 - node_ID

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2151 - node_BaudRate

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x5
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2152 - input io function set

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeARRAY
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typeUNKNOWN
PDO mappingFalse
No Sub index5

+
0x2152 sub 0x00 - Number of Entries

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x4
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x2152 sub 0x01 - input io function set_1

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x1
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+
0x2152 sub 0x02 - input io function set_2

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x2
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+
0x2152 sub 0x03 - input io function set_3

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x4
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+
0x2152 sub 0x04 - input io function set_4

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x4
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2153 - input io filter time

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeARRAY
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typeUNKNOWN
PDO mappingFalse
No Sub index5

+
0x2153 sub 0x00 - Number of Entries

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0x4
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x2153 sub 0x01 - input io filter time_1

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x3E8
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+
0x2153 sub 0x02 - input io filter time_2

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x3E8
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+
0x2153 sub 0x03 - input io filter time_3

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x3E8
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+
0x2153 sub 0x04 - input io filter time_4

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x3E8
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2154 - input io Polarity

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x2155 - input io level

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x2162 - trans_loworhigh

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x3ffe - ErrorTable

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeREC
Data TypeUNKNOWN
Default Value
LocationRAM
Access typero
PDO mappingFalse
No Sub index11

+
0x3ffe sub 0x00 - number of entries

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED8
Default Value0xA
LocationRAM
Access typeconst
PDO mappingFalse
No Sub index0

+
0x3ffe sub 0x01 - Error 0

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+
0x3ffe sub 0x02 - Error 1

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+
0x3ffe sub 0x03 - Error 2

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+
0x3ffe sub 0x04 - Error 3

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+
0x3ffe sub 0x05 - Error 4

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+
0x3ffe sub 0x06 - Error 5

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+
0x3ffe sub 0x07 - Error 6

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+
0x3ffe sub 0x08 - Error 7

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+
0x3ffe sub 0x09 - Error 8

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+
0x3ffe sub 0x0a - Error 9

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value
LocationRAM
Access typero
PDO mappingTrue
No Sub index0

+

+
+
0x3fff - wave transmit

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeDOMAIN
Data TypeDOMAIN
Default Value
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

+

+
+
0x4000 - motor_code

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x4001 - stall_detect_enable

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x4002 - stall_proess_set

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x5000 - motion flag

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingTrue
No Sub index0

+

+
+
0x5fff - simulate drive fault state

+
+  
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
+  
+    
+    
ParameterValue
Object TypeVAR
Data TypeUNSIGNED16
Default Value0x0
LocationRAM
Access typerw
PDO mappingFalse
No Sub index0

diff --git a/src/CANopen/OD/documentation_/style.css b/src/CANopen/OD/documentation_/style.css
new file mode 100644
index 00000000..6ccf9532
--- /dev/null
+++ b/src/CANopen/OD/documentation_/style.css
@@ -0,0 +1,69 @@
+BODY {
+	WIDTH: 670px
+}
+H1 {
+	FONT-FAMILY: Tahoma, Geneva, sans-serif; COLOR: #333333
+}
+H2 {
+	FONT-FAMILY: Tahoma, Geneva, sans-serif; COLOR: #333333
+}
+H3 {
+	FONT-FAMILY: Tahoma, Geneva, sans-serif; COLOR: #333333
+}
+P {
+	FONT-FAMILY: Tahoma, Geneva, sans-serif; COLOR: #333333
+}
+TABLE A:link {
+	TEXT-DECORATION: none; FONT-WEIGHT: bold; COLOR: #666
+}
+TABLE A:visited {
+	TEXT-DECORATION: none; FONT-WEIGHT: bold; COLOR: #999999
+}
+TABLE A:active {
+	TEXT-DECORATION: underline; COLOR: #bd5a35
+}
+TABLE A:hover {
+	TEXT-DECORATION: underline; COLOR: #bd5a35
+}
+TABLE {
+	FONT-SIZE: 12px; BORDER-TOP: #ccc 1px solid; FONT-FAMILY: Arial, Helvetica, sans-serif; BORDER-RIGHT: #ccc 1px solid; BACKGROUND: #eaebec; BORDER-BOTTOM: #ccc 1px solid; COLOR: #666; BORDER-LEFT: #ccc 1px solid; MARGIN: 20px; text-shadow: 1px 1px 0px #fff; -moz-border-radius: 3px; -webkit-border-radius: 3px; border-radius: 3px; -moz-box-shadow: 0 1px 2px #d1d1d1; -webkit-box-shadow: 0 1px 2px #d1d1d1; box-shadow: 0 1px 2px #d1d1d1
+}
+TABLE TH {
+	BORDER-TOP: #fafafa 1px solid; BACKGROUND: #ededed; BORDER-BOTTOM: #e0e0e0 1px solid; PADDING-BOTTOM: 5px; PADDING-TOP: 5px; PADDING-LEFT: 5px; PADDING-RIGHT: 5px
+}
+TABLE TH:first-child {
+	TEXT-ALIGN: left; PADDING-LEFT: 20px
+}
+TABLE TR:first-child TH:first-child {
+	-moz-border-radius-topleft: 3px; -webkit-border-top-left-radius: 3px; border-top-left-radius: 3px
+}
+TABLE TR:first-child TH:unknown {
+	-moz-border-radius-topright: 3px; -webkit-border-top-right-radius: 3px; border-top-right-radius: 3px
+}
+TABLE TR {
+	TEXT-ALIGN: center; PADDING-LEFT: 20px
+}
+TABLE TD:first-child {
+	BORDER-LEFT-WIDTH: 0px; TEXT-ALIGN: left; PADDING-LEFT: 20px
+}
+TABLE TD {
+	BORDER-TOP: #ffffff 1px solid; BACKGROUND: #fafafa; BORDER-BOTTOM: #e0e0e0 1px solid; PADDING-BOTTOM: 5px; PADDING-TOP: 5px; PADDING-LEFT: 5px; BORDER-LEFT: #e0e0e0 1px solid; PADDING-RIGHT: 5px
+}
+TABLE TR.even TD {
+	BACKGROUND: #f6f6f6
+}
+TABLE TR:unknown TD {
+	BORDER-BOTTOM-WIDTH: 0px
+}
+TABLE TR:unknown TD:first-child {
+	-moz-border-radius-bottomleft: 3px; -webkit-border-bottom-left-radius: 3px; border-bottom-left-radius: 3px
+}
+TABLE TR:unknown TD:unknown {
+	-moz-border-radius-bottomright: 3px; -webkit-border-bottom-right-radius: 3px; border-bottom-right-radius: 3px
+}
+TABLE TR:hover TD {
+	BACKGROUND: #f2f2f2
+}
+.receivers {
+	WIDTH: 90%
+}
diff --git a/src/CANopen/README.md b/src/CANopen/README.md
new file mode 100644
index 00000000..875476b4
--- /dev/null
+++ b/src/CANopen/README.md
@@ -0,0 +1,27 @@
+# BTT S42B v2 Intellistep CANopen source code directory
+
+CANopen directory structure:
+```
+.
+|-- README.md
+|-- OD
+|   |-- BTT-Intellistep-CANopen.eds
+|   `-- [documentation.html](documentation.html)
+`-- STM32
+    |-- CO_driver.c
+    `-- CO_driver.h
+```
+
+The OD directory contains CANopen Object Dictionary definition for CANopenNode V4.
+BTT-Intellistep-CANopen.eds is source file for all other files.
+Edit the BTT-Intellistep-CANopen.eds with EDSEditor.exe from [CANopenNode/CANopenEditor](https://github.com/CANopenNode/CANopenEditor/tree/build)
+
+The STM32 directory contains [STM32, STM32CubeMX, CanOpenNode library driver](https://github.com/Cyrax86/CanOpenNode-STM32-HAL)
+
+CANopenNode homepage is https://github.com/CANopenNode/CANopenNode
+Source code directory structure:
+```
+.
+|-- Intellistep
+`-- CANopenNode
+```
diff --git a/src/CANopen/STM32-HAL/CO_driver.c b/src/CANopen/STM32-HAL/CO_driver.c
new file mode 100644
index 00000000..27d5689e
--- /dev/null
+++ b/src/CANopen/STM32-HAL/CO_driver.c
@@ -0,0 +1,576 @@
+/*
+ * CAN module object for generic microcontroller.
+ *
+ * This file is a template for other microcontrollers.
+ *
+ * @file        CO_driver.c
+ * @ingroup     CO_driver
+ * @version     SVN: \$Id: CO_driver.c 57 2014-10-09 15:37:29Z jani22 $
+ * @author      Janez Paternoster
+ * @copyright   2004 - 2013 Janez Paternoster
+ *
+ * This file is part of CANopenNode, an opensource CANopen Stack.
+ * Project home page is .
+ * For more information on CANopen see .
+ *
+ * CANopenNode is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see .
+ */
+
+#include "stm32f1xx_hal.h"
+#include "CO_driver_target.h"
+#include "301/CO_driver.h"
+#include "301/CO_Emergency.h"
+#include "OD.h"
+
+#define CAN_CLK               48000
+
+extern CAN_HandleTypeDef hcan;
+extern void _Error_Handler(char * file, int line);
+static void CO_CANsendToModule(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer, uint8_t transmit_mailbox);
+
+
+/******************************************************************************/
+void CO_CANsetConfigurationMode(void *CANptr)
+{
+
+}
+
+
+/******************************************************************************/
+void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule){
+    /* Put CAN module in normal mode */
+
+    CANmodule->CANnormal = true;
+}
+
+
+/******************************************************************************/
+CO_ReturnError_t CO_CANmodule_init(CO_CANmodule_t *CANmodule,
+                                   void *CANptr,
+                                   CO_CANrx_t rxArray[],
+                                   uint16_t rxSize,
+                                   CO_CANtx_t txArray[],
+                                   uint16_t txSize,
+                                   uint16_t CANbitRate)
+{
+	uint16_t i;
+
+	CAN_FilterConfTypeDef  	sFilterConfig;
+	static CanTxMsgTypeDef  TxMessage;
+	static CanRxMsgTypeDef  RxMessage;
+
+	/* Configure object variables */
+	CANmodule->CANbaseAddress = CANmodule->CANbaseAddress;
+	CANmodule->rxArray = rxArray;
+	CANmodule->rxSize = rxSize;
+	CANmodule->txArray = txArray;
+	CANmodule->txSize = txSize;
+	CANmodule->CANnormal = false;
+	CANmodule->useCANrxFilters = (rxSize <= 32U) ? true : false;/* microcontroller dependent */
+	CANmodule->bufferInhibitFlag = false;
+	CANmodule->firstCANtxMessage = true;
+	CANmodule->CANtxCount = 0U;
+	CANmodule->errOld = 0U;
+	CANmodule->em = NULL;
+
+	for(i=0U; iCANbaseAddress == ADDR_CAN1 )
+			hcan.Instance = CAN1;
+	else
+		return CO_ERROR_ILLEGAL_ARGUMENT;
+
+	hcan.pTxMsg = &TxMessage;
+	hcan.pRxMsg = &RxMessage;
+
+	hcan.Init.TTCM = DISABLE;
+	hcan.Init.ABOM = ENABLE;
+	hcan.Init.AWUM = DISABLE;
+	hcan.Init.NART = DISABLE;
+	hcan.Init.RFLM = DISABLE;
+	hcan.Init.TXFP = DISABLE;
+
+
+	if (CANbitRate >= 100 && CANbitRate <= 1000)
+	{
+		hcan.Init.Prescaler  = (CAN_CLK / 16) / CANbitRate;
+
+		/* Load the baudrate registers BTR                                       */
+		/* so that sample point is at about 85% bit time from bit start          */
+		hcan.Init.SJW = CAN_SJW_1TQ;
+		hcan.Init.BS1 = CAN_BS1_13TQ;
+		hcan.Init.BS2 = CAN_BS2_2TQ;
+		//hcan.Init.SJW = CAN_SJW_1TQ;
+		//hcan.Init.BS1 = CAN_BS1_4TQ;
+		//8hcan.Init.BS2 = CAN_BS2_3TQ;
+	}
+	else
+		return CO_ERROR_ILLEGAL_ARGUMENT;
+
+	hcan.Init.Mode = CAN_MODE_NORMAL;// CAN_MODE_LOOPBACK // CAN_MODE_NORMAL
+	if (HAL_CAN_Init(&hcan) != HAL_OK)
+	{
+		_Error_Handler(__FILE__, __LINE__);
+	}
+
+	/* Configure CAN module hardware filters */
+	/*********************************/
+	CANmodule->useCANrxFilters = true;
+	/********************************/
+
+	if(CANmodule->useCANrxFilters)
+	{
+		/* CAN module filters are used, they will be configured with */
+		/* CO_CANrxBufferInit() functions, called by separate CANopen */
+		/* init functions. */
+		/* Configure all masks so, that received message must match filter */
+
+		sFilterConfig.FilterNumber = 0;
+		sFilterConfig.FilterMode = CAN_FILTERMODE_IDLIST;
+		sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT;
+		sFilterConfig.FilterIdHigh = 0x0000;
+		sFilterConfig.FilterIdLow = (0x80 + OD_CANNodeID) << 5;
+		sFilterConfig.FilterMaskIdHigh = (0x200 + OD_CANNodeID) << 5;
+		sFilterConfig.FilterMaskIdLow = (0x300 + OD_CANNodeID) << 5;
+		sFilterConfig.FilterFIFOAssignment = 0;
+		sFilterConfig.FilterActivation = ENABLE;
+		sFilterConfig.BankNumber = 13;
+		HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);
+
+
+		sFilterConfig.FilterNumber = 1;
+		sFilterConfig.FilterMode = CAN_FILTERMODE_IDLIST;
+		sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT;
+		sFilterConfig.FilterIdHigh = (0x400 + OD_CANNodeID) << 5;
+		sFilterConfig.FilterIdLow = (0x500 + OD_CANNodeID) << 5;
+		sFilterConfig.FilterMaskIdHigh = (0x600 + OD_CANNodeID) << 5;
+		sFilterConfig.FilterMaskIdLow = OD_CANNodeID << 5;
+		sFilterConfig.FilterFIFOAssignment = 0;
+		sFilterConfig.FilterActivation = ENABLE;
+		sFilterConfig.BankNumber = 13;
+		HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);
+
+		sFilterConfig.FilterNumber = 2;
+		sFilterConfig.FilterMode = CAN_FILTERMODE_IDLIST;
+		sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT;
+		sFilterConfig.FilterIdHigh = (0x77F) << 5;
+		sFilterConfig.FilterIdLow = 0;
+		sFilterConfig.FilterMaskIdHigh = 0;
+		sFilterConfig.FilterMaskIdLow = 0;
+		sFilterConfig.FilterFIFOAssignment = 0;
+		sFilterConfig.FilterActivation = ENABLE;
+		sFilterConfig.BankNumber = 13;
+		HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);
+	}
+	else
+	{
+		/* CAN module filters are not used, all messages with standard 11-bit */
+		/* identifier will be received */
+		/* Configure mask 0 so, that all messages with standard identifier are accepted */
+		/*##-2- Configure the CAN Filter ###########################################*/
+		sFilterConfig.FilterNumber = 0;
+		sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;//CAN_FILTERMODE_IDMASK CAN_FILTERMODE_IDLIST
+		sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
+		sFilterConfig.FilterIdHigh = 0x0000;
+		sFilterConfig.FilterIdLow = 0x0000;
+		sFilterConfig.FilterMaskIdHigh = 0;
+		sFilterConfig.FilterMaskIdLow = 0x0000;
+		sFilterConfig.FilterFIFOAssignment = 0;
+		sFilterConfig.FilterActivation = ENABLE;
+		sFilterConfig.BankNumber = 13;
+
+		HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);
+	}
+
+	return CO_ERROR_NO;
+}
+
+
+/******************************************************************************/
+void CO_CANmodule_disable(CO_CANmodule_t *CANmodule)
+{
+	HAL_CAN_DeInit(CANmodule->CANptr);
+}
+
+
+/******************************************************************************/
+/*
+uint16_t CO_CANrxMsg_readIdent(const CO_CANrxMsg_t *rxMsg){
+    return (uint16_t) rxMsg->ident;
+}
+*/
+
+/******************************************************************************/
+CO_ReturnError_t CO_CANrxBufferInit(CO_CANmodule_t *CANmodule,
+                                    uint16_t index,
+                                    uint16_t ident,
+                                    uint16_t mask,
+                                    bool_t rtr,
+                                    void *object,
+                                    void (*CANrx_callback)(void *object,
+                                                           void *message))
+{
+    CO_ReturnError_t ret = CO_ERROR_NO;
+		//CAN_FilterConfTypeDef  	sFilterConfig;
+		uint16_t RXF, RXM;
+
+    if((CANmodule!=NULL) && (object!=NULL) && (CANrx_callback!=NULL) && (index < CANmodule->rxSize)){
+        /* buffer, which will be configured */
+        CO_CANrx_t *buffer = &CANmodule->rxArray[index];
+
+        /* Configure object variables */
+        buffer->object = object;
+        buffer->CANrx_callback = CANrx_callback;
+
+        /* CAN identifier and CAN mask, bit aligned with CAN module. Different on different microcontrollers. */
+        //CAN identifier and CAN mask, bit aligned with CAN module registers
+				RXF = (ident & 0x07FF) << 2;
+				if (rtr) RXF |= 0x02;
+				RXM = (mask & 0x07FF) << 2;
+				RXM |= 0x02;
+        //configure filter and mask
+				if (RXF != buffer->ident || RXM != buffer->mask)
+				{
+						buffer->ident = RXF;
+						buffer->mask = RXM;
+				}
+				ret = CO_ERROR_NO;
+    }
+    else{
+        ret = CO_ERROR_ILLEGAL_ARGUMENT;
+    }
+
+    return ret;
+}
+
+
+/******************************************************************************/
+CO_CANtx_t *CO_CANtxBufferInit(
+        CO_CANmodule_t         *CANmodule,
+        uint16_t                index,
+        uint16_t                ident,
+        bool_t            	    rtr,
+        uint8_t                 noOfBytes,
+        bool_t              	syncFlag)
+{
+    CO_CANtx_t *buffer = NULL;
+		uint32_t TXF;
+
+    if((CANmodule != NULL) && (index < CANmodule->txSize))
+		{
+			/* get specific buffer */
+      buffer = &CANmodule->txArray[index];
+
+      /* CAN identifier, DLC and rtr, bit aligned with CAN module transmit buffer.
+      * Microcontroller specific. */
+      TXF = ident << 21;
+			TXF &= 0xFFE00000;
+			if (rtr) TXF |= 0x02;
+
+			buffer->ident = TXF;
+			buffer->DLC = noOfBytes;
+
+      buffer->bufferFull = false;
+      buffer->syncFlag = syncFlag;
+    }
+
+    return buffer;
+}
+
+int8_t getFreeTxBuff(CO_CANmodule_t *CANmodule)
+{
+    uint8_t txBuff = 0;
+    for (txBuff = 0; txBuff <= 3; txBuff++)
+        //if (CAN_TransmitStatus(CANmodule->CANbaseAddress, txBuff) == CAN_TxStatus_Ok)
+        switch (txBuff)
+        {
+        case (CAN_TXMAILBOX_0 ):
+            if (HAL_IS_BIT_SET(hcan.Instance->TSR, CAN_TSR_TME0))
+                return txBuff;
+            else
+                break;
+        case (CAN_TXMAILBOX_1 ):
+            if (HAL_IS_BIT_SET(hcan.Instance->TSR, CAN_TSR_TME1))
+                return txBuff;
+            else
+                break;
+        case (CAN_TXMAILBOX_2 ):
+            if (HAL_IS_BIT_SET(hcan.Instance->TSR, CAN_TSR_TME2))
+                return txBuff;
+            else
+                break;
+        }
+    return -1;
+}
+
+/******************************************************************************/
+CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer)
+{
+    CO_ReturnError_t err = CO_ERROR_NO;
+		int8_t txBuff;
+
+    /* Verify overflow */
+    if(buffer->bufferFull){
+        if(!CANmodule->firstCANtxMessage)
+				{
+					/* don't set error, if bootup message is still on buffers */
+          CO_errorReport((CO_EM_t*)CANmodule->em, CO_EM_CAN_TX_OVERFLOW, CO_EMC_CAN_OVERRUN, 0);
+        }
+        err = CO_ERROR_TX_OVERFLOW;
+    }
+
+    CO_DISABLE_INTERRUPTS();
+    /* if CAN TX buffer is free, copy message to it */
+		txBuff = getFreeTxBuff(CANmodule);
+
+    if(txBuff != -1)
+		{
+        CANmodule->bufferInhibitFlag = buffer->syncFlag;
+        /* copy message and txRequest */
+				CO_CANsendToModule(CANmodule, buffer, txBuff);
+    }
+    /* if no buffer is free, message will be sent by interrupt */
+    else{
+        buffer->bufferFull = true;
+        CANmodule->CANtxCount++;
+				__HAL_CAN_ENABLE_IT(&hcan, CAN_IT_TME  );
+    }
+    CO_ENABLE_INTERRUPTS();
+
+    return err;
+}
+
+
+/******************************************************************************/
+void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule){
+    uint32_t tpdoDeleted = 0U;
+
+    CO_DISABLE_INTERRUPTS();
+    /* Abort message from CAN module, if there is synchronous TPDO.
+     * Take special care with this functionality. */
+    if(/*messageIsOnCanBuffer && */CANmodule->bufferInhibitFlag){
+        /* clear TXREQ */
+        CANmodule->bufferInhibitFlag = false;
+        tpdoDeleted = 1U;
+    }
+    /* delete also pending synchronous TPDOs in TX buffers */
+    if(CANmodule->CANtxCount != 0U){
+        uint16_t i;
+        CO_CANtx_t *buffer = &CANmodule->txArray[0];
+        for(i = CANmodule->txSize; i > 0U; i--){
+            if(buffer->bufferFull){
+                if(buffer->syncFlag){
+                    buffer->bufferFull = false;
+                    CANmodule->CANtxCount--;
+                    tpdoDeleted = 2U;
+                }
+            }
+            buffer++;
+        }
+    }
+    CO_ENABLE_INTERRUPTS();
+
+
+    if(tpdoDeleted != 0U){
+        CO_errorReport((CO_EM_t*)CANmodule->em, CO_EM_TPDO_OUTSIDE_WINDOW, CO_EMC_COMMUNICATION, tpdoDeleted);
+    }
+}
+
+
+
+/******************************************************************************/
+void CO_CANverifyErrors(CO_CANmodule_t *CANmodule)
+{
+	uint32_t err;
+  CO_EM_t* em = (CO_EM_t*)CANmodule->em;
+
+  err = hcan.Instance->ESR;
+
+	if(CANmodule->errOld != err)
+  {
+      CANmodule->errOld = err;
+
+      //CAN RX bus overflow
+      if(hcan.Instance->RF0R & CAN_RF0R_FOVR0)
+      {
+         CO_errorReport(em, CO_EM_CAN_RXB_OVERFLOW, CO_EMC_CAN_OVERRUN, err);
+         hcan.Instance->RF0R &=~CAN_RF0R_FOVR0;//clear bits
+      }
+
+      //CAN TX bus off
+      if(err & CAN_ESR_BOFF) CO_errorReport(em, CO_EM_CAN_TX_BUS_OFF, CO_EMC_BUS_OFF_RECOVERED, err);
+      else           CO_errorReset(em, CO_EM_CAN_TX_BUS_OFF, err);
+
+      //CAN TX or RX bus passive
+      if(err & CAN_ESR_EPVF)
+      {
+         if(!CANmodule->firstCANtxMessage) CO_errorReport(em, CO_EM_CAN_TX_BUS_PASSIVE, CO_EMC_CAN_PASSIVE, err);
+      }
+      else
+      {
+        // int16_t wasCleared;
+        /* wasCleared = */CO_errorReset(em, CO_EM_CAN_TX_BUS_PASSIVE, err);
+        /* if(wasCleared == 1) */CO_errorReset(em, CO_EM_CAN_TX_OVERFLOW, err);
+      }
+
+
+      //CAN TX or RX bus warning
+      if(err & CAN_ESR_EWGF)
+      {
+         CO_errorReport(em, CO_EM_CAN_BUS_WARNING, CO_EMC_NO_ERROR, err);
+      }
+      else
+      {
+         CO_errorReset(em, CO_EM_CAN_BUS_WARNING, err);
+      }
+   }
+}
+
+
+/******************************************************************************/
+void CO_CANinterrupt(CO_CANmodule_t *CANmodule){
+    /* transmit interrupt */
+    if(0){
+        /* Clear interrupt flag */
+
+        /* First CAN message (bootup) was sent successfully */
+        CANmodule->firstCANtxMessage = false;
+        /* clear flag from previous message */
+        CANmodule->bufferInhibitFlag = false;
+        /* Are there any new messages waiting to be send */
+        if(CANmodule->CANtxCount > 0U){
+            uint16_t i;             /* index of transmitting message */
+
+            /* first buffer */
+            CO_CANtx_t *buffer = &CANmodule->txArray[0];
+            /* search through whole array of pointers to transmit message buffers. */
+            for(i = CANmodule->txSize; i > 0U; i--){
+                /* if message buffer is full, send it. */
+                if(buffer->bufferFull){
+                    buffer->bufferFull = false;
+                    CANmodule->CANtxCount--;
+
+                    /* Copy message to CAN buffer */
+                    CANmodule->bufferInhibitFlag = buffer->syncFlag;
+                    /* canSend... */
+                    break;                      /* exit for loop */
+                }
+                buffer++;
+            }/* end of for loop */
+
+            /* Clear counter if no more messages */
+            if(i == 0U){
+                CANmodule->CANtxCount = 0U;
+            }
+        }
+    }
+    else{
+        /* some other interrupt reason */
+    }
+}
+
+/******************************************************************************/
+static void CO_CANsendToModule(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer, uint8_t transmit_mailbox)
+{
+  uint8_t i;
+
+	hcan.pTxMsg->IDE = CAN_ID_STD;
+	hcan.pTxMsg->DLC = buffer->DLC;
+	for (i = 0; i < 8; i++)
+	{
+		hcan.pTxMsg->Data[i] = buffer->data[i];
+	}
+
+	hcan.pTxMsg->StdId = ((buffer->ident) >> 21);
+	hcan.pTxMsg->ExtId = 0x01;
+
+	hcan.pTxMsg->RTR = CAN_RTR_DATA;
+
+	HAL_CAN_Transmit_IT(&hcan);
+}
+
+/******************************************************************************/
+// Interrupt from Receiver
+void CO_CANinterrupt_Rx(CO_CANmodule_t *CANmodule)
+{
+	//CanRxMsgTypeDef CAN1_RxMsg;
+	uint16_t index;
+	uint8_t msgMatched = 0;
+
+	CO_CANrx_t *msgBuff = CANmodule->rxArray;
+
+	for (index = 0; index < CANmodule->rxSize; index++)
+	{
+		uint16_t msg = (hcan.pRxMsg->StdId << 2) | (hcan.pRxMsg->RTR ? 2 : 0);
+	  if (((msg ^ msgBuff->ident) & msgBuff->mask) == 0)
+	  {
+			msgMatched = 1;
+	    break;
+	  }
+	  msgBuff++;
+	}
+	//Call specific function, which will process the message
+	if (msgMatched && msgBuff->CANrx_callback)
+		//msgBuff->pFunct(msgBuff->object, &CAN1_RxMsg);
+		msgBuff->CANrx_callback(msgBuff->object, hcan.pRxMsg);
+}
+
+/******************************************************************************/
+// Interrupt from Transeiver
+void CO_CANinterrupt_Tx(CO_CANmodule_t *CANmodule)
+{
+
+     int8_t txBuff;
+    /* Clear interrupt flag */
+    /* First CAN message (bootup) was sent successfully */
+    CANmodule->firstCANtxMessage = 0;
+    /* clear flag from previous message */
+    CANmodule->bufferInhibitFlag = 0;
+    /* Are there any new messages waiting to be send */
+    if(CANmodule->CANtxCount > 0)
+    {
+        uint16_t i;             /* index of transmitting message */
+
+        /* first buffer */
+        CO_CANtx_t *buffer = CANmodule->txArray;
+        /* search through whole array of pointers to transmit message buffers. */
+        for(i = CANmodule->txSize; i > 0; i--)
+        {
+            /* if message buffer is full, send it. */
+            if(buffer->bufferFull)
+            {
+                buffer->bufferFull = 0;
+                CANmodule->CANtxCount--;
+								//txBuff = getFreeTxBuff(CANmodule);    //VJ
+                /* Copy message to CAN buffer */
+                CANmodule->bufferInhibitFlag = buffer->syncFlag;
+                CO_CANsendToModule(CANmodule, buffer, txBuff);
+                break;                      /* exit for loop */
+            }
+            buffer++;
+        }/* end of for loop */
+
+        /* Clear counter if no more messages */
+        if(i == 0) CANmodule->CANtxCount = 0;
+    }
+}
diff --git a/src/CANopen/STM32-HAL/CO_driver_target.h b/src/CANopen/STM32-HAL/CO_driver_target.h
new file mode 100644
index 00000000..30b424d5
--- /dev/null
+++ b/src/CANopen/STM32-HAL/CO_driver_target.h
@@ -0,0 +1,340 @@
+/**
+ * CAN module object for generic microcontroller.
+ *
+ * This file is a template for other microcontrollers.
+ *
+ * @file        CO_driver.h
+ * @ingroup     CO_driver
+ * @version     SVN: \$Id: CO_driver.h 46 2013-08-24 09:18:16Z jani22 $
+ * @author      Janez Paternoster
+ * @copyright   2004 - 2013 Janez Paternoster
+ *
+ * This file is part of CANopenNode, an opensource CANopen Stack.
+ * Project home page is .
+ * For more information on CANopen see .
+ *
+ * CANopenNode is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see .
+ */
+
+
+#ifndef CO_DRIVER_TARGET_H
+#define CO_DRIVER_TARGET_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Include processor header file */
+#include          /* for 'NULL' */
+#include          /* for 'int8_t' to 'uint64_t' */
+#include         /* for 'true', 'false' */
+#include "stm32f1xx_hal.h"
+
+#define OD_CANNodeID 0x0
+
+/**
+ * @defgroup CO_driver Driver
+ * @ingroup CO_CANopen
+ * @{
+ *
+ * Microcontroller specific code for CANopenNode.
+ *
+ * This file contains type definitions, functions and macros for:
+ *  - Basic data types.
+ *  - Receive and transmit buffers for CANopen messages.
+ *  - Interaction with CAN module on the microcontroller.
+ *  - CAN receive and transmit interrupts.
+ *
+ * This file is not only a CAN driver. There are no classic CAN queues for CAN
+ * messages. This file provides direct connection with other CANopen
+ * objects. It tries to provide fast responses and tries to avoid unnecessary
+ * calculations and memory consumptions.
+ *
+ * CO_CANmodule_t contains an array of _Received message objects_ (of type
+ * CO_CANrx_t) and an array of _Transmit message objects_ (of type CO_CANtx_t).
+ * Each CANopen communication object owns one member in one of the arrays.
+ * For example Heartbeat producer generates one CANopen transmitting object,
+ * so it has reserved one member in CO_CANtx_t array.
+ * SYNC module may produce sync or consume sync, so it has reserved one member
+ * in CO_CANtx_t and one member in CO_CANrx_t array.
+ *
+ * ###Reception of CAN messages.
+ * Before CAN messages can be received, each member in CO_CANrx_t must be
+ * initialized. CO_CANrxBufferInit() is called by CANopen module, which
+ * uses specific member. For example @ref CO_HBconsumer uses multiple members
+ * in CO_CANrx_t array. (It monitors multiple heartbeat messages from remote
+ * nodes.) It must call CO_CANrxBufferInit() multiple times.
+ *
+ * Main arguments to the CO_CANrxBufferInit() function are CAN identifier
+ * and a pointer to callback function. Those two arguments (and some others)
+ * are copied to the member of the CO_CANrx_t array.
+ *
+ * Callback function is a function, specified by specific CANopen module
+ * (for example by @ref CO_HBconsumer). Each CANopen module defines own
+ * callback function. Callback function will process the received CAN message.
+ * It will copy the necessary data from CAN message to proper place. It may
+ * also trigger additional task, which will further process the received message.
+ * Callback function must be fast and must only make the necessary calculations
+ * and copying.
+ *
+ * Received CAN messages are processed by CAN receive interrupt function.
+ * After CAN message is received, function first tries to find matching CAN
+ * identifier from CO_CANrx_t array. If found, then a corresponding callback
+ * function is called.
+ *
+ * Callback function accepts two parameters:
+ *  - object is pointer to object registered by CO_CANrxBufferInit().
+ *  - msg  is pointer to CAN message of type CO_CANrxMsg_t.
+ *
+ * Callback function must return #CO_ReturnError_t: CO_ERROR_NO,
+ * CO_ERROR_RX_OVERFLOW, CO_ERROR_RX_PDO_OVERFLOW, CO_ERROR_RX_MSG_LENGTH or
+ * CO_ERROR_RX_PDO_LENGTH.
+ *
+ *
+ * ###Transmission of CAN messages.
+ * Before CAN messages can be transmitted, each member in CO_CANtx_t must be
+ * initialized. CO_CANtxBufferInit() is called by CANopen module, which
+ * uses specific member. For example Heartbeat producer must initialize it's
+ * member in CO_CANtx_t array.
+ *
+ * CO_CANtxBufferInit() returns a pointer of type CO_CANtx_t, which contains buffer
+ * where CAN message data can be written. CAN message is send with calling
+ * CO_CANsend() function. If at that moment CAN transmit buffer inside
+ * microcontroller's CAN module is free, message is copied directly to CAN module.
+ * Otherwise CO_CANsend() function sets _bufferFull_ flag to true. Message will be
+ * then sent by CAN TX interrupt as soon as CAN module is freed. Until message is
+ * not copied to CAN module, its contents must not change. There may be multiple
+ * _bufferFull_ flags in CO_CANtx_t array set to true. In that case messages with
+ * lower index inside array will be sent first.
+ */
+
+
+/**
+ * @name CAN module base address
+ * @{
+ */
+    #define ADDR_CAN1   0   /**< Starting address of CAN module 1 registers */
+    #define ADDR_CAN2   1   /**< Starting address of CAN module 2 registers */
+/** @} */
+
+
+/**
+ * @name Disabling interrupts
+ * Interrupt masking is used to protect critical sections.
+ * It is used in some places in library to protect short sections of code in
+ * functions, which may be accessed from different tasks.
+ * @{
+ */
+    #define CO_DISABLE_INTERRUPTS()     __set_PRIMASK(1);/**< Disable all interrupts */
+    #define CO_ENABLE_INTERRUPTS()      __set_PRIMASK(0);/**< Reenable interrupts */
+
+    /* (un)lock critical section in CO_CANsend() */
+    #define CO_LOCK_CAN_SEND(CAN_MODULE)  				CO_DISABLE_INTERRUPTS()/**< Lock critical section in CO_CANsend() */
+    #define CO_UNLOCK_CAN_SEND(CAN_MODULE)				CO_ENABLE_INTERRUPTS()/**< Unlock critical section in CO_CANsend() */
+
+    /* (un)lock critical section in CO_errorReport() or CO_errorReset() */
+    #define CO_LOCK_EMCY(CAN_MODULE)      				CO_DISABLE_INTERRUPTS()/**< Lock critical section in CO_errorReport() or CO_errorReset() */
+    #define CO_UNLOCK_EMCY(CAN_MODULE)    				CO_ENABLE_INTERRUPTS()/**< Unlock critical section in CO_errorReport() or CO_errorReset() */
+
+    /* (un)lock critical section when accessing Object Dictionary */
+    #define CO_LOCK_OD(CAN_MODULE)        				CO_DISABLE_INTERRUPTS()/**< Lock critical section when accessing Object Dictionary */
+    #define CO_UNLOCK_OD(CAN_MODULE)      				CO_ENABLE_INTERRUPTS()/**< Unock critical section when accessing Object Dictionary */
+
+    /* Synchronization between CAN receive and message processing threads. */
+    #define CO_MemoryBarrier()
+    #define CO_FLAG_READ(rxNew) ((rxNew) != NULL)
+    #define CO_FLAG_SET(rxNew) {CO_MemoryBarrier(); rxNew = (void*)1L;}
+    #define CO_FLAG_CLEAR(rxNew) {CO_MemoryBarrier(); rxNew = NULL;}
+/** @} */
+
+/**
+ * Endianes.
+ *
+ * Depending on processor or compiler architecture, one of the two macros must
+ * be defined: CO_LITTLE_ENDIAN or CO_BIG_ENDIAN. CANopen itself is little endian.
+ */
+#define CO_LITTLE_ENDIAN
+
+/* Basic definitions. If big endian, CO_SWAP_xx macros must swap bytes. */
+#define CO_LITTLE_ENDIAN
+#define CO_SWAP_16(x) x
+#define CO_SWAP_32(x) x
+#define CO_SWAP_64(x) x
+
+/**
+ * @defgroup CO_dataTypes Data types
+ * @{
+ *
+ * According to Misra C
+ */
+    typedef bool                    bool_t;
+    /* int8_t to uint64_t are defined in stdint.h */
+    typedef float                   float32_t;  /**< float32_t */
+    typedef long double             float64_t;  /**< float64_t */
+    typedef char                    char_t;     /**< char_t */
+    typedef unsigned char           oChar_t;    /**< oChar_t */
+    typedef unsigned char           domain_t;   /**< domain_t */
+/** @} */
+
+/* Access to received CAN message */
+#if 0
+#define CO_CANrxMsg_readIdent(msg) ((uint16_t)0)
+#define CO_CANrxMsg_readDLC(msg)   ((uint8_t)0)
+#define CO_CANrxMsg_readData(msg)  ((uint8_t *)NULL)
+#else
+#define CO_CANrxMsg_readIdent(msg) ((((uint16_t)(((CO_CANrxMsg_t *)(msg))->ident))>>2)&0x7FF)
+#define CO_CANrxMsg_readDLC(msg)   ((uint8_t)(((CO_CANrxMsg_t *)(msg))->DLC))
+#define CO_CANrxMsg_readData(msg)  ((uint8_t *)(((CO_CANrxMsg_t *)(msg))->data))
+#endif
+
+/**
+ * CAN receive message structure as aligned in CAN module. It is different in
+ * different microcontrollers. It usually contains other variables.
+ */
+#if 1
+typedef struct{
+    uint32_t    ident;          /* Standard Identifier */
+    uint32_t    ExtId;          /* Specifies the extended identifier */
+    uint32_t    IDE;            /* Specifies the type of identifier for the
+                                   message that will be received */
+    uint32_t    RTR;            /* Remote Transmission Request bit */
+    uint32_t    DLC;            /* Data length code (bits 0...3) */
+    uint8_t     data[8];        /* 8 data bytes */
+    uint32_t    FMI;            /* Specifies the index of the filter the message*/
+    uint32_t    FIFONumber;  	/*!< Specifies the receive FIFO number.
+                                   stored in the mailbox passes through */
+} CO_CANrxMsg_t;
+#endif
+
+/* Received message object */
+typedef struct{
+    uint16_t            ident;          /**< Standard CAN Identifier (bits 0..10) + RTR (bit 11) */
+    uint16_t            mask;           /**< Standard Identifier mask with same alignment as ident */
+    void               *object;         /**< From CO_CANrxBufferInit() */
+    void              (*CANrx_callback)(void *object, void *message);  /**< From CO_CANrxBufferInit() */
+} CO_CANrx_t;
+
+/* Transmit message object */
+typedef struct{
+    uint32_t            ident;          /**< CAN identifier as aligned in CAN module */
+    uint8_t		        DLC;
+    uint8_t             data[8];        /**< 8 data bytes */
+    volatile bool_t     bufferFull;     /**< True if previous message is still in buffer */
+    /** Synchronous PDO messages has this flag set. It prevents them to be sent outside the synchronous window */
+    volatile bool_t     syncFlag;
+} CO_CANtx_t;
+
+
+/**
+ * CAN module object. It may be different in different microcontrollers.
+ */
+typedef struct{
+    void               *CANptr;
+    uint16_t            CANbaseAddress; /**< From CO_CANmodule_init() */
+    CO_CANrx_t         *rxArray;        /**< From CO_CANmodule_init() */
+    uint16_t            rxSize;         /**< From CO_CANmodule_init() */
+    CO_CANtx_t         *txArray;        /**< From CO_CANmodule_init() */
+    uint16_t            txSize;         /**< From CO_CANmodule_init() */
+    uint16_t            CANerrorStatus;
+    volatile bool_t     CANnormal;      /**< CAN module is in normal mode */
+    /** Value different than zero indicates, that CAN module hardware filters
+      * are used for CAN reception. If there is not enough hardware filters,
+      * they won't be used. In this case will be *all* received CAN messages
+      * processed by software. */
+    volatile bool_t  useCANrxFilters;
+    /** If flag is true, then message in transmitt buffer is synchronous PDO
+      * message, which will be aborted, if CO_clearPendingSyncPDOs() function
+      * will be called by application. This may be necessary if Synchronous
+      * window time was expired. */
+    volatile bool_t  bufferInhibitFlag;
+    /** Equal to 1, when the first transmitted message (bootup message) is in CAN TX buffers */
+    volatile bool_t  firstCANtxMessage;
+    /** Number of messages in transmit buffer, which are waiting to be copied to the CAN module */
+    volatile uint16_t   CANtxCount;
+    uint32_t            errOld;         /**< Previous state of CAN errors */
+    void               *em;             /**< Emergency object */
+} CO_CANmodule_t;
+
+
+/* Data storage object for one entry */
+#if 0
+typedef struct {
+    void *addr;
+    size_t len;
+    uint8_t subIndexOD;
+    uint8_t attr;
+    /* Additional variables (target specific) */
+    void *addrNV;
+} CO_storage_entry_t;
+#else
+typedef struct {
+    /** Address of data to store, always required. */
+    void *addr;
+    /** Length of data to store, always required. */
+    size_t len;
+    /** Sub index in OD objects 1010 and 1011, from 2 to 127. Writing
+     * 0x65766173 to 1010,subIndexOD will store data to non-volatile memory.
+     * Writing 0x64616F6C to 1011,subIndexOD will restore default data, always
+     * required. */
+    uint8_t subIndexOD;
+    /** Attribute from @ref CO_storage_attributes_t, always required. */
+    uint8_t attr;
+    /** Pointer to storage module, target system specific usage, required with
+     * @ref CO_storage_eeprom. */
+    void *storageModule;
+    /** CRC checksum of the data stored in eeprom, set on store, required with
+     * @ref CO_storage_eeprom. */
+    uint16_t crc;
+    /** Address of entry signature inside eeprom, set by init, required with
+     * @ref CO_storage_eeprom. */
+    size_t eepromAddrSignature;
+    /** Address of data inside eeprom, set by init, required with
+     * @ref CO_storage_eeprom. */
+    size_t eepromAddr;
+    /** Offset of next byte being updated by automatic storage, required with
+     * @ref CO_storage_eeprom. */
+    size_t offset;
+    /** Additional target specific parameters, optional. */
+    void *additionalParameters;
+} CO_storage_entry_t;
+#endif
+
+
+/**
+ * Verify all errors of CAN module.
+ *
+ * Function is called directly from CO_EM_process() function.
+ *
+ * @param CANmodule This object.
+ */
+void CO_CANverifyErrors(CO_CANmodule_t *CANmodule);
+
+
+/**
+ * Receives and transmits CAN messages.
+ *
+ * Function must be called directly from high priority CAN interrupt.
+ *
+ * @param CANmodule This object.
+ */
+void CO_CANinterrupt(CO_CANmodule_t *CANmodule);
+void CO_CANinterrupt_Rx(CO_CANmodule_t *CANmodule);
+void CO_CANinterrupt_Tx(CO_CANmodule_t *CANmodule);
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+/** @} */
+#endif
diff --git a/src/CANopen/STM32-HAL/README.md b/src/CANopen/STM32-HAL/README.md
new file mode 100644
index 00000000..01e5b404
--- /dev/null
+++ b/src/CANopen/STM32-HAL/README.md
@@ -0,0 +1,3 @@
+# CanOpenNode-STM32 HAL
+STM32, STM32CubeMX, CanOpenNode library driver
+CanOpenNode-1.3-STM32
diff --git a/src/config/stm32f1xx_hal_conf.h b/src/config/stm32f1xx_hal_conf.h
new file mode 100644
index 00000000..aa3cff73
--- /dev/null
+++ b/src/config/stm32f1xx_hal_conf.h
@@ -0,0 +1,400 @@
+/**
+  ******************************************************************************
+  * @file    stm32f1xx_hal_conf.h
+  * @author  MCD Application Team
+  * @brief   HAL configuration template file.
+  *          This file should be copied to the application folder and renamed
+  *          to stm32f1xx_hal_conf.h.
+  ******************************************************************************
+  * @attention
+  *
+  * 
© Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.

+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F1xx_HAL_CONF_H
+#define __STM32F1xx_HAL_CONF_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+
+/* ########################## Module Selection ############################## */
+/**
+  * @brief This is the list of modules to be used in the HAL driver
+  */
+
+#define HAL_MODULE_ENABLED
+#define HAL_ADC_MODULE_ENABLED
+//#define HAL_CAN_MODULE_ENABLED
+#define HAL_CAN_LEGACY_MODULE_ENABLED
+//#define HAL_CEC_MODULE_ENABLED
+#define HAL_CORTEX_MODULE_ENABLED
+//#define HAL_CRC_MODULE_ENABLED
+//#define HAL_DAC_MODULE_ENABLED
+#define HAL_DMA_MODULE_ENABLED
+//#define HAL_ETH_MODULE_ENABLED
+//#define HAL_EXTI_MODULE_ENABLED
+#define HAL_FLASH_MODULE_ENABLED
+#define HAL_GPIO_MODULE_ENABLED
+//#define HAL_HCD_MODULE_ENABLED
+//#define HAL_I2C_MODULE_ENABLED
+//#define HAL_I2S_MODULE_ENABLED
+//#define HAL_IRDA_MODULE_ENABLED
+//#define HAL_IWDG_MODULE_ENABLED
+//#define HAL_NAND_MODULE_ENABLED
+//#define HAL_NOR_MODULE_ENABLED
+//#define HAL_PCCARD_MODULE_ENABLED
+//#define HAL_PCD_MODULE_ENABLED
+//#define HAL_PWR_MODULE_ENABLED
+#define HAL_RCC_MODULE_ENABLED
+//#define HAL_RTC_MODULE_ENABLED
+//#define HAL_SD_MODULE_ENABLED
+//#define HAL_SMARTCARD_MODULE_ENABLED
+#define HAL_SPI_MODULE_ENABLED
+//#define HAL_SRAM_MODULE_ENABLED
+#define HAL_TIM_MODULE_ENABLED
+//#define HAL_UART_MODULE_ENABLED
+#define HAL_USART_MODULE_ENABLED
+//#define HAL_WWDG_MODULE_ENABLED
+//#define HAL_MMC_MODULE_ENABLED
+
+/* ########################## Oscillator Values adaptation ####################*/
+/**
+  * @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSE is used as system clock source, directly or through the PLL).
+  */
+#if !defined  (HSE_VALUE)
+#if defined(USE_STM3210C_EVAL)
+#define HSE_VALUE    25000000U /*!< Value of the External oscillator in Hz */
+#else
+#define HSE_VALUE    8000000U /*!< Value of the External oscillator in Hz */
+#endif
+#endif /* HSE_VALUE */
+
+#if !defined  (HSE_STARTUP_TIMEOUT)
+#define HSE_STARTUP_TIMEOUT    100U      /*!< Time out for HSE start up, in ms */
+#endif /* HSE_STARTUP_TIMEOUT */
+
+/**
+  * @brief Internal High Speed oscillator (HSI) value.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSI is used as system clock source, directly or through the PLL).
+  */
+#if !defined  (HSI_VALUE)
+#define HSI_VALUE              8000000U  /*!< Value of the Internal oscillator in Hz */
+#endif /* HSI_VALUE */
+
+/**
+  * @brief Internal Low Speed oscillator (LSI) value.
+  */
+#if !defined  (LSI_VALUE)
+#define LSI_VALUE               40000U     /*!< LSI Typical Value in Hz */
+#endif /* LSI_VALUE */                     /*!< Value of the Internal Low Speed oscillator in Hz
+                                                The real value may vary depending on the variations
+                                                in voltage and temperature. */
+/**
+  * @brief External Low Speed oscillator (LSE) value.
+  *        This value is used by the UART, RTC HAL module to compute the system frequency
+  */
+#if !defined  (LSE_VALUE)
+#define LSE_VALUE               32768U    /*!< Value of the External Low Speed oscillator in Hz */
+#endif /* LSE_VALUE */
+
+#if !defined  (LSE_STARTUP_TIMEOUT)
+#define LSE_STARTUP_TIMEOUT    5000U     /*!< Time out for LSE start up, in ms */
+#endif /* LSE_STARTUP_TIMEOUT */
+
+/* Tip: To avoid modifying this file each time you need to use different HSE,
+   ===  you can define the HSE value in your toolchain compiler preprocessor. */
+
+/* ########################### System Configuration ######################### */
+/**
+  * @brief This is the HAL system configuration section
+  */
+#define  VDD_VALUE                    3300U /*!< Value of VDD in mv */
+#define  TICK_INT_PRIORITY            0x0FU /*!< tick interrupt priority */
+#define  USE_RTOS                     0U
+#define  PREFETCH_ENABLE              1U
+
+#define  USE_HAL_ADC_REGISTER_CALLBACKS         0U /* ADC register callback disabled       */
+#define  USE_HAL_CAN_REGISTER_CALLBACKS         0U /* CAN register callback disabled       */
+#define  USE_HAL_CEC_REGISTER_CALLBACKS         0U /* CEC register callback disabled       */
+#define  USE_HAL_DAC_REGISTER_CALLBACKS         0U /* DAC register callback disabled       */
+#define  USE_HAL_ETH_REGISTER_CALLBACKS         0U /* ETH register callback disabled       */
+#define  USE_HAL_HCD_REGISTER_CALLBACKS         0U /* HCD register callback disabled       */
+#define  USE_HAL_I2C_REGISTER_CALLBACKS         0U /* I2C register callback disabled       */
+#define  USE_HAL_I2S_REGISTER_CALLBACKS         0U /* I2S register callback disabled       */
+#define  USE_HAL_MMC_REGISTER_CALLBACKS         0U /* MMC register callback disabled       */
+#define  USE_HAL_NAND_REGISTER_CALLBACKS        0U /* NAND register callback disabled      */
+#define  USE_HAL_NOR_REGISTER_CALLBACKS         0U /* NOR register callback disabled       */
+#define  USE_HAL_PCCARD_REGISTER_CALLBACKS      0U /* PCCARD register callback disabled    */
+#define  USE_HAL_PCD_REGISTER_CALLBACKS         0U /* PCD register callback disabled       */
+#define  USE_HAL_RTC_REGISTER_CALLBACKS         0U /* RTC register callback disabled       */
+#define  USE_HAL_SD_REGISTER_CALLBACKS          0U /* SD register callback disabled        */
+#define  USE_HAL_SMARTCARD_REGISTER_CALLBACKS   0U /* SMARTCARD register callback disabled */
+#define  USE_HAL_IRDA_REGISTER_CALLBACKS        0U /* IRDA register callback disabled      */
+#define  USE_HAL_SRAM_REGISTER_CALLBACKS        0U /* SRAM register callback disabled      */
+#define  USE_HAL_SPI_REGISTER_CALLBACKS         0U /* SPI register callback disabled       */
+#define  USE_HAL_TIM_REGISTER_CALLBACKS         0U /* TIM register callback disabled       */
+#define  USE_HAL_UART_REGISTER_CALLBACKS        0U /* UART register callback disabled      */
+#define  USE_HAL_USART_REGISTER_CALLBACKS       0U /* USART register callback disabled     */
+#define  USE_HAL_WWDG_REGISTER_CALLBACKS        0U /* WWDG register callback disabled      */
+
+/* ########################## Assert Selection ############################## */
+/**
+  * @brief Uncomment the line below to expanse the "assert_param" macro in the
+  *        HAL drivers code
+  */
+/* #define USE_FULL_ASSERT    1U */
+
+/* ################## Ethernet peripheral configuration ##################### */
+
+/* Section 1 : Ethernet peripheral configuration */
+
+/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */
+#define MAC_ADDR0   2U
+#define MAC_ADDR1   0U
+#define MAC_ADDR2   0U
+#define MAC_ADDR3   0U
+#define MAC_ADDR4   0U
+#define MAC_ADDR5   0U
+
+/* Definition of the Ethernet driver buffers size and count */
+#define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
+#define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
+#define ETH_RXBUFNB                    8U                  /* 8 Rx buffers of size ETH_RX_BUF_SIZE  */
+#define ETH_TXBUFNB                    4U                  /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
+
+/* Section 2: PHY configuration section */
+
+/* DP83848 PHY Address*/
+#define DP83848_PHY_ADDRESS             0x01U
+/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
+#define PHY_RESET_DELAY                 0x000000FFU
+/* PHY Configuration delay */
+#define PHY_CONFIG_DELAY                0x00000FFFU
+
+#define PHY_READ_TO                     0x0000FFFFU
+#define PHY_WRITE_TO                    0x0000FFFFU
+
+/* Section 3: Common PHY Registers */
+
+#define PHY_BCR                         ((uint16_t)0x0000)  /*!< Transceiver Basic Control Register   */
+#define PHY_BSR                         ((uint16_t)0x0001)  /*!< Transceiver Basic Status Register    */
+
+#define PHY_RESET                       ((uint16_t)0x8000)  /*!< PHY Reset */
+#define PHY_LOOPBACK                    ((uint16_t)0x4000)  /*!< Select loop-back mode */
+#define PHY_FULLDUPLEX_100M             ((uint16_t)0x2100)  /*!< Set the full-duplex mode at 100 Mb/s */
+#define PHY_HALFDUPLEX_100M             ((uint16_t)0x2000)  /*!< Set the half-duplex mode at 100 Mb/s */
+#define PHY_FULLDUPLEX_10M              ((uint16_t)0x0100)  /*!< Set the full-duplex mode at 10 Mb/s  */
+#define PHY_HALFDUPLEX_10M              ((uint16_t)0x0000)  /*!< Set the half-duplex mode at 10 Mb/s  */
+#define PHY_AUTONEGOTIATION             ((uint16_t)0x1000)  /*!< Enable auto-negotiation function     */
+#define PHY_RESTART_AUTONEGOTIATION     ((uint16_t)0x0200)  /*!< Restart auto-negotiation function    */
+#define PHY_POWERDOWN                   ((uint16_t)0x0800)  /*!< Select the power down mode           */
+#define PHY_ISOLATE                     ((uint16_t)0x0400)  /*!< Isolate PHY from MII                 */
+
+#define PHY_AUTONEGO_COMPLETE           ((uint16_t)0x0020)  /*!< Auto-Negotiation process completed   */
+#define PHY_LINKED_STATUS               ((uint16_t)0x0004)  /*!< Valid link established               */
+#define PHY_JABBER_DETECTION            ((uint16_t)0x0002)  /*!< Jabber condition detected            */
+
+/* Section 4: Extended PHY Registers */
+
+#define PHY_SR                          ((uint16_t)0x0010)  /*!< PHY status register Offset                      */
+#define PHY_MICR                        ((uint16_t)0x0011)  /*!< MII Interrupt Control Register                  */
+#define PHY_MISR                        ((uint16_t)0x0012)  /*!< MII Interrupt Status and Misc. Control Register */
+
+#define PHY_LINK_STATUS                 ((uint16_t)0x0001)  /*!< PHY Link mask                                   */
+#define PHY_SPEED_STATUS                ((uint16_t)0x0002)  /*!< PHY Speed mask                                  */
+#define PHY_DUPLEX_STATUS               ((uint16_t)0x0004)  /*!< PHY Duplex mask                                 */
+
+#define PHY_MICR_INT_EN                 ((uint16_t)0x0002)  /*!< PHY Enable interrupts                           */
+#define PHY_MICR_INT_OE                 ((uint16_t)0x0001)  /*!< PHY Enable output interrupt events              */
+
+#define PHY_MISR_LINK_INT_EN            ((uint16_t)0x0020)  /*!< Enable Interrupt on change of link status       */
+#define PHY_LINK_INTERRUPT              ((uint16_t)0x2000)  /*!< PHY link status interrupt mask                  */
+
+/* ################## SPI peripheral configuration ########################## */
+
+/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
+* Activated: CRC code is present inside driver
+* Deactivated: CRC code cleaned from driver
+*/
+
+#define USE_SPI_CRC                     1U
+
+/* Includes ------------------------------------------------------------------*/
+/**
+  * @brief Include module's header file
+  */
+
+#ifdef HAL_RCC_MODULE_ENABLED
+#include "stm32f1xx_hal_rcc.h"
+#endif /* HAL_RCC_MODULE_ENABLED */
+
+#ifdef HAL_GPIO_MODULE_ENABLED
+#include "stm32f1xx_hal_gpio.h"
+#endif /* HAL_GPIO_MODULE_ENABLED */
+
+#ifdef HAL_EXTI_MODULE_ENABLED
+#include "stm32f1xx_hal_exti.h"
+#endif /* HAL_EXTI_MODULE_ENABLED */
+
+#ifdef HAL_DMA_MODULE_ENABLED
+#include "stm32f1xx_hal_dma.h"
+#endif /* HAL_DMA_MODULE_ENABLED */
+
+#ifdef HAL_ETH_MODULE_ENABLED
+#include "stm32f1xx_hal_eth.h"
+#endif /* HAL_ETH_MODULE_ENABLED */
+
+#ifdef HAL_CAN_MODULE_ENABLED
+#include "stm32f1xx_hal_can.h"
+#endif /* HAL_CAN_MODULE_ENABLED */
+
+#ifdef HAL_CAN_LEGACY_MODULE_ENABLED
+  #include "Legacy/stm32f1xx_hal_can_legacy.h"
+#endif /* HAL_CAN_LEGACY_MODULE_ENABLED */
+
+#ifdef HAL_CEC_MODULE_ENABLED
+#include "stm32f1xx_hal_cec.h"
+#endif /* HAL_CEC_MODULE_ENABLED */
+
+#ifdef HAL_CORTEX_MODULE_ENABLED
+#include "stm32f1xx_hal_cortex.h"
+#endif /* HAL_CORTEX_MODULE_ENABLED */
+
+#ifdef HAL_ADC_MODULE_ENABLED
+#include "stm32f1xx_hal_adc.h"
+#endif /* HAL_ADC_MODULE_ENABLED */
+
+#ifdef HAL_CRC_MODULE_ENABLED
+#include "stm32f1xx_hal_crc.h"
+#endif /* HAL_CRC_MODULE_ENABLED */
+
+#ifdef HAL_DAC_MODULE_ENABLED
+#include "stm32f1xx_hal_dac.h"
+#endif /* HAL_DAC_MODULE_ENABLED */
+
+#ifdef HAL_FLASH_MODULE_ENABLED
+#include "stm32f1xx_hal_flash.h"
+#endif /* HAL_FLASH_MODULE_ENABLED */
+
+#ifdef HAL_SRAM_MODULE_ENABLED
+#include "stm32f1xx_hal_sram.h"
+#endif /* HAL_SRAM_MODULE_ENABLED */
+
+#ifdef HAL_NOR_MODULE_ENABLED
+#include "stm32f1xx_hal_nor.h"
+#endif /* HAL_NOR_MODULE_ENABLED */
+
+#ifdef HAL_I2C_MODULE_ENABLED
+#include "stm32f1xx_hal_i2c.h"
+#endif /* HAL_I2C_MODULE_ENABLED */
+
+#ifdef HAL_I2S_MODULE_ENABLED
+#include "stm32f1xx_hal_i2s.h"
+#endif /* HAL_I2S_MODULE_ENABLED */
+
+#ifdef HAL_IWDG_MODULE_ENABLED
+#include "stm32f1xx_hal_iwdg.h"
+#endif /* HAL_IWDG_MODULE_ENABLED */
+
+#ifdef HAL_PWR_MODULE_ENABLED
+#include "stm32f1xx_hal_pwr.h"
+#endif /* HAL_PWR_MODULE_ENABLED */
+
+#ifdef HAL_RTC_MODULE_ENABLED
+#include "stm32f1xx_hal_rtc.h"
+#endif /* HAL_RTC_MODULE_ENABLED */
+
+#ifdef HAL_PCCARD_MODULE_ENABLED
+#include "stm32f1xx_hal_pccard.h"
+#endif /* HAL_PCCARD_MODULE_ENABLED */
+
+#ifdef HAL_SD_MODULE_ENABLED
+#include "stm32f1xx_hal_sd.h"
+#endif /* HAL_SD_MODULE_ENABLED */
+
+#ifdef HAL_NAND_MODULE_ENABLED
+#include "stm32f1xx_hal_nand.h"
+#endif /* HAL_NAND_MODULE_ENABLED */
+
+#ifdef HAL_SPI_MODULE_ENABLED
+#include "stm32f1xx_hal_spi.h"
+#endif /* HAL_SPI_MODULE_ENABLED */
+
+#ifdef HAL_TIM_MODULE_ENABLED
+#include "stm32f1xx_hal_tim.h"
+#endif /* HAL_TIM_MODULE_ENABLED */
+
+#ifdef HAL_UART_MODULE_ENABLED
+#include "stm32f1xx_hal_uart.h"
+#endif /* HAL_UART_MODULE_ENABLED */
+
+#ifdef HAL_USART_MODULE_ENABLED
+#include "stm32f1xx_hal_usart.h"
+#endif /* HAL_USART_MODULE_ENABLED */
+
+#ifdef HAL_IRDA_MODULE_ENABLED
+#include "stm32f1xx_hal_irda.h"
+#endif /* HAL_IRDA_MODULE_ENABLED */
+
+#ifdef HAL_SMARTCARD_MODULE_ENABLED
+#include "stm32f1xx_hal_smartcard.h"
+#endif /* HAL_SMARTCARD_MODULE_ENABLED */
+
+#ifdef HAL_WWDG_MODULE_ENABLED
+#include "stm32f1xx_hal_wwdg.h"
+#endif /* HAL_WWDG_MODULE_ENABLED */
+
+#ifdef HAL_PCD_MODULE_ENABLED
+#include "stm32f1xx_hal_pcd.h"
+#endif /* HAL_PCD_MODULE_ENABLED */
+
+#ifdef HAL_HCD_MODULE_ENABLED
+#include "stm32f1xx_hal_hcd.h"
+#endif /* HAL_HCD_MODULE_ENABLED */
+
+#ifdef HAL_MMC_MODULE_ENABLED
+#include "stm32f1xx_hal_mmc.h"
+#endif /* HAL_MMC_MODULE_ENABLED */
+
+/* Exported macro ------------------------------------------------------------*/
+#ifdef  USE_FULL_ASSERT
+/**
+  * @brief  The assert_param macro is used for function's parameters check.
+  * @param  expr If expr is false, it calls assert_failed function
+  *         which reports the name of the source file and the source
+  *         line number of the call that failed.
+  *         If expr is true, it returns no value.
+  * @retval None
+  */
+#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
+/* Exported functions ------------------------------------------------------- */
+void assert_failed(uint8_t* file, uint32_t line);
+#else
+#define assert_param(expr) ((void)0U)
+#endif /* USE_FULL_ASSERT */
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F1xx_HAL_CONF_H */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/src/lib/CANopenNode b/src/lib/CANopenNode
new file mode 160000
index 00000000..9d1e99f6
--- /dev/null
+++ b/src/lib/CANopenNode
@@ -0,0 +1 @@
+Subproject commit 9d1e99f66e34840adab90ad0dbeb23fc19a68c87