[FileInfo] FileName=tl-7230.eds FileVersion=1 FileRevision=1 LastEDS= EDSVersion=4.0 Description=wd-drive.com tl-7230 CreationTime=7:00PM CreationDate=11-23-2020 CreatedBy=WEI DONG DRIVE ModificationTime=8:35PM ModificationDate=10-05-2026 ModifiedBy=WEI DONG DRIVE [DeviceInfo] VendorName=WEI DONG DRIVE VendorNumber= ProductName=WD-DRIVE_TL7230_V1 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 NG_Slave=0 [DummyUsage] Dummy0001=0 Dummy0002=1 Dummy0003=1 Dummy0004=1 Dummy0005=1 Dummy0006=1 Dummy0007=1 [Comments] Lines=0 [MandatoryObjects] SupportedObjects=3 1=0x1000 2=0x1001 3=0x1018 [1000] ParameterName=Device type ObjectType=0x7 ;StorageLocation=RAM 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=0x00001F81 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=0x00000001 PDOMapping=0 [OptionalObjects] SupportedObjects=99 1=0x1003 2=0x1005 3=0x1006 4=0x1007 5=0x1008 6=0x1009 7=0x100A 8=0x1010 9=0x1011 10=0x1014 11=0x1015 12=0x1016 13=0x1017 14=0x1019 15=0x1020 16=0x1029 17=0x1200 18=0x1400 19=0x1401 20=0x1402 21=0x1403 22=0x1600 23=0x1601 24=0x1602 25=0x1603 26=0x1800 27=0x1801 28=0x1802 29=0x1803 30=0x1A00 31=0x1A01 32=0x1A02 33=0x1A03 34=0x1F80 35=0x603F 36=0x6040 37=0x6041 38=0x605A 39=0x605B 40=0x605C 41=0x605D 42=0x605E 43=0x6060 44=0x6061 45=0x6062 46=0x6063 47=0x6064 48=0x6065 49=0x6066 50=0x6067 51=0x6068 52=0x606B 53=0x606C 54=0x606D 55=0x606E 56=0x606F 57=0x6070 58=0x6071 59=0x6072 60=0x6073 61=0x6074 62=0x6075 63=0x6076 64=0x6077 65=0x607A 66=0x607C 67=0x607D 68=0x607E 69=0x607F 70=0x6080 71=0x6081 72=0x6083 73=0x6084 74=0x6085 75=0x6086 76=0x6087 77=0x6091 78=0x6092 79=0x6098 80=0x6099 81=0x609A 82=0x60A3 83=0x60A4 84=0x60B0 85=0x60B1 86=0x60B2 87=0x60C1 88=0x60C2 89=0x60C5 90=0x60C6 91=0x60F4 92=0x60F6 93=0x60F9 94=0x60FB 95=0x60FC 96=0x60FD 97=0x60FE 98=0x60FF 99=0x6502 [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 [1008] ParameterName=Manufacturer device name ObjectType=0x7 ;StorageLocation=RAM DataType=0x0009 AccessType=ro DefaultValue=LIN_V1 PDOMapping=0 [1009] ParameterName=Manufacturer hardware version ObjectType=0x7 ;StorageLocation=RAM DataType=0x0009 AccessType=ro DefaultValue=V0.0 PDOMapping=0 ;CO_stringLengthMin=8 [100A] ParameterName=Manufacturer software version ObjectType=0x7 ;StorageLocation=RAM DataType=0x0009 AccessType=ro DefaultValue=V1.0 PDOMapping=0 ;CO_stringLengthMin=8 [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 [1014] ParameterName=COB-ID EMCY ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x80 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 [1020] ParameterName=Verify configuration ObjectType=0x8 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [1020sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [1020sub1] ParameterName=Configuration date ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1020sub2] ParameterName=Configuration time ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1029] ParameterName=Error behavior object ObjectType=0x8 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [1029sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [1029sub1] ParameterName=Communication error ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1029sub2] ParameterName=Profile- or manufacturer-specific error ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0x00 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=$NODEID+0x600 PDOMapping=1 [1200sub2] ParameterName=COB-ID server to client (tx) ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=$NODEID+0x580 PDOMapping=1 [1400] ParameterName=RPDO communication parameter ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x4 [1400sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1400sub1] ParameterName=COB-ID used by RPDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x80000200 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=$NODEID+0x80000300 PDOMapping=0 [1401sub2] ParameterName=Transmission type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=254 PDOMapping=0 [1401sub5] ParameterName=Event timer ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1402] ParameterName=RPDO communication parameter ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x4 [1402sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1402sub1] ParameterName=COB-ID used by RPDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x80000400 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=$NODEID+0x80000500 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=$NODEID+0xC0000180 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=$NODEID+0xC0000280 PDOMapping=0 [1801sub2] ParameterName=Transmission type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=254 PDOMapping=0 [1801sub3] ParameterName=Inhibit time ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1801sub5] ParameterName=Event timer ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1801sub6] ParameterName=SYNC start value ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1802] ParameterName=TPDO communication parameter ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x6 [1802sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x06 PDOMapping=0 [1802sub1] ParameterName=COB-ID used by TPDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0xC0000380 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=$NODEID+0xC0000480 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 [1F80] ParameterName=NMT startup ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [603F] ParameterName=Error code ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [6040] ParameterName=Controlword ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rww DefaultValue=0 PDOMapping=1 [6041] ParameterName=Statusword ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [605A] ParameterName=Quick stop option code ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0003 AccessType=rw HighLimit=0x0003 LowLimit=0 DefaultValue=2 PDOMapping=0 [605B] ParameterName=Shutdown option code ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0003 AccessType=rw DefaultValue=1 PDOMapping=0 [605C] ParameterName=Disable option code ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0003 AccessType=rw DefaultValue=1 PDOMapping=0 [605D] ParameterName=Halt option code ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0003 AccessType=rw DefaultValue=1 PDOMapping=0 [605E] ParameterName=Fault option code ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0003 AccessType=rw DefaultValue=2 PDOMapping=0 [6060] ParameterName=Modes of operation ObjectType=0x7 ;StorageLocation=RAM DataType=0x0002 AccessType=rww HighLimit=7 LowLimit=0 DefaultValue=0 PDOMapping=1 [6061] ParameterName=Modes of operation display ObjectType=0x7 ;StorageLocation=RAM DataType=0x0002 AccessType=ro HighLimit=7 LowLimit=0 DefaultValue=0 PDOMapping=1 [6062] ParameterName=Position demand value ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [6063] ParameterName=Position actual internal value 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 [6065] ParameterName=Following error window ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rww DefaultValue=3145728 PDOMapping=1 [6066] ParameterName=Following error time out ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0006 AccessType=rww DefaultValue=100 PDOMapping=1 [6067] ParameterName=Position window ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rww DefaultValue=734 PDOMapping=1 [6068] ParameterName=Position window time ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0006 AccessType=rww DefaultValue=10 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 [606D] ParameterName=Velocity window ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0006 AccessType=rww DefaultValue=10 PDOMapping=1 [606E] ParameterName=Velocity window time ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0006 AccessType=rww DefaultValue=1 PDOMapping=1 [606F] ParameterName=Velocity threshold ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0006 AccessType=rww DefaultValue=10 PDOMapping=1 [6070] ParameterName=Velocity threshold time ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0006 AccessType=rww DefaultValue=1 PDOMapping=1 [6071] ParameterName=Target torque ObjectType=0x7 ;StorageLocation=RAM DataType=0x0003 AccessType=rww DefaultValue=0 PDOMapping=1 [6072] ParameterName=Max torque ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0006 AccessType=rww DefaultValue=3500 PDOMapping=1 [6073] ParameterName=Max current ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0006 AccessType=rww DefaultValue=8000 PDOMapping=1 [6074] ParameterName=Torque demand ObjectType=0x7 ;StorageLocation=RAM DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 [6075] ParameterName=Motor rated current ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=ro DefaultValue=2500 PDOMapping=0 [6076] ParameterName=Motor rated torque ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=1100 PDOMapping=0 [6077] ParameterName=Torque actual value ObjectType=0x7 ;StorageLocation=RAM DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 [607A] ParameterName=Target position ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [607C] ParameterName=Home offset ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [607D] ParameterName=Software position limit ObjectType=0x8 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [607Dsub0] ParameterName=number of elements ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [607Dsub1] ParameterName=Min position limit ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [607Dsub2] ParameterName=Max position limit ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [607E] ParameterName=Polarity ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0005 AccessType=rww DefaultValue=0 PDOMapping=1 [607F] ParameterName=Max profile velocity ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rww DefaultValue=2000000 PDOMapping=1 [6080] ParameterName=Max Motor Speed ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rww DefaultValue=2000000 PDOMapping=1 [6081] ParameterName=Profile velocity ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rww DefaultValue=100000 PDOMapping=1 [6083] ParameterName=Profile acceleration ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rww DefaultValue=5000000 PDOMapping=1 [6084] ParameterName=Profile deceleration ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rww DefaultValue=5000000 PDOMapping=1 [6085] ParameterName=Quick stop deceleration ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rww DefaultValue=5000000 PDOMapping=1 [6086] ParameterName=Motion profile type ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0003 AccessType=rw DefaultValue=0 PDOMapping=0 [6087] ParameterName=Torque slope ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rww DefaultValue=500 PDOMapping=1 [6091] ParameterName=Gear ratio ObjectType=0x8 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [6091sub0] ParameterName=Number of entries ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=const DefaultValue=2 PDOMapping=0 [6091sub1] ParameterName=Motor revolutions ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rww DefaultValue=1 PDOMapping=1 [6091sub2] ParameterName=Shaft revolutions ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rww DefaultValue=1 PDOMapping=1 [6092] ParameterName=Feed constant ObjectType=0x8 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [6092sub0] ParameterName=Number of entries ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=const DefaultValue=2 PDOMapping=0 [6092sub1] ParameterName=Feed ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rww DefaultValue=1000 PDOMapping=1 [6092sub2] ParameterName=Shaft revolutions ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rww DefaultValue=1 PDOMapping=1 [6098] ParameterName=Homing method ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0002 AccessType=rww DefaultValue=1 PDOMapping=1 [6099] ParameterName=Homing speeds ObjectType=0x8 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [6099sub0] ParameterName=number of elements ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [6099sub1] ParameterName=Speed during search for switch ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rww DefaultValue=30000 PDOMapping=1 [6099sub2] ParameterName=Speed during search for zero ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rww DefaultValue=30000 PDOMapping=1 [609A] ParameterName=Homing acceleration ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rww DefaultValue=3000000 PDOMapping=1 [60A3] ParameterName=Profile jerk use ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [60A4] ParameterName=Profile Jerk ObjectType=0x8 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [60A4sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [60A4sub1] ParameterName=Profile Jerk 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [60A4sub2] ParameterName=Profile Jerk 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [60B0] ParameterName=Position offset ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [60B1] ParameterName=Velocity offset ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rww DefaultValue=0x00000000 PDOMapping=1 [60B2] ParameterName=Torque offset ObjectType=0x7 ;StorageLocation=RAM DataType=0x0003 AccessType=rww DefaultValue=0x0000 PDOMapping=1 [60C1] ParameterName=Interpolated data record ObjectType=0x8 ;StorageLocation=RAM SubNumber=0x2 [60C1sub0] ParameterName=number of elements ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro HighLimit=1 LowLimit=0 DefaultValue=1 PDOMapping=0 [60C1sub1] ParameterName=1st set-point ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [60C2] ParameterName=Interpolation time period ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [60C2sub0] ParameterName=number of elements ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro HighLimit=2 LowLimit=0 DefaultValue=2 PDOMapping=0 [60C2sub1] ParameterName=Interpolation time period value ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rww DefaultValue=2 PDOMapping=1 [60C2sub2] ParameterName=Interpolation time index ObjectType=0x7 ;StorageLocation=RAM DataType=0x0002 AccessType=rww HighLimit=0 LowLimit=-6 DefaultValue=-3 PDOMapping=1 [60C5] ParameterName=Max acceleration ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rww DefaultValue=20000000 PDOMapping=1 [60C6] ParameterName=Max deceleration ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rww DefaultValue=20000000 PDOMapping=1 [60F4] ParameterName=Following error actual value ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [60F6] ParameterName=Current control parameter set ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [60F6sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [60F6sub1] ParameterName=Current controller p-gain ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=1 [60F6sub2] ParameterName=Current controller i-gain ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=1 [60F9] ParameterName=Velocity control parameter set ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x6 [60F9sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 [60F9sub1] ParameterName=Velocity controller p-gain ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=1 [60F9sub2] ParameterName=Velocity controller i-gain ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=1 [60F9sub3] ParameterName=Velocity controller d-gain ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=1 [60F9sub4] ParameterName=Velocity feed-forward ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=1 [60F9sub5] ParameterName=Acceleration feed-forward ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=500 PDOMapping=1 [60FB] ParameterName=Position control parameter set ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x4 [60FBsub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x03 PDOMapping=0 [60FBsub1] ParameterName=Position controller p-gain ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=65000 PDOMapping=1 [60FBsub2] ParameterName=Velocity feed-forward ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=1000 PDOMapping=1 [60FBsub3] ParameterName=Acceleration feed-forward ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=500 PDOMapping=1 [60FC] ParameterName=Position demand internal value ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue= PDOMapping=1 [60FD] ParameterName=Digital inputs ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [60FE] ParameterName=Digital outputs ObjectType=0x8 ;StorageLocation=RAM SubNumber=0x2 [60FEsub0] ParameterName=number of elements ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=1 PDOMapping=0 [60FEsub1] ParameterName=Physical outputs ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rwr DefaultValue=0 PDOMapping=1 [60FF] ParameterName=Target velocity ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [6502] ParameterName=Supported drive modes ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0x3FD PDOMapping=0 [ManufacturerObjects] SupportedObjects=30 1=0x2000 2=0x2001 3=0x2002 4=0x2003 5=0x2110 6=0x2111 7=0x2112 8=0x2113 9=0x2114 10=0x2115 11=0x2116 12=0x2117 13=0x2118 14=0x2119 15=0x211A 16=0x2130 17=0x3000 18=0x3001 19=0x3002 20=0x3003 21=0x3004 22=0x3005 23=0x3006 24=0x3007 25=0x3008 26=0x3011 27=0x3012 28=0x3013 29=0x3014 30=0x3015 [2000] ParameterName=Real-time status monitoring ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x10 [2000sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x0F PDOMapping=0 [2000sub1] ParameterName=Bus voltage ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [2000sub2] ParameterName=Output current ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [2000sub3] ParameterName=Phase A current ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [2000sub4] ParameterName=Phase B current ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [2000sub5] ParameterName=d-axis current ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [2000sub6] ParameterName=q-axis current ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [2000sub7] ParameterName=d-axis current reference ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [2000sub8] ParameterName=q-axis current reference ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [2000sub9] ParameterName=Electronic angle ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [2000subA] ParameterName=Electronic velocity ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [2000subB] ParameterName=Mag scale raw electrical angle ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [2000subC] ParameterName=Motor temperature ObjectType=0x7 ;StorageLocation=RAM DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 [2000subD] ParameterName=I2T load ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [2000subE] ParameterName=ISR service time max ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [2000subF] ParameterName=ISR service time average ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [2001] ParameterName=Voltage protection thresholds ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x6 [2001sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=5 PDOMapping=0 [2001sub1] ParameterName=Over-voltage fault threshold ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=540 PDOMapping=0 [2001sub2] ParameterName=Over-voltage warning threshold ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=520 PDOMapping=0 [2001sub3] ParameterName=Under-voltage fault threshold ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=180 PDOMapping=0 [2001sub4] ParameterName=Under-voltage warning threshold ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=220 PDOMapping=0 [2001sub5] ParameterName=Voltage filter time ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=100 PDOMapping=0 [2002] ParameterName=Current and overload protection ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x5 [2002sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [2002sub1] ParameterName=Short circuit threshold ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=10000 PDOMapping=0 [2002sub2] ParameterName=Over-current filter time ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=10 PDOMapping=0 [2002sub3] ParameterName=I2T overload level ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=100 PDOMapping=0 [2002sub4] ParameterName=I2T maximum time ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=20000 PDOMapping=0 [2003] ParameterName=Temperature protection thresholds ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [2003sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [2003sub1] ParameterName=Motor over-temp fault threshold ObjectType=0x7 ;StorageLocation=RAM DataType=0x0003 AccessType=rw DefaultValue=1000 PDOMapping=0 [2003sub2] ParameterName=Motor over-temp warning threshold ObjectType=0x7 ;StorageLocation=RAM DataType=0x0003 AccessType=rw DefaultValue=1000 PDOMapping=0 [2110] ParameterName=Mover Mass ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rw DefaultValue=470 PDOMapping=0 [2111] ParameterName=Load Mass ObjectType=0x7 ;StorageLocation=PERSIST_COMM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [2112] ParameterName=Current loop bandwidth parameters ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [2112sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [2112sub1] ParameterName=Current bandwidth ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=1 [2112sub2] ParameterName=Tuning mode ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=1 [2113] ParameterName=Velocity loop bandwidth parameters ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [2113sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [2113sub1] ParameterName=Velocity bandwidth ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=30 PDOMapping=1 [2113sub2] ParameterName=Tuning mode ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=1 [2114] ParameterName=Position loop bandwidth parameters ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [2114sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [2114sub1] ParameterName=Position bandwidth ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=15 PDOMapping=1 [2114sub2] ParameterName=Tuning mode ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=1 [2115] ParameterName=Encoder PLL bandwidth parameters ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x2 [2115sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x01 PDOMapping=0 [2115sub1] ParameterName=Encoder PLL bandwidth ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=4000 PDOMapping=1 [2116] ParameterName=Encoder harmonic compensation parameters ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x7 [2116sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x06 PDOMapping=0 [2116sub1] ParameterName=C1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=0 [2116sub2] ParameterName=C2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=0 [2116sub3] ParameterName=D1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=0 [2116sub4] ParameterName=D2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=0 [2116sub5] ParameterName=C4 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=0 [2116sub6] ParameterName=D4 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=0 [2117] ParameterName=Notch filter enable ObjectType=0x8 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [2117sub0] ParameterName=number of elements ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [2117sub1] ParameterName=Notch filter 1 enable ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2117sub2] ParameterName=Notch filter 2 enable ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2118] ParameterName=Notch filter center frequency ObjectType=0x8 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [2118sub0] ParameterName=number of elements ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [2118sub1] ParameterName=Notch filter 1 center frequency ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=200 PDOMapping=0 [2118sub2] ParameterName=Notch filter 2 center frequency ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=200 PDOMapping=0 [2119] ParameterName=Notch filter bandwidth ObjectType=0x8 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [2119sub0] ParameterName=number of elements ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [2119sub1] ParameterName=Notch filter 1 bandwidth ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=20 PDOMapping=0 [2119sub2] ParameterName=Notch filter 2 bandwidth ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=20 PDOMapping=0 [211A] ParameterName=Notch filter depth ObjectType=0x8 ;StorageLocation=PERSIST_COMM SubNumber=0x3 [211Asub0] ParameterName=number of elements ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 [211Asub1] ParameterName=Notch filter 1 depth ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=700 PDOMapping=0 [211Asub2] ParameterName=Notch filter 2 depth ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=700 PDOMapping=0 [2130] ParameterName=Homing on block parameters ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x6 [2130sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [2130sub1] ParameterName=Hard stop force limit ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 [2130sub2] ParameterName=Collision current threshold ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=700 PDOMapping=0 [2130sub3] ParameterName=Following error threshold ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=2000 PDOMapping=0 [2130sub4] ParameterName=Collision filter time ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=50 PDOMapping=0 [2130sub5] ParameterName=Retract distance ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=3000 PDOMapping=0 [3000] ParameterName=Calibration Control ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x4 [3000sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x03 PDOMapping=0 [3000sub1] ParameterName=Calibration sub mode ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [3000sub2] ParameterName=Calibration status ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [3000sub3] ParameterName=Supported modes ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0x005C PDOMapping=1 [3001] ParameterName=Resistance Calibration Parameters ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x5 [3001sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x04 PDOMapping=0 [3001sub1] ParameterName=Current ratio 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=400 PDOMapping=0 [3001sub2] ParameterName=Current ratio 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=800 PDOMapping=0 [3001sub3] ParameterName=Settle time ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=100 PDOMapping=0 [3001sub4] ParameterName=Measure time ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=2000 PDOMapping=0 [3002] ParameterName=Inductance Calibration Parameters ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x4 [3002sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x03 PDOMapping=0 [3002sub1] ParameterName=Hf voltage ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=5000 PDOMapping=0 [3002sub2] ParameterName=Hf frequency ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=2000 PDOMapping=0 [3002sub3] ParameterName=Measure samples ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=80 PDOMapping=0 [3003] ParameterName=Encoder Direction Calibration Parameters ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x4 [3003sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x03 PDOMapping=0 [3003sub1] ParameterName=Current ratio ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=800 PDOMapping=0 [3003sub2] ParameterName=Number of rounds ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=1 PDOMapping=0 [3003sub3] ParameterName=Forward velocity ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=10000 PDOMapping=0 [3004] ParameterName=Hall Sensor Calibration Parameters ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x4 [3004sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x03 PDOMapping=0 [3004sub1] ParameterName=Current ratio ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=800 PDOMapping=0 [3004sub2] ParameterName=Velocity ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=10000 PDOMapping=0 [3004sub3] ParameterName=Number of rounds ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=2 PDOMapping=0 [3005] ParameterName=Phase Scale Calibration Parameters ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x3 [3005sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [3005sub1] ParameterName=Current ratio ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=800 PDOMapping=0 [3005sub2] ParameterName=Velocity ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=10000 PDOMapping=0 [3006] ParameterName=Encoder Linearization Calibration Parameters ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x3 [3006sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [3006sub1] ParameterName=Current ratio ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=300 PDOMapping=0 [3006sub2] ParameterName=Velocity ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=6283 PDOMapping=0 [3007] ParameterName=Cogging Calibration Parameters ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x5 [3007sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x04 PDOMapping=0 [3007sub1] ParameterName=Current ratio ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=800 PDOMapping=0 [3007sub2] ParameterName=Velocity ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=50000 PDOMapping=0 [3007sub3] ParameterName=Distance ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=100000 PDOMapping=0 [3007sub4] ParameterName=H2 speed gain ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [3008] ParameterName=Flux Linkage Calibration Parameters ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x6 [3008sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [3008sub1] ParameterName=currentRatio ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=800 PDOMapping=0 [3008sub2] ParameterName=velocity1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=60000 PDOMapping=0 [3008sub3] ParameterName=velocity2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=180000 PDOMapping=0 [3008sub4] ParameterName=settleTime ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=300 PDOMapping=0 [3008sub5] ParameterName=measureTime ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=500 PDOMapping=0 [3011] ParameterName=Motor Identification Results ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x7 [3011sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x06 PDOMapping=0 [3011sub1] ParameterName=Stator resistance ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rwr DefaultValue=2645 PDOMapping=1 [3011sub2] ParameterName=Direct inductance ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rwr DefaultValue=535 PDOMapping=1 [3011sub3] ParameterName=Quadrature inductance ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rwr DefaultValue=535 PDOMapping=1 [3011sub4] ParameterName=Flux linkage ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=9698 PDOMapping=1 [3011sub5] ParameterName=Torque constant ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=4570 PDOMapping=1 [3011sub6] ParameterName=Encoder direction ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=1 [3012] ParameterName=Encoder Linearization LUT ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x5 [3012sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x04 PDOMapping=0 [3012sub1] ParameterName=Offset compensation enable ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [3012sub2] ParameterName=Lut table size ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=ro DefaultValue=0x0400 PDOMapping=0 [3012sub3] ParameterName=Offset array ObjectType=0x7 ;StorageLocation=RAM DataType=0x000F AccessType=rw DefaultValue= PDOMapping=0 [3012sub4] ParameterName=Encoder raw offset ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=0 [3013] ParameterName=Position Sensor Calibration Results ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0xC [3013sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x0B PDOMapping=0 [3013sub1] ParameterName=Hall sensor offset 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=1 [3013sub2] ParameterName=Hall sensor offset 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=1 [3013sub3] ParameterName=Hall sensor gain 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=2048 PDOMapping=1 [3013sub4] ParameterName=Hall sensor gain 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=2048 PDOMapping=1 [3013sub5] ParameterName=Hall cross ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rwr DefaultValue=0 PDOMapping=1 [3013sub6] ParameterName=Cosine offset 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=1 [3013sub7] ParameterName=Cosine offset 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=1 [3013sub8] ParameterName=Cosine gain 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=2048 PDOMapping=1 [3013sub9] ParameterName=Cosine gain 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=2048 PDOMapping=1 [3013subA] ParameterName=Cosine cross ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rwr DefaultValue=0 PDOMapping=1 [3013subB] ParameterName=Position sensor calibration enable ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rwr DefaultValue=0 PDOMapping=1 [3014] ParameterName=Phase Scale Results ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x4 [3014sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x03 PDOMapping=0 [3014sub1] ParameterName=Phase scale ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=250000 PDOMapping=1 [3014sub2] ParameterName=Encoder rad offset ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=1 [3014sub3] ParameterName=Position max ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=1 [3015] ParameterName=Cogging LUT ObjectType=0x9 ;StorageLocation=PERSIST_COMM SubNumber=0x5 [3015sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x04 PDOMapping=0 [3015sub1] ParameterName=Cogging compensation enable ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [3015sub2] ParameterName=Lut table size ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=ro DefaultValue=0x0168 PDOMapping=0 [3015sub3] ParameterName=Cogging array ObjectType=0x7 ;StorageLocation=RAM DataType=0x000F AccessType=rw DefaultValue= PDOMapping=0 [3015sub4] ParameterName=Cogging verification attenuation ObjectType=0x7 ;StorageLocation=RAM DataType=0x0003 AccessType=ro DefaultValue= PDOMapping=0