[FileInfo] FileName=md_1.2.eds FileVersion=1.2 FileRevision=2 LastEDS= EDSVersion=4.0 Description=MD Motor Controller CreationTime=4:41PM CreationDate=09-17-2026 CreatedBy=MAB Robotics ModificationTime=1:19PM ModificationDate=09-28-2026 ModifiedBy=Jakub Matyszczak [DeviceInfo] VendorName=MAB ROBOTICS VendorNumber=0 ProductName=MD ProductNumber=1 RevisionNumber=0x00010002 BaudRate_10=0 BaudRate_20=0 BaudRate_50=0 BaudRate_125=0 BaudRate_250=0 BaudRate_500=0 BaudRate_800=0 BaudRate_1000=1 SimpleBootUpMaster=0 SimpleBootUpSlave=0 Granularity=8 DynamicChannelsSupported=0 CompactPDO=0 GroupMessaging=0 NrOfRXPDO=4 NrOfTXPDO=4 LSS_Supported=0 NG_Slave=0 [DummyUsage] Dummy0001=0 Dummy0002=0 Dummy0003=0 Dummy0004=0 Dummy0005=0 Dummy0006=0 Dummy0007=0 [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=0x00020192 PDOMapping=0 [1001] ParameterName=Error Register ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0 PDOMapping=1 [1018] ParameterName=Identity Object ObjectType=0x9 ;StorageLocation=RAM 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=0x00000001 PDOMapping=0 [1018sub3] ParameterName=Revision Number ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0x00010002 PDOMapping=0 [1018sub4] ParameterName=Serial Number ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=0 [OptionalObjects] SupportedObjects=57 1=0x1003 2=0x1005 3=0x1008 4=0x1009 5=0x1010 6=0x1011 7=0x1014 8=0x1016 9=0x1017 10=0x1400 11=0x1401 12=0x1402 13=0x1403 14=0x1600 15=0x1601 16=0x1602 17=0x1603 18=0x1800 19=0x1801 20=0x1802 21=0x1803 22=0x1A00 23=0x1A01 24=0x1A02 25=0x1A03 26=0x603F 27=0x6040 28=0x6041 29=0x6060 30=0x6061 31=0x6064 32=0x6067 33=0x606C 34=0x606D 35=0x6071 36=0x6072 37=0x6073 38=0x6075 39=0x6076 40=0x6077 41=0x6079 42=0x607A 43=0x607B 44=0x607D 45=0x6080 46=0x6081 47=0x6083 48=0x6084 49=0x6085 50=0x6091 51=0x60A8 52=0x60A9 53=0x60AA 54=0x60C5 55=0x60C6 56=0x60FF 57=0x6502 [1003] ParameterName=Pre-defined Error Field ObjectType=0x8 ;StorageLocation=RAM SubNumber=0x9 [1003sub0] ParameterName=Number of errors ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [1003sub1] ParameterName=Standard error field 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub2] ParameterName=Standard error field 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub3] ParameterName=Standard error field 3 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub4] ParameterName=Standard error field 4 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub5] ParameterName=Standard error field 5 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub6] ParameterName=Standard error field 6 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub7] ParameterName=Standard error field 7 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1003sub8] ParameterName=Standard error field 8 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [1005] ParameterName=COB-ID SYNC Message ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0x00000080 PDOMapping=0 [1008] ParameterName=Manufacturer Device Name ObjectType=0x7 ;StorageLocation=RAM DataType=0x0009 AccessType=ro DefaultValue= PDOMapping=0 [1009] ParameterName=Manufacturer Hardware Version ObjectType=0x7 ;StorageLocation=RAM DataType=0x0009 AccessType=ro DefaultValue= PDOMapping=0 [1010] ParameterName=Store Parameters ObjectType=0x8 ;StorageLocation=RAM SubNumber=0x2 [1010sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x01 PDOMapping=0 [1010sub1] ParameterName=Save all Parameters ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [1011] ParameterName=Restore Default Parameters ObjectType=0x8 ;StorageLocation=RAM SubNumber=0x3 [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 [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=RAM DataType=0x0007 AccessType=ro DefaultValue=$NODEID+0x80 PDOMapping=0 [1016] ParameterName=Consumer Heartbeat Time ObjectType=0x8 ;StorageLocation=RAM SubNumber=0x2 [1016sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x01 PDOMapping=0 [1016sub1] ParameterName=Consumer Heartbeat Time 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [1017] ParameterName=Producer Heartbeat Time ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=1000 PDOMapping=0 [1400] ParameterName=RPDO communication parameter ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x4 [1400sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1400sub1] ParameterName=COB-ID used by RPDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x200 PDOMapping=0 [1400sub2] ParameterName=Transmission type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=255 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=RAM 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=$NODEID+0x300 PDOMapping=0 [1401sub2] ParameterName=Transmission type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1401sub5] ParameterName=Event timer ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1402] ParameterName=RPDO communication parameter ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x4 [1402sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1402sub1] ParameterName=COB-ID used by RPDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x400 PDOMapping=0 [1402sub2] ParameterName=Transmission type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=255 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=RAM 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+0x500 PDOMapping=0 [1403sub2] ParameterName=Transmission type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=255 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=RAM SubNumber=0x9 [1600sub0] ParameterName=Number of mapped application objects in PDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 [1600sub1] ParameterName=Application object 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x607A0020 PDOMapping=0 [1600sub2] ParameterName=Application object 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x60710010 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=RAM SubNumber=0x9 [1601sub0] ParameterName=Number of mapped application objects in PDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 [1601sub1] ParameterName=Application object 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x60FF0020 PDOMapping=0 [1601sub2] ParameterName=Application object 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x60710010 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=RAM SubNumber=0x9 [1602sub0] ParameterName=Number of mapped application objects in PDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=3 PDOMapping=0 [1602sub1] ParameterName=Application object 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 [1602sub2] ParameterName=Application object 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x607A0020 PDOMapping=0 [1602sub3] ParameterName=Application object 3 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x60710010 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=RAM SubNumber=0x9 [1603sub0] ParameterName=Number of mapped application objects in PDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=3 PDOMapping=0 [1603sub1] ParameterName=Application object 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 [1603sub2] ParameterName=Application object 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x60FF0020 PDOMapping=0 [1603sub3] ParameterName=Application object 3 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x60710010 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=RAM SubNumber=0x5 [1800sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1800sub1] ParameterName=COB-ID used by TPDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x180 PDOMapping=0 [1800sub2] ParameterName=Transmission type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=255 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 [1801] ParameterName=TPDO communication parameter ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x5 [1801sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1801sub1] ParameterName=COB-ID used by TPDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x280 PDOMapping=0 [1801sub2] ParameterName=Transmission type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1801sub3] ParameterName=Inhibit time ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1801sub5] ParameterName=Event timer ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1802] ParameterName=TPDO communication parameter ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x5 [1802sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1802sub1] ParameterName=COB-ID used by TPDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x380 PDOMapping=0 [1802sub2] ParameterName=Transmission type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=255 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 [1803] ParameterName=TPDO communication parameter ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x5 [1803sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1803sub1] ParameterName=COB-ID used by TPDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x480 PDOMapping=0 [1803sub2] ParameterName=Transmission type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=255 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 [1A00] ParameterName=TPDO mapping parameter ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x9 [1A00sub0] ParameterName=Number of mapped application objects in PDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 [1A00sub1] ParameterName=Application object 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x60410010 PDOMapping=0 [1A00sub2] ParameterName=Application object 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x20220110 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=RAM SubNumber=0x9 [1A01sub0] ParameterName=Number of mapped application objects in PDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 [1A01sub1] ParameterName=Application object 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x60640020 PDOMapping=0 [1A01sub2] ParameterName=Application object 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x606C0020 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=RAM SubNumber=0x9 [1A02sub0] ParameterName=Number of mapped application objects in PDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=3 PDOMapping=0 [1A02sub1] ParameterName=Application object 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x60770010 PDOMapping=0 [1A02sub2] ParameterName=Application object 2 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x20040108 PDOMapping=0 [1A02sub3] ParameterName=Application object 3 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x20040208 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=RAM SubNumber=0x9 [1A03sub0] ParameterName=Number of mapped application objects in PDO ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=0 [1A03sub1] ParameterName=Application object 1 ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0x60790020 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 [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 [6060] ParameterName=Modes of Operation ObjectType=0x7 ;StorageLocation=RAM DataType=0x0002 AccessType=rww DefaultValue=0 PDOMapping=1 [6061] ParameterName=Modes of Operation Display ObjectType=0x7 ;StorageLocation=RAM DataType=0x0002 AccessType=ro DefaultValue=0 PDOMapping=1 [6064] ParameterName=Position Actual Value ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [6067] ParameterName=Position Window ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=15915 PDOMapping=0 [606C] ParameterName=Velocity Actual Value ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [606D] ParameterName=Velocity Window ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=14041 PDOMapping=0 [6071] ParameterName=Target Torque ObjectType=0x7 ;StorageLocation=RAM DataType=0x0003 AccessType=rww DefaultValue=0 PDOMapping=1 [6072] ParameterName=Max Torque ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [6073] ParameterName=Max Current ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [6075] ParameterName=Motor Rated Current ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [6076] ParameterName=Motor Rated Torque ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [6077] ParameterName=Torque Actual Value ObjectType=0x7 ;StorageLocation=RAM DataType=0x0003 AccessType=ro DefaultValue=0 PDOMapping=1 [6079] ParameterName=DC Link Circuit Voltage ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [607A] ParameterName=Target Position ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 [607B] ParameterName=Position Range Limit ObjectType=0x8 ;StorageLocation=RAM SubNumber=0x3 [607Bsub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [607Bsub1] ParameterName=Min Position Range Limit ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=-2147483648 PDOMapping=0 [607Bsub2] ParameterName=Max Position Range Limit ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=2147483647 PDOMapping=0 [607D] ParameterName=Software Position Limit ObjectType=0x8 ;StorageLocation=RAM SubNumber=0x3 [607Dsub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [607Dsub1] ParameterName=Min Position Limit ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=0 [607Dsub2] ParameterName=Max Position Limit ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=rw DefaultValue=0 PDOMapping=0 [6080] ParameterName=Max Motor Speed ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw HighLimit=0x7FFFFFFF DefaultValue=0 PDOMapping=0 [6081] ParameterName=Profile Velocity ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=1 [6083] ParameterName=Profile Acceleration ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [6084] ParameterName=Profile Deceleration ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=15915494 PDOMapping=0 [6085] ParameterName=Quick Stop Deceleration ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=15915494 PDOMapping=0 [6091] ParameterName=Gear Ratio ObjectType=0x8 ;StorageLocation=RAM SubNumber=0x3 [6091sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [6091sub1] ParameterName=Motor Revolutions ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=1 PDOMapping=0 [6091sub2] ParameterName=Shaft Revolutions ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=1 PDOMapping=0 [60A8] ParameterName=SI Unit Position ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0xFAB40000 PDOMapping=0 [60A9] ParameterName=SI Unit Velocity ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0xFAB40300 PDOMapping=0 [60AA] ParameterName=SI Unit Acceleration ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0xFAB45700 PDOMapping=0 [60C5] ParameterName=Max Acceleration ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [60C6] ParameterName=Max Deceleration ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=rw DefaultValue=15915494 PDOMapping=0 [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=0x00000185 PDOMapping=0 [ManufacturerObjects] SupportedObjects=13 1=0x2000 2=0x2001 3=0x2002 4=0x2003 5=0x2004 6=0x2010 7=0x2011 8=0x2012 9=0x2020 10=0x2021 11=0x2022 12=0x2023 13=0x2024 [2000] ParameterName=Actuator Config ObjectType=0x9 ;StorageLocation=RAM SubNumber=0xB [2000sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x0A PDOMapping=0 [2000sub1] ParameterName=CAN ID ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw HighLimit=127 LowLimit=10 DefaultValue=100 PDOMapping=0 [2000sub2] ParameterName=Pole Pairs ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2000sub3] ParameterName=Phase Inductance ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=0.0 PDOMapping=0 [2000sub4] ParameterName=Phase Resistance ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=0.0 PDOMapping=0 [2000sub5] ParameterName=Torque Bandwidth ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [2000sub6] ParameterName=Motor Name ObjectType=0x7 ;StorageLocation=RAM DataType=0x0009 AccessType=rw DefaultValue=MD PDOMapping=0 [2000sub7] ParameterName=Motor Shutdown Temperature ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw HighLimit=120 LowLimit=10 DefaultValue=80 PDOMapping=0 [2000sub8] ParameterName=Motor Calibration Mode ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2000sub9] ParameterName=Motor Torque Constant ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=1.0 PDOMapping=0 [2000subA] ParameterName=Motor KV Rating ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [2001] ParameterName=Main Encoder ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x3 [2001sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [2001sub1] ParameterName=Type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2001sub2] ParameterName=Direction ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=-1.0 PDOMapping=0 [2002] ParameterName=Auxiliary Encoder ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x7 [2002sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x06 PDOMapping=0 [2002sub1] ParameterName=Type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2002sub2] ParameterName=Direction ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=1.0 PDOMapping=0 [2002sub3] ParameterName=Mode ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw HighLimit=3 LowLimit=0 DefaultValue=0 PDOMapping=0 [2002sub4] ParameterName=Calibration Mode ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw HighLimit=1 LowLimit=0 DefaultValue=0 PDOMapping=0 [2002sub5] ParameterName=Position ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [2002sub6] ParameterName=Velocity ObjectType=0x7 ;StorageLocation=RAM DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 [2003] ParameterName=Torque Sensor ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x3 [2003sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [2003sub1] ParameterName=Type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2003sub2] ParameterName=Value ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=ro DefaultValue=0.0 PDOMapping=1 [2004] ParameterName=Temperature ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x3 [2004sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [2004sub1] ParameterName=Power Stage Temperature ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0 PDOMapping=1 [2004sub2] ParameterName=Motor Temperature ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0 PDOMapping=1 [2010] ParameterName=Position PID Controller ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x5 [2010sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x04 PDOMapping=0 [2010sub1] ParameterName=Kp ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=0.0 PDOMapping=0 [2010sub2] ParameterName=Ki ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=0.0 PDOMapping=0 [2010sub3] ParameterName=Kd ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=0.0 PDOMapping=0 [2010sub4] ParameterName=Integral Limit ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=0.0 PDOMapping=0 [2011] ParameterName=Velocity PID Controller ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x5 [2011sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x04 PDOMapping=0 [2011sub1] ParameterName=Kp ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=0.0 PDOMapping=0 [2011sub2] ParameterName=Ki ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=0.0 PDOMapping=0 [2011sub3] ParameterName=Kd ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=0.0 PDOMapping=0 [2011sub4] ParameterName=Integral Limit ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=0.0 PDOMapping=0 [2012] ParameterName=Impedance PD Controller ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x3 [2012sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [2012sub1] ParameterName=Kp ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=0.0 PDOMapping=0 [2012sub2] ParameterName=Kd ObjectType=0x7 ;StorageLocation=RAM DataType=0x0008 AccessType=rw DefaultValue=0.0 PDOMapping=0 [2020] ParameterName=Hardware Info ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x7 [2020sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x06 PDOMapping=0 [2020sub1] ParameterName=Device Type ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0 PDOMapping=0 [2020sub2] ParameterName=Device Revision ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0 PDOMapping=0 [2020sub3] ParameterName=Legacy Version ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0 PDOMapping=0 [2020sub4] ParameterName=Core ID ObjectType=0x7 ;StorageLocation=RAM DataType=0x000A AccessType=ro DefaultValue= PDOMapping=0 [2020sub5] ParameterName=Batch Code ObjectType=0x7 ;StorageLocation=RAM DataType=0x000A AccessType=ro DefaultValue= PDOMapping=0 [2020sub6] ParameterName=Production Date ObjectType=0x7 ;StorageLocation=RAM DataType=0x0009 AccessType=ro DefaultValue= PDOMapping=0 [2021] ParameterName=Firmware Info ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x7 [2021sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x06 PDOMapping=0 [2021sub1] ParameterName=Firmware Build Date ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [2021sub2] ParameterName=Firmware Version ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [2021sub3] ParameterName=Firmware Commit Hash ObjectType=0x7 ;StorageLocation=RAM DataType=0x0009 AccessType=ro DefaultValue= PDOMapping=0 [2021sub4] ParameterName=Bootloader Build Date ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [2021sub5] ParameterName=Bootloader Version ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=0 [2021sub6] ParameterName=Bootloader Commit Hash ObjectType=0x7 ;StorageLocation=RAM DataType=0x0009 AccessType=ro DefaultValue= PDOMapping=0 [2022] ParameterName=Status ObjectType=0x9 ;StorageLocation=RAM SubNumber=0xB [2022sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x0A PDOMapping=0 [2022sub1] ParameterName=Quick Status ObjectType=0x7 ;StorageLocation=RAM DataType=0x0006 AccessType=ro DefaultValue=0 PDOMapping=1 [2022sub2] ParameterName=Main Encoder Status ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [2022sub3] ParameterName=Auxiliary Encoder Status ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [2022sub4] ParameterName=Calibration Status ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [2022sub5] ParameterName=Bridge Status ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [2022sub6] ParameterName=Hardware Status ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [2022sub7] ParameterName=Communication Status ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [2022sub8] ParameterName=Motion Status ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [2022sub9] ParameterName=Misc Status ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [2022subA] ParameterName=Config Status ObjectType=0x7 ;StorageLocation=RAM DataType=0x0007 AccessType=ro DefaultValue=0 PDOMapping=1 [2023] ParameterName=Commands ObjectType=0x9 ;StorageLocation=RAM SubNumber=0xF [2023sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x0E PDOMapping=0 [2023sub1] ParameterName=Save Config ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023sub2] ParameterName=Test Main Encoder ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023sub3] ParameterName=Test Auxiliary Encoder ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023sub4] ParameterName=Run Calibration ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023sub5] ParameterName=Run Auxiliary Encoder Calibration ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023sub6] ParameterName=Calibrate Current PI Gains ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023sub7] ParameterName=Revert Factory Settings ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023sub8] ParameterName=Reset Controller ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023sub9] ParameterName=Clear Warnings ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023subA] ParameterName=Clear Errors ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023subB] ParameterName=Blink LEDs ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023subC] ParameterName=Set Zero ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023subD] ParameterName=Reinitialise CAN ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2023subE] ParameterName=Zero Torque Sensor ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2024] ParameterName=User GPIO ObjectType=0x9 ;StorageLocation=RAM SubNumber=0x3 [2024sub0] ParameterName=Highest sub-index supported ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [2024sub1] ParameterName=GPIO Mode ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 [2024sub2] ParameterName=GPIO State ObjectType=0x7 ;StorageLocation=RAM DataType=0x0005 AccessType=ro DefaultValue=0 PDOMapping=1