; DELTA ELECTRONIC, INC.

; Network: CANopen
; Modlue: 
; Device: 
; Model: 
; Create by EDS Builder software

[FileInfo]
FileName=FLOWSERVO_16006098.eds
FileVersion=1
FileRevision=1
EDSVersion=4.0
CreationTime=6:35PM
CreationDate=11-08-2021
CreatedBy=FLOW
ModificationTime=7:33AM
ModificationDate=07-31-2025
ModifiedBy=FLOW

[DeviceInfo]
VendorName=FLOW
VendorNumber=0xFFFFFFFF
ProductName=flowServo
ProductNumber=16006098
RevisionNumber=0x00000000
BaudRate_10=1
BaudRate_20=1
BaudRate_50=1
BaudRate_125=1
BaudRate_250=1
BaudRate_500=1
BaudRate_800=0
BaudRate_1000=1
SimpleBootUpMaster=0
SimpleBootUpSlave=0
Granularity=0x08
DynamicChannelsSupported=0
GroupMessaging=0
NrOfRXPDO=4
NrOfTXPDO=4
LSS_Supported=0

[DummyUsage]
Dummy0001=0
Dummy0002=1
Dummy0003=1
Dummy0004=1
Dummy0005=1
Dummy0006=1
Dummy0007=1

[Comments]
Lines=0

[MandatoryObjects]
SupportedObjects=3
1=0x1000
2=0x1001
3=0x1018

[1000]
ParameterName=Device type
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0x00040192
PDOMapping=0

[1001]
ParameterName=Error register
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x00
PDOMapping=1

[1018]
ParameterName=identity
ObjectType=9
SubNumber=5

[1018sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x04
PDOMapping=0

[1018sub1]
ParameterName=vendor id
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0xFFFFFFFF
PDOMapping=0

[1018sub2]
ParameterName=product code
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=16006098
PDOMapping=0

[1018sub3]
ParameterName=revision number
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=25073101
PDOMapping=0

[1018sub4]
ParameterName=serial number
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0x100
PDOMapping=0

[OptionalObjects]
SupportedObjects=95
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=0x1029
16=0x1200
17=0x1400
18=0x1401
19=0x1402
20=0x1403
21=0x1600
22=0x1601
23=0x1602
24=0x1603
25=0x1800
26=0x1801
27=0x1802
28=0x1803
29=0x1A00
30=0x1A01
31=0x1A02
32=0x1A03
33=0x1F80
34=0x603F
35=0x6040
36=0x6041
37=0x605A
38=0x605B
39=0x605C
40=0x605D
41=0x605E
42=0x6060
43=0x6061
44=0x6062
45=0x6064
46=0x6065
47=0x6066
48=0x6067
49=0x6068
50=0x606B
51=0x606C
52=0x606D
53=0x606E
54=0x606F
55=0x6070
56=0x6071
57=0x6072
58=0x6074
59=0x6075
60=0x6077
61=0x6079
62=0x607A
63=0x607C
64=0x607D
65=0x607E
66=0x607F
67=0x6080
68=0x6081
69=0x6083
70=0x6084
71=0x6085
72=0x6086
73=0x6087
74=0x6093
75=0x6095
76=0x6097
77=0x6098
78=0x6099
79=0x609A
80=0x60A3
81=0x60A4
82=0x60B0
83=0x60B1
84=0x60B2
85=0x60C0
86=0x60C1
87=0x60C2
88=0x60C5
89=0x60C6
90=0x60F2
91=0x60F4
92=0x60FD
93=0x60FE
94=0x60FF
95=0x6502

[1003]
ParameterName=Pre-defined error field
ObjectType=8
SubNumber=11

[1003sub0]
ParameterName=Number of errors
ObjectType=7
DataType=0x0005
AccessType=rw
PDOMapping=0

[1003sub1]
ParameterName=Standard error field
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[1003sub2]
ParameterName=Standard error field
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[1003sub3]
ParameterName=Standard error field
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[1003sub4]
ParameterName=Standard error field
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[1003sub5]
ParameterName=Standard error field
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[1003sub6]
ParameterName=Standard error field
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[1003sub7]
ParameterName=Standard error field
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[1003sub8]
ParameterName=Standard error field
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[1003sub9]
ParameterName=Standard error field
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[1003subA]
ParameterName=Standard error field
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[1005]
ParameterName=COB-ID SYNC message
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0x00000080
PDOMapping=0

[1006]
ParameterName=Communication cycle period
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[1007]
ParameterName=Synchronous window length
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[1008]
ParameterName=Manufacturer device name
ObjectType=7
DataType=0x0009
AccessType=ro
DefaultValue=FLOW
PDOMapping=0

[1009]
ParameterName=Manufacturer hardware version
ObjectType=7
DataType=0x0009
AccessType=ro
PDOMapping=0

[100A]
ParameterName=Manufacturer software version
ObjectType=7
DataType=0x0009
AccessType=ro
PDOMapping=0

[1010]
ParameterName=Store parameters
ObjectType=8
SubNumber=4

[1010sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x03
PDOMapping=0

[1010sub1]
ParameterName=Save all parameters
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1010sub2]
ParameterName=Save communication parameters
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1010sub3]
ParameterName=Save application and manufacturer parameters
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1011]
ParameterName=Restore default parameters
ObjectType=8
SubNumber=4

[1011sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x03
PDOMapping=0

[1011sub1]
ParameterName=Restore all default parameters
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1011sub2]
ParameterName=Restore communication default parameters
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1011sub3]
ParameterName=Restore application and manufacturer default parameters
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1014]
ParameterName=COB-ID EMCY
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0x80
PDOMapping=0

[1015]
ParameterName=Inhibit time EMCY
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1016]
ParameterName=Consumer heartbeat time
ObjectType=8
SubNumber=5

[1016sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x04
PDOMapping=0

[1016sub1]
ParameterName=Consumer heartbeat time
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1016sub2]
ParameterName=Consumer heartbeat time
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1016sub3]
ParameterName=Consumer heartbeat time
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1016sub4]
ParameterName=Consumer heartbeat time
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1017]
ParameterName=Producer heartbeat time
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=1000
PDOMapping=0

[1019]
ParameterName=Synchronous counter overflow value
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1029]
ParameterName=Error behavior object
ObjectType=8
SubNumber=3

[1029sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[1029sub1]
ParameterName=Communication error
ObjectType=7
DataType=0x0005
AccessType=rw
LowLimit=0
HighLimit=2
DefaultValue=0x01
PDOMapping=0

[1029sub2]
ParameterName=Profile- or manufacturer-specific error
ObjectType=7
DataType=0x0005
AccessType=rw
LowLimit=0
HighLimit=2
DefaultValue=0x01
PDOMapping=0

[1200]
ParameterName=SDO server parameter
ObjectType=9
SubNumber=3

[1200sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[1200sub1]
ParameterName=COB-ID client to server
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=$NODEID+0x600
PDOMapping=0

[1200sub2]
ParameterName=COB-ID server to client
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=$NODEID+0x580
PDOMapping=0

[1400]
ParameterName=RPDO communication parameter
ObjectType=9
SubNumber=4

[1400sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x05
PDOMapping=0

[1400sub1]
ParameterName=COB-ID used by RPDO
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+0x80000200
PDOMapping=0

[1400sub2]
ParameterName=Transmission type
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0

[1400sub5]
ParameterName=Event timer
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1401]
ParameterName=RPDO communication parameter
ObjectType=9
SubNumber=4

[1401sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x05
PDOMapping=0

[1401sub1]
ParameterName=COB-ID used by RPDO
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+0x80000300
PDOMapping=0

[1401sub2]
ParameterName=Transmission type
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0

[1401sub5]
ParameterName=Event timer
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1402]
ParameterName=RPDO communication parameter
ObjectType=9
SubNumber=4

[1402sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x05
PDOMapping=0

[1402sub1]
ParameterName=COB-ID used by RPDO
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+0x80000400
PDOMapping=0

[1402sub2]
ParameterName=Transmission type
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=255
PDOMapping=0

[1402sub5]
ParameterName=Event timer
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1403]
ParameterName=RPDO communication parameter
ObjectType=9
SubNumber=4

[1403sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x05
PDOMapping=0

[1403sub1]
ParameterName=COB-ID used by RPDO
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+0x80000500
PDOMapping=0

[1403sub2]
ParameterName=Transmission type
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=255
PDOMapping=0

[1403sub5]
ParameterName=Event timer
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1600]
ParameterName=RPDO mapping parameter
ObjectType=9
SubNumber=9

[1600sub0]
ParameterName=Number of mapped application objects in PDO
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=3
PDOMapping=0

[1600sub1]
ParameterName=Application object 1
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x60400010
PDOMapping=0

[1600sub2]
ParameterName=Application object 2
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x60FF0020
PDOMapping=0

[1600sub3]
ParameterName=Application object 3
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x60600008
PDOMapping=0

[1600sub4]
ParameterName=Application object 4
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1600sub5]
ParameterName=Application object 5
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1600sub6]
ParameterName=Application object 6
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1600sub7]
ParameterName=Application object 7
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1600sub8]
ParameterName=Application object 8
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1601]
ParameterName=RPDO mapping parameter
ObjectType=9
SubNumber=9

[1601sub0]
ParameterName=Number of mapped application objects in PDO
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=2
PDOMapping=0

[1601sub1]
ParameterName=Application object 1
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x607A0020
PDOMapping=0

[1601sub2]
ParameterName=Application object 2
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x60810020
PDOMapping=0

[1601sub3]
ParameterName=Application object 3
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1601sub4]
ParameterName=Application object 4
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1601sub5]
ParameterName=Application object 5
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1601sub6]
ParameterName=Application object 6
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1601sub7]
ParameterName=Application object 7
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1601sub8]
ParameterName=Application object 8
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1602]
ParameterName=RPDO mapping parameter
ObjectType=9
SubNumber=9

[1602sub0]
ParameterName=Number of mapped application objects in PDO
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1602sub1]
ParameterName=Application object 1
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1602sub2]
ParameterName=Application object 2
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1602sub3]
ParameterName=Application object 3
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1602sub4]
ParameterName=Application object 4
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1602sub5]
ParameterName=Application object 5
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1602sub6]
ParameterName=Application object 6
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1602sub7]
ParameterName=Application object 7
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1602sub8]
ParameterName=Application object 8
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1603]
ParameterName=RPDO mapping parameter
ObjectType=9
SubNumber=9

[1603sub0]
ParameterName=Number of mapped application objects in PDO
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1603sub1]
ParameterName=Application object 1
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1603sub2]
ParameterName=Application object 2
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1603sub3]
ParameterName=Application object 3
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1603sub4]
ParameterName=Application object 4
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1603sub5]
ParameterName=Application object 5
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1603sub6]
ParameterName=Application object 6
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1603sub7]
ParameterName=Application object 7
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1603sub8]
ParameterName=Application object 8
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1800]
ParameterName=TPDO communication parameter
ObjectType=9
SubNumber=6

[1800sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x06
PDOMapping=0

[1800sub1]
ParameterName=COB-ID used by TPDO
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+0x80000180
PDOMapping=0

[1800sub2]
ParameterName=Transmission type
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0

[1800sub3]
ParameterName=Inhibit time
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1800sub5]
ParameterName=Event timer
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1800sub6]
ParameterName=SYNC start value
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1801]
ParameterName=TPDO communication parameter
ObjectType=9
SubNumber=6

[1801sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x06
PDOMapping=0

[1801sub1]
ParameterName=COB-ID used by TPDO
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+0x80000280
PDOMapping=0

[1801sub2]
ParameterName=Transmission type
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0

[1801sub3]
ParameterName=Inhibit time
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1801sub5]
ParameterName=Event timer
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1801sub6]
ParameterName=SYNC start value
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1802]
ParameterName=TPDO communication parameter
ObjectType=9
SubNumber=6

[1802sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x06
PDOMapping=0

[1802sub1]
ParameterName=COB-ID used by TPDO
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+0x80000380
PDOMapping=0

[1802sub2]
ParameterName=Transmission type
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=255
PDOMapping=0

[1802sub3]
ParameterName=Inhibit time
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1802sub5]
ParameterName=Event timer
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1802sub6]
ParameterName=SYNC start value
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1803]
ParameterName=TPDO communication parameter
ObjectType=9
SubNumber=6

[1803sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x06
PDOMapping=0

[1803sub1]
ParameterName=COB-ID used by TPDO
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+0x80000480
PDOMapping=0

[1803sub2]
ParameterName=Transmission type
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=255
PDOMapping=0

[1803sub3]
ParameterName=Inhibit time
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1803sub5]
ParameterName=Event timer
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1803sub6]
ParameterName=SYNC start value
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1A00]
ParameterName=TPDO mapping parameter
ObjectType=9
SubNumber=9

[1A00sub0]
ParameterName=Number of mapped application objects in PDO
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=3
PDOMapping=0

[1A00sub1]
ParameterName=Application object 1
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x60410010
PDOMapping=0

[1A00sub2]
ParameterName=Application object 2
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x60FD0020
PDOMapping=0

[1A00sub3]
ParameterName=Application object 3
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x60610008
PDOMapping=0

[1A00sub4]
ParameterName=Application object 4
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A00sub5]
ParameterName=Application object 5
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A00sub6]
ParameterName=Application object 6
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A00sub7]
ParameterName=Application object 7
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A00sub8]
ParameterName=Application object 8
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A01]
ParameterName=TPDO mapping parameter
ObjectType=9
SubNumber=9

[1A01sub0]
ParameterName=Number of mapped application objects in PDO
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=2
PDOMapping=0

[1A01sub1]
ParameterName=Application object 1
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x60640020
PDOMapping=0

[1A01sub2]
ParameterName=Application object 2
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x606C0020
PDOMapping=0

[1A01sub3]
ParameterName=Application object 3
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A01sub4]
ParameterName=Application object 4
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A01sub5]
ParameterName=Application object 5
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A01sub6]
ParameterName=Application object 6
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A01sub7]
ParameterName=Application object 7
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A01sub8]
ParameterName=Application object 8
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A02]
ParameterName=TPDO mapping parameter
ObjectType=9
SubNumber=9

[1A02sub0]
ParameterName=Number of mapped application objects in PDO
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1A02sub1]
ParameterName=Application object 1
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A02sub2]
ParameterName=Application object 2
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A02sub3]
ParameterName=Application object 3
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A02sub4]
ParameterName=Application object 4
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A02sub5]
ParameterName=Application object 5
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A02sub6]
ParameterName=Application object 6
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A02sub7]
ParameterName=Application object 7
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A02sub8]
ParameterName=Application object 8
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A03]
ParameterName=TPDO mapping parameter
ObjectType=9
SubNumber=9

[1A03sub0]
ParameterName=Number of mapped application objects in PDO
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1A03sub1]
ParameterName=Application object 1
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A03sub2]
ParameterName=Application object 2
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A03sub3]
ParameterName=Application object 3
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A03sub4]
ParameterName=Application object 4
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A03sub5]
ParameterName=Application object 5
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A03sub6]
ParameterName=Application object 6
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A03sub7]
ParameterName=Application object 7
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1A03sub8]
ParameterName=Application object 8
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1F80]
ParameterName=NMT startup
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[603F]
ParameterName=error code
ObjectType=7
DataType=0x0006
AccessType=ro
DefaultValue=0
PDOMapping=1

[6040]
ParameterName=control word
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=1

[6041]
ParameterName=status word
ObjectType=7
DataType=0x0006
AccessType=ro
DefaultValue=0
PDOMapping=1

[605A]
ParameterName=quickstop option code
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=0
HighLimit=2
DefaultValue=2
PDOMapping=0

[605B]
ParameterName=shutdown option code
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=0
HighLimit=1
DefaultValue=1
PDOMapping=0

[605C]
ParameterName=disable operation option code
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=0
HighLimit=1
DefaultValue=1
PDOMapping=0

[605D]
ParameterName=halt option code
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=0
HighLimit=2
DefaultValue=1
PDOMapping=0

[605E]
ParameterName=fault reaction option code
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=0
HighLimit=6
DefaultValue=1
PDOMapping=0

[6060]
ParameterName=mode
ObjectType=7
DataType=0x0002
AccessType=rw
DefaultValue=0
PDOMapping=1

[6061]
ParameterName=modes of operation display
ObjectType=7
DataType=0x0002
AccessType=ro
DefaultValue=1
PDOMapping=1

[6062]
ParameterName=position demand value
ObjectType=7
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=1

[6064]
ParameterName=position actual value
ObjectType=7
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=1

[6065]
ParameterName=following error window
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=10000
PDOMapping=1

[6066]
ParameterName=following error timeout
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=1
PDOMapping=1

[6067]
ParameterName=position window
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=50
PDOMapping=1

[6068]
ParameterName=position window time
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=3
PDOMapping=1

[606B]
ParameterName=velocity demand value
ObjectType=7
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=1

[606C]
ParameterName=velocity actual value
ObjectType=7
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=1

[606D]
ParameterName=velocity window
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=1666
PDOMapping=1

[606E]
ParameterName=velocity window time
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=3
PDOMapping=1

[606F]
ParameterName=velocity threshold
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=500
PDOMapping=1

[6070]
ParameterName=velocity threshold time
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1
PDOMapping=1

[6071]
ParameterName=target torque
ObjectType=7
DataType=0x0003
AccessType=rw
DefaultValue=0
PDOMapping=1

[6072]
ParameterName=max torque
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=1500
PDOMapping=1

[6074]
ParameterName=torque demand
ObjectType=7
DataType=0x0003
AccessType=ro
DefaultValue=0
PDOMapping=1

[6075]
ParameterName=motor rated current
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[6077]
ParameterName=torque actual value
ObjectType=7
DataType=0x0003
AccessType=ro
DefaultValue=0
PDOMapping=1

[6079]
ParameterName=dclink circuit voltage
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=1

[607A]
ParameterName=target position
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1

[607C]
ParameterName=home offset
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1

[607D]
ParameterName=software position limit
ObjectType=8
SubNumber=3

[607Dsub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[607Dsub1]
ParameterName=min position limit
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0x80000000
PDOMapping=0

[607Dsub2]
ParameterName=max position limit
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0x7FFFFFFF
PDOMapping=0

[607E]
ParameterName=polarity
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=1

[607F]
ParameterName=max profile velocity
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1000000
PDOMapping=1

[6080]
ParameterName=max motor speed
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=6000
PDOMapping=0

[6081]
ParameterName=profile velocity
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=1

[6083]
ParameterName=profile acceleration
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=500000
PDOMapping=1

[6084]
ParameterName=profile deceleration
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=500000
PDOMapping=1

[6085]
ParameterName=quickstop deceleration
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1500000
PDOMapping=1

[6086]
ParameterName=motion profile type
ObjectType=7
DataType=0x0003
AccessType=rw
DefaultValue=0
PDOMapping=1

[6087]
ParameterName=torque slope
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=10000
PDOMapping=1

[6093]
ParameterName=position factor
ObjectType=9
SubNumber=3

[6093sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[6093sub1]
ParameterName=numerator
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1
PDOMapping=0

[6093sub2]
ParameterName=divisor
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1
PDOMapping=0

[6095]
ParameterName=velocity factor
ObjectType=9
SubNumber=3

[6095sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[6095sub1]
ParameterName=numerator
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1
PDOMapping=0

[6095sub2]
ParameterName=divisor
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1
PDOMapping=0

[6097]
ParameterName=acceleration factor
ObjectType=9
SubNumber=3

[6097sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[6097sub1]
ParameterName=numerator
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[6097sub2]
ParameterName=divisor
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1
PDOMapping=0

[6098]
ParameterName=homing method
ObjectType=7
DataType=0x0002
AccessType=rw
LowLimit=-30
HighLimit=35
DefaultValue=35
PDOMapping=0

[6099]
ParameterName=homing speeds
ObjectType=8
SubNumber=3

[6099sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[6099sub1]
ParameterName=speed during search for switch
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=16666
PDOMapping=0

[6099sub2]
ParameterName=speed during search for zero
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1666
PDOMapping=0

[609A]
ParameterName=homing acceleration
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=500000
PDOMapping=1

[60A3]
ParameterName=profile jerk use
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0

[60A4]
ParameterName=profile jerk
ObjectType=8
SubNumber=2

[60A4sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x01
PDOMapping=0

[60A4sub1]
ParameterName=profile jerk 1
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1000000
PDOMapping=1

[60B0]
ParameterName=position offset
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1

[60B1]
ParameterName=velocity offset
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1

[60B2]
ParameterName=torque offset
ObjectType=7
DataType=0x0003
AccessType=rw
DefaultValue=0
PDOMapping=1

[60C0]
ParameterName=interpolation submode select
ObjectType=7
DataType=0x0003
AccessType=ro
LowLimit=0
HighLimit=0
DefaultValue=0
PDOMapping=0

[60C1]
ParameterName=interpolation data record
ObjectType=8
SubNumber=2

[60C1sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x01
PDOMapping=0

[60C1sub1]
ParameterName=1st setpoint
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1

[60C2]
ParameterName=interpolation time record
ObjectType=9
SubNumber=3

[60C2sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[60C2sub1]
ParameterName=interpolation time period value
ObjectType=7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=1

[60C2sub2]
ParameterName=interpolation time index
ObjectType=7
DataType=0x0002
AccessType=ro
DefaultValue=-3
PDOMapping=0

[60C5]
ParameterName=max acceleration
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1500000
PDOMapping=1

[60C6]
ParameterName=max deceleration
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1500000
PDOMapping=1

[60F2]
ParameterName=positioning option code
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=2
DefaultValue=2
PDOMapping=0

[60F4]
ParameterName=following acutal value
ObjectType=7
DataType=0x0004
AccessType=rww
DefaultValue=0
PDOMapping=1

[60FD]
ParameterName=digital inputs
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=1

[60FE]
ParameterName=digital outputs
ObjectType=8
SubNumber=2

[60FEsub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x01
PDOMapping=0

[60FEsub1]
ParameterName=digital outputs
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=1

[60FF]
ParameterName=target velocity
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1

[6502]
ParameterName=supported drive modes
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0x03ED
PDOMapping=0

[ManufacturerObjects]
SupportedObjects=34
1=0x2001
2=0x2002
3=0x2003
4=0x2005
5=0x2010
6=0x2012
7=0x2013
8=0x2014
9=0x2015
10=0x2016
11=0x2017
12=0x2018
13=0x2019
14=0x201A
15=0x201B
16=0x201C
17=0x201D
18=0x201E
19=0x2030
20=0x2031
21=0x2032
22=0x2033
23=0x2034
24=0x2035
25=0x203A
26=0x203B
27=0x203C
28=0x2080
29=0x2240
30=0x2250
31=0x3000
32=0x3100
33=0x3101
34=0x4008

[2001]
ParameterName=canopen config
ObjectType=9
SubNumber=5

[2001sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x04
PDOMapping=0

[2001sub1]
ParameterName=can nodeid
ObjectType=7
DataType=0x0005
AccessType=rw
LowLimit=1
HighLimit=127
DefaultValue=1
PDOMapping=0

[2001sub2]
ParameterName=can bit rate
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=1000
DefaultValue=1000
PDOMapping=0

[2001sub3]
ParameterName=en 120 resistor
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=1
PDOMapping=0

[2001sub4]
ParameterName=show canid
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2002]
ParameterName=motor parameteres
ObjectType=9
SubNumber=12

[2002sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x0B
PDOMapping=0

[2002sub1]
ParameterName=phase resistance
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2002sub2]
ParameterName=phase inductance
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2002sub3]
ParameterName=backEMF constant KE
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2002sub4]
ParameterName=velocity constant KV
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2002sub5]
ParameterName=torque constant KT
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2002sub6]
ParameterName=rotor inertia KJ
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2002sub7]
ParameterName=friction constant
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2002sub8]
ParameterName=rated voltage
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2002sub9]
ParameterName=rated current
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2002subA]
ParameterName=total inertia
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2002subB]
ParameterName=total friction
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2003]
ParameterName=CPR
ObjectType=9
SubNumber=3

[2003sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[2003sub1]
ParameterName=count per resolution
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=1
HighLimit=262144
DefaultValue=10000
PDOMapping=0

[2003sub2]
ParameterName=multiturn count
ObjectType=7
DataType=0x0007
AccessType=ro
LowLimit=1
HighLimit=262144
PDOMapping=0

[2005]
ParameterName=additionalNMT
ObjectType=9
SubNumber=4

[2005sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x03
PDOMapping=0

[2005sub1]
ParameterName=NMT reboot
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2005sub2]
ParameterName=NMT quickstop
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2005sub3]
ParameterName=NMT shutdown
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2010]
ParameterName=current PID
ObjectType=9
SubNumber=7

[2010sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x06
PDOMapping=0

[2010sub1]
ParameterName=kp default
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2010sub2]
ParameterName=ki default
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2010sub3]
ParameterName=kp
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2010sub4]
ParameterName=ki
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2010sub5]
ParameterName=bandwidth
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=3000
PDOMapping=0

[2010sub6]
ParameterName=aututune
ObjectType=7
DataType=0x0001
AccessType=ro
DefaultValue=0
PDOMapping=0

[2012]
ParameterName=velocity PID
ObjectType=9
SubNumber=7

[2012sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x06
PDOMapping=0

[2012sub1]
ParameterName=kp default
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2012sub2]
ParameterName=ki default
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2012sub3]
ParameterName=kp
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=1

[2012sub4]
ParameterName=ki
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=1

[2012sub5]
ParameterName=stiffness
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1000
PDOMapping=1

[2012sub6]
ParameterName=autotune
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2013]
ParameterName=position PID
ObjectType=9
SubNumber=4

[2013sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x03
PDOMapping=0

[2013sub1]
ParameterName=kp default
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2013sub2]
ParameterName=kp
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=1

[2013sub3]
ParameterName=autotune
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2014]
ParameterName=brake control
ObjectType=9
SubNumber=9

[2014sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x08
PDOMapping=0

[2014sub1]
ParameterName=is there a brake
ObjectType=7
DataType=0x0001
AccessType=ro
DefaultValue=0
PDOMapping=0

[2014sub2]
ParameterName=is inside control of brake
ObjectType=7
DataType=0x0001
AccessType=ro
DefaultValue=0
PDOMapping=0

[2014sub3]
ParameterName=brake current
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[2014sub4]
ParameterName=auto brake
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2014sub5]
ParameterName=brake now
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2014sub6]
ParameterName=brake status
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=0

[2014sub7]
ParameterName=unbrake now
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2014sub8]
ParameterName=unbrake trigg current
ObjectType=7
DataType=0x0006
AccessType=ro
DefaultValue=0
PDOMapping=0

[2015]
ParameterName=servo strategy
ObjectType=9
SubNumber=12

[2015sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x0B
PDOMapping=0

[2015sub1]
ParameterName=csp do interpolation
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=1
PDOMapping=0

[2015sub2]
ParameterName=csv do interpolation
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=1
PDOMapping=0

[2015sub3]
ParameterName=cst do interpolation
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=1
PDOMapping=0

[2015sub4]
ParameterName=torque with position
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2015sub5]
ParameterName=stepdir position without canopen
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2015sub6]
ParameterName=stepdir velocity without canopen
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2015sub7]
ParameterName=homing stop at zero position
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=1
PDOMapping=0

[2015sub8]
ParameterName=pp without overshoot
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2015sub9]
ParameterName=homing without saving zero position
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2015subA]
ParameterName=velocity with position
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2015subB]
ParameterName=alter trajectory to s
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2016]
ParameterName=filter bandwidth
ObjectType=9
SubNumber=9

[2016sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x08
PDOMapping=0

[2016sub1]
ParameterName=velocity filter bandwidth
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1000
PDOMapping=0

[2016sub2]
ParameterName=acceleration filter bandwidth
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1000
PDOMapping=0

[2016sub3]
ParameterName=iit filter bandwidth
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=10
PDOMapping=0

[2016sub4]
ParameterName=power filter bandwidth
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1
PDOMapping=0

[2016sub5]
ParameterName=temperature filter bandwidth
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=10
PDOMapping=0

[2016sub6]
ParameterName=bus voltage filter bandwidth
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=10
PDOMapping=0

[2016sub7]
ParameterName=brake current filter bandwidth
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=100
PDOMapping=0

[2016sub8]
ParameterName=input position filter bandwidth
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=10
PDOMapping=0

[2017]
ParameterName=IIT
ObjectType=9
SubNumber=4

[2017sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x03
PDOMapping=0

[2017sub1]
ParameterName=iit limit
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=90
PDOMapping=0

[2017sub2]
ParameterName=iit value
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=1

[2017sub3]
ParameterName=iit on threshold
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=1000
PDOMapping=0

[2018]
ParameterName=bus voltage
ObjectType=9
SubNumber=8

[2018sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x07
PDOMapping=0

[2018sub1]
ParameterName=over threshold
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2018sub2]
ParameterName=under threshold
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2018sub3]
ParameterName=max voltage
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2018sub4]
ParameterName=min voltage
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[2018sub5]
ParameterName=percent useage
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=100
PDOMapping=0

[2018sub6]
ParameterName=under voltage ms delay
ObjectType=7
DataType=0x0006
AccessType=ro
DefaultValue=0
PDOMapping=0

[2018sub7]
ParameterName=over voltage ms delay
ObjectType=7
DataType=0x0006
AccessType=ro
DefaultValue=0
PDOMapping=0

[2019]
ParameterName=emergency enable
ObjectType=9
SubNumber=17

[2019sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x10
PDOMapping=0

[2019sub1]
ParameterName=enable velocity lost
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2019sub2]
ParameterName=enable iit
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2019sub3]
ParameterName=enable heartbeat lost
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2019sub4]
ParameterName=enable sync timeout
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2019sub5]
ParameterName=enable rx overrun
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2019sub6]
ParameterName=enable tx overun
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2019sub7]
ParameterName=enable remote reset
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2019sub8]
ParameterName=enable tpdo out of window
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2019sub9]
ParameterName=enable rpdo length
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2019subA]
ParameterName=enable rpdo timeout
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2019subB]
ParameterName=enable sync data length
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2019subC]
ParameterName=en stall emcy
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=1
PDOMapping=0

[2019subD]
ParameterName=enable vbat low emcy
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=1
PDOMapping=0

[2019subE]
ParameterName=reserved
ObjectType=7
DataType=0x0001
AccessType=ro
DefaultValue=0
PDOMapping=0

[2019subF]
ParameterName=reserved
ObjectType=7
DataType=0x0001
AccessType=ro
DefaultValue=0
PDOMapping=0

[2019sub10]
ParameterName=reserved
ObjectType=7
DataType=0x0001
AccessType=ro
DefaultValue=0
PDOMapping=0

[201A]
ParameterName=feedforward
ObjectType=9
SubNumber=3

[201Asub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[201Asub1]
ParameterName=velocity feedforward
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1000
DefaultValue=1000
PDOMapping=0

[201Asub2]
ParameterName=acceleration feedforward
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1000
DefaultValue=0
PDOMapping=0

[201B]
ParameterName=temperature
ObjectType=9
SubNumber=11

[201Bsub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x0A
PDOMapping=0

[201Bsub1]
ParameterName=board temperature
ObjectType=7
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=1

[201Bsub2]
ParameterName=motor temperature
ObjectType=7
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=0

[201Bsub3]
ParameterName=board max temperature
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=100000
PDOMapping=0

[201Bsub4]
ParameterName=board min temperature
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=-40000
PDOMapping=0

[201Bsub5]
ParameterName=motor max temperature
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=100000
PDOMapping=0

[201Bsub6]
ParameterName=motor min temperature
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=-40000
PDOMapping=0

[201Bsub7]
ParameterName=board temperature warning on threshold
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=0

[201Bsub8]
ParameterName=board temperature warning off threshold
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=0

[201Bsub9]
ParameterName=motor temperature warning on threshold
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=0

[201BsubA]
ParameterName=board temperature warning off threshold
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=0

[201C]
ParameterName=resistor
ObjectType=9
SubNumber=5

[201Csub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x04
PDOMapping=0

[201Csub1]
ParameterName=resistor value
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[201Csub2]
ParameterName=ramp start valtage
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[201Csub3]
ParameterName=ramp end voltage
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[201Csub4]
ParameterName=regen current
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[201D]
ParameterName=vbat
ObjectType=9
SubNumber=3

[201Dsub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[201Dsub1]
ParameterName=low voltage detect threshold
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=3000
PDOMapping=0

[201Dsub2]
ParameterName=battery voltage
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=2500
PDOMapping=0

[201E]
ParameterName=adaptive notch filter
ObjectType=9
SubNumber=4

[201Esub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x03
PDOMapping=0

[201Esub1]
ParameterName=enable
ObjectType=7
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[201Esub2]
ParameterName=q
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=30
PDOMapping=0

[201Esub3]
ParameterName=low frequency limit
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=200
PDOMapping=0

[2030]
ParameterName=torque window
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=10
PDOMapping=0

[2031]
ParameterName=torque window timeout
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=1
PDOMapping=0

[2032]
ParameterName=torque mode additional para
ObjectType=9
SubNumber=3

[2032sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[2032sub1]
ParameterName=torque mode max velocity
ObjectType=7
DataType=0x0007
AccessType=rw
PDOMapping=0

[2032sub2]
ParameterName=torque mode kp
ObjectType=7
DataType=0x0007
AccessType=rw
PDOMapping=0

[2033]
ParameterName=sync in time
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=30
PDOMapping=0

[2034]
ParameterName=internalTargetReachValue
ObjectType=7
DataType=0x0003
AccessType=rw
DefaultValue=1
PDOMapping=0

[2035]
ParameterName=sync delay time
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=1
PDOMapping=0

[203A]
ParameterName=homing block
ObjectType=9
SubNumber=3

[203Asub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[203Asub1]
ParameterName=block trigger current
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=-250
PDOMapping=0

[203Asub2]
ParameterName=block duration
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=10
PDOMapping=0

[203B]
ParameterName=limit switch
ObjectType=9
SubNumber=2

[203Bsub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x01
PDOMapping=0

[203Bsub1]
ParameterName=limit switch type
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[203C]
ParameterName=mode swtich amplifier
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=1
PDOMapping=0

[2080]
ParameterName=syncReceived
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=1

[2240]
ParameterName=digital input control
ObjectType=9
SubNumber=5

[2240sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x04
PDOMapping=0

[2240sub1]
ParameterName=special function enable
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2240sub2]
ParameterName=input inverted
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2240sub3]
ParameterName=input raw value
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=1

[2240sub4]
ParameterName=estop enable
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=1

[2250]
ParameterName=digital output control
ObjectType=9
SubNumber=4

[2250sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x03
PDOMapping=0

[2250sub1]
ParameterName=special function enable
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2250sub2]
ParameterName=output inverted
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2250sub3]
ParameterName=output raw value
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=1

[3000]
ParameterName=absolute target posiion
ObjectType=7
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=1

[3100]
ParameterName=nls position
ObjectType=7
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=1

[3101]
ParameterName=pls position
ObjectType=7
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=1

[4008]
ParameterName=can error count
ObjectType=9
SubNumber=8

[4008sub0]
ParameterName=Highest sub-index supported
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x07
PDOMapping=0

[4008sub1]
ParameterName=stuff error count
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[4008sub2]
ParameterName=form error count
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[4008sub3]
ParameterName=ack error count
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[4008sub4]
ParameterName=recessive error count
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[4008sub5]
ParameterName=dominant error count
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[4008sub6]
ParameterName=crc error count
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[4008sub7]
ParameterName=reserved
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0