[FileInfo] CreatedBy=RINUC.C ModifiedBy=RINUC.C Description=EDS file for SF Series eDriver Servo Drive within CANopen Slave CreationTime=06:03PM CreationDate=09-05-2022 ModificationTime=06:03PM ModificationDate=09-05-2022 FileName=sf.eds FileVersion=0x05 FileRevision=0x04 EDSVersion=1.5 [DeviceInfo] VendorName=RINUC CONTROL VendorNumber=0x5A65726F ProductName=eDriver ProductNumber=0x26483052 RevisionNumber=0x00020111 OrderCode=0 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=1 Granularity=8 DynamicChannelsSupported=0 CompactPDO=0 GroupMessaging=0 NrOfRXPDO=4 NrOfTXPDO=4 LSS_Supported=0 [DummyUsage] Dummy0001=0 Dummy0002=1 Dummy0003=1 Dummy0004=1 Dummy0005=1 Dummy0006=1 Dummy0007=1 [Comments] Lines=1 Line1=EDS file for SF Series Control Servo Drive within CANopen Slave [MandatoryObjects] SupportedObjects=3 1=0x1000 2=0x1001 3=0x1018 [1000] ParameterName=Device Type ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x420192 PDOMapping=0 [1001] ParameterName=Error Register ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0 PDOMapping=1 LowLimit=0 HighLimit=0xFF [1018] ParameterName=Identity Object ObjectType=0x9 SubNumber=4 [1018sub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=3 PDOMapping=0 ObjFlags=0 [1018sub1] ParameterName=Vendor ID ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x5A65726F PDOMapping=0 [1018sub2] ParameterName=Product code ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x26483052 PDOMapping=0 [1018sub3] ParameterName=Revision number ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x00020111 PDOMapping=0 ObjFlags=0 [OptionalObjects] SupportedObjects=79 1=0x1003 2=0x1005 3=0x1006 4=0x100C 5=0x100D 6=0x1010 7=0x1014 8=0x1016 9=0x1017 10=0x1029 11=0x1200 12=0x1400 13=0x1401 14=0x1402 15=0x1403 16=0x1600 17=0x1601 18=0x1602 19=0x1603 20=0x1800 21=0x1801 22=0x1802 23=0x1803 24=0x1A00 25=0x1A01 26=0x1A02 27=0x1A03 28=0x603F 29=0x6040 30=0x6041 31=0x605B 32=0x605E 33=0x6060 34=0x6061 35=0x6062 36=0x6064 37=0x6065 38=0x6067 39=0x6068 40=0x606B 41=0x606C 42=0x606D 43=0x606E 44=0x606F 45=0x6071 46=0x6074 47=0x6075 48=0x6076 49=0x6077 50=0x6078 51=0x6079 52=0x607A 53=0x607C 54=0x607D 55=0x607F 56=0x6080 57=0x6081 58=0x6083 59=0x6084 60=0x6085 61=0x6086 62=0x6087 63=0x6093 64=0x6098 65=0x6099 66=0x609A 67=0x60B0 68=0x60B1 69=0x60B2 70=0x60C0 71=0x60C1 72=0x60C2 73=0x60C5 74=0x60C6 75=0x60F2 76=0x60F4 77=0x60FD 78=0x60FF 79=0x6502 [1003] ParameterName=Pre-defined Error Field ObjectType=0x8 SubNumber=5 [1003sub0] ParameterName=Number of errors ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1003sub1] ParameterName=Standard Error Field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x0000 PDOMapping=0 ObjFlags=0 [1003sub2] ParameterName=Standard Error Field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x0000 PDOMapping=0 ObjFlags=0 [1003sub3] ParameterName=Standard Error Field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x0000 PDOMapping=0 ObjFlags=0 [1003sub4] ParameterName=Standard Error Field ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=0x0000 PDOMapping=0 ObjFlags=0 [1005] ParameterName=COB-ID SYNC message ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x80 PDOMapping=0 [1006] ParameterName=Communication Cycle Period ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [100C] ParameterName=Guard Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0x00 PDOMapping=0 [100D] ParameterName=Life Time Factor ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1010] ParameterName=Store parameters ObjectType=0x8 SubNumber=2 [1010sub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=1 PDOMapping=0 ObjFlags=0 [1010sub1] ParameterName=Save All Parameters ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 ObjFlags=0 [1014] ParameterName=COB-ID Emergency message ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NodeID+0x80 PDOMapping=0 [1016] ParameterName=Consumer Heartbeat Time ObjectType=0x8 SubNumber=2 [1016sub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=1 PDOMapping=0 ObjFlags=0 [1016sub1] ParameterName=Consumer Heartbeat Time ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1017] ParameterName=Producer Heartbeat Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1029] ParameterName=Error Behavior ObjectType=0x8 SubNumber=2 [1029sub0] ParameterName=Number of Error Classes ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=1 PDOMapping=0 LowLimit=0 HighLimit=1 ObjFlags=0 [1029sub1] ParameterName=Communication Error ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 LowLimit=0 HighLimit=2 ObjFlags=0 [1200] ParameterName=Server SDO parameter ObjectType=0x9 SubNumber=3 [1200sub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 ObjFlags=0 [1200sub1] ParameterName=COB ID Client to Server (Receive SDO) ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NodeID+0x600 PDOMapping=0 [1200sub2] ParameterName=COB ID Server to Client (Transmit SDO) ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=$NodeID+0x580 PDOMapping=0 [1400] ParameterName=Receive PDO 1 Communication Parameter ObjectType=0x9 SubNumber=5 [1400sub0] ParameterName=Highest SubIndex Supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [1400sub1] ParameterName=COB ID used by PDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID+0x200 PDOMapping=0 [1400sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1400sub3] ParameterName=Inhibit Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1400sub5] ParameterName=Event Timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1401] ParameterName=Receive PDO 2 Communication Parameter ObjectType=0x9 SubNumber=5 [1401sub0] ParameterName=Highest SubIndex Supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [1401sub1] ParameterName=COB ID used by PDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID+0x80000300 PDOMapping=0 [1401sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1401sub3] ParameterName=Inhibit Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1401sub5] ParameterName=Event Timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1402] ParameterName=Receive PDO 3 Communication Parameter ObjectType=0x9 SubNumber=5 [1402sub0] ParameterName=Highest SubIndex Supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [1402sub1] ParameterName=COB ID used by PDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID+0x80000400 PDOMapping=0 [1402sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1402sub3] ParameterName=Inhibit Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1402sub5] ParameterName=Event Timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1403] ParameterName=Receive PDO 4 Communication Parameter ObjectType=0x9 SubNumber=5 [1403sub0] ParameterName=Highest SubIndex Supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [1403sub1] ParameterName=COB ID used by PDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID+0x80000500 PDOMapping=0 [1403sub2] ParameterName=Transmission Type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1403sub3] ParameterName=Inhibit Time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1403sub5] ParameterName=Event Timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1600] ParameterName=Receive PDO 1 Mapping ObjectType=0x8 SubNumber=9 [1600sub0] ParameterName=number of mapped application objects in PDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=0 [1600sub1] ParameterName=PDO mapping 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 [1600sub2] ParameterName=PDO mapping 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1600sub3] ParameterName=PDO mapping 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1600sub4] ParameterName=PDO mapping 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1600sub5] ParameterName=PDO mapping 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1600sub6] ParameterName=PDO mapping 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1600sub7] ParameterName=PDO mapping 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 [1600sub8] ParameterName=PDO mapping 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1601] ParameterName=Receive PDO 2 Mapping ObjectType=0x8 SubNumber=9 ObjFlags=0x0 [1601sub0] ParameterName=number of mapped application objects in PDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 ObjFlags=0 [1601sub1] ParameterName=PDO mapping 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 ObjFlags=0 [1601sub2] ParameterName=PDO mapping 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x607A0020 PDOMapping=0 ObjFlags=0 [1601sub3] ParameterName=PDO mapping 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1601sub4] ParameterName=PDO mapping 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1601sub5] ParameterName=PDO mapping 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1601sub6] ParameterName=PDO mapping 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1601sub7] ParameterName=PDO mapping 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1601sub8] ParameterName=PDO mapping 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1602] ParameterName=Receive PDO 3 Mapping ObjectType=0x8 SubNumber=9 ObjFlags=0x0 [1602sub0] ParameterName=number of mapped application objects in PDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 ObjFlags=0 [1602sub1] ParameterName=PDO mapping 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60400010 PDOMapping=0 ObjFlags=0 [1602sub2] ParameterName=PDO mapping 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60FF0020 PDOMapping=0 ObjFlags=0 [1602sub3] ParameterName=PDO mapping 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1602sub4] ParameterName=PDO mapping 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1602sub5] ParameterName=PDO mapping 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1602sub6] ParameterName=PDO mapping 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1602sub7] ParameterName=PDO mapping 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1602sub8] ParameterName=PDO mapping 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1603] ParameterName=Receive PDO 3 Mapping ObjectType=0x8 SubNumber=9 ObjFlags=0x0 [1603sub0] ParameterName=number of mapped application objects in PDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1603sub1] ParameterName=PDO mapping 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1603sub2] ParameterName=PDO mapping 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1603sub3] ParameterName=PDO mapping 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1603sub4] ParameterName=PDO mapping 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1603sub5] ParameterName=PDO mapping 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1603sub6] ParameterName=PDO mapping 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1603sub7] ParameterName=PDO mapping 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1603sub8] ParameterName=PDO mapping 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1800] ParameterName=Transmit PDO 1 Communication Parameter ObjectType=0x9 SubNumber=5 [1800sub0] ParameterName=Highest SubIndex Supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [1800sub1] ParameterName=COB ID used by PDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID+0x180 PDOMapping=0 [1800sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1800sub3] ParameterName=inhibit time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1800sub5] ParameterName=event timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1801] ParameterName=Transmit PDO 2 Communication Parameter ObjectType=0x9 SubNumber=5 [1801sub0] ParameterName=Highest SubIndex Supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [1801sub1] ParameterName=COB ID used by PDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID+0x80000280 PDOMapping=0 [1801sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1801sub3] ParameterName=inhibit time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1801sub5] ParameterName=event timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1802] ParameterName=Transmit PDO 3 Communication Parameter ObjectType=0x9 SubNumber=5 [1802sub0] ParameterName=Highest SubIndex Supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [1802sub1] ParameterName=COB ID used by PDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID+0x80000380 PDOMapping=0 [1802sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1802sub3] ParameterName=inhibit time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1802sub5] ParameterName=event timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1803] ParameterName=Transmit PDO 4 Communication Parameter ObjectType=0x9 SubNumber=5 [1803sub0] ParameterName=Highest SubIndex Supported ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=4 PDOMapping=0 [1803sub1] ParameterName=COB ID used by PDO ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=$NodeID+0x80000480 PDOMapping=0 [1803sub2] ParameterName=transmission type ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=255 PDOMapping=0 [1803sub3] ParameterName=inhibit time ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1803sub5] ParameterName=event timer ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [1A00] ParameterName=Transmit PDO 1 Mapping ObjectType=0x8 SubNumber=9 ObjFlags=0x0 [1A00sub0] ParameterName=number of mapped application objects in PDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=1 PDOMapping=0 ObjFlags=0 [1A00sub1] ParameterName=PDO mapping 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60410010 PDOMapping=0 ObjFlags=0 [1A00sub2] ParameterName=PDO mapping 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A00sub3] ParameterName=PDO mapping 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A00sub4] ParameterName=PDO mapping 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A00sub5] ParameterName=PDO mapping 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A00sub6] ParameterName=PDO mapping 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A00sub7] ParameterName=PDO mapping 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A00sub8] ParameterName=PDO mapping 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A01] ParameterName=Transmit PDO 2 Mapping ObjectType=0x8 SubNumber=9 ObjFlags=0x0 [1A01sub0] ParameterName=number of mapped application objects in PDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 ObjFlags=0 [1A01sub1] ParameterName=PDO mapping 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60410010 PDOMapping=0 ObjFlags=0 [1A01sub2] ParameterName=PDO mapping 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60640020 PDOMapping=0 ObjFlags=0 [1A01sub3] ParameterName=PDO mapping 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A01sub4] ParameterName=PDO mapping 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A01sub5] ParameterName=PDO mapping 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A01sub6] ParameterName=PDO mapping 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A01sub7] ParameterName=PDO mapping 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A01sub8] ParameterName=PDO mapping 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A02] ParameterName=Transmit PDO 3 Mapping ObjectType=0x8 SubNumber=9 ObjFlags=0x0 [1A02sub0] ParameterName=number of mapped application objects in PDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=2 PDOMapping=0 ObjFlags=0 [1A02sub1] ParameterName=PDO mapping 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x60410010 PDOMapping=0 ObjFlags=0 [1A02sub2] ParameterName=PDO mapping 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0x606c0020 PDOMapping=0 ObjFlags=0 [1A02sub3] ParameterName=PDO mapping 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A02sub4] ParameterName=PDO mapping 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A02sub5] ParameterName=PDO mapping 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A02sub6] ParameterName=PDO mapping 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A02sub7] ParameterName=PDO mapping 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A02sub8] ParameterName=PDO mapping 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A03] ParameterName=Transmit PDO 4 Mapping ObjectType=0x8 SubNumber=9 ObjFlags=0x0 [1A03sub0] ParameterName=number of mapped application objects in PDO ObjectType=0x7 DataType=0x0005 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A03sub1] ParameterName=PDO mapping 1 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A03sub2] ParameterName=PDO mapping 2 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A03sub3] ParameterName=PDO mapping 3 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A03sub4] ParameterName=PDO mapping 4 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A03sub5] ParameterName=PDO mapping 5 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A03sub6] ParameterName=PDO mapping 6 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A03sub7] ParameterName=PDO mapping 7 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [1A03sub8] ParameterName=PDO mapping 8 ObjectType=0x7 DataType=0x0007 AccessType=rw DefaultValue=0 PDOMapping=0 ObjFlags=0 [603F] ParameterName=Error Code ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=1 LowLimit=0 HighLimit=0xFFFF ObjFlags=0x0 [6040] ParameterName=Controlword ObjectType=0x7 DataType=0x0006 AccessType=rww PDOMapping=1 LowLimit=0 HighLimit=0xFFFF ObjFlags=0x0 [6041] ParameterName=Statusword ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=1 LowLimit=0 HighLimit=0xFFFF ObjFlags=0x0 [605B] ParameterName=Shutdown option code ObjectType=0x7 DataType=0x0003 AccessType=rww DefaultValue=0x0000 PDOMapping=0 ObjFlags=0x0 [605E] ParameterName=Fault reaction option code ObjectType=0x7 DataType=0x0003 AccessType=rw DefaultValue=0x0002 PDOMapping=0 ObjFlags=0x0 [6060] ParameterName=Modes of operation ObjectType=0x7 DataType=0x0002 AccessType=rww DefaultValue=0 PDOMapping=1 ObjFlags=0x0 [6061] ParameterName=Modes of operation display ObjectType=0x7 DataType=0x0002 AccessType=ro DefaultValue=0 PDOMapping=1 ObjFlags=0x0 [6062] ParameterName=Position demand value ObjectType=0x7 DataType=0x0004 AccessType=ro DefaultValue=0 PDOMapping=1 ObjFlags=0x0 [6064] ParameterName=Position actual value ObjectType=0x7 DataType=0x0004 AccessType=ro PDOMapping=1 ObjFlags=0x0 [6065] ParameterName=Following error window ObjectType=0x7 DataType=0x0004 AccessType=rww PDOMapping=1 ObjFlags=0x0 [6067] ParameterName=Position window ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=100 PDOMapping=1 ObjFlags=0x0 [6068] ParameterName=Position window time ObjectType=0x7 DataType=0x0003 AccessType=rww PDOMapping=1 ObjFlags=0x0 [606B] ParameterName=Velocity demand value ObjectType=0x7 DataType=0x0004 AccessType=rww PDOMapping=1 ObjFlags=0x0 [606C] ParameterName=Velocity actual value ObjectType=0x7 DataType=0x0004 AccessType=ro PDOMapping=1 ObjFlags=0x0 [606D] ParameterName=Velocity window ObjectType=0x7 DataType=0x0003 AccessType=rww DefaultValue=100 PDOMapping=1 ObjFlags=0x0 [606E] ParameterName=Velocity window time ObjectType=0x7 DataType=0x0003 AccessType=rww PDOMapping=1 ObjFlags=0x0 [606F] ParameterName=Velocity threshold ObjectType=0x7 DataType=0x0006 AccessType=rww PDOMapping=1 ObjFlags=0x0 [6071] ParameterName=Target torque ObjectType=0x7 DataType=0x0003 AccessType=rww PDOMapping=1 ObjFlags=0x0 [6074] ParameterName=Torque demand value ObjectType=0x7 DataType=0x0003 AccessType=ro PDOMapping=1 ObjFlags=0x0 [6075] ParameterName=Motor rated current ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=1 ObjFlags=0x0 [6076] ParameterName=Motor rated torque ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=1 LowLimit=0 HighLimit=0xFFFFFFFF ObjFlags=0x0 [6077] ParameterName=Torque actual value ObjectType=0x7 DataType=0x0003 AccessType=ro PDOMapping=1 ObjFlags=0x0 [6078] ParameterName=Current actual value ObjectType=0x7 DataType=0x0003 AccessType=ro PDOMapping=1 ObjFlags=0x0 [6079] ParameterName=DC link circuit voltage ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=1 ObjFlags=0x1 [607A] ParameterName=Target Position ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 ObjFlags=0x0 [607C] ParameterName=Home offset ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 LowLimit=0x80000000 HighLimit=0x7FFFFFFF ObjFlags=0x0 [607D] ParameterName=Software position limit ObjectType=0x8 SubNumber=3 ObjFlags=0x0 [607Dsub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x0005 AccessType=const DefaultValue=2 PDOMapping=0 LowLimit=2 HighLimit=2 ObjFlags=0 [607Dsub1] ParameterName=Min position limit ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=-2147483648 PDOMapping=1 LowLimit=-2147483648 HighLimit=2147483647 ObjFlags=0 [607Dsub2] ParameterName=Max position limit ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=2147483647 PDOMapping=1 LowLimit=-2147483648 HighLimit=2147483647 ObjFlags=0 [607F] ParameterName=Max profile velocity ObjectType=0x7 DataType=0x0007 AccessType=rww PDOMapping=1 LowLimit=100 ObjFlags=0x0 [6080] ParameterName=Max motor speed ObjectType=0x7 DataType=0x0007 AccessType=rww PDOMapping=1 LowLimit=10 ObjFlags=0x0 [6081] ParameterName=Profile velocity ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=10000 PDOMapping=1 ObjFlags=0x0 [6083] ParameterName=Profile acceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=200 PDOMapping=1 ObjFlags=0x0 [6084] ParameterName=Profile deceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=200 PDOMapping=1 ObjFlags=0x0 [6085] ParameterName=Quick stop deceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=200 PDOMapping=1 LowLimit=1 HighLimit=65500 ObjFlags=0x0 [6086] ParameterName=Motion profile type ObjectType=0x7 DataType=0x0003 AccessType=rww DefaultValue=0 PDOMapping=1 LowLimit=0 HighLimit=0 ObjFlags=0x0 [6087] ParameterName=Torque slope ObjectType=0x7 DataType=0x0007 AccessType=rww PDOMapping=1 ObjFlags=0x0 [6093] ParameterName=Position factor ObjectType=0x8 SubNumber=3 ObjFlags=0x0 [6093sub0] ParameterName=number of entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 ObjFlags=0 [6093sub1] ParameterName=Numerator ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=1 PDOMapping=1 ObjFlags=0 [6093sub2] ParameterName=feed constant ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=1 PDOMapping=1 ObjFlags=0 [6098] ParameterName=Homing method ObjectType=0x7 DataType=0x0002 AccessType=rww DefaultValue=0 PDOMapping=1 LowLimit=0 HighLimit=35 ObjFlags=0x0 [6099] ParameterName=Homing speeds ObjectType=0x8 SubNumber=3 ObjFlags=0x0 [6099sub0] ParameterName=number of entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 ObjFlags=0 [6099sub1] ParameterName=Speed during search for switch ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=100 PDOMapping=1 LowLimit=1 HighLimit=20000 ObjFlags=0 [6099sub2] ParameterName=Speed during search for zero ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=20 PDOMapping=1 LowLimit=1 HighLimit=5000 ObjFlags=0 [609A] ParameterName=Homing acceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=100 PDOMapping=1 ObjFlags=0x0 [60B0] ParameterName=Position offset ObjectType=0x7 DataType=0x0004 AccessType=rww PDOMapping=1 LowLimit=0x80000000 HighLimit=0x7FFFFFFF ObjFlags=0x0 [60B1] ParameterName=Velocity offset ObjectType=0x7 DataType=0x0004 AccessType=rww PDOMapping=1 LowLimit=0x80000000 HighLimit=0x7FFFFFFF ObjFlags=0x0 [60B2] ParameterName=Torque offset ObjectType=0x7 DataType=0x0003 AccessType=rww PDOMapping=1 LowLimit=-3000 HighLimit=3000 ObjFlags=0x0 [60C0] ParameterName=Interpolation sub mode select ObjectType=0x7 DataType=0x0003 AccessType=rww DefaultValue=0 PDOMapping=1 ObjFlags=0x0 [60C1] ParameterName=Interpolation data record ObjectType=0x8 SubNumber=3 ObjFlags=0x0 [60C1sub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x0005 AccessType=const DefaultValue=2 PDOMapping=0 ObjFlags=0 [60C1sub1] ParameterName=Parameter1 of ip function ObjectType=0x7 DataType=0x0003 AccessType=rww DefaultValue=0 PDOMapping=1 ObjFlags=0 [60C1sub2] ParameterName=Parameter2 of ip function ObjectType=0x7 DataType=0x0003 AccessType=rww DefaultValue=0 PDOMapping=1 ObjFlags=0 [60C2] ParameterName=Interpolation time period ObjectType=0x9 SubNumber=3 ObjFlags=0x0 [60C2sub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x0005 AccessType=ro DefaultValue=2 PDOMapping=0 ObjFlags=0 [60C2sub1] ParameterName=Interpolation time units ObjectType=0x7 DataType=0x0005 AccessType=rww PDOMapping=1 ObjFlags=0 [60C2sub2] ParameterName=Interpolation time index ObjectType=0x7 DataType=0x0002 AccessType=rww PDOMapping=0 ObjFlags=0 [60C5] ParameterName=Max acceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=200 PDOMapping=1 LowLimit=1 HighLimit=65500 ObjFlags=0x0 [60C6] ParameterName=Max deceleration ObjectType=0x7 DataType=0x0007 AccessType=rww DefaultValue=200 PDOMapping=1 LowLimit=1 HighLimit=65500 ObjFlags=0x0 [60F2] ParameterName=Positioning option code ObjectType=0x7 DataType=0x0006 AccessType=rww DefaultValue=0 PDOMapping=1 LowLimit=0 HighLimit=0xFFFF ObjFlags=0x0 [60F4] ParameterName=Following error actual value ObjectType=0x7 DataType=0x0004 AccessType=ro PDOMapping=1 ObjFlags=0x0 [60FD] ParameterName=Digital inputs ObjectType=0x7 DataType=0x0007 AccessType=ro PDOMapping=1 ObjFlags=0x0 [60FF] ParameterName=Target velocity ObjectType=0x7 DataType=0x0004 AccessType=rww DefaultValue=0 PDOMapping=1 ObjFlags=0x0 [6502] ParameterName=Supported drive modes ObjectType=0x7 DataType=0x0007 AccessType=ro DefaultValue=909 PDOMapping=1 ObjFlags=0x0 [ManufacturerObjects] SupportedObjects=10 1=0x20A0 2=0x2205 3=0x2240 4=0x2241 5=0x22A2 6=0x2380 7=0x2381 8=0x2382 9=0x3B60 10=0x3B69 [20A0] ParameterName=Auxiliary position actual value ObjectType=0x7 DataType=0x0004 AccessType=ro PDOMapping=1 ObjFlags=0x0 [2205] ParameterName=Analog Input ObjectType=0x7 DataType=0x0003 AccessType=ro PDOMapping=1 ObjFlags=0x0 [2240] ParameterName=Motor Encoder Position ObjectType=0x7 DataType=0x0004 AccessType=ro PDOMapping=1 ObjFlags=0x1 [2241] ParameterName=Dual encoder difference value ObjectType=0x7 DataType=0x0004 AccessType=ro PDOMapping=1 ObjFlags=0x1 [22A2] ParameterName=Drive Temperature ObjectType=0x7 DataType=0x0006 AccessType=ro PDOMapping=0 ObjFlags=0x0 [2380] ParameterName=Current Loop Gains ObjectType=0x8 SubNumber=3 ObjFlags=0x0 [2380sub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x0005 AccessType=const DefaultValue=2 PDOMapping=0 LowLimit=2 HighLimit=2 ObjFlags=0 [2380sub1] ParameterName=Current Loop Proportional Gain ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [2380sub2] ParameterName=Current Loop integral Gain ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [2381] ParameterName=Velocity Loop Gains ObjectType=0x8 SubNumber=3 ObjFlags=0x0 [2381sub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x0005 AccessType=const DefaultValue=2 PDOMapping=0 LowLimit=2 HighLimit=2 ObjFlags=0 [2381sub1] ParameterName=Velocity Loop Proportional Gain ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [2381sub2] ParameterName=Velocity Loop integral Gain ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [2382] ParameterName=Position Loop Gains ObjectType=0x8 SubNumber=3 ObjFlags=0x0 [2382sub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x0005 AccessType=const DefaultValue=2 PDOMapping=0 LowLimit=2 HighLimit=2 ObjFlags=0 [2382sub1] ParameterName=Position Loop Proportional Gain ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [2382sub2] ParameterName=Position Loop integral Gain ObjectType=0x7 DataType=0x0006 AccessType=rw DefaultValue=0 PDOMapping=0 [3B60] ParameterName=Velocity Error Window ObjectType=0x7 DataType=0x0007 AccessType=rw PDOMapping=0 ObjFlags=0x0 [3B69] ParameterName=Torque sensor ObjectType=0x7 DataType=0x0004 AccessType=ro PDOMapping=1 ObjFlags=0x0