[FileInfo]
EDSVersion=4.0
FileName=SD700_Ed.eds
FileVersion=0x02
FileRevision=0x65
Description=EDS for veichi product
CreationTime=11:22 AM
CreationDate=10-20-2013
CreatedBy=VEICHI
ModificationTime=06:11 PM
ModificationDate=04-23-2018
ModifiedBy=shenzhen veichi electronic co.,ltd

[DeviceInfo]
VendorName=veichi electronic co.,ltd
VendorNumber=0x0000000A
ProductName=veichi_servov1.0
ProductNumber=0x0000000A
RevisionNumber=0x00000064
OrderCode=veichi_servo
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=1
Granularity=0x08
DynamicChannelsSupported=0x00000000
GroupMessaging=0
LSS_Supported=0
NrOfRXPDO=4
NrOfTXPDO=4
CompactPDO=0x00

[Comments]
Lines=1
Line1=EDS file for veichi_canopen01

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

[DynamicChannels]

[MandatoryObjects]
SupportedObjects=0x002D
1=0x1000
2=0x1001
3=0x1018
4=0x2000
5=0x2A00
6=0x2A01
7=0x2A04
8=0x2A06
9=0x2A08
10=0x2A09
11=0x2A0B
12=0x2A0D
13=0x2A0F
14=0x2A10
15=0x2A12
16=0x2A14
17=0x2A16
18=0x2A17
19=0x2A19
20=0x2A1B
21=0x2A1D
22=0x2A1E
23=0x2A20
24=0x2A22
25=0x2A24
26=0x2A25
27=0x2A27
28=0x2A29
29=0x2A2B
30=0x2A2C
31=0x2A2E
32=0x2A30
33=0x2A32
34=0x2A33
35=0x2A35
36=0x2A37
37=0x2A39
38=0x2A3A
39=0x2A3C
40=0x2A3E
41=0x2A40
42=0x2A41
43=0x2A43
44=0x2A45
45=0x2A47

[ManufacturerObjects]
SupportedObjects=0x0025
1=0x603F
2=0x6040
3=0x6041
4=0x6060
5=0x6061
6=0x6062
7=0x6064
8=0x6065
9=0x6067
10=0x6068
11=0x606B
12=0x606C
13=0x606D
14=0x606E
15=0x606F
16=0x6070
17=0x6071
18=0x6074
19=0x6075
20=0x6076
21=0x6077
22=0x6078
23=0x607A
24=0x607C
25=0x6081
26=0x6083
27=0x6084
28=0x6093
29=0x6098
30=0x6099
31=0x609A
32=0x60C1
33=0x60C2
34=0x60FC
35=0x60FD
36=0x60FE
37=0x60FF

[OptionalObjects]
SupportedObjects=0x001D
1=0x1003
2=0x1005
3=0x1006
4=0x100C
5=0x100D
6=0x1010
7=0x1011
8=0x1014
9=0x1016
10=0x1017
11=0x1029
12=0x1200
13=0x1400
14=0x1401
15=0x1402
16=0x1403
17=0x1600
18=0x1601
19=0x1602
20=0x1603
21=0x1800
22=0x1801
23=0x1802
24=0x1803
25=0x1A00
26=0x1A01
27=0x1A02
28=0x1A03
29=0x2A02

[1000]
ParameterName=Device Type
ObjectType=7
AccessType=RO
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0xFFFF0402

[1001]
ParameterName=Error Register
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFF
DefaultValue=0x0

[1003]
SubNumber=0x05
ParameterName=Pre-defined Error Field
ObjectType=8
ObjFlags=0x00000000

[1003sub0]
ParameterName=number of errors
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x4

[1003sub1]
ParameterName=standard error field
ObjectType=7
AccessType=RO
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1003sub2]
ParameterName=standard error field
ObjectType=7
AccessType=RO
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1003sub3]
ParameterName=standard error field
ObjectType=7
AccessType=RO
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1003sub4]
ParameterName=standard error field
ObjectType=7
AccessType=RO
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1005]
ParameterName=COB-ID SYNC
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x80

[1006]
ParameterName=Communication cycle period
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[100C]
ParameterName=Guard Time
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[100D]
ParameterName=Life Time Factor
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1010]
SubNumber=0x02
ParameterName=Store Parameters
ObjectType=8
ObjFlags=0x00000000

[1010sub0]
ParameterName=largest supported Sub-Index
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x1

[1010sub2]
ParameterName=save all parameters
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1011]
SubNumber=0x02
ParameterName=restore default parameters
ObjectType=8
ObjFlags=0x00000000

[1011sub0]
ParameterName=largest supported Sub-Index
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x1

[1011sub2]
ParameterName=restore all default parameters
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1014]
ParameterName=COB-ID Emergency message
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x80

[1016]
SubNumber=0x02
ParameterName=Consumer heartbeat time
ObjectType=8
ObjFlags=0x00000000

[1016sub0]
ParameterName=Number Of Entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x1

[1016sub1]
ParameterName=Consumer Heartbeat Time #1
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1017]
ParameterName=Producer Heartbeat Time
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1018]
SubNumber=0x04
ParameterName=Identity Object
ObjectType=9
ObjFlags=0x00000000

[1018sub0]
ParameterName=number of Entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x3

[1018sub1]
ParameterName=Vendor ID
ObjectType=7
AccessType=RO
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFFFFFF
DefaultValue=0xF00002B5

[1018sub2]
ParameterName=Product code
ObjectType=7
AccessType=RO
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x00000006

[1018sub3]
ParameterName=Revision number
ObjectType=7
AccessType=RO
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x00000002

[1029]
SubNumber=0x02
ParameterName=Error Behavior
ObjectType=8
ObjFlags=0x00000000

[1029sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x1

[1029sub1]
ParameterName=Communication error
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0

[1200]
SubNumber=0x03
ParameterName=SDO Parameter
ObjectType=8
ObjFlags=0x00000000

[1200sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x2

[1200sub1]
ParameterName=SDO Receive COB ID
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x600

[1200sub2]
ParameterName=SDO Transfer COB ID
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x580

[1400]
SubNumber=0x03
ParameterName=Receive PDO1 parameter
ObjectType=9
ObjFlags=0x00000000

[1400sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=2

[1400sub1]
ParameterName=COB-ID
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=$NodeID + 0x0200

[1400sub2]
ParameterName=Transmission type
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0xFF

[1401]
SubNumber=0x03
ParameterName=Receive PDO2 parameter
ObjectType=9
ObjFlags=0x00000000

[1401sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=2

[1401sub1]
ParameterName=COB-ID
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=$NodeID + 0x80000300

[1401sub2]
ParameterName=Transmission type
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0xFF

[1402]
SubNumber=0x03
ParameterName=Receive PDO3 parameter
ObjectType=9
ObjFlags=0x00000000

[1402sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=2

[1402sub1]
ParameterName=COB-ID
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=$NodeID + 0x80000400

[1402sub2]
ParameterName=Transmission type
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0xFF

[1403]
SubNumber=0x03
ParameterName=Receive PDO4 parameter
ObjectType=9
ObjFlags=0x00000000

[1403sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=2

[1403sub1]
ParameterName=COB-ID
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=$NodeID + 0x80000500

[1403sub2]
ParameterName=Transmission type
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0xFF

[1600]
SubNumber=0x05
ParameterName=Receive PDO1 mapping
ObjectType=9
ObjFlags=0x00000000

[1600sub0]
ParameterName=Number of mapped objects
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0
HighLimit=4
DefaultValue=1

[1600sub1]
ParameterName=1.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x60400010

[1600sub2]
ParameterName=2.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0

[1600sub3]
ParameterName=3.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1600sub4]
ParameterName=4.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1601]
SubNumber=0x05
ParameterName=Receive PDO2 mapping
ObjectType=9
ObjFlags=0x00000000

[1601sub0]
ParameterName=Number of mapped objects
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0
HighLimit=4
DefaultValue=0

[1601sub1]
ParameterName=1.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1601sub2]
ParameterName=2.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1601sub3]
ParameterName=3.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1601sub4]
ParameterName=4.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0

[1602]
SubNumber=0x05
ParameterName=Receive PDO3 mapping
ObjectType=9
ObjFlags=0x00000000

[1602sub0]
ParameterName=Number of mapped objects
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0
HighLimit=4
DefaultValue=0

[1602sub1]
ParameterName=1.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1602sub2]
ParameterName=2.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1602sub3]
ParameterName=3.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1602sub4]
ParameterName=4.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1603]
SubNumber=0x05
ParameterName=Receive PDO4 mapping
ObjectType=9
ObjFlags=0x00000000

[1603sub0]
ParameterName=Number of mapped objects
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0
HighLimit=4
DefaultValue=0

[1603sub1]
ParameterName=1.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1603sub2]
ParameterName=2.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1603sub3]
ParameterName=3.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1603sub4]
ParameterName=4.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1800]
SubNumber=0x04
ParameterName=Transmit PDO1 parameter
ObjectType=9
ObjFlags=0x00000000

[1800sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x3

[1800sub1]
ParameterName=COB-ID
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=$NodeID + 0x0180

[1800sub2]
ParameterName=Transmission type
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFF
DefaultValue=0xFF

[1800sub3]
ParameterName=Inhibit timer
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFF
DefaultValue=0x64

[1801]
SubNumber=0x04
ParameterName=Transmit PDO2 parameter
ObjectType=9
ObjFlags=0x00000000

[1801sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x3

[1801sub1]
ParameterName=COB-ID
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=$NodeID + 0x80000280

[1801sub2]
ParameterName=Transmission type
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFF
DefaultValue=0xFF

[1801sub3]
ParameterName=Inhibit timer
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFF
DefaultValue=0x64

[1802]
SubNumber=0x04
ParameterName=Transmit PDO3 parameter
ObjectType=9
ObjFlags=0x00000000

[1802sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x3

[1802sub1]
ParameterName=COB-ID
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=$NodeID + 0x80000380

[1802sub2]
ParameterName=Transmission type
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFF
DefaultValue=0xFF

[1802sub3]
ParameterName=Inhibit timer
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFF
DefaultValue=0x64

[1803]
SubNumber=0x04
ParameterName=Transmit PDO4 parameter
ObjectType=9
ObjFlags=0x00000000

[1803sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x3

[1803sub1]
ParameterName=COB-ID
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=$NodeID + 0x80000480

[1803sub2]
ParameterName=Transmission type
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFF
DefaultValue=0xFF

[1803sub3]
ParameterName=Inhibit timer
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFF
DefaultValue=0x64

[1A00]
SubNumber=0x05
ParameterName=Transmit PDO1 mapping
ObjectType=9
ObjFlags=0x00000000

[1A00sub0]
ParameterName=Number of mapped objects
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x1

[1A00sub1]
ParameterName=1.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFFFFFF
DefaultValue=0x60410010

[1A00sub2]
ParameterName=2.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0

[1A00sub3]
ParameterName=3.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFFFFFF
DefaultValue=0

[1A00sub4]
ParameterName=4.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0

[1A01]
SubNumber=0x05
ParameterName=Transmit PDO2 mapping
ObjectType=9
ObjFlags=0x00000000

[1A01sub0]
ParameterName=Number of mapped objects
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1A01sub1]
ParameterName=1.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFFFFFF
DefaultValue=0

[1A01sub2]
ParameterName=2.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFFFFFF
DefaultValue=0

[1A01sub3]
ParameterName=3.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFFFFFF
DefaultValue=0

[1A01sub4]
ParameterName=4.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFFFFFF
DefaultValue=0

[1A02]
SubNumber=0x05
ParameterName=Transmit PDO3 mapping
ObjectType=9
ObjFlags=0x00000000

[1A02sub0]
ParameterName=Number of mapped objects
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1A02sub1]
ParameterName=1.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFFFFFF
DefaultValue=0x0

[1A02sub2]
ParameterName=2.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1A02sub3]
ParameterName=3.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFFFFFF
DefaultValue=0x0

[1A02sub4]
ParameterName=4.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1A03]
SubNumber=0x05
ParameterName=Transmit PDO4 mapping
ObjectType=9
ObjFlags=0x00000000

[1A03sub0]
ParameterName=Number of mapped objects
ObjectType=7
AccessType=RW
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1A03sub1]
ParameterName=1.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFFFFFF
DefaultValue=0x0

[1A03sub2]
ParameterName=2.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[1A03sub3]
ParameterName=3.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0x0
HighLimit=0xFFFFFFFF
DefaultValue=0x0

[1A03sub4]
ParameterName=4.mapped object
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x0

[2000]
SubNumber=0x03
ParameterName=Normal Control Para
ObjectType=8
ObjFlags=0x00000000

[2000sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x2

[2000sub1]
ParameterName=Control Mode
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=1

[2000sub2]
ParameterName=Motor Dir
ObjectType=7
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0

[2A00]
ParameterName=电子凸轮使能位
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
LowLimit=0
HighLimit=1

[2A01]
ParameterName=电子凸轮关键点数
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000
LowLimit=2
HighLimit=10

[2A02]
ParameterName=第1点主轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A04]
ParameterName=第1点从轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A06]
ParameterName=第1点相对速度
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A08]
ParameterName=第1点线型
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000

[2A09]
ParameterName=第2点主轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A0B]
ParameterName=第2点从轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A0D]
ParameterName=第2点相对速度
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A0F]
ParameterName=第2点线型
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000

[2A10]
ParameterName=第3点主轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A12]
ParameterName=第3点从轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A14]
ParameterName=第3点相对速度
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A16]
ParameterName=第3点线型
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000

[2A17]
ParameterName=第4点主轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A19]
ParameterName=第4点从轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A1B]
ParameterName=第4点相对速度
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A1D]
ParameterName=第4点线型
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000

[2A1E]
ParameterName=第5点主轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A20]
ParameterName=第5点从轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A22]
ParameterName=第5点相对速度
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A24]
ParameterName=第5点线型
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000

[2A25]
ParameterName=第6点主轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A27]
ParameterName=第6点从轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A29]
ParameterName=第6点相对速度
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A2B]
ParameterName=第6点线型
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000

[2A2C]
ParameterName=第7点主轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A2E]
ParameterName=第7点从轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A30]
ParameterName=第7点相对速度
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A32]
ParameterName=第7点线型
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000

[2A33]
ParameterName=第8点主轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A35]
ParameterName=第8点从轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A37]
ParameterName=第8点相对速度
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A39]
ParameterName=第8点线型
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000

[2A3A]
ParameterName=第9点主轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A3C]
ParameterName=第9点从轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A3E]
ParameterName=第9点相对速度
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A40]
ParameterName=第9点线型
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000

[2A41]
ParameterName=第10点主轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A43]
ParameterName=第10点从轴位置
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A45]
ParameterName=第10点相对速度
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=0
ObjFlags=0x00000000

[2A47]
ParameterName=第10点线型
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=0
ObjFlags=0x00000000

[603F]
ParameterName=Error Code
ObjectType=7
AccessType=RO
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x0

[6040]
ParameterName=control word
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x0000

[6041]
ParameterName=status word
ObjectType=7
AccessType=RO
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x0000

[6060]
ParameterName=modes of operation
ObjectType=7
AccessType=RW
DataType=0x0002
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00

[6061]
ParameterName=modes_of_operation_dis
ObjectType=7
AccessType=RO
DataType=0x0002
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00

[6062]
ParameterName=Position_demand_value
ObjectType=7
AccessType=RO
DataType=0x0004
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0

[6064]
ParameterName=Position_actual_value
ObjectType=7
AccessType=RO
DataType=0x0004
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0

[6065]
ParameterName=following_error_window
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x0000EA60

[6067]
ParameterName=position_window
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00000064

[6068]
ParameterName=Position window time
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00000000

[606B]
ParameterName=vel_demand_val
ObjectType=7
AccessType=RO
DataType=0x0003
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0

[606C]
ParameterName=vel_actual_val
ObjectType=7
AccessType=RO
DataType=0x0003
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0

[606D]
ParameterName=Velocity window
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=10

[606E]
ParameterName=Velocity window time
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0

[606F]
ParameterName=Velocity threshold
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=10

[6070]
ParameterName=Velocity threshold time
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0

[6071]
ParameterName=target torque
ObjectType=7
AccessType=RW
DataType=0x0003
PDOMapping=1
ObjFlags=0x00000000
LowLimit=-3000
HighLimit=3000
DefaultValue=0

[6074]
ParameterName=Torque demand value
ObjectType=7
AccessType=RW
DataType=0x0003
PDOMapping=1
ObjFlags=0x00000000
LowLimit=-3000
HighLimit=3000
DefaultValue=0

[6075]
ParameterName=Motor Rated Current
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00

[6076]
ParameterName=Motor Rated Torque
ObjectType=7
AccessType=RW
DataType=0x0007
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00

[6077]
ParameterName=Torque actual value
ObjectType=7
AccessType=RW
DataType=0x0003
PDOMapping=1
ObjFlags=0x00000000
LowLimit=-3000
HighLimit=3000
DefaultValue=0

[6078]
ParameterName=Current Actual Value
ObjectType=7
AccessType=RW
DataType=0x0003
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0

[607A]
ParameterName=target_position
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00000000

[607C]
ParameterName=home_offset
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00000000

[6081]
ParameterName=profile_velocity
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00000000

[6083]
ParameterName=profile_acceleration
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0xc8

[6084]
ParameterName=profile_deceleration
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0xc8

[6093]
SubNumber=0x03
ParameterName=Position factor
ObjectType=8
ObjFlags=0x00000000

[6093sub0]
ParameterName=Num of Position factor
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x02

[6093sub1]
ParameterName=Numerator
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00000001

[6093sub2]
ParameterName=Divisor
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00000001

[6098]
ParameterName=homing_method
ObjectType=7
AccessType=RW
DataType=0x0002
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x13

[6099]
SubNumber=0x03
ParameterName=homing_speeds
ObjectType=8
ObjFlags=0x00000000

[6099sub0]
ParameterName=homing_speeds.nr_of_entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x02

[6099sub1]
ParameterName=homing_speeds.search_for_switch
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
LowLimit=100
HighLimit=2000
DefaultValue=0x0064

[6099sub2]
ParameterName=homing_speeds.search_for_zero
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
LowLimit=0
HighLimit=500
DefaultValue=0x000A

[609A]
ParameterName=Homing acceleration
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
LowLimit=10
HighLimit=1000
DefaultValue=0x03E8

[60C1]
SubNumber=0x04
ParameterName=Interpolation Data Record
ObjectType=9
ObjFlags=0x00000000

[60C1sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x3

[60C1sub1]
ParameterName=Position Command
ObjectType=7
AccessType=RW
DataType=0x0004
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0

[60C1sub2]
ParameterName=Abs Select
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0

[60C1sub3]
ParameterName=Velocity
ObjectType=7
AccessType=RW
DataType=0x0003
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0

[60C2]
SubNumber=0x03
ParameterName=Interpolation Time Period
ObjectType=8
ObjFlags=0x00000000

[60C2sub0]
ParameterName=Number of entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x2

[60C2sub1]
ParameterName=Interpolation Time Units
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=1

[60C2sub2]
ParameterName=Interpolation Time Index
ObjectType=7
AccessType=RW
DataType=0x0003
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=-3

[60FC]
ParameterName=Potition demand value*
ObjectType=7
AccessType=RO
DataType=0x0004
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00000000

[60FD]
ParameterName=digital_inputs
ObjectType=7
AccessType=RO
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0

[60FE]
SubNumber=0x03
ParameterName=digital_outputs
ObjectType=8
ObjFlags=0x00000000

[60FEsub0]
ParameterName=digital_outputs.nr_of_entries
ObjectType=7
AccessType=RO
DataType=0x0005
PDOMapping=0
ObjFlags=0x00000000
DefaultValue=0x02

[60FEsub1]
ParameterName=digital_outputs.physical_value
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00000000

[60FEsub2]
ParameterName=digital_outputs.bitmask
ObjectType=7
AccessType=RW
DataType=0x0006
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00030000

[60FF]
ParameterName=target_velocity
ObjectType=7
AccessType=RW
DataType=0x0003
PDOMapping=1
ObjFlags=0x00000000
DefaultValue=0x00000000

