; This EDS file was created by the CANopen Design Tool 2.2.9. ; port GmbH Halle/Saale Germany, http://www.port.de, mailto:service@port.de [FileInfo] FileName=cog.eds FileVersion=1 FileRevision=0 EDSVersion=4.0 Description=CANopen Gateway CreationTime=11:35AM CreationDate=10-16-2006 CreatedBy= ModificationTime=10:42AM ModificationDate=01-05-2007 ModifiedBy= [DeviceInfo] VendorName=Animatics Corporation VendorNumber=0x0621 ProductName=cog ProductNumber=1 RevisionNumber=0x0 OrderCode= BaudRate_10=1 BaudRate_20=1 BaudRate_50=1 BaudRate_125=1 BaudRate_250=1 BaudRate_500=1 BaudRate_800=1 BaudRate_1000=1 DynamicChannelsSupported=0 GroupMessaging=0 LSS_Supported=1 Granularity=0 SimpleBootUpSlave=1 SimpleBootUpMaster=0 NrOfRXPDO=0 NrOfTXPDO=5 [Comments] Lines=0 [DummyUsage] Dummy0001=0 Dummy0002=0 Dummy0003=0 Dummy0004=0 Dummy0005=0 Dummy0006=0 Dummy0007=0 [MandatoryObjects] SupportedObjects=3 1=0x1000 2=0x1001 3=0x1018 [OptionalObjects] SupportedObjects=115 1=0x1008 2=0x1009 3=0x100A 4=0x1010 5=0x1011 6=0x1017 7=0x1800 8=0x1801 9=0x1802 10=0x1803 11=0x1806 12=0x1A00 13=0x1A01 14=0x1A02 15=0x1A03 16=0x1A06 17=0x6007 18=0x603F 19=0x6040 20=0x6041 21=0x605A 22=0x605B 23=0x605C 24=0x605D 25=0x605E 26=0x6060 27=0x6061 28=0x6062 29=0x6063 30=0x6064 31=0x6065 32=0x6066 33=0x6067 34=0x6068 35=0x6069 36=0x606A 37=0x606B 38=0x606C 39=0x606D 40=0x606E 41=0x606F 42=0x6070 43=0x6071 44=0x6072 45=0x6073 46=0x6074 47=0x6075 48=0x6076 49=0x6077 50=0x6078 51=0x6079 52=0x607A 53=0x607B 54=0x607C 55=0x607D 56=0x607E 57=0x607F 58=0x6080 59=0x6081 60=0x6082 61=0x6083 62=0x6084 63=0x6085 64=0x6086 65=0x6087 66=0x6088 67=0x6089 68=0x608A 69=0x608B 70=0x608C 71=0x608D 72=0x608E 73=0x608F 74=0x6090 75=0x6091 76=0x6092 77=0x6093 78=0x6094 79=0x6095 80=0x6096 81=0x6097 82=0x6098 83=0x6099 84=0x609A 85=0x60C0 86=0x60C1 87=0x60C2 88=0x60C3 89=0x60C4 90=0x60C5 91=0x60C6 92=0x60F4 93=0x60F6 94=0x60F7 95=0x60F8 96=0x60F9 97=0x60FA 98=0x60FB 99=0x60FC 100=0x60FD 101=0x60FE 102=0x60FF 103=0x6401 104=0x6402 105=0x6403 106=0x6404 107=0x6405 108=0x6407 109=0x6410 110=0x6502 111=0x6503 112=0x6504 113=0x6505 114=0x6510 115=0x67FF [ManufacturerObjects] SupportedObjects=14 1=0x2000 2=0x2001 3=0x2100 4=0x2200 5=0x2201 6=0x2202 7=0x2300 8=0x2301 9=0x2302 10=0x2303 11=0x2304 12=0x2305 13=0x2306 14=0x2307 [1000] ParameterName=Device Type ObjectType=0x07 DataType=0x0007 AccessType=const DefaultValue=0x00020192 PDOMapping=0 [1001] ParameterName=Error Register ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00 PDOMapping=0 [1008] ParameterName=Manufacturer Device Name ObjectType=0x07 DataType=0x0009 AccessType=const PDOMapping=0 [1009] ParameterName=Manufacturer Hardware Version ObjectType=0x07 DataType=0x0009 AccessType=const PDOMapping=0 [100A] ParameterName=Manufacturer Software Version ObjectType=0x07 DataType=0x0009 AccessType=const PDOMapping=0 [1010] SubNumber=4 ParameterName=Store Parameter Field ObjectType=0x08 [1010sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x03 PDOMapping=0 [1010sub1] ParameterName=Save all Parameters ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [1010sub2] ParameterName=Save Communication Parameters ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [1010sub3] ParameterName=Save Application Parameters ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [1011] SubNumber=4 ParameterName=Restore Default Parameters ObjectType=0x08 [1011sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x03 PDOMapping=0 [1011sub1] ParameterName=Restore all Default Parameters ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [1011sub2] ParameterName=Restore Communication Default Parameters ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [1011sub3] ParameterName=Restore Application Default Parameters ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [1017] ParameterName=Producer Heartbeat Time ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1018] SubNumber=5 ParameterName=Identity Object ObjectType=0x09 [1018sub0] ParameterName=number of entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x4 PDOMapping=0 [1018sub1] ParameterName=Vendor Id ObjectType=0x07 DataType=0x0007 AccessType=ro PDOMapping=0 [1018sub2] ParameterName=Product Code ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=1 PDOMapping=0 [1018sub3] ParameterName=Revision number ObjectType=0x07 DataType=0x0007 AccessType=ro PDOMapping=0 [1018sub4] ParameterName=Serial number ObjectType=0x07 DataType=0x0007 AccessType=ro PDOMapping=0 [1800] SubNumber=6 ParameterName=Transmit PDO Communication Parameter 1 ObjectType=0x09 [1800sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1800sub1] ParameterName=COB-ID ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x180 PDOMapping=0 [1800sub2] ParameterName=Transmission Type ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0xFF PDOMapping=0 [1800sub3] ParameterName=Inhibit Time ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [1800sub4] ParameterName=Compatibility Entry ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1800sub5] ParameterName=Event Timer ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1801] SubNumber=6 ParameterName=Transmit PDO Communication Parameter 2 ObjectType=0x09 [1801sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1801sub1] ParameterName=COB-ID ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x280 PDOMapping=0 [1801sub2] ParameterName=Transmission Type ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0xFF PDOMapping=0 [1801sub3] ParameterName=Inhibit Time ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [1801sub4] ParameterName=Compatibility Entry ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1801sub5] ParameterName=Event Timer ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1802] SubNumber=6 ParameterName=Transmit PDO Communication Parameter 3 ObjectType=0x09 [1802sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1802sub1] ParameterName=COB-ID ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x380 PDOMapping=0 [1802sub2] ParameterName=Transmission Type ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0xFF PDOMapping=0 [1802sub3] ParameterName=Inhibit Time ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [1802sub4] ParameterName=Compatibility Entry ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1802sub5] ParameterName=Event Timer ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1803] SubNumber=6 ParameterName=Transmit PDO Communication Parameter 4 ObjectType=0x09 [1803sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1803sub1] ParameterName=COB-ID ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=$NODEID+0x480 PDOMapping=0 [1803sub2] ParameterName=Transmission Type ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0xFF PDOMapping=0 [1803sub3] ParameterName=Inhibit Time ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [1803sub4] ParameterName=Compatibility Entry ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1803sub5] ParameterName=Event Timer ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1806] SubNumber=6 ParameterName=Transmit PDO Communication Parameter 7 ObjectType=0x09 [1806sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x05 PDOMapping=0 [1806sub1] ParameterName=COB-ID ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1806sub2] ParameterName=Transmission Type ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0xFF PDOMapping=0 [1806sub3] ParameterName=Inhibit Time ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1806sub4] ParameterName=Compatibility Entry ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [1806sub5] ParameterName=Event Timer ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 [1A00] SubNumber=2 ParameterName=TPDO Mapping Parameter 1 ObjectType=0x09 [1A00sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x01 PDOMapping=0 [1A00sub1] ParameterName=StatusWord ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=0x60410010 PDOMapping=0 [1A01] SubNumber=3 ParameterName=TPDO Mapping Parameter 2 ObjectType=0x09 [1A01sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [1A01sub1] ParameterName=StatusWord ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=0x60410010 PDOMapping=0 [1A01sub2] ParameterName=Modes of Operation Display ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=0x60610008 PDOMapping=0 [1A02] SubNumber=3 ParameterName=TPDO Mapping Parameter 3 ObjectType=0x09 [1A02sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [1A02sub1] ParameterName=StatusWord ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=0x60410010 PDOMapping=0 [1A02sub2] ParameterName=Position Actual Value in User Units ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=0x60640020 PDOMapping=0 [1A03] SubNumber=3 ParameterName=TPDO Mapping Parameter 4 ObjectType=0x09 [1A03sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x2 PDOMapping=0 [1A03sub1] ParameterName=StatusWord ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=0x60410010 PDOMapping=0 [1A03sub2] ParameterName=Velocity Actual Value ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=0x606C0020 PDOMapping=0 [1A06] SubNumber=3 ParameterName=TPDO Mapping Parameter 7 ObjectType=0x09 [1A06sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [1A06sub1] ParameterName=StatusWord ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=0x60410010 PDOMapping=0 [1A06sub2] ParameterName=Digital Inputs ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=0x60FD0020 PDOMapping=0 [2000] ParameterName=NodeId ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0xFF PDOMapping=0 [2001] ParameterName=BitRate ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x4 PDOMapping=0 [2100] ParameterName=Port Configuration ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00 PDOMapping=0 [2200] SubNumber=5 ParameterName=Poll List ObjectType=0x08 [2200sub0] ParameterName=number of entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x04 PDOMapping=0 [2200sub1] ParameterName=poll list entry #1 ObjectType=0x07 DataType=0x0004 AccessType=rw DefaultValue=-1 PDOMapping=0 [2200sub2] ParameterName=poll list entry #2 ObjectType=0x07 DataType=0x0004 AccessType=rw DefaultValue=-1 PDOMapping=0 [2200sub3] ParameterName=poll list entry #3 ObjectType=0x07 DataType=0x0004 AccessType=rw DefaultValue=-1 PDOMapping=0 [2200sub4] ParameterName=poll list entry #4 ObjectType=0x07 DataType=0x0004 AccessType=rw DefaultValue=-1 PDOMapping=0 [2201] SubNumber=3 ParameterName=User Variable ObjectType=0x08 [2201sub0] ParameterName=number of entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [2201sub1] ParameterName=User Array Index ObjectType=0x07 DataType=0x0004 AccessType=rw DefaultValue=0x0 PDOMapping=0 [2201sub2] ParameterName=User Array Value ObjectType=0x07 DataType=0x0004 AccessType=rw PDOMapping=0 [2202] ParameterName=Set Actual Position ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [2300] ParameterName=Bus Voltage ObjectType=0x07 DataType=0x0006 AccessType=ro PDOMapping=0 [2301] ParameterName=RMS Current ObjectType=0x07 DataType=0x0006 AccessType=ro PDOMapping=0 [2302] ParameterName=Internal Temperature ObjectType=0x07 DataType=0x0005 AccessType=ro PDOMapping=0 [2303] ParameterName=Internal Clock ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [2304] ParameterName=Motor Status ObjectType=0x07 DataType=0x0006 AccessType=ro PDOMapping=0 [2305] ParameterName=Motor Control ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [2306] ParameterName=Motor Subroutine Index ObjectType=0x07 DataType=0x0003 AccessType=rw PDOMapping=0 [2307] ParameterName=Sample Period ObjectType=0x07 DataType=0x0006 AccessType=ro PDOMapping=0 [6007] ParameterName=Abort Connection Option Code ObjectType=0x07 DataType=0x0003 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [603F] ParameterName=Error Code ObjectType=0x07 DataType=0x0006 AccessType=ro DefaultValue=0x0000 PDOMapping=0 [6040] ParameterName=Controlword ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=1 [6041] ParameterName=Statusword ObjectType=0x07 DataType=0x0006 AccessType=ro PDOMapping=1 [605A] ParameterName=Quick Stop Option Code ObjectType=0x07 DataType=0x0003 AccessType=rw DefaultValue=0x0002 PDOMapping=0 [605B] ParameterName=Shutdown Option Code ObjectType=0x07 DataType=0x0003 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [605C] ParameterName=Disable Operation Option Code ObjectType=0x07 DataType=0x0003 AccessType=rw DefaultValue=0x0001 PDOMapping=0 [605D] ParameterName=Halt Option Code ObjectType=0x07 DataType=0x0003 AccessType=rw DefaultValue=0x0001 PDOMapping=0 [605E] ParameterName=Fault Reaction Option Code ObjectType=0x07 DataType=0x0003 AccessType=rw DefaultValue=0x0002 PDOMapping=0 [6060] ParameterName=Modes of Operation ObjectType=0x07 DataType=0x0002 AccessType=rw PDOMapping=0 [6061] ParameterName=Modes of Operation Display ObjectType=0x07 DataType=0x0002 AccessType=ro PDOMapping=1 [6062] ParameterName=Position Demand Value in User Units ObjectType=0x07 DataType=0x0004 AccessType=ro PDOMapping=0 [6063] ParameterName=Position Actual Value ObjectType=0x07 DataType=0x0004 AccessType=ro PDOMapping=0 [6064] ParameterName=Position Actual Value in User Unit ObjectType=0x07 DataType=0x0004 AccessType=ro PDOMapping=1 [6065] ParameterName=Following Error Window ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [6066] ParameterName=Following Error Time Out ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [6067] ParameterName=Position Window ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [6068] ParameterName=Position Window Time ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [6069] ParameterName=Velocity Sensor Actual Value ObjectType=0x07 DataType=0x0004 AccessType=ro PDOMapping=0 [606A] ParameterName=Sensor Selection Code ObjectType=0x07 DataType=0x0003 AccessType=rw PDOMapping=0 [606B] ParameterName=Velocity Demand Value ObjectType=0x07 DataType=0x0004 AccessType=ro PDOMapping=0 [606C] ParameterName=Velocity Actual Value ObjectType=0x07 DataType=0x0004 AccessType=ro PDOMapping=1 [606D] ParameterName=Velocity Window ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [606E] ParameterName=Velocity Window Time ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [606F] ParameterName=Velocity Threshold ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [6070] ParameterName=Velocity Threshold Time ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [6071] ParameterName=Target Torque ObjectType=0x07 DataType=0x0003 AccessType=rw DefaultValue=0x0000 PDOMapping=1 [6072] ParameterName=Max Torque ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [6073] ParameterName=Max Current ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [6074] ParameterName=Torque Demand Value ObjectType=0x07 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=0 [6075] ParameterName=Motor Rated Current ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [6076] ParameterName=Motor Rated Torque ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [6077] ParameterName=Torque Actual Value ObjectType=0x07 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [6078] ParameterName=Current Actual Value ObjectType=0x07 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=0 [6079] ParameterName=DC Link Circuit Voltage ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=0 [607A] ParameterName=Target Position ObjectType=0x07 DataType=0x0004 AccessType=rw PDOMapping=1 [607B] SubNumber=3 ParameterName=Position Range Limit ObjectType=0x08 [607Bsub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [607Bsub1] ParameterName=Min Position Range Limit ObjectType=0x07 DataType=0x0004 AccessType=rw DefaultValue=0x80000000 PDOMapping=0 [607Bsub2] ParameterName=Max Position Range Limit ObjectType=0x07 DataType=0x0004 AccessType=rw DefaultValue=0x7FFFFFFF PDOMapping=0 [607C] ParameterName=Home Offset ObjectType=0x07 DataType=0x0004 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [607D] SubNumber=3 ParameterName=Software Position Limit ObjectType=0x08 [607Dsub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [607Dsub1] ParameterName=Min Software Position Limit ObjectType=0x07 DataType=0x0004 AccessType=rw DefaultValue=0x80000000 PDOMapping=0 [607Dsub2] ParameterName=Max Software Position Limit ObjectType=0x07 DataType=0x0004 AccessType=rw DefaultValue=0x7FFFFFFF PDOMapping=0 [607E] ParameterName=Polarity ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0x00 PDOMapping=0 [607F] ParameterName=Max Profile Velocity ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [6080] ParameterName=Max Motor Speed ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [6081] ParameterName=Profile Velocity in pp-mode ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [6082] ParameterName=End Velocity ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [6083] ParameterName=Profile Acceleration ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [6084] ParameterName=Profile Deceleration ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [6085] ParameterName=Quick Stop Deceleration ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [6086] ParameterName=Motion Profile Type ObjectType=0x07 DataType=0x0003 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [6087] ParameterName=Torque Slope ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [6088] ParameterName=Torque Profile Type ObjectType=0x07 DataType=0x0003 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [6089] ParameterName=Position Notation Index ObjectType=0x07 DataType=0x0002 AccessType=rw DefaultValue=0x00 PDOMapping=0 [608A] ParameterName=Position Dimension Index ObjectType=0x07 DataType=0x0005 AccessType=rw PDOMapping=0 [608B] ParameterName=Velocity Notation Index ObjectType=0x07 DataType=0x0002 AccessType=rw DefaultValue=0x00 PDOMapping=0 [608C] ParameterName=Velocity Dimension Index ObjectType=0x07 DataType=0x0005 AccessType=rw PDOMapping=0 [608D] ParameterName=Acceleration Notation Index ObjectType=0x07 DataType=0x0002 AccessType=rw PDOMapping=0 [608E] ParameterName=Acceleration Dimension Index ObjectType=0x07 DataType=0x0005 AccessType=rw PDOMapping=0 [608F] SubNumber=3 ParameterName=Position Encoder Resolution ObjectType=0x08 [608Fsub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [608Fsub1] ParameterName=Encoder Increments ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [608Fsub2] ParameterName=Motor Revolutions ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6090] SubNumber=3 ParameterName=Velocity Encoder Resolution ObjectType=0x08 [6090sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [6090sub1] ParameterName=Encoder Increments / s ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6090sub2] ParameterName=Motor Revolutions / s ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6091] SubNumber=3 ParameterName=Gear Ratio ObjectType=0x08 [6091sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [6091sub1] ParameterName=Motor Revolutions ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6091sub2] ParameterName=Shaft Revolutions ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6092] SubNumber=3 ParameterName=Feed Constant ObjectType=0x08 [6092sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [6092sub1] ParameterName=Feed ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6092sub2] ParameterName=Shaft Revolutions ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6093] SubNumber=3 ParameterName=Position Factor ObjectType=0x08 [6093sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [6093sub1] ParameterName=Numerator ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6093sub2] ParameterName=Feed Constant ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6094] SubNumber=3 ParameterName=Velocity Encoder Factor ObjectType=0x08 [6094sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [6094sub1] ParameterName=Numerator ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6094sub2] ParameterName=Divisor ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6095] SubNumber=3 ParameterName=Velocity Factor 1 ObjectType=0x08 [6095sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [6095sub1] ParameterName=Numerator ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6095sub2] ParameterName=Divisor ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6096] SubNumber=3 ParameterName=Velocity Factor 2 ObjectType=0x08 [6096sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [6096sub1] ParameterName=Numerator ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6096sub2] ParameterName=Divisor ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6097] SubNumber=3 ParameterName=Acceleration Factor ObjectType=0x08 [6097sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [6097sub1] ParameterName=Numerator ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000001 PDOMapping=0 [6097sub2] ParameterName=Divisor ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000002 PDOMapping=0 [6098] ParameterName=Homing Method ObjectType=0x07 DataType=0x0002 AccessType=rw DefaultValue=0x00 PDOMapping=0 [6099] SubNumber=3 ParameterName=Homing Speeds ObjectType=0x08 [6099sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000002 PDOMapping=0 [6099sub1] ParameterName=Fast Homing Speed ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [6099sub2] ParameterName=Slow Homing Speed ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [609A] ParameterName=Homing Acceleration ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [60C0] ParameterName=Interpolation Sub Mode Select ObjectType=0x07 DataType=0x0003 AccessType=rw DefaultValue=0x0000 PDOMapping=0 [60C1] SubNumber=2 ParameterName=Interpolation Data Record ObjectType=0x08 [60C1sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x00000001 PDOMapping=0 [60C1sub1] ParameterName=Data Record 1 ObjectType=0x07 DataType=0x0004 AccessType=rw DefaultValue=0x0 PDOMapping=0 [60C2] SubNumber=3 ParameterName=Interpolation Time Period ObjectType=0x09 [60C2sub0] ParameterName=Number of Elements ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [60C2sub1] ParameterName=Interpolation time units ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0x01 PDOMapping=0 [60C2sub2] ParameterName=Interpolation time index ObjectType=0x07 DataType=0x0002 AccessType=rw DefaultValue=0xFD PDOMapping=0 [60C3] SubNumber=3 ParameterName=Interpolation Sync Definition ObjectType=0x08 [60C3sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [60C3sub1] ParameterName=Syncronize on Group ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0x0 PDOMapping=0 [60C3sub2] ParameterName=IP Sync Every n Event ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0x01 PDOMapping=0 [60C4] SubNumber=7 ParameterName=Interpolation Data Configuration ObjectType=0x09 [60C4sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x06 PDOMapping=0 [60C4sub1] ParameterName=Maximum buffer size ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=0x00000001 PDOMapping=0 [60C4sub2] ParameterName=Actual buffer size ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=0 [60C4sub3] ParameterName=Buffer organization ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0x0 PDOMapping=0 [60C4sub4] ParameterName=Buffer position ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x0 PDOMapping=0 [60C4sub5] ParameterName=Size of data record ObjectType=0x07 DataType=0x0005 AccessType=wo DefaultValue=0x01 PDOMapping=0 [60C4sub6] ParameterName=Buffer clear ObjectType=0x07 DataType=0x0005 AccessType=wo DefaultValue=0x00 PDOMapping=0 [60C5] ParameterName=Max Acceleration ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [60C6] ParameterName=Max Deceleration ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [60F4] ParameterName=Following Error Actual Value ObjectType=0x07 DataType=0x0004 AccessType=ro PDOMapping=0 [60F6] SubNumber=2 ParameterName=Torque Control Parameters ObjectType=0x09 [60F6sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x01 PDOMapping=0 [60F6sub1] ParameterName=_manufacturer_specific_ ObjectType=0x07 DataType=0x0005 AccessType=rw PDOMapping=0 [60F7] SubNumber=2 ParameterName=Power Stage Parameters ObjectType=0x09 [60F7sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x01 PDOMapping=0 [60F7sub1] ParameterName=_manufacturer_specific_ ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0x0 PDOMapping=0 [60F8] ParameterName=Max Slippage ObjectType=0x07 DataType=0x0004 AccessType=ro PDOMapping=0 [60F9] SubNumber=3 ParameterName=Velocity Control Parameter Set ObjectType=0x08 [60F9sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x02 PDOMapping=0 [60F9sub1] ParameterName=Gain ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [60F9sub2] ParameterName=Integration Time Constant ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [60FA] ParameterName=Control Effort ObjectType=0x07 DataType=0x0004 AccessType=ro PDOMapping=0 [60FB] SubNumber=9 ParameterName=Position Control Parameter Set ObjectType=0x09 [60FBsub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro PDOMapping=0 [60FBsub1] ParameterName=KP, Proportional Gain ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [60FBsub2] ParameterName=KI, Integral Gain ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [60FBsub3] ParameterName=KL, Integral Limit ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [60FBsub4] ParameterName=KD, Derivative Gain ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [60FBsub5] ParameterName=KS, Derivative Damping Sample Rate ObjectType=0x07 DataType=0x0005 AccessType=rw PDOMapping=0 [60FBsub6] ParameterName=KV, Velocity Feedforward Gain ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [60FBsub7] ParameterName=KA, Acceleration Feedforward Gain ObjectType=0x07 DataType=0x0006 AccessType=rw PDOMapping=0 [60FBsub8] ParameterName=KG, Gravitational Offset ObjectType=0x07 DataType=0x0004 AccessType=rw PDOMapping=0 [60FC] ParameterName=Position Demand Value ObjectType=0x07 DataType=0x0004 AccessType=ro PDOMapping=0 [60FD] ParameterName=Digital Inputs ObjectType=0x07 DataType=0x0007 AccessType=ro DefaultValue=0x00000000 PDOMapping=1 [60FE] SubNumber=2 ParameterName=Digital Outputs ObjectType=0x08 [60FEsub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro PDOMapping=0 [60FEsub1] ParameterName=Physical Outputs ObjectType=0x07 DataType=0x0007 AccessType=rw DefaultValue=0x00000000 PDOMapping=1 [60FF] ParameterName=Target Velocity ObjectType=0x07 DataType=0x0004 AccessType=rw PDOMapping=1 [6401] SubNumber=8 ParameterName=Read Analog Input 16 Bit ObjectType=0x08 [6401sub0] ParameterName=Number of Elements ObjectType=0x07 DataType=0x0005 AccessType=ro DefaultValue=0x7 PDOMapping=0 [6401sub1] ParameterName=16-Bit analog Input 1 ObjectType=0x07 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [6401sub2] ParameterName=16-Bit analog Input 2 ObjectType=0x07 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [6401sub3] ParameterName=16-Bit analog Input 3 ObjectType=0x07 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [6401sub4] ParameterName=16-Bit analog Input 4 ObjectType=0x07 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [6401sub5] ParameterName=16-Bit analog Input 5 ObjectType=0x07 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [6401sub6] ParameterName=16-Bit analog Input 6 ObjectType=0x07 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [6401sub7] ParameterName=16-Bit analog Input 7 ObjectType=0x07 DataType=0x0003 AccessType=ro DefaultValue=0x0000 PDOMapping=1 [6402] ParameterName=Motor Type ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x000A PDOMapping=0 [6403] ParameterName=Motor Catalogue Number ObjectType=0x07 DataType=0x0009 AccessType=rw DefaultValue=0x0 PDOMapping=0 [6404] ParameterName=Motor Manufacturer ObjectType=0x07 DataType=0x0009 AccessType=ro DefaultValue=Animatics Corporation PDOMapping=0 [6405] ParameterName=Http Motor Catalog Address ObjectType=0x07 DataType=0x0009 AccessType=ro DefaultValue=www.animatics.com PDOMapping=0 [6407] ParameterName=Motor Service Period ObjectType=0x07 DataType=0x0007 AccessType=rw PDOMapping=0 [6410] SubNumber=2 ParameterName=Motor Data ObjectType=0x09 [6410sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro PDOMapping=0 [6410sub1] ParameterName=_manufacturer_specific_ ObjectType=0x07 DataType=0x0005 AccessType=rw PDOMapping=0 [6502] ParameterName=Supported Drive Modes ObjectType=0x07 DataType=0x0007 AccessType=ro PDOMapping=0 [6503] ParameterName=Drive Catalog Number ObjectType=0x07 DataType=0x0009 AccessType=rw PDOMapping=0 [6504] ParameterName=Drive Manufacturer ObjectType=0x07 DataType=0x0009 AccessType=ro DefaultValue=Animatics Corporation PDOMapping=0 [6505] ParameterName=Http Drive Catalog Address ObjectType=0x07 DataType=0x0009 AccessType=ro DefaultValue=www.animatics.com PDOMapping=0 [6510] SubNumber=3 ParameterName=Drive Data ObjectType=0x09 [6510sub0] ParameterName=Number of Entries ObjectType=0x07 DataType=0x0005 AccessType=ro PDOMapping=0 [6510sub1] ParameterName=RMS time before shutdown ObjectType=0x07 DataType=0x0006 AccessType=rw DefaultValue=0x2EE0 PDOMapping=0 [6510sub2] ParameterName=Internal Temperature Limit ObjectType=0x07 DataType=0x0005 AccessType=rw DefaultValue=0x46 PDOMapping=0 [67FF] ParameterName=Single Device Type ObjectType=0x07 DataType=0x0007 AccessType=ro PDOMapping=0