diff --git a/Simulator/Exo_test.eds b/Simulator/Exo_test.eds new file mode 100644 index 0000000..3fa3cf0 --- /dev/null +++ b/Simulator/Exo_test.eds @@ -0,0 +1,3378 @@ +[FileInfo] +FileName=Exo_test.eds +FileVersion=1 +FileRevision=1 +EDSVersion=4.0 +Description= +CreationTime=03:47PM +CreationDate=09-02-2022 +CreatedBy=CANFestival +ModificationTime=03:47PM +ModificationDate=09-02-2022 +ModifiedBy=CANFestival + +[DeviceInfo] +VendorName=CANFestival +VendorNumber=0x00000000 +ProductName= +ProductNumber=0x00000000 +RevisionNumber=0x00000000 +BaudRate_10=1 +BaudRate_20=1 +BaudRate_50=1 +BaudRate_125=1 +BaudRate_250=1 +BaudRate_500=1 +BaudRate_800=1 +BaudRate_1000=1 +SimpleBootUpMaster=0 +SimpleBootUpSlave=1 +Granularity=8 +DynamicChannelsSupported=0 +CompactPDO=0 +GroupMessaging=0 +NrOfRXPDO=1 +NrOfTXPDO=18 +LSS_Supported=0 + +[DummyUsage] +Dummy0001=0 +Dummy0002=1 +Dummy0003=1 +Dummy0004=1 +Dummy0005=1 +Dummy0006=1 +Dummy0007=1 + +[Comments] +Lines=0 + +[MandatoryObjects] +SupportedObjects=3 +1=0x1000 +2=0x1001 +3=0x1018 + +[1000] +ParameterName=Device Type +ObjectType=0x7 +DataType=0x0007 +AccessType=ro +DefaultValue=401 +PDOMapping=0 + +[1001] +ParameterName=Error Register +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=0 +PDOMapping=1 + +[1018] +ParameterName=Identity +ObjectType=0x9 +SubNumber=5 + +[1018sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=4 +PDOMapping=0 + +[1018sub1] +ParameterName=Vendor ID +ObjectType=0x7 +DataType=0x0007 +AccessType=ro +DefaultValue=0 +PDOMapping=0 + +[1018sub2] +ParameterName=Product Code +ObjectType=0x7 +DataType=0x0007 +AccessType=ro +DefaultValue=0 +PDOMapping=0 + +[1018sub3] +ParameterName=Revision Number +ObjectType=0x7 +DataType=0x0007 +AccessType=ro +DefaultValue=0 +PDOMapping=0 + +[1018sub4] +ParameterName=Serial Number +ObjectType=0x7 +DataType=0x0007 +AccessType=ro +DefaultValue=0 +PDOMapping=0 + +[OptionalObjects] +SupportedObjects=42 +1=0x1005 +2=0x1006 +3=0x1016 +4=0x1280 +5=0x1400 +6=0x1600 +7=0x1800 +8=0x1801 +9=0x1802 +10=0x1803 +11=0x1804 +12=0x1805 +13=0x1806 +14=0x1807 +15=0x1808 +16=0x1809 +17=0x180A +18=0x180B +19=0x180C +20=0x180D +21=0x180E +22=0x180F +23=0x1810 +24=0x1811 +25=0x1A00 +26=0x1A01 +27=0x1A02 +28=0x1A03 +29=0x1A04 +30=0x1A05 +31=0x1A06 +32=0x1A07 +33=0x1A08 +34=0x1A09 +35=0x1A0A +36=0x1A0B +37=0x1A0C +38=0x1A0D +39=0x1A0E +40=0x1A0F +41=0x1A10 +42=0x1A11 + +[1005] +ParameterName=SYNC COB ID +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=1073741952 +PDOMapping=0 + +[1006] +ParameterName=Communication Cycle Period +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=50000 +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 + +[1016sub1] +ParameterName=Consumer Heartbeat Time +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=4195804 +PDOMapping=0 + +[1280] +ParameterName=Client SDO 1 Parameter +ObjectType=0x9 +SubNumber=4 + +[1280sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=3 +PDOMapping=0 + +[1280sub1] +ParameterName=COB ID Client to Server (Transmit SDO) +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=1600 +PDOMapping=0 + +[1280sub2] +ParameterName=COB ID Server to Client (Receive SDO) +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=1472 +PDOMapping=0 + +[1280sub3] +ParameterName=Node ID of the SDO Server +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=64 +PDOMapping=0 + +[1400] +ParameterName=Receive PDO 1 Parameter +ObjectType=0x9 +SubNumber=5 + +[1400sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=5 +PDOMapping=0 + +[1400sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=897 +PDOMapping=0 + +[1400sub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=1 +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 + +[1600] +ParameterName=Receive PDO 1 Mapping +ObjectType=0x8 +SubNumber=9 + +[1600sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=8 +PDOMapping=0 + +[1600sub1] +ParameterName=PDO 1 Mapping for an application object 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=537853960 +PDOMapping=0 + +[1600sub2] +ParameterName=PDO 1 Mapping for an application object 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=537919496 +PDOMapping=0 + +[1600sub3] +ParameterName=PDO 1 Mapping for an application object 3 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=537985032 +PDOMapping=0 + +[1600sub4] +ParameterName=PDO 1 Mapping for an application object 4 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538050568 +PDOMapping=0 + +[1600sub5] +ParameterName=PDO 1 Mapping for an application object 5 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538116104 +PDOMapping=0 + +[1600sub6] +ParameterName=PDO 1 Mapping for an application object 6 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538181640 +PDOMapping=0 + +[1600sub7] +ParameterName=PDO 1 Mapping for an application object 7 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538247176 +PDOMapping=0 + +[1600sub8] +ParameterName=PDO 1 Mapping for an application object 8 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538312712 +PDOMapping=0 + +[1800] +ParameterName=Transmit PDO 1 Parameter +ObjectType=0x9 +SubNumber=5 + +[1800sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=5 +PDOMapping=0 + +[1800sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=641 +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 Parameter +ObjectType=0x9 +SubNumber=6 + +[1801sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[1801sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=897 +PDOMapping=0 + +[1801sub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +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 + +[1801sub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1802] +ParameterName=Transmit PDO 3 Parameter +ObjectType=0x9 +SubNumber=6 + +[1802sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[1802sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=642 +PDOMapping=0 + +[1802sub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +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 + +[1802sub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1803] +ParameterName=Transmit PDO 4 Parameter +ObjectType=0x9 +SubNumber=6 + +[1803sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[1803sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=898 +PDOMapping=0 + +[1803sub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +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 + +[1803sub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1804] +ParameterName=Transmit PDO 5 Parameter +ObjectType=0x9 +SubNumber=6 + +[1804sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[1804sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=643 +PDOMapping=0 + +[1804sub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1804sub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1804sub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1804sub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1805] +ParameterName=Transmit PDO 6 Parameter +ObjectType=0x9 +SubNumber=6 + +[1805sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[1805sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=899 +PDOMapping=0 + +[1805sub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1805sub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1805sub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1805sub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1806] +ParameterName=Transmit PDO 7 Parameter +ObjectType=0x9 +SubNumber=6 + +[1806sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[1806sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=644 +PDOMapping=0 + +[1806sub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1806sub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1806sub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1806sub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1807] +ParameterName=Transmit PDO 8 Parameter +ObjectType=0x9 +SubNumber=6 + +[1807sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[1807sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=900 +PDOMapping=0 + +[1807sub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1807sub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1807sub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1807sub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1808] +ParameterName=Transmit PDO 9 Parameter +ObjectType=0x9 +SubNumber=6 + +[1808sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[1808sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=241 +PDOMapping=0 + +[1808sub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1808sub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1808sub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1808sub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1809] +ParameterName=Transmit PDO 10 Parameter +ObjectType=0x9 +SubNumber=6 + +[1809sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[1809sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=242 +PDOMapping=0 + +[1809sub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1809sub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1809sub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1809sub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180A] +ParameterName=Transmit PDO 11 Parameter +ObjectType=0x9 +SubNumber=6 + +[180Asub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[180Asub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=249 +PDOMapping=0 + +[180Asub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Asub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Asub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Asub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180B] +ParameterName=Transmit PDO 12 Parameter +ObjectType=0x9 +SubNumber=6 + +[180Bsub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[180Bsub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=250 +PDOMapping=0 + +[180Bsub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Bsub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Bsub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Bsub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180C] +ParameterName=Transmit PDO 13 Parameter +ObjectType=0x9 +SubNumber=6 + +[180Csub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[180Csub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=240 +PDOMapping=0 + +[180Csub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Csub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Csub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Csub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180D] +ParameterName=Transmit PDO 14 Parameter +ObjectType=0x9 +SubNumber=6 + +[180Dsub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[180Dsub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=248 +PDOMapping=0 + +[180Dsub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Dsub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Dsub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Dsub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180E] +ParameterName=Transmit PDO 15 Parameter +ObjectType=0x9 +SubNumber=6 + +[180Esub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[180Esub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=529 +PDOMapping=0 + +[180Esub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Esub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Esub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Esub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180F] +ParameterName=Transmit PDO 16 Parameter +ObjectType=0x9 +SubNumber=6 + +[180Fsub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[180Fsub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=530 +PDOMapping=0 + +[180Fsub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Fsub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Fsub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[180Fsub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1810] +ParameterName=Transmit PDO 17 Parameter +ObjectType=0x9 +SubNumber=6 + +[1810sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[1810sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=401 +PDOMapping=0 + +[1810sub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1810sub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1810sub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1810sub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1811] +ParameterName=Transmit PDO 18 Parameter +ObjectType=0x9 +SubNumber=6 + +[1811sub0] +ParameterName=Highest SubIndex Supported +ObjectType=0x7 +DataType=0x0005 +AccessType=ro +DefaultValue=6 +PDOMapping=0 + +[1811sub1] +ParameterName=COB ID used by PDO +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=402 +PDOMapping=0 + +[1811sub2] +ParameterName=Transmission Type +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1811sub3] +ParameterName=Inhibit Time +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1811sub5] +ParameterName=Event Timer +ObjectType=0x7 +DataType=0x0006 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1811sub6] +ParameterName=SYNC start value +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=0 + +[1A00] +ParameterName=Transmit PDO 1 Mapping +ObjectType=0x8 +SubNumber=9 + +[1A00sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=8 +PDOMapping=0 + +[1A00sub1] +ParameterName=PDO 1 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=537853960 +PDOMapping=0 + +[1A00sub2] +ParameterName=PDO 1 Mapping for a process data variable 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=537919496 +PDOMapping=0 + +[1A00sub3] +ParameterName=PDO 1 Mapping for a process data variable 3 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=537985032 +PDOMapping=0 + +[1A00sub4] +ParameterName=PDO 1 Mapping for a process data variable 4 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538050568 +PDOMapping=0 + +[1A00sub5] +ParameterName=PDO 1 Mapping for a process data variable 5 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538116104 +PDOMapping=0 + +[1A00sub6] +ParameterName=PDO 1 Mapping for a process data variable 6 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538181640 +PDOMapping=0 + +[1A00sub7] +ParameterName=PDO 1 Mapping for a process data variable 7 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538247176 +PDOMapping=0 + +[1A00sub8] +ParameterName=PDO 1 Mapping for a process data variable 8 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538312712 +PDOMapping=0 + +[1A01] +ParameterName=Transmit PDO 2 Mapping +ObjectType=0x8 +SubNumber=3 + +[1A01sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=2 +PDOMapping=0 + +[1A01sub1] +ParameterName=PDO 2 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538378248 +PDOMapping=0 + +[1A01sub2] +ParameterName=PDO 2 Mapping for a process data variable 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538443784 +PDOMapping=0 + +[1A02] +ParameterName=Transmit PDO 3 Mapping +ObjectType=0x8 +SubNumber=9 + +[1A02sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=8 +PDOMapping=0 + +[1A02sub1] +ParameterName=PDO 3 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538509320 +PDOMapping=0 + +[1A02sub2] +ParameterName=PDO 3 Mapping for a process data variable 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538574856 +PDOMapping=0 + +[1A02sub3] +ParameterName=PDO 3 Mapping for a process data variable 3 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538640392 +PDOMapping=0 + +[1A02sub4] +ParameterName=PDO 3 Mapping for a process data variable 4 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538705928 +PDOMapping=0 + +[1A02sub5] +ParameterName=PDO 3 Mapping for a process data variable 5 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538771464 +PDOMapping=0 + +[1A02sub6] +ParameterName=PDO 3 Mapping for a process data variable 6 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538837000 +PDOMapping=0 + +[1A02sub7] +ParameterName=PDO 3 Mapping for a process data variable 7 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538902536 +PDOMapping=0 + +[1A02sub8] +ParameterName=PDO 3 Mapping for a process data variable 8 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=538968072 +PDOMapping=0 + +[1A03] +ParameterName=Transmit PDO 4 Mapping +ObjectType=0x8 +SubNumber=3 + +[1A03sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=2 +PDOMapping=0 + +[1A03sub1] +ParameterName=PDO 4 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539033608 +PDOMapping=0 + +[1A03sub2] +ParameterName=PDO 4 Mapping for a process data variable 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539099144 +PDOMapping=0 + +[1A04] +ParameterName=Transmit PDO 5 Mapping +ObjectType=0x8 +SubNumber=9 + +[1A04sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=8 +PDOMapping=0 + +[1A04sub1] +ParameterName=PDO 5 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539164680 +PDOMapping=0 + +[1A04sub2] +ParameterName=PDO 5 Mapping for a process data variable 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539230216 +PDOMapping=0 + +[1A04sub3] +ParameterName=PDO 5 Mapping for a process data variable 3 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539295752 +PDOMapping=0 + +[1A04sub4] +ParameterName=PDO 5 Mapping for a process data variable 4 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539361288 +PDOMapping=0 + +[1A04sub5] +ParameterName=PDO 5 Mapping for a process data variable 5 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539426824 +PDOMapping=0 + +[1A04sub6] +ParameterName=PDO 5 Mapping for a process data variable 6 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539492360 +PDOMapping=0 + +[1A04sub7] +ParameterName=PDO 5 Mapping for a process data variable 7 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539557896 +PDOMapping=0 + +[1A04sub8] +ParameterName=PDO 5 Mapping for a process data variable 8 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539623432 +PDOMapping=0 + +[1A05] +ParameterName=Transmit PDO 6 Mapping +ObjectType=0x8 +SubNumber=3 + +[1A05sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=2 +PDOMapping=0 + +[1A05sub1] +ParameterName=PDO 6 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539688968 +PDOMapping=0 + +[1A05sub2] +ParameterName=PDO 6 Mapping for a process data variable 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539754504 +PDOMapping=0 + +[1A06] +ParameterName=Transmit PDO 7 Mapping +ObjectType=0x8 +SubNumber=9 + +[1A06sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=8 +PDOMapping=0 + +[1A06sub1] +ParameterName=PDO 7 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539820040 +PDOMapping=0 + +[1A06sub2] +ParameterName=PDO 7 Mapping for a process data variable 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539885576 +PDOMapping=0 + +[1A06sub3] +ParameterName=PDO 7 Mapping for a process data variable 3 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=539951112 +PDOMapping=0 + +[1A06sub4] +ParameterName=PDO 7 Mapping for a process data variable 4 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540016648 +PDOMapping=0 + +[1A06sub5] +ParameterName=PDO 7 Mapping for a process data variable 5 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540082184 +PDOMapping=0 + +[1A06sub6] +ParameterName=PDO 7 Mapping for a process data variable 6 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540147720 +PDOMapping=0 + +[1A06sub7] +ParameterName=PDO 7 Mapping for a process data variable 7 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540213256 +PDOMapping=0 + +[1A06sub8] +ParameterName=PDO 7 Mapping for a process data variable 8 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540278792 +PDOMapping=0 + +[1A07] +ParameterName=Transmit PDO 8 Mapping +ObjectType=0x8 +SubNumber=3 + +[1A07sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=2 +PDOMapping=0 + +[1A07sub1] +ParameterName=PDO 8 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540344328 +PDOMapping=0 + +[1A07sub2] +ParameterName=PDO 8 Mapping for a process data variable 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540409864 +PDOMapping=0 + +[1A08] +ParameterName=Transmit PDO 9 Mapping +ObjectType=0x8 +SubNumber=9 + +[1A08sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=8 +PDOMapping=0 + +[1A08sub1] +ParameterName=PDO 9 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540475400 +PDOMapping=0 + +[1A08sub2] +ParameterName=PDO 9 Mapping for a process data variable 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540540936 +PDOMapping=0 + +[1A08sub3] +ParameterName=PDO 9 Mapping for a process data variable 3 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540606472 +PDOMapping=0 + +[1A08sub4] +ParameterName=PDO 9 Mapping for a process data variable 4 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540672008 +PDOMapping=0 + +[1A08sub5] +ParameterName=PDO 9 Mapping for a process data variable 5 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540737544 +PDOMapping=0 + +[1A08sub6] +ParameterName=PDO 9 Mapping for a process data variable 6 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540803080 +PDOMapping=0 + +[1A08sub7] +ParameterName=PDO 9 Mapping for a process data variable 7 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540868616 +PDOMapping=0 + +[1A08sub8] +ParameterName=PDO 9 Mapping for a process data variable 8 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540934152 +PDOMapping=0 + +[1A09] +ParameterName=Transmit PDO 10 Mapping +ObjectType=0x8 +SubNumber=9 + +[1A09sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=8 +PDOMapping=0 + +[1A09sub1] +ParameterName=PDO 10 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=540999688 +PDOMapping=0 + +[1A09sub2] +ParameterName=PDO 10 Mapping for a process data variable 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541065224 +PDOMapping=0 + +[1A09sub3] +ParameterName=PDO 10 Mapping for a process data variable 3 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541130760 +PDOMapping=0 + +[1A09sub4] +ParameterName=PDO 10 Mapping for a process data variable 4 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541196296 +PDOMapping=0 + +[1A09sub5] +ParameterName=PDO 10 Mapping for a process data variable 5 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541261832 +PDOMapping=0 + +[1A09sub6] +ParameterName=PDO 10 Mapping for a process data variable 6 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541327368 +PDOMapping=0 + +[1A09sub7] +ParameterName=PDO 10 Mapping for a process data variable 7 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541392904 +PDOMapping=0 + +[1A09sub8] +ParameterName=PDO 10 Mapping for a process data variable 8 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541458440 +PDOMapping=0 + +[1A0A] +ParameterName=Transmit PDO 11 Mapping +ObjectType=0x8 +SubNumber=9 + +[1A0Asub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=8 +PDOMapping=0 + +[1A0Asub1] +ParameterName=PDO 11 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541523976 +PDOMapping=0 + +[1A0Asub2] +ParameterName=PDO 11 Mapping for a process data variable 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541589512 +PDOMapping=0 + +[1A0Asub3] +ParameterName=PDO 11 Mapping for a process data variable 3 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541655048 +PDOMapping=0 + +[1A0Asub4] +ParameterName=PDO 11 Mapping for a process data variable 4 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541720584 +PDOMapping=0 + +[1A0Asub5] +ParameterName=PDO 11 Mapping for a process data variable 5 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541786120 +PDOMapping=0 + +[1A0Asub6] +ParameterName=PDO 11 Mapping for a process data variable 6 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541851656 +PDOMapping=0 + +[1A0Asub7] +ParameterName=PDO 11 Mapping for a process data variable 7 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541917192 +PDOMapping=0 + +[1A0Asub8] +ParameterName=PDO 11 Mapping for a process data variable 8 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=541982728 +PDOMapping=0 + +[1A0B] +ParameterName=Transmit PDO 12 Mapping +ObjectType=0x8 +SubNumber=9 + +[1A0Bsub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=8 +PDOMapping=0 + +[1A0Bsub1] +ParameterName=PDO 12 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=542048264 +PDOMapping=0 + +[1A0Bsub2] +ParameterName=PDO 12 Mapping for a process data variable 2 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=542113800 +PDOMapping=0 + +[1A0Bsub3] +ParameterName=PDO 12 Mapping for a process data variable 3 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=542179336 +PDOMapping=0 + +[1A0Bsub4] +ParameterName=PDO 12 Mapping for a process data variable 4 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=542244872 +PDOMapping=0 + +[1A0Bsub5] +ParameterName=PDO 12 Mapping for a process data variable 5 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=542310408 +PDOMapping=0 + +[1A0Bsub6] +ParameterName=PDO 12 Mapping for a process data variable 6 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=542375944 +PDOMapping=0 + +[1A0Bsub7] +ParameterName=PDO 12 Mapping for a process data variable 7 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=542441480 +PDOMapping=0 + +[1A0Bsub8] +ParameterName=PDO 12 Mapping for a process data variable 8 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=542507016 +PDOMapping=0 + +[1A0C] +ParameterName=Transmit PDO 13 Mapping +ObjectType=0x8 +SubNumber=2 + +[1A0Csub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=1 +PDOMapping=0 + +[1A0Csub1] +ParameterName=PDO 13 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=542572552 +PDOMapping=0 + +[1A0D] +ParameterName=Transmit PDO 14 Mapping +ObjectType=0x8 +SubNumber=2 + +[1A0Dsub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=1 +PDOMapping=0 + +[1A0Dsub1] +ParameterName=PDO 14 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=543096840 +PDOMapping=0 + +[1A0E] +ParameterName=Transmit PDO 15 Mapping +ObjectType=0x8 +SubNumber=2 + +[1A0Esub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=1 +PDOMapping=0 + +[1A0Esub1] +ParameterName=PDO 15 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=543621128 +PDOMapping=0 + +[1A0F] +ParameterName=Transmit PDO 16 Mapping +ObjectType=0x8 +SubNumber=2 + +[1A0Fsub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=1 +PDOMapping=0 + +[1A0Fsub1] +ParameterName=PDO 16 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=544145416 +PDOMapping=0 + +[1A10] +ParameterName=Transmit PDO 17 Mapping +ObjectType=0x8 +SubNumber=2 + +[1A10sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=1 +PDOMapping=0 + +[1A10sub1] +ParameterName=PDO 17 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=544669704 +PDOMapping=0 + +[1A11] +ParameterName=Transmit PDO 18 Mapping +ObjectType=0x8 +SubNumber=2 + +[1A11sub0] +ParameterName=Number of Entries +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=1 +PDOMapping=0 + +[1A11sub1] +ParameterName=PDO 18 Mapping for a process data variable 1 +ObjectType=0x7 +DataType=0x0007 +AccessType=rw +DefaultValue=545193992 +PDOMapping=0 + +[ManufacturerObjects] +SupportedObjects=135 +1=0x2000 +2=0x2001 +3=0x2002 +4=0x2003 +5=0x2004 +6=0x2005 +7=0x2006 +8=0x2007 +9=0x2008 +10=0x2009 +11=0x200A +12=0x200B +13=0x200C +14=0x200D +15=0x200E +16=0x200F +17=0x2010 +18=0x2011 +19=0x2012 +20=0x2013 +21=0x2014 +22=0x2015 +23=0x2016 +24=0x2017 +25=0x2018 +26=0x2019 +27=0x201A +28=0x201B +29=0x201C +30=0x201D +31=0x201E +32=0x201F +33=0x2020 +34=0x2021 +35=0x2022 +36=0x2023 +37=0x2024 +38=0x2025 +39=0x2026 +40=0x2027 +41=0x2028 +42=0x2029 +43=0x202A +44=0x202B +45=0x202C +46=0x202D +47=0x202E +48=0x202F +49=0x2030 +50=0x2031 +51=0x2032 +52=0x2033 +53=0x2034 +54=0x2035 +55=0x2036 +56=0x2037 +57=0x2038 +58=0x2039 +59=0x203A +60=0x203B +61=0x203C +62=0x203D +63=0x203E +64=0x203F +65=0x2040 +66=0x2041 +67=0x2042 +68=0x2043 +69=0x2044 +70=0x2045 +71=0x2046 +72=0x2047 +73=0x2048 +74=0x2049 +75=0x204A +76=0x204B +77=0x204C +78=0x204D +79=0x204E +80=0x204F +81=0x2050 +82=0x2051 +83=0x2052 +84=0x2053 +85=0x2054 +86=0x2055 +87=0x2056 +88=0x2057 +89=0x2058 +90=0x2059 +91=0x205A +92=0x205B +93=0x205C +94=0x205D +95=0x205E +96=0x205F +97=0x2060 +98=0x2061 +99=0x2062 +100=0x2063 +101=0x2064 +102=0x2065 +103=0x2066 +104=0x2067 +105=0x2068 +106=0x2069 +107=0x206A +108=0x206B +109=0x206C +110=0x206D +111=0x206E +112=0x206F +113=0x2070 +114=0x2071 +115=0x2072 +116=0x2073 +117=0x2074 +118=0x2075 +119=0x2076 +120=0x2077 +121=0x2078 +122=0x2079 +123=0x207A +124=0x207B +125=0x207C +126=0x207D +127=0x207E +128=0x207F +129=0x2080 +130=0x2081 +131=0x2082 +132=0x2083 +133=0x2084 +134=0x2085 +135=0x2086 + +[2000] +ParameterName=DO1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2001] +ParameterName=DO2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2002] +ParameterName=DO3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2003] +ParameterName=DO4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2004] +ParameterName=DO5 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2005] +ParameterName=DO6 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2006] +ParameterName=DO7 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2007] +ParameterName=DO8 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2008] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2009] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[200A] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[200B] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[200C] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[200D] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[200E] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[200F] +ParameterName=LH_P1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=False +PDOMapping=1 + +[2010] +ParameterName=LH_P2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=False +PDOMapping=1 + +[2011] +ParameterName=LH_P3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=False +PDOMapping=1 + +[2012] +ParameterName=LH_P4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=False +PDOMapping=1 + +[2013] +ParameterName=LH_V1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=False +PDOMapping=1 + +[2014] +ParameterName=LH_V2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=False +PDOMapping=1 + +[2015] +ParameterName=LH_V3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=False +PDOMapping=1 + +[2016] +ParameterName=LH_V4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=False +PDOMapping=1 + +[2017] +ParameterName=LH_T1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2018] +ParameterName=LH_T2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2019] +ParameterName=LK_P1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[201A] +ParameterName=LK_P2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[201B] +ParameterName=LK_P3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[201C] +ParameterName=LK_P4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[201D] +ParameterName=LK_V1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[201E] +ParameterName=LK_V2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[201F] +ParameterName=LK_V3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2020] +ParameterName=LK_V4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2021] +ParameterName=LK_T1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2022] +ParameterName=LK_T2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2023] +ParameterName=RH_P1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2024] +ParameterName=RH_P2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2025] +ParameterName=RH_P3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2026] +ParameterName=RH_P4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2027] +ParameterName=RH_V1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2028] +ParameterName=RH_V2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2029] +ParameterName=RH_V3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[202A] +ParameterName=RH_V4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[202B] +ParameterName=RH_T1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[202C] +ParameterName=RH_T2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[202D] +ParameterName=RK_P1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[202E] +ParameterName=RK_P2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[202F] +ParameterName=RK_P3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2030] +ParameterName=RK_P4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2031] +ParameterName=RK_V1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2032] +ParameterName=RK_V2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2033] +ParameterName=RK_V3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2034] +ParameterName=RK_V4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2035] +ParameterName=RK_T1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2036] +ParameterName=RK_T2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2037] +ParameterName=Left_Crutch1_1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2038] +ParameterName=Left_Crutch1_2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2039] +ParameterName=Left_Crutch1_3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[203A] +ParameterName=Left_Crutch1_4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[203B] +ParameterName=Left_Crutch1_5 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[203C] +ParameterName=Left_Crutch1_6 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[203D] +ParameterName=Left_Crutch1_7 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[203E] +ParameterName=Left_Crutch1_8 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[203F] +ParameterName=Left_Crutch2_1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2040] +ParameterName=Left_Crutch2_2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2041] +ParameterName=Left_Crutch2_3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2042] +ParameterName=Left_Crutch2_4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2043] +ParameterName=Left_Crutch2_5 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2044] +ParameterName=Left_Crutch2_6 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2045] +ParameterName=Left_Crutch2_7 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2046] +ParameterName=Left_Crutch2_8 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2047] +ParameterName=Right_Crutch1_1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2048] +ParameterName=Right_Crutch1_2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2049] +ParameterName=Right_Crutch1_3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[204A] +ParameterName=Right_Crutch1_4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[204B] +ParameterName=Right_Crutch1_5 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[204C] +ParameterName=Right_Crutch1_6 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[204D] +ParameterName=Right_Crutch1_7 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[204E] +ParameterName=Right_Crutch1_8 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[204F] +ParameterName=Right_Crutch2_1 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2050] +ParameterName=Right_Crutch2_2 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2051] +ParameterName=Right_Crutch2_3 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2052] +ParameterName=Right_Crutch2_4 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2053] +ParameterName=Right_Crutch2_5 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2054] +ParameterName=Right_Crutch2_6 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2055] +ParameterName=Right_Crutch2_7 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2056] +ParameterName=Right_Crutch2_8 +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2057] +ParameterName=left_crutch_force_sensor_command +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2058] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2059] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[205A] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[205B] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[205C] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[205D] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[205E] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[205F] +ParameterName=right_crutch_force_sensor_command +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2060] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2061] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2062] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2063] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2064] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2065] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2066] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2067] +ParameterName=current_state +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2068] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2069] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[206A] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[206B] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[206C] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[206D] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[206E] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[206F] +ParameterName=current_movement +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2070] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2071] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2072] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2073] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2074] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2075] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2076] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2077] +ParameterName=next_movement +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2078] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2079] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[207A] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[207B] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[207C] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[207D] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[207E] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[207F] +ParameterName=go_button +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2080] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2081] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2082] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2083] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2084] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2085] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 + +[2086] +ParameterName=Undefined +ObjectType=0x7 +DataType=0x0005 +AccessType=rw +DefaultValue=0 +PDOMapping=1 diff --git a/Simulator/Exo_test_master.py b/Simulator/Exo_test_master.py new file mode 100644 index 0000000..683a58f --- /dev/null +++ b/Simulator/Exo_test_master.py @@ -0,0 +1,35 @@ +import canopen +import time + +# enable the simulated Left hip motor: +# sudo modprobe vcan +# sudo ip link add dev vcan0 type vcan +# sudo ip link set up vcan0 +# candump -t d vcan0 #absoluted time:(-t a); related time:(-t d) + +# construct a CAN network +network = canopen.Network() + +# connect to the CAN network +network.connect(bustype='socketcan', channel='vcan0', bitrate=1000000) +#network.connect(bustype='socketcan', channel='can0', bitrate=1000000) + +# create a slaver node with id 2(need to match with master.py) and Object Dictionary "Slaver.eds" +Exo_test = network.create_node(1, 'Exo_test.eds') + +# Node send the boot-up message to the CAN network COB-ID:0x700+node-ID detail: "0" +Exo_test.nmt.send_command(0) + +# With the heartbeat configuration in object Dictionary, use the function by following command every 1s(1000ms) +Exo_test.nmt.start_heartbeat(1000) + +print("Test reading PDO to read input of Remote I/O LC5100") +try: + while True: + Exo_test.rpdo.read() + Exo_test.tpdo.read() + +except KeyboardInterrupt: + print("Exit from reading PDO to LC5100") + + diff --git a/Simulator/Exo_test_tpdo.py b/Simulator/Exo_test_tpdo.py new file mode 100644 index 0000000..dc41286 --- /dev/null +++ b/Simulator/Exo_test_tpdo.py @@ -0,0 +1,318 @@ +import canopen +import time + +# construct a CAN network +network = canopen.Network() + +# connect to the CAN network +network.connect(bustype='socketcan', channel='vcan0', bitrate=1000000) + +# add node +Exo_test = canopen.RemoteNode(1, 'Exo_test.eds') +network.add_node(Exo_test) + +#set to pre-operational mode +Exo_test.nmt.send_command(0x80) +time.sleep(2) + +#config PDO +print("config PDO device") +Exo_test.rpdo.read() +Exo_test.tpdo.read() +# print("tpdo map (before):\t{}".format(Exo_test.tpdo[1].map)) +# print("tpdo enabled (before):\t{}".format(Exo_test.tpdo[1].enabled)) +# Manually add the manufacture specific variable, only need if not config in OD +# Exo_test.tpdo[1].add_variable(0x2000, 1, 8) + +# print("tpdo map (after):\t{}".format(Exo_test.tpdo[1].map)) +# print("tpdo enabled (after):\t{}".format(Exo_test.tpdo[1].enabled)) + +#set to operational mode +print("set to operational mode") +Exo_test.nmt.send_command(0x01) +time.sleep(2) + + +#convert hex signed 2's complement to int +# def hex2dec(hex_value, datatype): # hex_value = object of rpdo in str matrix, datatype = desired decimal data type +# if datatype == 'int32': # motor position and velocity data type +# num_byte = 4 +# if datatype == 'int16': # motor torque data type +# num_byte = 2 +# # if datatype == 'int32': # crutch force sensor data type +# # num_byte = 2 + +# hex_seg = [0]*num_byte +# for i in range(num_byte): +# hex_seg[i] = hex_str[0:2] + +# return + +#convert int to hex signed 2's complement +def dec2hex(dec_value, datatype): # hex_value = object of rpdo in str matrix, datatype = desired decimal data type + if datatype == 'int32': # motor position and velocity data type + num_byte = 4 + if datatype == 'int16': # motor torque data type + num_byte = 2 + # if datatype == 'int32': # crutch force sensor data type + # num_byte = 2 + + valueInByte = (dec_value).to_bytes(num_byte, byteorder="little", signed=True) # signed=True: include negative int + # hexadecimal_result = format(dec_value, "03X") + # hex_str = hexadecimal_result.zfill(num_byte*2) + hex_seg = [0]*num_byte + for i in range(num_byte): + hex_seg[i] = int.from_bytes(valueInByte[0+i:1+i], byteorder="little") + return hex_seg + +# def config_pdo(value): +# input_value = [value]*6 +# for i in range(len(input_value)): +# input_value[i] = value - 16*i + +def crutch2can(value, datatype): #convert a float to 2 one bye can message force_H and force_L + if datatype == 'force': # motor position and velocity data type + den = 50 + if datatype == 'torque': # motor torque data type + den = 2000 + signed16bit_raw = int(value*den) + #convert unsigned 16 bit to signed 16 bit: signed int16 = unsigned int16 - 2^16 + unsigned16bit_raw = signed16bit_raw + 2^16 + # signed=False: NOT include negative int + # 2: 2 byte means int16 + num_byte = 2 + valueInByte = (unsigned16bit_raw).to_bytes(num_byte, byteorder="big", signed=True) + hex_seg = [0]*num_byte + for i in range(num_byte): + hex_seg[i] = int.from_bytes(valueInByte[0+i:1+i], byteorder="big") + return hex_seg + +def config_all(value): + splited_value_1 = 0 + splited_value_2 = 0 + # pdo 1 + splited_value_1 = dec2hex(value, 'int32') + splited_value_2 = dec2hex(value-16, 'int32') + # print("splited_value_1 = ",splited_value_1) + # print("splited_value_2 = ",splited_value_2) + Exo_test.tpdo[1][0x200F].raw = splited_value_1[0] + Exo_test.tpdo[1][0x2010].raw = splited_value_1[1] + Exo_test.tpdo[1][0x2011].raw = splited_value_1[2] + Exo_test.tpdo[1][0x2012].raw = splited_value_1[3] + Exo_test.tpdo[1][0x2013].raw = splited_value_2[0] + Exo_test.tpdo[1][0x2014].raw = splited_value_2[1] + Exo_test.tpdo[1][0x2015].raw = splited_value_2[2] + Exo_test.tpdo[1][0x2016].raw = splited_value_2[3] + # pdo 2 + splited_value_1 = dec2hex(value, 'int16') + Exo_test.tpdo[2][0x2017].raw = splited_value_1[0] + Exo_test.tpdo[2][0x2018].raw = splited_value_1[1] + # pdo 3 + splited_value_1 = dec2hex(value, 'int32') + splited_value_2 = dec2hex(value-16, 'int32') + Exo_test.tpdo[3][0x2019].raw = splited_value_1[0] + Exo_test.tpdo[3][0x201A].raw = splited_value_1[1] + Exo_test.tpdo[3][0x201B].raw = splited_value_1[2] + Exo_test.tpdo[3][0x201C].raw = splited_value_1[3] + Exo_test.tpdo[3][0x201D].raw = splited_value_2[0] + Exo_test.tpdo[3][0x201E].raw = splited_value_2[1] + Exo_test.tpdo[3][0x201F].raw = splited_value_2[2] + Exo_test.tpdo[3][0x2020].raw = splited_value_2[3] + # pdo 4 + splited_value_1 = dec2hex(value, 'int16') + Exo_test.tpdo[4][0x2021].raw = splited_value_1[0] + Exo_test.tpdo[4][0x2022].raw = splited_value_1[1] + # pdo 5 + splited_value_1 = dec2hex(value, 'int32') + splited_value_2 = dec2hex(value-16, 'int32') + Exo_test.tpdo[5][0x2023].raw = splited_value_1[0] + Exo_test.tpdo[5][0x2024].raw = splited_value_1[1] + Exo_test.tpdo[5][0x2025].raw = splited_value_1[2] + Exo_test.tpdo[5][0x2026].raw = splited_value_1[3] + Exo_test.tpdo[5][0x2027].raw = splited_value_2[0] + Exo_test.tpdo[5][0x2028].raw = splited_value_2[1] + Exo_test.tpdo[5][0x2029].raw = splited_value_2[2] + Exo_test.tpdo[5][0x202A].raw = splited_value_2[3] + # pdo 6 + splited_value_1 = dec2hex(value, 'int16') + Exo_test.tpdo[6][0x202B].raw = splited_value_1[0] + Exo_test.tpdo[6][0x202C].raw = splited_value_1[1] + # pdo 7 + splited_value_1 = dec2hex(value, 'int32') + splited_value_2 = dec2hex(value-16, 'int32') + Exo_test.tpdo[7][0x202D].raw = splited_value_1[0] + Exo_test.tpdo[7][0x202E].raw = splited_value_1[1] + Exo_test.tpdo[7][0x202F].raw = splited_value_1[2] + Exo_test.tpdo[7][0x2030].raw = splited_value_1[3] + Exo_test.tpdo[7][0x2031].raw = splited_value_2[0] + Exo_test.tpdo[7][0x2032].raw = splited_value_2[1] + Exo_test.tpdo[7][0x2033].raw = splited_value_2[2] + Exo_test.tpdo[7][0x2034].raw = splited_value_2[3] + # pdo 8 + splited_value_1 = dec2hex(value, 'int16') + Exo_test.tpdo[8][0x2035].raw = splited_value_1[0] + Exo_test.tpdo[8][0x2036].raw = splited_value_1[1] + # pdo 9 & 10 + #convert unsigned 16 bit to signed 16 bit: signed int16 = unsigned int16 - 2^16 + crutch_input_force_data = value/50 + crutch_input_torque_data = value/2000 + force_can = crutch2can(crutch_input_force_data, "force") + torque_can = crutch2can(crutch_input_torque_data, "torque") + Exo_test.tpdo[9][0x2037].raw = 0 + Exo_test.tpdo[9][0x2038].raw = force_can[0] + Exo_test.tpdo[9][0x2039].raw = force_can[1] + Exo_test.tpdo[9][0x203A].raw = force_can[0] + Exo_test.tpdo[9][0x203B].raw = force_can[1] + Exo_test.tpdo[9][0x203C].raw = force_can[0] + Exo_test.tpdo[9][0x203D].raw = force_can[1] + Exo_test.tpdo[9][0x203E].raw = torque_can[0] + Exo_test.tpdo[10][0x203F].raw = torque_can[1] + Exo_test.tpdo[10][0x2040].raw = torque_can[0] + Exo_test.tpdo[10][0x2041].raw = torque_can[1] + Exo_test.tpdo[10][0x2042].raw = torque_can[0] + Exo_test.tpdo[10][0x2043].raw = torque_can[1] + Exo_test.tpdo[10][0x2044].raw = 0 + Exo_test.tpdo[10][0x2045].raw = 0 + Exo_test.tpdo[10][0x2046].raw = 0 + # pdo 11 & 12 + #convert unsigned 16 bit to signed 16 bit: signed int16 = unsigned int16 - 2^16 + crutch_input_force_data = value/50 + crutch_input_torque_data = value/2000 + force_can = crutch2can(crutch_input_force_data, "force") + torque_can = crutch2can(crutch_input_torque_data, "torque") + Exo_test.tpdo[11][0x2047].raw = 0 + Exo_test.tpdo[11][0x2048].raw = force_can[0] + Exo_test.tpdo[11][0x2049].raw = force_can[1] + Exo_test.tpdo[11][0x204A].raw = force_can[0] + Exo_test.tpdo[11][0x204B].raw = force_can[1] + Exo_test.tpdo[11][0x204C].raw = force_can[0] + Exo_test.tpdo[11][0x204D].raw = force_can[1] + Exo_test.tpdo[11][0x204E].raw = torque_can[0] + Exo_test.tpdo[12][0x204F].raw = torque_can[1] + Exo_test.tpdo[12][0x2050].raw = torque_can[0] + Exo_test.tpdo[12][0x2051].raw = torque_can[1] + Exo_test.tpdo[12][0x2052].raw = torque_can[0] + Exo_test.tpdo[12][0x2053].raw = torque_can[1] + Exo_test.tpdo[12][0x2054].raw = 0 + Exo_test.tpdo[12][0x2055].raw = 0 + Exo_test.tpdo[12][0x2056].raw = 0 + +# test sending PDO to set output +print("test sending PDO to set output") + +test_id = 0 +# test list: (ignore this list) +# id = 0: No one +# id = 1: All +# id = 2: Left Hip Motor +# id = 3: Left Knee Motor +# id = 4: Right Hip Motor +# id = 5: Right Knee Motor +# id = 6: Left Crutch +# id = 7: Right Crutch +# id = 8: Logger +# id = 9: Main Exo Controller +# id = 10: Crutch UI Controller + + +def transmit_pdo(id, value): + splited_value_1 = 0 + splited_value_2 = 0 + print("Testing TPDO:",id ) + config_all(value) + if(id==0): # transmit ALL PDO + for i in range(1,13): + Exo_test.tpdo[i].transmit() + elif(id==1): + print("TPDO Transmit value = ", write_data, write_data-16) + Exo_test.tpdo[id].transmit() + elif(id==2): + print("TPDO Transmit value = ", write_data) + Exo_test.tpdo[id].transmit() + elif(id==3): + print("TPDO Transmit value = ", write_data, write_data-16) + Exo_test.tpdo[id].transmit() + elif(id==4): + print("TPDO Transmit value = ", write_data) + Exo_test.tpdo[id].transmit() + elif(id==5): + print("TPDO Transmit value = ", write_data, write_data-16) + Exo_test.tpdo[id].transmit() + elif(id==6): + print("TPDO Transmit value = ", write_data) + Exo_test.tpdo[id].transmit() + elif(id==7): + print("TPDO Transmit value = ", write_data, write_data-16) + Exo_test.tpdo[id].transmit() + elif(id==8): + print("TPDO Transmit value = ", write_data) + Exo_test.tpdo[id].transmit() + elif(id==9): + print("TPDO Transmit value = ", write_data/50, write_data/2000) + Exo_test.tpdo[id].transmit() + Exo_test.tpdo[id+1].transmit() + elif(id==10): + print("Testing TPDO:",id) + elif(id==11): + print("TPDO Transmit value = ", write_data/50, write_data/2000) + Exo_test.tpdo[id].transmit() + Exo_test.tpdo[id+1].transmit() + elif(id==12): + print("Testing TPDO:",id) + elif(id==13): + print("Testing TPDO:",id) + elif(id==14): + print("Testing TPDO:",id) + elif(id==15): + print("Testing TPDO:",id) + elif(id==16): + print("Testing TPDO:",id) + elif(id==17): + print("Testing TPDO:",id) + elif(id==18): + print("Testing TPDO:",id) + + + + + + + +try: + write_data = -20 + + while True: + write_data += 1 + + position_data = dec2hex(write_data, 'int32') + + transmit_pdo(test_id, write_data) + # if write_data > 0xFF: + # write_data = 0 + # print("position_data: %d",position_data) + # print(type(position_data[0])) + # Exo_test.tpdo[1][0x200F].raw = position_data[0] + # Exo_test.tpdo[1][0x2010].raw = position_data[1] + # Exo_test.tpdo[1][0x2011].raw = position_data[2] + # Exo_test.tpdo[1][0x2012].raw = position_data[3] + # Exo_test.tpdo[1][0x2004].raw = write_data + # Exo_test.tpdo[1][0x2005].raw = write_data + # Exo_test.tpdo[1][0x2006].raw = write_data + # Exo_test.tpdo[1][0x2007].raw = write_data + # print("TPDO Transmit value = ", write_data) + # print("before value = {}".format(Exo_test.tpdo[1][0x2004].raw)) + # print("before value = {}".format(Exo_test.tpdo[1][0x2005].raw)) + # print("before value = {}".format(Exo_test.tpdo[1][0x2006].raw)) + # print("before value = {}".format(Exo_test.tpdo[1][0x2007].raw)) + + # Exo_test.tpdo[1].transmit() + # print("write output value = {}".format(Exo_test.tpdo[1][0x2000].raw)) + time.sleep(0.1) +except KeyboardInterrupt: + print("exit from sending PDO to Jetson") + +# loop +while 1: + time.sleep(1) + print("slaver work") + #slaver_node_2.tpdo[1].transmit() \ No newline at end of file