; DELTA ELECTRONIC, INC.

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

[FileInfo]
FileName=SD100_servo.eds
FileVersion=1
FileRevision=100
EDSVersion=100
Description=EDS for SD100
CreationTime=11:22AM
CreationDate=1-13-2020
CreatedBy=0510
ModificationTime=11:22AM
ModificationDate=1-13-2020
ModifiedBy=0510, Suzhou veichi electronic co.,ltd

[DeviceInfo]
VendorName=veichi electronic co.,2nd
VendorNumber=0x0000D100
ProductName=SD100_servo
ProductNumber=0x00000016
RevisionNumber=0x00000710
OrderCode=SD100_servo
BaudRate_10=1
BaudRate_20=1
BaudRate_50=1
BaudRate_125=1
BaudRate_250=1
BaudRate_500=1
BaudRate_800=0
BaudRate_1000=1
SimpleBootUpMaster=0
SimpleBootUpSlave=1
Granularity=0x08
DynamicChannelsSupported=0
GroupMessaging=0
NrOfRXPDO=4
NrOfTXPDO=4
LSS_Supported=0

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

[Comments]
Lines=1
Line1=EDS file for veichi_SD100_canopen01

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

[1000]
ParameterName=Device Type
ObjectType=7
DataType=0x0006
AccessType=ro
DefaultValue=0x020192
PDOMapping=0

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

[1018]
ParameterName=Identity Object
ObjectType=9
SubNumber=4

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

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

[1018sub2]
ParameterName=Product code
ObjectType=7
DataType=0x0006
AccessType=ro
DefaultValue=0x0000D100
PDOMapping=0

[1018sub3]
ParameterName=Revision number
ObjectType=7
DataType=0x0006
AccessType=ro
DefaultValue=0x00000003
PDOMapping=0

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

[1003]
ParameterName=Pre-defined Error Field
ObjectType=8
SubNumber=5

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

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

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

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

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

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

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

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

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

[1010]
ParameterName=Store Parameters
ObjectType=8
SubNumber=2

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

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

[1011]
ParameterName=restore default parameters
ObjectType=8
SubNumber=2

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

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

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

[1016]
ParameterName=Consumer heartbeat time
ObjectType=8
SubNumber=2

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

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

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

[1029]
ParameterName=Error Behavior
ObjectType=8
SubNumber=2

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

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

[1200]
ParameterName=SDO Parameter
ObjectType=8
SubNumber=3

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

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

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

[1400]
ParameterName=Receive PDO1 parameter
ObjectType=9
SubNumber=3

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

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

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

[1401]
ParameterName=Receive PDO2 parameter
ObjectType=9
SubNumber=3

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

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

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

[1402]
ParameterName=Receive PDO3 parameter
ObjectType=9
SubNumber=3

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

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

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

[1403]
ParameterName=Receive PDO4 parameter
ObjectType=9
SubNumber=3

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

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

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

[1600]
ParameterName=Receive PDO1 mapping
ObjectType=9
SubNumber=5

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

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

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

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

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

[1601]
ParameterName=Receive PDO2 mapping
ObjectType=9
SubNumber=5

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

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

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

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

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

[1602]
ParameterName=Receive PDO3 mapping
ObjectType=9
SubNumber=5

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

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

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

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

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

[1603]
ParameterName=Receive PDO4 mapping
ObjectType=9
SubNumber=5

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

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

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

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

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

[1800]
ParameterName=Transmit PDO1 parameter
ObjectType=9
SubNumber=5

[1800sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x5
PDOMapping=0

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

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

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

[1800sub5]
ParameterName=Even time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=1

[1801]
ParameterName=Transmit PDO2 parameter
ObjectType=9
SubNumber=5

[1801sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x5
PDOMapping=0

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

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

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

[1801sub5]
ParameterName=Event Time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=1

[1802]
ParameterName=Transmit PDO3 parameter
ObjectType=9
SubNumber=5

[1802sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x5
PDOMapping=0

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

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

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

[1802sub5]
ParameterName=Event Time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=1

[1803]
ParameterName=Transmit PDO4 parameter
ObjectType=9
SubNumber=5

[1803sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x5
PDOMapping=0

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

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

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

[1803sub5]
ParameterName=Event Time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=1

[1A00]
ParameterName=Transmit PDO1 mapping
ObjectType=9
SubNumber=5

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

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

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

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

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

[1A01]
ParameterName=Transmit PDO2 mapping
ObjectType=9
SubNumber=5

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

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

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

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

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

[1A02]
ParameterName=Transmit PDO3 mapping
ObjectType=9
SubNumber=5

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

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

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

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

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

[1A03]
ParameterName=Transmit PDO4 mapping
ObjectType=9
SubNumber=5

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

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

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

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

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

[ManufacturerObjects]
SupportedObjects=73
1=0x2000
2=0x2001
3=0x2002
4=0x2003
5=0x2004
6=0x2005
7=0x2006
8=0x2E00
9=0x2E01
10=0x2E02
11=0x2E05
12=0x2E06
13=0x2E08
14=0x603F
15=0x6040
16=0x6041
17=0x605A
18=0x605D
19=0x6060
20=0x6061
21=0x6062
22=0x6063
23=0x6064
24=0x6065
25=0x6067
26=0x6068
27=0x606B
28=0x606C
29=0x606D
30=0x606E
31=0x606F
32=0x6070
33=0x6071
34=0x6072
35=0x6074
36=0x6075
37=0x6076
38=0x6077
39=0x6078
40=0x607A
41=0x607C
42=0x607D
43=0x607E
44=0x607F
45=0x6080
46=0x6081
47=0x6083
48=0x6084
49=0x6085
50=0x6086
51=0x6087
52=0x6091
53=0x6098
54=0x6099
55=0x609A
56=0x60B0
57=0x60B1
58=0x60B2
59=0x60C0
60=0x60C1
61=0x60C2
62=0x60C5
63=0x60C6
64=0x60E0
65=0x60E1
66=0x60E6
67=0x60F2
68=0x60F4
69=0x60FC
70=0x60FD
71=0x60FE
72=0x60FF
73=0x6502

[2000]
ParameterName=Basic control
ObjectType=8
SubNumber=53

[2000sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x86
PDOMapping=0

[2000sub1]
ParameterName=Basic control 0
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x2217
DefaultValue=0x0100
PDOMapping=0

[2000sub2]
ParameterName=Basic control 1
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x0011
DefaultValue=0x0000
PDOMapping=0

[2000sub3]
ParameterName=Motor rotation direction
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=1
DefaultValue=0x0000
PDOMapping=0

[2000sub4]
ParameterName=Default monitoring parameters
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x0FFF
DefaultValue=0x0FFF
PDOMapping=0

[2000sub5]
ParameterName=Servo off and Gr.1 shutdown method in case of alarm
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=4
DefaultValue=2
PDOMapping=0

[2000sub6]
ParameterName=Gr.2 shutdown method in case of alarm
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=4
DefaultValue=1
PDOMapping=0

[2000sub7]
ParameterName=Basic control 6
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x4121
DefaultValue=0x1001
PDOMapping=0

[2000sub8]
ParameterName=Stop method selection while servo over travel
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=4
DefaultValue=1
PDOMapping=0

[2000sub9]
ParameterName=Electromagnetic brake locking time when Servo OFF
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=100
HighLimit=2000
DefaultValue=10
PDOMapping=0

[2000subA]
ParameterName=Electromagnetic brake action delay
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=2000
DefaultValue=500
PDOMapping=0

[2000subB]
ParameterName=Motor speed setting when electromagnetic brake is released
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=10000
DefaultValue=100
PDOMapping=0

[2000subC]
ParameterName=Electromagnetic brake releasing time when Servo ON
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=2000
DefaultValue=10
PDOMapping=0

[2000subD]
ParameterName=Basic control C
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x0116
DefaultValue=0x0000
PDOMapping=0

[2000subE]
ParameterName=Basic control D
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x2111
DefaultValue=0x0000
PDOMapping=0

[2000subF]
ParameterName=Basic control E
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x4111
DefaultValue=0x0000
PDOMapping=0

[2000sub12]
ParameterName=Pulse Filtering Time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=5000
DefaultValue=400
PDOMapping=0

[2000sub13]
ParameterName=External regenerative resistor power
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=0

[2000sub14]
ParameterName=External regenerative resistor
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=0

[2000sub15]
ParameterName=Enable delay time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=6000
DefaultValue=0
PDOMapping=0

[2000sub16]
ParameterName=Motor overload warning value
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=100
DefaultValue=50
PDOMapping=0

[2000sub17]
ParameterName=Base current derating setting at motor overload detection
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=100
DefaultValue=100
PDOMapping=0

[2000sub18]
ParameterName=Overload detection current derating percentage
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=100
DefaultValue=50
PDOMapping=0

[2000sub31]
ParameterName=Absolute position limit maximum for single-turn
ObjectType=7
DataType=0x0004
AccessType=rw
LowLimit=-2147483468
HighLimit=2147483467
DefaultValue=0
PDOMapping=0

[2000sub33]
ParameterName=Absolute position limit maximum for multi-turn
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-32768
HighLimit=32767
DefaultValue=32767
PDOMapping=0

[2000sub34]
ParameterName=Absolute position limit minimum for single-turn
ObjectType=7
DataType=0x0004
AccessType=rw
LowLimit=-2147483468
HighLimit=2147483467
DefaultValue=0
PDOMapping=0

[2000sub36]
ParameterName=Absolute Position limit minimum for multi-turn
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-32768
HighLimit=32767
DefaultValue=0
PDOMapping=0

[2000sub37]
ParameterName=Absolute position limit Hysteresis loop
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=0
HighLimit=30000
DefaultValue=200
PDOMapping=0

[2000sub3A]
ParameterName=Servo deceleration stop time when OFF
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=0
PDOMapping=0

[2000sub41]
ParameterName=Absolute value encoder use method
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=0x0011
DefaultValue=50
PDOMapping=0

[2000sub42]
ParameterName=Absolute value encoder Alarm Set
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1
DefaultValue=0
PDOMapping=0

[2000sub46]
ParameterName=Function selection in case of undervoltage of main circuit (DC)
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=2
DefaultValue=0
PDOMapping=0

[2000sub47]
ParameterName=Torque limit while main circuit voltage drops
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=100
DefaultValue=50
PDOMapping=0

[2000sub48]
ParameterName=Delay time of torque limit release while main circuit voltage drops
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=100
PDOMapping=0

[2000sub51]
ParameterName=Torque limit mode selection
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=5
DefaultValue=2
PDOMapping=0

[2000sub52]
ParameterName=Internal forward torque limit
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=500
DefaultValue=300
PDOMapping=0

[2000sub53]
ParameterName=Internal reverse torque limit
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=500
DefaultValue=300
PDOMapping=0

[2000sub54]
ParameterName=Emergency stop torque
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=800
DefaultValue=800
PDOMapping=0

[2000sub55]
ParameterName=Max external torque limitation 1
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=500
DefaultValue=100
PDOMapping=0

[2000sub56]
ParameterName=Max external torque limitation 2
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=500
DefaultValue=100
PDOMapping=0

[2000sub57]
ParameterName=Speed detection torque threshold
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=255
DefaultValue=100
PDOMapping=0

[2000sub58]
ParameterName=Speed detection speed threshold
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=200
DefaultValue=20
PDOMapping=0

[2000sub5A]
ParameterName=KTY sensor alarm threshold
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=180
DefaultValue=0
PDOMapping=0

[2000sub71]
ParameterName=Number of encoder frequency division pulses
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=35
HighLimit=32767
DefaultValue=2500
PDOMapping=0

[2000sub72]
ParameterName=The width of Z in crossover pulse
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=31
DefaultValue=4
PDOMapping=0

[2000sub73]
ParameterName=Serial encoder single-turn resolution method
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=0x0031
DefaultValue=0
PDOMapping=0

[2000sub74]
ParameterName=Filter time for absolute encoder data request
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=32
DefaultValue=0
PDOMapping=0

[2000sub75]
ParameterName=Encoder Z signal output control
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=0xFFF1
DefaultValue=0xFF50
PDOMapping=0

[2000sub77]
ParameterName=Serial encoder single turn resolution usage
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=0x0051
DefaultValue=0x0020
PDOMapping=0

[2000sub80]
ParameterName=Serial encoder multi-turn and fault clearing
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=255
DefaultValue=0
PDOMapping=0

[2000sub81]
ParameterName=Local communication address
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=255
DefaultValue=1
PDOMapping=0

[2000sub82]
ParameterName=Local communication format
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x1655
DefaultValue=0x0512
PDOMapping=0

[2000sub86]
ParameterName=Data Save Eeprom
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=0x0111
DefaultValue=0
PDOMapping=0

[2001]
ParameterName=Gain parameter
ObjectType=8
SubNumber=75

[2001sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x9A
PDOMapping=0

[2001sub1]
ParameterName=Rotary inertia ratio
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=20000
DefaultValue=100
PDOMapping=0

[2001sub2]
ParameterName=First speed gain
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=20000
DefaultValue=400
PDOMapping=0

[2001sub3]
ParameterName=First speed integral time constant
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=15
HighLimit=51200
DefaultValue=2000
PDOMapping=0

[2001sub4]
ParameterName=First position gain
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=20000
DefaultValue=400
PDOMapping=0

[2001sub5]
ParameterName=First torque command filter
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=100
PDOMapping=0

[2001sub6]
ParameterName=Second speed gain
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=20000
DefaultValue=400
PDOMapping=0

[2001sub7]
ParameterName=Second speed integral time constant
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=15
HighLimit=51200
DefaultValue=2000
PDOMapping=0

[2001sub8]
ParameterName=Second position gain
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=20000
DefaultValue=400
PDOMapping=0

[2001sub9]
ParameterName=Second torque command filter
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=100
PDOMapping=0

[2001subB]
ParameterName=Auto-Adjustment mode Selection
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1
DefaultValue=0
PDOMapping=0

[2001subC]
ParameterName=rigidity level Selection
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=32
DefaultValue=15
PDOMapping=0

[2001sub11]
ParameterName=Automatic gain switch
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x0051
DefaultValue=0x0000
PDOMapping=0

[2001sub13]
ParameterName=Gain switching transition time 1
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=0

[2001sub14]
ParameterName=Gain switching transition time 2
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=0

[2001sub15]
ParameterName=Gain switching delay time 1
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=0

[2001sub16]
ParameterName=Gain switching delay time 2
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=0

[2001sub21]
ParameterName=Position integral time constant
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=50000
DefaultValue=0
PDOMapping=0

[2001sub22]
ParameterName=Speed feedforward gain
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=500
DefaultValue=0
PDOMapping=0

[2001sub23]
ParameterName=Speed feedforward filter time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=6400
DefaultValue=0
PDOMapping=0

[2001sub24]
ParameterName=Torq feedforward gain
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=500
DefaultValue=0
PDOMapping=0

[2001sub25]
ParameterName=Torq feedforward filter time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=6400
DefaultValue=200
PDOMapping=0

[2001sub26]
ParameterName=Time constant of speed feedback filtering
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=0

[2001sub31]
ParameterName=Speed loop P-PI control switch
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x0114
DefaultValue=0x0000
PDOMapping=0

[2001sub33]
ParameterName=P-PI switching condition of speed loop ( Torque)
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=800
DefaultValue=200
PDOMapping=0

[2001sub34]
ParameterName=P-PI switching condition of speed loop (speed)
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=0
PDOMapping=0

[2001sub35]
ParameterName=P-PI switching condition of speed loop (acceleration)
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=30000
DefaultValue=0
PDOMapping=0

[2001sub36]
ParameterName=P-PI switching condition of speed loop (Positional deviation)
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=0
PDOMapping=0

[2001sub41]
ParameterName=A-type  vibration suppression control switch
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x0011
DefaultValue=0x00
PDOMapping=0

[2001sub42]
ParameterName=Compensation of A-Type vibration suppression  gain
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=1000
DefaultValue=100
PDOMapping=0

[2001sub43]
ParameterName=Frequency of A-type vibration suppression
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=20000
DefaultValue=1000
PDOMapping=0

[2001sub44]
ParameterName=Damping gain of A-type vibration suppression
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=300
DefaultValue=0
PDOMapping=0

[2001sub45]
ParameterName=Compensation of A-type vibration suppression filter time 1
ObjectType=7
DataType=0x0003
LowLimit=-1000
HighLimit=1000
DefaultValue=0
PDOMapping=0

[2001sub46]
ParameterName=Compensation of A-type vibration suppression filter time 2
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-1000
HighLimit=1000
DefaultValue=0
PDOMapping=0

[2001sub51]
ParameterName=Notch filter switch 1
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=0x0000
HighLimit=0x1101
DefaultValue=0x0001
PDOMapping=0

[2001sub52]
ParameterName=Notch filter switch 2
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x0101
DefaultValue=0x0000
PDOMapping=0

[2001sub53]
ParameterName=Automatic notch resonance detection sensitivity
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=200
DefaultValue=100
PDOMapping=0

[2001sub54]
ParameterName=Notch filter 1 frequency
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=50
HighLimit=5000
DefaultValue=5000
PDOMapping=0

[2001sub55]
ParameterName=Notch filter 1 Q value
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=50
HighLimit=1000
DefaultValue=70
PDOMapping=0

[2001sub56]
ParameterName=Notch filter 1 depth
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1000
DefaultValue=0
PDOMapping=0

[2001sub57]
ParameterName=Notch filter 2 frequency
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=50
HighLimit=5000
DefaultValue=5000
PDOMapping=0

[2001sub58]
ParameterName=Notch filter 2 Q value
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=50
HighLimit=1000
DefaultValue=70
PDOMapping=0

[2001sub59]
ParameterName=Notch filter 2 depth
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1000
DefaultValue=0
PDOMapping=0

[2001sub5A]
ParameterName=Notch filter 3 frequency
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=50
HighLimit=5000
DefaultValue=5000
PDOMapping=0

[2001sub5B]
ParameterName=Notch filter 3 Q value
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=50
HighLimit=1000
DefaultValue=70
PDOMapping=0

[2001sub5C]
ParameterName=Notch filter 3 depth
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1000
DefaultValue=0
PDOMapping=0

[2001sub5D]
ParameterName=Notch filter 4 frequency
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=50
HighLimit=5000
DefaultValue=5000
PDOMapping=0

[2001sub5E]
ParameterName=Notch filter 4 Q value
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=50
HighLimit=1000
DefaultValue=70
PDOMapping=0

[2001sub5F]
ParameterName=Notch filter 4 depth
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1000
DefaultValue=0
PDOMapping=0

[2001sub62]
ParameterName=Friction compensation gain
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=1000
DefaultValue=100
PDOMapping=0

[2001sub63]
ParameterName=Second friction compensation gain
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=1000
DefaultValue=100
PDOMapping=0

[2001sub64]
ParameterName=Friction compensation coefficient
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=100
DefaultValue=0
PDOMapping=0

[2001sub65]
ParameterName=Friction compensation frequency correction
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=10000
DefaultValue=0
PDOMapping=0

[2001sub66]
ParameterName=Friction compensation gain correction
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1000
DefaultValue=100
PDOMapping=0

[2001sub76]
ParameterName=Robust control option
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x2911
DefaultValue=0x1400
PDOMapping=0

[2001sub7B]
ParameterName=Robust control of perturbation observer gain
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=6000
PDOMapping=0

[2001sub7C]
ParameterName=Robust control inertial correction coefficient
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=100
DefaultValue=100
PDOMapping=0

[2001sub7D]
ParameterName=Robust control torque low-pass filter time constant
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=10
PDOMapping=0

[2001sub7E]
ParameterName=Robust control speed feedback low-pass filter time constant
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=10
PDOMapping=0

[2001sub86]
ParameterName=Motor abnormal vibration detection
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=2
DefaultValue=0
PDOMapping=0

[2001sub87]
ParameterName=Vibration detection sensitivity
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=50
HighLimit=500
DefaultValue=100
PDOMapping=0

[2001sub88]
ParameterName=Vibration detection value
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=5000
DefaultValue=50
PDOMapping=0

[2001sub93]
ParameterName=Position overshoot detection sensitivity during advanced tuning
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=100
DefaultValue=100
PDOMapping=0

[2001sub94]
ParameterName=Maximum gain during advanced tuning
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=4000
DefaultValue=3000
PDOMapping=0

[2001sub96]
ParameterName=Gravity compensation
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-1000
HighLimit=1000
DefaultValue=0
PDOMapping=0

[2001sub97]
ParameterName=Forward friction compensation
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-1000
HighLimit=1000
DefaultValue=0
PDOMapping=0

[2001sub98]
ParameterName=Reverse friction compensation
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-1000
HighLimit=1000
DefaultValue=0
PDOMapping=0

[2001sub99]
ParameterName=Viscous friction compensation
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=0
HighLimit=3000
DefaultValue=0
PDOMapping=0

[2001sub9A]
ParameterName=Friction compensation speed threshold
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=0
HighLimit=100
DefaultValue=0
PDOMapping=0

[2002]
ParameterName=Position parameter
ObjectType=8
SubNumber=33

[2002sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x9A
PDOMapping=0

[2002sub1]
ParameterName=Position command source
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x0081
DefaultValue=0x0020
PDOMapping=0

[2002sub4]
ParameterName=External Pulse Rate
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=100
DefaultValue=1
PDOMapping=0

[2002sub5]
ParameterName=Electronic gear ratio numerator
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=0
HighLimit=1073741824
DefaultValue=1
PDOMapping=0

[2002sub7]
ParameterName=Electronic gear ratio denominator
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=1
HighLimit=1073741824
DefaultValue=1
PDOMapping=0

[2002sub12]
ParameterName=Position command low pass filter time constant
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=6550
DefaultValue=0
PDOMapping=0

[2002sub13]
ParameterName=Position command slide average filter time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=0
PDOMapping=0

[2002sub33]
ParameterName=Low-frequency vibration detection sensitivity (relative positioning is completed)
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=3000
DefaultValue=400
PDOMapping=0

[2002sub34]
ParameterName=Low frequency vibration suppression 1 frequency A
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=2500
DefaultValue=500
PDOMapping=0

[2002sub35]
ParameterName=Low frequency vibration suppression 1 frequency B
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=2500
DefaultValue=70
PDOMapping=0

[2002sub36]
ParameterName=Low frequency vibration suppression 2 frequency
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=2000
DefaultValue=2000
PDOMapping=0

[2002sub37]
ParameterName=Low frequency vibration suppression 2 correction
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=1000
DefaultValue=100
PDOMapping=0

[2002sub41]
ParameterName=Model tracking control switch
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x1121
DefaultValue=0x0100
PDOMapping=0

[2002sub42]
ParameterName=Gain of model tracking control
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=20000
DefaultValue=500
PDOMapping=0

[2002sub43]
ParameterName=Attenuation coefficient of model tracking control
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=500
HighLimit=2000
DefaultValue=1000
PDOMapping=0

[2002sub44]
ParameterName=Speed forwardback gain of model tracking
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=1000
PDOMapping=0

[2002sub45]
ParameterName=Model tracking control offset (forward direction)
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=1000
PDOMapping=0

[2002sub46]
ParameterName=Model tracking control offset (reverse direction)
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=1000
PDOMapping=0

[2002sub47]
ParameterName=Gain of 2nd model tracking control
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=20000
DefaultValue=500
PDOMapping=0

[2002sub48]
ParameterName=Attenuation coefficient of model tracking control
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=500
HighLimit=2000
DefaultValue=1000
PDOMapping=0

[2002sub61]
ParameterName=NEAR signal width
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=1
HighLimit=1073741824
DefaultValue=1073741824
PDOMapping=0

[2002sub63]
ParameterName=Position arrival range
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=0
HighLimit=1073741824
DefaultValue=7
PDOMapping=0

[2002sub65]
ParameterName=Maximum tolerance value of position deviation
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=1073741824
DefaultValue=5242880
PDOMapping=0

[2002sub67]
ParameterName=Large position deviation alarm setting
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=100
DefaultValue=100
PDOMapping=0

[2002sub68]
ParameterName=Alarm threshold of  position deviation excess when servo is on
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=1
HighLimit=1073741824
DefaultValue=5242880
PDOMapping=0

[2002sub6A]
ParameterName=Warning threshold of large position deviation when servo is on
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=100
DefaultValue=100
PDOMapping=0

[2002sub71]
ParameterName=Speed limitation when servo on
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=10000
PDOMapping=0

[2002sub73]
ParameterName=Position deviation clear signal effective method
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=3
DefaultValue=0
PDOMapping=0

[2002sub74]
ParameterName=Position deviation clearing action
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=2
DefaultValue=0
PDOMapping=0

[2002sub75]
ParameterName=Positioning completion signal output conditiongs
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=2
DefaultValue=0
PDOMapping=0

[2002sub77]
ParameterName=Upper limit of number of rotations
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=30000
DefaultValue=0
PDOMapping=0

[2002sub78]
ParameterName=Opening direction of the rotations
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1
DefaultValue=0
PDOMapping=0

[2002sub9A]
ParameterName=Origin return timeout setting
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=10000
PDOMapping=0

[2003]
ParameterName=Speed parameter
ObjectType=8
SubNumber=21

[2003sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x21
PDOMapping=0

[2003sub1]
ParameterName=Position command source
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=4
DefaultValue=0
PDOMapping=0

[2003sub2]
ParameterName=Speed command direction
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1
DefaultValue=0
PDOMapping=0

[2003sub3]
ParameterName=Speed command low pass filter time constant
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=40
PDOMapping=0

[2003sub4]
ParameterName=Speed control switch 1
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=0x2222
DefaultValue=0
PDOMapping=0

[2003sub5]
ParameterName=Internal speed 1
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-10000
HighLimit=10000
DefaultValue=100
PDOMapping=0

[2003sub6]
ParameterName=Internal speed 2
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-10000
HighLimit=10000
DefaultValue=200
PDOMapping=0

[2003sub7]
ParameterName=Internal speed 3
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-10000
HighLimit=10000
DefaultValue=300
PDOMapping=0

[2003sub8]
ParameterName=Internal speed 4
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-10000
HighLimit=10000
DefaultValue=400
PDOMapping=0

[2003sub9]
ParameterName=Internal speed command unit
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1
DefaultValue=0
PDOMapping=0

[2003subA]
ParameterName=Analog speed command gain
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=3000
DefaultValue=600
PDOMapping=0

[2003sub11]
ParameterName=Speed command trapezoidal acceleration time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=200
PDOMapping=0

[2003sub12]
ParameterName=Speed command trapezoidal deceleration time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=200
PDOMapping=0

[2003sub14]
ParameterName=Speed zero-clamp threshold
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=10
PDOMapping=0

[2003sub15]
ParameterName=Maximum compensation speed at zero speed clamp
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=50
HighLimit=10000
DefaultValue=1000
PDOMapping=0

[2003sub18]
ParameterName=Rotation judgment value
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=10000
DefaultValue=20
PDOMapping=0

[2003sub19]
ParameterName=Maximum speed of motor
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=10000
PDOMapping=0

[2003sub21]
ParameterName=Speed matching range
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=100
DefaultValue=10
PDOMapping=0

[2004]
ParameterName=Torque parameter
ObjectType=8
SubNumber=20

[2004sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x33
PDOMapping=0

[2004sub1]
ParameterName=Torque control switch 1
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=0x0041
DefaultValue=0x0020
PDOMapping=0

[2004sub2]
ParameterName=Torque command 2nd order low pass filter cutoff frequency
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=100
HighLimit=5000
DefaultValue=5000
PDOMapping=0

[2004sub3]
ParameterName=Torque command 2nd order low pass filter Q value
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=50
HighLimit=100
DefaultValue=50
PDOMapping=0

[2004sub4]
ParameterName=Torque command direction
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1
DefaultValue=0
PDOMapping=0

[2004sub5]
ParameterName=Torque command 2nd order low pass filter time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=0

[2004sub6]
ParameterName=Analog gain for torque command
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=100
DefaultValue=30
PDOMapping=0

[2004sub7]
ParameterName=Analog gain for torque limit
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=10
HighLimit=100
DefaultValue=30
PDOMapping=0

[2004subA]
ParameterName=Torque control switch 2
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=0x2222
DefaultValue=0
PDOMapping=0

[2004sub11]
ParameterName=Internal torque 1
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-5000
HighLimit=5000
DefaultValue=0
PDOMapping=0

[2004sub12]
ParameterName=Internal torque 2
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-5000
HighLimit=5000
DefaultValue=0
PDOMapping=0

[2004sub13]
ParameterName=Internal torque 3
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-5000
HighLimit=5000
DefaultValue=0
PDOMapping=0

[2004sub14]
ParameterName=Internal torque 4
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-5000
HighLimit=5000
DefaultValue=0
PDOMapping=0

[2004sub16]
ParameterName=Speed limit 1 under torque control
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=1000
PDOMapping=0

[2004sub17]
ParameterName=Speed limit 2 under torque control
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=1000
PDOMapping=0

[2004sub21]
ParameterName=Target torque reached value
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=50000
DefaultValue=1000
PDOMapping=0

[2004sub22]
ParameterName=Target torque arrival time window
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1000
DefaultValue=5
PDOMapping=0

[2004sub31]
ParameterName=Torque control 2
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x0013
DefaultValue=0x0001
PDOMapping=0

[2004sub32]
ParameterName=Speed threshold in single trigger torque mode
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=500
DefaultValue=20
PDOMapping=0

[2004sub33]
ParameterName=Torque arrival duration in single trigger torque mode
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=500
DefaultValue=30
PDOMapping=0

[2005]
ParameterName=Auxiliary parameter
ObjectType=8
SubNumber=12

[2005sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x09
PDOMapping=0

[2005sub1]
ParameterName=JOG speed
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=2000
DefaultValue=200
PDOMapping=0

[2005sub3]
ParameterName=Program JOG running mode
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=5
DefaultValue=0
PDOMapping=0

[2005sub4]
ParameterName=Program JOG moving distance
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=1
HighLimit=1073741824
DefaultValue=60000
PDOMapping=0

[2005sub6]
ParameterName=Program JOG acceleration/deceleration time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=2
HighLimit=10000
DefaultValue=100
PDOMapping=0

[2005sub7]
ParameterName=Program JOG waiting time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=10000
DefaultValue=100
PDOMapping=0

[2005sub8]
ParameterName=Program JOG moving times
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=1000
DefaultValue=1
PDOMapping=0

[2005sub9]
ParameterName=Program JOG moving speed
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=10000
DefaultValue=500
PDOMapping=0

[2006]
ParameterName=I/O parameters
ObjectType=8
SubNumber=26

[2006sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x32
PDOMapping=0

[2006sub1]
ParameterName=Digital input filter time
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=3000
DefaultValue=2
PDOMapping=0

[2006sub2]
ParameterName=Function assignment of digital input X1
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x112F
DefaultValue=0x0001
PDOMapping=0

[2006sub3]
ParameterName=Function assignment of digital input X2
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x112F
DefaultValue=0x0002
PDOMapping=0

[2006sub4]
ParameterName=Function assignment of digital input X3
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x112F
DefaultValue=0x0003
PDOMapping=0

[2006sub5]
ParameterName=Function assignment of digital input X4
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x112F
DefaultValue=0x0005
PDOMapping=0

[2006sub6]
ParameterName=Function assignment of digital input X5
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x112F
DefaultValue=0x0000
PDOMapping=0

[2006sub7]
ParameterName=Function assignment of digital input X6
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x112F
DefaultValue=0x0000
PDOMapping=0

[2006sub8]
ParameterName=Function assignment of digital input X7
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x112F
DefaultValue=0x0000
PDOMapping=0

[2006sub9]
ParameterName=Function assignment of digital input X8
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x112F
DefaultValue=0x0000
PDOMapping=0

[2006subA]
ParameterName=Function assignment of digital input X9
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x112F
DefaultValue=0x0000
PDOMapping=0

[2006sub12]
ParameterName=Function assignment of digital output Y1
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x111F
DefaultValue=0x0001
PDOMapping=0

[2006sub13]
ParameterName=Function assignment of digital output Y2
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x111F
DefaultValue=0x0002
PDOMapping=0

[2006sub14]
ParameterName=Function assignment of digital output Y3
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x111F
DefaultValue=0x0007
PDOMapping=0

[2006sub15]
ParameterName=Function assignment of digital output Y4
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x111F
DefaultValue=0x000B
PDOMapping=0

[2006sub16]
ParameterName=Function assignment of digital output Y5
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x111F
DefaultValue=0x0000
PDOMapping=0

[2006sub21]
ParameterName=AI1 filter time for analog channel
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=0

[2006sub22]
ParameterName=AI2 filter time for analog channel
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=65535
DefaultValue=0
PDOMapping=0

[2006sub23]
ParameterName=Analog channel AI1 hardware drift
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-5000
HighLimit=5000
DefaultValue=0
PDOMapping=0

[2006sub24]
ParameterName=Analog channel AI2 hardware drift
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-5000
HighLimit=5000
DefaultValue=0
PDOMapping=0

[2006sub25]
ParameterName=AI1 gain of analog channel
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=500
DefaultValue=100
PDOMapping=0

[2006sub26]
ParameterName=AI2 gain of analog channel
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=500
DefaultValue=100
PDOMapping=0

[2006sub27]
ParameterName=AI1 Zero Point Threshold
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=5000
DefaultValue=0
PDOMapping=0

[2006sub28]
ParameterName=AI2 Zero Point Threshold
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=5000
DefaultValue=0
PDOMapping=0

[2006sub31]
ParameterName=Virtual input terminal reference
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x03FF
DefaultValue=0x0000
PDOMapping=0

[2006sub32]
ParameterName=Virtual output terminal reference
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0x0000
HighLimit=0x003F
DefaultValue=0x0000
PDOMapping=0

[2E00]
ParameterName=Un0xx
ObjectType=8
SubNumber=32

[2E00sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x8A
PDOMapping=0

[2E00sub1]
ParameterName=Motor rotation speed
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E00sub2]
ParameterName=Speed command
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E00sub3]
ParameterName=Internal torque command
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E00sub5]
ParameterName=Electrical angle
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub6]
ParameterName=Speed of input pulse command
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E00sub7]
ParameterName=Counter of input command pulse
ObjectType=7
DataType=0x0004
AccessType=ro
PDOMapping=0

[2E00sub8]
ParameterName=Counter of Encoder feedback pulse 1
ObjectType=7
DataType=0x0004
AccessType=ro
PDOMapping=0

[2E00sub9]
ParameterName=Counter of Encoder feedback pulse 2
ObjectType=7
DataType=0x0004
AccessType=ro
PDOMapping=0

[2E00subA]
ParameterName=Position deviation
ObjectType=7
DataType=0x0004
AccessType=ro
PDOMapping=0

[2E00subB]
ParameterName=Cumulative load rate(10s)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00subC]
ParameterName=Regeneration load rate(10s)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00subE]
ParameterName=Effective gain monitoring
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00subF]
ParameterName=Total running time
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E00sub11]
ParameterName=Absolute encoder sigle-turn value
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E00sub12]
ParameterName=Absolute encoder multi-turn value
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E00sub18]
ParameterName=Encoder Z signal output number
ObjectType=7
DataType=0x0004
AccessType=ro
PDOMapping=0

[2E00sub19]
ParameterName=Encoder Z signal unidirectional output number
ObjectType=7
DataType=0x0004
AccessType=ro
PDOMapping=0

[2E00sub2B]
ParameterName=Internal control status 1
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub2C]
ParameterName=Internal control status 2(Input digital)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub2D]
ParameterName=Internal control status 3(Input digital)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub2E]
ParameterName=Internal control status 4(Output digital)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub2F]
ParameterName=Can Status
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub30]
ParameterName=Can Command word
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub31]
ParameterName=Servo running status
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub32]
ParameterName=Canopen running status
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub36]
ParameterName=MCU version
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub37]
ParameterName=FPGA version
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub38]
ParameterName=MCU Minor version
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub39]
ParameterName=FPGA Minor version
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub88]
ParameterName=Serial encoder communication exception counter
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E00sub8A]
ParameterName=IGBT Temperature
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E01]
ParameterName=Un1xx
ObjectType=8
SubNumber=16

[2E01sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x45
PDOMapping=0

[2E01sub1]
ParameterName=IO port input signal monitoring
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E01sub2]
ParameterName=IO port output signal monitoring
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E01sub6]
ParameterName=Position setting time
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E01sub7]
ParameterName=Position overshoot
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E01subC]
ParameterName=Detection value of temperature sensor(KTY)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E01subE]
ParameterName=Chip ambient temperature
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E01sub41]
ParameterName=Main circuit bus voltage
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E01sub42]
ParameterName=Effective current feedback
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E01sub43]
ParameterName=Cumulative load rate(2ms)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E01sub44]
ParameterName=Accumulated regeneration load
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E01sub45]
ParameterName=Accumulated DB load
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E02]
ParameterName=Un2xx
ObjectType=8
SubNumber=10

[2E02sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x1A
PDOMapping=0

[2E02sub4]
ParameterName=Setting abnormal function code(Er.040)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E02sub13]
ParameterName=System time A monitoring(Avg)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E02sub14]
ParameterName=System time A monitoring(Max)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E02sub15]
ParameterName=System time B monitoring(Avg)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E02sub16]
ParameterName=System time B monitoring(Max)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E02sub17]
ParameterName=System time C monitoring(Avg)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E02sub18]
ParameterName=System time C monitoring(Max)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E02sub19]
ParameterName=System time R monitoring(Avg)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E02sub1A]
ParameterName=System time R monitoring(Max)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E05]
ParameterName=Un5xx
ObjectType=8
SubNumber=5

[2E05sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x14
PDOMapping=0

[2E05sub12]
ParameterName=U-phase current zero
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E05sub13]
ParameterName=V-phase current zero
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E05sub14]
ParameterName=Hardware Version
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E06]
ParameterName=Un6xx
ObjectType=8
SubNumber=5

[2E06sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x0A
PDOMapping=0

[2E06sub4]
ParameterName=Absolute encoder pulse (lower 32 bits)
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E06sub6]
ParameterName=Absolute encoder pulse (high 32 bits)
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E06sub8]
ParameterName=Absolute mechanical pulse (lower 32 bits)
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E06subA]
ParameterName=Absolute mechanical pulse (high 32 bits)
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08]
ParameterName=Un8xx
ObjectType=8
SubNumber=40

[2E08sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x43
PDOMapping=0

[2E08sub1]
ParameterName=Current alarm code
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub2]
ParameterName=Last alarm code
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub3]
ParameterName=Timestamp while alarm occurs
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub4]
ParameterName=Motor speed while alarm occurs
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E08sub5]
ParameterName=Speed command while alarm occurs
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E08sub6]
ParameterName=Internal torque command while alarm occurs
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E08sub7]
ParameterName=Input command pulse speed while alarm occurs
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E08sub8]
ParameterName=Deviation counters (position deviation)while alarm occurs
ObjectType=7
DataType=0x0004
AccessType=ro
PDOMapping=0

[2E08sub9]
ParameterName=DC bus voltage while alarm occurs
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08subA]
ParameterName=Effective current feedback while alarm occurs
ObjectType=7
DataType=0x0003
AccessType=ro
PDOMapping=0

[2E08subB]
ParameterName=Cumulative load rate while alarm occurs(2ms)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08subC]
ParameterName=Regenerative load rate while alarm occurs(2ms)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08subD]
ParameterName=Electricity consumption of DB resistance while alarm occurs(2ms)
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08subE]
ParameterName=Maximum cumulative load rate while alarm occurs
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08subF]
ParameterName=Rotation inertia ratio while alarm occurs
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub10]
ParameterName=Abnormal times of serial encoder communication while alarm occurs
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub11]
ParameterName=Internal signal monitoring while alarm occurs
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub15]
ParameterName=Internal input signal monitoring while alarm occurs
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub19]
ParameterName=Internal input signal monitoring while alarm occurs
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub21]
ParameterName=Fault code history record 0
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub22]
ParameterName=Fault code history record 1
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub23]
ParameterName=Fault code history record 2
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub24]
ParameterName=Fault code history record 3
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub25]
ParameterName=Fault code history record 4
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub26]
ParameterName=Fault code history record 5
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub27]
ParameterName=Fault code history record 6
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub28]
ParameterName=Fault code history record 7
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub29]
ParameterName=Fault code history record 8
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub2A]
ParameterName=Fault code history record 9
ObjectType=7
DataType=0x0006
AccessType=ro
PDOMapping=0

[2E08sub31]
ParameterName=Fault time history record 0
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub33]
ParameterName=Fault time history record 1
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub35]
ParameterName=Fault time history record 2
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub37]
ParameterName=Fault time history record 3
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub39]
ParameterName=Fault time history record 4
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub3B]
ParameterName=Fault time history record 5
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub3D]
ParameterName=Fault time history record 6
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub3F]
ParameterName=Fault time history record 7
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub41]
ParameterName=Fault time history record 8
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

[2E08sub43]
ParameterName=Fault time history record 9
ObjectType=7
DataType=0x0007
AccessType=ro
PDOMapping=0

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

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

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

[605A]
ParameterName=Quick stop option code
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=7
DefaultValue=2
PDOMapping=1

[605D]
ParameterName=Halt option code
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=1
HighLimit=3
DefaultValue=1
PDOMapping=0

[6060]
ParameterName=modes of operation
ObjectType=7
DataType=0x0002
AccessType=rw
LowLimit=1
HighLimit=10
DefaultValue=1
PDOMapping=1

[6061]
ParameterName=modes_of_operation_dis
ObjectType=7
DataType=0x0005
AccessType=ro
PDOMapping=1

[6062]
ParameterName=Position_demand_value
ObjectType=7
DataType=0x0004
AccessType=ro
PDOMapping=1

[6063]
ParameterName=Positon INC value
ObjectType=7
DataType=0x0004
AccessType=ro
PDOMapping=1

[6064]
ParameterName=Position ABS Value
ObjectType=7
DataType=0x0004
AccessType=ro
PDOMapping=1

[6065]
ParameterName=following_error_window
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=0x3A9800
PDOMapping=1

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

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

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

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

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

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

[606F]
ParameterName=Zero Velocity threshold
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=10
PDOMapping=1

[6070]
ParameterName=Zero Velocity threshold time
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=1

[6071]
ParameterName=target torque(%)
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-3000
HighLimit=3000
DefaultValue=0
PDOMapping=1

[6072]
ParameterName=Max Torque(%)
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=3000
DefaultValue=3000
PDOMapping=1

[6074]
ParameterName=Torque demand value(%)
ObjectType=7
DataType=0x0003
AccessType=ro
LowLimit=-5000
HighLimit=5000
DefaultValue=0
PDOMapping=1

[6075]
ParameterName=Motor Rated Current(0.01A)
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0x00
PDOMapping=1

[6076]
ParameterName=Motor Rated Torque(%)
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0x00
PDOMapping=1

[6077]
ParameterName=Torque actual value(%)
ObjectType=7
DataType=0x0003
AccessType=ro
LowLimit=-5000
HighLimit=5000
DefaultValue=0
PDOMapping=1

[6078]
ParameterName=Current Actual Value(%)
ObjectType=7
DataType=0x0003
AccessType=ro
DefaultValue=0
PDOMapping=1

[607A]
ParameterName=target_position(pulse)
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0x00000000
PDOMapping=1

[607C]
ParameterName=home_offset(pulse)
ObjectType=7
DataType=0x0004
AccessType=rw
DefaultValue=0x00000000
PDOMapping=1

[607D]
ParameterName=Software Limit Parameter
ObjectType=8
SubNumber=3

[607Dsub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x2
PDOMapping=0

[607Dsub1]
ParameterName=Min Software Limit(pulse)
ObjectType=7
DataType=0x0004
AccessType=rw
LowLimit=-2^31
HighLimit=2^31
DefaultValue=0x80000000
PDOMapping=1

[607Dsub2]
ParameterName=Max Software Limit(pulse)
ObjectType=7
DataType=0x0004
AccessType=rw
LowLimit=-2^31
HighLimit=2^31
DefaultValue=0x7FFFFFFF
PDOMapping=1

[607E]
ParameterName=Polarity
ObjectType=7
DataType=0x0002
AccessType=rw
LowLimit=0
HighLimit=0xFF
DefaultValue=0
PDOMapping=1

[607F]
ParameterName=Speed limitation
ObjectType=7
DataType=0x0007
AccessType=rw
DefaultValue=838860800
PDOMapping=1

[6080]
ParameterName=Max Motor Speed
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=0
HighLimit=2^31
DefaultValue=5000
PDOMapping=1

[6081]
ParameterName=profile_velocity
ObjectType=7
DataType=0x0004
AccessType=rw
LowLimit=0
HighLimit=2^31
DefaultValue=8388608
PDOMapping=1

[6083]
ParameterName=profile_acceleration
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=0
HighLimit=2^31
DefaultValue=83886080
PDOMapping=1

[6084]
ParameterName=profile_deceleration
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=0
HighLimit=2^31
DefaultValue=83886080
PDOMapping=1

[6085]
ParameterName=Quick Stop Deceleration
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=0
HighLimit=2^31
DefaultValue=200
PDOMapping=0

[6086]
ParameterName=Motion Profile Type
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-2^15
HighLimit=2^15
DefaultValue=0
PDOMapping=1

[6087]
ParameterName=Torque Slope
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=0
HighLimit=2^31
DefaultValue=1000
PDOMapping=1

[6091]
ParameterName=Position factor
ObjectType=8
SubNumber=3

[6091sub0]
ParameterName=Number of Position factor
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x2
PDOMapping=0

[6091sub1]
ParameterName=Numerator
ObjectType=7
DataType=0x0007
AccessType=rw
PDOMapping=1

[6091sub2]
ParameterName=Divisor
ObjectType=7
DataType=0x0007
AccessType=rw
PDOMapping=1

[6098]
ParameterName=homing_method
ObjectType=7
DataType=0x0002
AccessType=rw
DefaultValue=1
PDOMapping=1

[6099]
ParameterName=homing_speeds
ObjectType=8
SubNumber=3

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

[6099sub1]
ParameterName=homing_speeds.search_for_switch
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=1
HighLimit=2^32
DefaultValue=0x01AAAAAA
PDOMapping=1

[6099sub2]
ParameterName=homing_speeds.search_for_zero
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=1
HighLimit=2^32
DefaultValue=0x00555555
PDOMapping=1

[609A]
ParameterName=Homing acceleration
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=0
HighLimit=2^31
DefaultValue=83886080
PDOMapping=1

[60B0]
ParameterName=Positon offset
ObjectType=7
DataType=0x0004
AccessType=rw
LowLimit=-2^31
HighLimit=2^31
DefaultValue=0
PDOMapping=1

[60B1]
ParameterName=Speed Offset
ObjectType=7
DataType=0x0004
AccessType=rw
LowLimit=-2^31
HighLimit=2^31
DefaultValue=0
PDOMapping=1

[60B2]
ParameterName=Torque Offset
ObjectType=7
DataType=0x0003
AccessType=rw
LowLimit=-2^15
HighLimit=2^15
DefaultValue=0
PDOMapping=1

[60C0]
ParameterName=Interpolation Select
ObjectType=7
DataType=0x0003
AccessType=rw
PDOMapping=1

[60C1]
ParameterName=Interpolation Data Record
ObjectType=8
SubNumber=2

[60C1sub0]
ParameterName=Number of entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x1
PDOMapping=0

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

[60C2]
ParameterName=Interpolation Time Period
ObjectType=8
SubNumber=3

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

[60C2sub1]
ParameterName=Interpolation Time Units
ObjectType=7
DataType=0x0005
AccessType=rw
LowLimit=1
HighLimit=20
DefaultValue=1
PDOMapping=1

[60C2sub2]
ParameterName=Interpolation Time Index
ObjectType=7
DataType=0x0002
AccessType=rw
LowLimit=-3
HighLimit=-1
DefaultValue=-3
PDOMapping=1

[60C5]
ParameterName=Max Acceleration
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=0
HighLimit=2^31
DefaultValue=16777216
PDOMapping=1

[60C6]
ParameterName=Max Deceleration
ObjectType=7
DataType=0x0007
AccessType=rw
LowLimit=0
HighLimit=2^31
DefaultValue=16777216
PDOMapping=1

[60E0]
ParameterName=Positive torque limit
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=3000
DefaultValue=3000
PDOMapping=1

[60E1]
ParameterName=Negtive torque limit
ObjectType=7
DataType=0x0006
AccessType=rw
LowLimit=0
HighLimit=3000
DefaultValue=3000
PDOMapping=1

[60E6]
ParameterName=Actual pos calculate method
ObjectType=7
DataType=0x0005
AccessType=rw
LowLimit=0
HighLimit=1
DefaultValue=0
PDOMapping=0

[60F2]
ParameterName=Position Option Code
ObjectType=7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=1

[60F4]
ParameterName=Following Error Actual Value
ObjectType=7
DataType=0x0004
AccessType=ro
LowLimit=-2^31
HighLimit=2^31
DefaultValue=0
PDOMapping=1

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

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

[60FE]
ParameterName=digital_outputs
ObjectType=8
SubNumber=2

[60FEsub0]
ParameterName=digital_outputs.nr_of_entries
ObjectType=7
DataType=0x0005
AccessType=ro
DefaultValue=0x1
PDOMapping=0

[60FEsub1]
ParameterName=digital_outputs.physical_value
ObjectType=7
DataType=0x0007
AccessType=ro
DefaultValue=0x00000000
PDOMapping=1

[60FF]
ParameterName=target_velocity
ObjectType=7
DataType=0x0004
AccessType=rw
LowLimit=-2^31
HighLimit=2^31
DefaultValue=0x00000000
PDOMapping=1

[6502]
ParameterName=Drive Mode Support
ObjectType=7
DataType=0x0006
AccessType=ro
DefaultValue=0x6D
PDOMapping=0

