我才睡醒的后院
在Windows环境下使用SOEM进行EtherCAT开发——协议篇
Dawn Hill 结丹
  2019-09-26 09:19:38   2019-11-14 16:55:05  24.5k 字  147 分钟  

EtherCAT系统组成

EtherCAT是一种实时工业以太网技术，它使用主从介质访问控制（media access control, MAC），主站发送以太网帧给主从站，从站从数据帧中抽取数据或将数据插入数据帧。主站使用标准的以太网接口卡（其实就是网卡吧），从站使用专门的需要花钱买的从站控制器ESC（EtherCAT Slave Controller）。

EtherCAT主站与从站连接的网络结构通常是这样的（我要用的是这样的，当然还有其他的结构）。
image

每一个从站都可以在报文中读取数据和插入数据，这种从站可以用来控制电机和传感器。

EtherCAT协议

分析协议，要知道EtherCAT命令是在以太网报文的数据区域传输的，可以通过特殊的以太类型编码，也可以通过UDP/IP编码。第一种变体仅限于以太网子网，而第二种变体专为时间要求较低的应用程序设计，支持正常的IP路由。而我们要的显然是时间要求高一点的特殊以太类型编码。

一个EtherCAT报文由数个子报文组成，总长度在44~1498字节之间。每个子报文分为10字节的报文头、0~1486字节的数据和2字节的工作计数器三个部分。这个工作计数器根据EtherCAT命令所寻址并交换了相关数据的所有EtherCAT设备递增。EtherCAT的报文结构参考下图，
image

  • Cmd：表示EtherCAT指令类型，即应当如何处理后面的数据。
  • Idx：表示帧的索引号，用来帮助主站对报文进行识别。
  • Address：表示从站地址，有三种寻址模式，分别为位置寻址、节点寻址、逻辑寻址。
  • Len：表示报文数据的长度。
  • R：表示保留位。
  • C：为帧循环标志。
  • M：表示后续报文标志，0表示当前为最后一个报文，1表示EtherCAT随后将提供更多报文。
  • IRQ：表示中断请求寄存器。
  • Data：表示数据区
  • WKC：表示工作计数器。

报文数据在从站中的流通过程为：从站从报文中提取或插入相关的用户数据，然后将该报文传输到下一个EtherCAT从站，最后一个EtherCAT从站发回经过完全处理的报文，并由第一个从站作为响应单元将其发送给控制单元。

报文处理是在硬件内部完成的，因此与任何可能连接的微处理器的响应时间无关。每个设备都有64 kB的可寻址内存，可以连续或同时读写。

SI从站信息接口

EEPROM(Electrically Erasable Programmable Read-Only Memory, 也叫 Slave Information Interface, SII)，包含ESC的硬件配置信息，该信息在通电期间加载到ESC的寄存器中。

FMMU现场总线内存管理单元

Fieldbus Memory Management Units (FMMU)，它通过内部地址映射将逻辑地址转换为物理地址。因此，FMMUs允许对跨越多个从设备的数据段使用逻辑寻址:一个数据报在几个任意分布的ESCs中寻址数据。每个FMMU通道将一个连续逻辑地址空间映射到从服务器的一个连续物理地址空间。FMMU支持的访问类型可配置为可读、可写或可读/可写。

FMMU的设置

  • 主站读取硬件配置，包括每个从站的输入和输出数据长度。
  • 主站使用SDO组织过程数据的映射。
  • 主站为每个从站分发关于逻辑过程映像中过程数据提供位置的信息(起始地址等)。
  • 启动过程数据通信。

SyncManager同步管理器

SyncManager是为了确保访问ESC中数据的一致性。SyncManager是一种保护ESC中DPRAM里的数据不被同时访问的机制。如果从机使用FMMUs，对应数据块的同步管理器位于DPRAM和FMMU之间。EtherCAT同步管理器可以在两种模式下运行:

  • Mailbox Mode邮箱模式：
    邮箱模式用于实现数据交换的握手机制。EtherCAT主站和应用程序只有在其他程序访问结束时才有权限对缓存进行访问。当发送方写入缓冲区时，缓冲区被锁定以便写入，直到接收方将其读出来。邮箱模式通常用于应用程序层协议和交换非循环数据(SDO)(例如，参数设置)
  • Buffered Mode缓存模式：
    缓冲模式通常用于循环数据交换,即过程数据(PDO)。由于缓冲模式允许双方随时访问通信缓冲区，发送方始终可以更新缓冲区的内容。如果缓冲区的写入速度快于接收器的读取速度，则会丢弃旧数据。因此，接收方总是获得由发送方编写的最新一致的缓冲区内容。
image image

EtherCAT状态机（EtherCAT State Machine, ESM）

每个EtherCAT从设备都实现了EtherCAT状态机如下图，该状态机管理从设备的功能，因为在每个时刻，实际状态都定义了可用的函数范围。

EtherCAT从站定义了四个强制状态和一个可选状态:Init、Pre-Operating、Safe-Operating、Operational、Bootstrap(可选)。对于每个状态的更改，EtherCAT主设备必须向EtherCAT从设备发送一系列特定于从设备的命令。

image

每个EtherCAT状态的可用函数

  • Init初始化状态:
    • 主站：初始化状态。
    • 从站：开机后的初始化状态。
    • 通信：没有邮箱通信和数据交换。
  • Pre-Operational预运行状态：
    • 主站：同步管理器通道的初始化，以便在从初始化到预操作期间进行邮箱通信。
    • 从站：在从初始化转换到预操作期间验证同步管理器配置。
    • 通信：有邮箱通信，但没有进程数据交换。
  • Safe-Operational安全运行状态：
    • 主站：进程数据交换同步管理器通道的初始化、FMMU通道的初始化、PDO映射/分配(如果从服务器支持可配置映射)、DC配置和设备特定参数的初始化，这些参数在从预运行到安全运行的转换期间与缺省值不同。
    • 从站：在从预操作到安全操作的转换期间验证所有配置的值。
    • 通信：邮箱通信和处理数据交换，但从站在循环更新输入数据的同时保持其输出处于安全状态。
  • Operational运行状态:
    • 主站：全面运行。
    • 从站：全面运行。
    • 通信：邮箱通信和进程数据交换工作正常。
  • Bootstrap引导状态:
    • 主站：可选状态，只能从Init中输入。
    • 从站：可选状态，只能从Init中为固件更新输入该状态。
    • 通信：有限的邮箱通信(只支持FoE协议)，没有进程数据交换。

Object Dictionary对象字典

CANopen对象字典(OD)是对象的有序分组;每个对象都使用16位索引来寻址。为了允许访问数据结构的各个元素，还定义了一个8位的子索引。对于网络中的每个从属节点，都存在一个OD。OD包含描述设备及其网络行为的所有参数。

  • 对象字典将设备的描述标准化。
  • 使用邮箱访问COE对象字典及其对象；
  • 使用对象字典映射过程数据，周期性传输指令数据和状态数据。
  • 主机与从机同一份对象字典

通过邮箱访问对象字典建立一个链表结构，再通过过程数据方式来填充该链表中对应的对象内容，最终实现通过PC端(Master)来控制从设备(Slave)的执行变量的操作。

Distributed clock分布式时钟

在EtherCAT中，分布式时钟使所有现场总线设备具有相同的时间。一个特定的设备包含参考时钟，它用于同步其他设备的时钟。

为此，控制器按一定的间隔发送一份特殊报文(根据需要，以避免从时钟偏离指定的界限)，其中包含参考时钟的总线设备进入其当前时间。带有从时钟的现场总线设备然后从同一报文中读出时间。

该机制的最终目标是使以太网帧从应用读数据读写从站数据的时间独立，并且可以在ESC的一部分从站中选择性地实现。

据说分布式时钟是用硬件实现的，很稳。

试着用起来啊

通过IOmap访问数据

一个声音告诉我，下面这些输出信息看懂了就能用了。

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slaveinfo.exe \Device\NPF_{727D913F-23BC-421F-A071-7F597A7026B4} -map
SOEM (Simple Open EtherCAT Master)
Slaveinfo
Starting slaveinfo
ec_init on \Device\NPF_{727D913F-23BC-421F-A071-7F597A7026B4} succeeded.
1 slaves found and configured.
Calculated workcounter 3

Slave:1
 Name:? M:0000009a I:00030924
 Output size: 80bits
 Input size: 80bits
 State: 4
 Delay: 0[ns]
 Has DC: 1
 DCParentport:0
 Activeports:1.0.0.0
 Configured address: 1001
 Man: 0000009a ID: 00030924 Rev: 00010420
 SM0 A:1800 L: 140 F:00010026 Type:1
 SM1 A:1900 L: 140 F:00010022 Type:2
 SM2 A:1100 L:  10 F:00010064 Type:3
 SM3 A:1180 L:  10 F:00010020 Type:4
 FMMU0 Ls:00000000 Ll:  10 Lsb:0 Leb:7 Ps:1100 Psb:0 Ty:02 Act:01
 FMMU1 Ls:0000000a Ll:  10 Lsb:0 Leb:7 Ps:1180 Psb:0 Ty:01 Act:01
 FMMUfunc 0:1 1:2 2:0 3:0
 MBX length wr: 140 rd: 140 MBX protocols : 0e
 CoE details: 3f FoE details: 01 EoE details: 01 SoE details: 00
 Ebus current: 0[mA]
 only LRD/LWR:0
PDO mapping according to CoE :
  SM2 outputs
     addr b   index: sub bitl data_type    name
  [0x0000.0] 0x607A:0x00 0x20 INTEGER32    Target position
  [0x0004.0] 0x60FE:0x01 0x20 UNSIGNED32   Physical outputs
  [0x0008.0] 0x6040:0x00 0x10 UNSIGNED16   Controlword
  SM3 inputs
     addr b   index: sub bitl data_type    name
  [0x000A.0] 0x6064:0x00 0x20 INTEGER32    Position actual value
  [0x000E.0] 0x60FD:0x00 0x20 UNSIGNED32   Digital inputs
  [0x0012.0] 0x6041:0x00 0x10 UNSIGNED16   Statusword
End slaveinfo, close socket
End program

还有另一个

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slaveinfo.exe \Device\NPF_{727D913F-23BC-421F-A071-7F597A7026B4} -sdo
SOEM (Simple Open EtherCAT Master)
Slaveinfo
Starting slaveinfo
ec_init on \Device\NPF_{727D913F-23BC-421F-A071-7F597A7026B4} succeeded.
1 slaves found and configured.
Calculated workcounter 3

Slave:1
 Name:? M:0000009a I:00030924
 Output size: 80bits
 Input size: 80bits
 State: 4
 Delay: 0[ns]
 Has DC: 1
 DCParentport:0
 Activeports:1.0.0.0
 Configured address: 1001
 Man: 0000009a ID: 00030924 Rev: 00010420
 SM0 A:1800 L: 140 F:00010026 Type:1
 SM1 A:1900 L: 140 F:00010022 Type:2
 SM2 A:1100 L:  10 F:00010064 Type:3
 SM3 A:1180 L:  10 F:00010020 Type:4
 FMMU0 Ls:00000000 Ll:  10 Lsb:0 Leb:7 Ps:1100 Psb:0 Ty:02 Act:01
 FMMU1 Ls:0000000a Ll:  10 Lsb:0 Leb:7 Ps:1180 Psb:0 Ty:01 Act:01
 FMMUfunc 0:1 1:2 2:0 3:0
 MBX length wr: 140 rd: 140 MBX protocols : 0e
 CoE details: 3f FoE details: 01 EoE details: 01 SoE details: 00
 Ebus current: 0[mA]
 only LRD/LWR:0
 CoE Object Description found, 213 entries.
 Index: 1000 Datatype: 0007 Objectcode: 07 Name: Device Type
  Sub: 00 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Device Type
          Value :0x00020192 131474
 Index: 1001 Datatype: 0005 Objectcode: 07 Name: Error Register
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Device Type
          Value :0x00 0
 Index: 1002 Datatype: 0007 Objectcode: 07 Name: Manufacturer Status Register
  Sub: 00 Datatype: 0007 Bitlength: 0020 Obj.access: 0087 Name: Manufacturer Status Register
          Value :0x0080c000 8437760
 Index: 1003 Datatype: 0007 Objectcode: 08 Name: Predefined error field
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 003f Name: Number of sub indexes
          Value :0x00 0
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 1
          Value :Time:1571024691.359 SDO slave:1 index:1003.01 error:08000024 Unknown

  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 2
          Value :Time:1571024691.364 SDO slave:1 index:1003.02 error:08000024 Unknown

  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 3
          Value :Time:1571024691.368 SDO slave:1 index:1003.03 error:08000024 Unknown

  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 4
          Value :Time:1571024691.372 SDO slave:1 index:1003.04 error:08000024 Unknown

  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 5
          Value :Time:1571024691.379 SDO slave:1 index:1003.05 error:08000024 Unknown

  Sub: 06 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 6
          Value :Time:1571024691.384 SDO slave:1 index:1003.06 error:08000024 Unknown

  Sub: 07 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 7
          Value :Time:1571024691.388 SDO slave:1 index:1003.07 error:08000024 Unknown

  Sub: 08 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 8
          Value :Time:1571024691.392 SDO slave:1 index:1003.08 error:08000024 Unknown

  Sub: 09 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 9
          Value :Time:1571024691.398 SDO slave:1 index:1003.09 error:08000024 Unknown

  Sub: 0a Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 10
          Value :Time:1571024691.402 SDO slave:1 index:1003.0a error:08000024 Unknown

  Sub: 0b Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 11
          Value :Time:1571024691.406 SDO slave:1 index:1003.0b error:08000024 Unknown

  Sub: 0c Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 12
          Value :Time:1571024691.411 SDO slave:1 index:1003.0c error:08000024 Unknown

  Sub: 0d Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 13
          Value :Time:1571024691.415 SDO slave:1 index:1003.0d error:08000024 Unknown

  Sub: 0e Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 14
          Value :Time:1571024691.420 SDO slave:1 index:1003.0e error:08000024 Unknown

  Sub: 0f Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 15
          Value :Time:1571024691.425 SDO slave:1 index:1003.0f error:08000024 Unknown

  Sub: 10 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: standard error field 16
          Value :Time:1571024691.430 SDO slave:1 index:1003.10 error:08000024 Unknown

 Index: 1008 Datatype: 0009 Objectcode: 07 Name: Manufacture Device Name
  Sub: 00 Datatype: 0009 Bitlength: 0200 Obj.access: 0007 Name: Manufacture Device Name
          Value :Twitter
 Index: 1009 Datatype: 0009 Objectcode: 07 Name: Manufacture Hardware Version
  Sub: 00 Datatype: 0009 Bitlength: 0200 Obj.access: 0007 Name: Manufacture Hardware Version
          Value :1.1.3.0
 Index: 100a Datatype: 0009 Objectcode: 07 Name: Manufacture Software Version
  Sub: 00 Datatype: 0009 Bitlength: 0108 Obj.access: 0007 Name: Manufacture Software Version
          Value :Twitter 01.01.11.09 12Jul2016B00G
 Index: 100b Datatype: 0005 Objectcode: 07 Name: Node ID
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Node ID
          Value :0x7f 127
 Index: 1010 Datatype: 0007 Objectcode: 08 Name: Store Parameters
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 003f Name: Store All Parameters
          Value :0x00000001 1
 Index: 1011 Datatype: 0007 Objectcode: 08 Name: Restore Parameters
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 003f Name: Restore All Parameters
          Value :0x00000001 1
 Index: 1018 Datatype: 0023 Objectcode: 09 Name: Identity Object
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x04 4
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Vendor ID
          Value :0x0000009a 154
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Product Code
          Value :0x00030924 198948
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Revision Number
          Value :0x00010420 66592
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Serial Number
          Value :0x0104a944 17082692
 Index: 10e0 Datatype: 0003 Objectcode: 08 Name: Device ID Reload
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x02 2
  Sub: 01 Datatype: 0003 Bitlength: 0010 Obj.access: 003f Name: Configured Alias Reg
          Value :0x0000 0
  Sub: 02 Datatype: 0003 Bitlength: 0010 Obj.access: 003f Name: Write Configured Alias Persistent
          Value :0x0000 0
 Index: 10f1 Datatype: 0007 Objectcode: 08 Name: Sync Monitor Setting
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x02 2
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Local Error Reaction
          Value :0x00000002 2
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 001f Name: Sync Error Counter Limit
          Value :0x00000000 0
 Index: 1600 Datatype: 0025 Objectcode: 09 Name: RPDO1 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x03 3
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Position
          Value :0x607a0020 1618608160
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Digital Outputs
          Value :0x60fe0120 1627259168
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Control word
          Value :0x60400010 1614807056
 Index: 1601 Datatype: 0025 Objectcode: 09 Name: RPDO2 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x02 2
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Velocity
          Value :0x60ff0020 1627324448
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Control word
          Value :0x60400010 1614807056
 Index: 1602 Datatype: 0025 Objectcode: 09 Name: RPDO3 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x02 2
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Torque
          Value :0x60710010 1618018320
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Control word
          Value :0x60400010 1614807056
 Index: 1603 Datatype: 0025 Objectcode: 09 Name: RPDO4 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x04 4
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Position
          Value :0x607a0020 1618608160
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Digital Outputs
          Value :0x60fe0120 1627259168
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Velocity Offset
          Value :0x60b10020 1622212640
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Control word
          Value :0x60400010 1614807056
 Index: 1604 Datatype: 0025 Objectcode: 09 Name: RPDO5 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x04 4
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Position
          Value :0x607a0020 1618608160
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Velocity
          Value :0x60ff0020 1627324448
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Max. Torque
          Value :0x60720010 1618083856
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Control word
          Value :0x60400010 1614807056
 Index: 1605 Datatype: 0025 Objectcode: 09 Name: RPDO6 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x07 7
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Position
          Value :0x607a0020 1618608160
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Velocity
          Value :0x60ff0020 1627324448
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Torque
          Value :0x60710010 1618018320
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Max. Torque
          Value :0x60720010 1618083856
  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Control word
          Value :0x60400010 1614807056
  Sub: 06 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Modes Of Operation
          Value :0x60600008 1616904200
  Sub: 07 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Padding
          Value :0x00000008 8
 Index: 1606 Datatype: 0025 Objectcode: 09 Name: RPDO7 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x06 6
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Position
          Value :0x607a0020 1618608160
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Digital Outputs
          Value :0x60fe0120 1627259168
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Velocity
          Value :0x60ff0020 1627324448
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Velocity Offset
          Value :0x60b10020 1622212640
  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Torque Offset
          Value :0x60b20010 1622278160
  Sub: 06 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Control word
          Value :0x60400010 1614807056
 Index: 1607 Datatype: 0025 Objectcode: 09 Name: RPDO8 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 000f Name: Number of sub indexes
          Value :0x00 0
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 001
          Value :0x00000000 0
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 002
          Value :0x00000000 0
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 003
          Value :0x00000000 0
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 004
          Value :0x00000000 0
  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 005
          Value :0x00000000 0
  Sub: 06 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 006
          Value :0x00000000 0
  Sub: 07 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 007
          Value :0x00000000 0
  Sub: 08 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 008
          Value :0x00000000 0
 Index: 1608 Datatype: 0025 Objectcode: 09 Name: RPDO9 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 000f Name: Number of sub indexes
          Value :0x00 0
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 001
          Value :0x00000000 0
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 002
          Value :0x00000000 0
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 003
          Value :0x00000000 0
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 004
          Value :0x00000000 0
  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 005
          Value :0x00000000 0
  Sub: 06 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 006
          Value :0x00000000 0
  Sub: 07 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 007
          Value :0x00000000 0
  Sub: 08 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 008
          Value :0x00000000 0
 Index: 160a Datatype: 0025 Objectcode: 09 Name: RPDO_160A Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Control word
          Value :0x60400010 1614807056
 Index: 160b Datatype: 0025 Objectcode: 09 Name: RPDO_160B Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x02 2
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Modes Of Operation
          Value :0x60600008 1616904200
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Padding
          Value :0x00000008 8
 Index: 160c Datatype: 0025 Objectcode: 09 Name: RPDO_160C Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Torque
          Value :0x60710010 1618018320
 Index: 160d Datatype: 0025 Objectcode: 09 Name: RPDO_160D Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Max. Torque
          Value :0x60720010 1618083856
 Index: 160e Datatype: 0025 Objectcode: 09 Name: RPDO_160E Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Max. Current
          Value :0x60730010 1618149392
 Index: 160f Datatype: 0025 Objectcode: 09 Name: RPDO_160F Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Position
          Value :0x607a0020 1618608160
 Index: 1611 Datatype: 0025 Objectcode: 09 Name: RPDO_1611 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Profile Velocity
          Value :0x60810020 1619066912
 Index: 1612 Datatype: 0025 Objectcode: 09 Name: RPDO_1612 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: End Velocity
          Value :0x60820020 1619132448
 Index: 1613 Datatype: 0025 Objectcode: 09 Name: RPDO_1613 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Profile Acceleration
          Value :0x60830020 1619197984
 Index: 1614 Datatype: 0025 Objectcode: 09 Name: RPDO_1614 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Profile Deceleration
          Value :0x60840020 1619263520
 Index: 1615 Datatype: 0025 Objectcode: 09 Name: RPDO_1615 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Torque Slope
          Value :0x60870020 1619460128
 Index: 1616 Datatype: 0025 Objectcode: 09 Name: RPDO_1616 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Position Offset
          Value :0x60b00020 1622147104
 Index: 1617 Datatype: 0025 Objectcode: 09 Name: RPDO_1617 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Velocity Offset
          Value :0x60b10020 1622212640
 Index: 1618 Datatype: 0025 Objectcode: 09 Name: RPDO_1618 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Torque Offset
          Value :0x60b20010 1622278160
 Index: 1619 Datatype: 0025 Objectcode: 09 Name: RPDO_1619 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Touch Probe Function
          Value :0x60b80010 1622671376
 Index: 161a Datatype: 0025 Objectcode: 09 Name: RPDO_161A Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Gain scheduling manual index
          Value :0x2e000010 771751952
 Index: 161c Datatype: 0025 Objectcode: 09 Name: RPDO_161C Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Target Velocity
          Value :0x60ff0020 1627324448
 Index: 161d Datatype: 0025 Objectcode: 09 Name: RPDO_161D Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Digital Outputs
          Value :0x60fe0120 1627259168
 Index: 161e Datatype: 0025 Objectcode: 09 Name: RPDO_161E Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x02 2
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Polarity
          Value :0x607e0008 1618870280
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Padding
          Value :0x00000008 8
 Index: 161f Datatype: 0025 Objectcode: 09 Name: RPDO_161F Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Quick stop deceleration
          Value :0x60850020 1619329056
 Index: 1620 Datatype: 0025 Objectcode: 09 Name: RPDO_1620 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Extended Outputs
          Value :0x22a10120 580976928
 Index: 1621 Datatype: 0025 Objectcode: 09 Name: RPDO_1621 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Fast Reference
          Value :0x20050020 537198624
 Index: 1a00 Datatype: 0025 Objectcode: 09 Name: TPDO1 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x03 3
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Actual Position
          Value :0x60640020 1617166368
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Digital Inputs
          Value :0x60fd0020 1627193376
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Statusword
          Value :0x60410010 1614872592
 Index: 1a01 Datatype: 0025 Objectcode: 09 Name: TPDO2 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x04 4
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Actual Position
          Value :0x60640020 1617166368
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Velocity Demand
          Value :0x606b0020 1617625120
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Torque Demand
          Value :0x60740010 1618214928
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Statusword
          Value :0x60410010 1614872592
 Index: 1a02 Datatype: 0025 Objectcode: 09 Name: TPDO3 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x05 5
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Actual Position
          Value :0x60640020 1617166368
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Actual Torque
          Value :0x60770010 1618411536
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Statusword
          Value :0x60410010 1614872592
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Mode of operation display
          Value :0x60610008 1616969736
  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Padding
          Value :0x00000008 8
 Index: 1a03 Datatype: 0025 Objectcode: 09 Name: TPDO4 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x05 5
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Actual Position
          Value :0x60640020 1617166368
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Digital Inputs
          Value :0x60fd0020 1627193376
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Actual Velocity
          Value :0x606c0020 1617690656
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Statusword
          Value :0x60410010 1614872592
  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Padding
          Value :0x00000008 8
 Index: 1a04 Datatype: 0025 Objectcode: 09 Name: TPDO5 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x06 6
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Actual Position
          Value :0x60640020 1617166368
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Position Following Error
          Value :0x60f40020 1626603552
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Actual Torque
          Value :0x60770010 1618411536
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Statusword
          Value :0x60410010 1614872592
  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Mode of operation display
          Value :0x60610008 1616969736
  Sub: 06 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Padding
          Value :0x00000008 8
 Index: 1a07 Datatype: 0025 Objectcode: 09 Name: TPDO8 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 000f Name: Number of sub indexes
          Value :0x00 0
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 001
          Value :0x00000000 0
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 002
          Value :0x00000000 0
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 003
          Value :0x00000000 0
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 004
          Value :0x00000000 0
  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 005
          Value :0x00000000 0
  Sub: 06 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 006
          Value :0x00000000 0
  Sub: 07 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 007
          Value :0x00000000 0
  Sub: 08 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 008
          Value :0x00000000 0
 Index: 1a08 Datatype: 0025 Objectcode: 09 Name: TPDO9 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 000f Name: Number of sub indexes
          Value :0x00 0
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 001
          Value :0x00000000 0
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 002
          Value :0x00000000 0
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 003
          Value :0x00000000 0
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 004
          Value :0x00000000 0
  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 005
          Value :0x00000000 0
  Sub: 06 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 006
          Value :0x00000000 0
  Sub: 07 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 007
          Value :0x00000000 0
  Sub: 08 Datatype: 0007 Bitlength: 0020 Obj.access: 000f Name: SubIndex 008
          Value :0x00000000 0
 Index: 1a0a Datatype: 0025 Objectcode: 09 Name: TPD0A Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Statusword
          Value :0x60410010 1614872592
 Index: 1a0b Datatype: 0025 Objectcode: 09 Name: TPD0B Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x02 2
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Mode of operation display
          Value :0x60610008 1616969736
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Padding
          Value :0x00000008 8
 Index: 1a0c Datatype: 0025 Objectcode: 09 Name: TPD0C Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Position Demand [UU]
          Value :0x60620020 1617035296
 Index: 1a0d Datatype: 0025 Objectcode: 09 Name: TPD0D Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0004 Bitlength: 0020 Obj.access: 0007 Name: Actual position [counts]
          Value :0x60630020 1617100832
 Index: 1a0e Datatype: 0025 Objectcode: 09 Name: TPD0E Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Position actual value
          Value :0x60640020 1617166368
 Index: 1a0f Datatype: 0025 Objectcode: 09 Name: TPD0F Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Velocity sensor actual value [cnt/sec]
          Value :0x60690020 1617494048
 Index: 1a10 Datatype: 0025 Objectcode: 09 Name: TPD10 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Velocity Demmand [cnt/sec]
          Value :0x606b0020 1617625120
 Index: 1a11 Datatype: 0025 Objectcode: 09 Name: TPD11 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Velocity Actual Value
          Value :0x606c0020 1617690656
 Index: 1a12 Datatype: 0025 Objectcode: 09 Name: TPD12 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Torque demand value
          Value :0x60740010 1618214928
 Index: 1a13 Datatype: 0025 Objectcode: 09 Name: TPD13 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Torque Actual value
          Value :0x60770010 1618411536
 Index: 1a14 Datatype: 0025 Objectcode: 09 Name: TPD14 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Touch Probe status
          Value :0x60b90010 1622736912
 Index: 1a15 Datatype: 0025 Objectcode: 09 Name: TPD15 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Touch Probe Position1 Positive
          Value :0x60ba0020 1622802464
 Index: 1a16 Datatype: 0025 Objectcode: 09 Name: TPD16 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Touch Probe Position1 Negative
          Value :0x60bb0020 1622868000
 Index: 1a17 Datatype: 0025 Objectcode: 09 Name: TPD17 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Touch Probe Position2 Positive
          Value :0x60bc0020 1622933536
 Index: 1a18 Datatype: 0025 Objectcode: 09 Name: TPD18 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: DC link circuit voltage
          Value :0x60790020 1618542624
 Index: 1a19 Datatype: 0025 Objectcode: 09 Name: TPD19 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Position Following errror actual value
          Value :0x60f40020 1626603552
 Index: 1a1a Datatype: 0025 Objectcode: 09 Name: TPD1A Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Control Effort [cnt/sec]
          Value :0x60fa0020 1626996768
 Index: 1a1b Datatype: 0025 Objectcode: 09 Name: TPD1B Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Position Demand Value [cnt]
          Value :0x60fc0020 1627127840
 Index: 1a1c Datatype: 0025 Objectcode: 09 Name: TPD1C Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Digital Inputs
          Value :0x60fd0020 1627193376
 Index: 1a1d Datatype: 0025 Objectcode: 09 Name: TPD1D Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Analog Input 1
          Value :0x22050110 570753296
 Index: 1a1e Datatype: 0025 Objectcode: 09 Name: TPD1E Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Auxiliary position actual value
          Value :0x20a00020 547356704
 Index: 1a1f Datatype: 0025 Objectcode: 09 Name: TPD1F Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Current actual value
          Value :0x60780010 1618477072
 Index: 1a20 Datatype: 0025 Objectcode: 09 Name: TPD20 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Touch Probe Position2 Negative
          Value :0x60bd0020 1622999072
 Index: 1a21 Datatype: 0025 Objectcode: 09 Name: TPD21 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Extra Status Reg
          Value :0x20850010 545587216
 Index: 1a22 Datatype: 0025 Objectcode: 09 Name: TPD22 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Elmo Status Reg
          Value :0x10020020 268566560
 Index: 1a23 Datatype: 0025 Objectcode: 09 Name: TPD23 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Extended Inputs
          Value :0x22020120 570556704
 Index: 1a24 Datatype: 0025 Objectcode: 09 Name: TPD24 Mapping
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: App Object
          Value :0x22030020 570621984
 Index: 1c00 Datatype: 0005 Objectcode: 08 Name: SM Communication Type
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x04 4
  Sub: 01 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: MailboxOut
          Value :0x01 1
  Sub: 02 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: MailboxIn
          Value :0x02 2
  Sub: 03 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Outputs
          Value :0x03 3
  Sub: 04 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Inputs
          Value :0x04 4
 Index: 1c10 Datatype: 0006 Objectcode: 07 Name: SM0 PDO Assignment
  Sub: 00 Datatype: 0006 Bitlength: 0010 Obj.access: 000f Name: SM0 PDO Assignment
          Value :0x0000 0
 Index: 1c11 Datatype: 0006 Objectcode: 07 Name: SM1 PDO Assignment
  Sub: 00 Datatype: 0006 Bitlength: 0010 Obj.access: 000f Name: SM1 PDO Assignment
          Value :0x0000 0
 Index: 1c12 Datatype: 0006 Objectcode: 08 Name: SM2(Outputs) PDO Assignment
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 000f Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 001
          Value :0x1600 5632
  Sub: 02 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 002
          Value :0x1601 5633
  Sub: 03 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 003
          Value :0x1602 5634
  Sub: 04 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 004
          Value :0x1603 5635
  Sub: 05 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 005
          Value :0x1604 5636
  Sub: 06 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 006
          Value :0x1605 5637
  Sub: 07 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 007
          Value :0x1606 5638
  Sub: 08 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 008
          Value :0x1607 5639
  Sub: 09 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 009
          Value :0x160a 5642
  Sub: 0a Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00A
          Value :0x160b 5643
  Sub: 0b Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00B
          Value :0x160c 5644
  Sub: 0c Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00C
          Value :0x160d 5645
  Sub: 0d Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00D
          Value :0x160e 5646
  Sub: 0e Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00E
          Value :0x160f 5647
  Sub: 0f Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00F
          Value :0x1611 5649
  Sub: 10 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 010
          Value :0x1612 5650
  Sub: 11 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 011
          Value :0x1613 5651
  Sub: 12 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 012
          Value :0x1614 5652
  Sub: 13 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 013
          Value :0x1615 5653
  Sub: 14 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 014
          Value :0x1616 5654
  Sub: 15 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 015
          Value :0x1617 5655
  Sub: 16 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 016
          Value :0x1618 5656
  Sub: 17 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 017
          Value :0x1619 5657
  Sub: 18 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 018
          Value :0x161a 5658
  Sub: 19 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 019
          Value :0x161c 5660
  Sub: 1a Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01A
          Value :0x161d 5661
  Sub: 1b Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01B
          Value :0x161e 5662
  Sub: 1c Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01C
          Value :0x161f 5663
  Sub: 1d Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01D
          Value :0x1620 5664
  Sub: 1e Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01E
          Value :0x1621 5665
 Index: 1c13 Datatype: 0006 Objectcode: 08 Name: SM3(Inputs) PDO Assignment
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 000f Name: Number of sub indexes
          Value :0x01 1
  Sub: 01 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 001
          Value :0x1a00 6656
  Sub: 02 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 002
          Value :0x1a01 6657
  Sub: 03 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 003
          Value :0x1a02 6658
  Sub: 04 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 004
          Value :0x1a03 6659
  Sub: 05 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 005
          Value :0x1a04 6660
  Sub: 06 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 006
          Value :0x1a07 6663
  Sub: 07 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 007
          Value :0x1a0a 6666
  Sub: 08 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 008
          Value :0x1a0b 6667
  Sub: 09 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 009
          Value :0x1a0c 6668
  Sub: 0a Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00A
          Value :0x1a0d 6669
  Sub: 0b Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00B
          Value :0x1a0e 6670
  Sub: 0c Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00C
          Value :0x1a0f 6671
  Sub: 0d Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00D
          Value :0x1a10 6672
  Sub: 0e Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00E
          Value :0x1a11 6673
  Sub: 0f Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00F
          Value :0x1a12 6674
  Sub: 10 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 010
          Value :0x1a13 6675
  Sub: 11 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 011
          Value :0x1a14 6676
  Sub: 12 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 012
          Value :0x1a15 6677
  Sub: 13 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 013
          Value :0x1a16 6678
  Sub: 14 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 014
          Value :0x1a17 6679
  Sub: 15 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 015
          Value :0x1a18 6680
  Sub: 16 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 016
          Value :0x1a19 6681
  Sub: 17 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 017
          Value :0x1a1a 6682
  Sub: 18 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 018
          Value :0x1a1b 6683
  Sub: 19 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 019
          Value :0x1a1c 6684
  Sub: 1a Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01A
          Value :0x1a1d 6685
  Sub: 1b Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01B
          Value :0x1a1e 6686
  Sub: 1c Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01C
          Value :0x1a1f 6687
  Sub: 1d Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01D
          Value :0x1a20 6688
  Sub: 1e Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01E
          Value :0x1a21 6689
  Sub: 1f Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01F
          Value :0x1a22 6690
  Sub: 20 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 020
          Value :0x1a23 6691
  Sub: 21 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 021
          Value :0x1a24 6692
  Sub: 22 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 022
          Value :0x0000 0
  Sub: 23 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 023
          Value :0x0000 0
 Index: 1c32 Datatype: 0006 Objectcode: 09 Name: SM Outputs Parameters
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x20 32
  Sub: 01 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: Sync Mode
          Value :0x0002 2
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: cycle Time
          Value :0x000f4240 1000000
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Shift Time
          Value :0x00000000 0
  Sub: 04 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: Sync Mode Support
          Value :0xc005 49157
  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Min. Cycle Time
          Value :0x0003d090 250000
  Sub: 06 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Calc And Copy Time
          Value :0x00000000 0
  Sub: 07 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 007
          Value :0x0000 0
  Sub: 08 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: Command
          Value :0x0000 0
  Sub: 09 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Delay Time
          Value :0x00000000 0
  Sub: 0a Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00A
          Value :0x0000 0
  Sub: 0b Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SM Event Missed Counter
          Value :0x0000 0
  Sub: 0c Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: Cycle Exceeded Counter
          Value :0x0000 0
  Sub: 0d Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: Shift Too Short Counter
          Value :0x0000 0
  Sub: 0e Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 00E
          Value :0x0000 0
  Sub: 0f Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 00F
          Value :0x0000 0
  Sub: 10 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 010
          Value :0x0000 0
  Sub: 11 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 011
          Value :0x0000 0
  Sub: 12 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 012
          Value :0x0000 0
  Sub: 13 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 013
          Value :0x0000 0
  Sub: 14 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 014
          Value :0x0000 0
  Sub: 15 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 015
          Value :0x0000 0
  Sub: 16 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 016
          Value :0x0000 0
  Sub: 17 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 017
          Value :0x0000 0
  Sub: 18 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 018
          Value :0x0000 0
  Sub: 19 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 019
          Value :0x0000 0
  Sub: 1a Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 01A
          Value :0x0000 0
  Sub: 1b Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 01B
          Value :0x0000 0
  Sub: 1c Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 01C
          Value :0x0000 0
  Sub: 1d Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 01D
          Value :0x0000 0
  Sub: 1e Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 01E
          Value :0x0000 0
  Sub: 1f Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 01F
          Value :0x0000 0
  Sub: 20 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: Sync Error
          Value :0x0000 0
 Index: 1c33 Datatype: 0006 Objectcode: 09 Name: SM Inputs Parameters
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x20 32
  Sub: 01 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: Sync Mode
          Value :0x0002 2
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Cycle Time
          Value :0x000f4240 1000000
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Shift Time
          Value :0x00000000 0
  Sub: 04 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: Sync Mode Support
          Value :0xc005 49157
  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Min. Cycle Time
          Value :0x0003d090 250000
  Sub: 06 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Calc And Copy Time
          Value :0x00000000 0
  Sub: 07 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 007
          Value :0x0000 0
  Sub: 08 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: Command
          Value :0x0000 0
  Sub: 09 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Delay Time
          Value :0x00000000 0
  Sub: 0a Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00A
          Value :0x0000 0
  Sub: 0b Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SM Event Missed Counter
          Value :0x0000 0
  Sub: 0c Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: Cycle Exceeded Counter
          Value :0x0000 0
  Sub: 0d Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: Shift Too Short Counter
          Value :0x0000 0
  Sub: 0e Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: SubIndex 00E
          Value :0x0000 0
  Sub: 0f Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 00F
          Value :0x0000 0
  Sub: 10 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 010
          Value :0x0000 0
  Sub: 11 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 011
          Value :0x0000 0
  Sub: 12 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 012
          Value :0x0000 0
  Sub: 13 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 013
          Value :0x0000 0
  Sub: 14 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 014
          Value :0x0000 0
  Sub: 15 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 015
          Value :0x0000 0
  Sub: 16 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 016
          Value :0x0000 0
  Sub: 17 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 017
          Value :0x0000 0
  Sub: 18 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 018
          Value :0x0000 0
  Sub: 19 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 019
          Value :0x0000 0
  Sub: 1a Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01A
          Value :0x0000 0
  Sub: 1b Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01B
          Value :0x0000 0
  Sub: 1c Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01C
          Value :0x0000 0
  Sub: 1d Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01D
          Value :0x0000 0
  Sub: 1e Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01E
          Value :0x0000 0
  Sub: 1f Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: SubIndex 01F
          Value :0x0000 0
  Sub: 20 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: Sync Error
          Value :0x0000 0
 Index: 2005 Datatype: 0004 Objectcode: 07 Name: Fast Reference
  Sub: 00 Datatype: 0004 Bitlength: 0020 Obj.access: 007f Name: Fast Reference
          Value :0x00000000 0
 Index: 200a Datatype: 0009 Objectcode: 07 Name: Manufacture Boot Version
  Sub: 00 Datatype: 0009 Bitlength: 0040 Obj.access: 0007 Name: Manufacture Boot Version
          Value :1.1.3.35
 Index: 2020 Datatype: 0007 Objectcode: 09 Name: Homing on block limits
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x05 5
  Sub: 01 Datatype: 0003 Bitlength: 0010 Obj.access: 003f Name: Torque limit
          Value :0x0000 0
  Sub: 02 Datatype: 0004 Bitlength: 0020 Obj.access: 003f Name: Time limit
          Value :0x00000000 0
  Sub: 03 Datatype: 0004 Bitlength: 0020 Obj.access: 003f Name: Distance limit in counts
          Value :0x00000000 0
  Sub: 04 Datatype: 0004 Bitlength: 0020 Obj.access: 003f Name: Detection Velocity Limit
          Value :0x00000000 0
  Sub: 05 Datatype: 0004 Bitlength: 0020 Obj.access: 003f Name: Detection Velocity Time
          Value :0x00000000 0
 Index: 2041 Datatype: 0007 Objectcode: 07 Name: Timestamp
  Sub: 00 Datatype: 0007 Bitlength: 0020 Obj.access: 0087 Name: Timestamp
          Value :0x01a165e8 27354600
 Index: 2046 Datatype: 0006 Objectcode: 07 Name: DC Clock inhibit time
  Sub: 00 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: DC Clock inhibit time
          Value :0x0000 0
 Index: 2060 Datatype: 0007 Objectcode: 07 Name: Parameters Checksum
  Sub: 00 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: Parameters Checksum
          Value :0x46bb2ac6 1186671302
 Index: 2061 Datatype: 0006 Objectcode: 07 Name: FoE Download Parameters Error
  Sub: 00 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: FoE Download Parameters Error
          Value :0x0000 0
 Index: 2062 Datatype: 0009 Objectcode: 07 Name: FoE Parameters Last String Send To Drive
  Sub: 00 Datatype: 0009 Bitlength: 0200 Obj.access: 0007 Name: FoE Parameters Last String Send To Drive
          Value :
 Index: 207b Datatype: 0004 Objectcode: 09 Name: Auxiliary Position range limit
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x02 2
  Sub: 01 Datatype: 0004 Bitlength: 0020 Obj.access: 003f Name: Min Auxiliary position range limit
          Value :0x00000000 0
  Sub: 02 Datatype: 0004 Bitlength: 0020 Obj.access: 003f Name: Max Auxiliary position range limit
          Value :0x00000000 0
 Index: 2081 Datatype: 0004 Objectcode: 09 Name: EE Extendend Error
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x06 6
  Sub: 01 Datatype: 0004 Bitlength: 0020 Obj.access: 0007 Name: Serial Encoder Error
          Value :0x00000000 0
  Sub: 02 Datatype: 0004 Bitlength: 0020 Obj.access: 0007 Name: Profiler Data Base Error
          Value :0x00000000 0
  Sub: 03 Datatype: 0004 Bitlength: 0020 Obj.access: 0007 Name: DL Error
          Value :0x00000000 0
  Sub: 04 Datatype: 0004 Bitlength: 0020 Obj.access: 0007 Name: SDO ELMO Format Error
          Value :0x00000015 21
  Sub: 05 Datatype: 0004 Bitlength: 0020 Obj.access: 0007 Name: MO Failed to start Reason
          Value :0x00000000 0
  Sub: 06 Datatype: 0004 Bitlength: 0020 Obj.access: 0007 Name: ECAM Error
          Value :0x00000000 0
 Index: 2085 Datatype: 0006 Objectcode: 07 Name: Extra Status Reg
  Sub: 00 Datatype: 0006 Bitlength: 0010 Obj.access: 0087 Name: Extra Status Reg
          Value :0x0242 578
 Index: 2086 Datatype: 0007 Objectcode: 07 Name: STO Status Reg
  Sub: 00 Datatype: 0007 Bitlength: 0020 Obj.access: 0007 Name: STO Status Reg
          Value :0x00050020 327712
 Index: 2087 Datatype: 0006 Objectcode: 07 Name: PAL Version
  Sub: 00 Datatype: 0006 Bitlength: 0010 Obj.access: 0007 Name: PAL Version
          Value :0x0058 88
 Index: 20a0 Datatype: 0004 Objectcode: 07 Name: Auxiliary position actual value
  Sub: 00 Datatype: 0004 Bitlength: 0020 Obj.access: 00bf Name: Auxiliary position actual value
          Value :0x00000000 0
 Index: 20b0 Datatype: 0007 Objectcode: 09 Name: Socket Additional Func
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x09 9
  Sub: 01 Datatype: 0007 Bitlength: 0020 Obj.access: 003f Name: Main position feedback socket (CA[45])
          Value :0x00000001 1
  Sub: 02 Datatype: 0007 Bitlength: 0020 Obj.access: 003f Name: Speed feedback socket (CA[46])
          Value :0x00000001 1
  Sub: 03 Datatype: 0007 Bitlength: 0020 Obj.access: 003f Name: Commutation socket (CA[47])
          Value :0x00000001 1
  Sub: 04 Datatype: 0007 Bitlength: 0020 Obj.access: 003f Name: Position reference socket (CA[68])
          Value :0x00000000 0
  Sub: 05 Datatype: 0007 Bitlength: 0020 Obj.access: 003f Name: Speed reference socket (CA[69])
          Value :0x00000000 0
  Sub: 06 Datatype: 0007 Bitlength: 0020 Obj.access: 003f Name: Current reference socket (CA[70])
          Value :0x00000000 0
  Sub: 07 Datatype: 0007 Bitlength: 0020 Obj.access: 003f Name: Touch-probe socket (CA[87])
          Value :0x00000000 0
  Sub: 08 Datatype: 0007 Bitlength: 0020 Obj.access: 003f Name: Homing 402 - capture socket (OV[54])
          Value :0x00000000 0
  Sub: 09 Datatype: 0007 Bitlength: 0020 Obj.access: 003f Name: Additional position socket (CA[79])
          Value :0x00000000 0
 Index: 20e0 Datatype: 0006 Objectcode: 07 Name: Ecat alias obj
  Sub: 00 Datatype: 0006 Bitlength: 0010 Obj.access: 003f Name: Ecat alias obj
          Value :0x0000 0
 Index: 20fc Datatype: 0006 Objectcode: 09 Name: Absolute Sensors Functions
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x02 2
  Sub: 01 Datatype: 0006 Bitlength: 0010 Obj.access: 0038 Name: Clear Absolute Multi Pos
  Sub: 02 Datatype: 0006 Bitlength: 0010 Obj.access: 0038 Name: Reser EnDAT2.2 Error
 Index: 20fd Datatype: 0007 Objectcode: 07 Name: Clear Digital Inputs
  Sub: 00 Datatype: 0007 Bitlength: 0020 Obj.access: 003f Name: Clear Digital Inputs
          Value :0x003f0008 4128776
 Index: 2110 Datatype: 0008 Objectcode: 08 Name: KI for inner loop
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x3f 63
  Sub: 01 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 1
          Value :0.000000
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  Sub: 09 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 9
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  Sub: 0a Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 10
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  Sub: 0b Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 11
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  Sub: 0c Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 12
          Value :0.000000
  Sub: 0d Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 13
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  Sub: 0e Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 14
          Value :0.000000
  Sub: 0f Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 15
          Value :0.000000
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          Value :0.000000
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          Value :0.000000
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          Value :0.000000
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          Value :0.000000
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          Value :0.000000
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  Sub: 1c Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 28
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  Sub: 1d Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 29
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  Sub: 2c Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 44
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          Value :0.000000
  Sub: 30 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 48
          Value :0.000000
  Sub: 31 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 49
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  Sub: 32 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 50
          Value :0.000000
  Sub: 33 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 51
          Value :0.000000
  Sub: 34 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 52
          Value :0.000000
  Sub: 35 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 53
          Value :0.000000
  Sub: 36 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 54
          Value :0.000000
  Sub: 37 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 55
          Value :0.000000
  Sub: 38 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 56
          Value :0.000000
  Sub: 39 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 57
          Value :0.000000
  Sub: 3a Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 58
          Value :0.000000
  Sub: 3b Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 59
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  Sub: 3c Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 60
          Value :0.000000
  Sub: 3d Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 61
          Value :0.000000
  Sub: 3e Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 62
          Value :0.000000
  Sub: 3f Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 63
          Value :0.000000
 Index: 2111 Datatype: 0008 Objectcode: 08 Name: KP for inner loop
  Sub: 00 Datatype: 0005 Bitlength: 0008 Obj.access: 0007 Name: Number of sub indexes
          Value :0x3f 63
  Sub: 01 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 1
          Value :0.000000
  Sub: 02 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 2
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  Sub: 03 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 3
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  Sub: 04 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 4
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  Sub: 05 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 5
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  Sub: 06 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 6
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  Sub: 07 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 7
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  Sub: 08 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 8
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  Sub: 09 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 9
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  Sub: 0a Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 10
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  Sub: 0b Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 11
          Value :0.000000
  Sub: 0c Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 12
          Value :0.000000
  Sub: 0d Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 13
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  Sub: 0e Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 14
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  Sub: 0f Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 15
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  Sub: 10 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 16
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  Sub: 13 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 19
          Value :0.000000
  Sub: 14 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 20
          Value :0.000000
  Sub: 15 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 21
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  Sub: 16 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 22
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  Sub: 17 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 23
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  Sub: 18 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 24
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  Sub: 19 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 25
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  Sub: 1a Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 26
          Value :0.000000
  Sub: 1b Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 27
          Value :0.000000
  Sub: 1c Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 28
          Value :0.000000
  Sub: 1d Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 29
          Value :0.000000
  Sub: 1e Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 30
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  Sub: 1f Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 31
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  Sub: 2a Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 42
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  Sub: 2b Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 43
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  Sub: 2c Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 44
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  Sub: 32 Datatype: 0008 Bitlength: 0020 Obj.access: 003f Name: SI 50
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 Index: 2112 Datatype: 0008 Objectcode: 08 Name: KP for outer loop
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在Windows环境下使用SOEM进行EtherCAT开发——协议篇
2019/09/26/EtherCAT-SOEM-1/
作者
Dawn Hill
发布于
2019-09-26 09:19
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  1. 1. EtherCAT系统组成
  2. 2. EtherCAT协议
  3. 3. SI从站信息接口
  4. 4. FMMU现场总线内存管理单元
    1. 4.1. FMMU的设置
  5. 5. SyncManager同步管理器
  6. 6. EtherCAT状态机（EtherCAT State Machine, ESM）
    1. 6.0.1. 每个EtherCAT状态的可用函数
  7. 6.1. Object Dictionary对象字典
  8. 6.2. Distributed clock分布式时钟
  • 7. 试着用起来啊
    1. 7.1. 通过IOmap访问数据
    • © 2019 - 2024    Dawn Hill
    由 Hexo 驱动 & 主题 Keep
    访客数 访问量
    1. 1. EtherCAT系统组成
    2. 2. EtherCAT协议
    3. 3. SI从站信息接口
    4. 4. FMMU现场总线内存管理单元
      1. 4.1. FMMU的设置
    5. 5. SyncManager同步管理器
    6. 6. EtherCAT状态机（EtherCAT State Machine, ESM）
      1. 6.0.1. 每个EtherCAT状态的可用函数
    7. 6.1. Object Dictionary对象字典
    8. 6.2. Distributed clock分布式时钟
  • 7. 试着用起来啊
    1. 7.1. 通过IOmap访问数据