{
    "connect": [
        {
            "property": {
                "ip": "127.0.0.1",
                "mode": "slave",
                "name": "connect0",
                "port": 502,
                "slaveid": 1
            },
            "regs": {
                "rd": [
                    {
                        "addr": 41103,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ro_estop_reset",
                        "type": "bool"
                    },
                    {
                        "addr": 41036,
                        "endian": 1,
                        "len": 32,
                        "name": "mtcp_ro_f",
                        "type": "float"
                    },
                    {
                        "addr": 41000,
                        "endian": 1,
                        "len": 64,
                        "name": "mtcp_ro_b",
                        "type": "bit"
                    },
                    {
                        "addr": 41100,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ro_motor_on",
                        "type": "bool"
                    },
                    {
                        "addr": 41104,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ro_alarm_clear",
                        "type": "bool"
                    },
                    {
                        "addr": 41102,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ro_pptomain",
                        "type": "bool"
                    },
                    {
                        "addr": 41106,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ro_program_override",
                        "type": "int16"
                    },
                    {
                        "addr": 41105,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ro_operation_mode",
                        "type": "bool"
                    },
                    {
                        "addr": 41101,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ro_program",
                        "type": "bool"
                    },
                    {
                        "addr": 41004,
                        "endian": 1,
                        "len": 32,
                        "name": "mtcp_ro_i",
                        "type": "int16"
                    }
                ],
                "rdwr": [
                    {
                        "addr": 40206,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_wo_collision_state",
                        "type": "bool"
                    },
                    {
                        "addr": 40180,
                        "endian": 1,
                        "len": 7,
                        "name": "mtcp_wo_jnttrq",
                        "type": "float"
                    },
                    {
                        "addr": 40100,
                        "endian": 1,
                        "len": 7,
                        "name": "mtcp_wo_cartpos",
                        "type": "float"
                    },
                    {
                        "addr": 40036,
                        "endian": 1,
                        "len": 32,
                        "name": "mtcp_wo_f",
                        "type": "float"
                    },
                    {
                        "addr": 40202,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_wo_estop_state",
                        "type": "bool"
                    },
                    {
                        "addr": 40207,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_wo_alarm_state",
                        "type": "bool"
                    },
                    {
                        "addr": 40000,
                        "endian": 1,
                        "len": 64,
                        "name": "mtcp_wo_b",
                        "type": "bit"
                    },
                    {
                        "addr": 40203,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_wo_fault_state",
                        "type": "bool"
                    },
                    {
                        "addr": 40501,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ext_resp_set",
                        "type": "int16"
                    },
                    {
                        "addr": 40205,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_wo_home_state",
                        "type": "bool"
                    },
                    {
                        "addr": 40201,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_wo_program_state",
                        "type": "bool"
                    },
                    {
                        "addr": 40140,
                        "endian": 1,
                        "len": 7,
                        "name": "mtcp_wo_cartvel",
                        "type": "float"
                    },
                    {
                        "addr": 40502,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ext_reset",
                        "type": "int16"
                    },
                    {
                        "addr": 40004,
                        "endian": 1,
                        "len": 32,
                        "name": "mtcp_wo_i",
                        "type": "int16"
                    },
                    {
                        "addr": 40204,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_wo_operate_mode",
                        "type": "bool"
                    },
                    {
                        "addr": 40160,
                        "endian": 1,
                        "len": 7,
                        "name": "mtcp_wo_jntvel",
                        "type": "float"
                    },
                    {
                        "addr": 40503,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ext_error_code",
                        "type": "int16"
                    },
                    {
                        "addr": 40120,
                        "endian": 1,
                        "len": 7,
                        "name": "mtcp_wo_jntpos",
                        "type": "float"
                    },
                    {
                        "addr": 40510,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ext_request_data",
                        "type": "int16"
                    },
                    {
                        "addr": 40500,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ext_cmd_set",
                        "type": "int16"
                    },
                    {
                        "addr": 40520,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_ext_response_data",
                        "type": "int16"
                    },
                    {
                        "addr": 40200,
                        "endian": 1,
                        "len": 1,
                        "name": "mtcp_wo_motor_on_state",
                        "type": "bool"
                    }
                ]
            }
        }
    ],
    "enable": true
}