ffffffffffffffffffffffffa4881509949447IP1cycle7030400000IP1cycle7030400000IP1cycle8051204003IP1cycle801600003IP1cycle8076800000000000000003IPPIBISIOI1cycle8015362563IP1cycle8020482563IP1cycle802320323IP1cycle802433003IP1cycle80235200103IP1cycle802356000c3IP1cycle8025900320010YY35102294311167772160016800688Outputs443521001563256335634563556365637563856395640Inputs45120321665666576658665966606661666266636664#x1a00Tx_PDO0_MAP#x08#x310028txpdo.FSoE0 CMDUSINT#x3100316txpdo.status_word.bit0_15 UINT#x3100416txpdo.FSoE0 CRC_0UINT#x3100516txpdo.status_word.bit16_31UINT#x3100616txpdo.FSoE0 CRC_1UINT#x3100716txpdo.safety_function.bit0_15 UINT#x3100816txpdo.FSoE0 CRC_2UINT#x3100916txpdo.safety_function.bit16_31 UINT#x31001016txpdo.FSoE0 CRC_3UINT#x31001116txpdo.safety_function_1.bit0_15 UINT#x31001216txpdo.FSoE0 CRC_4UINT#x31001316txpdo.safety_function_1.bit16_31 UINT#x31001416txpdo.FSoE0 CRC_5UINT#x31001516txpdo.FSoE0 Conn_IdUINT#x1a01Tx_PDO1_MAP#x08#x310128txpdo.FSoE1 CMDUSINT#x3101316txpdo.res[0].bit0_15UINT#x3101416txpdo.FSoE1 CRCUINT#x3101516txpdo.FSoE1 Conn_IdUINT#x1a02Tx_PDO2_MAP#x08#x310228txpdo.FSoE2 CMDUSINT#x3102316txpdo.res[1].bit0_15UINT#x3102416txpdo.FSoE2 CRCUINT#x3102516txpdo.FSoE2 Conn_IdUINT#x1a03Tx_PDO3_MAP#x08#x310328txpdo.FSoE3 CMDUSINT#x3103316txpdo.res[2].bit0_15UINT#x3103416txpdo.FSoE3 CRCUINT#x3103516txpdo.FSoE3 Conn_IdUINT#x1a04Tx_PDO4_MAP#x08#x310428txpdo.FSoE4 CMDUSINT#x3104316txpdo.res[3].bit0_15UINT#x3104416txpdo.FSoE4 CRCUINT#x3104516txpdo.FSoE4 Conn_IdUINT#x1a05Tx_PDO5_MAP#x08#x310528txpdo.FSoE5 CMDUSINT#x3105316txpdo.res[4].bit0_15UINT#x3105416txpdo.FSoE5 CRCUINT#x3105516txpdo.FSoE5 Conn_IdUINT#x1a06Tx_PDO6_MAP#x08#x310628txpdo.FSoE6 CMDUSINT#x3106316txpdo.res[5].bit0_15UINT#x3106416txpdo.FSoE6 CRCUINT#x3106516txpdo.FSoE6 Conn_IdUINT#x1a07Tx_PDO7_MAP#x08#x310728txpdo.FSoE7 CMDUSINT#x3107316txpdo.res[6].bit0_15UINT#x3107416txpdo.FSoE7 CRCUINT#x3107516txpdo.FSoE7 Conn_IdUINT#x1a08Read Status of module #x600018non_safety[3]USINT#x600028board_di[6]USINT#x1600Rx_PDO0_MAP#x08#x210028rxpdo.FSoE0 CMDUSINT#x2100316rxpdo.operation_word.bit0_15UINT#x2100416rxpdo.FSoE0 CRC_0UINT#x2100516rxpdo.operation_word.bit16_31UINT#x2100616rxpdo.FSoE0 CRC_1UINT#x2100716rxpdo.FSoE0 Conn_IdUINT#x1601Rx_PDO1_MAP#x08#x210128rxpdo.FSoE1 CMDUSINT#x2101316rxpdo.encoder[0].bit0_15INT#x2101416rxpdo.FSoE1 CRC_0UINT#x2101516rxpdo.encoder[0].bit16_31INT#x2101616rxpdo.FSoE1 CRC_1UINT#x2101716rxpdo.current[0].bit0_15INT#x2101816rxpdo.FSoE1 CRC_2UINT#x2101916rxpdo.force[0].bit0_15UINT#x21011016rxpdo.FSoE1 CRC_3UINT#x21011116rxpdo.velocity[0].bit0_15INT#x21011216rxpdo.FSoE1 CRC_4UINT#x21011316rxpdo.extra_motion_param[0].bit0_15INT#x21011416rxpdo.FSoE1 CRC_5UINT#x21011516rxpdo.FSoE1 Conn_IdUINT#x1602Rx_PDO2_MAP#x08#x210228rxpdo.FSoE2 CMDUSINT#x2102316rxpdo.encoder[1].bit0_15INT#x2102416rxpdo.FSoE2 CRC_0UINT#x2102516rxpdo.encoder[1].bit16_31INT#x2102616rxpdo.FSoE2 CRC_1UINT#x2102716rxpdo.current[1].bit0_15INT#x2102816rxpdo.FSoE2 CRC_2UINT#x2102916rxpdo.force[1].bit0_15UINT#x21021016rxpdo.FSoE2 CRC_3UINT#x21021116rxpdo.velocity[1].bit0_15INT#x21021216rxpdo.FSoE2 CRC_4UINT#x21021316rxpdo.extra_motion_param[1].bit0_15INT#x21021416rxpdo.FSoE2 CRC_5UINT#x21021516rxpdo.FSoE2 Conn_IdUINT#x1603Rx_PDO3_MAP#x08#x210328rxpdo.FSoE3 CMDUSINT#x2103316rxpdo.encoder[2].bit0_15INT#x2103416rxpdo.FSoE3 CRC_0UINT#x2103516rxpdo.encoder[2].bit16_31INT#x2103616rxpdo.FSoE3 CRC_1UINT#x2103716rxpdo.current[2].bit0_15INT#x2103816rxpdo.FSoE3 CRC_2UINT#x2103916rxpdo.force[2].bit0_15UINT#x21031016rxpdo.FSoE3 CRC_3UINT#x21031116rxpdo.velocity[2].bit0_15INT#x21031216rxpdo.FSoE3 CRC_4UINT#x21031316rxpdo.extra_motion_param[2].bit0_15INT#x21031416rxpdo.FSoE3 CRC_5UINT#x21031516rxpdo.FSoE3 Conn_IdUINT#x1604Rx_PDO4_MAP#x08#x210428rxpdo.FSoE4 CMDUSINT#x2104316rxpdo.encoder[3].bit0_15INT#x2104416rxpdo.FSoE4 CRC_0UINT#x2104516rxpdo.encoder[3].bit16_31INT#x2104616rxpdo.FSoE4 CRC_1UINT#x2104716rxpdo.current[3].bit0_15INT#x2104816rxpdo.FSoE4 CRC_2UINT#x2104916rxpdo.force[3].bit0_15UINT#x21041016rxpdo.FSoE4 CRC_3UINT#x21041116rxpdo.velocity[3].bit0_15INT#x21041216rxpdo.FSoE4 CRC_4UINT#x21041316rxpdo.extra_motion_param[3].bit0_15INT#x21041416rxpdo.FSoE4 CRC_5UINT#x21041516rxpdo.FSoE4 Conn_IdUINT#x1605Rx_PDO5_MAP#x08#x210528rxpdo.FSoE5 CMDUSINT#x2105316rxpdo.encoder[4].bit0_15INT#x2105416rxpdo.FSoE5 CRC_0UINT#x2105516rxpdo.encoder[4].bit16_31INT#x2105616rxpdo.FSoE5 CRC_1UINT#x2105716rxpdo.current[4].bit0_15INT#x2105816rxpdo.FSoE5 CRC_2UINT#x2105916rxpdo.force[4].bit0_15UINT#x21051016rxpdo.FSoE5 CRC_3UINT#x21051116rxpdo.velocity[4].bit0_15INT#x21051216rxpdo.FSoE5 CRC_4UINT#x21051316rxpdo.extra_motion_param[4].bit0_15INT#x21051416rxpdo.FSoE5 CRC_5UINT#x21051516rxpdo.FSoE5 Conn_IdUINT#x1606Rx_PDO6_MAP#x08#x210628rxpdo.FSoE6 CMDUSINT#x2106316rxpdo.encoder[5].bit0_15INT#x2106416rxpdo.FSoE6 CRC_0UINT#x2106516rxpdo.encoder[5].bit16_31INT#x2106616rxpdo.FSoE6 CRC_1UINT#x2106716rxpdo.current[5].bit0_15INT#x2106816rxpdo.FSoE6 CRC_2UINT#x2106916rxpdo.force[5].bit0_15UINT#x21061016rxpdo.FSoE6 CRC_3UINT#x21061116rxpdo.velocity[5].bit0_15INT#x21061216rxpdo.FSoE6 CRC_4UINT#x21061316rxpdo.extra_motion_param[5].bit0_15INT#x21061416rxpdo.FSoE6 CRC_5UINT#x21061516rxpdo.FSoE6 Conn_IdUINT#x1607Rx_PDO7_MAP#x08#x210728rxpdo.FSoE7 CMDUSINT#x2107316rxpdo.encoder[6].bit0_15INT#x2107416rxpdo.FSoE7 CRC_0UINT#x2107516rxpdo.encoder[6].bit16_31INT#x2107616rxpdo.FSoE7 CRC_1UINT#x2107716rxpdo.current[6].bit0_15INT#x2107816rxpdo.FSoE7 CRC_2UINT#x2107916rxpdo.force[6].bit0_15UINT#x21071016rxpdo.FSoE7 CRC_3UINT#x21071116rxpdo.velocity[6].bit0_15INT#x21071216rxpdo.FSoE7 CRC_4UINT#x21071316rxpdo.extra_motion_param[6].bit0_15INT#x21071416rxpdo.FSoE7 CRC_5UINT#x21071516rxpdo.FSoE7 Conn_IdUINT#x1608Common_DO4#x700018NoSafetyDo[0~4]USINT#x08409612842241280CoEFoE5001050010PIBISIOIcycle20288110035000PISIOIcycle103040000301000f005000BIcycle103040000301000f0010000IPIBcycle202881100132000IPIBcycle1030400001301000f002000IPcycle2012800013IP20128200010800000013IPcycle1012880000000013b60d0000100IP20128200010a00000013IPcycle101288000000001327022300100IPIBcycle2016d10713IPIBPISIOI520012048000000000000000000000000000000003BI202048000000000000000000000000000000003IPIB520012048001080002600010013IPIB520012056801080002200010013SPOPcycle5200128812003005000IPSPSIOPOI520012064163PS5200120640011d2006400010013PS520012072001456002000010013PS52001153600000010d2000007001100020100000013PS5200115520000001056000007001400010100000013IPIB52001156800000009010000000d0800010100000013OScycle5200128804003200SPSIOPOI520011536000000000000000000000000000000003SPSIOPOI520011552000000000000000000000000000000003PIBISIOI520011568000000000000000000000000000000003SPOPcycle4200130400000000000030200000000000f00000000005000IPIBcycle5200112800113IIcycle201280003IPcycle52001288120013002000IPcycle42001304000000000000130200000000001f00000000002000IPBIcycle201280003IBcycle520012881300132000IBcycle42001304000000000000130300000000001f00000000002000PScycle520012880400139000PScycle42001304000000000000130400000000001f00000000009000OScycle4200130400000000000030400000000000f0000000000200SOcycle520012880800139000SOcycle42001304000000000000130800000000001f000000000090000100165535YY7377789870016801521680152Outputs23435210015632Inputs2351203216656#x1a00TxPDO1#x6041016StatuswordUINT#x6064032Position actual valueDINT#x606c032Velocity Actual ValueDINT#x6077016Torque actual valueINT#x603f016Error codeUINT#x60f4032Following error actual valueDINT#x606108Modes of operation displaySINT#x1a01TxPDO2#x6041016StatuswordUINT#x6064032Position actual valueDINT#x1a02TxPDO3#x6041016StatuswordUINT#x606c032Velocity Actual ValueDINT#x1a03TxPDO4#x6041016StatuswordUINT#x6077016Torque actual valueINT#x1600RxPDO1#x6040016ControlwordUINT#x607a032Target positionDINT#x60ff032Target velocityDINT#x6071016Target TorqueINT#x60b1032Velocity offsetDINT#x60b2016Torque offsetINT#x606008Modes of operationSINT#x1601RxPDO2#x6040016ControlwordUINT#x607a032Target positionDINT#x1602RxPDO3#x6040016ControlwordUINT#x60ff032Target velocityDINT#x1603RxPDO4#x6040016ControlwordUINT#x6071016Target 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#x1a00TxPDO1#x6041016StatuswordUINT#x6064032Position actual valueDINT#x606c032Velocity Actual ValueDINT#x6077016Torque actual valueINT#x603f016Error codeUINT#x60f4032Following error actual valueDINT#x606108Modes of operation displaySINT#x1a01TxPDO2#x6041016StatuswordUINT#x6064032Position actual valueDINT#x1a02TxPDO3#x6041016StatuswordUINT#x606c032Velocity Actual ValueDINT#x1a03TxPDO4#x6041016StatuswordUINT#x6077016Torque actual valueINT#x1600RxPDO1#x6040016ControlwordUINT#x607a032Target positionDINT#x60ff032Target velocityDINT#x6071016Target TorqueINT#x60b1032Velocity offsetDINT#x60b2016Torque offsetINT#x606008Modes of operationSINT#x1601RxPDO2#x6040016ControlwordUINT#x607a032Target positionDINT#x1602RxPDO3#x6040016ControlwordUINT#x60ff032Target velocityDINT#x1603RxPDO4#x6040016ControlwordUINT#x6071016Target 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#x1a00TxPDO1#x6041016StatuswordUINT#x6064032Position actual valueDINT#x606c032Velocity Actual ValueDINT#x6077016Torque actual valueINT#x603f016Error codeUINT#x60f4032Following error actual valueDINT#x606108Modes of operation displaySINT#x1a01TxPDO2#x6041016StatuswordUINT#x6064032Position actual valueDINT#x1a02TxPDO3#x6041016StatuswordUINT#x606c032Velocity Actual ValueDINT#x1a03TxPDO4#x6041016StatuswordUINT#x6077016Torque actual valueINT#x1600RxPDO1#x6040016ControlwordUINT#x607a032Target positionDINT#x60ff032Target velocityDINT#x6071016Target TorqueINT#x60b1032Velocity offsetDINT#x60b2016Torque offsetINT#x606008Modes of operationSINT#x1601RxPDO2#x6040016ControlwordUINT#x607a032Target positionDINT#x1602RxPDO3#x6040016ControlwordUINT#x60ff032Target velocityDINT#x1603RxPDO4#x6040016ControlwordUINT#x6071016Target 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#x1a00TxPDO1#x6041016StatuswordUINT#x6064032Position actual valueDINT#x606c032Velocity Actual ValueDINT#x6077016Torque actual valueINT#x603f016Error codeUINT#x60f4032Following error actual valueDINT#x606108Modes of operation displaySINT#x1a01TxPDO2#x6041016StatuswordUINT#x6064032Position actual valueDINT#x1a02TxPDO3#x6041016StatuswordUINT#x606c032Velocity Actual ValueDINT#x1a03TxPDO4#x6041016StatuswordUINT#x6077016Torque actual valueINT#x1600RxPDO1#x6040016ControlwordUINT#x607a032Target positionDINT#x60ff032Target velocityDINT#x6071016Target TorqueINT#x60b1032Velocity offsetDINT#x60b2016Torque offsetINT#x606008Modes of operationSINT#x1601RxPDO2#x6040016ControlwordUINT#x607a032Target positionDINT#x1602RxPDO3#x6040016ControlwordUINT#x60ff032Target velocityDINT#x1603RxPDO4#x6040016ControlwordUINT#x6071016Target 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#x1a00TxPDO1#x6041016StatuswordUINT#x6064032Position actual valueDINT#x606c032Velocity Actual ValueDINT#x6077016Torque actual valueINT#x603f016Error codeUINT#x60f4032Following error actual valueDINT#x606108Modes of operation displaySINT#x1a01TxPDO2#x6041016StatuswordUINT#x6064032Position actual valueDINT#x1a02TxPDO3#x6041016StatuswordUINT#x606c032Velocity Actual ValueDINT#x1a03TxPDO4#x6041016StatuswordUINT#x6077016Torque actual valueINT#x1600RxPDO1#x6040016ControlwordUINT#x607a032Target positionDINT#x60ff032Target velocityDINT#x6071016Target TorqueINT#x60b1032Velocity offsetDINT#x60b2016Torque offsetINT#x606008Modes of operationSINT#x1601RxPDO2#x6040016ControlwordUINT#x607a032Target positionDINT#x1602RxPDO3#x6040016ControlwordUINT#x60ff032Target velocityDINT#x1603RxPDO4#x6040016ControlwordUINT#x6071016Target 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#x1a00TxPDO1#x6041016StatuswordUINT#x6064032Position actual valueDINT#x606c032Velocity Actual ValueDINT#x6077016Torque actual valueINT#x603f016Error codeUINT#x60f4032Following error actual valueDINT#x606108Modes of operation displaySINT#x1a01TxPDO2#x6041016StatuswordUINT#x6064032Position actual valueDINT#x1a02TxPDO3#x6041016StatuswordUINT#x606c032Velocity Actual ValueDINT#x1a03TxPDO4#x6041016StatuswordUINT#x6077016Torque actual valueINT#x1600RxPDO1#x6040016ControlwordUINT#x607a032Target positionDINT#x60ff032Target velocityDINT#x6071016Target TorqueINT#x60b1032Velocity offsetDINT#x60b2016Torque offsetINT#x606008Modes of operationSINT#x1601RxPDO2#x6040016ControlwordUINT#x607a032Target positionDINT#x1602RxPDO3#x6040016ControlwordUINT#x60ff032Target velocityDINT#x1603RxPDO4#x6040016ControlwordUINT#x6071016Target 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#x1a001st Transmit PDO mapping#x6041016Status WordUINT#x6064032Position Actual ValueDINT#x606c032Velocity Actual ValueDINT#x6077016Torque Actual ValueINT#x603f016Error CodeUINT#x60f4032Following Error Actual ValueDINT#x606108Mode of Operation DisplaySINT#x5fff08Dummy ByteUSINT#x1a012nd Transmit PDO mapping#x6041016Status WordUINT#x6064032Position Actual ValueDINT#x606c032Velocity Actual ValueDINT#x6077016Torque Actual ValueINT#x606108Mode of Operation DisplaySINT#x5fff08Dummy ByteUSINT#x60f4032Following Error Actual ValueDINT#x603f016Error CodeUINT#x60fd032Digital InputsUDINT#x1a023rd Transmit PDO mapping#x6041016Status WordUINT#x6064032Position Actual ValueDINT#x606c032Velocity Actual ValueDINT#x6077016Torque Actual ValueINT#x606108Mode of Operation DisplaySINT#x5fff08Dummy ByteUSINT#x603f016Error CodeUINT#x60b9016Touch Probe StatusUINT#x60ba032Touch Probe 1 Positive Edge Position ValueDINT#x1a034th Transmit PDO mapping#x6041016Status WordUINT#x6064032Position Actual ValueDINT#x6077016Torque Actual ValueINT#x603f016Error CodeUINT#x60f4032Following Error Actual ValueDINT#x16001st Receive PDO mapping#x6040016Control WordUINT#x607a032Target PositionDINT#x60ff032Target VelocityDINT#x6071016Target TorqueINT#x60b1032Velocity OffsetDINT#x60b2016Torque OffsetINT#x606008Modes of operationSINT#x5ffe08Dummy ByteUSINT#x16012nd Receive PDO mapping#x6040016Control WordUINT#x607a032Target PositionDINT#x60ff032Target VelocityDINT#x6071016Target TorqueINT#x60b1032Velocity OffsetDINT#x60b2016Torque OffsetINT#x606008Modes of operationSINT#x5ffe08Dummy ByteUSINT#x16023rd Receive PDO mapping#x6040016Control WordUINT#x607a032Target PositionDINT#x6071016Target TorqueINT#x60b1032Velocity OffsetDINT#x60b2016Torque OffsetINT#x606008Modes of operationSINT#x5ffe08Dummy ByteUSINT#x60b8016Touch Probe FunctionUINT#x60fe132Digital Outputs Physical outputsUDINT#x16034th Receive PDO mapping#x6040016Control WordUINT#x607a032Target PositionDINT#x6081032Profile VelocityUDINT#x6083032Profile AccelerationUDINT#x6084032Profile 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_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.FSoE0 CMDUSINT88Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.status_word.bit0_15 UINT1616Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.FSoE0 CRC_0UINT1632Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.status_word.bit16_31UINT1648Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.FSoE0 CRC_1UINT1664Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.safety_function.bit0_15 UINT1680Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.FSoE0 CRC_2UINT1696Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.safety_function.bit16_31 UINT16112Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.FSoE0 CRC_3UINT16128Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.safety_function_1.bit0_15 UINT16144Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.FSoE0 CRC_4UINT16160Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.safety_function_1.bit16_31 UINT16176Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.FSoE0 CRC_5UINT16192Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO0_MAP.txpdo.FSoE0 Conn_IdUINT16208Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO1_MAP.txpdo.FSoE1 CMDUSINT8232Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO1_MAP.txpdo.res[0].bit0_15UINT16240Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO1_MAP.txpdo.FSoE1 CRCUINT16256Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO1_MAP.txpdo.FSoE1 Conn_IdUINT16272Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO2_MAP.txpdo.FSoE2 CMDUSINT8296Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO2_MAP.txpdo.res[1].bit0_15UINT16304Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO2_MAP.txpdo.FSoE2 CRCUINT16320Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO2_MAP.txpdo.FSoE2 Conn_IdUINT16336Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO3_MAP.txpdo.FSoE3 CMDUSINT8360Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO3_MAP.txpdo.res[2].bit0_15UINT16368Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO3_MAP.txpdo.FSoE3 CRCUINT16384Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO3_MAP.txpdo.FSoE3 Conn_IdUINT16400Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO4_MAP.txpdo.FSoE4 CMDUSINT8424Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO4_MAP.txpdo.res[3].bit0_15UINT16432Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO4_MAP.txpdo.FSoE4 CRCUINT16448Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO4_MAP.txpdo.FSoE4 Conn_IdUINT16464Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO5_MAP.txpdo.FSoE5 CMDUSINT8488Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO5_MAP.txpdo.res[4].bit0_15UINT16496Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO5_MAP.txpdo.FSoE5 CRCUINT16512Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO5_MAP.txpdo.FSoE5 Conn_IdUINT16528Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO6_MAP.txpdo.FSoE6 CMDUSINT8552Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO6_MAP.txpdo.res[5].bit0_15UINT16560Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO6_MAP.txpdo.FSoE6 CRCUINT16576Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO6_MAP.txpdo.FSoE6 Conn_IdUINT16592Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO7_MAP.txpdo.FSoE7 CMDUSINT8616Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO7_MAP.txpdo.res[6].bit0_15UINT16624Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO7_MAP.txpdo.FSoE7 CRCUINT16640Slave_2001 [Chenzhu EtherCAT RX72M 0404].Tx_PDO7_MAP.txpdo.FSoE7 Conn_IdUINT16656Slave_2001 [Chenzhu EtherCAT RX72M 0404].Read Status of module .non_safety[3]USINT8672Slave_2001 [Chenzhu EtherCAT RX72M 0404].Read Status of module .board_di[6]USINT8680Slave_1001 [BDHDE].TxPDO1.StatuswordUINT161680Slave_1001 [BDHDE].TxPDO1.Position actual valueDINT321696Slave_1001 [BDHDE].TxPDO1.Velocity Actual ValueDINT321728Slave_1001 [BDHDE].TxPDO1.Torque actual valueINT161760Slave_1001 [BDHDE].TxPDO1.Error codeUINT161776Slave_1001 [BDHDE].TxPDO1.Following error actual valueDINT321792Slave_1001 [BDHDE].TxPDO1.Modes of operation displaySINT81824Slave_1002 [BDHDE].TxPDO1.StatuswordUINT161832Slave_1002 [BDHDE].TxPDO1.Position actual valueDINT321848Slave_1002 [BDHDE].TxPDO1.Velocity Actual ValueDINT321880Slave_1002 [BDHDE].TxPDO1.Torque actual valueINT161912Slave_1002 [BDHDE].TxPDO1.Error codeUINT161928Slave_1002 [BDHDE].TxPDO1.Following error actual valueDINT321944Slave_1002 [BDHDE].TxPDO1.Modes of operation displaySINT81976Slave_1003 [BDHDE].TxPDO1.StatuswordUINT161984Slave_1003 [BDHDE].TxPDO1.Position actual valueDINT322000Slave_1003 [BDHDE].TxPDO1.Velocity Actual ValueDINT322032Slave_1003 [BDHDE].TxPDO1.Torque actual valueINT162064Slave_1003 [BDHDE].TxPDO1.Error codeUINT162080Slave_1003 [BDHDE].TxPDO1.Following error actual valueDINT322096Slave_1003 [BDHDE].TxPDO1.Modes of operation displaySINT82128Slave_1004 [BDHDE].TxPDO1.StatuswordUINT162136Slave_1004 [BDHDE].TxPDO1.Position actual valueDINT322152Slave_1004 [BDHDE].TxPDO1.Velocity Actual ValueDINT322184Slave_1004 [BDHDE].TxPDO1.Torque actual valueINT162216Slave_1004 [BDHDE].TxPDO1.Error codeUINT162232Slave_1004 [BDHDE].TxPDO1.Following error actual valueDINT322248Slave_1004 [BDHDE].TxPDO1.Modes of operation displaySINT82280Slave_1005 [BDHDE].TxPDO1.StatuswordUINT162288Slave_1005 [BDHDE].TxPDO1.Position actual valueDINT322304Slave_1005 [BDHDE].TxPDO1.Velocity Actual ValueDINT322336Slave_1005 [BDHDE].TxPDO1.Torque actual valueINT162368Slave_1005 [BDHDE].TxPDO1.Error codeUINT162384Slave_1005 [BDHDE].TxPDO1.Following error actual valueDINT322400Slave_1005 [BDHDE].TxPDO1.Modes of operation displaySINT82432Slave_1006 [BDHDE].TxPDO1.StatuswordUINT162440Slave_1006 [BDHDE].TxPDO1.Position actual valueDINT322456Slave_1006 [BDHDE].TxPDO1.Velocity Actual ValueDINT322488Slave_1006 [BDHDE].TxPDO1.Torque actual valueINT162520Slave_1006 [BDHDE].TxPDO1.Error codeUINT162536Slave_1006 [BDHDE].TxPDO1.Following error actual valueDINT322552Slave_1006 [BDHDE].TxPDO1.Modes of operation displaySINT82584Slave_1201 [CoolDrive RA].1st Transmit PDO mapping.Status WordUINT162592Slave_1201 [CoolDrive RA].1st Transmit PDO mapping.Position Actual ValueDINT322608Slave_1201 [CoolDrive RA].1st Transmit PDO mapping.Velocity Actual ValueDINT322640Slave_1201 [CoolDrive RA].1st Transmit PDO mapping.Torque Actual ValueINT162672Slave_1201 [CoolDrive RA].1st Transmit PDO mapping.Error CodeUINT162688Slave_1201 [CoolDrive RA].1st Transmit PDO mapping.Following Error Actual ValueDINT322704Slave_1201 [CoolDrive RA].1st Transmit PDO mapping.Mode of Operation DisplaySINT82736Slave_1201 [CoolDrive RA].1st Transmit PDO mapping.Dummy ByteUSINT82744360Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO0_MAP.rxpdo.FSoE0 CMDUSINT88Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO0_MAP.rxpdo.operation_word.bit0_15UINT1616Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO0_MAP.rxpdo.FSoE0 CRC_0UINT1632Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO0_MAP.rxpdo.operation_word.bit16_31UINT1648Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO0_MAP.rxpdo.FSoE0 CRC_1UINT1664Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO0_MAP.rxpdo.FSoE0 Conn_IdUINT1680Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.FSoE1 CMDUSINT8104Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.encoder[0].bit0_15INT16112Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.FSoE1 CRC_0UINT16128Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.encoder[0].bit16_31INT16144Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.FSoE1 CRC_1UINT16160Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.current[0].bit0_15INT16176Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.FSoE1 CRC_2UINT16192Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.force[0].bit0_15UINT16208Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.FSoE1 CRC_3UINT16224Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.velocity[0].bit0_15INT16240Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.FSoE1 CRC_4UINT16256Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.extra_motion_param[0].bit0_15INT16272Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.FSoE1 CRC_5UINT16288Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO1_MAP.rxpdo.FSoE1 Conn_IdUINT16304Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.FSoE2 CMDUSINT8328Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.encoder[1].bit0_15INT16336Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.FSoE2 CRC_0UINT16352Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.encoder[1].bit16_31INT16368Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.FSoE2 CRC_1UINT16384Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.current[1].bit0_15INT16400Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.FSoE2 CRC_2UINT16416Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.force[1].bit0_15UINT16432Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.FSoE2 CRC_3UINT16448Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.velocity[1].bit0_15INT16464Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.FSoE2 CRC_4UINT16480Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.extra_motion_param[1].bit0_15INT16496Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.FSoE2 CRC_5UINT16512Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO2_MAP.rxpdo.FSoE2 Conn_IdUINT16528Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.FSoE3 CMDUSINT8552Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.encoder[2].bit0_15INT16560Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.FSoE3 CRC_0UINT16576Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.encoder[2].bit16_31INT16592Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.FSoE3 CRC_1UINT16608Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.current[2].bit0_15INT16624Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.FSoE3 CRC_2UINT16640Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.force[2].bit0_15UINT16656Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.FSoE3 CRC_3UINT16672Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.velocity[2].bit0_15INT16688Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.FSoE3 CRC_4UINT16704Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.extra_motion_param[2].bit0_15INT16720Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.FSoE3 CRC_5UINT16736Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO3_MAP.rxpdo.FSoE3 Conn_IdUINT16752Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.FSoE4 CMDUSINT8776Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.encoder[3].bit0_15INT16784Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.FSoE4 CRC_0UINT16800Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.encoder[3].bit16_31INT16816Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.FSoE4 CRC_1UINT16832Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.current[3].bit0_15INT16848Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.FSoE4 CRC_2UINT16864Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.force[3].bit0_15UINT16880Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.FSoE4 CRC_3UINT16896Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.velocity[3].bit0_15INT16912Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.FSoE4 CRC_4UINT16928Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.extra_motion_param[3].bit0_15INT16944Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.FSoE4 CRC_5UINT16960Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO4_MAP.rxpdo.FSoE4 Conn_IdUINT16976Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.FSoE5 CMDUSINT81000Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.encoder[4].bit0_15INT161008Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.FSoE5 CRC_0UINT161024Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.encoder[4].bit16_31INT161040Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.FSoE5 CRC_1UINT161056Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.current[4].bit0_15INT161072Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.FSoE5 CRC_2UINT161088Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.force[4].bit0_15UINT161104Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.FSoE5 CRC_3UINT161120Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.velocity[4].bit0_15INT161136Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.FSoE5 CRC_4UINT161152Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.extra_motion_param[4].bit0_15INT161168Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.FSoE5 CRC_5UINT161184Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO5_MAP.rxpdo.FSoE5 Conn_IdUINT161200Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.FSoE6 CMDUSINT81224Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.encoder[5].bit0_15INT161232Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.FSoE6 CRC_0UINT161248Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.encoder[5].bit16_31INT161264Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.FSoE6 CRC_1UINT161280Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.current[5].bit0_15INT161296Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.FSoE6 CRC_2UINT161312Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.force[5].bit0_15UINT161328Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.FSoE6 CRC_3UINT161344Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.velocity[5].bit0_15INT161360Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.FSoE6 CRC_4UINT161376Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.extra_motion_param[5].bit0_15INT161392Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.FSoE6 CRC_5UINT161408Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO6_MAP.rxpdo.FSoE6 Conn_IdUINT161424Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.FSoE7 CMDUSINT81448Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.encoder[6].bit0_15INT161456Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.FSoE7 CRC_0UINT161472Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.encoder[6].bit16_31INT161488Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.FSoE7 CRC_1UINT161504Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.current[6].bit0_15INT161520Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.FSoE7 CRC_2UINT161536Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.force[6].bit0_15UINT161552Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.FSoE7 CRC_3UINT161568Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.velocity[6].bit0_15INT161584Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.FSoE7 CRC_4UINT161600Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.extra_motion_param[6].bit0_15INT161616Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.FSoE7 CRC_5UINT161632Slave_2001 [Chenzhu EtherCAT RX72M 0404].Rx_PDO7_MAP.rxpdo.FSoE7 Conn_IdUINT161648Slave_2001 [Chenzhu EtherCAT RX72M 0404].Common_DO4.NoSafetyDo[0~4]USINT81664Slave_1001 [BDHDE].RxPDO1.ControlwordUINT161680Slave_1001 [BDHDE].RxPDO1.Target positionDINT321696Slave_1001 [BDHDE].RxPDO1.Target velocityDINT321728Slave_1001 [BDHDE].RxPDO1.Target TorqueINT161760Slave_1001 [BDHDE].RxPDO1.Velocity offsetDINT321776Slave_1001 [BDHDE].RxPDO1.Torque offsetINT161808Slave_1001 [BDHDE].RxPDO1.Modes of operationSINT81824Slave_1002 [BDHDE].RxPDO1.ControlwordUINT161832Slave_1002 [BDHDE].RxPDO1.Target positionDINT321848Slave_1002 [BDHDE].RxPDO1.Target velocityDINT321880Slave_1002 [BDHDE].RxPDO1.Target TorqueINT161912Slave_1002 [BDHDE].RxPDO1.Velocity offsetDINT321928Slave_1002 [BDHDE].RxPDO1.Torque offsetINT161960Slave_1002 [BDHDE].RxPDO1.Modes of operationSINT81976Slave_1003 [BDHDE].RxPDO1.ControlwordUINT161984Slave_1003 [BDHDE].RxPDO1.Target positionDINT322000Slave_1003 [BDHDE].RxPDO1.Target velocityDINT322032Slave_1003 [BDHDE].RxPDO1.Target TorqueINT162064Slave_1003 [BDHDE].RxPDO1.Velocity offsetDINT322080Slave_1003 [BDHDE].RxPDO1.Torque offsetINT162112Slave_1003 [BDHDE].RxPDO1.Modes of operationSINT82128Slave_1004 [BDHDE].RxPDO1.ControlwordUINT162136Slave_1004 [BDHDE].RxPDO1.Target positionDINT322152Slave_1004 [BDHDE].RxPDO1.Target velocityDINT322184Slave_1004 [BDHDE].RxPDO1.Target TorqueINT162216Slave_1004 [BDHDE].RxPDO1.Velocity offsetDINT322232Slave_1004 [BDHDE].RxPDO1.Torque offsetINT162264Slave_1004 [BDHDE].RxPDO1.Modes of operationSINT82280Slave_1005 [BDHDE].RxPDO1.ControlwordUINT162288Slave_1005 [BDHDE].RxPDO1.Target positionDINT322304Slave_1005 [BDHDE].RxPDO1.Target velocityDINT322336Slave_1005 [BDHDE].RxPDO1.Target TorqueINT162368Slave_1005 [BDHDE].RxPDO1.Velocity offsetDINT322384Slave_1005 [BDHDE].RxPDO1.Torque offsetINT162416Slave_1005 [BDHDE].RxPDO1.Modes of operationSINT82432Slave_1006 [BDHDE].RxPDO1.ControlwordUINT162440Slave_1006 [BDHDE].RxPDO1.Target positionDINT322456Slave_1006 [BDHDE].RxPDO1.Target velocityDINT322488Slave_1006 [BDHDE].RxPDO1.Target TorqueINT162520Slave_1006 [BDHDE].RxPDO1.Velocity offsetDINT322536Slave_1006 [BDHDE].RxPDO1.Torque offsetINT162568Slave_1006 [BDHDE].RxPDO1.Modes of operationSINT82584Slave_1201 [CoolDrive RA].1st Receive PDO mapping.Control WordUINT162592Slave_1201 [CoolDrive RA].1st Receive PDO mapping.Target PositionDINT322608Slave_1201 [CoolDrive RA].1st Receive PDO mapping.Target VelocityDINT322640Slave_1201 [CoolDrive RA].1st Receive PDO mapping.Target TorqueINT162672Slave_1201 [CoolDrive RA].1st Receive PDO mapping.Velocity OffsetDINT322688Slave_1201 [CoolDrive RA].1st Receive PDO mapping.Torque OffsetINT162720Slave_1201 [CoolDrive RA].1st Receive PDO mapping.Modes of operationSINT82736Slave_1201 [CoolDrive RA].1st Receive PDO mapping.Dummy ByteUSINT82744