;******************************************************************
;   Communication object area
;******************************************************************

;   Verify configuration
;0x1020 0x01 12881 	; Configuration Date
;0x1020 0x02 59871197 	; Configuration Time

;   Transmit PDO 1 parameter
;0x1800 0x01 0x4000018C 	; COB-ID used by TxPDO 1
0x1800 0x02 0x01	; Transmission Type
0x1800 0x03 0x000A	; Inhibit Time

;   Transmit PDO 2 parameter
;0x1801 0x01 0x4000028C	; COB-ID used by TxPDO 2
0x1801 0x02 0x01	; Transmission Type
0x1801 0x03 0x000A	; Inhibit Time

;   Transmit PDO 1 mapping
0x1A00 0x00 0x03	; Number of Mapped Application Objects in TxPDO 1
0x1A00 0x01 0x60410010	; 1st Mapped Object in TxPDO 1 (Statusword)
0x1A00 0x02 0x20270010	; 2nd Mapped Object in TxPDO 1 (Current Actual Value Averaged)
0x1A00 0x03 0x60640020	; 3rd Mapped Object in TxPDO 1 (Position Actual Value)
0x1A00 0x04 0x00000000	; 4th Mapped Object in TxPDO 1

;   Transmit PDO 2 mapping
0x1A01 0x00 0x03	; Number of Mapped Application Objects in TxPDO 2
0x1A01 0x01 0x60410010	; 1st Mapped Object in TxPDO 2 (Statusword)
0x1A01 0x02 0x20F40010	; 2nd Mapped Object in TxPDO 2 (Following Error Actual Value)
0x1A01 0x03 0x20280020	; 3rd Mapped Object in TxPDO 2 (Velocity Actual Value Averaged)
0x1A01 0x04 0x00000000	; 4th Mapped Object in TxPDO 2


;******************************************************************
;   Manufacturer specific area
;******************************************************************

0x2001 0x00 0   	; CAN Bitrate
0x2008 0x00 0x0000	; Miscellaneous Configuration

;   Configuration of Digital Inputs
;0x2070 0x01 0x0005	; Configuration of Digital Input1 (DefaultValue=15)
;0x2070 0x02 0x0004	; Configuration of Digital Input2 (DefaultValue=14)
0x2070 0x03 0x000D	; Configuration of Digital Input3
0x2070 0x04 0x0002	; Configuration of Digital Input4
0x2070 0x05 0x0001	; Configuration of Digital Input5
0x2070 0x06 0x0000	; Configuration of Digital Input6
0x2070 0x07 0x0009	; Configuration of Digital Input7
0x2070 0x08 0x0008	; Configuration of Digital Input8
0x2070 0x09 0x0007	; Configuration of Digital Input9
;   Digital Input Functionalities
;0x2071 0x02 0xE3B7	; Digital Input Functionalities Mask (DefaultValue=0xE387)
; -> ????
0x2071 0x03 0x0000	; Digital Input Functionalities Polarity
;0x2071 0x04 0x0038	; Digital Input Functionalities Execution Mask (DefaultValue=0x0008)

;   Digital Output Functionalities
0x2078 0x02 0x2807	; Digital Output Mask (DefaultValue=0x0)
0x2078 0x03 0x0004	; Digital Output Polarity (inverted Holding brake polarity / DefaultValue=0x0)
;   Configuration of Digital Outputs
0x2079 0x01 0x000F	; Configuration of Digital Output1
0x2079 0x02 0x000E	; Configuration of Digital Output2
0x2079 0x03 0x000D	; Configuration of Digital Output3
0x2079 0x04 0x0002	; Configuration of Digital Output4 (Holding Brake / DefaultValue=12)
0x2079 0x05 0x000B	; Configuration of Digital Output5

;??????????????????????????????????????????????????????????????????
;   Position Compare
;0x207A 0x01 0x0041	; Position Compare Configuration
;0x207A 0x02 0x00000000	; Position Compare Reference Position
;0x207A 0x03 0x00000000	; Position Compare Interval Width
;0x207A 0x04 0x0000	; Position Compare Interval Repetitions
;0x207A 0x05 0x0000	; Position Compare Pulse Width

;   Holding Brake Configuration
0x2100 0x01 10  	; Brake Reaction Rise Time
0x2100 0x02 10  	; Brake Reaction Fall Time
0x2100 0x03 1000	; Brake Timeout

;   Standstill Window Configuration
0x2101 0x01 30  	; Standstill Window
0x2101 0x02 50  	; Standstill Window Time
0x2101 0x03 1000	; Standstill Timeout

;   Sensor Configuration
0x2210 0x01 500  	; Pulse Number Incremental Encoder 1
0x2210 0x02 8   	; Position Sensor Type
;-> 4 = Absolute encoder SSI
;-> 8 = Sinus Incremental Encoder 2
0x2210 0x04 0x0010  	; Position Sensor Polarity
;-> 0x10 = inverted Enc2Sin Encoder polarity

;   SSI Encoder Configuration
0x2211 0x01 500  	; SSI Encoder Data Rate
0x2211 0x02 0x0D0C   	; SSI Encoder Number of Data Bits
0x2211 0x04 0x0000   	; SSI Encoder Encoding Type

;   Sinus Incremental Encoder 2 Configuration
0x2213 0x01 1034  	; Sinus Incremental Encoder 2 Resolution
; Periods per Turn 4 pulse/turn
; Interpolation Bits 10
; Position Resolution 4096 qc/turn


;   Controller Structure
0x2220 0x00 0   	; Controller Structure

;   Gear Configuration
0x2230 0x01 1065	; Gear Ratio Numerator
0x2230 0x02 1100	; Gear Ratio Denominator
0x2230 0x03 6500 	; Gear Maximal Speed


;******************************************************************
;   Device profile specific area
;******************************************************************

0x6007 0x00 3   	; Abort Connection Option Code
0x605B 0x00 0   	; Shutdown Option Code
0x605C 0x00 1   	; Disable Operation Option Code
0x605E 0x00 2   	; Fault Reaction Option Code
0x6060 0x00 1   	; Modes of Operation (1 = Profile Position Mode)
0x6065 0x00 20000   	; Max Following Error
0x6067 0x00 500 	; Position Window
0x6068 0x00 200 	; Position Window Time
0x607F 0x00 5164	; Max Profile Velocity
0x6081 0x00 3400   	; Profile Velocity
0x6083 0x00 2500	; Profile Acceleration
0x6084 0x00 2500	; Profile Deceleration
0x6085 0x00 10000	; QuickStop Deceleration
0x6086 0x00 1   	; Motion Profile Type

0x6098 0x00 35  	; Homing Method

;??????????????????????????????????????????????????????????????????
0x60C5 0x00 20000	; Max Acceleration (DefaultValue=4294967295)

;   Current Control Parameter Set
0x60F6 0x01 500 	; Current Regulator P-Gain
0x60F6 0x02 50  	; Current Regulator I-Gain

;   Velocity Control Parameter Set
0x60F9 0x01 1000	; Speed Regulator P-Gain
0x60F9 0x02 100  	; Speed Regulator I-Gain
0x60F9 0x03 10000	; Velocity Feedforward Factor in Speed Regulator
0x60F9 0x04 8000  	; Acceleration Feedforward Factor in Speed Regulator

;   Position Control Parameter Set
0x60FB 0x01 500 	; Position Regulator P-Gain
0x60FB 0x02 50  	; Position Regulator I-Gain
0x60FB 0x03 50  	; Position Regulator D-Gain
0x60FB 0x04 10000	; Velocity Feedforward Factor in Position Regulator
0x60FB 0x05 8000	; Acceleration Feedforward Factor in Position Regulator

0x6402 0x00 11  	; Motor Type

;   Motor Data
0x6410 0x01 10000	; Continuous Current Limit
0x6410 0x02 20000	; Output Current Limit
0x6410 0x03 11   	; Pole Pair Number
0x6410 0x04 5000 	; Maximal Motor Speed
0x6410 0x05 570 	; Thermal Time Constant Winding








