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


;   Verify configuration
;0x1020 0x01 0x00000000 	;Configuration Date
;0x1020 0x02 0x00000000 	;Configuration Time


;   Transmit PDO 1 parameter
;0x1800 0x01 0x4000019A	;COB-ID used by TxPDO 1
0x1800 0x02 0x01	;Transmission Type
0x1800 0x03 0x000A	;Inhibit Time

;   Transmit PDO 2 parameter
;0x1801 0x01 0xC000029A	;COB-ID used by TxPDO 2
0x1801 0x02 0xFF	;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 0x20280020	; 3rd Mapped Object in TxPDO 1 (Velocity Actual Value Averaged)
;0x1A00 0x04 0x00000000	; 4th Mapped Object in TxPDO 1

;   Transmit PDO 2 mapping
0x1A01 0x00 0x02	;Number of Mapped Application Objects in TxPDO 2
0x1A01 0x01 0x60410010	;1st Mapped Object in TxPDO 2 (Statusword)
0x1A01 0x02 0x60610008	;2nd Mapped Object in TxPDO 2 (Modes of Operation Display)
;0x1A01 0x03 0x00	;3rd Mapped Object in TxPDO 2
;0x1A01 0x04 0x00	;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 0x000F	; Configuration of Digital Input1
0x2070 0x02 0x000E	; Configuration of Digital Input2
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
;   Digital Input Functionalities
0x2071 0x02 0xE007	; Digital Input Functionalities Mask
0x2071 0x03 0x0000	; Digital Input Functionalities Polarity
0x2071 0x04 0x0008	; Digital Input Functionalities Execution Mask

;   Digital Output Functionalities
0x2078 0x02 0x0000	; Digital Output Mask
0x2078 0x03 0x0000	; Digital Output Polarity
;   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 0x000C	; Configuration of Digital Output4

;   Holding Brake Configuration
;0x2100 0x01 10  	; Brake Reaction Rise Time
;0x2100 0x02 10  	; Brake Reaction Fall Time
;0x2100 0x03 65535	; 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 3   	; Position Sensor Type (3 = Hall Sensors)
0x2210 0x04 0x0000  	; Position Sensor Polarity

;   Controller Structure
0x2220 0x00 0   	; Controller Structure

;   Gear Configuration ??????
0x2230 0x01 0   	; Gear Ratio Numerator
0x2230 0x02 1   	; Gear Ratio Denominator
0x2230 0x02 6000 	; Gear Maximal Speed (estimated gear max speed = 6000 rpm)


;******************************************************************
;   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 -3   	; Modes of Operation (-3 = Current Mode)
;0x6065 0x00 2000   	; Max Following Error
;0x6067 0x00 4294967295	; Position Window
;0x6068 0x00 0   	; Position Window Time

0x607F 0x00 1000 	; Max Profile Velocity
0x6081 0x00 200   	; Profile Velocity
0x6083 0x00 4000	; Profile Acceleration
0x6084 0x00 4000	; Profile Deceleration
0x6085 0x00 10000	; QuickStop Deceleration
0x6086 0x00 1   	; Motion Profile Type

;0x6098 0x00 35  	; Homing Method

;??????????????????????????????????????????????????????????????????
0x60C5 0x00 10000	; Max Acceleration (DefaultValue=4294967295)

;   Current Control Parameter Set
0x60F6 0x01 500 	; Current Regulator P-Gain
0x60F6 0x02 100 	; Current Regulator I-Gain

;   Velocity Control Parameter Set
0x60F9 0x01 2500	; Speed Regulator P-Gain
0x60F9 0x02 25  	; Speed Regulator I-Gain
0x60F9 0x03 2500	; Velocity Feedforward Factor in Speed Regulator
0x60F9 0x04 2500 	; Acceleration Feedforward Factor in Speed Regulator

;   Position Control Parameter Set
;0x60F9 0x01 250 	; Position Regulator P-Gain
;0x60F9 0x02 25  	; Position Regulator I-Gain
;0x60F9 0x03 5   	; Position Regulator D-Gain
;0x60F9 0x04 2500	; Velocity Feedforward Factor in Position Regulator
;0x60F9 0x05 2500 	; Acceleration Feedforward Factor in Position Regulator

0x6402 0x00 11  	; Motor Type

;   Motor Data
0x6410 0x01 3210	; Continuous Current Limit
0x6410 0x02 6420	; Output Current Limit
0x6410 0x03 8   	; Pole Pair Number
0x6410 0x04 10000 	; Maximal Motor Speed
0x6410 0x05 296 	; Thermal Time Constant Winding (29.6s)








