Commit 1d71579a authored by Christian Sponfeldner's avatar Christian Sponfeldner

WIP: Update can pdo mapping

parent 1bfbac4e
...@@ -11,16 +11,15 @@ ...@@ -11,16 +11,15 @@
#include "pdo_mapping_motors.h" #include "pdo_mapping_motors.h"
#include "motor_manager.h" #include "motor_manager.h"
namespace {
namespace{
Motor::node_id_t NodeIdLeftMotor =1; Motor::node_id_t NodeIdLeftMotor =1;
Motor::node_id_t NodeIdRightMotor =2; Motor::node_id_t NodeIdRightMotor =2;
Motor::node_id_t NodeIdAuxiliaryMotorOne =3; Motor::node_id_t NodeIdAuxiliaryMotorOne =3;
} }
class MotorManagerWD final: public MotorManager, class MotorManagerWD final: public MotorManager,
public Singleton<MotorManagerWD> { public Singleton<MotorManagerWD> {
friend class Singleton<MotorManagerWD> ; friend class Singleton<MotorManagerWD>;
public: public:
~MotorManagerWD() { ~MotorManagerWD() {
} }
...@@ -29,38 +28,37 @@ private: ...@@ -29,38 +28,37 @@ private:
Motor mMotorLeft; Motor mMotorLeft;
Motor mMotorRight; Motor mMotorRight;
protected: protected:
MotorManagerWD() : MotorManagerWD() :
mMotorLeft(NodeIdLeftMotor, "MotorLeft", ORDINAL_IN_DATAGRAM_WD_MOTOR_LEFT), mMotorLeft(NodeIdLeftMotor, "MotorLeft", ORDINAL_IN_DATAGRAM_WD_MOTOR_LEFT),
mMotorRight(NodeIdRightMotor, "MotorRight", ORDINAL_IN_DATAGRAM_WD_MOTOR_RIGHT) mMotorRight(NodeIdRightMotor, "MotorRight", ORDINAL_IN_DATAGRAM_WD_MOTOR_RIGHT)
{ {
mMotorLeft.getPdoHandle()->status_word.updateMapping(0xA100, 1);
mMotorLeft.getPdoHandle()->mode_of_operation_display.updateMapping(0xA000, 1); mMotorLeft.getPdoHandle()->mode_of_operation_display.updateMapping(0xA000, 1);
mMotorLeft.getPdoHandle()->velocity_actual_value.updateMapping(0xA1C0, 1); mMotorLeft.getPdoHandle()->position_actual_value.updateMapping(0xA1C0, 1);
mMotorLeft.getPdoHandle()->position_actual_value.updateMapping(0xA1C0, 2); mMotorLeft.getPdoHandle()->velocity_actual_value.updateMapping(0xA1C0, 2);
mMotorLeft.getPdoHandle()->status_word.updateMapping(0xA100, 1); mMotorLeft.getPdoHandle()->control_word.updateMapping(0xA580, 1);
mMotorLeft.getPdoHandle()->mode_of_operation.updateMapping(0xA480, 1); mMotorLeft.getPdoHandle()->mode_of_operation.updateMapping(0xA480, 1);
mMotorLeft.getPdoHandle()->target_velocity.updateMapping(0xA640, 1); mMotorLeft.getPdoHandle()->target_position.updateMapping(0xA640, 1);
mMotorLeft.getPdoHandle()->control_word.updateMapping(0xA580, 1); mMotorLeft.getPdoHandle()->target_velocity.updateMapping(0xA640, 2);
mMotorRight.getPdoHandle()->mode_of_operation_display.updateMapping(0xA000, 2); mMotorRight.getPdoHandle()->status_word.updateMapping(0xA100, 2);
mMotorRight.getPdoHandle()->velocity_actual_value.updateMapping(0xA1C0, 3); mMotorRight.getPdoHandle()->mode_of_operation_display.updateMapping(0xA000, 2);
mMotorRight.getPdoHandle()->position_actual_value.updateMapping(0xA1C0, 4); mMotorRight.getPdoHandle()->position_actual_value.updateMapping(0xA1C0, 3);
mMotorRight.getPdoHandle()->status_word.updateMapping(0xA100, 2); mMotorRight.getPdoHandle()->velocity_actual_value.updateMapping(0xA1C0, 4);
mMotorRight.getPdoHandle()->mode_of_operation.updateMapping(0xA480, 2); mMotorRight.getPdoHandle()->control_word.updateMapping(0xA580, 2);
mMotorRight.getPdoHandle()->target_velocity.updateMapping(0xA640, 2); mMotorRight.getPdoHandle()->mode_of_operation.updateMapping(0xA480, 2);
mMotorRight.getPdoHandle()->control_word.updateMapping(0xA580, 2); mMotorRight.getPdoHandle()->target_position.updateMapping(0xA640, 3);
mMotorRight.getPdoHandle()->target_velocity.updateMapping(0xA640, 4);
AddMotor(&mMotorLeft);
AddMotor(&mMotorRight); AddMotor(&mMotorLeft);
AddMotor(&mMotorRight);
} }
}; };
class MotorManagerAux final: public MotorManager, class MotorManagerAux final: public MotorManager,
public Singleton<MotorManagerAux> { public Singleton<MotorManagerAux> {
friend class Singleton<MotorManagerAux> ; friend class Singleton<MotorManagerAux>;
public: public:
~MotorManagerAux() { ~MotorManagerAux() {
} }
...@@ -70,17 +68,18 @@ private: ...@@ -70,17 +68,18 @@ private:
protected: protected:
MotorManagerAux() : MotorManagerAux() :
mMotorAuxiliaryOne(NodeIdAuxiliaryMotorOne, "MotorAuxiliaryOne", ORDINAL_IN_DATAGRAM_AUX_MOTOR){ mMotorAuxiliaryOne(NodeIdAuxiliaryMotorOne, "MotorAuxiliaryOne", ORDINAL_IN_DATAGRAM_AUX_MOTOR)
{
mMotorAuxiliaryOne.getPdoHandle()->mode_of_operation_display.updateMapping(0xA000, 3); mMotorAuxiliaryOne.getPdoHandle()->status_word.updateMapping(0xA100, 3);
mMotorAuxiliaryOne.getPdoHandle()->velocity_actual_value.updateMapping(0xA1C0, 5); mMotorAuxiliaryOne.getPdoHandle()->mode_of_operation_display.updateMapping(0xA000, 3);
mMotorAuxiliaryOne.getPdoHandle()->position_actual_value.updateMapping(0xA1C0, 6); mMotorAuxiliaryOne.getPdoHandle()->position_actual_value.updateMapping(0xA1C0, 5);
mMotorAuxiliaryOne.getPdoHandle()->status_word.updateMapping(0xA100, 3); mMotorAuxiliaryOne.getPdoHandle()->velocity_actual_value.updateMapping(0xA1C0, 6);
mMotorAuxiliaryOne.getPdoHandle()->mode_of_operation.updateMapping(0xA480, 3); mMotorAuxiliaryOne.getPdoHandle()->control_word.updateMapping(0xA580, 3);
mMotorAuxiliaryOne.getPdoHandle()->target_velocity.updateMapping(0xA640, 3); mMotorAuxiliaryOne.getPdoHandle()->mode_of_operation.updateMapping(0xA480, 3);
mMotorAuxiliaryOne.getPdoHandle()->control_word.updateMapping(0xA580, 3); mMotorAuxiliaryOne.getPdoHandle()->target_position.updateMapping(0xA640, 5);
mMotorAuxiliaryOne.getPdoHandle()->target_velocity.updateMapping(0xA640, 6);
AddMotor(&mMotorAuxiliaryOne);
AddMotor(&mMotorAuxiliaryOne);
} }
}; };
......
...@@ -77,6 +77,7 @@ DataType=0x0007 ...@@ -77,6 +77,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=$NODEID+0x300 DefaultValue=$NODEID+0x300
PDOMapping=0 PDOMapping=0
ParameterValue=0x301
[1401sub2] [1401sub2]
ParameterName=Transmission Type ParameterName=Transmission Type
...@@ -156,7 +157,7 @@ DataType=0x0005 ...@@ -156,7 +157,7 @@ DataType=0x0005
AccessType=rw AccessType=rw
DefaultValue=0x03 DefaultValue=0x03
PDOMapping=0 PDOMapping=0
ParameterValue=3 ParameterValue=2
[1600sub1] [1600sub1]
ParameterName=1st object to be mapped ParameterName=1st object to be mapped
...@@ -165,7 +166,7 @@ DataType=0x0007 ...@@ -165,7 +166,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60400010 DefaultValue=0x60400010
PDOMapping=0 PDOMapping=0
ParameterValue=0x60FF0020 ParameterValue=0x60400010
[1600sub2] [1600sub2]
ParameterName=2nd object to be mapped ParameterName=2nd object to be mapped
...@@ -174,7 +175,7 @@ DataType=0x0007 ...@@ -174,7 +175,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60600008 DefaultValue=0x60600008
PDOMapping=0 PDOMapping=0
ParameterValue=0x60400010 ParameterValue=0x60600008
[1600sub3] [1600sub3]
ParameterName=3rd object to be mapped ParameterName=3rd object to be mapped
...@@ -183,7 +184,7 @@ DataType=0x0007 ...@@ -183,7 +184,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x32020020 DefaultValue=0x32020020
PDOMapping=0 PDOMapping=0
ParameterValue=0x60600008 ParameterValue=0x00000000
[1600sub4] [1600sub4]
ParameterName=4th object to be mapped ParameterName=4th object to be mapped
...@@ -242,7 +243,7 @@ DataType=0x0005 ...@@ -242,7 +243,7 @@ DataType=0x0005
AccessType=rw AccessType=rw
DefaultValue=0x02 DefaultValue=0x02
PDOMapping=0 PDOMapping=0
ParameterValue=0 ParameterValue=2
[1601sub1] [1601sub1]
ParameterName=1st object to be mapped ParameterName=1st object to be mapped
...@@ -251,7 +252,7 @@ DataType=0x0007 ...@@ -251,7 +252,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x607A0020 DefaultValue=0x607A0020
PDOMapping=0 PDOMapping=0
ParameterValue=0x00000000 ParameterValue=0x607A0020
[1601sub2] [1601sub2]
ParameterName=2nd object to be mapped ParameterName=2nd object to be mapped
...@@ -260,7 +261,7 @@ DataType=0x0007 ...@@ -260,7 +261,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60810020 DefaultValue=0x60810020
PDOMapping=0 PDOMapping=0
ParameterValue=0x00000000 ParameterValue=0x60FF0020
[1601sub3] [1601sub3]
ParameterName=3rd object to be mapped ParameterName=3rd object to be mapped
...@@ -735,7 +736,7 @@ DataType=0x0007 ...@@ -735,7 +736,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60410010 DefaultValue=0x60410010
PDOMapping=0 PDOMapping=0
ParameterValue=0x606C0020 ParameterValue=0x60410010
[1A00sub2] [1A00sub2]
ParameterName=2nd object to be mapped ParameterName=2nd object to be mapped
...@@ -744,7 +745,7 @@ DataType=0x0007 ...@@ -744,7 +745,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60610008 DefaultValue=0x60610008
PDOMapping=0 PDOMapping=0
ParameterValue=0x60640020 ParameterValue=0x60610008
[1A00sub3] [1A00sub3]
ParameterName=3rd object to be mapped ParameterName=3rd object to be mapped
...@@ -812,7 +813,7 @@ DataType=0x0005 ...@@ -812,7 +813,7 @@ DataType=0x0005
AccessType=rw AccessType=rw
DefaultValue=0x01 DefaultValue=0x01
PDOMapping=0 PDOMapping=0
ParameterValue=3 ParameterValue=2
[1A01sub1] [1A01sub1]
ParameterName=1st object to be mapped ParameterName=1st object to be mapped
...@@ -821,7 +822,7 @@ DataType=0x0007 ...@@ -821,7 +822,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60640020 DefaultValue=0x60640020
PDOMapping=0 PDOMapping=0
ParameterValue=0x60410010 ParameterValue=0x60640020
[1A01sub2] [1A01sub2]
ParameterName=2nd object to be mapped ParameterName=2nd object to be mapped
...@@ -830,7 +831,7 @@ DataType=0x0007 ...@@ -830,7 +831,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x00000000 DefaultValue=0x00000000
PDOMapping=0 PDOMapping=0
ParameterValue=0x60430010 ParameterValue=0x606C0020
[1A01sub3] [1A01sub3]
ParameterName=3rd object to be mapped ParameterName=3rd object to be mapped
...@@ -839,7 +840,7 @@ DataType=0x0007 ...@@ -839,7 +840,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x00000000 DefaultValue=0x00000000
PDOMapping=0 PDOMapping=0
ParameterValue=0x60610008 ParameterValue=0x00000000
[1A01sub4] [1A01sub4]
ParameterName=4th object to be mapped ParameterName=4th object to be mapped
......
...@@ -77,6 +77,7 @@ DataType=0x0007 ...@@ -77,6 +77,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=$NODEID+0x300 DefaultValue=$NODEID+0x300
PDOMapping=0 PDOMapping=0
ParameterValue=0x302
[1401sub2] [1401sub2]
ParameterName=Transmission Type ParameterName=Transmission Type
...@@ -156,7 +157,7 @@ DataType=0x0005 ...@@ -156,7 +157,7 @@ DataType=0x0005
AccessType=rw AccessType=rw
DefaultValue=0x03 DefaultValue=0x03
PDOMapping=0 PDOMapping=0
ParameterValue=3 ParameterValue=2
[1600sub1] [1600sub1]
ParameterName=1st object to be mapped ParameterName=1st object to be mapped
...@@ -165,7 +166,7 @@ DataType=0x0007 ...@@ -165,7 +166,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60400010 DefaultValue=0x60400010
PDOMapping=0 PDOMapping=0
ParameterValue=0x60FF0020 ParameterValue=0x60400010
[1600sub2] [1600sub2]
ParameterName=2nd object to be mapped ParameterName=2nd object to be mapped
...@@ -174,7 +175,7 @@ DataType=0x0007 ...@@ -174,7 +175,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60600008 DefaultValue=0x60600008
PDOMapping=0 PDOMapping=0
ParameterValue=0x60400010 ParameterValue=0x60600008
[1600sub3] [1600sub3]
ParameterName=3rd object to be mapped ParameterName=3rd object to be mapped
...@@ -183,7 +184,7 @@ DataType=0x0007 ...@@ -183,7 +184,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x32020020 DefaultValue=0x32020020
PDOMapping=0 PDOMapping=0
ParameterValue=0x60600008 ParameterValue=0x00000000
[1600sub4] [1600sub4]
ParameterName=4th object to be mapped ParameterName=4th object to be mapped
...@@ -242,7 +243,7 @@ DataType=0x0005 ...@@ -242,7 +243,7 @@ DataType=0x0005
AccessType=rw AccessType=rw
DefaultValue=0x02 DefaultValue=0x02
PDOMapping=0 PDOMapping=0
ParameterValue=0 ParameterValue=2
[1601sub1] [1601sub1]
ParameterName=1st object to be mapped ParameterName=1st object to be mapped
...@@ -251,7 +252,7 @@ DataType=0x0007 ...@@ -251,7 +252,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x607A0020 DefaultValue=0x607A0020
PDOMapping=0 PDOMapping=0
ParameterValue=0x00000000 ParameterValue=0x607A0020
[1601sub2] [1601sub2]
ParameterName=2nd object to be mapped ParameterName=2nd object to be mapped
...@@ -260,7 +261,7 @@ DataType=0x0007 ...@@ -260,7 +261,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60810020 DefaultValue=0x60810020
PDOMapping=0 PDOMapping=0
ParameterValue=0x00000000 ParameterValue=0x60FF0020
[1601sub3] [1601sub3]
ParameterName=3rd object to be mapped ParameterName=3rd object to be mapped
...@@ -735,7 +736,7 @@ DataType=0x0007 ...@@ -735,7 +736,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60410010 DefaultValue=0x60410010
PDOMapping=0 PDOMapping=0
ParameterValue=0x606C0020 ParameterValue=0x60410010
[1A00sub2] [1A00sub2]
ParameterName=2nd object to be mapped ParameterName=2nd object to be mapped
...@@ -744,7 +745,7 @@ DataType=0x0007 ...@@ -744,7 +745,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60610008 DefaultValue=0x60610008
PDOMapping=0 PDOMapping=0
ParameterValue=0x60640020 ParameterValue=0x60610008
[1A00sub3] [1A00sub3]
ParameterName=3rd object to be mapped ParameterName=3rd object to be mapped
...@@ -821,7 +822,7 @@ DataType=0x0007 ...@@ -821,7 +822,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60640020 DefaultValue=0x60640020
PDOMapping=0 PDOMapping=0
ParameterValue=0x60410010 ParameterValue=0x60640020
[1A01sub2] [1A01sub2]
ParameterName=2nd object to be mapped ParameterName=2nd object to be mapped
...@@ -830,7 +831,7 @@ DataType=0x0007 ...@@ -830,7 +831,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x00000000 DefaultValue=0x00000000
PDOMapping=0 PDOMapping=0
ParameterValue=0x60610008 ParameterValue=0x606C0020
[1A01sub3] [1A01sub3]
ParameterName=3rd object to be mapped ParameterName=3rd object to be mapped
......
...@@ -77,6 +77,7 @@ DataType=0x0007 ...@@ -77,6 +77,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=$NODEID+0x300 DefaultValue=$NODEID+0x300
PDOMapping=0 PDOMapping=0
ParameterValue=0x303
[1401sub2] [1401sub2]
ParameterName=Transmission Type ParameterName=Transmission Type
...@@ -156,7 +157,7 @@ DataType=0x0005 ...@@ -156,7 +157,7 @@ DataType=0x0005
AccessType=rw AccessType=rw
DefaultValue=0x03 DefaultValue=0x03
PDOMapping=0 PDOMapping=0
ParameterValue=3 ParameterValue=2
[1600sub1] [1600sub1]
ParameterName=1st object to be mapped ParameterName=1st object to be mapped
...@@ -165,7 +166,7 @@ DataType=0x0007 ...@@ -165,7 +166,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60400010 DefaultValue=0x60400010
PDOMapping=0 PDOMapping=0
ParameterValue=0x60FF0020 ParameterValue=0x60400010
[1600sub2] [1600sub2]
ParameterName=2nd object to be mapped ParameterName=2nd object to be mapped
...@@ -174,7 +175,7 @@ DataType=0x0007 ...@@ -174,7 +175,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60600008 DefaultValue=0x60600008
PDOMapping=0 PDOMapping=0
ParameterValue=0x60400010 ParameterValue=0x60600008
[1600sub3] [1600sub3]
ParameterName=3rd object to be mapped ParameterName=3rd object to be mapped
...@@ -183,7 +184,7 @@ DataType=0x0007 ...@@ -183,7 +184,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x32020020 DefaultValue=0x32020020
PDOMapping=0 PDOMapping=0
ParameterValue=0x60600008 ParameterValue=0x00000000
[1600sub4] [1600sub4]
ParameterName=4th object to be mapped ParameterName=4th object to be mapped
...@@ -242,7 +243,7 @@ DataType=0x0005 ...@@ -242,7 +243,7 @@ DataType=0x0005
AccessType=rw AccessType=rw
DefaultValue=0x02 DefaultValue=0x02
PDOMapping=0 PDOMapping=0
ParameterValue=0 ParameterValue=2
[1601sub1] [1601sub1]
ParameterName=1st object to be mapped ParameterName=1st object to be mapped
...@@ -251,7 +252,7 @@ DataType=0x0007 ...@@ -251,7 +252,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x607A0020 DefaultValue=0x607A0020
PDOMapping=0 PDOMapping=0
ParameterValue=0x00000000 ParameterValue=0x607A0020
[1601sub2] [1601sub2]
ParameterName=2nd object to be mapped ParameterName=2nd object to be mapped
...@@ -260,7 +261,7 @@ DataType=0x0007 ...@@ -260,7 +261,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60810020 DefaultValue=0x60810020
PDOMapping=0 PDOMapping=0
ParameterValue=0x00000000 ParameterValue=0x60FF0020
[1601sub3] [1601sub3]
ParameterName=3rd object to be mapped ParameterName=3rd object to be mapped
...@@ -735,7 +736,7 @@ DataType=0x0007 ...@@ -735,7 +736,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60410010 DefaultValue=0x60410010
PDOMapping=0 PDOMapping=0
ParameterValue=0x606C0020 ParameterValue=0x60410010
[1A00sub2] [1A00sub2]
ParameterName=2nd object to be mapped ParameterName=2nd object to be mapped
...@@ -744,7 +745,7 @@ DataType=0x0007 ...@@ -744,7 +745,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60610008 DefaultValue=0x60610008
PDOMapping=0 PDOMapping=0
ParameterValue=0x60640020 ParameterValue=0x60610008
[1A00sub3] [1A00sub3]
ParameterName=3rd object to be mapped ParameterName=3rd object to be mapped
...@@ -821,7 +822,7 @@ DataType=0x0007 ...@@ -821,7 +822,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x60640020 DefaultValue=0x60640020
PDOMapping=0 PDOMapping=0
ParameterValue=0x60410010 ParameterValue=0x60640020
[1A01sub2] [1A01sub2]
ParameterName=2nd object to be mapped ParameterName=2nd object to be mapped
...@@ -830,7 +831,7 @@ DataType=0x0007 ...@@ -830,7 +831,7 @@ DataType=0x0007
AccessType=rw AccessType=rw
DefaultValue=0x00000000 DefaultValue=0x00000000
PDOMapping=0 PDOMapping=0
ParameterValue=0x60610008 ParameterValue=0x606C0020
[1A01sub3] [1A01sub3]
ParameterName=3rd object to be mapped ParameterName=3rd object to be mapped
......
File mode changed from 100644 to 100755
...@@ -1125,7 +1125,7 @@ ObjectType=0x7 ...@@ -1125,7 +1125,7 @@ ObjectType=0x7
DataType=0x0007 DataType=0x0007
AccessType=rw AccessType=rw
PDOMapping=0 PDOMapping=0
ParameterValue=0xA1C00120 ParameterValue=0xA1000110
[1600sub2] [1600sub2]
ParameterName=PDO Mapping Entry_2 ParameterName=PDO Mapping Entry_2
...@@ -1133,7 +1133,7 @@ ObjectType=0x7 ...@@ -1133,7 +1133,7 @@ ObjectType=0x7
DataType=0x0007 DataType=0x0007
AccessType=rw AccessType=rw
PDOMapping=0 PDOMapping=0
ParameterValue=0xA1C00220 ParameterValue=0xA0000108
[1600sub3] [1600sub3]
ParameterName=PDO Mapping Entry_3 ParameterName=PDO Mapping Entry_3
...@@ -1197,7 +1197,7 @@ DefaultValue=0 ...@@ -1197,7 +1197,7 @@ DefaultValue=0
PDOMapping=0 PDOMapping=0
LowLimit=0 LowLimit=0
HighLimit=8 HighLimit=8
ParameterValue=3 ParameterValue=2
[1601sub1] [1601sub1]
ParameterName=PDO Mapping Entry ParameterName=PDO Mapping Entry
...@@ -1205,7 +1205,7 @@ ObjectType=0x7 ...@@ -1205,7 +1205,7 @@ ObjectType=0x7
DataType=0x0007 DataType=0x0007
AccessType=rw AccessType=rw
PDOMapping=0 PDOMapping=0
ParameterValue=0xA1000110 ParameterValue=0xA1C00120
[1601sub2] [1601sub2]
ParameterName=PDO Mapping Entry_2 ParameterName=PDO Mapping Entry_2
...@@ -1213,7 +1213,7 @@ ObjectType=0x7 ...@@ -1213,7 +1213,7 @@ ObjectType=0x7
DataType=0x0007 DataType=0x0007
AccessType=rw AccessType=rw
PDOMapping=0 PDOMapping=0
ParameterValue=0xA0C00110 ParameterValue=0xA1C00220
[1601sub3] [1601sub3]
ParameterName=PDO Mapping Entry_3 ParameterName=PDO Mapping Entry_3
...@@ -1221,7 +1221,7 @@ ObjectType=0x7 ...@@ -1221,7 +1221,7 @@ ObjectType=0x7
DataType=0x0007 DataType=0x0007
AccessType=rw AccessType=rw
PDOMapping=0 PDOMapping=0
ParameterValue = 0xA0000108 ParameterValue = 0x00000000
[1601sub4] [1601sub4]
ParameterName=PDO Mapping Entry_4 ParameterName=PDO Mapping Entry_4
...@@ -1285,7 +1285,7 @@ ObjectType=0x7 ...@@ -1285,7 +1285,7 @@ ObjectType=0x7
DataType=0x0007 DataType=0x0007
AccessType=rw AccessType=rw
PDOMapping=0 PDOMapping=0
ParameterValue=0xA1C00320 ParameterValue=0xA1000210
[1602sub2] [1602sub2]
ParameterName=PDO Mapping Entry_2 ParameterName=PDO Mapping Entry_2
...@@ -1293,7 +1293,7 @@ ObjectType=0x7 ...@@ -1293,7 +1293,7 @@ ObjectType=0x7
DataType=0x0007 DataType=0x0007
AccessType=rw AccessType=rw
PDOMapping=0 PDOMapping=0
ParameterValue=0xA1C00420 ParameterValue=0xA0000208
[1602sub3] [1602sub3]
ParameterName=PDO Mapping Entry_3 ParameterName=PDO Mapping Entry_3
...@@ -1365,7 +1365,7 @@ ObjectType=0x7 ...@@ -1365,7 +1365,7 @@ ObjectType=0x7
DataType=0x0007 DataType=0x0007