dictionary_symbols.h

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#pragma once
 
#define OD_INDEX_DEVICE_TYPE 0x1000
#define OD_INDEX_ERROR_REGISTER 0x1001
#define OD_INDEX_COBID_SYNC 0x1005
#define OD_INDEX_COMMUNICATION_CYCLE_PERIOD 0x1006
#define OD_INDEX_MANUFACTURER_DEVICE_NAME 0x1008
#define OD_INDEX_MANUFACTURER_SOFTWARE_VERSION 0x100A
#define OD_INDEX_GUARD_TIME 0x100C
#define OD_INDEX_LIFE_TIME_FACTOR 0x100D
#define OD_INDEX_STORE_PARAMETERS 0x1010
#define OD_SUBINDEX_STORE_PARAMETERS_SAVE_ALL_PARAMETERS 1
#define OD_INDEX_RESTORE_DEFAULT_PARAMETERS 0x1011
#define OD_SUBINDEX_RESTORE_DEFAULT_PARAMETERS_RESTORE_ALL_DEFAULT_PARAMETERS 1
#define OD_SUBINDEX_RESTORE_DEFAULT_PARAMETERS_RESTORE_COMMUNICATION_DEFAULT_PARAMETERS_DISABLED \
  2
#define OD_SUBINDEX_RESTORE_DEFAULT_PARAMETERS_RESTORE_APPLICATION_DEFAULT_PARAMETERS_DISABLED \
  3
#define OD_SUBINDEX_RESTORE_DEFAULT_PARAMETERS_RESTORE_MANUFACTURER_DEFAULT_PARAMETERS \
  4
#define OD_INDEX_CONSUMER_HEARTBEAT_TIME 0x1016
#define OD_SUBINDEX_CONSUMER_HEARTBEAT_TIME_CONSUMER_HEARTBEAT_TIME 1
#define OD_INDEX_PRODUCER_HEARTBEAT_TIME 0x1017
#define OD_INDEX_IDENTITY_OBJECT 0x1018
#define OD_SUBINDEX_IDENTITY_OBJECT_VENDOR_ID 1
#define OD_SUBINDEX_IDENTITY_OBJECT_PRODUCT_CODE 2
#define OD_SUBINDEX_IDENTITY_OBJECT_REVISION_NUMBER 3
#define OD_SUBINDEX_IDENTITY_OBJECT_SERIAL_NUMBER 4
#define OD_INDEX_SYNCHRONOUS_COUNTER_OVERFLOW_VALUE 0x1019
#define OD_INDEX_OS_COMMAND 0x1023
#define OD_SUBINDEX_OS_COMMAND_COMMAND 1
#define OD_SUBINDEX_OS_COMMAND_STATUS 2
#define OD_SUBINDEX_OS_COMMAND_RESPONSE 3
#define OD_INDEX_OS_COMMAND_MODE 0x1024
#define OD_INDEX_RECEIVE_PDO1_PARAMETER 0x1400
#define OD_SUBINDEX_RECEIVE_PDO1_PARAMETER_COBID_USED_BY_PDO 1
#define OD_SUBINDEX_RECEIVE_PDO1_PARAMETER_TRANSMISSION_TYPE 2
#define OD_SUBINDEX_RECEIVE_PDO1_PARAMETER_INHIBIT_TIME 3
#define OD_INDEX_RECEIVE_PDO2_PARAMETER 0x1401
#define OD_SUBINDEX_RECEIVE_PDO2_PARAMETER_COBID_USED_BY_PDO 1
#define OD_SUBINDEX_RECEIVE_PDO2_PARAMETER_TRANSMISSION_TYPE 2
#define OD_SUBINDEX_RECEIVE_PDO2_PARAMETER_INHIBIT_TIME 3
#define OD_INDEX_RECEIVE_PDO3_PARAMETER 0x1402
#define OD_SUBINDEX_RECEIVE_PDO3_PARAMETER_COBID_USED_BY_PDO 1
#define OD_SUBINDEX_RECEIVE_PDO3_PARAMETER_TRANSMISSION_TYPE 2
#define OD_SUBINDEX_RECEIVE_PDO3_PARAMETER_INHIBIT_TIME 3
#define OD_INDEX_RECEIVE_PDO4_PARAMETER 0x1403
#define OD_SUBINDEX_RECEIVE_PDO4_PARAMETER_COBID_USED_BY_PDO 1
#define OD_SUBINDEX_RECEIVE_PDO4_PARAMETER_TRANSMISSION_TYPE 2
#define OD_SUBINDEX_RECEIVE_PDO4_PARAMETER_INHIBIT_TIME 3
#define OD_INDEX_RECEIVE_PDO1_MAPPING 0x1600
#define OD_SUBINDEX_RECEIVE_PDO1_MAPPING_CONTROLWORD 1
#define OD_SUBINDEX_RECEIVE_PDO1_MAPPING_MODES_OF_OPERATION 2
#define OD_SUBINDEX_RECEIVE_PDO1_MAPPING_TARGET_TORQUE 3
#define OD_SUBINDEX_RECEIVE_PDO1_MAPPING_TARGET_POSITION 4
#define OD_SUBINDEX_RECEIVE_PDO1_MAPPING_TARGET_VELOCITY 5
#define OD_SUBINDEX_RECEIVE_PDO1_MAPPING_TORQUE_OFFSET 6
#define OD_SUBINDEX_RECEIVE_PDO1_MAPPING_TUNING_COMMAND 7
#define OD_SUBINDEX_RECEIVE_PDO1_MAPPING_SUBINDEX_008 8
#define OD_SUBINDEX_RECEIVE_PDO1_MAPPING_SUBINDEX_009 9
#define OD_SUBINDEX_RECEIVE_PDO1_MAPPING_SUBINDEX_010 10
#define OD_INDEX_RECEIVE_PDO2_MAPPING 0x1601
#define OD_SUBINDEX_RECEIVE_PDO2_MAPPING_PHYSICAL_OUTPUTS 1
#define OD_SUBINDEX_RECEIVE_PDO2_MAPPING_BIT_MASK 2
#define OD_SUBINDEX_RECEIVE_PDO2_MAPPING_SUBINDEX_003 3
#define OD_SUBINDEX_RECEIVE_PDO2_MAPPING_SUBINDEX_004 4
#define OD_SUBINDEX_RECEIVE_PDO2_MAPPING_SUBINDEX_005 5
#define OD_SUBINDEX_RECEIVE_PDO2_MAPPING_SUBINDEX_006 6
#define OD_SUBINDEX_RECEIVE_PDO2_MAPPING_SUBINDEX_007 7
#define OD_SUBINDEX_RECEIVE_PDO2_MAPPING_SUBINDEX_008 8
#define OD_SUBINDEX_RECEIVE_PDO2_MAPPING_SUBINDEX_009 9
#define OD_SUBINDEX_RECEIVE_PDO2_MAPPING_SUBINDEX_010 10
#define OD_INDEX_RECEIVE_PDO3_MAPPING 0x1602
#define OD_SUBINDEX_RECEIVE_PDO3_MAPPING_USER_MOSI 1
#define OD_SUBINDEX_RECEIVE_PDO3_MAPPING_VELOCITY_OFFSET 2
#define OD_SUBINDEX_RECEIVE_PDO3_MAPPING_SUBINDEX_003 3
#define OD_SUBINDEX_RECEIVE_PDO3_MAPPING_SUBINDEX_004 4
#define OD_SUBINDEX_RECEIVE_PDO3_MAPPING_SUBINDEX_005 5
#define OD_SUBINDEX_RECEIVE_PDO3_MAPPING_SUBINDEX_006 6
#define OD_SUBINDEX_RECEIVE_PDO3_MAPPING_SUBINDEX_007 7
#define OD_SUBINDEX_RECEIVE_PDO3_MAPPING_SUBINDEX_008 8
#define OD_SUBINDEX_RECEIVE_PDO3_MAPPING_SUBINDEX_009 9
#define OD_SUBINDEX_RECEIVE_PDO3_MAPPING_SUBINDEX_010 10
#define OD_INDEX_RECEIVE_PDO4_MAPPING 0x1603
#define OD_SUBINDEX_RECEIVE_PDO4_MAPPING_SUBINDEX_001 1
#define OD_SUBINDEX_RECEIVE_PDO4_MAPPING_SUBINDEX_002 2
#define OD_SUBINDEX_RECEIVE_PDO4_MAPPING_SUBINDEX_003 3
#define OD_SUBINDEX_RECEIVE_PDO4_MAPPING_SUBINDEX_004 4
#define OD_SUBINDEX_RECEIVE_PDO4_MAPPING_SUBINDEX_005 5
#define OD_SUBINDEX_RECEIVE_PDO4_MAPPING_SUBINDEX_006 6
#define OD_SUBINDEX_RECEIVE_PDO4_MAPPING_SUBINDEX_007 7
#define OD_SUBINDEX_RECEIVE_PDO4_MAPPING_SUBINDEX_008 8
#define OD_SUBINDEX_RECEIVE_PDO4_MAPPING_SUBINDEX_009 9
#define OD_SUBINDEX_RECEIVE_PDO4_MAPPING_SUBINDEX_010 10
#define OD_INDEX_TRANSMIT_PDO1_PARAMETER 0x1800
#define OD_SUBINDEX_TRANSMIT_PDO1_PARAMETER_COBID_USED_BY_PDO 1
#define OD_SUBINDEX_TRANSMIT_PDO1_PARAMETER_TRANSMISSION_TYPE 2
#define OD_SUBINDEX_TRANSMIT_PDO1_PARAMETER_INHIBIT_TIME 3
#define OD_SUBINDEX_TRANSMIT_PDO1_PARAMETER_RESERVED 4
#define OD_SUBINDEX_TRANSMIT_PDO1_PARAMETER_EVENT_TIMER 5
#define OD_INDEX_TRANSMIT_PDO2_PARAMETER 0x1801
#define OD_SUBINDEX_TRANSMIT_PDO2_PARAMETER_COBID_USED_BY_PDO 1
#define OD_SUBINDEX_TRANSMIT_PDO2_PARAMETER_TRANSMISSION_TYPE 2
#define OD_SUBINDEX_TRANSMIT_PDO2_PARAMETER_INHIBIT_TIME 3
#define OD_SUBINDEX_TRANSMIT_PDO2_PARAMETER_RESERVED 4
#define OD_SUBINDEX_TRANSMIT_PDO2_PARAMETER_EVENT_TIMER 5
#define OD_INDEX_TRANSMIT_PDO3_PARAMETER 0x1802
#define OD_SUBINDEX_TRANSMIT_PDO3_PARAMETER_COBID_USED_BY_PDO 1
#define OD_SUBINDEX_TRANSMIT_PDO3_PARAMETER_TRANSMISSION_TYPE 2
#define OD_SUBINDEX_TRANSMIT_PDO3_PARAMETER_INHIBIT_TIME 3
#define OD_SUBINDEX_TRANSMIT_PDO3_PARAMETER_RESERVED 4
#define OD_SUBINDEX_TRANSMIT_PDO3_PARAMETER_EVENT_TIMER 5
#define OD_INDEX_TRANSMIT_PDO4_PARAMETER 0x1803
#define OD_SUBINDEX_TRANSMIT_PDO4_PARAMETER_COBID_USED_BY_PDO 1
#define OD_SUBINDEX_TRANSMIT_PDO4_PARAMETER_TRANSMISSION_TYPE 2
#define OD_SUBINDEX_TRANSMIT_PDO4_PARAMETER_INHIBIT_TIME 3
#define OD_SUBINDEX_TRANSMIT_PDO4_PARAMETER_RESERVED 4
#define OD_SUBINDEX_TRANSMIT_PDO4_PARAMETER_EVENT_TIMER 5
#define OD_INDEX_TRANSMIT_PDO1_MAPPING 0x1A00
#define OD_SUBINDEX_TRANSMIT_PDO1_MAPPING_STATUSWORD 1
#define OD_SUBINDEX_TRANSMIT_PDO1_MAPPING_MODES_OF_OPERATION_DISPLAY 2
#define OD_SUBINDEX_TRANSMIT_PDO1_MAPPING_POSITION_ACTUAL_VALUE 3
#define OD_SUBINDEX_TRANSMIT_PDO1_MAPPING_VELOCITY_ACTUAL_VALUE 4
#define OD_SUBINDEX_TRANSMIT_PDO1_MAPPING_TORQUE_ACTUAL_VALUE 5
#define OD_SUBINDEX_TRANSMIT_PDO1_MAPPING_SUBINDEX_006 6
#define OD_SUBINDEX_TRANSMIT_PDO1_MAPPING_SUBINDEX_007 7
#define OD_SUBINDEX_TRANSMIT_PDO1_MAPPING_SUBINDEX_008 8
#define OD_SUBINDEX_TRANSMIT_PDO1_MAPPING_SUBINDEX_009 9
#define OD_SUBINDEX_TRANSMIT_PDO1_MAPPING_SUBINDEX_010 10
#define OD_INDEX_TRANSMIT_PDO2_MAPPING 0x1A01
#define OD_SUBINDEX_TRANSMIT_PDO2_MAPPING_ANALOG_INPUT_1 1
#define OD_SUBINDEX_TRANSMIT_PDO2_MAPPING_ANALOG_INPUT_2 2
#define OD_SUBINDEX_TRANSMIT_PDO2_MAPPING_ANALOG_INPUT_3 3
#define OD_SUBINDEX_TRANSMIT_PDO2_MAPPING_ANALOG_INPUT_4 4
#define OD_SUBINDEX_TRANSMIT_PDO2_MAPPING_TUNING_STATUS 5
#define OD_SUBINDEX_TRANSMIT_PDO2_MAPPING_SUBINDEX_006 6
#define OD_SUBINDEX_TRANSMIT_PDO2_MAPPING_SUBINDEX_007 7
#define OD_SUBINDEX_TRANSMIT_PDO2_MAPPING_SUBINDEX_008 8
#define OD_SUBINDEX_TRANSMIT_PDO2_MAPPING_SUBINDEX_009 9
#define OD_SUBINDEX_TRANSMIT_PDO2_MAPPING_SUBINDEX_010 10
#define OD_INDEX_TRANSMIT_PDO3_MAPPING 0x1A02
#define OD_SUBINDEX_TRANSMIT_PDO3_MAPPING_DIGITAL_INPUTS 1
#define OD_SUBINDEX_TRANSMIT_PDO3_MAPPING_SUBINDEX_002 2
#define OD_SUBINDEX_TRANSMIT_PDO3_MAPPING_SUBINDEX_003 3
#define OD_SUBINDEX_TRANSMIT_PDO3_MAPPING_SUBINDEX_004 4
#define OD_SUBINDEX_TRANSMIT_PDO3_MAPPING_SUBINDEX_005 5
#define OD_SUBINDEX_TRANSMIT_PDO3_MAPPING_SUBINDEX_006 6
#define OD_SUBINDEX_TRANSMIT_PDO3_MAPPING_SUBINDEX_007 7
#define OD_SUBINDEX_TRANSMIT_PDO3_MAPPING_SUBINDEX_008 8
#define OD_SUBINDEX_TRANSMIT_PDO3_MAPPING_SUBINDEX_009 9
#define OD_SUBINDEX_TRANSMIT_PDO3_MAPPING_SUBINDEX_010 10
#define OD_INDEX_TRANSMIT_PDO4_MAPPING 0x1A03
#define OD_SUBINDEX_TRANSMIT_PDO4_MAPPING_USER_MISO 1
#define OD_SUBINDEX_TRANSMIT_PDO4_MAPPING_TIMESTAMP 2
#define OD_SUBINDEX_TRANSMIT_PDO4_MAPPING_POSITION_DEMAND_INTERNAL_VALUE 3
#define OD_SUBINDEX_TRANSMIT_PDO4_MAPPING_VELOCITY_DEMAND_VALUE 4
#define OD_SUBINDEX_TRANSMIT_PDO4_MAPPING_TORQUE_DEMAND 5
#define OD_SUBINDEX_TRANSMIT_PDO4_MAPPING_SUBINDEX_006 6
#define OD_SUBINDEX_TRANSMIT_PDO4_MAPPING_SUBINDEX_007 7
#define OD_SUBINDEX_TRANSMIT_PDO4_MAPPING_SUBINDEX_008 8
#define OD_SUBINDEX_TRANSMIT_PDO4_MAPPING_SUBINDEX_009 9
#define OD_SUBINDEX_TRANSMIT_PDO4_MAPPING_SUBINDEX_010 10
#define OD_INDEX_SYNC_MANAGER_TYPE 0x1C00
#define OD_SUBINDEX_SYNC_MANAGER_TYPE_SYNCMAN_0 1
#define OD_SUBINDEX_SYNC_MANAGER_TYPE_SYNCMAN_1 2
#define OD_SUBINDEX_SYNC_MANAGER_TYPE_SYNCMAN_2 3
#define OD_SUBINDEX_SYNC_MANAGER_TYPE_SYNCMAN_3 4
#define OD_INDEX_SM_0_ASSIGNMENT 0x1C10
#define OD_INDEX_SM_1_ASSIGNMENT 0x1C11
#define OD_INDEX_SM_2_ASSIGNMENT 0x1C12
#define OD_SUBINDEX_SM_2_ASSIGNMENT_SUBINDEX_001 1
#define OD_SUBINDEX_SM_2_ASSIGNMENT_SUBINDEX_002 2
#define OD_SUBINDEX_SM_2_ASSIGNMENT_SUBINDEX_003 3
#define OD_SUBINDEX_SM_2_ASSIGNMENT_SUBINDEX_004 4
#define OD_SUBINDEX_SM_2_ASSIGNMENT_SUBINDEX_005 5
#define OD_INDEX_SM_3_ASSIGNMENT 0x1C13
#define OD_SUBINDEX_SM_3_ASSIGNMENT_SUBINDEX_001 1
#define OD_SUBINDEX_SM_3_ASSIGNMENT_SUBINDEX_002 2
#define OD_SUBINDEX_SM_3_ASSIGNMENT_SUBINDEX_003 3
#define OD_SUBINDEX_SM_3_ASSIGNMENT_SUBINDEX_004 4
#define OD_SUBINDEX_SM_3_ASSIGNMENT_SUBINDEX_005 5
#define OD_INDEX_COMMAND_OBJECT_DISABLED 0x2000
#define OD_INDEX_COMMUTATION_ANGLE_OFFSET 0x2001
#define OD_INDEX_POSITION_CONTROL_STRATEGY 0x2002
#define OD_INDEX_MOTOR_SPECIFIC_SETTINGS 0x2003
#define OD_SUBINDEX_MOTOR_SPECIFIC_SETTINGS_POLE_PAIRS 1
#define OD_SUBINDEX_MOTOR_SPECIFIC_SETTINGS_TORQUE_CONSTANT 2
#define OD_SUBINDEX_MOTOR_SPECIFIC_SETTINGS_PHASE_RESISTANCE 3
#define OD_SUBINDEX_MOTOR_SPECIFIC_SETTINGS_PHASE_INDUCTANCE 4
#define OD_SUBINDEX_MOTOR_SPECIFIC_SETTINGS_MOTOR_PHASES_INVERTED 5
#define OD_INDEX_BRAKE_OPTIONS 0x2004
#define OD_SUBINDEX_BRAKE_OPTIONS_PULL_VOLTAGE 1
#define OD_SUBINDEX_BRAKE_OPTIONS_HOLD_VOLTAGE 2
#define OD_SUBINDEX_BRAKE_OPTIONS_PULL_TIME 3
#define OD_SUBINDEX_BRAKE_OPTIONS_RELEASE_STRATEGY 4
#define OD_SUBINDEX_BRAKE_OPTIONS_CONTROLLER_DISABLE_DELAY 5
#define OD_SUBINDEX_BRAKE_OPTIONS_DC_BUS_VOLTAGE_DEPRECATED 6
#define OD_SUBINDEX_BRAKE_OPTIONS_BRAKE_STATUS 7
#define OD_SUBINDEX_BRAKE_OPTIONS_MINIMUM_DISPLACEMENT_PIN_BRAKE 8
#define OD_SUBINDEX_BRAKE_OPTIONS_PERCENTAGE_OF_RATED_CURRENT_PIN_BRAKE 9
#define OD_SUBINDEX_BRAKE_OPTIONS_OUTPUT_VOLTAGE 10
#define OD_SUBINDEX_BRAKE_OPTIONS_SWITCHING_FREQUENCY 11
#define OD_INDEX_HOMING_OPTIONS 0x2005
#define OD_SUBINDEX_HOMING_OPTIONS_HOME_POSITION 1
#define OD_SUBINDEX_HOMING_OPTIONS_RESTORE_HOME_POSITION_WHEN_LOADING_CONFIGURATION \
  2
#define OD_SUBINDEX_HOMING_OPTIONS_TORQUE_THRESHOLD_FOR_HOMING_ON_END_STOP 3
#define OD_SUBINDEX_HOMING_OPTIONS_OFFSET_FROM_ENDSTOP 4
#define OD_INDEX_PROTECTION 0x2006
#define OD_SUBINDEX_PROTECTION_UNDERVOLTAGE_SETPOINT 1
#define OD_SUBINDEX_PROTECTION_OVERVOLTAGE_SETPOINT 2
#define OD_SUBINDEX_PROTECTION_OVERCURRENT_SETPOINT 3
#define OD_INDEX_COGGING_TORQUE_COMPENSATION 0x2008
#define OD_SUBINDEX_COGGING_TORQUE_COMPENSATION_STATE 1
#define OD_SUBINDEX_COGGING_TORQUE_COMPENSATION_ENABLED 2
#define OD_INDEX_COMMUTATION_OFFSET 0x2009
#define OD_SUBINDEX_COMMUTATION_OFFSET_STATE 1
#define OD_SUBINDEX_COMMUTATION_OFFSET_APPLIED_PERCENT_OF_RATED_TORQUE 2
#define OD_SUBINDEX_COMMUTATION_OFFSET_MEASUREMENT_METHOD 3
#define OD_SUBINDEX_COMMUTATION_OFFSET_PHASING_CONTROLLER_KP 4
#define OD_SUBINDEX_COMMUTATION_OFFSET_PHASING_CONTROLLER_KI 5
#define OD_SUBINDEX_COMMUTATION_OFFSET_PHASING_CONTROLLER_KD 6
#define OD_INDEX_I2T 0x200A
#define OD_SUBINDEX_I2T_ENABLED 1
#define OD_SUBINDEX_I2T_PEAK_TIME 2
#define OD_SUBINDEX_I2T_PERCENT_MAX 3
#define OD_SUBINDEX_I2T_PROTECTION_ACTIVE 4
#define OD_INDEX_MAX_POWER 0x200B
#define OD_INDEX_TORQUE_CONTROLLER 0x2010
#define OD_SUBINDEX_TORQUE_CONTROLLER_CONTROLLER_KP_DISABLED 1
#define OD_SUBINDEX_TORQUE_CONTROLLER_CONTROLLER_KI_DISABLED 2
#define OD_SUBINDEX_TORQUE_CONTROLLER_CONTROLLER_KD_DISABLED 3
#define OD_SUBINDEX_TORQUE_CONTROLLER_FIELD_WEAKENING_ENABLED 4
#define OD_SUBINDEX_TORQUE_CONTROLLER_FIELD_WEAKENING_PERCENTAGE 5
#define OD_SUBINDEX_TORQUE_CONTROLLER_FIELD_WEAKENING_STARTING_SPEED 6
#define OD_SUBINDEX_TORQUE_CONTROLLER_FIELD_WEAKENING_ENDING_SPEED 7
#define OD_SUBINDEX_TORQUE_CONTROLLER_COMMUTATION_ANGLE_MEASUREMENT_DELAY 8
#define OD_SUBINDEX_TORQUE_CONTROLLER_SWITCHING_FREQUENCY 9
#define OD_SUBINDEX_TORQUE_CONTROLLER_SETTLING_TIME 10
#define OD_SUBINDEX_TORQUE_CONTROLLER_DAMPING_RATIO 11
#define OD_SUBINDEX_TORQUE_CONTROLLER_ENCODER_SOURCE 12
#define OD_INDEX_VELOCITY_CONTROLLER 0x2011
#define OD_SUBINDEX_VELOCITY_CONTROLLER_CONTROLLER_KP 1
#define OD_SUBINDEX_VELOCITY_CONTROLLER_CONTROLLER_KI 2
#define OD_SUBINDEX_VELOCITY_CONTROLLER_CONTROLLER_KD 3
#define OD_SUBINDEX_VELOCITY_CONTROLLER_CONTROLLER_INTEGRAL_LIMIT 4
#define OD_SUBINDEX_VELOCITY_CONTROLLER_ENCODER_SOURCE 5
#define OD_INDEX_POSITION_CONTROLLER 0x2012
#define OD_SUBINDEX_POSITION_CONTROLLER_POSITION_LOOP_KP 1
#define OD_SUBINDEX_POSITION_CONTROLLER_POSITION_LOOP_KI 2
#define OD_SUBINDEX_POSITION_CONTROLLER_POSITION_LOOP_KD 3
#define OD_SUBINDEX_POSITION_CONTROLLER_POSITION_LOOP_INTEGRAL_LIMIT 4
#define OD_SUBINDEX_POSITION_CONTROLLER_VELOCITY_LOOP_KP 5
#define OD_SUBINDEX_POSITION_CONTROLLER_VELOCITY_LOOP_KI 6
#define OD_SUBINDEX_POSITION_CONTROLLER_VELOCITY_LOOP_KD 7
#define OD_SUBINDEX_POSITION_CONTROLLER_VELOCITY_LOOP_INTEGRAL_LIMIT 8
#define OD_SUBINDEX_POSITION_CONTROLLER_ENCODER_SOURCE 9
#define OD_INDEX_GAIN_SCHEDULING 0x2013
#define OD_SUBINDEX_GAIN_SCHEDULING_ENABLED 1
#define OD_SUBINDEX_GAIN_SCHEDULING_THRESHOLD_VELOCITY_0 2
#define OD_SUBINDEX_GAIN_SCHEDULING_POSITION_LOOP_KP_0 3
#define OD_SUBINDEX_GAIN_SCHEDULING_POSITION_LOOP_KI_0 4
#define OD_SUBINDEX_GAIN_SCHEDULING_POSITION_LOOP_KD_0 5
#define OD_SUBINDEX_GAIN_SCHEDULING_POSITION_LOOP_INTEGRAL_LIMIT_0 6
#define OD_SUBINDEX_GAIN_SCHEDULING_VELOCITY_LOOP_KP_0 7
#define OD_SUBINDEX_GAIN_SCHEDULING_VELOCITY_LOOP_KI_0 8
#define OD_SUBINDEX_GAIN_SCHEDULING_VELOCITY_LOOP_KD_0 9
#define OD_SUBINDEX_GAIN_SCHEDULING_VELOCITY_LOOP_INTEGRAL_LIMIT_0 10
#define OD_SUBINDEX_GAIN_SCHEDULING_THRESHOLD_VELOCITY_1 11
#define OD_SUBINDEX_GAIN_SCHEDULING_POSITION_LOOP_KP_1 12
#define OD_SUBINDEX_GAIN_SCHEDULING_POSITION_LOOP_KI_1 13
#define OD_SUBINDEX_GAIN_SCHEDULING_POSITION_LOOP_KD_1 14
#define OD_SUBINDEX_GAIN_SCHEDULING_POSITION_LOOP_INTEGRAL_LIMIT_1 15
#define OD_SUBINDEX_GAIN_SCHEDULING_VELOCITY_LOOP_KP_1 16
#define OD_SUBINDEX_GAIN_SCHEDULING_VELOCITY_LOOP_KI_1 17
#define OD_SUBINDEX_GAIN_SCHEDULING_VELOCITY_LOOP_KD_1 18
#define OD_SUBINDEX_GAIN_SCHEDULING_VELOCITY_LOOP_INTEGRAL_LIMIT_1 19
#define OD_INDEX_TORQUE_WINDOW 0x2014
#define OD_SUBINDEX_TORQUE_WINDOW_VALUE 1
#define OD_SUBINDEX_TORQUE_WINDOW_TIME 2
#define OD_INDEX_VELOCITY_FEED_FORWARD 0x2015
#define OD_SUBINDEX_VELOCITY_FEED_FORWARD_GAIN 1
#define OD_SUBINDEX_VELOCITY_FEED_FORWARD_CUTOFF_FREQUENCY 2
#define OD_INDEX_FOLLOWING_ERROR_OPTION_CODES 0x2017
#define OD_SUBINDEX_FOLLOWING_ERROR_OPTION_CODES_POSITION_FOLLOWING_ERROR_OPTION_CODE \
  1
#define OD_INDEX_VELOCITY_FEEDBACK_FILTER 0x2021
#define OD_SUBINDEX_VELOCITY_FEEDBACK_FILTER_TYPE 1
#define OD_SUBINDEX_VELOCITY_FEEDBACK_FILTER_CUTOFF_FREQUENCY 2
#define OD_INDEX_POSITION_FEEDBACK_FILTER 0x2022
#define OD_SUBINDEX_POSITION_FEEDBACK_FILTER_TYPE 1
#define OD_SUBINDEX_POSITION_FEEDBACK_FILTER_CUTOFF_FREQUENCY 2
#define OD_INDEX_NOTCH_FILTER 0x2023
#define OD_SUBINDEX_NOTCH_FILTER_ENABLED 1
#define OD_SUBINDEX_NOTCH_FILTER_CENTER_FREQUENCY 2
#define OD_SUBINDEX_NOTCH_FILTER_REJECTION_BAND 3
#define OD_INDEX_CONTROL_INPUT_FIR_FILTER 0x2027
#define OD_SUBINDEX_CONTROL_INPUT_FIR_FILTER_ENABLED 1
#define OD_SUBINDEX_CONTROL_INPUT_FIR_FILTER_ORDER 2
#define OD_INDEX_CORE_TEMPERATURE 0x2030
#define OD_SUBINDEX_CORE_TEMPERATURE_MEASURED_TEMPERATURE 1
#define OD_INDEX_DRIVE_TEMPERATURE 0x2031
#define OD_SUBINDEX_DRIVE_TEMPERATURE_MEASURED_TEMPERATURE 1
#define OD_INDEX_EXTERNAL_SCALED_MEASUREMENT 0x2038
#define OD_SUBINDEX_EXTERNAL_SCALED_MEASUREMENT_SCALED_MEASUREMENT_VALUE 1
#define OD_SUBINDEX_EXTERNAL_SCALED_MEASUREMENT_ANALOG_INPUT 2
#define OD_SUBINDEX_EXTERNAL_SCALED_MEASUREMENT_RESISTANCE 3
#define OD_SUBINDEX_EXTERNAL_SCALED_MEASUREMENT_CONSTANT_A0 4
#define OD_SUBINDEX_EXTERNAL_SCALED_MEASUREMENT_CONSTANT_A1 5
#define OD_SUBINDEX_EXTERNAL_SCALED_MEASUREMENT_CONSTANT_A2 6
#define OD_SUBINDEX_EXTERNAL_SCALED_MEASUREMENT_CONSTANT_A3 7
#define OD_SUBINDEX_EXTERNAL_SCALED_MEASUREMENT_CONSTANT_A4 8
#define OD_SUBINDEX_EXTERNAL_SCALED_MEASUREMENT_CONSTANT_A5 9
#define OD_SUBINDEX_EXTERNAL_SCALED_MEASUREMENT_CUTOFF_FREQUENCY 10
#define OD_SUBINDEX_EXTERNAL_SCALED_MEASUREMENT_UPPER_ERROR_THRESHOLD 11
#define OD_SUBINDEX_EXTERNAL_SCALED_MEASUREMENT_LOWER_ERROR_THRESHOLD 12
#define OD_INDEX_ERROR_REPORT 0x203F
#define OD_SUBINDEX_ERROR_REPORT_DESCRIPTION 1
#define OD_INDEX_INPUT_COUNTER 0x2040
#define OD_INDEX_HIGH_RESOLUTION_DATA 0x20E1
#define OD_SUBINDEX_HIGH_RESOLUTION_DATA_DATA_1 1
#define OD_SUBINDEX_HIGH_RESOLUTION_DATA_DATA_2 2
#define OD_SUBINDEX_HIGH_RESOLUTION_DATA_DATA_3 3
#define OD_SUBINDEX_HIGH_RESOLUTION_DATA_DATA_4 4
#define OD_INDEX_TIMESTAMP 0x20F0
#define OD_INDEX_ASSIGNED_NAME 0x20F2
#define OD_INDEX_DC_SYNCHRONIZATION 0x20F3
#define OD_SUBINDEX_DC_SYNCHRONIZATION_DC_PULSE_TIME 1
#define OD_INDEX_ENCODER_1_CONFIGURATION 0x2110
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_SENSOR_PORT 1
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_TYPE 2
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_RESOLUTION 3
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_ZERO_VELOCITY_THRESHOLD 4
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_POLARITY 5
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_SINGLETURN_OFFSET 6
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_ACCESS_SIGNAL_TYPE 7
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_CLOCK_FREQUENCY 8
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_FRAME_SIZE 9
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_MULTITURN_BITS 10
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_MULTITURN_FIRST_BIT_POSITION 11
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_SINGLETURN_BITS 12
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_SINGLETURN_FIRST_BIT_POSITION 13
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_TIMEOUT 14
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_CRC_POLYNOMIAL 15
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_MAXIMUM_TBUSY 16
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_STATUS_BITS_ACTIVE_VALUE 17
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_PARITY_TYPE 18
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_FIRST_CLOCK_DELAY 19
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_DATA_ORDERING 20
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_ENDIANNESS 21
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_INDEX_AVAILABILITY 22
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_HALL_SENSOR_PORT 23
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_SINEWAVE_CYCLES_PER_REVOLUTION 24
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_SINEWAVE_RESOLUTION 25
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_SINUSOIDAL_OUTPUT_VOLTAGE 26
#define OD_SUBINDEX_ENCODER_1_CONFIGURATION_FILTER 27
#define OD_INDEX_ENCODER_1_FEEDBACK 0x2111
#define OD_SUBINDEX_ENCODER_1_FEEDBACK_RAW_POSITION 1
#define OD_SUBINDEX_ENCODER_1_FEEDBACK_ADJUSTED_POSITION 2
#define OD_SUBINDEX_ENCODER_1_FEEDBACK_VELOCITY 3
#define OD_INDEX_ENCODER_2_CONFIGURATION 0x2112
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_SENSOR_PORT 1
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_TYPE 2
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_RESOLUTION 3
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_ZERO_VELOCITY_THRESHOLD 4
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_POLARITY 5
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_SINGLETURN_OFFSET 6
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_ACCESS_SIGNAL_TYPE 7
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_CLOCK_FREQUENCY 8
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_FRAME_SIZE 9
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_MULTITURN_BITS 10
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_MULTITURN_FIRST_BIT_POSITION 11
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_SINGLETURN_BITS 12
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_SINGLETURN_FIRST_BIT_POSITION 13
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_TIMEOUT 14
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_CRC_POLYNOMIAL 15
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_MAXIMUM_TBUSY 16
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_STATUS_BITS_ACTIVE_VALUE 17
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_PARITY_TYPE 18
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_FIRST_CLOCK_DELAY 19
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_DATA_ORDERING 20
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_ENDIANNESS 21
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_INDEX_AVAILABILITY 22
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_HALL_SENSOR_PORT 23
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_SINEWAVE_CYCLES_PER_REVOLUTION 24
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_SINEWAVE_RESOLUTION 25
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_SINUSOIDAL_OUTPUT_VOLTAGE 26
#define OD_SUBINDEX_ENCODER_2_CONFIGURATION_FILTER 27
#define OD_INDEX_ENCODER_2_FEEDBACK 0x2113
#define OD_SUBINDEX_ENCODER_2_FEEDBACK_RAW_POSITION 1
#define OD_SUBINDEX_ENCODER_2_FEEDBACK_ADJUSTED_POSITION 2
#define OD_SUBINDEX_ENCODER_2_FEEDBACK_VELOCITY 3
#define OD_INDEX_GPIO_PIN_CONFIGURATION 0x2210
#define OD_SUBINDEX_GPIO_PIN_CONFIGURATION_PIN_1 1
#define OD_SUBINDEX_GPIO_PIN_CONFIGURATION_PIN_2 2
#define OD_SUBINDEX_GPIO_PIN_CONFIGURATION_PIN_3 3
#define OD_SUBINDEX_GPIO_PIN_CONFIGURATION_PIN_4 4
#define OD_SUBINDEX_GPIO_PIN_CONFIGURATION_PIN_5 5
#define OD_SUBINDEX_GPIO_PIN_CONFIGURATION_PIN_6 6
#define OD_SUBINDEX_GPIO_PIN_CONFIGURATION_PIN_7 7
#define OD_INDEX_GPIO_OUTPUT_EVENTS 0x2211
#define OD_SUBINDEX_GPIO_OUTPUT_EVENTS_TIMESTAMP_SETPOINT 1
#define OD_INDEX_GPIO_INPUT_ACTIONS 0x2212
#define OD_SUBINDEX_GPIO_INPUT_ACTIONS_TIMESTAMP_ON_RISING_EDGE 1
#define OD_INDEX_GPIO_POSITION_TRIGGER 0x2213
#define OD_SUBINDEX_GPIO_POSITION_TRIGGER_POSITION_SETPOINT 1
#define OD_SUBINDEX_GPIO_POSITION_TRIGGER_TARGET_ENCODER 2
#define OD_SUBINDEX_GPIO_POSITION_TRIGGER_PULSE_WIDTH 3
#define OD_INDEX_GPIO_GLOBAL_OPTIONS 0x2214
#define OD_SUBINDEX_GPIO_GLOBAL_OPTIONS_VOLTAGE_LEVEL 1
#define OD_INDEX_GPIO_NZR_LED_DRIVER 0x2215
#define OD_SUBINDEX_GPIO_NZR_LED_DRIVER_LED_VALUE 1
#define OD_INDEX_ANALOG_INPUT_1 0x2401
#define OD_INDEX_ANALOG_INPUT_2 0x2402
#define OD_INDEX_ANALOG_INPUT_3 0x2403
#define OD_INDEX_ANALOG_INPUT_4 0x2404
#define OD_INDEX_TEMPERATURE_WARNING 0x2600
#define OD_INDEX_SAFE_POSITION_VALID 0x2601
#define OD_INDEX_SAFE_SPEED_VALID 0x2602
#define OD_INDEX_SAFE_INPUT 0x2603
#define OD_SUBINDEX_SAFE_INPUT_SAFE_INPUT_1 1
#define OD_SUBINDEX_SAFE_INPUT_SAFE_INPUT_2 2
#define OD_SUBINDEX_SAFE_INPUT_SAFE_INPUT_3 3
#define OD_SUBINDEX_SAFE_INPUT_SAFE_INPUT_4 4
#define OD_INDEX_SAFE_OUTPUT_MONITOR 0x2604
#define OD_SUBINDEX_SAFE_OUTPUT_MONITOR_SAFE_OUTPUT_MONITOR_1 1
#define OD_SUBINDEX_SAFE_OUTPUT_MONITOR_SAFE_OUTPUT_MONITOR_2 2
#define OD_INDEX_ANALOG_INPUT 0x2605
#define OD_SUBINDEX_ANALOG_INPUT_ANALOG_DIAGNOSTIC_ACTIVE 1
#define OD_SUBINDEX_ANALOG_INPUT_ANALOG_VALUE_VALID 2
#define OD_SUBINDEX_ANALOG_INPUT_SAFE_ANALOG_VALUE_SCALED 3
#define OD_INDEX_MANUFACTURING_PARAMETERS 0x2610
#define OD_SUBINDEX_MANUFACTURING_PARAMETERS_VENDOR_ID 1
#define OD_SUBINDEX_MANUFACTURING_PARAMETERS_DEVICE_TYPE 2
#define OD_SUBINDEX_MANUFACTURING_PARAMETERS_DEVICE_VERSION 3
#define OD_SUBINDEX_MANUFACTURING_PARAMETERS_SERIAL_NUMBER 4
#define OD_INDEX_SAFETY_DIGITAL_INPUT_DIAGNOSTICS 0x2611
#define OD_SUBINDEX_SAFETY_DIGITAL_INPUT_DIAGNOSTICS_INPUT_1 1
#define OD_SUBINDEX_SAFETY_DIGITAL_INPUT_DIAGNOSTICS_INPUT_2 2
#define OD_INDEX_GENERAL 0x2620
#define OD_SUBINDEX_GENERAL_DRIVE_SAFETY_NAME 1
#define OD_SUBINDEX_GENERAL_SAFE_FIELDBUS 2
#define OD_SUBINDEX_GENERAL_SAFE_ADDRESS 3
#define OD_INDEX_SAFETY_DIGITAL_IO 0x2621
#define OD_SUBINDEX_SAFETY_DIGITAL_IO_ACKNOWLEDGE_VIA_DRIVE 1
#define OD_SUBINDEX_SAFETY_DIGITAL_IO_ACKNOWLEDGEMENT_INPUT 2
#define OD_SUBINDEX_SAFETY_DIGITAL_IO_INPUT_TEST_PULSE_DETECTION 3
#define OD_SUBINDEX_SAFETY_DIGITAL_IO_INPUT_FILTER_TIME 4
#define OD_SUBINDEX_SAFETY_DIGITAL_IO_TEST_PULSE_MAX_DISTANCE 5
#define OD_SUBINDEX_SAFETY_DIGITAL_IO_OUTPUT_TEST_PULSE 6
#define OD_SUBINDEX_SAFETY_DIGITAL_IO_OUTPUT1_FUNCTION 7
#define OD_SUBINDEX_SAFETY_DIGITAL_IO_OUTPUT2_FUNCTION 8
#define OD_INDEX_SAFETY_IO_ANALOG_INPUT 0x2625
#define OD_SUBINDEX_SAFETY_IO_ANALOG_INPUT_ANALOG_INPUT1_GAIN 1
#define OD_SUBINDEX_SAFETY_IO_ANALOG_INPUT_ANALOG_INPUT1_OFFSET 2
#define OD_SUBINDEX_SAFETY_IO_ANALOG_INPUT_ANALOG_INPUT2_GAIN 3
#define OD_SUBINDEX_SAFETY_IO_ANALOG_INPUT_ANALOG_INPUT2_OFFSET 4
#define OD_SUBINDEX_SAFETY_IO_ANALOG_INPUT_ANALOG_ALLOWED_ERROR 5
#define OD_INDEX_ENCODER_SOURCE_TYPE 0x2630
#define OD_SUBINDEX_ENCODER_SOURCE_TYPE_ENCODER_SOURCE_TYPE 1
#define OD_SUBINDEX_ENCODER_SOURCE_TYPE_ENCODER_RESOLUTION 2
#define OD_SUBINDEX_ENCODER_SOURCE_TYPE_ENCODER_MULTITURN_BITS 3
#define OD_SUBINDEX_ENCODER_SOURCE_TYPE_ENCODER_CLOCK_FREQUENCY 4
#define OD_SUBINDEX_ENCODER_SOURCE_TYPE_ENCODER_TIMEOUT 5
#define OD_INDEX_ENCODER_VERIFICATION 0x2631
#define OD_SUBINDEX_ENCODER_VERIFICATION_VERIFICATION_SENSOR_SOURCE_TYPE 1
#define OD_SUBINDEX_ENCODER_VERIFICATION_VERIFICATION_SENSOR_RESOLUTION 2
#define OD_SUBINDEX_ENCODER_VERIFICATION_VERIFICATION_SENSOR_MULTITURN_BITS 3
#define OD_INDEX_ENCODER_SELECTION 0x2635
#define OD_SUBINDEX_ENCODER_SELECTION_SPEED_WINDOW 1
#define OD_SUBINDEX_ENCODER_SELECTION_ABSOLUTE_POSITION 2
#define OD_SUBINDEX_ENCODER_SELECTION_POSITION_RESET_INPUT 3
#define OD_SUBINDEX_ENCODER_SELECTION_ABSOLUTE_POSITION_ON_RESET 4
#define OD_SUBINDEX_ENCODER_SELECTION_ALLOWED_POSITION_DISCREPANCY 5
#define OD_SUBINDEX_ENCODER_SELECTION_ALLOWED_SPEED_DISCREPANCY 6
#define OD_SUBINDEX_ENCODER_SELECTION_DISCREPANCY_TIMER 7
#define OD_SUBINDEX_ENCODER_SELECTION_VERIFICATION_SCALING_NUMERATOR 8
#define OD_SUBINDEX_ENCODER_SELECTION_VERIFICATION_SCALING_DENOMINATOR 9
#define OD_INDEX_STO_INPUT 0x2641
#define OD_SUBINDEX_STO_INPUT_STO_INPUT 1
#define OD_SUBINDEX_STO_INPUT_SBC 2
#define OD_INDEX_SS1_INPUT 0x2650
#define OD_SUBINDEX_SS1_INPUT_SS1_INPUT 1
#define OD_SUBINDEX_SS1_INPUT_SS1_DECELERATION_MONITORING 2
#define OD_INDEX_SOS_INPUT 0x2668
#define OD_SUBINDEX_SOS_INPUT_SOS_INPUT 1
#define OD_SUBINDEX_SOS_INPUT_T_D_SOS 2
#define OD_INDEX_SS2_INPUT 0x2670
#define OD_SUBINDEX_SS2_INPUT_SS2_INPUT 1
#define OD_INDEX_SLS_INPUT 0x2690
#define OD_SUBINDEX_SLS_INPUT_SLS1_INPUT 1
#define OD_SUBINDEX_SLS_INPUT_SLS2_INPUT 2
#define OD_SUBINDEX_SLS_INPUT_SLS3_INPUT 3
#define OD_SUBINDEX_SLS_INPUT_SLS4_INPUT 4
#define OD_INDEX_RESET_POSITION 0x26A0
#define OD_INDEX_SAFE_OUTPUT 0x26F0
#define OD_SUBINDEX_SAFE_OUTPUT_SAFE_OUTPUT_1 1
#define OD_SUBINDEX_SAFE_OUTPUT_SAFE_OUTPUT_2 2
#define OD_INDEX_TUNING_COMMAND 0x2701
#define OD_INDEX_TUNING_STATUS 0x2702
#define OD_INDEX_USER_MOSI 0x2703
#define OD_INDEX_USER_MISO 0x2704
#define OD_INDEX_SETUP_WIZARD_COMPLETED 0x2705
#define OD_INDEX_INTERNAL_USAGE_ONLY 0x2FFF
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_TDRM1 1
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_TDRM2 2
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_TDRM3 3
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_TDRM4 4
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_TCTM1 5
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_TCTM2 6
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_TCTM3 7
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_TCTM4 8
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_TCNM1 9
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_TCNM2 10
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_TCNM3 11
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_TCNM4 12
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_BKC 13
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_HBX 14
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_HBY 15
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_HBZ 16
#define OD_SUBINDEX_INTERNAL_USAGE_ONLY_HT 17
#define OD_INDEX_ERROR_CODE 0x603F
#define OD_INDEX_CONTROLWORD 0x6040
#define OD_INDEX_STATUSWORD 0x6041
#define OD_INDEX_QUICK_STOP_OPTION_CODE 0x605A
#define OD_INDEX_MODES_OF_OPERATION 0x6060
#define OD_INDEX_MODES_OF_OPERATION_DISPLAY 0x6061
#define OD_INDEX_POSITION_DEMAND_VALUE 0x6062
#define OD_INDEX_POSITION_ACTUAL_VALUE 0x6064
#define OD_INDEX_FOLLOWING_ERROR_WINDOW 0x6065
#define OD_INDEX_FOLLOWING_ERROR_TIME_OUT 0x6066
#define OD_INDEX_POSITION_WINDOW 0x6067
#define OD_INDEX_POSITION_WINDOW_TIME 0x6068
#define OD_INDEX_VELOCITY_DEMAND_VALUE 0x606B
#define OD_INDEX_VELOCITY_ACTUAL_VALUE 0x606C
#define OD_INDEX_VELOCITY_WINDOW 0x606D
#define OD_INDEX_VELOCITY_WINDOW_TIME 0x606E
#define OD_INDEX_VELOCITY_THRESHOLD 0x606F
#define OD_INDEX_VELOCITY_THRESHOLD_TIME 0x6070
#define OD_INDEX_TARGET_TORQUE 0x6071
#define OD_INDEX_MAX_TORQUE 0x6072
#define OD_INDEX_MAX_CURRENT 0x6073
#define OD_INDEX_TORQUE_DEMAND 0x6074
#define OD_INDEX_MOTOR_RATED_CURRENT 0x6075
#define OD_INDEX_MOTOR_RATED_TORQUE 0x6076
#define OD_INDEX_TORQUE_ACTUAL_VALUE 0x6077
#define OD_INDEX_DC_LINK_CIRCUIT_VOLTAGE 0x6079
#define OD_INDEX_TARGET_POSITION 0x607A
#define OD_INDEX_POSITION_RANGE_LIMIT 0x607B
#define OD_SUBINDEX_POSITION_RANGE_LIMIT_MIN_POSITION_RANGE_LIMIT 1
#define OD_SUBINDEX_POSITION_RANGE_LIMIT_MAX_POSITION_RANGE_LIMIT 2
#define OD_INDEX_HOME_OFFSET 0x607C
#define OD_INDEX_SOFTWARE_POSITION_LIMIT 0x607D
#define OD_SUBINDEX_SOFTWARE_POSITION_LIMIT_MIN_POSITION_LIMIT 1
#define OD_SUBINDEX_SOFTWARE_POSITION_LIMIT_MAX_POSITION_LIMIT 2
#define OD_INDEX_POLARITY 0x607E
#define OD_INDEX_MAX_MOTOR_SPEED 0x6080
#define OD_INDEX_PROFILE_VELOCITY 0x6081
#define OD_INDEX_PROFILE_ACCELERATION 0x6083
#define OD_INDEX_PROFILE_DECELERATION 0x6084
#define OD_INDEX_QUICK_STOP_DECELERATION 0x6085
#define OD_INDEX_MOTION_PROFILE_TYPE 0x6086
#define OD_INDEX_TORQUE_SLOPE 0x6087
#define OD_INDEX_TORQUE_PROFILE_TYPE 0x6088
#define OD_INDEX_GEAR_RATIO 0x6091
#define OD_SUBINDEX_GEAR_RATIO_MOTOR_REVOLUTIONS 1
#define OD_SUBINDEX_GEAR_RATIO_SHAFT_REVOLUTIONS 2
#define OD_INDEX_FEED_CONSTANT 0x6092
#define OD_SUBINDEX_FEED_CONSTANT_FEED 1
#define OD_SUBINDEX_FEED_CONSTANT_SHAFT_REVOLUTIONS 2
#define OD_INDEX_HOMING_METHOD 0x6098
#define OD_INDEX_HOMING_SPEEDS 0x6099
#define OD_SUBINDEX_HOMING_SPEEDS_SPEED_DURING_SEARCH_FOR_SWITCH 1
#define OD_SUBINDEX_HOMING_SPEEDS_SPEED_DURING_SEARCH_FOR_ZERO 2
#define OD_INDEX_HOMING_ACCELERATION 0x609A
#define OD_INDEX_SI_UNIT_VELOCITY 0x60A9
#define OD_INDEX_VELOCITY_OFFSET 0x60B1
#define OD_INDEX_TORQUE_OFFSET 0x60B2
#define OD_INDEX_FOLLOWING_ERROR_ACTUAL_VALUE 0x60F4
#define OD_INDEX_CONTROL_EFFORT 0x60FA
#define OD_INDEX_POSITION_DEMAND_INTERNAL_VALUE 0x60FC
#define OD_INDEX_DIGITAL_INPUTS 0x60FD
#define OD_INDEX_DIGITAL_OUTPUTS 0x60FE
#define OD_SUBINDEX_DIGITAL_OUTPUTS_PHYSICAL_OUTPUTS 1
#define OD_SUBINDEX_DIGITAL_OUTPUTS_BIT_MASK 2
#define OD_INDEX_TARGET_VELOCITY 0x60FF
#define OD_INDEX_SUPPORTED_DRIVE_MODES 0x6502
#define OD_INDEX_SAFE_POSITION_ACTUAL_VALUE 0x6611
#define OD_INDEX_SAFE_VELOCITY_ACTUAL_VALUE 0x6613
#define OD_INDEX_SAFETY_STATUSWORD 0x6621
#define OD_SUBINDEX_SAFETY_STATUSWORD_BYTE_1 1
#define OD_SUBINDEX_SAFETY_STATUSWORD_BYTE_2 2
#define OD_SUBINDEX_SAFETY_STATUSWORD_BYTE_3 3
#define OD_SUBINDEX_SAFETY_STATUSWORD_BYTE_4 4
#define OD_INDEX_RESTART_ACKNOWLEDGE 0x6630
#define OD_INDEX_ERROR_ACKNOWLEDGE 0x6632
#define OD_INDEX_STO_COMMAND 0x6640
#define OD_INDEX_STO_RESTART 0x6641
#define OD_INDEX_SS1_COMMAND 0x6650
#define OD_SUBINDEX_SS1_COMMAND_SS1 1
#define OD_INDEX_T_SS1 0x6651
#define OD_INDEX_N_ZERO_SS1 0x6653
#define OD_SUBINDEX_N_ZERO_SS1_N_ZERO_SS1 1
#define OD_INDEX_T_L_SS1 0x6654
#define OD_SUBINDEX_T_L_SS1_T_L_SS1 1
#define OD_INDEX_A_SS1 0x6655
#define OD_SUBINDEX_A_SS1_A_SS1 1
#define OD_INDEX_T_D_SS1 0x6657
#define OD_SUBINDEX_T_D_SS1_T_D_SS1 1
#define OD_INDEX_SBC_COMMAND 0x6660
#define OD_INDEX_BRAKE_TIME_DELAY 0x6661
#define OD_INDEX_SOS_COMMAND 0x6668
#define OD_SUBINDEX_SOS_COMMAND_SOS 1
#define OD_INDEX_S_ZERO_SOS 0x666A
#define OD_SUBINDEX_S_ZERO_SOS_S_ZERO_SOS 1
#define OD_INDEX_N_ZERO_SOS 0x666C
#define OD_SUBINDEX_N_ZERO_SOS_N_ZERO_SOS 1
#define OD_INDEX_SS2_COMMAND 0x6670
#define OD_SUBINDEX_SS2_COMMAND_SS2 1
#define OD_INDEX_T_SS2 0x6671
#define OD_SUBINDEX_T_SS2_T_SS2 1
#define OD_INDEX_T_L_SS2 0x6672
#define OD_SUBINDEX_T_L_SS2_T_L_SS2 1
#define OD_INDEX_A_SS2 0x6674
#define OD_SUBINDEX_A_SS2_A_SS2 1
#define OD_INDEX_T_D_SS2 0x6675
#define OD_SUBINDEX_T_D_SS2_T_D_SS2 1
#define OD_INDEX_SOS_RESTART 0x6676
#define OD_SUBINDEX_SOS_RESTART_SOS_RESTART 1
#define OD_INDEX_SS2_LIMIT_VIOLATION_REACTION 0x6677
#define OD_SUBINDEX_SS2_LIMIT_VIOLATION_REACTION_SS2_LIMIT_VIOLATION_REACTION 1
#define OD_INDEX_SLS_COMMAND 0x6690
#define OD_SUBINDEX_SLS_COMMAND_SLS_INSTANCE_1 1
#define OD_SUBINDEX_SLS_COMMAND_SLS_INSTANCE_2 2
#define OD_SUBINDEX_SLS_COMMAND_SLS_INSTANCE_3 3
#define OD_SUBINDEX_SLS_COMMAND_SLS_INSTANCE_4 4
#define OD_INDEX_T_SLS 0x6691
#define OD_SUBINDEX_T_SLS_T_SLS1 1
#define OD_SUBINDEX_T_SLS_T_SLS2 2
#define OD_SUBINDEX_T_SLS_T_SLS3 3
#define OD_SUBINDEX_T_SLS_T_SLS4 4
#define OD_INDEX_N_SLS 0x6692
#define OD_SUBINDEX_N_SLS_N_SLS1 1
#define OD_SUBINDEX_N_SLS_N_SLS2 2
#define OD_SUBINDEX_N_SLS_N_SLS3 3
#define OD_SUBINDEX_N_SLS_N_SLS4 4
#define OD_INDEX_T_L_SLS 0x6694
#define OD_SUBINDEX_T_L_SLS_T_L_SLS1 1
#define OD_SUBINDEX_T_L_SLS_T_L_SLS2 2
#define OD_SUBINDEX_T_L_SLS_T_L_SLS3 3
#define OD_SUBINDEX_T_L_SLS_T_L_SLS4 4
#define OD_INDEX_T_D_SLS 0x6695
#define OD_SUBINDEX_T_D_SLS_T_D_SLS1 1
#define OD_SUBINDEX_T_D_SLS_T_D_SLS2 2
#define OD_SUBINDEX_T_D_SLS_T_D_SLS3 3
#define OD_SUBINDEX_T_D_SLS_T_D_SLS4 4
#define OD_INDEX_A_SLS 0x6696
#define OD_SUBINDEX_A_SLS_A_SLS1 1
#define OD_SUBINDEX_A_SLS_A_SLS2 2
#define OD_SUBINDEX_A_SLS_A_SLS3 3
#define OD_SUBINDEX_A_SLS_A_SLS4 4
#define OD_INDEX_SLS_LIMIT_VIOLATION_REACTION 0x6698
#define OD_SUBINDEX_SLS_LIMIT_VIOLATION_REACTION_SLS1_LIMIT_VIOLATION_REACTION 1
#define OD_SUBINDEX_SLS_LIMIT_VIOLATION_REACTION_SLS2_LIMIT_VIOLATION_REACTION 2
#define OD_SUBINDEX_SLS_LIMIT_VIOLATION_REACTION_SLS3_LIMIT_VIOLATION_REACTION 3
#define OD_SUBINDEX_SLS_LIMIT_VIOLATION_REACTION_SLS4_LIMIT_VIOLATION_REACTION 4
#define OD_INDEX_N_NEG_MAX 0x66A9
#define OD_INDEX_N_POS_MAX 0x66AA
#define OD_INDEX_SMS_LIMIT_VIOLATION_REACTION 0x66AD
#define OD_INDEX_FSOE_MASTER_FRAME_ELEMENTS 0x6760
#define OD_SUBINDEX_FSOE_MASTER_FRAME_ELEMENTS_FSOE_COMMAND 1
#define OD_SUBINDEX_FSOE_MASTER_FRAME_ELEMENTS_FSOE_CONNECTIONID 2
#define OD_SUBINDEX_FSOE_MASTER_FRAME_ELEMENTS_FSOE_CRC_0 3
#define OD_SUBINDEX_FSOE_MASTER_FRAME_ELEMENTS_FSOE_CRC_1 4
#define OD_SUBINDEX_FSOE_MASTER_FRAME_ELEMENTS_FSOE_CRC_2 5
#define OD_SUBINDEX_FSOE_MASTER_FRAME_ELEMENTS_FSOE_CRC_3 6
#define OD_SUBINDEX_FSOE_MASTER_FRAME_ELEMENTS_FSOE_CRC_4 7
#define OD_SUBINDEX_FSOE_MASTER_FRAME_ELEMENTS_FSOE_CRC_5 8
#define OD_SUBINDEX_FSOE_MASTER_FRAME_ELEMENTS_FSOE_CRC_6 9
#define OD_INDEX_FSOE_SLAVE_FRAME_ELEMENTS 0x6770
#define OD_SUBINDEX_FSOE_SLAVE_FRAME_ELEMENTS_FSOE_COMMAND 1
#define OD_SUBINDEX_FSOE_SLAVE_FRAME_ELEMENTS_FSOE_CONNECTIONID 2
#define OD_SUBINDEX_FSOE_SLAVE_FRAME_ELEMENTS_FSOE_CRC_0 3
#define OD_SUBINDEX_FSOE_SLAVE_FRAME_ELEMENTS_FSOE_CRC_1 4
#define OD_INDEX_FSOE_COMMUNICATION_PARAMETER 0xE901
#define OD_SUBINDEX_FSOE_COMMUNICATION_PARAMETER_VERSION 1
#define OD_SUBINDEX_FSOE_COMMUNICATION_PARAMETER_SAFETYADDRESS 2
#define OD_SUBINDEX_FSOE_COMMUNICATION_PARAMETER_FSOE_CONNECTION_ID 3
#define OD_SUBINDEX_FSOE_COMMUNICATION_PARAMETER_WATCHDOG_TIME 4
#define OD_SUBINDEX_FSOE_COMMUNICATION_PARAMETER_UNIQUE_DEVICE_ID 5
#define OD_SUBINDEX_FSOE_COMMUNICATION_PARAMETER_CONNECTION_TYPE 6
#define OD_SUBINDEX_FSOE_COMMUNICATION_PARAMETER_COMMUNICATION_PARAMETER_LENGTH \
  7
#define OD_SUBINDEX_FSOE_COMMUNICATION_PARAMETER_APPLICATION_PARAMETER_LENGTH 8
#define OD_SUBINDEX_FSOE_COMMUNICATION_PARAMETER_SRA_CRC 9
#define OD_INDEX_MODULAR_DEVICE_PROFILE 0xF000
#define OD_SUBINDEX_MODULAR_DEVICE_PROFILE_INDEX_DISTANCE 1
#define OD_SUBINDEX_MODULAR_DEVICE_PROFILE_MAXIMUM_NUMBER_OF_MODULES 2
#define OD_INDEX_MODULE_PROFILE_LIST 0xF010
#define OD_SUBINDEX_MODULE_PROFILE_LIST_MODULE_PROFILE_INFORMATION_OF_THE_MODULE_ON_POSITION_1 \
  1
#define OD_SUBINDEX_MODULE_PROFILE_LIST_MODULE_PROFILE_INFORMATION_OF_THE_MODULE_ON_POSITION_2 \
  2
#define OD_INDEX_CONFIGURED_MODULE_IDENT_LIST 0xF030
#define OD_SUBINDEX_CONFIGURED_MODULE_IDENT_LIST_MODULE_IDENT_OF_THE_MODULE_DETECTED_ON_POSITION_1 \
  1
#define OD_INDEX_DETECTED_MODULE_IDENT_LIST 0xF050
#define OD_SUBINDEX_DETECTED_MODULE_IDENT_LIST_MODULE_IDENT_OF_THE_MODULE_DETECTED_ON_POSITION_1 \
  1
#define OD_INDEX_DEVICE_SAFETY_ADDRESS 0xF980
#define OD_SUBINDEX_DEVICE_SAFETY_ADDRESS_FSOE_ADDRESS 1
 
/********************** CUSTOM MOTION MASTER PARAMETERS **********************/
 
/* These three are common for all feedback sensor objects */
#define OD_SUBINDEX_FEEDBACK_SENSOR_TYPE 1
#define OD_SUBINDEX_FEEDBACK_SENSOR_FUNCTION 2
#define OD_SUBINDEX_FEEDBACK_SENSOR_RESOLUTION 3
 
#define OD_INDEX_FEEDBACK_SENSOR_PORTS 0x2100