Communication Area

Index		Name
0x1000		Device type
0x1001		Error register
0x1005		COB-ID SYNC
0x1006		Communication cycle period
0x1008		Manufacturer device name
0x100A		Manufacturer software version
0x100C		Guard time
0x100D		Life time factor
0x1010		Store parameters
	0x1010:1	Save all parameters
0x1011		Restore default parameters
	0x1011:1	Restore all default parameters
0x1016		Consumer heartbeat time
	0x1016:1	Consumer heartbeat time
0x1017		Producer heartbeat time
0x1018		Identity object
	0x1018:1	Vendor-ID
	0x1018:2	Product code
	0x1018:3	Revision number
	0x1018:4	Serial number
0x1019		Synchronous counter overflow value
0x1400		Receive PDO1 parameter
	0x1400:1	COB-ID used by PDO
	0x1400:2	Transmission type
	0x1400:3	Inhibit time
0x1401		Receive PDO2 parameter
	0x1401:1	COB-ID used by PDO
	0x1401:2	Transmission type
	0x1401:3	Inhibit time
0x1402		Receive PDO3 parameter
	0x1402:1	COB-ID used by PDO
	0x1402:2	Transmission type
	0x1402:3	Inhibit time
0x1403		Receive PDO4 parameter
	0x1403:1	COB-ID used by PDO
	0x1403:2	Transmission type
	0x1403:3	Inhibit time
0x1600		Receive PDO1 mapping
	0x1600:1	Controlword
	0x1600:2	Modes of operation
	0x1600:3	Target torque
	0x1600:4	Target position
	0x1600:5	Target velocity
	0x1600:6	Torque offset
	0x1600:7	Tuning command
0x1601		Receive PDO2 mapping
	0x1601:1	Digital output 1
	0x1601:3	Digital output 2
	0x1601:5	Digital output 3
	0x1601:7	Digital output 4
0x1602		Receive PDO3 mapping
	0x1602:1	User MOSI
	0x1602:2	Velocity offset
0x1603		Receive PDO4 mapping
0x1800		Transmit PDO1 parameter
	0x1800:1	COB-ID used by PDO
	0x1800:2	Transmission type
	0x1800:3	Inhibit time
	0x1800:4	reserved
	0x1800:5	Event timer
0x1801		Transmit PDO2 parameter
	0x1801:1	COB-ID used by PDO
	0x1801:2	Transmission type
	0x1801:3	Inhibit time
	0x1801:4	reserved
	0x1801:5	Event timer
0x1802		Transmit PDO3 parameter
	0x1802:1	COB-ID used by PDO
	0x1802:2	Transmission type
	0x1802:3	Inhibit time
	0x1802:4	reserved
	0x1802:5	Event timer
0x1803		Transmit PDO4 parameter
	0x1803:1	COB-ID used by PDO
	0x1803:2	Transmission type
	0x1803:3	Inhibit time
	0x1803:4	reserved
	0x1803:5	Event timer
0x1A00		Transmit PDO1 mapping
	0x1A00:1	Statusword
	0x1A00:2	Modes of operation display
	0x1A00:3	Position actual value
	0x1A00:4	Velocity actual value
	0x1A00:5	Torque actual value
0x1A01		Transmit PDO2 mapping
	0x1A01:1	Secondary position value
	0x1A01:2	Secondary velocity value
	0x1A01:3	Analog input 1
	0x1A01:4	Analog input 2
	0x1A01:5	Analog input 3
	0x1A01:6	Analog input 4
	0x1A01:7	Tuning status
0x1A02		Transmit PDO3 mapping
	0x1A02:1	Digital input 1
	0x1A02:3	Digital input 2
	0x1A02:5	Digital input 3
	0x1A02:7	Digital input 4
0x1A03		Transmit PDO4 mapping
	0x1A03:1	User MISO
	0x1A03:2	Timestamp
	0x1A03:3	Position demand internal value
	0x1A03:4	Velocity demand value
	0x1A03:5	Torque demand
0x1C00		Sync Manager
	0x1C00:1	SyncMan 0
	0x1C00:2	SyncMan 1
	0x1C00:3	SyncMan 2
	0x1C00:4	SyncMan 3
0x1C10		SM 0 Assignment
0x1C11		SM 1 Assignment
0x1C12		SM 2 Assignment
	0x1C12:1	SubIndex 001
	0x1C12:2	SubIndex 002
	0x1C12:3	SubIndex 003
	0x1C12:4	SubIndex 004
0x1C13		SM 3 Assignment
	0x1C13:1	SubIndex 001
	0x1C13:2	SubIndex 002
	0x1C13:3	SubIndex 003
	0x1C13:4	SubIndex 004