[Comments]
Lines=29
Line1= $======================================================================$
Line2= $                                                                      $
Line3= $   FileName: Drive94V.EDS                                             $
Line4= $                                                                      $
Line5= $   Copyright(c): 2005 by AC Technology Corporation                    $
Line6= $   630 Douglas Street                                                 $
Line7= $   Uxbridge, MA 01569                                                 $
Line8= $   USA                                                                $
Line9= $   Tel: 508-278-9100                                                  $
Line10=$   Fax: 505-278-0187                                                  $
Line11=$                                                                      $
Line12=$   www.actech.com                                                     $
Line13=$                                                                      $
Line14=$                                                                      $
Line15=$   All rights reserved.                                               $
Line16=$                                                                      $
Line17=$   Statement:                                                         $
Line18=$     This software/documentation is provided to you on an as is basis $
Line19=$     and without warranty of any kind.  No warranties, express or     $
Line20=$     implied, including, without limitation, any warranties of        $
Line21=$     merchantability or fitness for a particular purpose are being    $
Line22=$     provided by AC Technology. In no event shall AC Technology be    $
Line23=$     liable for any lost development expenses, lost profits, or any   $
Line24=$     incidental, special or consequental damage.                      $
Line25=$                                                                      $
Line26=$   Description:                                                       $
Line27=$     CANopen Electronic Data Sheet for the AC Technology              $
Line28=$     SS94 Drives, DS301 complaint, working in CAN velocity mode       $
Line29=$======================================================================$


;==============================================================================

[FileInfo]
FileName=Drive94V.EDS
FileVersion=2
FileRevision=0
EDSVersion=2.0
Description=EDS for ss94 Servo drive velocity control
CreationTime=01:13 PM
CreationDate=06-01-2005
CreatedBy=AC Tech
ModificationTime=01:13 PM
ModificationDate=06-01-2005
ModifiedBy=AC Tech
;==============================================================================


;==============================================================================
;[StandardDataTypes]
;0x0001=0
;0x0002=0
;0x0003=1
;0x0004=0
;0x0005=1
;0x0006=1
;0x0007=1
;0x0008=1
;0x0009=1
;0x000A=0
;0x000B=0
;0x000C=0
;0x000D=0
;0x000E=0
;0x000F=0
;0x0020=1
;0x0021=1
;0x0022=1
;==============================================================================


;==============================================================================
[DummyUsage]
Dummy0001=1
Dummy0002=1
Dummy0003=1
Dummy0004=1
Dummy0005=1
Dummy0006=1
Dummy0007=1
;==============================================================================


;==============================================================================
[DeviceInfo]
VendorName=AC Technology Corporation
VendorNumber=412
ProductName=908
ProductNumber=1
RevisionNumber=1
OrderCode=0
LSS_Supported=0
Granularity=0
GroupMessaging=0
DynamicChannelsSupported=0
BaudRate_10=1
BaudRate_20=1
BaudRate_50=1
BaudRate_125=1
BaudRate_250=1
BaudRate_500=1
BaudRate_800=0
BaudRate_1000=0
SimpleBootUpSlave=1
SimpleBootUpMaster=0
NrOfRxPdo=1
NrOfTxPdo=1
;==============================================================================


;==============================================================================
[MandatoryObjects]
SupportedObjects=3
1=0x1000
2=0x1001
3=0x1018

[1000]
ParameterName=Device Type
ObjectType=0x07
DataType=0x07
AccessType=ro
DefaultValue=0x00022192
PDOMapping=0

[1001]
ParameterName=Error Register
ObjectType=0x07
DataType=0x05
AccessType=ro
PDOMapping=0
DefaultValue=0x00

[1018]
SubNumber=5
ParameterName=Identity Object
ObjectType=0x09

[1018SUB0]
ParameterName=Number of Entries
ObjectType=0x07
DataType=0x05
AccessType=ro
PDOMapping=0
DefaultValue=0x04

[1018SUB1]
ParameterName=Vendor ID
ObjectType=0x07
DataType=0x07
AccessType=ro
DefaultValue=0x019c
PDOMapping=0

[1018SUB2]
ParameterName=Product Code
ObjectType=0x07
DataType=0x07
AccessType=ro
DefaultValue=0x5e
PDOMapping=0

[1018SUB3]
ParameterName=Revision Number
ObjectType=0x07
DataType=0x07
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[1018SUB4]
ParameterName=Serial Number
ObjectType=0x07
DataType=0x07
AccessType=ro
PDOMapping=0
DefaultValue=0x95a90901
;==============================================================================


;==============================================================================
[OptionalObjects]
SupportedObjects=79
1=0x1008
2=0x1009
3=0x100A
4=0x1017
5=0x1401
6=0x1601
7=0x1801
8=0x1A01
9=0x6040
10=0x6041
11=0x606C
12=0x60FF
13=0x6402
14=0x6403
15=0x6404
16=0x6405
17=0x6406
18=0x6407
19=0x6408
20=0x6409
21=0x640A
22=0x640B
23=0x640C
24=0x640D
25=0x640E
26=0x640F
27=0x6410
28=0x6411
29=0x6412
30=0x6413
31=0x6414
32=0x6416
33=0x6417
34=0x6418
35=0x6419
36=0x641A
37=0x641B
38=0x641C
39=0x641D
40=0x641E
41=0x641F
42=0x6420
43=0x6421
44=0x6422
45=0x6423
46=0x6424
47=0x6425
48=0x6427
49=0x6428
50=0x6429
51=0x642A
52=0x642B
53=0x642C
54=0x642D
55=0x642E
56=0x642F
57=0x6430
58=0x6431
59=0x6432
60=0x6433
61=0x6434
62=0x6435
63=0x6436
64=0x6437
65=0x6438
66=0x6439
67=0x6440
68=0x6441
69=0x6442
70=0x6443
71=0x6444
72=0x6445
73=0x6446
74=0x6447
75=0x6448
76=0x6449
77=0x6450
78=0x6451
79=0x6452

[1008]
ParameterName=Manufacturer Device Name
ObjectType=0x07
DataType=0x09
AccessType=const
DefaultValue=908 
PDOMapping=0

[1009]
ParameterName=Manufacturer Hardware Version
ObjectType=0x07
DataType=0x09
AccessType=const
DefaultValue=101 
PDOMapping=0

[100A]
ParameterName=Manufacturer Software Version
ObjectType=0x07
DataType=0x09
AccessType=const
DefaultValue=112 
PDOMapping=0

[1017]
ParameterName=Producer Heartbeat Time
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0x0000
;------------------------------------------------------------------------------


;------------------------------------------------------------------------------

[1401]
SubNumber=6
ParameterName=Receive PDO 2 Communication Parameter
ObjectType=0x09

[1401sub0]
ParameterName=Largest sub-index supported
ObjectType=0x07
DataType=0x0005
AccessType=ro
DefaultValue=5
PDOMapping=0

[1401sub1]
ParameterName=COB-ID Used by RX PDO
ObjectType=0x07
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID + 0xC0000300   
PDOMapping=0

[1401sub2]
ParameterName=Transmission type
ObjectType=0x07
DataType=0x0005
LowLimit=0    
HighLimit=0xFF
AccessType=rw
PDOMapping=0

[1401sub3]
ParameterName=Reserved (Inhibit Time)
ObjectType=0x07
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1401sub4]
ParameterName=Reserved (compatibility entry)
ObjectType=0x07
DataType=0x0005
AccessType=ro
PDOMapping=0

[1401sub5]
ParameterName=Event timer [ms] (RPDO2 monitoring time)
ObjectType=0x07
DataType=0x0006
LowLimit=0    
HighLimit=0xFFFF
AccessType=rw
DefaultValue=0
PDOMapping=0

;------------------------------------------------------------------------------
[1601]
SubNumber=3
ParameterName=Receive PDO2 Mapping Parameter
ObjectType=0x09

[1601sub0]
ParameterName=Number of mapped application objects in PDO2
ObjectType=0x07
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[1601sub1]
ParameterName=1st mapped object
ObjectType=0x07
DataType=0x0007
AccessType=ro
DefaultValue=0x0x60400010
PDOMapping=0

[1601sub2]
ParameterName=2nd mapped object
ObjectType=0x07
DataType=0x0007
AccessType=ro
DefaultValue=0x60FF0020
PDOMapping=0

;------------------------------------------------------------------------------
[1801]
SubNumber=6
ParameterName=Transmit PDO 2 Parameter
ObjectType=0x09

[1801sub0]
ParameterName=Largest sub-index supported
ObjectType=0x07
DataType=0x0005
AccessType=ro
DefaultValue=0x05
PDOMapping=0

[1801sub1]
ParameterName=COB-ID Used by TX PDO 2
ObjectType=0x07
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID + 0xC0000280
PDOMapping=0

[1801sub2]
ParameterName=Transmission type
ObjectType=0x07
DataType=0x0005
AccessType=rw
PDOMapping=0

[1801sub3]
ParameterName=Inhibit Time [100us]
ObjectType=0x07
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1801sub4]
ParameterName=Reserved
ObjectType=0x07
DataType=0x0005
AccessType=ro
PDOMapping=0

[1801sub5]
ParameterName=Event Timer [ms]
ObjectType=0x07
DataType=0x0006
AccessType=rw
DefaultValue=0x0000
PDOMapping=0

;------------------------------------------------------------------------------
[1A01]
SubNumber=3
ParameterName=Transmit PDO2 Mapping
ObjectType=0x09

[1A01sub0]
ParameterName=Number of mapped application objects in PDO2
ObjectType=0x07
DataType=0x05
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[1A01sub1]
ParameterName=1st Mapped Object
ObjectType=0x07
DataType=0x07
AccessType=ro
DefaultValue=0x60410010
PDOMapping=0

[1A01sub2]
ParameterName=2nd Mapped Object
ObjectType=0x07
DataType=0x07
AccessType=ro
DefaultValue=0x0x606C0020
PDOMapping=0


;------------------------------------------------------------------------------
; Device Profile 402 
;------------------------------------------------------------------------------


[6040]
ParameterName=Drive profile - Control word 
ObjectType=0x7
DataType=0x0006
LowLimit=0    
HighLimit=0xFFFF
AccessType=rw
DefaultValue=0
PDOMapping=1

[6041]
ParameterName=Drive profile - Status word 
ObjectType=0x7
DataType=0x0006
LowLimit=0    
HighLimit=0xFFFF
AccessType=ro
DefaultValue=0
PDOMapping=1

[606C]
ParameterName=Target Velocity
ObjectType=0x07
DataType=0x07
AccessType=rw
DefaultValue=0
PDOMapping=1

[60FF]
ParameterName=Velocity Actual Value
ObjectType=0x07
DataType=0x07
AccessType=ro
DefaultValue=0
PDOMapping=1


[6402]
ParameterName=Torque constant
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6403]
ParameterName=Voltage constant
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6404]
ParameterName=Inductance
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6405]
ParameterName=Resistance
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0x11111111

[6406]
ParameterName=Max. Phase Current
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0x0

[6407]
ParameterName=Terminal Voltage
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[6408]
ParameterName=Rotor Inertia
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6409]
ParameterName=Max Velocity
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[640A]
ParameterName=Hall Code
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[640B]
ParameterName=Number of poles
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[640C]
ParameterName=Encoder
ObjectType=0x07
DataType=0x07
AccessType=rw
PDOMapping=0
DefaultValue=0

[640D]
ParameterName=Current Limit
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[640E]
ParameterName=Peak Current Limit
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[640F]
ParameterName=Invert Analog Input
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0

[6410]
ParameterName=Current Analog Input
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6411]
ParameterName=Velocity Analog Input
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6412]
ParameterName=Acceleration-Deceleration flag
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[6413]
ParameterName=Acceleration Limit
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6414]
ParameterName=Deceleration Limit
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6416]
ParameterName=Step Input Type
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[6417]
ParameterName=Analog output
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[6418]
ParameterName=Current Scale
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6419]
ParameterName=Velocity Scale
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[641A]
ParameterName=Analog Band
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[641B]
ParameterName=Analog offset
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[641C]
ParameterName=Zero speed
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[641D]
ParameterName=Speed Window
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[641E]
ParameterName=At speed
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[641F]
ParameterName=Position Error
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[6420]
ParameterName=Max error time
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6421]
ParameterName=Velocity Proportional gain
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6422]
ParameterName=Velocity Integral gain
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6423]
ParameterName=Position Proportional gain
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6424]
ParameterName=Position Integral Gain
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6425]
ParameterName=D gain
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6427]
ParameterName=I limit
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6428]
ParameterName=Fault reset
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[6429]
ParameterName=Feedback loss
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[642A]
ParameterName=Input 2 Function
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[642B]
ParameterName=Input 2 Polarity
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0

[642C]
ParameterName=Input Bounce delay
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0

[642D]
ParameterName=Input Bounce delay
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0

[642E]
ParameterName= Output Function
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[642F]
ParameterName=Output Function
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[6430]
ParameterName=Output Polarity
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[6431]
ParameterName=Output Polarity
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[6432]
ParameterName=Eset
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[6433]
ParameterName=Feedback Type
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[6434]
ParameterName=Pwm Index
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[6435]
ParameterName=Gear Ratio Top
ObjectType=0x07
DataType=0x03
AccessType=rw
PDOMapping=0
DefaultValue=0

[6436]
ParameterName=Gear Ratio Bottom
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[6437]
ParameterName=Reference Type
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0

[6438]
ParameterName=Motor Temp Sensor Resistance
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[6439]
ParameterName=Motor Temp Sensor Enable
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0

[6440]
ParameterName=Regen Duty Cycle
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0x0064

[6441]
ParameterName=Encoder Repeat Source
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[6442]
ParameterName=Torque Velocity Limit
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6443]
ParameterName=Second Gear Ratio Top
ObjectType=0x07
DataType=0x03
AccessType=rw
PDOMapping=0
DefaultValue=0x0001

[6444]
ParameterName=Second Gear Ratio Bottom
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0x0001

[6445]
ParameterName=Second Enable
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0x00

[6446]
ParameterName=Second I Gain
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6447]
ParameterName=Second Position Err
ObjectType=0x07
DataType=0x06
AccessType=rw
PDOMapping=0
DefaultValue=0

[6448]
ParameterName=Second Max Err Time
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6449]
ParameterName=Velocity Reg Wnd
ObjectType=0x07
DataType=0x03
AccessType=rw
PDOMapping=0
DefaultValue=0

[6450]
ParameterName=Low Peak Current Limit
ObjectType=0x07
DataType=0x08
AccessType=rw
PDOMapping=0
DefaultValue=0

[6451]
ParameterName=CAN Operational State
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0

[6452]
ParameterName=CAN Start Remote Node Delay
ObjectType=0x07
DataType=0x05
AccessType=rw
PDOMapping=0
DefaultValue=0

[ManufacturerObjects]
SupportedObjects=0
