; Grafito CANStepper C3 - CANopen Device Configuration File (CiA 306 DCF)
; Firmware 2.1 instance of GrafitoCANStepper.eds for node 2.
; Import the matching 2.1 EDS first (or this DCF if the tool accepts DCF).
; Discard any older GrafitoCANStepper.eds / Node2.dcf (fw 2.0).

[FileInfo]
FileName=GrafitoCANStepper_Node2.dcf
FileVersion=1
FileRevision=2
EDSVersion=4.0
Description=Grafito CANStepper C3 node 2 instance, firmware 2.1
CreationTime=12:00PM
CreationDate=09-13-2026
CreatedBy=Grafito Innovations
ModificationTime=12:00PM
ModificationDate=10-08-2026
ModifiedBy=Grafito Innovations
LastEDS=GrafitoCANStepper.eds

[DeviceInfo]
VendorName=Grafito Innovations
VendorNumber=0x000005A3
ProductName=Grafito CANStepper C3
ProductNumber=0x00004333
RevisionNumber=0x00020100
OrderCode=GRAFITO-CANSTEPPER-C3
BaudRate_10=0
BaudRate_20=0
BaudRate_50=0
BaudRate_125=1
BaudRate_250=1
BaudRate_500=1
BaudRate_800=0
BaudRate_1000=1
SimpleBootUpMaster=0
SimpleBootUpSlave=1
Granularity=8
DynamicChannelsSupported=0
CompactPDO=0
GroupMessaging=0
NrOfRXPDO=2
NrOfTXPDO=2
LSS_Supported=0

[DeviceComissioning]
NodeID=2
NodeName=CANStepper_2
Baudrate=1000
NetNumber=1
NetworkName=GrafitoCAN
LSS_SerialNumber=1

[DummyUsage]
Dummy0001=0
Dummy0002=1
Dummy0003=1
Dummy0004=1
Dummy0005=1
Dummy0006=1
Dummy0007=1

[Comments]
Lines=6
Line1=Firmware 2.1 DCF (FileRevision 2, identity 0x00020100). Discard older EDS/DCF packs - they will not match this board.
Line2=Flash GrafitoCANStepper_C3_CANopen with -DCO_FACTORY_NODE_ID=2 so NMT heartbeat is 0x702. This file is only for node 2.
Line3=Bus 1 Mbps. Apply Vin 5-24 V (typically 24 V). USB-C is data only.
Line4=Units: MT6701 encoder counts (16384 / rev). Modes: pp=1, pv=3, hm=6.
Line5=Commissioned 0x200C=0 so the first jog is not killed by HOME. Enable 6 -> 7 -> 15. Set 0x2006=1 if direction is reversed.
Line6=ParameterValue is this node instance (including COB-IDs). DefaultValue is the factory EDS default ($NODEID placeholders).


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

[OptionalObjects]
SupportedObjects=33
1=0x1005
2=0x1008
3=0x1009
4=0x100A
5=0x1014
6=0x1017
7=0x1200
8=0x1400
9=0x1401
10=0x1600
11=0x1601
12=0x1800
13=0x1801
14=0x1A00
15=0x1A01
16=0x603F
17=0x6040
18=0x6041
19=0x605A
20=0x6060
21=0x6061
22=0x6064
23=0x606C
24=0x607A
25=0x6081
26=0x6083
27=0x6084
28=0x6085
29=0x6098
30=0x6099
31=0x609A
32=0x60FF
33=0x6502

[ManufacturerObjects]
SupportedObjects=32
1=0x2000
2=0x2001
3=0x2002
4=0x2003
5=0x2004
6=0x2005
7=0x2006
8=0x2007
9=0x2008
10=0x2009
11=0x200A
12=0x200B
13=0x200C
14=0x200D
15=0x200E
16=0x200F
17=0x2010
18=0x2011
19=0x2012
20=0x2013
21=0x2014
22=0x2015
23=0x2016
24=0x2017
25=0x2018
26=0x2019
27=0x201A
28=0x201B
29=0x201C
30=0x201D
31=0x201E
32=0x201F

[1000]
ParameterName=Device Type
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x00040192
PDOMapping=0
ParameterValue=0x00040192

[1001]
ParameterName=Error Register
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=0
ParameterValue=0

[1018]
SubNumber=5
ParameterName=Identity
ObjectType=0x9

[1018sub0]
ParameterName=Identity Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=4
PDOMapping=0
ParameterValue=4

[1018sub1]
ParameterName=Vendor ID
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x000005A3
PDOMapping=0
ParameterValue=0x000005A3

[1018sub2]
ParameterName=Product Code
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x00004333
PDOMapping=0
ParameterValue=0x00004333

[1018sub3]
ParameterName=Revision Number
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x00020100
PDOMapping=0
ParameterValue=0x00020100

[1018sub4]
ParameterName=Serial Number
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x00000001
PDOMapping=0
ParameterValue=0x00000001

[1005]
ParameterName=COB-ID SYNC
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x80
PDOMapping=0
ParameterValue=0x80

[1008]
ParameterName=Manufacturer Device Name
ObjectType=0x7
DataType=0x0009
AccessType=ro
DefaultValue=CANStepper
PDOMapping=0
ParameterValue=CANStepper

[1009]
ParameterName=Manufacturer Hardware Version
ObjectType=0x7
DataType=0x0009
AccessType=ro
DefaultValue=C3
PDOMapping=0
ParameterValue=C3

[100A]
ParameterName=Manufacturer Software Version
ObjectType=0x7
DataType=0x0009
AccessType=ro
DefaultValue=2.1.0
PDOMapping=0
ParameterValue=2.1.0

[1014]
ParameterName=COB-ID EMCY
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=$NODEID+0x80
PDOMapping=0
ParameterValue=0x82

[1017]
ParameterName=Producer Heartbeat Time
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0x3E8
PDOMapping=0
ParameterValue=0x3E8
LowLimit=0
HighLimit=65535

[1200]
SubNumber=3
ParameterName=SDO Server
ObjectType=0x9

[1200sub0]
ParameterName=SDO Server Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
ParameterValue=2

[1200sub1]
ParameterName=COB-ID Client to Server
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=$NODEID+0x600
PDOMapping=0
ParameterValue=0x602

[1200sub2]
ParameterName=COB-ID Server to Client
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=$NODEID+0x580
PDOMapping=0
ParameterValue=0x582

[1400]
SubNumber=3
ParameterName=RPDO1 Comm
ObjectType=0x9

[1400sub0]
ParameterName=RPDO1 Comm Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
ParameterValue=2

[1400sub1]
ParameterName=RPDO1 COB-ID
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+0x200
PDOMapping=0
ParameterValue=0x202

[1400sub2]
ParameterName=RPDO1 Transmission Type
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0xFF
PDOMapping=0
ParameterValue=0xFF

[1401]
SubNumber=3
ParameterName=RPDO2 Comm
ObjectType=0x9

[1401sub0]
ParameterName=RPDO2 Comm Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
ParameterValue=2

[1401sub1]
ParameterName=RPDO2 COB-ID
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+0x300
PDOMapping=0
ParameterValue=0x302

[1401sub2]
ParameterName=RPDO2 Transmission Type
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0xFF
PDOMapping=0
ParameterValue=0xFF

[1600]
SubNumber=3
ParameterName=RPDO1 Map
ObjectType=0x9

[1600sub0]
ParameterName=RPDO1 Map Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
ParameterValue=2

[1600sub1]
ParameterName=RPDO1 Mapping 1
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x60400010
PDOMapping=0
ParameterValue=0x60400010

[1600sub2]
ParameterName=RPDO1 Mapping 2
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x607A0020
PDOMapping=0
ParameterValue=0x607A0020

[1601]
SubNumber=3
ParameterName=RPDO2 Map
ObjectType=0x9

[1601sub0]
ParameterName=RPDO2 Map Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
ParameterValue=2

[1601sub1]
ParameterName=RPDO2 Mapping 1
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x60400010
PDOMapping=0
ParameterValue=0x60400010

[1601sub2]
ParameterName=RPDO2 Mapping 2
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x60FF0020
PDOMapping=0
ParameterValue=0x60FF0020

[1800]
SubNumber=3
ParameterName=TPDO1 Comm
ObjectType=0x9

[1800sub0]
ParameterName=TPDO1 Comm Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
ParameterValue=2

[1800sub1]
ParameterName=TPDO1 COB-ID
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+0x180
PDOMapping=0
ParameterValue=0x182

[1800sub2]
ParameterName=TPDO1 Transmission Type
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0xFF
PDOMapping=0
ParameterValue=0xFF

[1801]
SubNumber=3
ParameterName=TPDO2 Comm
ObjectType=0x9

[1801sub0]
ParameterName=TPDO2 Comm Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
ParameterValue=2

[1801sub1]
ParameterName=TPDO2 COB-ID
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+0x280
PDOMapping=0
ParameterValue=0x282

[1801sub2]
ParameterName=TPDO2 Transmission Type
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0xFF
PDOMapping=0
ParameterValue=0xFF

[1A00]
SubNumber=3
ParameterName=TPDO1 Map
ObjectType=0x9

[1A00sub0]
ParameterName=TPDO1 Map Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
ParameterValue=2

[1A00sub1]
ParameterName=TPDO1 Mapping 1
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x60410010
PDOMapping=0
ParameterValue=0x60410010

[1A00sub2]
ParameterName=TPDO1 Mapping 2
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x60640020
PDOMapping=0
ParameterValue=0x60640020

[1A01]
SubNumber=3
ParameterName=TPDO2 Map
ObjectType=0x9

[1A01sub0]
ParameterName=TPDO2 Map Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
ParameterValue=2

[1A01sub1]
ParameterName=TPDO2 Mapping 1
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x60410010
PDOMapping=0
ParameterValue=0x60410010

[1A01sub2]
ParameterName=TPDO2 Mapping 2
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x606C0020
PDOMapping=0
ParameterValue=0x606C0020

[603F]
ParameterName=Error Code
ObjectType=0x7
DataType=0x0006
AccessType=ro
DefaultValue=0
PDOMapping=0
ParameterValue=0

[6040]
ParameterName=Controlword
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=1
ParameterValue=0

[6041]
ParameterName=Statusword
ObjectType=0x7
DataType=0x0006
AccessType=ro
DefaultValue=0x240
PDOMapping=1
ParameterValue=0x240

[605A]
ParameterName=Quick Stop Option Code
ObjectType=0x7
DataType=0x0003
AccessType=rw
DefaultValue=2
PDOMapping=0
ParameterValue=2

[6060]
ParameterName=Modes of Operation
ObjectType=0x7
DataType=0x0002
AccessType=rw
DefaultValue=1
PDOMapping=1
ParameterValue=1

[6061]
ParameterName=Modes of Operation Display
ObjectType=0x7
DataType=0x0002
AccessType=ro
DefaultValue=1
PDOMapping=1
ParameterValue=1

[6064]
ParameterName=Position Actual Value
ObjectType=0x7
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=1
ParameterValue=0

[606C]
ParameterName=Velocity Actual Value
ObjectType=0x7
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=1
ParameterValue=0

[607A]
ParameterName=Target Position
ObjectType=0x7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1
ParameterValue=0

[6081]
ParameterName=Profile Velocity
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x8000
PDOMapping=0
ParameterValue=0x8000
LowLimit=1

[6083]
ParameterName=Profile Acceleration
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x10000
PDOMapping=0
ParameterValue=0x10000
LowLimit=1

[6084]
ParameterName=Profile Deceleration
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x10000
PDOMapping=0
ParameterValue=0x10000
LowLimit=1

[6085]
ParameterName=Quick Stop Deceleration
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x40000
PDOMapping=0
ParameterValue=0x40000
LowLimit=1

[6098]
ParameterName=Homing Method
ObjectType=0x7
DataType=0x0002
AccessType=rw
DefaultValue=0x23
PDOMapping=0
ParameterValue=0x23

[6099]
SubNumber=3
ParameterName=Homing Speeds
ObjectType=0x9

[6099sub0]
ParameterName=Homing Speeds Number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0
ParameterValue=2

[6099sub1]
ParameterName=Speed During Search for Switch
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x8E3
PDOMapping=0
ParameterValue=0x8E3

[6099sub2]
ParameterName=Speed During Search for Zero
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x1C7
PDOMapping=0
ParameterValue=0x1C7

[609A]
ParameterName=Homing Acceleration
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x20000
PDOMapping=0
ParameterValue=0x20000
LowLimit=1

[60FF]
ParameterName=Target Velocity
ObjectType=0x7
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1
ParameterValue=0

[6502]
ParameterName=Supported Drive Modes
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x25
PDOMapping=0
ParameterValue=0x25

[2000]
ParameterName=Node ID
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
ParameterValue=2
LowLimit=1
HighLimit=127

[2001]
ParameterName=Steps Per Revolution
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xC8
PDOMapping=0
ParameterValue=0xC8
LowLimit=1
HighLimit=100000

[2002]
ParameterName=Microsteps
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x10
PDOMapping=0
ParameterValue=0x10
LowLimit=1
HighLimit=256

[2003]
ParameterName=Run Current Percent
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x14
PDOMapping=0
ParameterValue=0x14
LowLimit=1
HighLimit=100

[2004]
ParameterName=Hold Current Percent
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=5
PDOMapping=0
ParameterValue=5
LowLimit=0
HighLimit=100

[2005]
ParameterName=Stall Threshold
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0xA
PDOMapping=0
ParameterValue=0xA
HighLimit=255

[2006]
ParameterName=Invert Direction
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
ParameterValue=0
HighLimit=1

[2007]
ParameterName=Closed Loop Enable
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
ParameterValue=1
HighLimit=1

[2008]
ParameterName=Save Config
ObjectType=0x7
DataType=0x0005
AccessType=wo
DefaultValue=0
PDOMapping=0
ParameterValue=0

[2009]
ParameterName=Load Defaults
ObjectType=0x7
DataType=0x0005
AccessType=wo
DefaultValue=0
PDOMapping=0
ParameterValue=0

[200A]
ParameterName=StealthChop Enable
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
ParameterValue=1
HighLimit=1

[200B]
ParameterName=Standstill Mode
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
ParameterValue=1
HighLimit=3

[200C]
ParameterName=Endstop Enable
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
ParameterValue=0
HighLimit=1

[200D]
ParameterName=Endstop Active High
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=1
PDOMapping=0
ParameterValue=1
HighLimit=1

[200E]
ParameterName=CAN Bitrate
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xF4240
PDOMapping=0
ParameterValue=0xF4240

[200F]
ParameterName=PID Kp
ObjectType=0x7
DataType=0x0008
AccessType=rw
DefaultValue=10.0
PDOMapping=0
ParameterValue=10.0

[2010]
ParameterName=PID Ki
ObjectType=0x7
DataType=0x0008
AccessType=rw
DefaultValue=0.3
PDOMapping=0
ParameterValue=0.3

[2011]
ParameterName=PID Kd
ObjectType=0x7
DataType=0x0008
AccessType=rw
DefaultValue=0.35
PDOMapping=0
ParameterValue=0.35

[2012]
ParameterName=PID Tolerance Deg
ObjectType=0x7
DataType=0x0008
AccessType=rw
DefaultValue=0.35
PDOMapping=0
ParameterValue=0.35

[2013]
ParameterName=Enable On Boot
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
ParameterValue=0
HighLimit=1

[2014]
ParameterName=Zero On Boot
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
ParameterValue=0
HighLimit=1

[2015]
ParameterName=Homing Timeout ms
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x7530
PDOMapping=0
ParameterValue=0x7530
LowLimit=100
HighLimit=600000

[2016]
ParameterName=Firmware Version
ObjectType=0x7
DataType=0x0006
AccessType=ro
DefaultValue=0x201
PDOMapping=0
ParameterValue=0x201

[2017]
ParameterName=Encoder OK
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=1
PDOMapping=0
ParameterValue=1

[2018]
ParameterName=Endstop Active
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=0
ParameterValue=0

[2019]
ParameterName=Bus Voltage
ObjectType=0x7
DataType=0x0008
AccessType=ro
DefaultValue=24.0
PDOMapping=0
ParameterValue=24.0

[201A]
ParameterName=PID Ka
ObjectType=0x7
DataType=0x0008
AccessType=rw
DefaultValue=0.04
PDOMapping=0
ParameterValue=0.04

[201B]
ParameterName=Profile Jerk Deg/s3
ObjectType=0x7
DataType=0x0008
AccessType=rw
DefaultValue=0.0
PDOMapping=0
ParameterValue=0.0

[201C]
ParameterName=LUT Enable
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0
ParameterValue=0
HighLimit=1

[201D]
ParameterName=LUT Command
ObjectType=0x7
DataType=0x0005
AccessType=wo
DefaultValue=0
PDOMapping=0
ParameterValue=0
HighLimit=3

[201E]
ParameterName=LUT Valid
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0
PDOMapping=0
ParameterValue=0

[201F]
ParameterName=LUT Peak INL Deg
ObjectType=0x7
DataType=0x0008
AccessType=ro
DefaultValue=0.0
PDOMapping=0
ParameterValue=0.0