{
  "device": {
    "vendor_name": "Grafito Innovations",
    "vendor_id": "0x000005A3",
    "product_name": "Grafito CANStepper C3",
    "product_code": "0x00004333",
    "revision": "0x00020100",
    "device_type": "0x00040192",
    "firmware": "2.1.0",
    "node_id": 1,
    "bitrate_bps": 1000000
  },
  "units": {
    "position": "MT6701 encoder counts",
    "counts_per_revolution": 16384,
    "degrees": "counts * 360 / 16384"
  },
  "objects": [
    {
      "index": "0x1000",
      "index_int": 4096,
      "subindex": 0,
      "name": "Device Type",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 262546,
      "default_text": "0x00040192",
      "minimum": null,
      "maximum": null,
      "group": "mandatory"
    },
    {
      "index": "0x1001",
      "index_int": 4097,
      "subindex": 0,
      "name": "Error Register",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": null,
      "group": "mandatory"
    },
    {
      "index": "0x1005",
      "index_int": 4101,
      "subindex": 0,
      "name": "COB-ID SYNC",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 128,
      "default_text": "0x80",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1008",
      "index_int": 4104,
      "subindex": 0,
      "name": "Manufacturer Device Name",
      "data_type": "VISIBLE_STRING",
      "data_type_code": "0x0009",
      "access": "ro",
      "pdo_mapping": false,
      "default": "CANStepper",
      "default_text": "CANStepper",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1009",
      "index_int": 4105,
      "subindex": 0,
      "name": "Manufacturer Hardware Version",
      "data_type": "VISIBLE_STRING",
      "data_type_code": "0x0009",
      "access": "ro",
      "pdo_mapping": false,
      "default": "C3",
      "default_text": "C3",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x100A",
      "index_int": 4106,
      "subindex": 0,
      "name": "Manufacturer Software Version",
      "data_type": "VISIBLE_STRING",
      "data_type_code": "0x0009",
      "access": "ro",
      "pdo_mapping": false,
      "default": "2.1.0",
      "default_text": "2.1.0",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1014",
      "index_int": 4116,
      "subindex": 0,
      "name": "COB-ID EMCY",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 129,
      "default_text": "0x81",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1017",
      "index_int": 4119,
      "subindex": 0,
      "name": "Producer Heartbeat Time",
      "data_type": "UNSIGNED16",
      "data_type_code": "0x0006",
      "access": "rw",
      "pdo_mapping": false,
      "default": 1000,
      "default_text": "0x3E8",
      "minimum": 0,
      "maximum": 65535,
      "group": "optional"
    },
    {
      "index": "0x1018",
      "index_int": 4120,
      "subindex": 0,
      "name": "Identity Number of Entries",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 4,
      "default_text": "4",
      "minimum": null,
      "maximum": null,
      "group": "mandatory"
    },
    {
      "index": "0x1018",
      "index_int": 4120,
      "subindex": 1,
      "name": "Vendor ID",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1443,
      "default_text": "0x000005A3",
      "minimum": null,
      "maximum": null,
      "group": "mandatory"
    },
    {
      "index": "0x1018",
      "index_int": 4120,
      "subindex": 2,
      "name": "Product Code",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 17203,
      "default_text": "0x00004333",
      "minimum": null,
      "maximum": null,
      "group": "mandatory"
    },
    {
      "index": "0x1018",
      "index_int": 4120,
      "subindex": 3,
      "name": "Revision Number",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 131328,
      "default_text": "0x00020100",
      "minimum": null,
      "maximum": null,
      "group": "mandatory"
    },
    {
      "index": "0x1018",
      "index_int": 4120,
      "subindex": 4,
      "name": "Serial Number",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1,
      "default_text": "0x00000001",
      "minimum": null,
      "maximum": null,
      "group": "mandatory"
    },
    {
      "index": "0x1200",
      "index_int": 4608,
      "subindex": 0,
      "name": "SDO Server Number of Entries",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 2,
      "default_text": "2",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1200",
      "index_int": 4608,
      "subindex": 1,
      "name": "COB-ID Client to Server",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1537,
      "default_text": "0x601",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1200",
      "index_int": 4608,
      "subindex": 2,
      "name": "COB-ID Server to Client",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1409,
      "default_text": "0x581",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1400",
      "index_int": 5120,
      "subindex": 0,
      "name": "RPDO1 Comm Number of Entries",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 2,
      "default_text": "2",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1400",
      "index_int": 5120,
      "subindex": 1,
      "name": "RPDO1 COB-ID",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 513,
      "default_text": "0x201",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1400",
      "index_int": 5120,
      "subindex": 2,
      "name": "RPDO1 Transmission Type",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 255,
      "default_text": "0xFF",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1401",
      "index_int": 5121,
      "subindex": 0,
      "name": "RPDO2 Comm Number of Entries",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 2,
      "default_text": "2",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1401",
      "index_int": 5121,
      "subindex": 1,
      "name": "RPDO2 COB-ID",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 769,
      "default_text": "0x301",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1401",
      "index_int": 5121,
      "subindex": 2,
      "name": "RPDO2 Transmission Type",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 255,
      "default_text": "0xFF",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1600",
      "index_int": 5632,
      "subindex": 0,
      "name": "RPDO1 Map Number of Entries",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 2,
      "default_text": "2",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1600",
      "index_int": 5632,
      "subindex": 1,
      "name": "RPDO1 Mapping 1",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1614807056,
      "default_text": "0x60400010",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1600",
      "index_int": 5632,
      "subindex": 2,
      "name": "RPDO1 Mapping 2",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1618608160,
      "default_text": "0x607A0020",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1601",
      "index_int": 5633,
      "subindex": 0,
      "name": "RPDO2 Map Number of Entries",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 2,
      "default_text": "2",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1601",
      "index_int": 5633,
      "subindex": 1,
      "name": "RPDO2 Mapping 1",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1614807056,
      "default_text": "0x60400010",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1601",
      "index_int": 5633,
      "subindex": 2,
      "name": "RPDO2 Mapping 2",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1627324448,
      "default_text": "0x60FF0020",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1800",
      "index_int": 6144,
      "subindex": 0,
      "name": "TPDO1 Comm Number of Entries",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 2,
      "default_text": "2",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1800",
      "index_int": 6144,
      "subindex": 1,
      "name": "TPDO1 COB-ID",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 385,
      "default_text": "0x181",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1800",
      "index_int": 6144,
      "subindex": 2,
      "name": "TPDO1 Transmission Type",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 255,
      "default_text": "0xFF",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1801",
      "index_int": 6145,
      "subindex": 0,
      "name": "TPDO2 Comm Number of Entries",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 2,
      "default_text": "2",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1801",
      "index_int": 6145,
      "subindex": 1,
      "name": "TPDO2 COB-ID",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 641,
      "default_text": "0x281",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1801",
      "index_int": 6145,
      "subindex": 2,
      "name": "TPDO2 Transmission Type",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 255,
      "default_text": "0xFF",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1A00",
      "index_int": 6656,
      "subindex": 0,
      "name": "TPDO1 Map Number of Entries",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 2,
      "default_text": "2",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1A00",
      "index_int": 6656,
      "subindex": 1,
      "name": "TPDO1 Mapping 1",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1614872592,
      "default_text": "0x60410010",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1A00",
      "index_int": 6656,
      "subindex": 2,
      "name": "TPDO1 Mapping 2",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1617166368,
      "default_text": "0x60640020",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1A01",
      "index_int": 6657,
      "subindex": 0,
      "name": "TPDO2 Map Number of Entries",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 2,
      "default_text": "2",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1A01",
      "index_int": 6657,
      "subindex": 1,
      "name": "TPDO2 Mapping 1",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1614872592,
      "default_text": "0x60410010",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x1A01",
      "index_int": 6657,
      "subindex": 2,
      "name": "TPDO2 Mapping 2",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1617690656,
      "default_text": "0x606C0020",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x2000",
      "index_int": 8192,
      "subindex": 0,
      "name": "Node ID",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 1,
      "default_text": "1",
      "minimum": 1,
      "maximum": 127,
      "group": "manufacturer"
    },
    {
      "index": "0x2001",
      "index_int": 8193,
      "subindex": 0,
      "name": "Steps Per Revolution",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 200,
      "default_text": "0xC8",
      "minimum": 1,
      "maximum": 100000,
      "group": "manufacturer"
    },
    {
      "index": "0x2002",
      "index_int": 8194,
      "subindex": 0,
      "name": "Microsteps",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 16,
      "default_text": "0x10",
      "minimum": 1,
      "maximum": 256,
      "group": "manufacturer"
    },
    {
      "index": "0x2003",
      "index_int": 8195,
      "subindex": 0,
      "name": "Run Current Percent",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 20,
      "default_text": "0x14",
      "minimum": 1,
      "maximum": 100,
      "group": "manufacturer"
    },
    {
      "index": "0x2004",
      "index_int": 8196,
      "subindex": 0,
      "name": "Hold Current Percent",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 5,
      "default_text": "5",
      "minimum": 0,
      "maximum": 100,
      "group": "manufacturer"
    },
    {
      "index": "0x2005",
      "index_int": 8197,
      "subindex": 0,
      "name": "Stall Threshold",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 10,
      "default_text": "0xA",
      "minimum": null,
      "maximum": 255,
      "group": "manufacturer"
    },
    {
      "index": "0x2006",
      "index_int": 8198,
      "subindex": 0,
      "name": "Invert Direction",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": 1,
      "group": "manufacturer"
    },
    {
      "index": "0x2007",
      "index_int": 8199,
      "subindex": 0,
      "name": "Closed Loop Enable",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 1,
      "default_text": "1",
      "minimum": null,
      "maximum": 1,
      "group": "manufacturer"
    },
    {
      "index": "0x2008",
      "index_int": 8200,
      "subindex": 0,
      "name": "Save Config",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "wo",
      "pdo_mapping": false,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x2009",
      "index_int": 8201,
      "subindex": 0,
      "name": "Load Defaults",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "wo",
      "pdo_mapping": false,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x200A",
      "index_int": 8202,
      "subindex": 0,
      "name": "StealthChop Enable",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 1,
      "default_text": "1",
      "minimum": null,
      "maximum": 1,
      "group": "manufacturer"
    },
    {
      "index": "0x200B",
      "index_int": 8203,
      "subindex": 0,
      "name": "Standstill Mode",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 1,
      "default_text": "1",
      "minimum": null,
      "maximum": 3,
      "group": "manufacturer"
    },
    {
      "index": "0x200C",
      "index_int": 8204,
      "subindex": 0,
      "name": "Endstop Enable",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 1,
      "default_text": "1",
      "minimum": null,
      "maximum": 1,
      "group": "manufacturer"
    },
    {
      "index": "0x200D",
      "index_int": 8205,
      "subindex": 0,
      "name": "Endstop Active High",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 1,
      "default_text": "1",
      "minimum": null,
      "maximum": 1,
      "group": "manufacturer"
    },
    {
      "index": "0x200E",
      "index_int": 8206,
      "subindex": 0,
      "name": "CAN Bitrate",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 1000000,
      "default_text": "0xF4240",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x200F",
      "index_int": 8207,
      "subindex": 0,
      "name": "PID Kp",
      "data_type": "REAL32",
      "data_type_code": "0x0008",
      "access": "rw",
      "pdo_mapping": false,
      "default": 10.0,
      "default_text": "10.0",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x2010",
      "index_int": 8208,
      "subindex": 0,
      "name": "PID Ki",
      "data_type": "REAL32",
      "data_type_code": "0x0008",
      "access": "rw",
      "pdo_mapping": false,
      "default": 0.3,
      "default_text": "0.3",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x2011",
      "index_int": 8209,
      "subindex": 0,
      "name": "PID Kd",
      "data_type": "REAL32",
      "data_type_code": "0x0008",
      "access": "rw",
      "pdo_mapping": false,
      "default": 0.35,
      "default_text": "0.35",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x2012",
      "index_int": 8210,
      "subindex": 0,
      "name": "PID Tolerance Deg",
      "data_type": "REAL32",
      "data_type_code": "0x0008",
      "access": "rw",
      "pdo_mapping": false,
      "default": 0.35,
      "default_text": "0.35",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x2013",
      "index_int": 8211,
      "subindex": 0,
      "name": "Enable On Boot",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": 1,
      "group": "manufacturer"
    },
    {
      "index": "0x2014",
      "index_int": 8212,
      "subindex": 0,
      "name": "Zero On Boot",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": 1,
      "group": "manufacturer"
    },
    {
      "index": "0x2015",
      "index_int": 8213,
      "subindex": 0,
      "name": "Homing Timeout ms",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 30000,
      "default_text": "0x7530",
      "minimum": 100,
      "maximum": 600000,
      "group": "manufacturer"
    },
    {
      "index": "0x2016",
      "index_int": 8214,
      "subindex": 0,
      "name": "Firmware Version",
      "data_type": "UNSIGNED16",
      "data_type_code": "0x0006",
      "access": "ro",
      "pdo_mapping": false,
      "default": 513,
      "default_text": "0x201",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x2017",
      "index_int": 8215,
      "subindex": 0,
      "name": "Encoder OK",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 1,
      "default_text": "1",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x2018",
      "index_int": 8216,
      "subindex": 0,
      "name": "Endstop Active",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x2019",
      "index_int": 8217,
      "subindex": 0,
      "name": "Bus Voltage",
      "data_type": "REAL32",
      "data_type_code": "0x0008",
      "access": "ro",
      "pdo_mapping": false,
      "default": 24.0,
      "default_text": "24.0",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x201A",
      "index_int": 8218,
      "subindex": 0,
      "name": "PID Ka",
      "data_type": "REAL32",
      "data_type_code": "0x0008",
      "access": "rw",
      "pdo_mapping": false,
      "default": 0.04,
      "default_text": "0.04",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x201B",
      "index_int": 8219,
      "subindex": 0,
      "name": "Profile Jerk Deg/s3",
      "data_type": "REAL32",
      "data_type_code": "0x0008",
      "access": "rw",
      "pdo_mapping": false,
      "default": 0.0,
      "default_text": "0.0",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x201C",
      "index_int": 8220,
      "subindex": 0,
      "name": "LUT Enable",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "rw",
      "pdo_mapping": false,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": 1,
      "group": "manufacturer"
    },
    {
      "index": "0x201D",
      "index_int": 8221,
      "subindex": 0,
      "name": "LUT Command",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "wo",
      "pdo_mapping": false,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": 3,
      "group": "manufacturer"
    },
    {
      "index": "0x201E",
      "index_int": 8222,
      "subindex": 0,
      "name": "LUT Valid",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x201F",
      "index_int": 8223,
      "subindex": 0,
      "name": "LUT Peak INL Deg",
      "data_type": "REAL32",
      "data_type_code": "0x0008",
      "access": "ro",
      "pdo_mapping": false,
      "default": 0.0,
      "default_text": "0.0",
      "minimum": null,
      "maximum": null,
      "group": "manufacturer"
    },
    {
      "index": "0x603F",
      "index_int": 24639,
      "subindex": 0,
      "name": "Error Code",
      "data_type": "UNSIGNED16",
      "data_type_code": "0x0006",
      "access": "ro",
      "pdo_mapping": false,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6040",
      "index_int": 24640,
      "subindex": 0,
      "name": "Controlword",
      "data_type": "UNSIGNED16",
      "data_type_code": "0x0006",
      "access": "rw",
      "pdo_mapping": true,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6041",
      "index_int": 24641,
      "subindex": 0,
      "name": "Statusword",
      "data_type": "UNSIGNED16",
      "data_type_code": "0x0006",
      "access": "ro",
      "pdo_mapping": true,
      "default": 576,
      "default_text": "0x240",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x605A",
      "index_int": 24666,
      "subindex": 0,
      "name": "Quick Stop Option Code",
      "data_type": "INTEGER16",
      "data_type_code": "0x0003",
      "access": "rw",
      "pdo_mapping": false,
      "default": 2,
      "default_text": "2",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6060",
      "index_int": 24672,
      "subindex": 0,
      "name": "Modes of Operation",
      "data_type": "INTEGER8",
      "data_type_code": "0x0002",
      "access": "rw",
      "pdo_mapping": true,
      "default": 1,
      "default_text": "1",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6061",
      "index_int": 24673,
      "subindex": 0,
      "name": "Modes of Operation Display",
      "data_type": "INTEGER8",
      "data_type_code": "0x0002",
      "access": "ro",
      "pdo_mapping": true,
      "default": 1,
      "default_text": "1",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6064",
      "index_int": 24676,
      "subindex": 0,
      "name": "Position Actual Value",
      "data_type": "INTEGER32",
      "data_type_code": "0x0004",
      "access": "ro",
      "pdo_mapping": true,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x606C",
      "index_int": 24684,
      "subindex": 0,
      "name": "Velocity Actual Value",
      "data_type": "INTEGER32",
      "data_type_code": "0x0004",
      "access": "ro",
      "pdo_mapping": true,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x607A",
      "index_int": 24698,
      "subindex": 0,
      "name": "Target Position",
      "data_type": "INTEGER32",
      "data_type_code": "0x0004",
      "access": "rw",
      "pdo_mapping": true,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6081",
      "index_int": 24705,
      "subindex": 0,
      "name": "Profile Velocity",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 32768,
      "default_text": "0x8000",
      "minimum": 1,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6083",
      "index_int": 24707,
      "subindex": 0,
      "name": "Profile Acceleration",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 65536,
      "default_text": "0x10000",
      "minimum": 1,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6084",
      "index_int": 24708,
      "subindex": 0,
      "name": "Profile Deceleration",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 65536,
      "default_text": "0x10000",
      "minimum": 1,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6085",
      "index_int": 24709,
      "subindex": 0,
      "name": "Quick Stop Deceleration",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 262144,
      "default_text": "0x40000",
      "minimum": 1,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6098",
      "index_int": 24728,
      "subindex": 0,
      "name": "Homing Method",
      "data_type": "INTEGER8",
      "data_type_code": "0x0002",
      "access": "rw",
      "pdo_mapping": false,
      "default": 35,
      "default_text": "0x23",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6099",
      "index_int": 24729,
      "subindex": 0,
      "name": "Homing Speeds Number of Entries",
      "data_type": "UNSIGNED8",
      "data_type_code": "0x0005",
      "access": "ro",
      "pdo_mapping": false,
      "default": 2,
      "default_text": "2",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6099",
      "index_int": 24729,
      "subindex": 1,
      "name": "Speed During Search for Switch",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 2275,
      "default_text": "0x8E3",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6099",
      "index_int": 24729,
      "subindex": 2,
      "name": "Speed During Search for Zero",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 455,
      "default_text": "0x1C7",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x609A",
      "index_int": 24730,
      "subindex": 0,
      "name": "Homing Acceleration",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "rw",
      "pdo_mapping": false,
      "default": 131072,
      "default_text": "0x20000",
      "minimum": 1,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x60FF",
      "index_int": 24831,
      "subindex": 0,
      "name": "Target Velocity",
      "data_type": "INTEGER32",
      "data_type_code": "0x0004",
      "access": "rw",
      "pdo_mapping": true,
      "default": 0,
      "default_text": "0",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    },
    {
      "index": "0x6502",
      "index_int": 25858,
      "subindex": 0,
      "name": "Supported Drive Modes",
      "data_type": "UNSIGNED32",
      "data_type_code": "0x0007",
      "access": "ro",
      "pdo_mapping": false,
      "default": 37,
      "default_text": "0x25",
      "minimum": null,
      "maximum": null,
      "group": "optional"
    }
  ]
}