P_BEGIN_GROUP("Common", 0, 0, "CO-")
  P_BEGIN_PARAMETER(0)
    P_NAME("Type1")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Servo type 1/5")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("Type2")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Servo type 2/5")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("Type3")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Servo type 3/5")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("Type4")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Servo type 4/5")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(4)
    P_NAME("Type5")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Servo type 5/5")
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(5)
    P_NAME("HWver")
    P_DEFAULT(0x01050000)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_IP_Addr)
    P_COMMENT("Hardware version")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(6)
    P_NAME("FWver")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_IP_Addr)
    P_COMMENT("Firmware version")
  P_END_PARAMETER(6)
  P_BEGIN_PARAMETER(7)
    P_NAME("FWbuild1")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Firmware build 1/5")
  P_END_PARAMETER(7)
  P_BEGIN_PARAMETER(8)
    P_NAME("FWbuild2")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Firmware build 2/5")
  P_END_PARAMETER(8)
  P_BEGIN_PARAMETER(9)
    P_NAME("FWbuild3")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Firmware build 3/5")
  P_END_PARAMETER(9)
  P_BEGIN_PARAMETER(10)
    P_NAME("FWbuild4")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Firmware build 4/5")
  P_END_PARAMETER(10)
  P_BEGIN_PARAMETER(11)
    P_NAME("FWbuild5")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Firmware build 5/5")
  P_END_PARAMETER(11)
  P_BEGIN_PARAMETER(12)
    P_NAME("IPAddress_udp")
    P_DEFAULT(0xC801A8C0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_IP_Addr)
    P_COMMENT("IP address (needs save and restart to change)")
  P_END_PARAMETER(12)
  P_BEGIN_PARAMETER(13)
    P_NAME("ID")
    P_DEFAULT(1)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("EtherCAT or CAN Node ID (needs save and restart to change)")
  P_END_PARAMETER(13)
  P_BEGIN_PARAMETER(14)
    P_NAME("SyncTime")
    P_DEFAULT(1000)
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Measured sync time")
  P_END_PARAMETER(14)
  P_BEGIN_PARAMETER(15)
    P_NAME("Enable_1G")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: 100M Force FD/HD")
      P_COMBO_BOX_ITEM(1, "1: 1G")
      P_COMBO_BOX_ITEM(2, "2: 100M Force HD (no MDI-X)")
      P_COMBO_BOX_ITEM(3, "3: 100M Force FD (no MDI-X)")
      P_COMBO_BOX_ITEM(4, "4: 100M Auto FD (no pair swap)")
      P_COMBO_BOX_ITEM(5, "5: 100M Auto FD/HD")
      P_COMBO_BOX_ITEM(6, "6: 100M Force HD (no pair swap)")
      P_COMBO_BOX_ITEM(7, "7: 100M Force FD (no pair swap)")
    P_END_COMBO_BOX()
    P_COMMENT("EtherCAT speed mode")
  P_END_PARAMETER(15)
  P_BEGIN_PARAMETER(16)
    P_NAME("SetCycleTime")
    P_DEFAULT(500)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(100, " 100 μs")
      P_COMBO_BOX_ITEM(200, " 200 μs")
      P_COMBO_BOX_ITEM(250, " 250 μs")
      P_COMBO_BOX_ITEM(500, " 500 μs")
      P_COMBO_BOX_ITEM(1000, "1000 μs")
      P_COMBO_BOX_ITEM(2000, "2000 μs")
    P_END_COMBO_BOX()
    P_COMMENT("Desired cycle time")
    P_UNIT("μs")
  P_END_PARAMETER(16)
  P_BEGIN_PARAMETER(17)
    P_NAME("UserProgStart")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: No")
      P_COMBO_BOX_ITEM(1, "1: Yes - from flash")
      P_COMBO_BOX_ITEM(2, "2: Yes - from SD")
    P_END_COMBO_BOX()
    P_COMMENT("Start user PLC program")
  P_END_PARAMETER(17)
  P_BEGIN_PARAMETER(28)
    P_NAME("MapingPar1")
    P_DEFAULT(0x3312)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Maping parameter 1")
  P_END_PARAMETER(28)
  P_BEGIN_PARAMETER(29)
    P_NAME("MapingPar2")
    P_DEFAULT(0x3412)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Maping parameter 2")
  P_END_PARAMETER(29)
  P_BEGIN_PARAMETER(30)
    P_NAME("MACAddress")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt64_MAC_Addr)
    P_COMMENT("MAC address")
    P_UNIT("-")
  P_END_PARAMETER(30)
  P_BEGIN_PARAMETER(32)
    P_NAME("CAN_Baudrate")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(1000, "  1 Mbit/s")
      P_COMBO_BOX_ITEM(800, "800 kbit/s")
      P_COMBO_BOX_ITEM(500, "500 kbit/s")
      P_COMBO_BOX_ITEM(250, "250 kbit/s")
      P_COMBO_BOX_ITEM(125, "125 kbit/s")
      P_COMBO_BOX_ITEM(100, "100 kbit/s")
      P_COMBO_BOX_ITEM(50, " 50 kbit/s")
      P_COMBO_BOX_ITEM(20, " 20 kbit/s")
      P_COMBO_BOX_ITEM(10, " 10 kbit/s")
    P_END_COMBO_BOX()
    P_COMMENT("CAN Baudrate in kbps")
  P_END_PARAMETER(32)
  P_BEGIN_PARAMETER(33)
    P_NAME("CAN_Settings")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Direct CAN settings")
  P_END_PARAMETER(33)
  P_BEGIN_PARAMETER(0)
    P_NAME("Fieldbus")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: EtherCAT")
      P_COMBO_BOX_ITEM(1, "1: CAN bus")
    P_END_COMBO_BOX()
    P_GROUP(13, 13)
    P_COMMENT("Fieldbus source for CANopen (needs save and restart to change)")
    P_UNIT("-")
    P_COMBINE()
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(34)
    P_NAME("Eth_PosDelaySync")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Delay position sync")
  P_END_PARAMETER(34)
  P_BEGIN_PARAMETER(35)
    P_NAME("DefParametersStorage")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: SD-card")
      P_COMBO_BOX_ITEM(1, "1: Flash")
    P_END_COMBO_BOX()
    P_COMMENT("Default parameter storage")
  P_END_PARAMETER(35)
P_END_GROUP("Common")
P_BEGIN_GROUP("Motor", 1, 2, "M-")
  P_BEGIN_PARAMETER(0)
    P_NAME("Name1")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Motor name 1/6")
    P_UNIT("-")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("Name2")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Motor name 2/6")
    P_UNIT("-")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("Name3")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Motor name 3/6")
    P_UNIT("-")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("Name4")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Motor name 4/6")
    P_UNIT("-")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(4)
    P_NAME("Name5")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Motor name 5/6")
    P_UNIT("-")
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(5)
    P_NAME("Name6")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Motor name 6/6")
    P_UNIT("-")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(6)
    P_NAME("Inull")
    P_DEFAULT(1000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Stall current")
    P_UNIT("mA (rms)")
  P_END_PARAMETER(6)
  P_BEGIN_PARAMETER(7)
    P_NAME("Ipeak")
    P_DEFAULT(2000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Peak current")
    P_UNIT("mA")
  P_END_PARAMETER(7)
  P_BEGIN_PARAMETER(8)
    P_NAME("Nmax")
    P_DEFAULT(10000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Maximal mechanical speed of motor - error limit")
    P_UNIT("rpm")
  P_END_PARAMETER(8)
  P_BEGIN_PARAMETER(9)
    P_NAME("Polepairs")
    P_DEFAULT(5)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Num polepairs")
    P_UNIT("-")
  P_END_PARAMETER(9)
  P_BEGIN_PARAMETER(10)
    P_NAME("CommutOffset")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Offset of commutation")
    P_UNIT("-")
  P_END_PARAMETER(10)
  P_BEGIN_PARAMETER(11)
    P_NAME("MinResTerm")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Error limit - Minimal resistivity")
    P_UNIT("Ω")
  P_END_PARAMETER(11)
  P_BEGIN_PARAMETER(12)
    P_NAME("MaxResTerm")
    P_DEFAULT(1500)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Error limit - Maximal resistivity")
    P_UNIT("Ω")
  P_END_PARAMETER(12)
  P_BEGIN_PARAMETER(13)
    P_NAME("StaticBrake")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: No")
      P_COMBO_BOX_ITEM(1, "1: Yes")
    P_END_COMBO_BOX()
    P_COMMENT("Static brake")
    P_UNIT("-")
  P_END_PARAMETER(13)
  P_BEGIN_PARAMETER(14)
    P_NAME("ThermalTimeConst")
    P_DEFAULT(10)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Thermal time constant")
    P_UNIT("s")
  P_END_PARAMETER(14)
  P_BEGIN_PARAMETER(15)
    P_NAME("GetCOffset")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: No")
      P_COMBO_BOX_ITEM(1, "1: Yes")
    P_END_COMBO_BOX()
    P_COMMENT("Wake and shake: get commutation offset before run")
    P_UNIT("-")
  P_END_PARAMETER(15)
  P_BEGIN_PARAMETER(16)
    P_NAME("Ke")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Ke")
    P_UNIT("mV/1000rpm")
  P_END_PARAMETER(16)
  P_BEGIN_PARAMETER(17)
    P_NAME("CommutationSource")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, " 0: Default")
      P_COMBO_BOX_ITEM(1, " 1: Feedback 1")
      P_COMBO_BOX_ITEM(2, " 2: Feedback 2")
      P_COMBO_BOX_ITEM(3, " 3: External Feedback")
      P_COMBO_BOX_ITEM(4, " 4: Hall sensors")
      P_COMBO_BOX_ITEM(10, "10: Asynchronous motor")
      P_COMBO_BOX_ITEM(20, "20: Linear motor")
    P_END_COMBO_BOX()
    P_COMMENT("Commutation source")
    P_UNIT("-")
  P_END_PARAMETER(17)
  P_BEGIN_PARAMETER(18)
    P_NAME("CommutShiftPositive")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Shift of the commutation angle at max speed LimP")
    P_UNIT("-")
  P_END_PARAMETER(18)
  P_BEGIN_PARAMETER(19)
    P_NAME("CommutShiftNegative")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Shift of the commutation angle at max speed LimN")
    P_UNIT("-")
  P_END_PARAMETER(19)
  P_BEGIN_PARAMETER(20)
    P_NAME("MinResTermExt")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Error limit - Minimal resistivity of external thermistor")
    P_UNIT("Ω")
  P_END_PARAMETER(20)
  P_BEGIN_PARAMETER(21)
    P_NAME("MaxResTermExt")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Error limit - Maximal resistivity of external thermistor")
    P_UNIT("Ω")
  P_END_PARAMETER(21)
  P_BEGIN_PARAMETER(22)
    P_NAME("SN1")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Serial number 1/4")
    P_UNIT("-")
  P_END_PARAMETER(22)
  P_BEGIN_PARAMETER(23)
    P_NAME("SN2")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Serial number 2/4")
    P_UNIT("-")
  P_END_PARAMETER(23)
  P_BEGIN_PARAMETER(24)
    P_NAME("SN3")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Serial number 3/4")
    P_UNIT("-")
  P_END_PARAMETER(24)
  P_BEGIN_PARAMETER(25)
    P_NAME("SN4")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Serial number 4/4")
    P_UNIT("-")
  P_END_PARAMETER(25)
  P_BEGIN_PARAMETER(26)
    P_NAME("Un")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("nominal voltage")
    P_UNIT("V")
  P_END_PARAMETER(26)
  P_BEGIN_PARAMETER(27)
    P_NAME("Nn")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("nominal rpm")
    P_UNIT("-")
  P_END_PARAMETER(27)
  P_BEGIN_PARAMETER(28)
    P_NAME("Mn")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("nominal torque")
    P_UNIT("mNm")
  P_END_PARAMETER(28)
  P_BEGIN_PARAMETER(29)
    P_NAME("M0")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Torque in zero speed")
    P_UNIT("mNm")
  P_END_PARAMETER(29)
  P_BEGIN_PARAMETER(30)
    P_NAME("In")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("nominal current")
    P_UNIT("-")
  P_END_PARAMETER(30)
  P_BEGIN_PARAMETER(31)
    P_NAME("kT")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Torque constant")
    P_UNIT("mNm/A")
  P_END_PARAMETER(31)
  P_BEGIN_PARAMETER(32)
    P_NAME("R2ph")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("resistivity two phases")
    P_UNIT("mΩ")
  P_END_PARAMETER(32)
  P_BEGIN_PARAMETER(33)
    P_NAME("L2ph")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("inductance two phases")
    P_UNIT("µH")
  P_END_PARAMETER(33)
  P_BEGIN_PARAMETER(34)
    P_NAME("TempType")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("motor temperature sensor type")
    P_UNIT("-")
  P_END_PARAMETER(34)
  P_BEGIN_SUBGROUP("Induction motor", "IND_")
    P_BEGIN_PARAMETER(35)
      P_NAME("Rs")
      P_DEFAULT(1770)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("stator resistance")
      P_UNIT("mΩ")
    P_END_PARAMETER(35)
    P_BEGIN_PARAMETER(36)
      P_NAME("Ls")
      P_DEFAULT(3480)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("stator inductance")
      P_UNIT("µH")
    P_END_PARAMETER(36)
    P_BEGIN_PARAMETER(37)
      P_NAME("Rr")
      P_DEFAULT(1500)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("rotor resistance")
      P_UNIT("mΩ")
    P_END_PARAMETER(37)
    P_BEGIN_PARAMETER(38)
      P_NAME("Lr")
      P_DEFAULT(3480)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("rotor inductance")
      P_UNIT("µH")
    P_END_PARAMETER(38)
    P_BEGIN_PARAMETER(39)
      P_NAME("Lm")
      P_DEFAULT(76100)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("magnetizing inductance")
      P_UNIT("µH")
    P_END_PARAMETER(39)
    P_BEGIN_PARAMETER(40)
      P_NAME("Id_rms")
      P_DEFAULT(500)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("nominal rms Id current")
      P_UNIT("mA")
    P_END_PARAMETER(40)
    P_BEGIN_PARAMETER(41)
      P_NAME("fn")
      P_DEFAULT(100)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("nominal frequency")
      P_UNIT("Hz")
    P_END_PARAMETER(41)
    P_BEGIN_PARAMETER(42)
      P_NAME("Umin_u_f")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Minimal voltage for low frequencies u/f")
      P_UNIT("V")
    P_END_PARAMETER(42)
    P_BEGIN_PARAMETER(43)
      P_NAME("Umax_u_f")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Maximal voltage for higher frequencies stop increasing voltage")
      P_UNIT("V")
    P_END_PARAMETER(43)
  P_END_SUBGROUP("Induction motor")
P_END_GROUP("Motor")
P_BEGIN_GROUP("Drive", 3, 4, "D-")
  P_BEGIN_PARAMETER(0)
    P_NAME("Name1")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Drive name 1/3")
    P_UNIT("-")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("Name2")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Drive name 2/3")
    P_UNIT("-")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("Name3")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Str)
    P_COMMENT("Drive name 3/3")
    P_UNIT("-")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("Mode")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: off")
      P_COMBO_BOX_ITEM(1, "1: current mode")
      P_COMBO_BOX_ITEM(2, "2: velocity mode")
      P_COMBO_BOX_ITEM(3, "3: position mode")
      P_COMBO_BOX_ITEM(6, "6: speed PG mode")
      P_COMBO_BOX_ITEM(7, "7: position PG mode")
      P_COMBO_BOX_ITEM(20, "20: InductionMotor_U_f")
      P_COMBO_BOX_ITEM(0xDC, "220: DC motor mode")
      P_COMBO_BOX_ITEM(1000005, "1000005: test mode sensorless")
    P_END_COMBO_BOX()
    P_COMMENT("Mode of drive")
    P_UNIT("-")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(4)
    P_NAME("ADC_delay")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("ADC converter delay")
    P_UNIT("-")
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(9)
    P_NAME("OutputPwmFrequency")
    P_DEFAULT(20)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(10, "10kHz")
      P_COMBO_BOX_ITEM(20, "20kHz")
    P_END_COMBO_BOX()
    P_COMMENT("Output pwm frequency (needs save and restart to change)")
    P_UNIT("kHz")
    P_COMBINE()
  P_END_PARAMETER(9)
  P_BEGIN_PARAMETER(10)
    P_NAME("DelayEnable_Hwen")
    P_DEFAULT(10)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Delay enable after HW enable signal")
    P_UNIT("0.1 ms")
  P_END_PARAMETER(10)
  P_BEGIN_PARAMETER(11)
    P_NAME("DelayUnbrake_Enable")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Delay release brake after enable drive")
    P_UNIT("0.1 ms")
  P_END_PARAMETER(11)
  P_BEGIN_PARAMETER(12)
    P_NAME("DelayDisable_Brake")
    P_DEFAULT(10)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Delay disable drive after activating brake")
    P_UNIT("0.1 ms")
  P_END_PARAMETER(12)
  P_BEGIN_PARAMETER(13)
    P_NAME("VoltDCLinkMinErrLim")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Minimal DC link voltage")
    P_UNIT("V")
  P_END_PARAMETER(13)
  P_BEGIN_PARAMETER(14)
    P_NAME("VoltDCLinkMaxErrLim")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Maximal DC link voltage")
    P_UNIT("V")
  P_END_PARAMETER(14)
  P_BEGIN_PARAMETER(15)
    P_NAME("ControlRegPWM")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("special funcs of pwm and adc")
    P_UNIT("-")
    P_COMBINE()
  P_END_PARAMETER(15)
  P_BEGIN_PARAMETER(16)
    P_NAME("Ierr_level")
    P_DEFAULT(150000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Overcurrent error level")
    P_UNIT("mA")
  P_END_PARAMETER(16)
  P_BEGIN_PARAMETER(17)
    P_NAME("Idc_limit")
    P_DEFAULT(50000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Limit suply current from source for one drive")
    P_UNIT("mA")
  P_END_PARAMETER(17)
  P_BEGIN_PARAMETER(18)
    P_NAME("MinResTerm")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Error limit - Minimal resistivity drive sensor")
    P_UNIT("Ω")
  P_END_PARAMETER(18)
  P_BEGIN_PARAMETER(19)
    P_NAME("MaxResTerm")
    P_DEFAULT(1380)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Error limit - Maximal resistivity drive sensor")
    P_UNIT("Ω")
  P_END_PARAMETER(19)
  P_BEGIN_PARAMETER(21)
    P_NAME("EmerDecRamp")
    P_DEFAULT(36000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("emergency deceleration ramp")
    P_UNIT("°/s^2")
  P_END_PARAMETER(21)
  P_BEGIN_PARAMETER(23)
    P_NAME("ErrorMaskEmerDec")
    P_DEFAULT(0x100000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("mask of drive error for emergency deceleration 0 - deactivated = disable")
    P_UNIT("-")
  P_END_PARAMETER(23)
  P_BEGIN_PARAMETER(24)
    P_NAME("DI_MaskEmerStop")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("mask for digital inputs usage for emergency stop - 0 deactivated")
    P_UNIT("-")
  P_END_PARAMETER(24)
  P_BEGIN_PARAMETER(25)
    P_NAME("GuardTimeEmerStop")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("guarding time for communication buses ms - 0 deactivated")
    P_UNIT("ms")
  P_END_PARAMETER(25)
  P_BEGIN_PARAMETER(26)
    P_NAME("MaxResStartFan")
    P_DEFAULT(1230)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Resistivity drive sensor for start fan")
    P_UNIT("Ω")
  P_END_PARAMETER(26)
  P_BEGIN_PARAMETER(27)
    P_NAME("BrakeVoltDCLinkMin")
    P_DEFAULT(350)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Minimal DC link voltage for regenerative braking")
    P_UNIT("V")
    P_COMBINE()
  P_END_PARAMETER(27)
  P_BEGIN_PARAMETER(28)
    P_NAME("BrakeVoltDCLinkMax")
    P_DEFAULT(370)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Maximal DC link voltage for maximal power regenerative braking")
    P_UNIT("V")
    P_COMBINE()
  P_END_PARAMETER(28)
  P_BEGIN_PARAMETER(29)
    P_NAME("BrakeResResistivity")
    P_DEFAULT(100)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Resistivity of regenerative braking resistor ")
    P_UNIT("Ω")
    P_COMBINE()
  P_END_PARAMETER(29)
  P_BEGIN_PARAMETER(30)
    P_NAME("BrakeResMaxPower")
    P_DEFAULT(10)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Maximal regenerative power of resistor")
    P_UNIT("W")
    P_COMBINE()
  P_END_PARAMETER(30)
  P_BEGIN_PARAMETER(31)
    P_NAME("BrakeResContinuousPower")
    P_DEFAULT(5)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Continuous regenerative power of resistor")
    P_UNIT("W")
    P_COMBINE()
  P_END_PARAMETER(31)
  P_BEGIN_PARAMETER(32)
    P_NAME("BrakeResThermalTimeConst")
    P_DEFAULT(10)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Thermal time constant of regenerative brake resistor")
    P_UNIT("s")
    P_COMBINE()
  P_END_PARAMETER(32)
  P_BEGIN_PARAMETER(38)
    P_NAME("VoltDCLinkSoftStart")
    P_DEFAULT(300)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("DC link voltage for drive ready")
    P_UNIT("V")
  P_END_PARAMETER(38)
  P_BEGIN_PARAMETER(39)
    P_NAME("Idc_recu_limit")
    P_DEFAULT(50000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Limit supply current from source for one drive for recuperation")
    P_UNIT("mA")
  P_END_PARAMETER(39)
  P_BEGIN_PARAMETER(42)
    P_NAME("DI_FilterTime")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Digital inputs - low pass filter time. 0.. filter off.")
    P_UNIT("ms")
  P_END_PARAMETER(42)
  P_BEGIN_PARAMETER(43)
 P_NAME("MotorTermExtOnAnInput")
 P_DEFAULT(0)
 P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: OFF")
      P_COMBO_BOX_ITEM(1, "1: ON")
    P_END_COMBO_BOX()
 P_COMMENT("Enable external motor temperature measuring on analogue input.")
 P_UNIT("-")
  P_END_PARAMETER(43)
P_END_GROUP("Drive")
P_BEGIN_GROUP("Current controller", 5, 6, "C-")
  P_BEGIN_PARAMETER(0)
    P_NAME("KQ")
    P_DEFAULT(1000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Current controller Q gain")
    P_UNIT("mV/A")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("Ti")
    P_DEFAULT(1000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Current controller integral time")
    P_UNIT("µs")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("KDr")
    P_DEFAULT(70)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Current controller D relative gain to K")
    P_UNIT("mV/A")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("Tc")
    P_DEFAULT(1000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Time constant of current command filter")
    P_UNIT("µs")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(4)
    P_NAME("Filt")
    P_DEFAULT(10)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Percentage value of current command (100 = 100% goes via filter)")
    P_UNIT("%")
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(5)
    P_NAME("LimN")
    P_DEFAULT(2000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Current negative limit")
    P_UNIT("‰")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(6)
    P_NAME("LimP")
    P_DEFAULT(2000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Current positive limit")
    P_UNIT("‰")
  P_END_PARAMETER(6)
  P_BEGIN_PARAMETER(7)
    P_NAME("VoltLimMin")
    P_DEFAULT(95)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Min voltage limit")
    P_UNIT("% of PWM")
  P_END_PARAMETER(7)
  P_BEGIN_PARAMETER(8)
    P_NAME("VoltLimMax")
    P_DEFAULT(95)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Max voltage limit")
    P_UNIT("% of PWM")
  P_END_PARAMETER(8)
  P_BEGIN_PARAMETER(9)
    P_NAME("CogCompFac")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Cogging compensation factor")
    P_UNIT("%")
  P_END_PARAMETER(9)
P_END_GROUP("Current controller")
P_BEGIN_GROUP("Velocity controller", 7, 8, "V-")
  P_BEGIN_PARAMETER(0)
    P_NAME("K")
    P_DEFAULT(15000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Velocity controller gain")
    P_UNIT("mA/1000rpm")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("Ti")
    P_DEFAULT(10000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Velocity controller integral time")
    P_UNIT("µs")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("LimN")
    P_DEFAULT(6000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Velocity negative limit")
    P_UNIT("rpm")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("LimP")
    P_DEFAULT(6000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Velocity positive limit")
    P_UNIT("rpm")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(4)
    P_NAME("Tfb")
    P_DEFAULT(400)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Time constant of velocity feedback low pass filter")
    P_UNIT("µs")
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(5)
    P_NAME("Tv")
    P_DEFAULT(1000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Time constant of velocity command low pass filter")
    P_UNIT("µs")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(6)
    P_NAME("FiFact")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Velocity filter factor 0 .. not filtered")
    P_UNIT("‰")
  P_END_PARAMETER(6)
  P_BEGIN_PARAMETER(7)
    P_NAME("FreqDiv")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("calculation frequency divider (1=50μs, 2=100μs, ...)")
    P_UNIT("-")
  P_END_PARAMETER(7)
  P_BEGIN_PARAMETER(8)
    P_NAME("SourceSpeedHall")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("relative value of speed measured by hall sensor used for calculation speed")
    P_UNIT("‰")
  P_END_PARAMETER(8)
P_END_GROUP("Velocity controller")
P_BEGIN_GROUP("Position controller", 9, 10, "P-")
  P_BEGIN_PARAMETER(0)
    P_NAME("K")
    P_DEFAULT(5000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Position controller gain")
    P_UNIT("0.001 1/s")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("SFF")
    P_DEFAULT(1000)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Speed feed forward")
    P_UNIT("‰")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("ErrMax64")
    P_DEFAULT(0x00000001ffffffff)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Maximal position error")
    P_UNIT("inc")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(2)
    P_NAME("MaxAngleError")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Maximal angle position error")
    P_UNIT("inc")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("MaxRevolError")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Maximal revolutions position error")
    P_UNIT("1")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(5)
    P_NAME("PosErrLimitAnglePositive")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Positive angle position limit (0 - limitation disabled)")
    P_UNIT("inc")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(6)
    P_NAME("PosErrLimitRevolPosit")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Positive revolutions limit (0 - limit disabled)")
    P_UNIT("1")
  P_END_PARAMETER(6)
  P_BEGIN_PARAMETER(7)
    P_NAME("PosErrLimitAngleNegat")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Negative position angle (0 - limitation disabled)")
    P_UNIT("inc")
  P_END_PARAMETER(7)
  P_BEGIN_PARAMETER(8)
    P_NAME("PosErrLimitRevolNegat")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Negative revolutions limit (0 - limit disabled)")
    P_UNIT("1")
  P_END_PARAMETER(8)
  P_BEGIN_PARAMETER(9)
    P_NAME("Ti")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Integral time")
    P_UNIT("µ")
  P_END_PARAMETER(9)
P_END_GROUP("Position controller")
P_BEGIN_GROUP("Feedback", 11, 12, "F-")
  P_BEGIN_PARAMETER(0)
    P_NAME("Type")
    P_DEFAULT(1)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Feedback type")
    P_UNIT("-")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("Resolution")
    P_DEFAULT(10)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Feedback resolution per revolution")
    P_UNIT("bits")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("IncrEncPulses")
    P_DEFAULT(1024)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Incremental encoder feedback resolution")
    P_UNIT("pulses")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("ExtIncrEncPulses")
    P_DEFAULT(1024)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("External incremental encoder resolution")
    P_UNIT("pulses")
    P_COMBINE()
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(4)
    P_NAME("ResolverPoles")
    P_DEFAULT(2)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Number of resolver poles")
    P_UNIT("-")
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(5)
    P_NAME("LoadMotParams")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: Do not load motor parameters from feedback")
      P_COMBO_BOX_ITEM(1, "1: Compare motor parameters from drive and feedback")
      P_COMBO_BOX_ITEM(2, "2: Load motor parameters from feedback")
    P_END_COMBO_BOX()
    P_COMMENT("Load motor parameters from feedback")
    P_UNIT("-")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(6)
    P_NAME("RevolutionsBits")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Feedback absolute revolutions bits")
    P_UNIT("-")
  P_END_PARAMETER(6)
  P_BEGIN_PARAMETER(7)
    P_NAME("Observer_K1")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Feedback observer constant K1")
    P_UNIT("‰")
  P_END_PARAMETER(7)
  P_BEGIN_PARAMETER(8)
    P_NAME("Observer_K2")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Feedback observer constant K2")
    P_UNIT("‰")
  P_END_PARAMETER(8)
  P_BEGIN_PARAMETER(9)
    P_NAME("RegAddr")
    P_DEFAULT(0xD4)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Feedback register address")
    P_UNIT("-")
  P_END_PARAMETER(9)
  P_BEGIN_PARAMETER(10)
    P_NAME("DataLen")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Number of bytes to read")
    P_UNIT("-")
  P_END_PARAMETER(10)
  P_BEGIN_PARAMETER(11)
    P_NAME("Data0_3")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Read data")
    P_UNIT("-")
  P_END_PARAMETER(11)
  P_BEGIN_PARAMETER(12)
    P_NAME("Data4_7")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Read data")
    P_UNIT("-")
  P_END_PARAMETER(12)
  P_BEGIN_PARAMETER(13)
    P_NAME("HObserver_K1")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Feedback observer constant K1")
    P_UNIT("‰")
  P_END_PARAMETER(13)
  P_BEGIN_PARAMETER(14)
    P_NAME("HObserver_K2")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Feedback observer constant K2")
    P_UNIT("‰")
  P_END_PARAMETER(14)
  P_BEGIN_PARAMETER(15)
    P_NAME("SecondaryFBGearIN")
    P_DEFAULT(1)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("The gear between primary FB (hall) and secondary (digital)")
    P_UNIT("-")
  P_END_PARAMETER(15)
  P_BEGIN_PARAMETER(16)
    P_NAME("SecondaryFBGearOUT")
    P_DEFAULT(1)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("The gear between primary FB (hall) and secondary (digital)")
    P_UNIT("-")
  P_END_PARAMETER(16)
  P_BEGIN_PARAMETER(17)
    P_NAME("MultiturnBits")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Number of bits for multiturn")
    P_UNIT("-")
  P_END_PARAMETER(17)
  P_BEGIN_PARAMETER(18)
    P_NAME("SafetyEncoder")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: No")
      P_COMBO_BOX_ITEM(1, "1: Yes")
    P_END_COMBO_BOX()
    P_COMMENT("Safety encoder is present")
    P_UNIT("-")
  P_END_PARAMETER(18)
  P_BEGIN_PARAMETER(33)
    P_NAME("NegativeDirection")
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: No")
      P_COMBO_BOX_ITEM(1, "1: Yes")
    P_END_COMBO_BOX()
    P_ACCESS(rw)
    P_COMMENT("Change direction of encoder (not for comutation)")
    P_UNIT("-")
  P_END_PARAMETER(33)
  P_BEGIN_PARAMETER(34)
    P_NAME("ExtNegativeDirection")
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: No")
      P_COMBO_BOX_ITEM(1, "1: Yes")
    P_END_COMBO_BOX()
    P_ACCESS(rw)
    P_COMMENT("Change direction of external encoder")
    P_UNIT("-")
  P_END_PARAMETER(34)
  P_BEGIN_PARAMETER(35)
    P_NAME("ExtMode")
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: Incremental encoder input")
      P_COMBO_BOX_ITEM(1, "1: Incremental encoder emulation")
      P_COMBO_BOX_ITEM(2, "2: Step-Dir input")
    P_END_COMBO_BOX()
    P_ACCESS(rw)
    P_COMMENT("External encoder mode")
    P_UNIT("-")
  P_COMBINE()
  P_END_PARAMETER(35)
  P_BEGIN_PARAMETER(36)
    P_NAME("ExtEmulationSource")
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: Off")
      P_COMBO_BOX_ITEM(1, "1: Req. pos axis 1")
      P_COMBO_BOX_ITEM(2, "2: Req. pos axis 2")
      P_COMBO_BOX_ITEM(3, "3: Act pos axis 1")
      P_COMBO_BOX_ITEM(4, "4: Act pos axis 2")
    P_END_COMBO_BOX()
    P_ACCESS(rw)
    P_COMMENT("External encoder emulation source")
    P_UNIT("-")
  P_COMBINE()
  P_END_PARAMETER(36)
  P_BEGIN_SUBGROUP("Feedback SSI", "SSI_")
    P_BEGIN_PARAMETER(19)
      P_NAME("number_message_bits")
      P_DEFAULT(10)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Number of bits in message")
      P_UNIT("-")
    P_END_PARAMETER(19)
    P_BEGIN_PARAMETER(20)
      P_NAME("first_position_MSB_BitNumber")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("First position MSB BitNumber")
      P_UNIT("-")
    P_END_PARAMETER(20)
    P_BEGIN_PARAMETER(21)
      P_NAME("FreqDivisor")
      P_DEFAULT(38)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("75MHz freq divisor")
      P_UNIT("-")
    P_END_PARAMETER(21)
    P_BEGIN_PARAMETER(22)
      P_NAME("MinComCLKPeriod")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Minimal comm period - num spi clocks")
      P_UNIT("-")
    P_END_PARAMETER(22)
    P_BEGIN_PARAMETER(23)
      P_NAME("FirstBitDataPart0")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("First bit Data 0")
      P_UNIT("-")
    P_END_PARAMETER(23)
    P_BEGIN_PARAMETER(24)
      P_NAME("NumBitsDataPart0")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Num bits Data 0")
      P_UNIT("-")
    P_END_PARAMETER(24)
    P_BEGIN_PARAMETER(25)
      P_NAME("FirstBitDataPart1")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("First Bit Data 1")
      P_UNIT("-")
    P_END_PARAMETER(25)
    P_BEGIN_PARAMETER(26)
      P_NAME("NumBitsDataPart1")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Num bits data 1")
      P_UNIT("-")
    P_END_PARAMETER(26)
    P_BEGIN_PARAMETER(27)
      P_NAME("CRC_CalcFromBit")
      P_DEFAULT(-1)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(Int32_Dec)
      P_COMMENT("CRC calc from bit num, -1 CRC disabled")
      P_UNIT("-")
    P_END_PARAMETER(27)
    P_BEGIN_PARAMETER(28)
      P_NAME("ErrorMaskDataPart0")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Error mask")
      P_UNIT("-")
    P_END_PARAMETER(28)
    P_BEGIN_PARAMETER(29)
      P_NAME("NegativeErrorMaskDataPart0")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Negative error mask")
      P_UNIT("-")
    P_END_PARAMETER(29)
    P_BEGIN_PARAMETER(30)
      P_NAME("ErrorMaskDataPart1")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Error mask")
      P_UNIT("-")
    P_END_PARAMETER(30)
    P_BEGIN_PARAMETER(31)
      P_NAME("NegativeErrorMaskDataPart1")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Negative error mask")
      P_UNIT("-")
    P_END_PARAMETER(31)
  P_END_SUBGROUP("Feedback SSI")
P_END_GROUP("Feedback")
P_BEGIN_GROUP("Command", 17, 18, "K-")
  P_BEGIN_PARAMETER(0)
    P_NAME("Command")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Command bits[1,0]=01 .. SW enable")
    P_UNIT("-")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("rI")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Required current (current mode = 1)")
    P_UNIT("mA")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("rV")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Required velocity (velocity mode = 2)")
    P_UNIT("rpm")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("rP_Angle")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Required position (angle) (position mode)")
    P_UNIT("-")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(4)
    P_NAME("rP_Revol")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Required position (revolutions) (position mode)")
    P_UNIT("-")
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(5)
    P_NAME("rVoltageQ")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Required voltage")
    P_UNIT("‰")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(6)
    P_NAME("rVoltageD")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Required voltage")
    P_UNIT("‰")
  P_END_PARAMETER(6)
  P_BEGIN_PARAMETER(7)
    P_NAME("ParamCommand")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Save, load parameterss")
    P_UNIT("-")
  P_END_PARAMETER(7)
  P_BEGIN_PARAMETER(8)
    P_NAME("UsrPrgCommand")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("save/load to/from  .. SD,flash")
    P_UNIT("-")
  P_END_PARAMETER(8)
  P_BEGIN_PARAMETER(9)
    P_NAME("DigitalOutputForce_Set")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("force outputs (set bits)")
    P_UNIT("-")
  P_END_PARAMETER(9)
  P_BEGIN_PARAMETER(10)
    P_NAME("DigitalOutputForce_Clr")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("force outputs (clear bits)")
    P_UNIT("-")
  P_END_PARAMETER(10)
  P_BEGIN_PARAMETER(11)
    P_NAME("DigitalOutputEx")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("set ouputs")
    P_UNIT("-")
  P_END_PARAMETER(11)
  P_BEGIN_PARAMETER(12)
    P_NAME("rId")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Required current (current mode = 1)")
    P_UNIT("mA")
  P_END_PARAMETER(12)
  P_BEGIN_PARAMETER(13)
    P_NAME("ResetGuarding")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("reset of guarding by write 0xAA55")
    P_UNIT("--")
  P_END_PARAMETER(13)
P_END_GROUP("Command")
P_BEGIN_GROUP("Monitoring", 19, 20, "MON-")
  P_BEGIN_PARAMETER(0)
    P_NAME("Monitor-Counter")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Main counter")
    P_UNIT("-")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("aIa")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual current phase A")
    P_UNIT("mA")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("aIb")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual current phase B")
    P_UNIT("mA")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("aIc")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual current phase C")
    P_UNIT("mA")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(4)
    P_NAME("aIalfa")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual current alfa")
    P_UNIT("mA")
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(5)
    P_NAME("aIbeta")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual current beta")
    P_UNIT("mA")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(6)
    P_NAME("aIq")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual current q")
    P_UNIT("mA")
  P_END_PARAMETER(6)
  P_BEGIN_PARAMETER(7)
    P_NAME("aId")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual current d")
    P_UNIT("mA")
  P_END_PARAMETER(7)
  P_BEGIN_PARAMETER(8)
    P_NAME("aUq")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual voltage q")
    P_UNIT("V")
  P_END_PARAMETER(8)
  P_BEGIN_PARAMETER(9)
    P_NAME("aUd")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual voltage d")
    P_UNIT("V")
  P_END_PARAMETER(9)
  P_BEGIN_PARAMETER(10)
    P_NAME("aUalfa")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual voltage alfa")
    P_UNIT("V")
  P_END_PARAMETER(10)
  P_BEGIN_PARAMETER(11)
    P_NAME("aUbeta")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual voltage beta")
    P_UNIT("V")
  P_END_PARAMETER(11)
  P_BEGIN_PARAMETER(12)
    P_NAME("aPWMa")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual duty cycle phase A")
    P_UNIT("%")
  P_END_PARAMETER(12)
  P_BEGIN_PARAMETER(13)
    P_NAME("aPWMb")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual duty cycle phase B")
    P_UNIT("%")
  P_END_PARAMETER(13)
  P_BEGIN_PARAMETER(14)
    P_NAME("aPWMc")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual duty cycle phase C")
    P_UNIT("%")
  P_END_PARAMETER(14)
  P_BEGIN_PARAMETER(15)
    P_NAME("aEAngle")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Electric motor angle")
    P_UNIT("inc")
  P_END_PARAMETER(15)
  P_BEGIN_PARAMETER(16)
    P_NAME("aPos_64bit")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Actual position")
    P_UNIT("inc")
  P_END_PARAMETER(16)
  P_BEGIN_PARAMETER(16)
    P_NAME("aAngle")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Actual position per revolution")
  P_END_PARAMETER(16)
  P_BEGIN_PARAMETER(17)
    P_NAME("aRevol")
    P_MONITOR()
    P_ACCESS(ro)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual number of revolutions")
  P_END_PARAMETER(17)
  P_BEGIN_PARAMETER(18)
    P_NAME("aSpeed")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual motor speed")
    P_UNIT("rpm")
  P_END_PARAMETER(18)
  P_BEGIN_PARAMETER(19)
    P_NAME("aSpeedFB")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual feedback speed")
    P_UNIT("rpm")
  P_END_PARAMETER(19)
  P_BEGIN_PARAMETER(20)
    P_NAME("aSpeedError")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual speed error")
    P_UNIT("rpm")
  P_END_PARAMETER(20)
  P_BEGIN_PARAMETER(28)
    P_NAME("aPositionError_64bit")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Actual position error")
    P_UNIT("inc")
  P_END_PARAMETER(28)
  P_BEGIN_PARAMETER(28)
    P_NAME("aAngleError")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Actual angle error")
    P_UNIT("inc")
  P_END_PARAMETER(28)
  P_BEGIN_PARAMETER(29)
    P_NAME("aRevolError")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual revolution error")
    P_UNIT("1")
  P_END_PARAMETER(29)
  P_BEGIN_PARAMETER(31)
    P_NAME("aParamStatus")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Parameter command status")
    P_UNIT("-")
  P_END_PARAMETER(31)
 P_BEGIN_SUBGROUP("Power board diagnostics", "PB-")
  P_BEGIN_PARAMETER(33)
  P_NAME("PBProc_device_status")
  P_ACCESS(ro)
  P_MONITOR()
  P_DISPLAY_TYPE(uInt32_Hex)
  P_COMMENT("Power board int. status.")
  P_UNIT("-")
  P_END_PARAMETER(33)
  P_BEGIN_PARAMETER(34)
  P_NAME("PBProc_device_errors")
  P_ACCESS(ro)
  P_MONITOR()
  P_DISPLAY_TYPE(uInt32_Hex)
  P_COMMENT("Power board errors")
  P_UNIT("-")
  P_END_PARAMETER(34)
  P_BEGIN_PARAMETER(35)
  P_NAME("PBProc_device_dig_inputs")
  P_ACCESS(ro)
  P_MONITOR()
  P_DISPLAY_TYPE(uInt32_Bin)
  P_COMMENT("Power board input signals")
  P_UNIT("-")
  P_END_PARAMETER(35)
  P_BEGIN_PARAMETER(91)
     P_NAME("PBProc_int_temp")
       P_ACCESS(ro)
       P_MONITOR()
       P_DISPLAY_TYPE(uInt32_Dec)
       P_COMMENT("Power board - temperature")
       P_UNIT("Ohm")
  P_END_PARAMETER(91)
  P_BEGIN_PARAMETER(92)
     P_NAME("PBProc_mot_temp")
       P_ACCESS(ro)
       P_MONITOR()
       P_DISPLAY_TYPE(uInt32_Dec)
       P_COMMENT("Power board - Ext. motor temperature")
       P_UNIT("Ohm")
  P_END_PARAMETER(92)
  P_BEGIN_PARAMETER(94)
    P_NAME("PBProc_FB12V")
      P_ACCESS(ro)
      P_MONITOR()
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Power board - supply  11.5V")
      P_UNIT("mV")
  P_END_PARAMETER(94)
  P_BEGIN_PARAMETER(95)
    P_NAME("PBProc_FB5V")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Power board - supply 5V")
    P_UNIT("mV")
  P_END_PARAMETER(95)
  P_BEGIN_PARAMETER(96)
     P_NAME("PBProc_FB3V3")
     P_ACCESS(ro)
     P_MONITOR()
     P_DISPLAY_TYPE(uInt32_Dec)
     P_COMMENT("Power board - supply 3.3V")
     P_UNIT("mV")
  P_END_PARAMETER(96)
  P_BEGIN_PARAMETER(109)
    P_NAME("PBProc_temp_adc_raw_errval")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("hodnota adc zachytena pri poslednej chybe")
    P_UNIT("raw")
  P_END_PARAMETER(109)
  P_BEGIN_PARAMETER(110)
    P_NAME("PBProc_temp_adc_err_num")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("pocet chyb")
    P_UNIT("-")
  P_END_PARAMETER(110)
  P_BEGIN_PARAMETER(111)
    P_NAME("PBProc_monitor_counter")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("pocitadlo cyklu monit.")
    P_UNIT("-")
  P_END_PARAMETER(111)
 P_END_SUBGROUP("Power board diagnostics")
  P_BEGIN_PARAMETER(37)
    P_NAME("aDriveStatus")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Axis status value")
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(0, "Enabled")
      P_BIT_EXT_ITEM(1, "HW Enable")
      P_BIT_EXT_ITEM(2, "SW Enable")
      P_BIT_EXT_ITEM(3, "Motor unbrake")
      P_BIT_EXT_ITEM(4, "No error")
      P_BIT_EXT_ITEM(5, "Init OK")
      P_BIT_EXT_ITEM(6, "Fieldbus mode")
      P_BIT_EXT_ITEM(7, "Feedback ready")
      P_BIT_EXT_ITEM(8, "Emergency stop")
      P_BIT_EXT_ITEM(9, "End of emergency stop")
      P_BIT_EXT_ITEM(10, "CoE mode")
    P_END_BIT_EXT()
    P_UNIT("-")
  P_END_PARAMETER(37)
  P_BEGIN_PARAMETER(38)
    P_NAME("aDriveError")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(2, "Internal")
      P_BIT_EXT_ITEM(3, "Over voltage DC-link")
      P_BIT_EXT_ITEM(4, "Under voltage DC-link")
      P_BIT_EXT_ITEM(5, "STO diagnostic")
      P_BIT_EXT_ITEM(6, "Motor brake")
      P_BIT_EXT_ITEM(9, "Motor temperature")
      P_BIT_EXT_ITEM(11, "Drive temperature")
      P_BIT_EXT_ITEM(12, "Feedback")
      P_BIT_EXT_ITEM(14, "Over speed")
      P_BIT_EXT_ITEM(15, "Contouring (position)")
      P_BIT_EXT_ITEM(17, "Fieldbus")
      P_BIT_EXT_ITEM(19, "Current")
      P_BIT_EXT_ITEM(20, "Emergency stop")
      P_BIT_EXT_ITEM(21, "Driver saturation")
      P_BIT_EXT_ITEM(22, "Regen power")
      P_BIT_EXT_ITEM(27, "Parameter")
    P_END_BIT_EXT()
    P_COMMENT("Actual axis error code")
    P_UNIT("-")
  P_END_PARAMETER(38)
  P_BEGIN_PARAMETER(39)
    P_NAME("aDriveWarning")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(4, "Under voltage DC-link")
      P_BIT_EXT_ITEM(10, "Fan err")
    P_END_BIT_EXT()
    P_COMMENT("Actual drive warning code")
    P_UNIT("-")
  P_END_PARAMETER(39)
  P_BEGIN_PARAMETER(40)
    P_NAME("AnInput")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Analog Input")
    P_UNIT("‰")
  P_END_PARAMETER(40)
  P_BEGIN_PARAMETER(41)
    P_NAME("VoltDCLink")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("VoltDCLink")
    P_UNIT("V")
  P_END_PARAMETER(41)
  P_BEGIN_PARAMETER(42)
    P_NAME("OnChipTemp")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("On chip temperature")
    P_UNIT("°C")
  P_END_PARAMETER(42)
  P_BEGIN_PARAMETER(43)
    P_NAME("ec_SetPointAngle")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Desired EtherCAT position per revolution")
    P_UNIT("inc")
  P_END_PARAMETER(43)
  P_BEGIN_PARAMETER(44)
    P_NAME("ec_SetPointRevol")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Desired EtherCAT number of revolutions")
    P_UNIT("1")
  P_END_PARAMETER(44)
  P_BEGIN_PARAMETER(45)
    P_NAME("ec_control")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("EtherCAT control word (native)")
    P_UNIT("-")
  P_END_PARAMETER(45)
  P_BEGIN_PARAMETER(46)
    P_NAME("ec_currentSetPoint")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Desired EtherCAT current value (normalized)")
    P_UNIT("-")
  P_END_PARAMETER(46)
  P_BEGIN_PARAMETER(47)
    P_NAME("ec_currentLimit")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Normalized EtherCAT current limit")
    P_UNIT("-")
  P_END_PARAMETER(47)
  P_BEGIN_PARAMETER(48)
    P_NAME("Digital_Inputs")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("D1: IN1,IN3,IN5,IN7 D2: IN2,IN4,IN6,IN8")
    P_UNIT("-")
  P_END_PARAMETER(48)
  P_BEGIN_PARAMETER(49)
    P_NAME("Motor_temperature")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Motor temperature expressed as thermistor resistance")
    P_UNIT("Ω")
  P_END_PARAMETER(49)
  P_BEGIN_PARAMETER(50)
    P_NAME("rIq")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Required current (input - current controller)")
    P_UNIT("mA")
  P_END_PARAMETER(50)
  P_BEGIN_PARAMETER(51)
    P_NAME("Ia_rms")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("actual current Q")
    P_UNIT("mA")
  P_END_PARAMETER(51)
  P_BEGIN_PARAMETER(52)
    P_NAME("Ib_rms")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("actual current D")
    P_UNIT("mA")
  P_END_PARAMETER(52)
  P_BEGIN_PARAMETER(53)
    P_NAME("Ic_rms")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("")
    P_UNIT("mA")
  P_END_PARAMETER(53)
  P_BEGIN_PARAMETER(54)
    P_NAME("I_rms")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("")
    P_UNIT("mA")
  P_END_PARAMETER(54)
 P_BEGIN_PARAMETER(55)
    P_NAME("aI2t")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("")
    P_UNIT("mA")
  P_END_PARAMETER(55)
  P_BEGIN_PARAMETER(56)
    P_NAME("rPos_64bit")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Required position")
    P_UNIT("inc")
  P_END_PARAMETER(56)
  P_BEGIN_PARAMETER(56)
    P_NAME("rAngle")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Required position per revolution  (input - position controller)")
    P_UNIT("inc")
  P_END_PARAMETER(56)
  P_BEGIN_PARAMETER(57)
    P_NAME("rRevol")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Required number of revolutions (input - position controller)")
    P_UNIT("1")
  P_END_PARAMETER(57)
  P_BEGIN_PARAMETER(58)
    P_NAME("rSpeed")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Required speed (input - speed controller)")
    P_UNIT("rpm")
  P_END_PARAMETER(58)
  P_BEGIN_PARAMETER(59)
    P_NAME("DSL_status")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Status of the DSL fb encoder")
    P_UNIT("bit")
  P_END_PARAMETER(59)
  P_BEGIN_PARAMETER(60)
    P_NAME("DO")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Digital outputs ")
    P_UNIT("bit")
  P_END_PARAMETER(60)
  P_BEGIN_PARAMETER(61)
    P_NAME("Icogcomp")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Required current for cogging compensation")
    P_UNIT("mA")
  P_END_PARAMETER(61)
  P_BEGIN_PARAMETER(62)
    P_NAME("aExtPos64")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Actual external encoder position")
    P_UNIT("inc")
  P_END_PARAMETER(62)
  P_BEGIN_PARAMETER(62)
    P_NAME("aExtAngle")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Actual position per revolution - external encoder")
    P_UNIT("inc")
  P_END_PARAMETER(62)
  P_BEGIN_PARAMETER(63)
    P_NAME("aExtRevol")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual number of revolutions - external encoder")
    P_UNIT("1")
  P_END_PARAMETER(63)
  P_BEGIN_PARAMETER(64)
    P_NAME("C-PacketTime")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Measured inter-packet time")
    P_UNIT("-")
  P_END_PARAMETER(64)
  P_BEGIN_PARAMETER(65)
    P_NAME("ecatPHY_1")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("ECAT PHY Status reg")
    P_UNIT("bit")
  P_END_PARAMETER(65)
  P_BEGIN_PARAMETER(66)
    P_NAME("ecatPHY_6")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("PHY auto negotiation exp. reg")
    P_UNIT("bit")
  P_END_PARAMETER(66)
  P_BEGIN_PARAMETER(67)
    P_NAME("ecatPHY_10")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("PHY M/S Stat. reg ")
    P_UNIT("bit")
  P_END_PARAMETER(67)
  P_BEGIN_PARAMETER(68)
    P_NAME("ecatPHY_U0")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("PHY U0 reg")
    P_UNIT("bit")
  P_END_PARAMETER(68)
  P_BEGIN_PARAMETER(69)
    P_NAME("DIex")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("SPI IOE inputs")
    P_UNIT("-")
  P_END_PARAMETER(69)
  P_BEGIN_PARAMETER(70)
    P_NAME("aResolverAngle")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual position per revolution - resolver")
    P_UNIT("inc")
  P_END_PARAMETER(70)
  P_BEGIN_PARAMETER(71)
    P_NAME("aResolverError")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(0, "Configuration parity error")
      P_BIT_EXT_ITEM(1, "Phase error exceeds phase lock range")
      P_BIT_EXT_ITEM(2, "Velocity exceeds maximum tracking rate")
      P_BIT_EXT_ITEM(3, "Tracking error exceeds LOT threshold")
      P_BIT_EXT_ITEM(4, "Sine/cosine inputs exceed DOS mismatch threshold")
      P_BIT_EXT_ITEM(5, "Sine/cosine inputs exceed DOS over range threshold")
      P_BIT_EXT_ITEM(6, "Sine/cosine inputs below LOS threshold")
      P_BIT_EXT_ITEM(7, "Sine/cosine inputs clipped")
    P_END_BIT_EXT()
    P_COMMENT("Detailed resolver error")
    P_UNIT("bits")
  P_END_PARAMETER(71)
  P_BEGIN_PARAMETER(72)
    P_NAME("Iq_filt")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("filtered current Iq")
    P_UNIT("mA")
  P_END_PARAMETER(72)
  P_BEGIN_PARAMETER(73)
    P_NAME("I_DCLink")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("current from source")
    P_UNIT("mA")
  P_END_PARAMETER(73)
  P_BEGIN_PARAMETER(74)
    P_NAME("E_consumption_mAh")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("energy from source")
    P_UNIT("mAh")
  P_END_PARAMETER(74)
  P_BEGIN_PARAMETER(75)
    P_NAME("E_recuperation_mAh")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("energy to source ")
    P_UNIT("mAh")
  P_END_PARAMETER(75)
  P_BEGIN_PARAMETER(76)
    P_NAME("aDriveErrorDetailedB3B0")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(18, "SPI not ready")
      P_BIT_EXT_ITEM(19, "Safety timeout")
      P_BIT_EXT_ITEM(20, "ADC not ready")
    P_END_BIT_EXT()
    P_COMMENT("Initialization: additional error information")
    P_UNIT("-")
  P_END_PARAMETER(76)
  P_BEGIN_PARAMETER(77)
    P_NAME("aDriveErrorDetailedB7B4")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(10, "Diagnostics mismatch")
    P_END_BIT_EXT()
    P_COMMENT("STO: additional error information")
    P_UNIT("-")
  P_END_PARAMETER(77)
  P_BEGIN_PARAMETER(78)
    P_NAME("aDriveErrorDetailedB11B8")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Reserved for future diagnostics")
    P_UNIT("-")
  P_END_PARAMETER(78)
  P_BEGIN_PARAMETER(79)
    P_NAME("aDriveErrorDetailedB15B12")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(0, "CRC")
      P_BIT_EXT_ITEM(1, "timeout")
      P_BIT_EXT_ITEM(2, "encoder error 1")
      P_BIT_EXT_ITEM(3, "encoder error 2")
      P_BIT_EXT_ITEM(4, "warning")
      P_BIT_EXT_ITEM(8, "timeout")
      P_BIT_EXT_ITEM(24, "positive position limit reached")
      P_BIT_EXT_ITEM(25, "negative position limit reached")
    P_END_BIT_EXT()
    P_COMMENT("Feedback: additional error information")
    P_UNIT("-")
  P_END_PARAMETER(79)
  P_BEGIN_PARAMETER(80)
    P_NAME("aDriveErrorDetailedB19B16")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(24, "No motor")
    P_END_BIT_EXT()
    P_COMMENT("Motor: additional error information")
    P_UNIT("-")
  P_END_PARAMETER(80)
  P_BEGIN_PARAMETER(81)
    P_NAME("aDriveErrorDetailedB23B20")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(0, "Emergency stop from digital input")
      P_BIT_EXT_ITEM(1, "Emergency stop guarding")
      P_BIT_EXT_ITEM(8, "Driver saturation")
      P_BIT_EXT_ITEM(9, "Driver not ready")
      P_BIT_EXT_ITEM(10, "Over current (short circuit)")
    P_END_BIT_EXT()
    P_COMMENT("Driver: additional error information")
    P_UNIT("-")
  P_END_PARAMETER(81)
  P_BEGIN_PARAMETER(82)
    P_NAME("aDriveErrorDetailedB27B24")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "No error")
      P_COMBO_BOX_ITEM(16777216, "Invalid SD card")
      P_COMBO_BOX_ITEM(33554432, "Parameters from different firmware version")
      P_COMBO_BOX_ITEM(50331648, "Cannot read parameters file")
      P_COMBO_BOX_ITEM(67108864, "Cannot read parameters from feedback")
      P_COMBO_BOX_ITEM(83886080, "Invalid SD card + Cannot read parameters from feedback")
      P_COMBO_BOX_ITEM(100663296, "Parameters from different firmware version + Cannot read parameters from feedback")
      P_COMBO_BOX_ITEM(117440512, "Cannot read parameters file + Cannot read parameters from feedback")
    P_END_COMBO_BOX()
    P_COMMENT("Parameters: additional error information")
    P_UNIT("-")
  P_END_PARAMETER(82)
  P_BEGIN_PARAMETER(83)
    P_NAME("aDriveErrorDetailedB31B28")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Reserved for future diagnostics")
    P_UNIT("-")
  P_END_PARAMETER(83)
  P_BEGIN_PARAMETER(84)
    P_NAME("aPositionError")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("position error (resolution PG)")
    P_UNIT("pg_inc")
  P_END_PARAMETER(84)
  P_BEGIN_PARAMETER(85)
    P_NAME("aMainLoopTime")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("time of main loop cycle ")
    P_UNIT("µs")
    P_COMBINE()
  P_END_PARAMETER(85)
  P_BEGIN_PARAMETER(86)
    P_NAME("MaxPositive_Iq")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("maximal Iq from drive start")
    P_UNIT("mA")
  P_END_PARAMETER(86)
  P_BEGIN_PARAMETER(87)
    P_NAME("MaxNegative_Iq")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("maximal negative Iq from drive start")
    P_UNIT("mA")
  P_END_PARAMETER(87)
  P_BEGIN_PARAMETER(88)
    P_NAME("MaxPositive_Speed")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("maximal speed from drive start")
    P_UNIT("rpm")
  P_END_PARAMETER(88)
  P_BEGIN_PARAMETER(89)
    P_NAME("MaxNegative_Speed")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("maximal negative speed from drive start ")
    P_UNIT("rpm")
  P_END_PARAMETER(89)
  P_BEGIN_PARAMETER(90)
    P_NAME("PacketCounter")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("bus packet counter ")
    P_UNIT("-")
  P_END_PARAMETER(90)
  P_BEGIN_PARAMETER(32)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_NAME("ec_errPacketCnt")
    P_ACCESS(ro)
    P_COMMENT("Damaged packets counter")
    P_UNIT("-")
  P_END_PARAMETER(32)
  P_BEGIN_PARAMETER(93)
    P_NAME("PmuAlerts")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Power M. Unit - ALERT signal for each output. [4]=LDO, [3]=Switcher D, [2]=Switcher C, [1]=Switcher B, [0]=Switcher A.")
    P_UNIT("-")
  P_END_PARAMETER(93)
  P_BEGIN_PARAMETER(97)
    P_NAME("aSpeedHall")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual speed - hall sensors")
    P_UNIT("rpm")
  P_END_PARAMETER(97)
  P_BEGIN_PARAMETER(98)
    P_NAME("aPosHall64")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Actual position (hall sensors)")
    P_UNIT("inc")
  P_END_PARAMETER(98)
  P_BEGIN_PARAMETER(98)
    P_NAME("aAngleHall")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Actual position per revolution (hall sensors)")
    P_UNIT("inc")
  P_END_PARAMETER(98)
  P_BEGIN_PARAMETER(99)
    P_NAME("aRevolHall")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual number of revolutions (hall sensors)")
    P_UNIT("1")
  P_END_PARAMETER(99)
  P_BEGIN_PARAMETER(100)
    P_NAME("aPosFB64")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Actual position (feedback)")
    P_UNIT("inc")
  P_END_PARAMETER(100)
  P_BEGIN_PARAMETER(100)
    P_NAME("aAngleFB")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Actual position per revolution (feedback)")
    P_UNIT("inc")
  P_END_PARAMETER(100)
  P_BEGIN_PARAMETER(101)
    P_NAME("aRevolFB")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual number of revolutions (feedback)")
    P_UNIT("1")
  P_END_PARAMETER(101)
  P_BEGIN_PARAMETER(102)
    P_NAME("ExtTemp1")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual temperature Ext1")
    P_UNIT("Ω")
  P_END_PARAMETER(102)
  P_BEGIN_PARAMETER(103)
    P_NAME("ExtTemp2")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual temperature Ext2")
    P_UNIT("Ω")
  P_END_PARAMETER(103)
  P_BEGIN_PARAMETER(104)
    P_NAME("ExtAnInput")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("External analog input")
    P_UNIT("V")
  P_END_PARAMETER(104)
  P_BEGIN_PARAMETER(105)
    P_NAME("DSL_SafePosition1")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("safe position channel 1 (resolution encoder)")
    P_UNIT("enc_inc")
  P_END_PARAMETER(105)
  P_BEGIN_PARAMETER(106)
    P_NAME("DSL_SafePosition2")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("safe position channel 2 (resolution encoder)")
    P_UNIT("enc_inc")
  P_END_PARAMETER(106)
  P_BEGIN_PARAMETER(107)
    P_NAME("aDSL_SafeSpeed1")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual motor speed")
    P_UNIT("rpm")
  P_END_PARAMETER(107)
  P_BEGIN_PARAMETER(108)
    P_NAME("aDSL_SafeSpeed2")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual motor speed")
    P_UNIT("rpm")
  P_END_PARAMETER(108)
  P_BEGIN_PARAMETER(115)
    P_NAME("aLoop0Time")
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("time of  loop cycle 0")
    P_UNIT("µs")
    P_COMBINE()
    P_MONITOR()
  P_END_PARAMETER(115)
  P_BEGIN_PARAMETER(116)
    P_NAME("aLoop1Time")
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("time of  loop cycle 1")
    P_UNIT("µs")
    P_COMBINE()
    P_MONITOR()
  P_END_PARAMETER(116)
  P_BEGIN_PARAMETER(117)
    P_NAME("aLoop2Time")
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("time of  loop cycle 2")
    P_UNIT("µs")
    P_COMBINE()
    P_MONITOR()
  P_END_PARAMETER(117)
  P_BEGIN_PARAMETER(118)
    P_NAME("aLoop3Time")
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("time of  loop cycle 3")
    P_UNIT("µs")
    P_COMBINE()
    P_MONITOR()
  P_END_PARAMETER(118)
  P_BEGIN_PARAMETER(119)
    P_NAME("aLoop4Time")
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("time of  loop cycle 4")
    P_UNIT("µs")
    P_COMBINE()
    P_MONITOR()
  P_END_PARAMETER(119)
  P_BEGIN_PARAMETER(120)
    P_NAME("aSpeed_pgInc")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual fb speed of movement")
    P_UNIT("pg_inc/s")
  P_END_PARAMETER(120)
  P_BEGIN_PARAMETER(121)
    P_NAME("rAcc_pgInc")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual acceleration on output PG")
    P_UNIT("pg_inc/s²")
  P_END_PARAMETER(121)
  P_BEGIN_PARAMETER(122)
    P_NAME("rI_CurrentFeedForward")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("actual value of current feed forward")
    P_UNIT("mA")
  P_END_PARAMETER(122)
  P_BEGIN_PARAMETER(123)
    P_NAME("rId")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("actual value of required D current")
    P_UNIT("mA")
  P_END_PARAMETER(123)
  P_BEGIN_PARAMETER(124)
    P_NAME("VoltFBSupply")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Position feedback power supply voltage")
    P_UNIT("V")
  P_END_PARAMETER(124)
  P_BEGIN_PARAMETER(126)
    P_NAME("GuardingCounter_ms")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Guarding time counter")
    P_UNIT("ms")
  P_END_PARAMETER(126)
  P_BEGIN_PARAMETER(127)
    P_NAME("rSpeed_pgInc")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Input speed of velocity controller")
    P_UNIT("pg_inc/s")
  P_END_PARAMETER(127)
  P_BEGIN_SUBGROUP("DSL Diagnostics", "DSL-")
    P_BEGIN_PARAMETER(128)
      P_NAME("QualityMonitor")
      P_ACCESS(ro)
      P_MONITOR()
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Connection quality 0 .. 15")
      P_UNIT("-")
    P_END_PARAMETER(128)
    P_BEGIN_PARAMETER(129)
      P_NAME("DSL_Delay")
      P_ACCESS(ro)
      P_MONITOR()
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("4 bit value for cable delay 0 .. < 100ns ..< 10m")
      P_UNIT("-")
    P_END_PARAMETER(129)
    P_BEGIN_PARAMETER(130)
      P_NAME("DSL_RSSI")
      P_ACCESS(ro)
      P_MONITOR()
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("received signal strength 0..12, Low connection (less than 2)")
      P_UNIT("-")
    P_END_PARAMETER(130)
    P_BEGIN_PARAMETER(131)
      P_NAME("DSL_Edges")
      P_ACCESS(ro)
      P_MONITOR()
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("edge sampling - noisy signals set a large number of bit")
      P_UNIT("-")
    P_END_PARAMETER(131)
    P_BEGIN_PARAMETER(132)
      P_NAME("DSL_HUB_Acc_Sensor")
      P_ACCESS(ro)
      P_MONITOR()
      P_DISPLAY_TYPE(Int32_Dec)
      P_COMMENT("DSL HUB accelerometer")
      P_UNIT("-")
    P_END_PARAMETER(132)
    P_BEGIN_PARAMETER(133)
      P_NAME("DSL_HUB_Hum_Sensor")
      P_ACCESS(ro)
      P_MONITOR()
      P_DISPLAY_TYPE(Int32_Dec)
      P_COMMENT("DSL HUB humidity")
      P_UNIT("-")
    P_END_PARAMETER(133)
    P_BEGIN_PARAMETER(134)
      P_NAME("DSL_HUB_iTemp_Sensor")
      P_ACCESS(ro)
      P_MONITOR()
      P_DISPLAY_TYPE(Int32_Dec)
      P_COMMENT("DSL HUB internal temperature")
      P_UNIT("-")
    P_END_PARAMETER(134)
    P_BEGIN_PARAMETER(135)
      P_NAME("DSL_enc_stat_3_2_1_0")
      P_ACCESS(ro)
      P_MONITOR()
      P_DISPLAY_TYPE(Int32_Dec)
      P_COMMENT("DSL encoderStatus 0123 40-43h")
      P_UNIT("-")
    P_END_PARAMETER(135)
    P_BEGIN_PARAMETER(136)
      P_NAME("DSL_enc_stat_7_6_5_4")
      P_ACCESS(ro)
      P_MONITOR()
      P_DISPLAY_TYPE(Int32_Dec)
      P_COMMENT("DSL encoderStatus 4567 44-47h")
      P_UNIT("-")
    P_END_PARAMETER(136)
  P_END_SUBGROUP("DSL Diagnostics")
  P_BEGIN_PARAMETER(141)
    P_NAME("aPos_pg_offset_64bit")
    P_ACCESS(ro)
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Actual position - actual position with pg offset")
    P_UNIT("inc")
  P_END_PARAMETER(141)
  P_BEGIN_PARAMETER(141)
    P_NAME("aAngle_pg_offset")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual position per revolution - actual position with pg offset")
    P_UNIT("inc")
  P_END_PARAMETER(141)
  P_BEGIN_PARAMETER(142)
    P_NAME("aRevol_pg_offset")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual number of revolutions - actual position with pg offset")
    P_UNIT("-")
  P_END_PARAMETER(142)
  P_BEGIN_PARAMETER(143)
    P_NAME("STO_diagnostics")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Bin)
    P_COMMENT("bit0..STO A,bit1..STOA1diag,bit2..STOA2diag,bit3..reserved,bit4..STO B,bit5 ..STOBdiag,bit6,bit7..reserved")
    P_UNIT("-")
  P_END_PARAMETER(143)
  P_BEGIN_PARAMETER(144)
    P_NAME("aDriveStateMachIndex")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("ADC state index")
    P_UNIT("-")
  P_END_PARAMETER(144)
  P_BEGIN_PARAMETER(145)
    P_NAME("aServiceIn")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("aServiceIn")
    P_UNIT("-")
  P_END_PARAMETER(145)
  P_BEGIN_PARAMETER(146)
    P_NAME("BrakeResLoad")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("BrakeResLoad")
    P_UNIT("-")
  P_END_PARAMETER(146)
  P_BEGIN_PARAMETER(147)
    P_NAME("BrakeActPower")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("BrakeActPower")
    P_UNIT("-")
  P_END_PARAMETER(147)
  P_BEGIN_PARAMETER(148)
    P_NAME("DBG_DriveInitIndex")
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("DBG_DriveInitIndex")
    P_UNIT("-")
  P_END_PARAMETER(148)
  P_BEGIN_PARAMETER(149)
    P_NAME("DBG_InitStat")
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("DBG_DriveInitState")
    P_UNIT("-")
  P_END_PARAMETER(149)
  P_BEGIN_PARAMETER(150)
 P_NAME("DBG_UDP_WaitForSendCounter")
 P_ACCESS(ro)
    P_MONITOR()
 P_DISPLAY_TYPE(uInt32_Dec)
 P_COMMENT("Number of us to wait before processing next UDP frame")
 P_UNIT("-")
  P_END_PARAMETER(150)
 P_BEGIN_PARAMETER(151)
  P_NAME("FBSpecVal5")
  P_ACCESS(ro)
  P_MONITOR()
  P_DISPLAY_TYPE(uInt32_Bin)
  P_COMMENT("DSL encoder Summary register")
  P_UNIT("-")
 P_END_PARAMETER(151)
P_END_GROUP("Monitoring")
P_BEGIN_GROUP("CoE/CANopen", 13, 13, "CoE-")
  P_BEGIN_PARAMETER(0)
    P_NAME("Control_word_6040")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_ACCESS(ro)
    P_MONITOR()
    P_GROUP(21, 22)
    P_COMMENT("DS402 Control_word")
    P_UNIT("-")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("Status_word_6041")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_ACCESS(ro)
    P_MONITOR()
    P_GROUP(21, 22)
    P_COMMENT("DS402 Status word")
    P_UNIT("-")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(3)
    P_NAME("Actual_mode_of_operation_6061")
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(1, "1: ProfilePosition (PP)")
      P_COMBO_BOX_ITEM(3, "3: ProfileVelocity (PV)")
      P_COMBO_BOX_ITEM(4, "4: ProfileTorque (PT)")
      P_COMBO_BOX_ITEM(6, "6: Homing")
      P_COMBO_BOX_ITEM(7, "7: InterpolatedPosition (IP)")
      P_COMBO_BOX_ITEM(8, "8: CyclicSyncPosition (CSP)")
      P_COMBO_BOX_ITEM(9, "9: CyclicSyncVelocity (CSV)")
      P_COMBO_BOX_ITEM(10, "10: CyclicSyncTorque (CST)")
    P_END_COMBO_BOX()
    P_ACCESS(ro)
    P_MONITOR()
    P_GROUP(21, 22)
    P_COMMENT("DS402 Actual operation mode")
    P_UNIT("-")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(0)
    P_NAME("ModeOfOperation_6060")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(1, "1: ProfilePosition (PP)")
      P_COMBO_BOX_ITEM(3, "3: ProfileVelocity (PV)")
      P_COMBO_BOX_ITEM(4, "4: ProfileTorque (PT)")
      P_COMBO_BOX_ITEM(6, "6: Homing")
      P_COMBO_BOX_ITEM(7, "7: InterpolatedPosition (IP)")
      P_COMBO_BOX_ITEM(8, "8: CyclicSyncPosition (CSP)")
      P_COMBO_BOX_ITEM(9, "9: CyclicSyncVelocity (CSV)")
      P_COMBO_BOX_ITEM(10, "10: CyclicSyncTorque (CST)")
    P_END_COMBO_BOX()
    P_GROUP(15, 16)
    P_COMMENT("DS402 Mode of operation")
    P_UNIT("-")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("FollowingErrorWindow_6065")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Following error window: tolerated position values symmetrically to the position demand value")
    P_UNIT("CoE pos")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("FollowingErrorTimeout_6066")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Following error timeout: when a following error occurs longer than the defined value of the time-out given in multiples of milliseconds, the corresponding bit 13 following error in the statusword will be set to one")
    P_UNIT("ms")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("PositionEncoderResolutionNumerator_608F_1")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Position encoder resolution numerator: Numerator of ratio to convert CoE positions to pg_inc in PP, IP or CSP mode")
    P_UNIT("-")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(4)
    P_NAME("PositionEncoderResolutionDenominator_608F_2")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Position encoder resolution denominator: Denominator of ratio to convert CoE positions to pg_inc in PP, IP or CSP mode")
    P_UNIT("-")
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(5)
    P_NAME("VelocityEncoderResolutionNumerator_6090_1")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Velocity encoder resolution numerator: Numerator of ratio to convert CoE velocities to pg_inc/s in PV or CSV mode")
    P_UNIT("-")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(6)
    P_NAME("VelocityEncoderResolutionDenominator_6090_2")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Velocity encoder resolution denominator: Denominator of ratio to convert CoE velocities to pg_inc/s in PV or CSV mode")
    P_UNIT("-")
  P_END_PARAMETER(6)
  P_BEGIN_PARAMETER(7)
    P_NAME("SoftwarePosLimitMin_607D_1")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Software position limit min: minimum position limit in CoE units")
    P_UNIT("CoE pos")
  P_END_PARAMETER(7)
  P_BEGIN_PARAMETER(8)
    P_NAME("SoftwarePosLimitMax_607D_2")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Software position limit max: maximum position limit in CoE units")
    P_UNIT("CoE pos")
  P_END_PARAMETER(8)
  P_BEGIN_PARAMETER(9)
    P_NAME("TorqueOffset_60B2")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Torque offset: offset to be added to the torque demand value")
    P_UNIT("mA")
  P_END_PARAMETER(9)
  P_BEGIN_PARAMETER(10)
    P_NAME("HomeOffset_607C")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Home offset: The home offset object is the difference between the zero position for the application and the machine home position (found during homing)")
    P_UNIT("CoE pos")
  P_END_PARAMETER(10)
  P_BEGIN_PARAMETER(11)
    P_NAME("ProfileAcceleration_6083")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Profile acceleration, used in PP mode")
    P_UNIT("pg_inc/s²")
  P_END_PARAMETER(11)
  P_BEGIN_PARAMETER(12)
    P_NAME("ProfileDeceleration_6084")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Profile deceleration, used in PP mode")
    P_UNIT("pg_inc/s²")
  P_END_PARAMETER(12)
  P_BEGIN_PARAMETER(13)
    P_NAME("MotionProfileType_6086")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(-3, "-3: sinusoidal")
      P_COMBO_BOX_ITEM(-2, "-2: Fast ACC, Fast DEC")
      P_COMBO_BOX_ITEM(-1, "-1: Fast ACC, Slow DEC")
      P_COMBO_BOX_ITEM(0, " 0: Trapezoidal")
      P_COMBO_BOX_ITEM(1, " 1: sin²")
    P_END_COMBO_BOX()
    P_GROUP(15, 16)
    P_COMMENT("DS402 Motion profile type")
    P_UNIT("-")
  P_END_PARAMETER(13)
  P_BEGIN_PARAMETER(14)
    P_NAME("HomingMethod_6098")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(1, " 1: NegativeLimitSwitchAndIndexPulse")
      P_COMBO_BOX_ITEM(2, " 2: PositiveLimitSwitchAndIndexPulse")
      P_COMBO_BOX_ITEM(3, " 3: PositiveHomeSwitchAndIndexPulse")
      P_COMBO_BOX_ITEM(5, " 5: NegativeHomeSwitchAndIndexPulse")
      P_COMBO_BOX_ITEM(17, "17: NegativeLimitSwitch")
      P_COMBO_BOX_ITEM(18, "18: PositiveLimitSwitch")
      P_COMBO_BOX_ITEM(19, "19: PositiveHomeSwitch")
      P_COMBO_BOX_ITEM(21, "21: NegativeHomeSwitch")
      P_COMBO_BOX_ITEM(35, "35: CurrentPosition (legacy)")
      P_COMBO_BOX_ITEM(37, "37: CurrentPosition")
    P_END_COMBO_BOX()
    P_GROUP(15, 16)
    P_COMMENT("DS402 Homing method")
    P_UNIT("-")
  P_END_PARAMETER(14)
  P_BEGIN_PARAMETER(15)
    P_NAME("HomingSpeedSwitchSearch_6099_1")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Homing speed switch search: speed used to search for the switch")
    P_UNIT("pg_inc/s")
  P_END_PARAMETER(15)
  P_BEGIN_PARAMETER(16)
    P_NAME("HomingSpeedZeroSearch_6099_2")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Homing speed zero search: speed used to search for the zero position")
    P_UNIT("pg_inc/s")
  P_END_PARAMETER(16)
  P_BEGIN_PARAMETER(17)
    P_NAME("HomingAcceleration_609A")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_GROUP(15, 16)
    P_COMMENT("DS402 Homing acceleration")
    P_UNIT("pg_inc/s²")
  P_END_PARAMETER(17)
  P_BEGIN_PARAMETER(1)
    P_NAME("ECAT_PDO_Out_Mapping_1C12_1")
    P_DEFAULT(0x1721)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0x1701, "0x1701: PP, IP, CSP")
      P_COMBO_BOX_ITEM(0x1702, "0x1702: PV, CSV")
      P_COMBO_BOX_ITEM(0x1703, "0x1703: PT, CST")
      P_COMBO_BOX_ITEM(0x1721, "0x1721: native TGZ")
    P_END_COMBO_BOX()
    P_COMMENT("Available CoE PDO out mapping (direction TGZ -> master)")
    P_UNIT("-")
    P_MONITOR()
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("ECAT_PDO_In_Mapping_1C13_1")
    P_DEFAULT(0x1b21)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0x1b01, "0x1b01: All CoE modes")
      P_COMBO_BOX_ITEM(0x1b21, "0x1b21: native TGZ")
    P_END_COMBO_BOX()
    P_COMMENT("Available CoE PDO in mapping (direction master -> TGZ)")
    P_UNIT("-")
    P_MONITOR()
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("CAN_ErrorRegister_1001")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("CANopen error register")
    P_UNIT("-")
  P_END_PARAMETER(3)
  P_BEGIN_SUBGROUP("CoE Debug", "")
  P_BEGIN_PARAMETER(35)
    P_NAME("CoE-DisplayInfo")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_ACCESS(rw)
    P_GROUP(3, 3)
    P_COMMENT("CANopen debug mode: 0x8000_0000 to UDP, 0x4000_0000 to serial, 0x0001_0000 ECAT, 0x4000 EMCY, 0x2000 guarding, 0x1000 NMT, 0x100 PDO, 0x80 SDO errors, 0x40 SDO segmented, 0x20 SDO write, 0x10 SDO read, 0x1 DSP402 FSM + info")
    P_UNIT("-")
    P_COMBINE()
  P_END_PARAMETER(35)
  P_BEGIN_PARAMETER(55)
    P_NAME("CAN_Transmit_MsgCnt")
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("CAN Transmit Message Counter")
    P_UNIT("-")
    P_MONITOR()
    P_COMBINE()
    P_GROUP(24, 24)
  P_END_PARAMETER(55)
  P_BEGIN_PARAMETER(56)
    P_NAME("CAN_Receive_MsgCnt")
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("CAN Receive Message Counter")
    P_UNIT("-")
    P_MONITOR()
    P_COMBINE()
    P_GROUP(24, 24)
  P_END_PARAMETER(56)
 P_END_SUBGROUP("CoE Debug")
  P_BEGIN_SUBGROUP("RxPDO 0", "")
    P_BEGIN_PARAMETER(4)
      P_NAME("CAN_PDOIn_Mapping_Numbers_1600_0")
      P_DEFAULT(4)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Number of items in PDO In 0 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(4)
    P_BEGIN_PARAMETER(5)
      P_NAME("CAN_PDOIn_Mapping_1600_1")
      P_DEFAULT(0x60400010)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 0, item 1 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(5)
    P_BEGIN_PARAMETER(6)
      P_NAME("CAN_PDOIn_Mapping_1600_2")
      P_DEFAULT(0x607A0020)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 0, item 2 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(6)
    P_BEGIN_PARAMETER(7)
      P_NAME("CAN_PDOIn_Mapping_1600_3")
      P_DEFAULT(0x60600008)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 0, item 3 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(7)
    P_BEGIN_PARAMETER(8)
      P_NAME("CAN_PDOIn_Mapping_1600_4")
      P_DEFAULT(0x40010008)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 0, item 4 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(8)
    P_BEGIN_PARAMETER(9)
      P_NAME("CAN_PDOIn_Mapping_1600_5")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 0, item 5 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(9)
    P_BEGIN_PARAMETER(10)
      P_NAME("CAN_PDOIn_Mapping_1600_6")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 0, item 6 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(10)
    P_BEGIN_PARAMETER(11)
      P_NAME("CAN_PDOIn_Mapping_1600_7")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 0, item 7 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(11)
    P_BEGIN_PARAMETER(12)
      P_NAME("CAN_PDOIn_Mapping_1600_8")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 0, item 8 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(12)
  P_END_SUBGROUP("RxPDO 0")
  P_BEGIN_SUBGROUP("RxPDO 1", "")
    P_BEGIN_PARAMETER(13)
      P_NAME("CAN_PDOIn_Mapping_Numbers_1601_0")
      P_DEFAULT(3)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("PDO In 1, number of mapped items (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(13)
    P_BEGIN_PARAMETER(14)
      P_NAME("CAN_PDOIn_Mapping_1601_1")
      P_DEFAULT(0x68400010)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 1, item 1 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(14)
    P_BEGIN_PARAMETER(15)
      P_NAME("CAN_PDOIn_Mapping_1601_2")
      P_DEFAULT(0x687A0020)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 1, item 2 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(15)
    P_BEGIN_PARAMETER(16)
      P_NAME("CAN_PDOIn_Mapping_1601_3")
      P_DEFAULT(0x68600008)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 1, item 3 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(16)
    P_BEGIN_PARAMETER(17)
      P_NAME("CAN_PDOIn_Mapping_1601_4")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 1, item 4 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(17)
    P_BEGIN_PARAMETER(18)
      P_NAME("CAN_PDOIn_Mapping_1601_5")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 1, item 5 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(18)
    P_BEGIN_PARAMETER(19)
      P_NAME("CAN_PDOIn_Mapping_1601_6")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 1, item 6 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(19)
    P_BEGIN_PARAMETER(20)
      P_NAME("CAN_PDOIn_Mapping_1601_7")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 1, item 7 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(20)
    P_BEGIN_PARAMETER(21)
      P_NAME("CAN_PDOIn_Mapping_1601_8")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 1, item 8 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(21)
  P_END_SUBGROUP("RxPDO 1")
  P_BEGIN_SUBGROUP("RxPDO 2", "")
    P_BEGIN_PARAMETER(22)
      P_NAME("CAN_PDOIn_Mapping_Numbers_1602_0")
      P_DEFAULT(1)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("PDO In 2, number of mappings (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(22)
    P_BEGIN_PARAMETER(23)
      P_NAME("CAN_PDOIn_Mapping_1602_1")
      P_DEFAULT(0x60810020)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 2, item 1 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(23)
    P_BEGIN_PARAMETER(24)
      P_NAME("CAN_PDOIn_Mapping_1602_2")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 2, item 2 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(24)
    P_BEGIN_PARAMETER(25)
      P_NAME("CAN_PDOIn_Mapping_1602_3")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 2, item 3 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(25)
    P_BEGIN_PARAMETER(26)
      P_NAME("CAN_PDOIn_Mapping_1602_4")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 2, item 4 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(26)
    P_BEGIN_PARAMETER(27)
      P_NAME("CAN_PDOIn_Mapping_1602_5")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 2, item 5 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(27)
    P_BEGIN_PARAMETER(28)
      P_NAME("CAN_PDOIn_Mapping_1602_6")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 2, item 6 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(28)
    P_BEGIN_PARAMETER(29)
      P_NAME("CAN_PDOIn_Mapping_1602_7")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 2, item 7 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(29)
    P_BEGIN_PARAMETER(30)
      P_NAME("CAN_PDOIn_Mapping_1602_8")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 2, item 8 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(30)
  P_END_SUBGROUP("RxPDO 2")
  P_BEGIN_SUBGROUP("RxPDO 3", "")
    P_BEGIN_PARAMETER(31)
      P_NAME("CAN_PDOIn_Mapping_Numbers_1603_0")
      P_DEFAULT(1)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("PDO In 3, number of mappings (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(31)
    P_BEGIN_PARAMETER(32)
      P_NAME("CAN_PDOIn_Mapping_1603_1")
      P_DEFAULT(0x68810020)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 3, item 1 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(32)
    P_BEGIN_PARAMETER(33)
      P_NAME("CAN_PDOIn_Mapping_1603_2")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 3, item 2 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(33)
    P_BEGIN_PARAMETER(34)
      P_NAME("CAN_PDOIn_Mapping_1603_3")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 3, item 3 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(34)
    P_BEGIN_PARAMETER(35)
      P_NAME("CAN_PDOIn_Mapping_1603_4")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 3, item 4 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(35)
    P_BEGIN_PARAMETER(36)
      P_NAME("CAN_PDOIn_Mapping_1603_5")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 3, item 5 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(36)
    P_BEGIN_PARAMETER(37)
      P_NAME("CAN_PDOIn_Mapping_1603_6")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 3, item 6 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(37)
    P_BEGIN_PARAMETER(38)
      P_NAME("CAN_PDOIn_Mapping_1603_7")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 3, item 7 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(38)
    P_BEGIN_PARAMETER(39)
      P_NAME("CAN_PDOIn_Mapping_1603_8")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO In 3, item 8 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(39)
  P_END_SUBGROUP("RxPDO 3")
  P_BEGIN_SUBGROUP("TxPDO 0", "")
    P_BEGIN_PARAMETER(40)
      P_NAME("CAN_PDOOut_Mapping_Numbers_1A00_0")
      P_DEFAULT(4)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("Number of PDOs")
      P_UNIT("-")
    P_END_PARAMETER(40)
    P_BEGIN_PARAMETER(41)
      P_NAME("CAN_PDOOut_Mapping_1A00_1")
      P_DEFAULT(0x60410010)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 0, item 1 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(41)
    P_BEGIN_PARAMETER(42)
      P_NAME("CAN_PDOOut_Mapping_1A00_2")
      P_DEFAULT(0x60640020)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 0, item 2 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(42)
    P_BEGIN_PARAMETER(43)
      P_NAME("CAN_PDOOut_Mapping_1A00_3")
      P_DEFAULT(0x60610008)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 0, item 3 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(43)
    P_BEGIN_PARAMETER(44)
      P_NAME("CAN_PDOOut_Mapping_1A00_4")
      P_DEFAULT(0x10010008)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 0, item 4 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(44)
    P_BEGIN_PARAMETER(45)
      P_NAME("CAN_PDOOut_Mapping_1A00_5")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 0, item 5 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(45)
    P_BEGIN_PARAMETER(46)
      P_NAME("CAN_PDOOut_Mapping_1A00_6")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 0, item 6 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(46)
    P_BEGIN_PARAMETER(47)
      P_NAME("CAN_PDOOut_Mapping_1A00_7")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 0, item 7 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(47)
    P_BEGIN_PARAMETER(48)
      P_NAME("CAN_PDOOut_Mapping_1A00_8")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 0, item 8 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(48)
  P_END_SUBGROUP("TxPDO 0")
  P_BEGIN_SUBGROUP("TxPDO 1", "")
    P_BEGIN_PARAMETER(49)
      P_NAME("CAN_PDOOut_Mapping_Numbers_1A01_0")
      P_DEFAULT(4)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("PDO Out 1, number of mapped items (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(49)
    P_BEGIN_PARAMETER(50)
      P_NAME("CAN_PDOOut_Mapping_1A01_1")
      P_DEFAULT(0x68410010)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 1, item 1 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(50)
    P_BEGIN_PARAMETER(51)
      P_NAME("CAN_PDOOut_Mapping_1A01_2")
      P_DEFAULT(0x68640020)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 1, item 2 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(51)
    P_BEGIN_PARAMETER(52)
      P_NAME("CAN_PDOOut_Mapping_1A01_3")
      P_DEFAULT(0x68610008)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 1, item 3 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(52)
    P_BEGIN_PARAMETER(53)
      P_NAME("CAN_PDOOut_Mapping_1A01_4")
      P_DEFAULT(0x40000008)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 1, item 4 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(53)
    P_BEGIN_PARAMETER(54)
      P_NAME("CAN_PDOOut_Mapping_1A01_5")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 1, item 5 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(54)
    P_BEGIN_PARAMETER(55)
      P_NAME("CAN_PDOOut_Mapping_1A01_6")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 1, item 6 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(55)
    P_BEGIN_PARAMETER(56)
      P_NAME("CAN_PDOOut_Mapping_1A01_7")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 1, item 7 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(56)
    P_BEGIN_PARAMETER(57)
      P_NAME("CAN_PDOOut_Mapping_1A01_8")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 1, item 8 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(57)
  P_END_SUBGROUP("TxPDO 1")
  P_BEGIN_SUBGROUP("TxPDO 2", "")
    P_BEGIN_PARAMETER(58)
      P_NAME("CAN_PDOOut_Mapping_Numbers_1A02_0")
      P_DEFAULT(2)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("PDO Out 2, number of mapped items (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(58)
    P_BEGIN_PARAMETER(59)
      P_NAME("CAN_PDOOut_Mapping_1A02_1")
      P_DEFAULT(0x606C0020)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 2, item 1 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(59)
    P_BEGIN_PARAMETER(60)
      P_NAME("CAN_PDOOut_Mapping_1A02_2")
      P_DEFAULT(0x40020110)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 2, item 2 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(60)
    P_BEGIN_PARAMETER(61)
      P_NAME("CAN_PDOOut_Mapping_1A02_3")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 2, item 3 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(61)
    P_BEGIN_PARAMETER(62)
      P_NAME("CAN_PDOOut_Mapping_1A02_4")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 2, item 4 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(62)
    P_BEGIN_PARAMETER(63)
      P_NAME("CAN_PDOOut_Mapping_1A02_5")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 2, item 5 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(63)
    P_BEGIN_PARAMETER(64)
      P_NAME("CAN_PDOOut_Mapping_1A02_6")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 2, item 6 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(64)
    P_BEGIN_PARAMETER(65)
      P_NAME("CAN_PDOOut_Mapping_1A02_7")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 2, item 7 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(65)
    P_BEGIN_PARAMETER(66)
      P_NAME("CAN_PDOOut_Mapping_1A02_8")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 2, item 8 (axis 0)")
      P_UNIT("-")
    P_END_PARAMETER(66)
  P_END_SUBGROUP("TxPDO 2")
  P_BEGIN_SUBGROUP("TxPDO 3", "")
    P_BEGIN_PARAMETER(67)
      P_NAME("CAN_PDOOut_Mapping_Numbers_1A03_0")
      P_DEFAULT(2)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Dec)
      P_COMMENT("PDO Out 3, number of mapped items (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(67)
    P_BEGIN_PARAMETER(68)
      P_NAME("CAN_PDOOut_Mapping_1A03_1")
      P_DEFAULT(0x686C0020)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 3, item 1 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(68)
    P_BEGIN_PARAMETER(69)
      P_NAME("CAN_PDOOut_Mapping_1A03_2")
      P_DEFAULT(0x40020210)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 3, item 2 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(69)
    P_BEGIN_PARAMETER(70)
      P_NAME("CAN_PDOOut_Mapping_1A03_3")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 3, item 3 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(70)
    P_BEGIN_PARAMETER(71)
      P_NAME("CAN_PDOOut_Mapping_1A03_4")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 3, item 4 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(71)
    P_BEGIN_PARAMETER(72)
      P_NAME("CAN_PDOOut_Mapping_1A03_5")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 3, item 5 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(72)
    P_BEGIN_PARAMETER(73)
      P_NAME("CAN_PDOOut_Mapping_1A03_6")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 3, item 6 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(73)
    P_BEGIN_PARAMETER(74)
      P_NAME("CAN_PDOOut_Mapping_1A03_7")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 3, item 7 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(74)
    P_BEGIN_PARAMETER(75)
      P_NAME("CAN_PDOOut_Mapping_1A03_8")
      P_DEFAULT(0)
      P_ACCESS(rw)
      P_DISPLAY_TYPE(uInt32_Hex)
      P_COMMENT("PDO Out 3, item 8 (axis 1)")
      P_UNIT("-")
    P_END_PARAMETER(75)
  P_END_SUBGROUP("TxPDO 3")
P_END_GROUP("CoE/CANopen")
P_BEGIN_GROUP("PROFIdrive", 25, 26, "PD-")
  P_BEGIN_PARAMETER(33)
    P_NAME("TelegramNumber")
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(1, "1: Speed")
      P_COMBO_BOX_ITEM(3, "3: Speed")
      P_COMBO_BOX_ITEM(7, "7: Motion task")
      P_COMBO_BOX_ITEM(9, "9: Position")
      P_COMBO_BOX_ITEM(111, "111: Simatic position")
      P_COMBO_BOX_ITEM(352, "352: Simatic speed")
    P_END_COMBO_BOX()
    P_ACCESS(rw)
    P_GROUP(3, 4)
    P_COMMENT("PROFIdrive telegram number (needs save and restart to change)")
    P_UNIT("-")
  P_END_PARAMETER(33)
  P_BEGIN_PARAMETER(34)
    P_NAME("DebugMode")
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: Normal operation")
      P_COMBO_BOX_ITEM(1, "1: Task info")
      P_COMBO_BOX_ITEM(2, "2: Promiscuous PHY1 -> PHY2")
      P_COMBO_BOX_ITEM(3, "3: Disable LLDP check")
      P_COMBO_BOX_ITEM(5, "5: Clear F debug flags")
      P_COMBO_BOX_ITEM(6, "6: Set PNET name and IP for ART")
      P_COMBO_BOX_ITEM(100, "100: Keep settings")
    P_END_COMBO_BOX()
    P_ACCESS(rw)
    P_COMBINE()
    P_GROUP(3, 4)
    P_COMMENT("PROFIdrive debug mode")
    P_UNIT("-")
  P_END_PARAMETER(34)
  P_BEGIN_PARAMETER(35)
    P_NAME("DisplayInfo")
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: OFF")
      P_COMBO_BOX_ITEM(1, "1: ON")
    P_END_COMBO_BOX()
    P_ACCESS(rw)
    P_COMBINE()
    P_GROUP(3, 4)
    P_COMMENT("Show PROFIdrive info messages (in UserProg tab)")
    P_UNIT("-")
  P_END_PARAMETER(35)
  P_BEGIN_PARAMETER(36)
    P_NAME("SetDataCounter")
    P_DISPLAY_TYPE(uInt32_Dec)
    P_ACCESS(ro)
    P_MONITOR()
    P_GROUP(3, 4)
    P_COMMENT("IO Controller -> TGZ Cyclic Data Counter")
    P_UNIT("-")
  P_END_PARAMETER(36)
  P_BEGIN_PARAMETER(37)
    P_NAME("PositionOrSpeed")
    P_DISPLAY_TYPE(Int32_Dec)
    P_ACCESS(ro)
    P_MONITOR()
    P_GROUP(3, 4)
    P_COMMENT("Actual PROFIdrive position value (telegrams 7, 9, 111) or speed (other telegrams)")
    P_UNIT("-")
  P_END_PARAMETER(37)
  P_BEGIN_PARAMETER(40)
    P_NAME("Tele111_UserOut")
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: Nothing")
      P_COMBO_BOX_ITEM(1, "1: DigitalOutputs")
    P_END_COMBO_BOX()
    P_ACCESS(rw)
    P_GROUP(3, 4)
    P_COMMENT("Telegram 111/352 controller user value mapping")
    P_UNIT("-")
  P_END_PARAMETER(40)
  P_BEGIN_PARAMETER(41)
    P_NAME("Tele111_UserIn")
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: Nothing")
      P_COMBO_BOX_ITEM(1, "1: DigitalInputs")
      P_COMBO_BOX_ITEM(2, "2: Actual current")
      P_COMBO_BOX_ITEM(3, "3: Actual torque")
    P_END_COMBO_BOX()
    P_ACCESS(rw)
    P_GROUP(3, 4)
    P_COMMENT("Telegram 111 TGZ user value mapping")
    P_UNIT("-")
  P_END_PARAMETER(41)
  P_BEGIN_PARAMETER(0)
    P_NAME("StatusWord1_ZSW1")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_BEGIN_BIT_EXT()
       P_BIT_EXT_ITEM(0, "Ready to switch on")
       P_BIT_EXT_ITEM(1, "Ready to operate")
       P_BIT_EXT_ITEM(2, "Operation enabled")
       P_BIT_EXT_ITEM(3, "Fault present")
       P_BIT_EXT_ITEM(4, "Coast stop NOT active")
       P_BIT_EXT_ITEM(5, "Quick stop NOT active")
       P_BIT_EXT_ITEM(6, "Switch on inhibited")
       P_BIT_EXT_ITEM(7, "Warning")
       P_BIT_EXT_ITEM(8, "No speed/following error")
       P_BIT_EXT_ITEM(9, "Speed/position reached")
       P_BIT_EXT_ITEM(10, "Home position set")
       P_BIT_EXT_ITEM(11, "Travel task acknowledged")
       P_BIT_EXT_ITEM(12, "Drive stopped")
    P_END_BIT_EXT()
    P_ACCESS(ro)
    P_MONITOR()
    P_GROUP(21, 22)
    P_COMMENT("PROFIdrive status word")
    P_UNIT("-")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("ControlWord1_STW1")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(0, "Switch on")
      P_BIT_EXT_ITEM(1, "No coast stop")
      P_BIT_EXT_ITEM(2, "No quick stop")
      P_BIT_EXT_ITEM(3, "Enable operation")
      P_BIT_EXT_ITEM(4, "Enable ramp generator")
      P_BIT_EXT_ITEM(5, "Unfreeze ramp generator")
      P_BIT_EXT_ITEM(6, "Activate setpoint/traversing (0->1)")
      P_BIT_EXT_ITEM(7, "Fault acknowledge (0->1)")
      P_BIT_EXT_ITEM(8, "Jog 1 ON")
      P_BIT_EXT_ITEM(9, "Jog 2 ON")
      P_BIT_EXT_ITEM(10, "Control by PLC")
      P_BIT_EXT_ITEM(11, "Start homing")
    P_END_BIT_EXT()
    P_ACCESS(ro)
    P_MONITOR()
    P_GROUP(21, 22)
    P_COMMENT("PROFIdrive control word")
    P_UNIT("-")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("iCmd")
    P_DISPLAY_TYPE(Int32_Dec)
    P_ACCESS(ro)
    P_MONITOR()
    P_GROUP(21, 22)
    P_COMMENT("")
    P_UNIT("-")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("SATZANW")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_ACCESS(ro)
    P_MONITOR()
    P_GROUP(21, 22)
    P_COMMENT("")
    P_UNIT("-")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(4)
    P_NAME("AKTSATZ")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_ACCESS(ro)
    P_MONITOR()
    P_GROUP(21, 22)
    P_COMMENT("")
    P_UNIT("-")
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(5)
    P_NAME("State")
    P_DISPLAY_TYPE(Int32_Dec)
    P_ACCESS(ro)
    P_MONITOR()
    P_GROUP(21, 22)
    P_COMMENT("Actual PROFIdrive state in the state machine")
    P_UNIT("-")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(4)
    P_NAME("DPos_64bit")
    P_DISPLAY_TYPE(Int64_Dec)
    P_ACCESS(ro)
    P_COMMENT("Wanted position PG")
    P_UNIT("inc")
    P_MONITOR()
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(94)
    P_NAME("Acc")
    P_DISPLAY_TYPE(uInt32_Dec)
    P_ACCESS(rw)
    P_COMMENT("default acceleration")
    P_UNIT("pg_inc")
  P_END_PARAMETER(94)
  P_BEGIN_PARAMETER(95)
    P_NAME("Dec")
    P_DISPLAY_TYPE(uInt32_Dec)
    P_ACCESS(rw)
    P_COMMENT("default deceleration, for telegram 1 and 3 used as acceleration for speed change")
    P_UNIT("pg_inc")
  P_END_PARAMETER(95)
  P_BEGIN_PARAMETER(96)
    P_NAME("Jog1_Velocity")
    P_DISPLAY_TYPE(Int32_Dec)
    P_ACCESS(rw)
    P_COMMENT("")
    P_UNIT("pg_inc")
  P_END_PARAMETER(96)
  P_BEGIN_PARAMETER(97)
    P_NAME("Jog2_Velocity")
    P_DISPLAY_TYPE(Int32_Dec)
    P_ACCESS(rw)
    P_COMMENT("")
    P_UNIT("pg_inc")
  P_END_PARAMETER(97)
  P_BEGIN_PARAMETER(98)
    P_NAME("Homing_Acc")
    P_DISPLAY_TYPE(uInt32_Dec)
    P_ACCESS(rw)
    P_COMMENT("")
    P_UNIT("pg_inc")
  P_END_PARAMETER(98)
  P_BEGIN_PARAMETER(99)
    P_NAME("Homing_Dec")
    P_DISPLAY_TYPE(uInt32_Dec)
    P_ACCESS(rw)
    P_COMMENT("")
    P_UNIT("pg_inc")
  P_END_PARAMETER(99)
  P_BEGIN_PARAMETER(100)
    P_NAME("Homing_PositionOffsetAngle")
    P_DISPLAY_TYPE(uInt32_Dec)
    P_ACCESS(rw)
    P_COMMENT("")
    P_UNIT("inc")
  P_END_PARAMETER(100)
  P_BEGIN_PARAMETER(101)
    P_NAME("Homing_PositionOffsetRevol")
    P_DISPLAY_TYPE(Int32_Dec)
    P_ACCESS(rw)
    P_COMMENT("")
    P_UNIT("1")
  P_END_PARAMETER(101)
  P_BEGIN_PARAMETER(102)
    P_NAME("Homing_Mode")
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: Set zero to the actual position")
      P_COMBO_BOX_ITEM(1, "1: Find limit input")
      P_COMBO_BOX_ITEM(2, "2: Find limit input, then zero angle")
      P_COMBO_BOX_ITEM(4, "4: Find home input")
      P_COMBO_BOX_ITEM(5, "5: Find home input, then zero angle")
      P_COMBO_BOX_ITEM(8, "8: Move to mechanical stop")
      P_COMBO_BOX_ITEM(9, "9: Move to mechanical stop, then zero angle")
    P_END_COMBO_BOX()
    P_ACCESS(rw)
    P_COMMENT("")
    P_UNIT("-")
  P_END_PARAMETER(102)
  P_BEGIN_PARAMETER(103)
    P_NAME("Homing_Velocity_Direction")
    P_DISPLAY_TYPE(Int32_Dec)
    P_ACCESS(rw)
    P_COMMENT("")
    P_UNIT("pg_inc")
  P_END_PARAMETER(103)
  P_BEGIN_PARAMETER(104)
    P_NAME("Homing_NegLimSwitchMask")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_ACCESS(rw)
    P_COMMENT("")
    P_UNIT("-")
  P_END_PARAMETER(104)
  P_BEGIN_PARAMETER(105)
    P_NAME("Homing_PosLimSwitchMask")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_ACCESS(rw)
    P_COMMENT("")
    P_UNIT("-")
  P_END_PARAMETER(105)
  P_BEGIN_PARAMETER(106)
    P_NAME("Homing_ReferenceSwitchMask")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_ACCESS(rw)
    P_COMMENT("")
    P_UNIT("-")
  P_END_PARAMETER(106)
  P_BEGIN_PARAMETER(107)
    P_NAME("Homing_NegativeSwitchPolarity")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_ACCESS(rw)
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(0, "Negative Limit Switch")
      P_BIT_EXT_ITEM(1, "Positive Limit Switch")
      P_BIT_EXT_ITEM(2, "Reference Switch")
    P_END_BIT_EXT()
    P_COMMENT("")
    P_UNIT("-")
  P_END_PARAMETER(107)
  P_BEGIN_PARAMETER(108)
    P_NAME("Homing_CurrentTrigger_mA")
    P_DISPLAY_TYPE(Int32_Dec)
    P_ACCESS(rw)
    P_COMMENT("absolute value")
    P_UNIT("mA")
  P_END_PARAMETER(108)
  P_BEGIN_PARAMETER(109)
    P_NAME("Homing_RelativeVelocity_Slow")
    P_DISPLAY_TYPE(Int32_Dec)
    P_ACCESS(rw)
    P_COMMENT("relative slow speed for homing")
    P_UNIT("‰")
  P_END_PARAMETER(109)
  P_BEGIN_PARAMETER(110)
    P_NAME("Homing_MaxMovementPosAngle")
    P_DISPLAY_TYPE(uInt32_Dec)
    P_ACCESS(rw)
    P_COMMENT("maximal relative movement during homing - Angle")
    P_UNIT("inc")
  P_END_PARAMETER(110)
  P_BEGIN_PARAMETER(111)
    P_NAME("Homing_MaxMovementPosRevol")
    P_DISPLAY_TYPE(Int32_Dec)
    P_ACCESS(rw)
    P_COMMENT("maximal relative movement during homing - Revolutions")
    P_UNIT("1")
  P_END_PARAMETER(111)
  P_BEGIN_SUBGROUP("PROFIsafe encoder (telegram 36)", "")
  P_BEGIN_PARAMETER(112)
  P_NAME("F_Source_Add_Enc")
 P_DISPLAY_TYPE(Int32_Dec)
 P_ACCESS(rw)
    P_DEFAULT(1)
   P_COMMENT("Safe source address (controller) (needs save and restart to change)")
   P_UNIT("-")
  P_END_PARAMETER(112)
  P_BEGIN_PARAMETER(113)
    P_NAME("F_Dest_Add_Enc")
    P_DISPLAY_TYPE(Int32_Dec)
    P_ACCESS(rw)
    P_DEFAULT(1)
    P_COMMENT("Safe destination address (TGZ) (needs save and restart to change)")
    P_UNIT("-")
  P_END_PARAMETER(113)
  P_BEGIN_PARAMETER(114)
 P_NAME("F_SetDataCounter")
 P_DISPLAY_TYPE(uInt32_Dec)
    P_MONITOR()
 P_DEFAULT(0)
 P_ACCESS(ro)
    P_COMMENT("TGZ Safe -> IO Controller Cyclic Data Counter")
    P_UNIT("-")
  P_END_PARAMETER(114)
  P_BEGIN_PARAMETER(115)
 P_NAME("F_GetDataCounter")
 P_DISPLAY_TYPE(uInt32_Dec)
    P_MONITOR()
 P_DEFAULT(0)
 P_ACCESS(ro)
    P_COMMENT("IO Controller -> TGZ Safe Cyclic Data Counter")
    P_UNIT("-")
  P_END_PARAMETER(115)
  P_BEGIN_PARAMETER(116)
    P_NAME("F_ActualCycleTime")
    P_DISPLAY_TYPE(uInt32_Dec)
    P_MONITOR()
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_COMMENT("Actual PROFIsafe cycle time in us")
    P_UNIT("us")
  P_END_PARAMETER(116)
  P_BEGIN_PARAMETER(117)
    P_NAME("F_Dbg_Pos_1")
    P_DISPLAY_TYPE(Int32_Dec)
    P_MONITOR()
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_COMMENT("Internal debug: Encoder safe pos 1")
    P_UNIT("-")
  P_END_PARAMETER(117)
  P_BEGIN_PARAMETER(118)
    P_NAME("F_Dbg_Pos_1_Status")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_MONITOR()
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_COMMENT("Internal debug: Encoder summary safe status byte")
    P_UNIT("-")
  P_END_PARAMETER(118)
  P_BEGIN_PARAMETER(119)
    P_NAME("F_Dbg_Pos_1_Speed")
    P_DISPLAY_TYPE(Int32_Dec)
    P_MONITOR()
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_COMMENT("Internal debug: Safe pos 1 speed")
    P_UNIT("-")
  P_END_PARAMETER(119)
  P_BEGIN_PARAMETER(120)
 P_NAME("F_Dbg_Pos_2")
 P_DISPLAY_TYPE(Int32_Dec)
    P_MONITOR()
 P_DEFAULT(0)
    P_ACCESS(ro)
    P_COMMENT("Internal debug: Encoder safe pos 2")
    P_UNIT("-")
  P_END_PARAMETER(120)
  P_BEGIN_PARAMETER(121)
 P_NAME("F_Dbg_Pos_2_Status")
 P_DISPLAY_TYPE(uInt32_Hex)
    P_MONITOR()
 P_DEFAULT(0)
    P_ACCESS(ro)
    P_COMMENT("Internal debug: Encoder safe pos 2 status")
    P_UNIT("-")
  P_END_PARAMETER(121)
  P_BEGIN_PARAMETER(122)
    P_NAME("F_Dbg_Pos_Full")
    P_DISPLAY_TYPE(Int32_Dec)
    P_MONITOR()
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_COMMENT("Internal debug: Safe pos full resolution")
    P_UNIT("-")
  P_END_PARAMETER(122)
  P_BEGIN_PARAMETER(123)
    P_NAME("F_Dbg_OutputMismatch_Enc")
    P_DISPLAY_TYPE(uInt32_Dec)
    P_MONITOR()
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_COMMENT("Internal debug: # of mismatched encoder output telegrams")
    P_UNIT("-")
  P_END_PARAMETER(123)
  P_BEGIN_PARAMETER(124)
    P_NAME("F_Dbg_InputMismatch_Enc")
    P_DISPLAY_TYPE(uInt32_Dec)
    P_MONITOR()
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_COMMENT("Internal debug: # of mismatched encoder input telegrams")
    P_UNIT("-")
  P_END_PARAMETER(124)
  P_END_SUBGROUP("PROFIsafe encoder (telegram 36)")
  P_BEGIN_SUBGROUP("PROFIsafe control (telegram 902)", "")
  P_BEGIN_PARAMETER(125)
  P_NAME("F_Source_Add_Ctrl")
 P_DISPLAY_TYPE(Int32_Dec)
 P_ACCESS(rw)
    P_DEFAULT(1)
 P_COMMENT("Safe source address (controller) (needs save and restart to change)")
 P_UNIT("-")
  P_END_PARAMETER(125)
  P_BEGIN_PARAMETER(126)
    P_NAME("F_Dest_Add_Ctrl")
    P_DISPLAY_TYPE(Int32_Dec)
    P_ACCESS(rw)
    P_DEFAULT(1)
    P_COMMENT("Safe destination address (TGZ) (needs save and restart to change)")
    P_UNIT("-")
  P_END_PARAMETER(126)
  P_BEGIN_PARAMETER(127)
    P_NAME("F_Safe_Control")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(0, "NOT Safe torque off (STO)")
      P_BIT_EXT_ITEM(1, "NOT Safe stop 1 (SS1)")
      P_BIT_EXT_ITEM(2, "NOT Safe stop 2 (SS2)")
      P_BIT_EXT_ITEM(3, "NOT Safe operating stop (SOS)")
      P_BIT_EXT_ITEM(4, "NOT Safe limit speed (SLS)")
      P_BIT_EXT_ITEM(6, "NOT Safe limit position (SLP)")
      P_BIT_EXT_ITEM(9, "Safe limit speed select 0")
      P_BIT_EXT_ITEM(10, "Safe limit speed select 1")
      P_BIT_EXT_ITEM(19, "Safe limit position select")
    P_END_BIT_EXT()
    P_MONITOR()
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_COMMENT("Internal debug: safe functions control word")
    P_UNIT("-")
  P_END_PARAMETER(127)
  P_BEGIN_PARAMETER(128)
    P_NAME("F_Safe_Status")
    P_DISPLAY_TYPE(uInt32_Hex)
    P_BEGIN_BIT_EXT()
      P_BIT_EXT_ITEM(0, "Safe torque off (STO)")
      P_BIT_EXT_ITEM(1, "Safe stop 1 (SS1)")
      P_BIT_EXT_ITEM(2, "Safe stop 2 (SS2)")
      P_BIT_EXT_ITEM(3, "Safe operating stop (SOS)")
      P_BIT_EXT_ITEM(4, "Safe limit speed (SLS)")
      P_BIT_EXT_ITEM(6, "Safe limit position (SLP)")
      P_BIT_EXT_ITEM(9, "Safe limit speed select 0")
      P_BIT_EXT_ITEM(10, "Safe limit speed select 1")
      P_BIT_EXT_ITEM(19, "Safe limit position select")
      P_BIT_EXT_ITEM(23, "Safely referenced (needed for SLP)")
      P_BIT_EXT_ITEM(30, "SLP upper limit active")
      P_BIT_EXT_ITEM(31, "SLP lower limit active")
    P_END_BIT_EXT()
    P_MONITOR()
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_COMMENT("Internal debug: safe functions control word")
    P_UNIT("-")
  P_END_PARAMETER(128)
  P_BEGIN_PARAMETER(129)
    P_NAME("F_Dbg_OutputMismatch_Ctrl")
    P_DISPLAY_TYPE(Int32_Dec)
    P_MONITOR()
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_COMMENT("Internal debug: # of mismatched control output telegrams")
    P_UNIT("-")
  P_END_PARAMETER(129)
  P_BEGIN_PARAMETER(130)
    P_NAME("F_Dbg_InputMismatch_Ctrl")
    P_DISPLAY_TYPE(Int32_Dec)
    P_MONITOR()
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_COMMENT("Internal debug: # of mismatched control input telegrams")
    P_UNIT("-")
  P_END_PARAMETER(130)
  P_END_SUBGROUP("PROFIsafe control (telegram 902)")
  P_BEGIN_SUBGROUP("PROFIsafe debug", "")
    P_BEGIN_PARAMETER(131)
      P_NAME("F_Dbg_Time_Total")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_MONITOR()
      P_DEFAULT(0)
      P_ACCESS(ro)
      P_COMMENT("Internal debug: total elapsed time for FApp_0 and FApp_1 tasks")
      P_UNIT("us")
    P_END_PARAMETER(131)
  P_END_SUBGROUP("PROFIsafe debug")
P_END_GROUP("PROFIdrive")
P_BEGIN_GROUP("PD Tasks", 25, 26, " ")
  P_BEGIN_SUBGROUP("PD_Task1", "T1-")
    P_BEGIN_PARAMETER(34)
      P_NAME("Mode")
      P_DISPLAY_TYPE(Int32_ComboBox)
      P_BEGIN_COMBO_BOX()
        P_COMBO_BOX_ITEM(0, "0: Relative")
        P_COMBO_BOX_ITEM(1, "1: Absolute")
      P_END_COMBO_BOX()
      P_ACCESS(rw)
      P_COMMENT("Task mode")
      P_UNIT("-")
    P_END_PARAMETER(34)
    P_BEGIN_PARAMETER(35)
      P_NAME("Acc")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Acceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(35)
    P_BEGIN_PARAMETER(36)
      P_NAME("Dec")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Deceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(36)
    P_BEGIN_PARAMETER(37)
      P_NAME("Velocity")
      P_DISPLAY_TYPE(Int32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Velocity")
      P_UNIT("pg_inc/s")
    P_END_PARAMETER(37)
    P_BEGIN_PARAMETER(38)
      P_NAME("Position")
      P_DISPLAY_TYPE(Int64_Dec)
      P_ACCESS(rw)
      P_COMMENT("Position")
      P_UNIT("pg_inc")
    P_END_PARAMETER(38)
  P_END_SUBGROUP("PD_Task1")
  P_BEGIN_SUBGROUP("PD_Task2", "T2-")
    P_BEGIN_PARAMETER(40)
      P_NAME("Mode")
      P_DISPLAY_TYPE(Int32_ComboBox)
      P_BEGIN_COMBO_BOX()
        P_COMBO_BOX_ITEM(0, "0: Relative")
        P_COMBO_BOX_ITEM(1, "1: Absolute")
      P_END_COMBO_BOX()
      P_ACCESS(rw)
      P_COMMENT("Task mode")
      P_UNIT("-")
    P_END_PARAMETER(40)
    P_BEGIN_PARAMETER(41)
      P_NAME("Acc")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Acceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(41)
    P_BEGIN_PARAMETER(42)
      P_NAME("Dec")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Deceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(42)
    P_BEGIN_PARAMETER(43)
      P_NAME("Velocity")
      P_DISPLAY_TYPE(Int32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Velocity")
      P_UNIT("pg_inc/s")
    P_END_PARAMETER(43)
    P_BEGIN_PARAMETER(44)
      P_NAME("Position")
      P_DISPLAY_TYPE(Int64_Dec)
      P_ACCESS(rw)
      P_COMMENT("Position")
      P_UNIT("pg_inc")
    P_END_PARAMETER(44)
  P_END_SUBGROUP("PD_Task2")
  P_BEGIN_SUBGROUP("PD_Task3", "T3-")
    P_BEGIN_PARAMETER(46)
      P_NAME("Mode")
      P_DISPLAY_TYPE(Int32_ComboBox)
      P_BEGIN_COMBO_BOX()
        P_COMBO_BOX_ITEM(0, "0: Relative")
        P_COMBO_BOX_ITEM(1, "1: Absolute")
      P_END_COMBO_BOX()
      P_ACCESS(rw)
      P_COMMENT("Task mode")
      P_UNIT("-")
    P_END_PARAMETER(46)
    P_BEGIN_PARAMETER(47)
      P_NAME("Acc")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Acceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(47)
    P_BEGIN_PARAMETER(48)
      P_NAME("Dec")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Deceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(48)
    P_BEGIN_PARAMETER(49)
      P_NAME("Velocity")
      P_DISPLAY_TYPE(Int32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Velocity")
      P_UNIT("pg_inc/s")
    P_END_PARAMETER(49)
    P_BEGIN_PARAMETER(50)
      P_NAME("Position")
      P_DISPLAY_TYPE(Int64_Dec)
      P_ACCESS(rw)
      P_COMMENT("Position")
      P_UNIT("pg_inc")
    P_END_PARAMETER(50)
  P_END_SUBGROUP("PD_Task3")
  P_BEGIN_SUBGROUP("PD_Task4", "T4-")
    P_BEGIN_PARAMETER(52)
      P_NAME("Mode")
      P_DISPLAY_TYPE(Int32_ComboBox)
      P_BEGIN_COMBO_BOX()
        P_COMBO_BOX_ITEM(0, "0: Relative")
        P_COMBO_BOX_ITEM(1, "1: Absolute")
      P_END_COMBO_BOX()
      P_ACCESS(rw)
      P_COMMENT("Task mode")
      P_UNIT("-")
    P_END_PARAMETER(52)
    P_BEGIN_PARAMETER(53)
      P_NAME("Acc")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Acceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(53)
    P_BEGIN_PARAMETER(54)
      P_NAME("Dec")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Deceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(54)
    P_BEGIN_PARAMETER(55)
      P_NAME("Velocity")
      P_DISPLAY_TYPE(Int32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Velocity")
      P_UNIT("pg_inc/s")
    P_END_PARAMETER(55)
    P_BEGIN_PARAMETER(56)
      P_NAME("Position")
      P_DISPLAY_TYPE(Int64_Dec)
      P_ACCESS(rw)
      P_COMMENT("Position")
      P_UNIT("pg_inc")
    P_END_PARAMETER(56)
  P_END_SUBGROUP("PD_Task4")
  P_BEGIN_SUBGROUP("PD_Task5", "T5-")
    P_BEGIN_PARAMETER(58)
      P_NAME("Mode")
      P_DISPLAY_TYPE(Int32_ComboBox)
      P_BEGIN_COMBO_BOX()
        P_COMBO_BOX_ITEM(0, "0: Relative")
        P_COMBO_BOX_ITEM(1, "1: Absolute")
      P_END_COMBO_BOX()
      P_ACCESS(rw)
      P_COMMENT("Task mode")
      P_UNIT("-")
    P_END_PARAMETER(58)
    P_BEGIN_PARAMETER(59)
      P_NAME("Acc")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Acceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(59)
    P_BEGIN_PARAMETER(60)
      P_NAME("Dec")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Deceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(60)
    P_BEGIN_PARAMETER(61)
      P_NAME("Velocity")
      P_DISPLAY_TYPE(Int32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Velocity")
      P_UNIT("pg_inc/s")
    P_END_PARAMETER(61)
    P_BEGIN_PARAMETER(62)
      P_NAME("Position")
      P_DISPLAY_TYPE(Int64_Dec)
      P_ACCESS(rw)
      P_COMMENT("Position")
      P_UNIT("pg_inc")
    P_END_PARAMETER(62)
  P_END_SUBGROUP("PD_Task5")
  P_BEGIN_SUBGROUP("PD_Task6", "T6-")
    P_BEGIN_PARAMETER(64)
      P_NAME("Mode")
      P_DISPLAY_TYPE(Int32_ComboBox)
      P_BEGIN_COMBO_BOX()
        P_COMBO_BOX_ITEM(0, "0: Relative")
        P_COMBO_BOX_ITEM(1, "1: Absolute")
      P_END_COMBO_BOX()
      P_ACCESS(rw)
      P_COMMENT("Task mode")
      P_UNIT("-")
    P_END_PARAMETER(64)
    P_BEGIN_PARAMETER(65)
      P_NAME("Acc")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Acceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(65)
    P_BEGIN_PARAMETER(66)
      P_NAME("Dec")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Deceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(66)
    P_BEGIN_PARAMETER(67)
      P_NAME("Velocity")
      P_DISPLAY_TYPE(Int32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Velocity")
      P_UNIT("pg_inc/s")
    P_END_PARAMETER(67)
    P_BEGIN_PARAMETER(68)
      P_NAME("Position")
      P_DISPLAY_TYPE(Int64_Dec)
      P_ACCESS(rw)
      P_COMMENT("Position")
      P_UNIT("pg_inc")
    P_END_PARAMETER(68)
  P_END_SUBGROUP("PD_Task6")
  P_BEGIN_SUBGROUP("PD_Task7", "T7-")
    P_BEGIN_PARAMETER(70)
      P_NAME("Mode")
      P_DISPLAY_TYPE(Int32_ComboBox)
      P_BEGIN_COMBO_BOX()
        P_COMBO_BOX_ITEM(0, "0: Relative")
        P_COMBO_BOX_ITEM(1, "1: Absolute")
      P_END_COMBO_BOX()
      P_ACCESS(rw)
      P_COMMENT("Task mode")
      P_UNIT("-")
    P_END_PARAMETER(70)
    P_BEGIN_PARAMETER(71)
      P_NAME("Acc")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Acceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(71)
    P_BEGIN_PARAMETER(72)
      P_NAME("Dec")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Deceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(72)
    P_BEGIN_PARAMETER(73)
      P_NAME("Velocity")
      P_DISPLAY_TYPE(Int32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Velocity")
      P_UNIT("pg_inc/s")
    P_END_PARAMETER(73)
    P_BEGIN_PARAMETER(74)
      P_NAME("Position")
      P_DISPLAY_TYPE(Int64_Dec)
      P_ACCESS(rw)
      P_COMMENT("Position")
      P_UNIT("pg_inc")
    P_END_PARAMETER(74)
  P_END_SUBGROUP("PD_Task7")
  P_BEGIN_SUBGROUP("PD_Task8", "T8-")
    P_BEGIN_PARAMETER(76)
      P_NAME("Mode")
      P_DISPLAY_TYPE(Int32_ComboBox)
      P_BEGIN_COMBO_BOX()
        P_COMBO_BOX_ITEM(0, "0: Relative")
        P_COMBO_BOX_ITEM(1, "1: Absolute")
      P_END_COMBO_BOX()
      P_ACCESS(rw)
      P_COMMENT("Task mode")
      P_UNIT("-")
    P_END_PARAMETER(76)
    P_BEGIN_PARAMETER(77)
      P_NAME("Acc")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Acceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(77)
    P_BEGIN_PARAMETER(78)
      P_NAME("Dec")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Deceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(78)
    P_BEGIN_PARAMETER(79)
      P_NAME("Velocity")
      P_DISPLAY_TYPE(Int32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Velocity")
      P_UNIT("pg_inc/s")
    P_END_PARAMETER(79)
    P_BEGIN_PARAMETER(80)
      P_NAME("Position")
      P_DISPLAY_TYPE(Int64_Dec)
      P_ACCESS(rw)
      P_COMMENT("Position")
      P_UNIT("pg_inc")
    P_END_PARAMETER(80)
  P_END_SUBGROUP("PD_Task8")
  P_BEGIN_SUBGROUP("PD_Task9", "T9-")
    P_BEGIN_PARAMETER(82)
      P_NAME("Mode")
      P_DISPLAY_TYPE(Int32_ComboBox)
      P_BEGIN_COMBO_BOX()
        P_COMBO_BOX_ITEM(0, "0: Relative")
        P_COMBO_BOX_ITEM(1, "1: Absolute")
      P_END_COMBO_BOX()
      P_ACCESS(rw)
      P_COMMENT("Task mode")
      P_UNIT("-")
    P_END_PARAMETER(82)
    P_BEGIN_PARAMETER(83)
      P_NAME("Acc")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Acceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(83)
    P_BEGIN_PARAMETER(84)
      P_NAME("Dec")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Deceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(84)
    P_BEGIN_PARAMETER(85)
      P_NAME("Velocity")
      P_DISPLAY_TYPE(Int32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Velocity")
      P_UNIT("pg_inc/s")
    P_END_PARAMETER(85)
    P_BEGIN_PARAMETER(86)
      P_NAME("Position")
      P_DISPLAY_TYPE(Int64_Dec)
      P_ACCESS(rw)
      P_COMMENT("Position")
      P_UNIT("pg_inc")
    P_END_PARAMETER(86)
  P_END_SUBGROUP("PD_Task9")
  P_BEGIN_SUBGROUP("PD_Task10", "T10-")
    P_BEGIN_PARAMETER(88)
      P_NAME("Mode")
      P_DISPLAY_TYPE(Int32_ComboBox)
      P_BEGIN_COMBO_BOX()
        P_COMBO_BOX_ITEM(0, "0: Relative")
        P_COMBO_BOX_ITEM(1, "1: Absolute")
      P_END_COMBO_BOX()
      P_ACCESS(rw)
      P_COMMENT("Task mode")
      P_UNIT("-")
    P_END_PARAMETER(88)
    P_BEGIN_PARAMETER(89)
      P_NAME("Acc")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Acceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(89)
    P_BEGIN_PARAMETER(90)
      P_NAME("Dec")
      P_DISPLAY_TYPE(uInt32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Deceleration")
      P_UNIT("pg_inc/s²")
    P_END_PARAMETER(90)
    P_BEGIN_PARAMETER(91)
      P_NAME("Velocity")
      P_DISPLAY_TYPE(Int32_Dec)
      P_ACCESS(rw)
      P_COMMENT("Velocity")
      P_UNIT("pg_inc/s")
    P_END_PARAMETER(91)
    P_BEGIN_PARAMETER(92)
      P_NAME("Position")
      P_DISPLAY_TYPE(Int64_Dec)
      P_ACCESS(rw)
      P_COMMENT("Position")
      P_UNIT("pg_inc")
    P_END_PARAMETER(92)
  P_END_SUBGROUP("PD_Task10")
P_END_GROUP("PD Tasks")
P_BEGIN_GROUP("UserProg", 24, 24, "PRG-")
  P_BEGIN_PARAMETER(0)
    P_NAME("ControlProg")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Bin)
    P_COMMENT("User program control: bit0..start/pause, bit1..restart, bit2..debug, bit3-step")
    P_UNIT("-")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("StatusProg")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Bin)
    P_COMMENT("User program status: bit0..running, bit1..paused(breakpoint), bit2..debug, bit3..error")
    P_UNIT("-")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("ErrorProg")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "  0: No error")
      P_COMBO_BOX_ITEM(-1, " -1: Variables stack overflow")
      P_COMBO_BOX_ITEM(-2, " -2: Data stack overflow")
      P_COMBO_BOX_ITEM(-3, " -3: Type mismatch")
      P_COMBO_BOX_ITEM(-4, " -4: Stack failure")
      P_COMBO_BOX_ITEM(-5, " -5: Bad index")
      P_COMBO_BOX_ITEM(-6, " -6: Out of memory")
      P_COMBO_BOX_ITEM(-7, " -7: Invalid method params")
      P_COMBO_BOX_ITEM(-8, " -8: Operator")
      P_COMBO_BOX_ITEM(-9, " -9: Not implemented")
      P_COMBO_BOX_ITEM(-10, "-10: Invalid instruction")
      P_COMBO_BOX_ITEM(-11, "-11: Value overflow")
      P_COMBO_BOX_ITEM(-12, "-12: Sqrt negative")
      P_COMBO_BOX_ITEM(-13, "-13: Divide by zero")
      P_COMBO_BOX_ITEM(-14, "-14: Array too small")
      P_COMBO_BOX_ITEM(-15, "-15: Checksum")
      P_COMBO_BOX_ITEM(-16, "-16: Read reg invalid param num")
      P_COMBO_BOX_ITEM(-17, "-17: Read reg invalid group num")
      P_COMBO_BOX_ITEM(-18, "-18: Write reg invalid param num")
      P_COMBO_BOX_ITEM(-19, "-19: Write reg invalid group num")
      P_COMBO_BOX_ITEM(-20, "-20: Write reg out of limits")
      P_COMBO_BOX_ITEM(-21, "-21: Floating point error")
      P_COMBO_BOX_ITEM(-22, "-22: File not found")
      P_COMBO_BOX_ITEM(-23, "-23: File read error")
      P_COMBO_BOX_ITEM(-24, "-24: Exception")
    P_END_COMBO_BOX()
    P_COMMENT("User program error code")
    P_UNIT("-")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("BreakPointLine")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("User program breakpoint line")
    P_UNIT("-")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(5)
    P_NAME("PrintPoi")
    P_DEFAULT(0)
    P_MONITOR()
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("User message head index")
    P_UNIT("-")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(6)
    P_NAME("MainCycleTime")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Main cycle time")
    P_UNIT("us")
  P_END_PARAMETER(6)
  P_BEGIN_PARAMETER(7)
    P_NAME("EvalInstructionsTime")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Internal debug instructions time")
    P_UNIT("us")
    P_MONITOR()
  P_END_PARAMETER(7)
  P_BEGIN_PARAMETER(12)
    P_NAME("NumInstructionsPerCycle")
    P_DEFAULT(200)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Number of instructions per cycle")
    P_UNIT("-")
  P_END_PARAMETER(12)
  P_BEGIN_PARAMETER(16)
    P_NAME("CAN_Status")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("CAN Status")
    P_UNIT("-")
  P_END_PARAMETER(16)
  P_BEGIN_PARAMETER(17)
    P_NAME("CAN_Transmit_ID")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("CAN Transmit ID")
    P_UNIT("-")
  P_END_PARAMETER(17)
  P_BEGIN_PARAMETER(18)
    P_NAME("CAN_Transmit_Len")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("CAN Transmit Length")
    P_UNIT("-")
  P_END_PARAMETER(18)
  P_BEGIN_PARAMETER(19)
    P_NAME("CAN_Transmit_Data_Lo")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("CAN Transmit Data Low Word")
    P_UNIT("-")
  P_END_PARAMETER(19)
  P_BEGIN_PARAMETER(20)
    P_NAME("CAN_Transmit_Data_Hi")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("CAN Transmit Data High Word")
    P_UNIT("-")
  P_END_PARAMETER(20)
  P_BEGIN_PARAMETER(21)
    P_NAME("CAN_Transmit_Control")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("CAN Transmit Control")
    P_UNIT("-")
  P_END_PARAMETER(21)
  P_BEGIN_PARAMETER(22)
    P_NAME("CAN_Receive_Control")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("CAN Receive Control")
    P_UNIT("-")
  P_END_PARAMETER(22)
  P_BEGIN_PARAMETER(23)
    P_NAME("CAN_Receive_Buff0_ID")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("ID of CAN Receive Buffer 0")
    P_UNIT("-")
  P_END_PARAMETER(23)
  P_BEGIN_PARAMETER(24)
    P_NAME("CAN_Receive_Buff0_Len")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Length of CAN Receive Buffer 0")
    P_UNIT("-")
  P_END_PARAMETER(24)
  P_BEGIN_PARAMETER(25)
    P_NAME("CAN_Receive_Buff0_Data_Lo")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Data Low Word of CAN Receive Buffer 0")
    P_UNIT("-")
  P_END_PARAMETER(25)
  P_BEGIN_PARAMETER(26)
    P_NAME("CAN_Receive_Buff0_Data_Hi")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Data High Word of CAN Receive Buffer 0")
    P_UNIT("-")
  P_END_PARAMETER(26)
  P_BEGIN_PARAMETER(27)
    P_NAME("CAN_Receive_Buff1_ID")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("ID of CAN Receive Buffer 1")
    P_UNIT("-")
  P_END_PARAMETER(27)
  P_BEGIN_PARAMETER(28)
    P_NAME("CAN_Receive_Buff1_Len")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Length of CAN Receive Buffer 1")
    P_UNIT("-")
  P_END_PARAMETER(28)
  P_BEGIN_PARAMETER(29)
    P_NAME("CAN_Receive_Buff1_Data_Lo")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Data Low Word of CAN Receive Buffer 1")
    P_UNIT("-")
  P_END_PARAMETER(29)
  P_BEGIN_PARAMETER(30)
    P_NAME("CAN_Receive_Buff1_Data_Hi")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Data High Word of CAN Receive Buffer 1")
    P_UNIT("-")
  P_END_PARAMETER(30)
  P_BEGIN_PARAMETER(31)
    P_NAME("CAN_Receive_Buff2_ID")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("ID of CAN Receive Buffer 2")
    P_UNIT("-")
  P_END_PARAMETER(31)
  P_BEGIN_PARAMETER(32)
    P_NAME("CAN_Receive_Buff2_Len")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Length of CAN Receive Buffer 2")
    P_UNIT("-")
  P_END_PARAMETER(32)
  P_BEGIN_PARAMETER(33)
    P_NAME("CAN_Receive_Buff2_Data_Lo")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Data Low Word of CAN Receive Buffer 2")
    P_UNIT("-")
  P_END_PARAMETER(33)
  P_BEGIN_PARAMETER(34)
    P_NAME("CAN_Receive_Buff2_Data_Hi")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("Data High Word of CAN Receive Buffer 2")
    P_UNIT("-")
  P_END_PARAMETER(34)
  P_BEGIN_PARAMETER(55)
    P_NAME("CAN_Transmit_MsgCnt")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("CAN Transmit Message Counter")
    P_UNIT("-")
  P_END_PARAMETER(55)
  P_BEGIN_PARAMETER(56)
    P_NAME("CAN_Receive_MsgCnt")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("CAN Receive Message Counter")
    P_UNIT("-")
  P_END_PARAMETER(56)
  P_BEGIN_PARAMETER(64)
    P_NAME("UsrReg0_L")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 0 Low Word")
    P_UNIT("-")
  P_END_PARAMETER(64)
  P_BEGIN_PARAMETER(65)
    P_NAME("UsrReg0_H")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 0 High Word")
    P_UNIT("-")
  P_END_PARAMETER(65)
  P_BEGIN_PARAMETER(66)
    P_NAME("UsrReg1_L")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 1 Low Word")
    P_UNIT("-")
  P_END_PARAMETER(66)
  P_BEGIN_PARAMETER(67)
    P_NAME("UsrReg1_H")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 1 High Word")
    P_UNIT("-")
  P_END_PARAMETER(67)
  P_BEGIN_PARAMETER(68)
    P_NAME("UsrReg2_L")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 2 Low Word")
    P_UNIT("-")
  P_END_PARAMETER(68)
  P_BEGIN_PARAMETER(69)
    P_NAME("UsrReg2_H")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 2 High Word")
    P_UNIT("-")
  P_END_PARAMETER(69)
  P_BEGIN_PARAMETER(70)
    P_NAME("UsrReg3_L")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 3 Low Word")
    P_UNIT("-")
  P_END_PARAMETER(70)
  P_BEGIN_PARAMETER(71)
    P_NAME("UsrReg3_H")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 3 High Word")
    P_UNIT("-")
  P_END_PARAMETER(71)
  P_BEGIN_PARAMETER(72)
    P_NAME("UsrReg4_L")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 4 Low Word")
    P_UNIT("-")
  P_END_PARAMETER(72)
  P_BEGIN_PARAMETER(73)
    P_NAME("UsrReg4_H")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 4 High Word")
    P_UNIT("-")
  P_END_PARAMETER(73)
  P_BEGIN_PARAMETER(74)
    P_NAME("UsrReg5_L")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 5 Low Word")
    P_UNIT("-")
  P_END_PARAMETER(74)
  P_BEGIN_PARAMETER(75)
    P_NAME("UsrReg5_H")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 5 High Word")
    P_UNIT("-")
  P_END_PARAMETER(75)
  P_BEGIN_PARAMETER(76)
    P_NAME("UsrReg6_L")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 6 Low Word")
    P_UNIT("-")
  P_END_PARAMETER(76)
  P_BEGIN_PARAMETER(77)
    P_NAME("UsrReg6_H")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 6 High Word")
    P_UNIT("-")
  P_END_PARAMETER(77)
  P_BEGIN_PARAMETER(78)
    P_NAME("UsrReg7_L")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 7 Low Word")
    P_UNIT("-")
  P_END_PARAMETER(78)
  P_BEGIN_PARAMETER(79)
    P_NAME("UsrReg7_H")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 7 High Word")
    P_UNIT("-")
  P_END_PARAMETER(79)
  P_BEGIN_PARAMETER(80)
    P_NAME("UsrReg8_L")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 8 Low Word")
    P_UNIT("-")
  P_END_PARAMETER(80)
  P_BEGIN_PARAMETER(81)
    P_NAME("UsrReg8_H")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 8 High Word")
    P_UNIT("-")
  P_END_PARAMETER(81)
  P_BEGIN_PARAMETER(82)
    P_NAME("UsrReg9_L")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 9 Low Word")
    P_UNIT("-")
  P_END_PARAMETER(82)
  P_BEGIN_PARAMETER(83)
    P_NAME("UsrReg9_H")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Hex)
    P_COMMENT("User Register 9 High Word")
    P_UNIT("-")
  P_END_PARAMETER(83)
P_END_GROUP("UserProg")
P_BEGIN_GROUP("PG", 25, 26, "PG-")
  P_BEGIN_PARAMETER(0)
    P_NAME("Acc")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Movement acceleration")
    P_UNIT("pg_inc/s²")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("Dec")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Movement deceleration")
    P_UNIT("pg_inc/s²")
  P_END_PARAMETER(1)
  P_BEGIN_PARAMETER(2)
    P_NAME("APos_64bit")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Actual position 64 bit")
    P_UNIT("pg_inc")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(2)
    P_NAME("APosAngle")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Actual position angle")
    P_UNIT("pg_inc")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("APosRevol")
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual position revolutions")
    P_UNIT("1")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(4)
    P_NAME("DPos_64bit")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Desired position 64 bit")
    P_UNIT("pg_inc")
    P_MONITOR()
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(4)
    P_NAME("DPosAngle")
    P_ACCESS(rw)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Desired position angle")
    P_UNIT("pg_inc")
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(5)
    P_NAME("DPosRevol")
    P_ACCESS(rw)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Desired position revolutions")
    P_UNIT("pg_inc")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(6)
    P_NAME("ASpeed")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual speed")
    P_UNIT("pg_inc/s")
  P_END_PARAMETER(6)
  P_BEGIN_PARAMETER(7)
    P_NAME("PosSpeed")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Desired speed in position mode")
    P_UNIT("pg_inc/s")
  P_END_PARAMETER(7)
  P_BEGIN_PARAMETER(8)
    P_NAME("Speed")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Desired speed of movement in speed mode")
    P_UNIT("pg_inc/s")
  P_END_PARAMETER(8)
  P_BEGIN_PARAMETER(9)
    P_NAME("Mode")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: Speed mode")
      P_COMBO_BOX_ITEM(1, "1: Position mode")
    P_END_COMBO_BOX()
    P_COMMENT("Mode of profile generator")
    P_UNIT("-")
  P_END_PARAMETER(9)
  P_BEGIN_PARAMETER(10)
    P_NAME("Rdy")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: Movement active")
      P_COMBO_BOX_ITEM(1, "1: Destination reached")
    P_END_COMBO_BOX()
    P_COMMENT("End of movement")
    P_UNIT("-")
  P_END_PARAMETER(10)
  P_BEGIN_PARAMETER(11)
    P_NAME("Type")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: Harmonic non symmetric")
      P_COMBO_BOX_ITEM(1, "1: Harmonic symmetric")
      P_COMBO_BOX_ITEM(2, "2: Symmetric")
      P_COMBO_BOX_ITEM(3, "3: Trapezoidal")
      P_COMBO_BOX_ITEM(4, "4: sin²")
    P_END_COMBO_BOX()
    P_COMMENT("Type of speed profile")
    P_UNIT("-")
  P_END_PARAMETER(11)
  P_BEGIN_PARAMETER(12)
    P_NAME("BitsPerRevol")
    P_DEFAULT(20)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Encoder resolution - number of bits per revolution")
    P_UNIT("2ᶰ")
  P_END_PARAMETER(12)
  P_BEGIN_PARAMETER(13)
    P_NAME("Rotary")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: Standard")
      P_COMBO_BOX_ITEM(1, "1: Rotary")
    P_END_COMBO_BOX()
    P_COMMENT("Axis mode")
    P_UNIT("-")
  P_END_PARAMETER(13)
  P_BEGIN_PARAMETER(14)
    P_NAME("PosOffset_64bit")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Position zero offset 64 bit")
    P_UNIT("pg_inc")
  P_END_PARAMETER(14)
  P_BEGIN_PARAMETER(14)
    P_NAME("PosOffsetAngle")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Position zero offset angle")
    P_UNIT("pg_inc")
  P_END_PARAMETER(14)
  P_BEGIN_PARAMETER(15)
    P_NAME("PosOffsetRevol")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Position zero offset revolutions")
    P_UNIT("pg_inc")
  P_END_PARAMETER(15)
  P_BEGIN_PARAMETER(16)
    P_NAME("PosLimitPosit_64bit")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Positive position limit 64 bit")
    P_UNIT("pg_inc")
  P_END_PARAMETER(16)
  P_BEGIN_PARAMETER(16)
    P_NAME("PosLimitAnglePosit")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Positive position limit angle")
    P_UNIT("pg_inc")
  P_END_PARAMETER(16)
  P_BEGIN_PARAMETER(17)
    P_NAME("PosLimitRevolPosit")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Positive position limit revolutions")
    P_UNIT("pg_inc")
  P_END_PARAMETER(17)
  P_BEGIN_PARAMETER(18)
    P_NAME("PosLimitNegat_64bit")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Negative position limit 64 bit")
    P_UNIT("pg_inc")
  P_END_PARAMETER(18)
  P_BEGIN_PARAMETER(18)
    P_NAME("PosLimitAngleNegat")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Negative position limit angle")
    P_UNIT("pg_inc")
  P_END_PARAMETER(18)
  P_BEGIN_PARAMETER(19)
    P_NAME("PosLimitRevolNegat")
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Negative position limit revolutions")
    P_UNIT("pg_inc")
  P_END_PARAMETER(19)
  P_BEGIN_PARAMETER(32)
    P_NAME("AccMaxCurrentFeedForward")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Value of act acceleration for use maximal motor peak current")
    P_UNIT("pg_inc/s²")
  P_END_PARAMETER(32)
  P_BEGIN_PARAMETER(33)
    P_NAME("PG_Command")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: Idle")
      P_COMBO_BOX_ITEM(1, "1: Set reference position")
    P_END_COMBO_BOX()
    P_COMMENT("Profile generator command")
    P_UNIT("-")
  P_END_PARAMETER(33)
P_END_GROUP("PG")
P_BEGIN_GROUP("Gear", 27, 28, "GC-")
  P_BEGIN_PARAMETER(0)
    P_NAME("Position_64bit")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int64_Dec)
    P_COMMENT("Output position for linear gearing or pointer to CAM for cam gearing")
    P_UNIT("inc")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(0)
    P_NAME("PositionAngle")
    P_ACCESS(ro)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Output angle position for linear gearing or pointer to CAM for cam gearing")
    P_UNIT("inc")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(1)
    P_NAME("PositionRevol")
    P_ACCESS(ro)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Output revolution position for linear gearing or pointer to CAM for cam gearing")
    P_UNIT("inc")
  P_END_PARAMETER(0)
  P_BEGIN_PARAMETER(2)
    P_NAME("CamPositionAngle")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Output position for cam gearing")
    P_UNIT("inc")
  P_END_PARAMETER(2)
  P_BEGIN_PARAMETER(3)
    P_NAME("CamPositionRevol")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Output position for cam gearing")
    P_UNIT("1")
  P_END_PARAMETER(3)
  P_BEGIN_PARAMETER(4)
    P_NAME("OffsetAngle")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Offset of output position (angle)")
    P_UNIT("inc")
  P_END_PARAMETER(4)
  P_BEGIN_PARAMETER(5)
    P_NAME("OffsetRevol")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Offset of output position (revolutions)")
    P_UNIT("1")
  P_END_PARAMETER(5)
  P_BEGIN_PARAMETER(6)
    P_NAME("Shift")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Desired shift of pointer to cam")
    P_UNIT("inc")
  P_END_PARAMETER(6)
  P_BEGIN_PARAMETER(7)
    P_NAME("ActualShiftAngle")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual shift of pointer to cam")
    P_UNIT("inc")
  P_END_PARAMETER(7)
  P_BEGIN_PARAMETER(8)
    P_NAME("IncShift")
    P_DEFAULT(1)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Increment of shift pointer to cam")
    P_UNIT("inc/servo tick")
  P_END_PARAMETER(8)
  P_BEGIN_PARAMETER(9)
    P_NAME("IncIn")
    P_DEFAULT(1)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Increment of ramp Gear.ActualIn")
    P_UNIT("inc/servo tick")
  P_END_PARAMETER(9)
  P_BEGIN_PARAMETER(10)
    P_NAME("CamIncPosition")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Increment of position incremental cam")
    P_UNIT("inc")
  P_END_PARAMETER(10)
  P_BEGIN_PARAMETER(11)
    P_NAME("CamScale")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Scaling factor of cam profile")
    P_UNIT("inc")
  P_END_PARAMETER(11)
  P_BEGIN_PARAMETER(12)
    P_NAME("SourceNumber")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(uInt32_Dec)
    P_COMMENT("Number of logical servo used for source of master position (0 or 1)")
    P_UNIT("-")
  P_END_PARAMETER(12)
  P_BEGIN_PARAMETER(13)
    P_NAME("SourcePosition")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: None")
      P_COMBO_BOX_ITEM(1, "1: Write position")
      P_COMBO_BOX_ITEM(2, "2: Position")
      P_COMBO_BOX_ITEM(3, "3: Time (servo tick)")
      P_COMBO_BOX_ITEM(4, "4: Ext position")
      P_COMBO_BOX_ITEM(5, "5: Profile generator APos")
      P_COMBO_BOX_ITEM(6, "6: Fieldbus setpoint value")
    P_END_COMBO_BOX()
    P_COMMENT("Type of master position")
    P_UNIT("-")
  P_END_PARAMETER(13)
  P_BEGIN_PARAMETER(14)
    P_NAME("Mode")
    P_DEFAULT(0)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_ComboBox)
    P_BEGIN_COMBO_BOX()
      P_COMBO_BOX_ITEM(0, "0: gear generator off")
      P_COMBO_BOX_ITEM(1, "1: linear gearing is active")
      P_COMBO_BOX_ITEM(2, "2: cam gearing is active")
    P_END_COMBO_BOX()
    P_COMMENT("Gear generator modes")
    P_UNIT("-")
  P_END_PARAMETER(14)
  P_BEGIN_PARAMETER(15)
    P_NAME("In")
    P_DEFAULT(1)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Numerator of gear ratio")
    P_UNIT("-")
  P_END_PARAMETER(15)
  P_BEGIN_PARAMETER(16)
    P_NAME("Out")
    P_DEFAULT(1)
    P_ACCESS(rw)
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Denominator of gear ratio")
    P_UNIT("-")
  P_END_PARAMETER(16)
  P_BEGIN_PARAMETER(17)
    P_NAME("ActualIn")
    P_DEFAULT(0)
    P_ACCESS(ro)
    P_MONITOR()
    P_DISPLAY_TYPE(Int32_Dec)
    P_COMMENT("Actual value of numerator gear ratio")
    P_UNIT("-")
  P_END_PARAMETER(17)
P_END_GROUP("Gear")
