motion-master-client 0.0.246 → 0.0.248

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Files changed (26) hide show
  1. package/package.json +1 -1
  2. package/src/index.d.ts +2 -0
  3. package/src/index.js +2 -0
  4. package/src/index.js.map +1 -1
  5. package/src/lib/config-file.js +1 -1
  6. package/src/lib/config-file.js.map +1 -1
  7. package/src/lib/motion-master-req-res-client.d.ts +186 -22
  8. package/src/lib/motion-master-req-res-client.js +231 -45
  9. package/src/lib/motion-master-req-res-client.js.map +1 -1
  10. package/src/lib/os-command.d.ts +58 -0
  11. package/src/lib/os-command.js +10 -0
  12. package/src/lib/os-command.js.map +1 -1
  13. package/src/lib/parameter.d.ts +1 -1
  14. package/src/lib/parameter.js +3 -3
  15. package/src/lib/parameter.js.map +1 -1
  16. package/src/lib/smm-od-v1.json +1851 -0
  17. package/src/lib/smm-od-v2.json +2051 -0
  18. package/src/lib/smm-od.d.ts +41 -0
  19. package/src/lib/smm-od.js +6 -0
  20. package/src/lib/smm-od.js.map +1 -0
  21. package/src/lib/smm.d.ts +200 -48
  22. package/src/lib/smm.js +275 -95
  23. package/src/lib/smm.js.map +1 -1
  24. package/src/lib/util.d.ts +257 -6
  25. package/src/lib/util.js +328 -4
  26. package/src/lib/util.js.map +1 -1
package/src/lib/smm-od-v2.json ADDED
@@ -0,0 +1,2051 @@
1
+ {
2
+ "parameters": {
3
+ "safety": [
4
+ {
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+ "parameterName": "Used Parameter Structure Version",
6
+ "variableName": "usedParameterStructVersion",
7
+ "group": "None",
8
+ "index": 0,
9
+ "subindex": 0,
10
+ "description": "Version number which identifies which parameter structure was used to contain the parameter set.",
11
+ "type": "uint16_t",
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+ "size": 2,
13
+ "unit": null,
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+ "min": null,
15
+ "max": null,
16
+ "defaultValue": 515,
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+ "access": "ro"
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+ },
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+ {
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+ "parameterName": "Drive safety name",
21
+ "variableName": "driveName",
22
+ "group": "General Parameters (General Parameters)",
23
+ "index": 9760,
24
+ "subindex": 1,
25
+ "description": "Safety drive name",
26
+ "type": "char[24]",
27
+ "size": 24,
28
+ "unit": null,
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+ "min": null,
30
+ "max": null,
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+ "defaultValue": "",
32
+ "access": "rw"
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+ },
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+ {
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+ "parameterName": "Safe fieldbus",
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+ "variableName": "safeFieldbusActivation",
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+ "group": "General Parameters (General Parameters)",
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+ "index": 9760,
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+ "subindex": 2,
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+ "description": "Specifies if the safe fieldbus is enabled",
41
+ "type": "enum",
42
+ "typeRef": "Toggle_Type",
43
+ "size": 1,
44
+ "unit": null,
45
+ "min": null,
46
+ "max": null,
47
+ "defaultValue": 255,
48
+ "access": "rw"
49
+ },
50
+ {
51
+ "parameterName": "Safe address",
52
+ "variableName": "safeAddress",
53
+ "group": "General Parameters (General Parameters)",
54
+ "index": 9760,
55
+ "subindex": 3,
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+ "description": "The safe address for the safe fieldbus",
57
+ "type": "uint16_t",
58
+ "size": 2,
59
+ "unit": null,
60
+ "min": 0,
61
+ "max": 65535,
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+ "defaultValue": 1,
63
+ "access": "rw"
64
+ },
65
+ {
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+ "parameterName": "Parameter download via FSoE",
67
+ "variableName": "fsoeDownload",
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+ "group": "General Parameters (General Parameters)",
69
+ "index": 9760,
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+ "subindex": 4,
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+ "description": "Defines if parameter download is performed via FSoE.",
72
+ "type": "enum",
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+ "typeRef": "Toggle_Type",
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+ "size": 1,
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+ "unit": null,
76
+ "min": null,
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+ "max": null,
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+ "defaultValue": 0,
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+ "access": "rw"
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+ },
81
+ {
82
+ "parameterName": "Acknowledge via drive",
83
+ "variableName": "allowAcknowledgeViaDrive",
84
+ "group": "Safety IO (Digital I/O)",
85
+ "index": 9761,
86
+ "subindex": 1,
87
+ "description": "Defines if an acknowledge via the non-safe drive interface for faults and restart (STO/SOS) is allowed.",
88
+ "type": "enum",
89
+ "typeRef": "Toggle_Type",
90
+ "size": 1,
91
+ "unit": null,
92
+ "min": null,
93
+ "max": null,
94
+ "defaultValue": 255,
95
+ "access": "rw"
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+ },
97
+ {
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+ "parameterName": "Acknowledgement input",
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+ "variableName": "acknowledgeInput",
100
+ "group": "Safety IO (Digital I/O)",
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+ "index": 9761,
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+ "subindex": 2,
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+ "description": "Which input is used as acknowledge input",
104
+ "type": "enum",
105
+ "typeRef": "InputSource_Type",
106
+ "size": 1,
107
+ "unit": null,
108
+ "min": null,
109
+ "max": null,
110
+ "defaultValue": 0,
111
+ "access": "rw"
112
+ },
113
+ {
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+ "parameterName": "Input test pulse detection",
115
+ "variableName": "dualInputTestPulseDetection",
116
+ "group": "Safety IO (Digital I/O)",
117
+ "index": 9761,
118
+ "subindex": 3,
119
+ "description": "Defines if test pulses on the safe digital inputs are expected",
120
+ "type": "enum",
121
+ "typeRef": "InputPulseActive_Type",
122
+ "size": 1,
123
+ "unit": null,
124
+ "min": null,
125
+ "max": null,
126
+ "defaultValue": 0,
127
+ "access": "rw"
128
+ },
129
+ {
130
+ "parameterName": "Input filter time",
131
+ "variableName": "dualInputFilterTime",
132
+ "group": "Safety IO (Digital I/O)",
133
+ "index": 9761,
134
+ "subindex": 4,
135
+ "description": "The time after a detection of low triggers the configured action. To avoid misinterpretation of the pulses as activation, the filter time should be > than the test pulse/pattern + 3.",
136
+ "type": "uint8_t",
137
+ "size": 1,
138
+ "unit": "ms",
139
+ "min": 2,
140
+ "max": 20,
141
+ "defaultValue": 4,
142
+ "access": "rw"
143
+ },
144
+ {
145
+ "parameterName": "Test pulse max. distance",
146
+ "variableName": "dualInputTestPulseDistance",
147
+ "group": "Safety IO (Digital I/O)",
148
+ "index": 9761,
149
+ "subindex": 5,
150
+ "description": "Defines the maximum expected distance between test pulses on the safe inputs. In other words, when is the latest point the next test pulse has to be detected.",
151
+ "type": "uint16_t",
152
+ "size": 2,
153
+ "unit": "ms",
154
+ "min": 100,
155
+ "max": 60000,
156
+ "defaultValue": 1000,
157
+ "access": "rw"
158
+ },
159
+ {
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+ "parameterName": "Output test pulse",
161
+ "variableName": "dualOutputTestPulseActivation",
162
+ "group": "Safety IO (Digital I/O)",
163
+ "index": 9761,
164
+ "subindex": 6,
165
+ "description": "Defines if test pulses on the safe digital outputs are performed",
166
+ "type": "enum",
167
+ "typeRef": "OutputPulseActive_Type",
168
+ "size": 1,
169
+ "unit": null,
170
+ "min": null,
171
+ "max": null,
172
+ "defaultValue": 0,
173
+ "access": "rw"
174
+ },
175
+ {
176
+ "parameterName": "Output1 function",
177
+ "variableName": "dualOutputConfiguration",
178
+ "group": "Safety IO (Digital I/O)",
179
+ "index": 9761,
180
+ "subindex": 7,
181
+ "description": "Selects the state of a safety function, which is provided at the safe digital outputs.",
182
+ "type": "enum",
183
+ "typeRef": "OutputSource_Type",
184
+ "size": 1,
185
+ "unit": null,
186
+ "min": null,
187
+ "max": null,
188
+ "defaultValue": 0,
189
+ "access": "rw"
190
+ },
191
+ {
192
+ "parameterName": "Output2 function",
193
+ "variableName": "dualOutputConfiguration",
194
+ "group": "Safety IO (Digital I/O)",
195
+ "index": 9761,
196
+ "subindex": 8,
197
+ "description": "Selects the state of a safety function, which is provided at the safe digital outputs.",
198
+ "type": "enum",
199
+ "typeRef": "OutputSource_Type",
200
+ "size": 1,
201
+ "unit": null,
202
+ "min": null,
203
+ "max": null,
204
+ "defaultValue": 0,
205
+ "access": "rw"
206
+ },
207
+ {
208
+ "parameterName": "Analog input1 Gain",
209
+ "variableName": "analogInput1Gain",
210
+ "group": "Safety IO (Analog Input)",
211
+ "index": 9765,
212
+ "subindex": 1,
213
+ "description": "Analog input gain.",
214
+ "type": "int32_t",
215
+ "size": 4,
216
+ "unit": null,
217
+ "min": -2147483647,
218
+ "max": 2147483647,
219
+ "defaultValue": 0,
220
+ "access": "rw"
221
+ },
222
+ {
223
+ "parameterName": "Analog input1 Offset",
224
+ "variableName": "analogInput1Offset",
225
+ "group": "Safety IO (Analog Input)",
226
+ "index": 9765,
227
+ "subindex": 2,
228
+ "description": "16-bit value of analog input offset.",
229
+ "type": "int16_t",
230
+ "size": 2,
231
+ "unit": "inc",
232
+ "min": -32767,
233
+ "max": 32767,
234
+ "defaultValue": 0,
235
+ "access": "rw"
236
+ },
237
+ {
238
+ "parameterName": "Analog input2 Gain",
239
+ "variableName": "analogInput2Gain",
240
+ "group": "Safety IO (Analog Input)",
241
+ "index": 9765,
242
+ "subindex": 3,
243
+ "description": "Analog input gain.",
244
+ "type": "int32_t",
245
+ "size": 4,
246
+ "unit": null,
247
+ "min": -2147483647,
248
+ "max": 2147483647,
249
+ "defaultValue": 0,
250
+ "access": "rw"
251
+ },
252
+ {
253
+ "parameterName": "Analog input2 Offset",
254
+ "variableName": "analogInput2Offset",
255
+ "group": "Safety IO (Analog Input)",
256
+ "index": 9765,
257
+ "subindex": 4,
258
+ "description": "16-bit value of analog input offset.",
259
+ "type": "int16_t",
260
+ "size": 2,
261
+ "unit": "inc",
262
+ "min": -32767,
263
+ "max": 32767,
264
+ "defaultValue": 0,
265
+ "access": "rw"
266
+ },
267
+ {
268
+ "parameterName": "Analog allowed error",
269
+ "variableName": "analogAllowedError",
270
+ "group": "Safety IO (Analog Input)",
271
+ "index": 9765,
272
+ "subindex": 5,
273
+ "description": "Allowed error in torque-value",
274
+ "type": "uint32_t",
275
+ "size": 4,
276
+ "unit": null,
277
+ "min": 0,
278
+ "max": 4294967295,
279
+ "defaultValue": 0,
280
+ "access": "rw"
281
+ },
282
+ {
283
+ "parameterName": "Analog input filter time",
284
+ "variableName": "analogFilterTime",
285
+ "group": "Safety IO (Analog Input)",
286
+ "index": 9765,
287
+ "subindex": 6,
288
+ "description": "Filter time for safe analog input",
289
+ "type": "uint8_t",
290
+ "size": 1,
291
+ "unit": "ms",
292
+ "min": 0,
293
+ "max": 100,
294
+ "defaultValue": 0,
295
+ "access": "rw"
296
+ },
297
+ {
298
+ "parameterName": "Encoder source type",
299
+ "variableName": "encoderInterface",
300
+ "group": "Encoder selection (Encoders)",
301
+ "index": 9776,
302
+ "subindex": 1,
303
+ "description": "The encoder which is used as the primary encoder.",
304
+ "type": "enum",
305
+ "typeRef": "EncoderInterface_Type",
306
+ "size": 1,
307
+ "unit": null,
308
+ "min": null,
309
+ "max": null,
310
+ "defaultValue": 0,
311
+ "access": "rw"
312
+ },
313
+ {
314
+ "parameterName": "Encoder resolution",
315
+ "variableName": "encoderResolution",
316
+ "group": "Encoder selection (Encoders)",
317
+ "index": 9776,
318
+ "subindex": 2,
319
+ "description": "Increments per revolution",
320
+ "type": "uint32_t",
321
+ "size": 4,
322
+ "unit": "inc",
323
+ "min": 16,
324
+ "max": 2147483647,
325
+ "defaultValue": 524288,
326
+ "access": "rw"
327
+ },
328
+ {
329
+ "parameterName": "Encoder multiturn bits",
330
+ "variableName": "encoderMultiturnBits",
331
+ "group": "Encoder selection (Encoders)",
332
+ "index": 9776,
333
+ "subindex": 3,
334
+ "description": "Number of multiturn bits",
335
+ "type": "uint8_t",
336
+ "size": 1,
337
+ "unit": "bits",
338
+ "min": 0,
339
+ "max": 64,
340
+ "defaultValue": 0,
341
+ "access": "rw"
342
+ },
343
+ {
344
+ "parameterName": "Encoder clock frequency",
345
+ "variableName": "encoderClockFrequency",
346
+ "group": "Encoder selection (Encoders)",
347
+ "index": 9776,
348
+ "subindex": 4,
349
+ "description": "Clock frequency of the encoder",
350
+ "type": "enum",
351
+ "typeRef": "PrimaryEncoderFrequency_Type",
352
+ "size": 1,
353
+ "unit": "kHz",
354
+ "min": 0,
355
+ "max": 20,
356
+ "defaultValue": 0,
357
+ "access": "rw"
358
+ },
359
+ {
360
+ "parameterName": "Encoder timeout",
361
+ "variableName": "encoderTimeout",
362
+ "group": "Encoder selection (Encoders)",
363
+ "index": 9776,
364
+ "subindex": 5,
365
+ "description": "Timeout of the encoder",
366
+ "type": "uint16_t",
367
+ "size": 2,
368
+ "unit": "µs",
369
+ "min": 1,
370
+ "max": 65535,
371
+ "defaultValue": 36,
372
+ "access": "rw"
373
+ },
374
+ {
375
+ "parameterName": "Multiturn counting by SMM",
376
+ "variableName": "encoderMultiturnCounting",
377
+ "group": "Encoder selection (Encoders)",
378
+ "index": 9776,
379
+ "subindex": 6,
380
+ "description": "Defines if multiturn is counted by SMM.",
381
+ "type": "enum",
382
+ "typeRef": "Toggle_Type",
383
+ "size": 1,
384
+ "unit": null,
385
+ "min": null,
386
+ "max": null,
387
+ "defaultValue": 0,
388
+ "access": "rw"
389
+ },
390
+ {
391
+ "parameterName": "Verification sensor source type",
392
+ "variableName": "encoderVerification",
393
+ "group": "Encoder selection (Encoders)",
394
+ "index": 9777,
395
+ "subindex": 1,
396
+ "description": "Which information is provided via the second encoder interface.",
397
+ "type": "enum",
398
+ "typeRef": "EncoderVerification_Type",
399
+ "size": 1,
400
+ "unit": null,
401
+ "min": null,
402
+ "max": null,
403
+ "defaultValue": 0,
404
+ "access": "rw"
405
+ },
406
+ {
407
+ "parameterName": "Verification sensor source resolution",
408
+ "variableName": "encoderVerificationResolution",
409
+ "group": "Encoder selection (Encoders)",
410
+ "index": 9777,
411
+ "subindex": 2,
412
+ "description": "The resolution of the encoder used for verification.",
413
+ "type": "uint32_t",
414
+ "size": 4,
415
+ "unit": "inc",
416
+ "min": 16,
417
+ "max": 2147483647,
418
+ "defaultValue": 524288,
419
+ "access": "rw"
420
+ },
421
+ {
422
+ "parameterName": "Verification sensor multiturn bits",
423
+ "variableName": "encoderVerificationMultiTurn",
424
+ "group": "Encoder selection (Encoders)",
425
+ "index": 9777,
426
+ "subindex": 3,
427
+ "description": "The number of multiturn bits of the encoder used for verification.",
428
+ "type": "uint8_t",
429
+ "size": 1,
430
+ "unit": "bits",
431
+ "min": 0,
432
+ "max": 64,
433
+ "defaultValue": 0,
434
+ "access": "rw"
435
+ },
436
+ {
437
+ "parameterName": "Primary encoder used for commutation",
438
+ "variableName": "encoderPrimaryMotorSide",
439
+ "group": "Encoder selection (Encoders)",
440
+ "index": 9781,
441
+ "subindex": 10,
442
+ "description": "The primary encoder ist on the motor side.",
443
+ "type": "enum",
444
+ "typeRef": "EncoderPrimaryModeSide_Type",
445
+ "size": 1,
446
+ "unit": null,
447
+ "min": null,
448
+ "max": null,
449
+ "defaultValue": 255,
450
+ "access": "rw"
451
+ },
452
+ {
453
+ "parameterName": "Speed window",
454
+ "variableName": "speedComputationTime",
455
+ "group": "Encoder selection (Speed / position)",
456
+ "index": 9781,
457
+ "subindex": 1,
458
+ "description": "The speed is computed over this time interval. The firmware will store the position data for this time interval and compute the difference between the selected entries. The speed is then divided by the time selected.",
459
+ "type": "uint8_t",
460
+ "size": 1,
461
+ "unit": "ms",
462
+ "min": 1,
463
+ "max": 100,
464
+ "defaultValue": 4,
465
+ "access": "rw"
466
+ },
467
+ {
468
+ "parameterName": "Position reset input",
469
+ "variableName": "encoderResetInput",
470
+ "group": "Encoder selection (Speed / position)",
471
+ "index": 9781,
472
+ "subindex": 3,
473
+ "description": "The safe digital input which triggers encoder position reset",
474
+ "type": "enum",
475
+ "typeRef": "InputSource_Type",
476
+ "size": 1,
477
+ "unit": null,
478
+ "min": null,
479
+ "max": null,
480
+ "defaultValue": 0,
481
+ "access": "rw"
482
+ },
483
+ {
484
+ "parameterName": "Absolute position on reset",
485
+ "variableName": "absolutePositionOnReset",
486
+ "group": "Encoder selection (Speed / position)",
487
+ "index": 9781,
488
+ "subindex": 4,
489
+ "description": "The position, the drive will return directly after the encoder position reset has been invoked.",
490
+ "type": "uint32_t",
491
+ "size": 4,
492
+ "unit": "inc",
493
+ "min": 0,
494
+ "max": 2147483647,
495
+ "defaultValue": 0,
496
+ "access": "rw"
497
+ },
498
+ {
499
+ "parameterName": "Allowed position discrepancy",
500
+ "variableName": "encoderTestPositionDiscrepancy",
501
+ "group": "Encoder selection (Speed / position)",
502
+ "index": 9781,
503
+ "subindex": 5,
504
+ "description": "The allowed position discrepancy between the two encoders",
505
+ "type": "uint16_t",
506
+ "size": 2,
507
+ "unit": "inc",
508
+ "min": 0,
509
+ "max": 65535,
510
+ "defaultValue": 100,
511
+ "access": "rw"
512
+ },
513
+ {
514
+ "parameterName": "Allowed speed discrepancy",
515
+ "variableName": "encoderTestSpeedDiscrepancy",
516
+ "group": "Encoder selection (Speed / position)",
517
+ "index": 9781,
518
+ "subindex": 6,
519
+ "description": "The allowed speed discrepancy between the two encoders",
520
+ "type": "uint16_t",
521
+ "size": 2,
522
+ "unit": "inc/s",
523
+ "min": 0,
524
+ "max": 1000,
525
+ "defaultValue": 100,
526
+ "access": "rw"
527
+ },
528
+ {
529
+ "parameterName": "Discrepancy timer",
530
+ "variableName": "encoderTestTime",
531
+ "group": "Encoder selection (Speed / position)",
532
+ "index": 9781,
533
+ "subindex": 7,
534
+ "description": "The time after the discrepancy will result in an error",
535
+ "type": "uint16_t",
536
+ "size": 2,
537
+ "unit": "ms",
538
+ "min": 10,
539
+ "max": 1000,
540
+ "defaultValue": 200,
541
+ "access": "rw"
542
+ },
543
+ {
544
+ "parameterName": "Verification scaling numerator",
545
+ "variableName": "encoderVerificationNumerator",
546
+ "group": "Encoder selection (Speed / position)",
547
+ "index": 9781,
548
+ "subindex": 8,
549
+ "description": "Numerator of the fraction to translate verification data to the primary encoder reference frame",
550
+ "type": "int16_t",
551
+ "size": 2,
552
+ "unit": null,
553
+ "min": -32767,
554
+ "max": 32767,
555
+ "defaultValue": 1,
556
+ "access": "rw"
557
+ },
558
+ {
559
+ "parameterName": "Verification scaling denominator",
560
+ "variableName": "encoderVerificationDenominator",
561
+ "group": "Encoder selection (Speed / position)",
562
+ "index": 9781,
563
+ "subindex": 9,
564
+ "description": "Denominator of the fraction to translate verification data to the primary encoder reference frame",
565
+ "type": "uint16_t",
566
+ "size": 2,
567
+ "unit": null,
568
+ "min": 1,
569
+ "max": 65535,
570
+ "defaultValue": 1,
571
+ "access": "rw"
572
+ },
573
+ {
574
+ "parameterName": "System polarity",
575
+ "variableName": "encoderPolarityFlag",
576
+ "group": "Encoder selection (Speed / position)",
577
+ "index": 9781,
578
+ "subindex": 11,
579
+ "description": "Polarity flag",
580
+ "type": "enum",
581
+ "typeRef": "SystemPolarity_Type",
582
+ "size": 1,
583
+ "unit": null,
584
+ "min": null,
585
+ "max": null,
586
+ "defaultValue": 0,
587
+ "access": "rw"
588
+ },
589
+ {
590
+ "parameterName": "Motor constant",
591
+ "variableName": "motorConstant",
592
+ "group": "Torque",
593
+ "index": 9905,
594
+ "subindex": 1,
595
+ "description": "The motor's torque constant is given by the motor design it defines the torque generated per effective current(rms).",
596
+ "type": "uint32_t",
597
+ "size": 4,
598
+ "unit": "uNm/A",
599
+ "min": 0,
600
+ "max": 4294967295,
601
+ "defaultValue": 0,
602
+ "access": "rw"
603
+ },
604
+ {
605
+ "parameterName": "Current filter time",
606
+ "variableName": "currentFilterTime",
607
+ "group": "Torque",
608
+ "index": 9905,
609
+ "subindex": 2,
610
+ "description": "Time for moving average filter current filter.",
611
+ "type": "uint8_t",
612
+ "size": 1,
613
+ "unit": "ms",
614
+ "min": 0,
615
+ "max": 100,
616
+ "defaultValue": 0,
617
+ "access": "rw"
618
+ },
619
+ {
620
+ "parameterName": "Number of pole pairs",
621
+ "variableName": "numberOfPolePairs",
622
+ "group": "Torque",
623
+ "index": 9905,
624
+ "subindex": 3,
625
+ "description": "Number of magnetic pole pairs used in the motor.",
626
+ "type": "uint8_t",
627
+ "size": 1,
628
+ "unit": null,
629
+ "min": 0,
630
+ "max": 255,
631
+ "defaultValue": 1,
632
+ "access": "rw"
633
+ },
634
+ {
635
+ "parameterName": "Commutation angle offset",
636
+ "variableName": "commutationAngleOffset",
637
+ "group": "Torque",
638
+ "index": 9905,
639
+ "subindex": 4,
640
+ "description": "Commutation offset.",
641
+ "type": "int16_t",
642
+ "size": 2,
643
+ "unit": null,
644
+ "min": 0,
645
+ "max": 4095,
646
+ "defaultValue": 0,
647
+ "access": "rw"
648
+ },
649
+ {
650
+ "parameterName": "STO input",
651
+ "variableName": "STOConfiguredInput",
652
+ "group": "Safety functions (STO + SBC)",
653
+ "index": 9793,
654
+ "subindex": 1,
655
+ "description": "Specifies the associated safe digital input used for activation of the safety function",
656
+ "type": "enum",
657
+ "typeRef": "InputSource_Type",
658
+ "size": 1,
659
+ "unit": null,
660
+ "min": null,
661
+ "max": null,
662
+ "defaultValue": 0,
663
+ "access": "rw"
664
+ },
665
+ {
666
+ "parameterName": "STO restart",
667
+ "variableName": "STORestartBehaviour",
668
+ "group": "Safety functions (STO + SBC)",
669
+ "index": 26177,
670
+ "subindex": 0,
671
+ "description": "STO Restart acknowledge behavior: 0: Automatic restart for STO (When the STO condition is removed, the STO outputs get active immediately) 1: Acknowledge required to restart after STO (When the STO condition is removed, an acknowledge is required before STO outputs get active)",
672
+ "type": "enum",
673
+ "typeRef": "RestartAcknowledgeBehavior_Type",
674
+ "size": 1,
675
+ "unit": null,
676
+ "min": null,
677
+ "max": null,
678
+ "defaultValue": 0,
679
+ "access": "rw"
680
+ },
681
+ {
682
+ "parameterName": "Brake time delay",
683
+ "variableName": "t_PT_SBC",
684
+ "group": "Safety functions (STO + SBC)",
685
+ "index": 26209,
686
+ "subindex": 0,
687
+ "description": "The time for the software to wait for a brake change between released and engaged in both directions",
688
+ "type": "uint16_t",
689
+ "size": 2,
690
+ "unit": "ms",
691
+ "min": 0,
692
+ "max": 60000,
693
+ "defaultValue": 200,
694
+ "access": "rw"
695
+ },
696
+ {
697
+ "parameterName": "SBC",
698
+ "variableName": "brakeWithSTO",
699
+ "group": "Safety functions (STO + SBC)",
700
+ "index": 9793,
701
+ "subindex": 2,
702
+ "description": "Defines if a STO request requests the brake",
703
+ "type": "enum",
704
+ "typeRef": "Toggle_Type",
705
+ "size": 1,
706
+ "unit": null,
707
+ "min": null,
708
+ "max": null,
709
+ "defaultValue": 255,
710
+ "access": "rw"
711
+ },
712
+ {
713
+ "parameterName": "SOS input",
714
+ "variableName": "SOSConfiguredInput",
715
+ "group": "Safety functions (SOS)",
716
+ "index": 9832,
717
+ "subindex": 1,
718
+ "description": "Specifies the associated safe digital input used for activation of the safety function",
719
+ "type": "enum",
720
+ "typeRef": "InputSource_Type",
721
+ "size": 1,
722
+ "unit": null,
723
+ "min": null,
724
+ "max": null,
725
+ "defaultValue": 0,
726
+ "access": "rw"
727
+ },
728
+ {
729
+ "parameterName": "t_D_SOS",
730
+ "variableName": "t_D_SOS",
731
+ "group": "Safety functions (SOS)",
732
+ "index": 9832,
733
+ "subindex": 2,
734
+ "description": "Initial delay (drive is given to slow down) before SOS supervision",
735
+ "type": "uint16_t",
736
+ "size": 2,
737
+ "unit": "ms",
738
+ "min": 0,
739
+ "max": 60000,
740
+ "defaultValue": 200,
741
+ "access": "rw"
742
+ },
743
+ {
744
+ "parameterName": "n_Zero_SOS",
745
+ "variableName": "n_Zero_SOS",
746
+ "group": "Safety functions (SOS)",
747
+ "index": 26220,
748
+ "subindex": 1,
749
+ "description": "The limit within the speed is accepted as zero. Remark: For an Encoder with 9 Bit position resolution this is about 0.2 Rev / min 0 means speed supervision is disabled",
750
+ "type": "int32_t",
751
+ "size": 4,
752
+ "unit": "inc/s",
753
+ "min": 0,
754
+ "max": 2147483647,
755
+ "defaultValue": 20,
756
+ "access": "rw"
757
+ },
758
+ {
759
+ "parameterName": "s_Zero_SOS",
760
+ "variableName": "s_Zero_SOS",
761
+ "group": "Safety functions (SOS)",
762
+ "index": 26218,
763
+ "subindex": 1,
764
+ "description": "The limit within the position is accepted. Remark: With the maximum value, the user can disable the position supervision. The safety manual shall instruct the user to use suitable values.",
765
+ "type": "uint32_t",
766
+ "size": 4,
767
+ "unit": "inc",
768
+ "min": 1,
769
+ "max": 2147483647,
770
+ "defaultValue": 100,
771
+ "access": "rw"
772
+ },
773
+ {
774
+ "parameterName": "SOS restart",
775
+ "variableName": "SOSRestartBehavior",
776
+ "group": "Safety functions (SOS)",
777
+ "index": 26230,
778
+ "subindex": 1,
779
+ "description": "SOS restart acknowledge behavior: 0: Automatic restart after SOS (When the SOS condition is removed, the outputs get active immediately) 1: Acknowledge required to restart after SOS (When the SOS condition is removed, an acknowledge via the safe fieldbus is required)",
780
+ "type": "enum",
781
+ "typeRef": "RestartAcknowledgeBehavior_Type",
782
+ "size": 1,
783
+ "unit": null,
784
+ "min": null,
785
+ "max": null,
786
+ "defaultValue": 0,
787
+ "access": "rw"
788
+ },
789
+ {
790
+ "parameterName": "SS1 input",
791
+ "variableName": "SS1ConfiguredInput",
792
+ "group": "Safety functions (SS1)",
793
+ "index": 9808,
794
+ "subindex": 1,
795
+ "description": "Specifies the associated safe digital input used for activation of the safety function",
796
+ "type": "enum",
797
+ "typeRef": "InputSource_Type",
798
+ "size": 1,
799
+ "unit": null,
800
+ "min": null,
801
+ "max": null,
802
+ "defaultValue": 0,
803
+ "access": "rw"
804
+ },
805
+ {
806
+ "parameterName": "t_SS1",
807
+ "variableName": "t_SS1",
808
+ "group": "Safety functions (SS1)",
809
+ "index": 26193,
810
+ "subindex": 1,
811
+ "description": "The maximum time of the stop procedure Remark: If brakeWithSTO is configured, the time t_PT_SBC has to be added by the costumer to this time. This is a wanted discrepancy to the ETG specification.",
812
+ "type": "uint16_t",
813
+ "size": 2,
814
+ "unit": "ms",
815
+ "min": 3,
816
+ "max": 60000,
817
+ "defaultValue": 1000,
818
+ "access": "rw"
819
+ },
820
+ {
821
+ "parameterName": "SS1: Deceleration monitoring",
822
+ "variableName": "decelerationMonitoring",
823
+ "group": "Safety functions (SS1)",
824
+ "index": 9808,
825
+ "subindex": 2,
826
+ "description": "Indicate whether SS1 deceleration monitoring is enabled or not",
827
+ "type": "enum",
828
+ "typeRef": "Toggle_Type",
829
+ "size": 1,
830
+ "unit": null,
831
+ "min": null,
832
+ "max": null,
833
+ "defaultValue": 0,
834
+ "access": "rw"
835
+ },
836
+ {
837
+ "parameterName": "t_D_SS1",
838
+ "variableName": "t_D_SS1",
839
+ "group": "Safety functions (SS1)",
840
+ "index": 26199,
841
+ "subindex": 1,
842
+ "description": "Initial delay (drive is given to slow down) before SS1 supervision.",
843
+ "type": "uint16_t",
844
+ "size": 2,
845
+ "unit": "ms",
846
+ "min": 1,
847
+ "max": 60000,
848
+ "defaultValue": 20,
849
+ "access": "rw"
850
+ },
851
+ {
852
+ "parameterName": "t_L_SS1",
853
+ "variableName": "t_L_SS1",
854
+ "group": "Safety functions (SS1)",
855
+ "index": 26196,
856
+ "subindex": 1,
857
+ "description": "The time, the speed has to be within the limits before we activate the final state (early activation)",
858
+ "type": "uint16_t",
859
+ "size": 2,
860
+ "unit": "ms",
861
+ "min": 1,
862
+ "max": 60000,
863
+ "defaultValue": 20,
864
+ "access": "rw"
865
+ },
866
+ {
867
+ "parameterName": "a_SS1",
868
+ "variableName": "a_SS1",
869
+ "group": "Safety functions (SS1)",
870
+ "index": 26198,
871
+ "subindex": 1,
872
+ "description": "The limit for the deceleration. When a_SS1 = 0 means no deceleration monitoring(rampdown supervision).",
873
+ "type": "int32_t",
874
+ "size": 4,
875
+ "unit": "inc/s^2",
876
+ "min": 0,
877
+ "max": 2147483647,
878
+ "defaultValue": 0,
879
+ "access": "rw"
880
+ },
881
+ {
882
+ "parameterName": "n_Zero_SS1",
883
+ "variableName": "n_Zero_SS1",
884
+ "group": "Safety functions (SS1)",
885
+ "index": 26195,
886
+ "subindex": 1,
887
+ "description": "The limit within which the speed is accepted as zero",
888
+ "type": "int32_t",
889
+ "size": 4,
890
+ "unit": "inc/s",
891
+ "min": 1,
892
+ "max": 2147483647,
893
+ "defaultValue": 10,
894
+ "access": "rw"
895
+ },
896
+ {
897
+ "parameterName": "SS2 input",
898
+ "variableName": "SS2ConfiguredInput",
899
+ "group": "Safety functions (SS2)",
900
+ "index": 9840,
901
+ "subindex": 1,
902
+ "description": "Specifies the associated safe digital input used for activation of the safety function",
903
+ "type": "enum",
904
+ "typeRef": "InputSource_Type",
905
+ "size": 1,
906
+ "unit": null,
907
+ "min": null,
908
+ "max": null,
909
+ "defaultValue": 0,
910
+ "access": "rw"
911
+ },
912
+ {
913
+ "parameterName": "t_SS2",
914
+ "variableName": "t_SS2",
915
+ "group": "Safety functions (SS2)",
916
+ "index": 26225,
917
+ "subindex": 1,
918
+ "description": "The maximum time of the stop procedure",
919
+ "type": "uint16_t",
920
+ "size": 2,
921
+ "unit": "ms",
922
+ "min": 2,
923
+ "max": 60000,
924
+ "defaultValue": 1000,
925
+ "access": "rw"
926
+ },
927
+ {
928
+ "parameterName": "t_D_SS2",
929
+ "variableName": "t_D_SS2",
930
+ "group": "Safety functions (SS2)",
931
+ "index": 26229,
932
+ "subindex": 1,
933
+ "description": "Initial delay (drive is given to decelerate) before SS2 supervision.",
934
+ "type": "uint16_t",
935
+ "size": 2,
936
+ "unit": "ms",
937
+ "min": 1,
938
+ "max": 60000,
939
+ "defaultValue": 20,
940
+ "access": "rw"
941
+ },
942
+ {
943
+ "parameterName": "t_L_SS2",
944
+ "variableName": "t_L_SS2",
945
+ "group": "Safety functions (SS2)",
946
+ "index": 26226,
947
+ "subindex": 1,
948
+ "description": "The time, the speed has to be within the limits before we activate the final state (early activation)",
949
+ "type": "uint16_t",
950
+ "size": 2,
951
+ "unit": "ms",
952
+ "min": 1,
953
+ "max": 60000,
954
+ "defaultValue": 20,
955
+ "access": "rw"
956
+ },
957
+ {
958
+ "parameterName": "a_SS2",
959
+ "variableName": "a_SS2",
960
+ "group": "Safety functions (SS2)",
961
+ "index": 26228,
962
+ "subindex": 1,
963
+ "description": "The limit for the deceleration. When a_SS2 = 0 means no deceleration monitoring(rampdown supervision).",
964
+ "type": "int32_t",
965
+ "size": 4,
966
+ "unit": "inc/s^2",
967
+ "min": 0,
968
+ "max": 2147483647,
969
+ "defaultValue": 0,
970
+ "access": "rw"
971
+ },
972
+ {
973
+ "parameterName": "SS2 limit violation reaction",
974
+ "variableName": "SS2LimitViolationReaction",
975
+ "group": "Safety functions (SS2)",
976
+ "index": 26231,
977
+ "subindex": 1,
978
+ "description": "The limit violation reaction for SS2",
979
+ "type": "enum",
980
+ "typeRef": "LimitViolation_Type_SS2",
981
+ "size": 4,
982
+ "unit": null,
983
+ "min": null,
984
+ "max": null,
985
+ "defaultValue": 1715470337,
986
+ "access": "rw"
987
+ },
988
+ {
989
+ "parameterName": "SLS1 input",
990
+ "variableName": "SLSConfiguredInput",
991
+ "group": "Safety functions (SLS1)",
992
+ "index": 9872,
993
+ "subindex": 1,
994
+ "description": "Specifies the associated safe digital input used for activation of the safety function",
995
+ "type": "enum",
996
+ "typeRef": "InputSource_Type",
997
+ "size": 1,
998
+ "unit": null,
999
+ "min": null,
1000
+ "max": null,
1001
+ "defaultValue": 0,
1002
+ "access": "rw"
1003
+ },
1004
+ {
1005
+ "parameterName": "SLS2 input",
1006
+ "variableName": "SLSConfiguredInput",
1007
+ "group": "Safety functions (SLS2)",
1008
+ "index": 9872,
1009
+ "subindex": 2,
1010
+ "description": "Specifies the associated safe digital input used for activation of the safety function",
1011
+ "type": "enum",
1012
+ "typeRef": "InputSource_Type",
1013
+ "size": 1,
1014
+ "unit": null,
1015
+ "min": null,
1016
+ "max": null,
1017
+ "defaultValue": 0,
1018
+ "access": "rw"
1019
+ },
1020
+ {
1021
+ "parameterName": "SLS3 input",
1022
+ "variableName": "SLSConfiguredInput",
1023
+ "group": "Safety functions (SLS3)",
1024
+ "index": 9872,
1025
+ "subindex": 3,
1026
+ "description": "Specifies the associated safe digital input used for activation of the safety function",
1027
+ "type": "enum",
1028
+ "typeRef": "InputSource_Type",
1029
+ "size": 1,
1030
+ "unit": null,
1031
+ "min": null,
1032
+ "max": null,
1033
+ "defaultValue": 0,
1034
+ "access": "rw"
1035
+ },
1036
+ {
1037
+ "parameterName": "SLS4 input",
1038
+ "variableName": "SLSConfiguredInput",
1039
+ "group": "Safety functions (SLS4)",
1040
+ "index": 9872,
1041
+ "subindex": 4,
1042
+ "description": "Specifies the associated safe digital input used for activation of the safety function",
1043
+ "type": "enum",
1044
+ "typeRef": "InputSource_Type",
1045
+ "size": 1,
1046
+ "unit": null,
1047
+ "min": null,
1048
+ "max": null,
1049
+ "defaultValue": 0,
1050
+ "access": "rw"
1051
+ },
1052
+ {
1053
+ "parameterName": "t_SLS1",
1054
+ "variableName": "t_SLS",
1055
+ "group": "Safety functions (SLS1)",
1056
+ "index": 26257,
1057
+ "subindex": 1,
1058
+ "description": "The maximum time for the deceleration",
1059
+ "type": "uint16_t",
1060
+ "size": 2,
1061
+ "unit": "ms",
1062
+ "min": 2,
1063
+ "max": 60000,
1064
+ "defaultValue": 200,
1065
+ "access": "rw"
1066
+ },
1067
+ {
1068
+ "parameterName": "t_SLS2",
1069
+ "variableName": "t_SLS",
1070
+ "group": "Safety functions (SLS2)",
1071
+ "index": 26257,
1072
+ "subindex": 2,
1073
+ "description": "The maximum time for the deceleration",
1074
+ "type": "uint16_t",
1075
+ "size": 2,
1076
+ "unit": "ms",
1077
+ "min": 2,
1078
+ "max": 60000,
1079
+ "defaultValue": 200,
1080
+ "access": "rw"
1081
+ },
1082
+ {
1083
+ "parameterName": "t_SLS3",
1084
+ "variableName": "t_SLS",
1085
+ "group": "Safety functions (SLS3)",
1086
+ "index": 26257,
1087
+ "subindex": 3,
1088
+ "description": "The maximum time for the deceleration",
1089
+ "type": "uint16_t",
1090
+ "size": 2,
1091
+ "unit": "ms",
1092
+ "min": 2,
1093
+ "max": 60000,
1094
+ "defaultValue": 200,
1095
+ "access": "rw"
1096
+ },
1097
+ {
1098
+ "parameterName": "t_SLS4",
1099
+ "variableName": "t_SLS",
1100
+ "group": "Safety functions (SLS4)",
1101
+ "index": 26257,
1102
+ "subindex": 4,
1103
+ "description": "The maximum time for the deceleration",
1104
+ "type": "uint16_t",
1105
+ "size": 2,
1106
+ "unit": "ms",
1107
+ "min": 2,
1108
+ "max": 60000,
1109
+ "defaultValue": 200,
1110
+ "access": "rw"
1111
+ },
1112
+ {
1113
+ "parameterName": "t_D_SLS1",
1114
+ "variableName": "t_D_SLS",
1115
+ "group": "Safety functions (SLS1)",
1116
+ "index": 26261,
1117
+ "subindex": 1,
1118
+ "description": "Initial delay before SLS supervision.",
1119
+ "type": "uint16_t",
1120
+ "size": 2,
1121
+ "unit": "ms",
1122
+ "min": 1,
1123
+ "max": 60000,
1124
+ "defaultValue": 20,
1125
+ "access": "rw"
1126
+ },
1127
+ {
1128
+ "parameterName": "t_D_SLS2",
1129
+ "variableName": "t_D_SLS",
1130
+ "group": "Safety functions (SLS2)",
1131
+ "index": 26261,
1132
+ "subindex": 2,
1133
+ "description": "Initial delay before SLS supervision.",
1134
+ "type": "uint16_t",
1135
+ "size": 2,
1136
+ "unit": "ms",
1137
+ "min": 1,
1138
+ "max": 60000,
1139
+ "defaultValue": 20,
1140
+ "access": "rw"
1141
+ },
1142
+ {
1143
+ "parameterName": "t_D_SLS3",
1144
+ "variableName": "t_D_SLS",
1145
+ "group": "Safety functions (SLS3)",
1146
+ "index": 26261,
1147
+ "subindex": 3,
1148
+ "description": "Initial delay before SLS supervision.",
1149
+ "type": "uint16_t",
1150
+ "size": 2,
1151
+ "unit": "ms",
1152
+ "min": 1,
1153
+ "max": 60000,
1154
+ "defaultValue": 20,
1155
+ "access": "rw"
1156
+ },
1157
+ {
1158
+ "parameterName": "t_D_SLS4",
1159
+ "variableName": "t_D_SLS",
1160
+ "group": "Safety functions (SLS4)",
1161
+ "index": 26261,
1162
+ "subindex": 4,
1163
+ "description": "Initial delay before SLS supervision.",
1164
+ "type": "uint16_t",
1165
+ "size": 2,
1166
+ "unit": "ms",
1167
+ "min": 1,
1168
+ "max": 60000,
1169
+ "defaultValue": 20,
1170
+ "access": "rw"
1171
+ },
1172
+ {
1173
+ "parameterName": "t_L_SLS1",
1174
+ "variableName": "t_L_SLS",
1175
+ "group": "Safety functions (SLS1)",
1176
+ "index": 26260,
1177
+ "subindex": 1,
1178
+ "description": "The time the speed has to be within the limits before we activate the final state",
1179
+ "type": "uint16_t",
1180
+ "size": 2,
1181
+ "unit": "ms",
1182
+ "min": 1,
1183
+ "max": 60000,
1184
+ "defaultValue": 20,
1185
+ "access": "rw"
1186
+ },
1187
+ {
1188
+ "parameterName": "t_L_SLS2",
1189
+ "variableName": "t_L_SLS",
1190
+ "group": "Safety functions (SLS2)",
1191
+ "index": 26260,
1192
+ "subindex": 2,
1193
+ "description": "The time the speed has to be within the limits before we activate the final state",
1194
+ "type": "uint16_t",
1195
+ "size": 2,
1196
+ "unit": "ms",
1197
+ "min": 1,
1198
+ "max": 60000,
1199
+ "defaultValue": 20,
1200
+ "access": "rw"
1201
+ },
1202
+ {
1203
+ "parameterName": "t_L_SLS3",
1204
+ "variableName": "t_L_SLS",
1205
+ "group": "Safety functions (SLS3)",
1206
+ "index": 26260,
1207
+ "subindex": 3,
1208
+ "description": "The time the speed has to be within the limits before we activate the final state",
1209
+ "type": "uint16_t",
1210
+ "size": 2,
1211
+ "unit": "ms",
1212
+ "min": 1,
1213
+ "max": 60000,
1214
+ "defaultValue": 20,
1215
+ "access": "rw"
1216
+ },
1217
+ {
1218
+ "parameterName": "t_L_SLS4",
1219
+ "variableName": "t_L_SLS",
1220
+ "group": "Safety functions (SLS4)",
1221
+ "index": 26260,
1222
+ "subindex": 4,
1223
+ "description": "The time the speed has to be within the limits before we activate the final state",
1224
+ "type": "uint16_t",
1225
+ "size": 2,
1226
+ "unit": "ms",
1227
+ "min": 1,
1228
+ "max": 60000,
1229
+ "defaultValue": 20,
1230
+ "access": "rw"
1231
+ },
1232
+ {
1233
+ "parameterName": "a_SLS1",
1234
+ "variableName": "a_SLS",
1235
+ "group": "Safety functions (SLS1)",
1236
+ "index": 26262,
1237
+ "subindex": 1,
1238
+ "description": "The limit for the deceleration. When a_SLS = 0 means no deceleration monitoring(rampdown supervision).",
1239
+ "type": "int32_t",
1240
+ "size": 4,
1241
+ "unit": "inc/s^2",
1242
+ "min": 0,
1243
+ "max": 2147483647,
1244
+ "defaultValue": 0,
1245
+ "access": "rw"
1246
+ },
1247
+ {
1248
+ "parameterName": "a_SLS2",
1249
+ "variableName": "a_SLS",
1250
+ "group": "Safety functions (SLS2)",
1251
+ "index": 26262,
1252
+ "subindex": 2,
1253
+ "description": "The limit for the deceleration. When a_SLS = 0 means no deceleration monitoring(rampdown supervision).",
1254
+ "type": "int32_t",
1255
+ "size": 4,
1256
+ "unit": "inc/s^2",
1257
+ "min": 0,
1258
+ "max": 2147483647,
1259
+ "defaultValue": 0,
1260
+ "access": "rw"
1261
+ },
1262
+ {
1263
+ "parameterName": "a_SLS3",
1264
+ "variableName": "a_SLS",
1265
+ "group": "Safety functions (SLS3)",
1266
+ "index": 26262,
1267
+ "subindex": 3,
1268
+ "description": "The limit for the deceleration. When a_SLS = 0 means no deceleration monitoring(rampdown supervision).",
1269
+ "type": "int32_t",
1270
+ "size": 4,
1271
+ "unit": "inc/s^2",
1272
+ "min": 0,
1273
+ "max": 2147483647,
1274
+ "defaultValue": 0,
1275
+ "access": "rw"
1276
+ },
1277
+ {
1278
+ "parameterName": "a_SLS4",
1279
+ "variableName": "a_SLS",
1280
+ "group": "Safety functions (SLS4)",
1281
+ "index": 26262,
1282
+ "subindex": 4,
1283
+ "description": "The limit for the deceleration. When a_SLS = 0 means no deceleration monitoring(rampdown supervision).",
1284
+ "type": "int32_t",
1285
+ "size": 4,
1286
+ "unit": "inc/s^2",
1287
+ "min": 0,
1288
+ "max": 2147483647,
1289
+ "defaultValue": 0,
1290
+ "access": "rw"
1291
+ },
1292
+ {
1293
+ "parameterName": "n_SLS1",
1294
+ "variableName": "n_SLS",
1295
+ "group": "Safety functions (SLS1)",
1296
+ "index": 26258,
1297
+ "subindex": 1,
1298
+ "description": "The limit within the speed is accepted",
1299
+ "type": "int32_t",
1300
+ "size": 4,
1301
+ "unit": "inc/s",
1302
+ "min": 1,
1303
+ "max": 2147483647,
1304
+ "defaultValue": 1,
1305
+ "access": "rw"
1306
+ },
1307
+ {
1308
+ "parameterName": "n_SLS2",
1309
+ "variableName": "n_SLS",
1310
+ "group": "Safety functions (SLS2)",
1311
+ "index": 26258,
1312
+ "subindex": 2,
1313
+ "description": "The limit within the speed is accepted",
1314
+ "type": "int32_t",
1315
+ "size": 4,
1316
+ "unit": "inc/s",
1317
+ "min": 1,
1318
+ "max": 2147483647,
1319
+ "defaultValue": 1,
1320
+ "access": "rw"
1321
+ },
1322
+ {
1323
+ "parameterName": "n_SLS3",
1324
+ "variableName": "n_SLS",
1325
+ "group": "Safety functions (SLS3)",
1326
+ "index": 26258,
1327
+ "subindex": 3,
1328
+ "description": "The limit within the speed is accepted",
1329
+ "type": "int32_t",
1330
+ "size": 4,
1331
+ "unit": "inc/s",
1332
+ "min": 1,
1333
+ "max": 2147483647,
1334
+ "defaultValue": 1,
1335
+ "access": "rw"
1336
+ },
1337
+ {
1338
+ "parameterName": "n_SLS4",
1339
+ "variableName": "n_SLS",
1340
+ "group": "Safety functions (SLS4)",
1341
+ "index": 26258,
1342
+ "subindex": 4,
1343
+ "description": "The limit within the speed is accepted",
1344
+ "type": "int32_t",
1345
+ "size": 4,
1346
+ "unit": "inc/s",
1347
+ "min": 1,
1348
+ "max": 2147483647,
1349
+ "defaultValue": 1,
1350
+ "access": "rw"
1351
+ },
1352
+ {
1353
+ "parameterName": "SLS1 Limit violation reaction",
1354
+ "variableName": "SLSLimitViolationReaction",
1355
+ "group": "Safety functions (SLS1)",
1356
+ "index": 26264,
1357
+ "subindex": 1,
1358
+ "description": "The limit violation reaction for SLS",
1359
+ "type": "enum",
1360
+ "typeRef": "LimitViolation_Type",
1361
+ "size": 4,
1362
+ "unit": null,
1363
+ "min": null,
1364
+ "max": null,
1365
+ "defaultValue": 1715470337,
1366
+ "access": "rw"
1367
+ },
1368
+ {
1369
+ "parameterName": "SLS2 Limit violation reaction",
1370
+ "variableName": "SLSLimitViolationReaction",
1371
+ "group": "Safety functions (SLS2)",
1372
+ "index": 26264,
1373
+ "subindex": 2,
1374
+ "description": "The limit violation reaction for SLS",
1375
+ "type": "enum",
1376
+ "typeRef": "LimitViolation_Type",
1377
+ "size": 4,
1378
+ "unit": null,
1379
+ "min": null,
1380
+ "max": null,
1381
+ "defaultValue": 1715470337,
1382
+ "access": "rw"
1383
+ },
1384
+ {
1385
+ "parameterName": "SLS3 Limit violation reaction",
1386
+ "variableName": "SLSLimitViolationReaction",
1387
+ "group": "Safety functions (SLS3)",
1388
+ "index": 26264,
1389
+ "subindex": 3,
1390
+ "description": "The limit violation reaction for SLS",
1391
+ "type": "enum",
1392
+ "typeRef": "LimitViolation_Type",
1393
+ "size": 4,
1394
+ "unit": null,
1395
+ "min": null,
1396
+ "max": null,
1397
+ "defaultValue": 1715470337,
1398
+ "access": "rw"
1399
+ },
1400
+ {
1401
+ "parameterName": "SLS4 Limit violation reaction",
1402
+ "variableName": "SLSLimitViolationReaction",
1403
+ "group": "Safety functions (SLS4)",
1404
+ "index": 26264,
1405
+ "subindex": 4,
1406
+ "description": "The limit violation reaction for SLS",
1407
+ "type": "enum",
1408
+ "typeRef": "LimitViolation_Type",
1409
+ "size": 4,
1410
+ "unit": null,
1411
+ "min": null,
1412
+ "max": null,
1413
+ "defaultValue": 1715470337,
1414
+ "access": "rw"
1415
+ },
1416
+ {
1417
+ "parameterName": "n_pos_max",
1418
+ "variableName": "n_pos_max",
1419
+ "group": "Safety functions (SMS)",
1420
+ "index": 26282,
1421
+ "subindex": 0,
1422
+ "description": "The upper limit of the speed window.",
1423
+ "type": "int32_t",
1424
+ "size": 4,
1425
+ "unit": "inc/s",
1426
+ "min": 0,
1427
+ "max": 2147483647,
1428
+ "defaultValue": 0,
1429
+ "access": "rw"
1430
+ },
1431
+ {
1432
+ "parameterName": "n_neg_max",
1433
+ "variableName": "n_neg_max",
1434
+ "group": "Safety functions (SMS)",
1435
+ "index": 26284,
1436
+ "subindex": 0,
1437
+ "description": "The lower limit of the speed window.",
1438
+ "type": "int32_t",
1439
+ "size": 4,
1440
+ "unit": "inc/s",
1441
+ "min": -2147483646,
1442
+ "max": 0,
1443
+ "defaultValue": 0,
1444
+ "access": "rw"
1445
+ },
1446
+ {
1447
+ "parameterName": "SMS Limit violation reaction",
1448
+ "variableName": "SMSLimitViolationReaction",
1449
+ "group": "Safety functions (SMS)",
1450
+ "index": 26285,
1451
+ "subindex": 0,
1452
+ "description": "The limit violation reaction for SMS",
1453
+ "type": "enum",
1454
+ "typeRef": "LimitViolation_Type",
1455
+ "size": 4,
1456
+ "unit": null,
1457
+ "min": null,
1458
+ "max": null,
1459
+ "defaultValue": 1715470337,
1460
+ "access": "rw"
1461
+ },
1462
+ {
1463
+ "parameterName": "SLT input",
1464
+ "variableName": "STR_ConfiguredInput",
1465
+ "group": "SLT",
1466
+ "index": 9906,
1467
+ "subindex": 1,
1468
+ "description": "Specifies the associated safe digital input used for activation of the safety function",
1469
+ "type": "enum",
1470
+ "typeRef": "InputSource_Type",
1471
+ "size": 1,
1472
+ "unit": null,
1473
+ "min": null,
1474
+ "max": null,
1475
+ "defaultValue": 0,
1476
+ "access": "rw"
1477
+ },
1478
+ {
1479
+ "parameterName": "SLT source",
1480
+ "variableName": "torqueSource",
1481
+ "group": "SLT",
1482
+ "index": 9906,
1483
+ "subindex": 2,
1484
+ "description": "The specified torque source to be used for supervision.",
1485
+ "type": "enum",
1486
+ "typeRef": "TorqueSource_Type",
1487
+ "size": 1,
1488
+ "unit": null,
1489
+ "min": null,
1490
+ "max": null,
1491
+ "defaultValue": 0,
1492
+ "access": "rw"
1493
+ },
1494
+ {
1495
+ "parameterName": "f_PosLim_SLT",
1496
+ "variableName": "f_UL_STR",
1497
+ "group": "SLT",
1498
+ "index": 26289,
1499
+ "subindex": 1,
1500
+ "description": "Torque upper limit",
1501
+ "type": "int16_t",
1502
+ "size": 2,
1503
+ "unit": "mNm",
1504
+ "min": 0,
1505
+ "max": 32767,
1506
+ "defaultValue": 0,
1507
+ "access": "rw"
1508
+ },
1509
+ {
1510
+ "parameterName": "f_NegLimit_SLT",
1511
+ "variableName": "f_LL_STR",
1512
+ "group": "SLT",
1513
+ "index": 26290,
1514
+ "subindex": 1,
1515
+ "description": "Torque lower limit",
1516
+ "type": "int16_t",
1517
+ "size": 2,
1518
+ "unit": "mNm",
1519
+ "min": -32768,
1520
+ "max": 0,
1521
+ "defaultValue": 0,
1522
+ "access": "rw"
1523
+ },
1524
+ {
1525
+ "parameterName": "SLT Limit violation reaction",
1526
+ "variableName": "STRLimitViolationReaction",
1527
+ "group": "SLT",
1528
+ "index": 26291,
1529
+ "subindex": 1,
1530
+ "description": "The limit violation reaction for STR",
1531
+ "type": "enum",
1532
+ "typeRef": "LimitViolation_Type",
1533
+ "size": 4,
1534
+ "unit": null,
1535
+ "min": null,
1536
+ "max": null,
1537
+ "defaultValue": 1715470337,
1538
+ "access": "rw"
1539
+ }
1540
+ ],
1541
+ "manufacturer": [
1542
+ {
1543
+ "parameterName": "Serial Number",
1544
+ "variableName": "serialNumberSMM",
1545
+ "group": null,
1546
+ "index": 9728,
1547
+ "subindex": 4,
1548
+ "description": "TTTT-RR-NNNNNNN-YYWW where TTTT = device type RR = revision status, manufacturer NNNNNNN = continuing number YY = year of production WW = weak of production",
1549
+ "type": "char[20]",
1550
+ "size": 20,
1551
+ "unit": null,
1552
+ "min": null,
1553
+ "max": null,
1554
+ "defaultValue": null,
1555
+ "access": null
1556
+ },
1557
+ {
1558
+ "parameterName": "Device Variant",
1559
+ "variableName": "deviceVariant",
1560
+ "group": null,
1561
+ "index": 9728,
1562
+ "subindex": 3,
1563
+ "description": "C7 = 0xC7, C9 = 0xC9",
1564
+ "type": "uint8_t",
1565
+ "size": 1,
1566
+ "unit": null,
1567
+ "min": null,
1568
+ "max": null,
1569
+ "defaultValue": 0,
1570
+ "access": "rw"
1571
+ }
1572
+ ],
1573
+ "constants": [
1574
+ {
1575
+ "parameterName": "Safety Interface Version",
1576
+ "variableName": "SAFETY_IF_VERSION",
1577
+ "group": null,
1578
+ "index": 9729,
1579
+ "subindex": 1,
1580
+ "description": "Version given to the SAFETYIF message formats.",
1581
+ "type": "uint16_t",
1582
+ "size": 2,
1583
+ "unit": null,
1584
+ "min": 1,
1585
+ "max": 39321,
1586
+ "defaultValue": null,
1587
+ "access": "ro"
1588
+ },
1589
+ {
1590
+ "parameterName": "SMM Software Version",
1591
+ "variableName": "MCU_SOFTWARE_VERSION",
1592
+ "group": null,
1593
+ "index": 9729,
1594
+ "subindex": 2,
1595
+ "description": "Version of the safety option board MCU software. (MCU_SOFTWARE_VERSION & 0xFF00) >> 8 == Major version number, max 2 decimal digits MCU_SOFTWARE_VERSION & 0xFF == Minor version number, max 2 decimal digits",
1596
+ "type": "uint16_t",
1597
+ "size": 2,
1598
+ "unit": null,
1599
+ "min": 1,
1600
+ "max": 39321,
1601
+ "defaultValue": null,
1602
+ "access": "ro"
1603
+ },
1604
+ {
1605
+ "parameterName": "Safety Parameter Structure Version",
1606
+ "variableName": "PARAMETER_STRUCT_VERSION",
1607
+ "group": null,
1608
+ "index": 9729,
1609
+ "subindex": 3,
1610
+ "description": "Version of the safety parameter structure. Shall be compared with the Parameter 1 (usedParameterStructVersion) for structural compatibility.",
1611
+ "type": "uint16_t",
1612
+ "size": 2,
1613
+ "unit": null,
1614
+ "min": 1,
1615
+ "max": 39321,
1616
+ "defaultValue": 1,
1617
+ "access": null
1618
+ }
1619
+ ],
1620
+ "globalVariables": []
1621
+ },
1622
+ "types": {
1623
+ "Toggle_Type": {
1624
+ "type": "uint8_t",
1625
+ "enum": [
1626
+ {
1627
+ "identifier": "TOGGLE_TYPE_NOT_ENABLED",
1628
+ "value": 0,
1629
+ "label": "not enabled"
1630
+ },
1631
+ {
1632
+ "identifier": "TOGGLE_TYPE_ENABLED",
1633
+ "value": 255,
1634
+ "label": "enabled"
1635
+ }
1636
+ ]
1637
+ },
1638
+ "EncoderInterface_Type": {
1639
+ "type": "uint8_t",
1640
+ "enum": [
1641
+ {
1642
+ "identifier": "ENCODERIF_NONE",
1643
+ "value": 0,
1644
+ "label": "None"
1645
+ },
1646
+ {
1647
+ "identifier": "ENCODERIF_CONNECTOR_1_BiSS",
1648
+ "value": 1,
1649
+ "label": "Connector 1 - BiSS"
1650
+ },
1651
+ {
1652
+ "identifier": "ENCODERIF_CONNECTOR_2_BiSS",
1653
+ "value": 5,
1654
+ "label": "Connector 2 - BiSS"
1655
+ },
1656
+ {
1657
+ "identifier": "ENCODERIF_CONNECTOR_3_BiSS",
1658
+ "value": 9,
1659
+ "label": "Connector 3 - BiSS"
1660
+ }
1661
+ ]
1662
+ },
1663
+ "EncoderVerification_Type": {
1664
+ "type": "uint8_t",
1665
+ "enum": [
1666
+ {
1667
+ "identifier": "ENCODER_VERIFICATION_NONE",
1668
+ "value": 0,
1669
+ "label": "None"
1670
+ },
1671
+ {
1672
+ "identifier": "ENCODER_VERIFICATION_RELATIVE_POSITION",
1673
+ "value": 1,
1674
+ "label": "Position"
1675
+ }
1676
+ ]
1677
+ },
1678
+ "EncoderPrimaryModeSide_Type": {
1679
+ "type": "uint8_t",
1680
+ "enum": [
1681
+ {
1682
+ "identifier": "ENCODER_PRIMARY_MODE_SIDE_0",
1683
+ "value": 0,
1684
+ "label": "secondary encoder is on motor side"
1685
+ },
1686
+ {
1687
+ "identifier": "ENCODER_PRIMARY_MODE_SIDE_255",
1688
+ "value": 255,
1689
+ "label": "primary encoder is on motor side"
1690
+ }
1691
+ ]
1692
+ },
1693
+ "SystemPolarity_Type": {
1694
+ "type": "uint8_t",
1695
+ "enum": [
1696
+ {
1697
+ "identifier": "SYSTEM_POLARITY_NOT_INVERTED",
1698
+ "value": 0,
1699
+ "label": "not inverted"
1700
+ },
1701
+ {
1702
+ "identifier": "SYSTEM_POLARITY_INVERTED",
1703
+ "value": 255,
1704
+ "label": "inverted direction"
1705
+ }
1706
+ ]
1707
+ },
1708
+ "RestartAcknowledgeBehavior_Type": {
1709
+ "type": "uint8_t",
1710
+ "enum": [
1711
+ {
1712
+ "value": 0,
1713
+ "label": "automatic restart"
1714
+ },
1715
+ {
1716
+ "value": 1,
1717
+ "label": "acknowledge required"
1718
+ }
1719
+ ]
1720
+ },
1721
+ "OutputSource_Type": {
1722
+ "type": "uint8_t",
1723
+ "enum": [
1724
+ {
1725
+ "identifier": "OUTPUT_SOURCE_OUTPUT_UNUSED",
1726
+ "value": 0,
1727
+ "axis": null,
1728
+ "label": "Output unused"
1729
+ },
1730
+ {
1731
+ "identifier": "OUTPUT_SOURCE_STO",
1732
+ "value": 1,
1733
+ "axis": 1,
1734
+ "label": "STO"
1735
+ },
1736
+ {
1737
+ "identifier": "OUTPUT_SOURCE_SS1",
1738
+ "value": 2,
1739
+ "axis": 1,
1740
+ "label": "SS1"
1741
+ },
1742
+ {
1743
+ "identifier": "OUTPUT_SOURCE_SS2",
1744
+ "value": 3,
1745
+ "axis": 1,
1746
+ "label": "SS2"
1747
+ },
1748
+ {
1749
+ "identifier": "OUTPUT_SOURCE_SOS",
1750
+ "value": 4,
1751
+ "axis": 1,
1752
+ "label": "SOS"
1753
+ },
1754
+ {
1755
+ "identifier": "OUTPUT_SOURCE_SLS_1",
1756
+ "value": 5,
1757
+ "axis": 1,
1758
+ "label": "SLS instance 1"
1759
+ },
1760
+ {
1761
+ "identifier": "OUTPUT_SOURCE_SLS_2",
1762
+ "value": 6,
1763
+ "axis": 1,
1764
+ "label": "SLS instance 2"
1765
+ },
1766
+ {
1767
+ "identifier": "OUTPUT_SOURCE_SLS_3",
1768
+ "value": 7,
1769
+ "axis": 1,
1770
+ "label": "SLS instance 3"
1771
+ },
1772
+ {
1773
+ "identifier": "OUTPUT_SOURCE_SLS_4",
1774
+ "value": 8,
1775
+ "axis": 1,
1776
+ "label": "SLS instance 4"
1777
+ },
1778
+ {
1779
+ "identifier": "OUTPUT_SOURCE_SMS",
1780
+ "value": 9,
1781
+ "axis": 1,
1782
+ "label": "SMS"
1783
+ },
1784
+ {
1785
+ "identifier": "OUTPUT_SOURCE_SBC",
1786
+ "value": 10,
1787
+ "axis": 1,
1788
+ "label": "SBC"
1789
+ },
1790
+ {
1791
+ "identifier": "OUTPUT_SOURCE_FIELDBUS_1",
1792
+ "value": 11,
1793
+ "axis": 1,
1794
+ "label": "Controlled by fieldbus bit 1"
1795
+ },
1796
+ {
1797
+ "identifier": "OUTPUT_SOURCE_FIELDBUS_2",
1798
+ "value": 12,
1799
+ "axis": 1,
1800
+ "label": "Controlled by fieldbus bit 2"
1801
+ },
1802
+ {
1803
+ "identifier": "OUTPUT_SOURCE_OUTPUT_HIGH",
1804
+ "value": 13,
1805
+ "axis": 1,
1806
+ "label": "Output energized (e.g. to have a logic HIGH source with test pulses)"
1807
+ }
1808
+ ]
1809
+ },
1810
+ "InputPulseActive_Type": {
1811
+ "type": "uint8_t",
1812
+ "enum": [
1813
+ {
1814
+ "identifier": "INPUT_PULSE_ACTIVE_NONE",
1815
+ "value": 0,
1816
+ "label": "No input available"
1817
+ },
1818
+ {
1819
+ "identifier": "INPUT_PULSE_ACTIVE_INPUT1",
1820
+ "value": 1,
1821
+ "label": "Input 1"
1822
+ },
1823
+ {
1824
+ "identifier": "INPUT_PULSE_ACTIVE_INPUT2",
1825
+ "value": 2,
1826
+ "label": "Input 2"
1827
+ },
1828
+ {
1829
+ "identifier": "INPUT_PULSE_ACTIVE_INPUT1_2",
1830
+ "value": 3,
1831
+ "label": "Input 1 and 2"
1832
+ }
1833
+ ]
1834
+ },
1835
+ "OutputPulseActive_Type": {
1836
+ "type": "uint8_t",
1837
+ "enum": [
1838
+ {
1839
+ "identifier": "OUTPUT_PULSE_ACTIVE_NONE",
1840
+ "value": 0,
1841
+ "label": "No test pulses on any output"
1842
+ },
1843
+ {
1844
+ "identifier": "OUTPUT_PULSE_ACTIVE_OUTPUT1",
1845
+ "value": 1,
1846
+ "label": "test pulses on output 1"
1847
+ },
1848
+ {
1849
+ "identifier": "OUTPUT_PULSE_ACTIVE_OUTPUT2",
1850
+ "value": 2,
1851
+ "label": "test pulses on output 2"
1852
+ },
1853
+ {
1854
+ "identifier": "OUTPUT_PULSE_ACTIVE_OUTPUT1_2",
1855
+ "value": 3,
1856
+ "label": "test pulses on output 1 and 2"
1857
+ }
1858
+ ]
1859
+ },
1860
+ "InputSource_Type": {
1861
+ "type": "uint8_t",
1862
+ "enum": [
1863
+ {
1864
+ "identifier": "INPUT_SOURCE_NONE",
1865
+ "value": 0,
1866
+ "label": "No activation via safe digital inputs"
1867
+ },
1868
+ {
1869
+ "identifier": "INPUT_SOURCE_DUAL_INPUT1",
1870
+ "value": 1,
1871
+ "label": "Safe Digital Input 1"
1872
+ },
1873
+ {
1874
+ "identifier": "INPUT_SOURCE_DUAL_INPUT2",
1875
+ "value": 2,
1876
+ "label": "Safe Digital Input 2"
1877
+ }
1878
+ ]
1879
+ },
1880
+ "LimitViolation_Type": {
1881
+ "type": "uint32_t",
1882
+ "enum": [
1883
+ {
1884
+ "identifier": "LIMIT_VIOLATION_STO",
1885
+ "value": 1715470337,
1886
+ "label": "STO"
1887
+ },
1888
+ {
1889
+ "identifier": "LIMIT_VIOLATION_SS1",
1890
+ "value": 1716518913,
1891
+ "label": "SS1"
1892
+ },
1893
+ {
1894
+ "identifier": "LIMIT_VIOLATION_SS2",
1895
+ "value": 1718616065,
1896
+ "label": "SS2"
1897
+ },
1898
+ {
1899
+ "identifier": "LIMIT_VIOLATION_SOS",
1900
+ "value": 1718091777,
1901
+ "label": "SOS"
1902
+ }
1903
+ ]
1904
+ },
1905
+ "LimitViolation_Type_SS2": {
1906
+ "type": "uint32_t",
1907
+ "enum": [
1908
+ {
1909
+ "identifier": "LIMIT_VIOLATION_STO",
1910
+ "value": 1715470337,
1911
+ "label": "STO"
1912
+ },
1913
+ {
1914
+ "identifier": "LIMIT_VIOLATION_SS1",
1915
+ "value": 1716518913,
1916
+ "label": "SS1"
1917
+ },
1918
+ {
1919
+ "identifier": "LIMIT_VIOLATION_SOS",
1920
+ "value": 1718091777,
1921
+ "label": "SOS"
1922
+ }
1923
+ ]
1924
+ },
1925
+ "PrimaryEncoderFrequency_Type": {
1926
+ "type": "uint8_t",
1927
+ "enum": [
1928
+ {
1929
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1000_000",
1930
+ "value": 0,
1931
+ "label": "1000.000"
1932
+ },
1933
+ {
1934
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1041_667",
1935
+ "value": 1,
1936
+ "label": "1041.667"
1937
+ },
1938
+ {
1939
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1086_957",
1940
+ "value": 2,
1941
+ "label": "1086.957"
1942
+ },
1943
+ {
1944
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1136_364",
1945
+ "value": 3,
1946
+ "label": "1136.364"
1947
+ },
1948
+ {
1949
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1190_476",
1950
+ "value": 4,
1951
+ "label": "1190.476"
1952
+ },
1953
+ {
1954
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1250_000",
1955
+ "value": 5,
1956
+ "label": "1250.000"
1957
+ },
1958
+ {
1959
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1315_789",
1960
+ "value": 6,
1961
+ "label": "1315.789"
1962
+ },
1963
+ {
1964
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1388_889",
1965
+ "value": 7,
1966
+ "label": "1388.889"
1967
+ },
1968
+ {
1969
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1470_588",
1970
+ "value": 8,
1971
+ "label": "1470.588"
1972
+ },
1973
+ {
1974
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1562_500",
1975
+ "value": 9,
1976
+ "label": "1562.500"
1977
+ },
1978
+ {
1979
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1666_667",
1980
+ "value": 10,
1981
+ "label": "1666.667"
1982
+ },
1983
+ {
1984
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1785_714",
1985
+ "value": 11,
1986
+ "label": "1785.714"
1987
+ },
1988
+ {
1989
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_1923_077",
1990
+ "value": 12,
1991
+ "label": "1923.077"
1992
+ },
1993
+ {
1994
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_2083_333",
1995
+ "value": 13,
1996
+ "label": "2083.333"
1997
+ },
1998
+ {
1999
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_2272_727",
2000
+ "value": 14,
2001
+ "label": "2272.727"
2002
+ },
2003
+ {
2004
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_2500_000",
2005
+ "value": 15,
2006
+ "label": "2500.000"
2007
+ },
2008
+ {
2009
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_2777_778",
2010
+ "value": 16,
2011
+ "label": "2777.778"
2012
+ },
2013
+ {
2014
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_3125_000",
2015
+ "value": 17,
2016
+ "label": "3125.000"
2017
+ },
2018
+ {
2019
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_3571_429",
2020
+ "value": 18,
2021
+ "label": "3571.429"
2022
+ },
2023
+ {
2024
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_4166_667",
2025
+ "value": 19,
2026
+ "label": "4166.667"
2027
+ },
2028
+ {
2029
+ "identifier": "PRIMARY_ENCODER_FREQUENCY_5000_000",
2030
+ "value": 20,
2031
+ "label": "5000.000"
2032
+ }
2033
+ ]
2034
+ },
2035
+ "TorqueSource_Type": {
2036
+ "type": "uint8_t",
2037
+ "enum": [
2038
+ {
2039
+ "identifier": "TORQUE_SOURCE_CURRENT",
2040
+ "value": 0,
2041
+ "label": "The internal current is used for torque supervision"
2042
+ },
2043
+ {
2044
+ "identifier": "TORQUE_SOURCE_ANALOG_INPUT",
2045
+ "value": 1,
2046
+ "label": "The analog input values are used for torque supervision"
2047
+ }
2048
+ ]
2049
+ }
2050
+ }
2051
+ }