SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize   26, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 "LED process data mapping"
    PDO entry 0x7000:01,  1 bit, "LED1"
    PDO entry 0x0000:00, 15 bit, "Gap"
  RxPDO 0x1610 "SETTING process data mapping"
    PDO entry 0x7100:01,  1 bit, "e0_count_mode"
    PDO entry 0x7100:02,  1 bit, "e0_index_enable"
    PDO entry 0x7100:03,  1 bit, "e0_reset "
    PDO entry 0x7100:04,  1 bit, "e0_x4_mode"
    PDO entry 0x7100:05,  1 bit, "e1_count_mode"
    PDO entry 0x7100:06,  1 bit, "e1_index_enable"
    PDO entry 0x7100:07,  1 bit, "e1_reset "
    PDO entry 0x7100:08,  1 bit, "e1_x4_mode"
    PDO entry 0x7100:09,  1 bit, "e2_count_mode"
    PDO entry 0x7100:0a,  1 bit, "e2_index_enable"
    PDO entry 0x7100:0b,  1 bit, "e2_reset "
    PDO entry 0x7100:0c,  1 bit, "e2_x4_mode"
    PDO entry 0x7100:0d,  1 bit, "e3_count_mode"
    PDO entry 0x7100:0e,  1 bit, "e3_index_enable"
    PDO entry 0x7100:0f,  1 bit, "e3_reset "
    PDO entry 0x7100:10,  1 bit, "e3_x4_mode"
    PDO entry 0x7100:11,  1 bit, "e4_count_mode"
    PDO entry 0x7100:12,  1 bit, "e4_index_enable"
    PDO entry 0x7100:13,  1 bit, "e4_reset "
    PDO entry 0x7100:14,  1 bit, "e4_x4_mode"
    PDO entry 0x0000:00, 12 bit, "Gap"
  RxPDO 0x1620 "SCALE process data mapping"
    PDO entry 0x7200:01, 32 bit, "e0_position_scale"
    PDO entry 0x7200:02, 32 bit, "e1_position_scale"
    PDO entry 0x7200:03, 32 bit, "e2_position_scale"
    PDO entry 0x7200:04, 32 bit, "e3_position_scale"
    PDO entry 0x7200:05, 32 bit, "e4_position_scale"
SM3: PhysAddr 0x1400, DefaultSize  102, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 "IN process data mapping"
    PDO entry 0x6000:01,  1 bit, "IN0"
    PDO entry 0x6000:02,  1 bit, "IN1"
    PDO entry 0x6000:03,  1 bit, "IN2"
    PDO entry 0x6000:04,  1 bit, "IN3"
    PDO entry 0x6000:05,  1 bit, "IN4"
    PDO entry 0x6000:06,  1 bit, "IN5"
    PDO entry 0x6000:07,  1 bit, "IN6"
    PDO entry 0x6000:08,  1 bit, "IN7"
    PDO entry 0x6000:09,  1 bit, "IN8"
    PDO entry 0x6000:0a,  1 bit, "IN9"
    PDO entry 0x6000:0b,  1 bit, "IN10"
    PDO entry 0x6000:0c,  1 bit, "IN11"
    PDO entry 0x6000:0d,  1 bit, "IN12"
    PDO entry 0x6000:0e,  1 bit, "IN13"
    PDO entry 0x6000:10,  1 bit, "IN14"
    PDO entry 0x6000:11,  1 bit, "IN15"
  TxPDO 0x1a10 "Encoder process data mapping"
    PDO entry 0x6100:01, 32 bit, "e0_counts "
    PDO entry 0x6100:02, 32 bit, "e0_position "
    PDO entry 0x6100:03, 32 bit, "e0_position_interpolated "
    PDO entry 0x6100:04, 32 bit, "e0_rawcounts "
    PDO entry 0x6100:05, 32 bit, "e0_velocity"
    PDO entry 0x6100:06, 32 bit, "e1_counts "
    PDO entry 0x6100:07, 32 bit, "e1_position "
    PDO entry 0x6100:08, 32 bit, "e1_position_interpolated "
    PDO entry 0x6100:09, 32 bit, "e1_rawcounts "
    PDO entry 0x6100:0a, 32 bit, "e1_velocity"
    PDO entry 0x6100:0b, 32 bit, "e2_counts "
    PDO entry 0x6100:0c, 32 bit, "e2_position "
    PDO entry 0x6100:0d, 32 bit, "e2_position_interpolated "
    PDO entry 0x6100:0e, 32 bit, "e2_rawcounts "
    PDO entry 0x6100:0f, 32 bit, "e2_velocity"
    PDO entry 0x6100:10, 32 bit, "e3_counts "
    PDO entry 0x6100:11, 32 bit, "e3_position "
    PDO entry 0x6100:12, 32 bit, "e3_position_interpolated "
    PDO entry 0x6100:13, 32 bit, "e3_rawcounts "
    PDO entry 0x6100:14, 32 bit, "e3_velocity"
    PDO entry 0x6100:15, 32 bit, "e4_counts "
    PDO entry 0x6100:16, 32 bit, "e4_position "
    PDO entry 0x6100:17, 32 bit, "e4_position_interpolated "
    PDO entry 0x6100:18, 32 bit, "e4_rawcounts "
    PDO entry 0x6100:19, 32 bit, "e4_velocity"
