SDO 0x1000, "Device type"
  0x1000:00, r-r-r-, uint32, 32 bit, "Device type"
SDO 0x1001, "Error register"
  0x1001:00, r-r-r-, uint8, 8 bit, "Error register"
SDO 0x1008, "Device name"
  0x1008:00, r-r-r-, string, 64 bit, "Device name"
SDO 0x1009, "Hardware version"
  0x1009:00, r-r-r-, string, 24 bit, "Hardware version"
SDO 0x100a, "Software version"
  0x100a:00, r-r-r-, string, 32 bit, "Software version"
SDO 0x1018, "Identity"
  0x1018:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x1018:01, r-r-r-, uint32, 32 bit, "Vendor ID"
  0x1018:02, r-r-r-, uint32, 32 bit, "Product code"
  0x1018:03, r-r-r-, uint32, 32 bit, "Revision"
  0x1018:04, r-r-r-, uint32, 32 bit, "Serial number"
SDO 0x10f1, "Error Settings"
  0x10f1:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x10f1:01, rwrwrw, uint32, 32 bit, "Local Error Reaction"
  0x10f1:02, rwrwrw, uint16, 16 bit, "Sync Error Counter Limit"
SDO 0x10f8, "Timestamp Object"
  0x10f8:00, rwrwrw, uint64, 64 bit, "Timestamp Object"
SDO 0x1600, "LED process data mapping"
  0x1600:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x1600:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
  0x1600:02, r-r-r-, uint32, 32 bit, "SubIndex 002"
SDO 0x1610, "SETTING process data mapping"
  0x1610:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x1610:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
  0x1610:02, r-r-r-, uint32, 32 bit, "SubIndex 002"
  0x1610:03, r-r-r-, uint32, 32 bit, "SubIndex 003"
  0x1610:04, r-r-r-, uint32, 32 bit, "SubIndex 004"
  0x1610:05, r-r-r-, uint32, 32 bit, "SubIndex 005"
  0x1610:06, r-r-r-, uint32, 32 bit, "SubIndex 006"
  0x1610:07, r-r-r-, uint32, 32 bit, "SubIndex 007"
  0x1610:08, r-r-r-, uint32, 32 bit, "SubIndex 008"
  0x1610:09, r-r-r-, uint32, 32 bit, "SubIndex 009"
  0x1610:0a, r-r-r-, uint32, 32 bit, "SubIndex 010"
  0x1610:0b, r-r-r-, uint32, 32 bit, "SubIndex 011"
  0x1610:0c, r-r-r-, uint32, 32 bit, "SubIndex 012"
  0x1610:0d, r-r-r-, uint32, 32 bit, "SubIndex 013"
  0x1610:0e, r-r-r-, uint32, 32 bit, "SubIndex 014"
  0x1610:0f, r-r-r-, uint32, 32 bit, "SubIndex 015"
  0x1610:10, r-r-r-, uint32, 32 bit, "SubIndex 016"
  0x1610:11, r-r-r-, uint32, 32 bit, "SubIndex 017"
  0x1610:12, r-r-r-, uint32, 32 bit, "SubIndex 018"
  0x1610:13, r-r-r-, uint32, 32 bit, "SubIndex 019"
  0x1610:14, r-r-r-, uint32, 32 bit, "SubIndex 020"
  0x1610:15, r-r-r-, uint32, 32 bit, "SubIndex 021"
SDO 0x1620, "SCALE process data mapping"
  0x1620:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x1620:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
  0x1620:02, r-r-r-, uint32, 32 bit, "SubIndex 002"
  0x1620:03, r-r-r-, uint32, 32 bit, "SubIndex 003"
  0x1620:04, r-r-r-, uint32, 32 bit, "SubIndex 004"
  0x1620:05, r-r-r-, uint32, 32 bit, "SubIndex 005"
SDO 0x1a00, "IN process data mapping"
  0x1a00:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x1a00:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
  0x1a00:02, r-r-r-, uint32, 32 bit, "SubIndex 002"
  0x1a00:03, r-r-r-, uint32, 32 bit, "SubIndex 003"
  0x1a00:04, r-r-r-, uint32, 32 bit, "SubIndex 004"
  0x1a00:05, r-r-r-, uint32, 32 bit, "SubIndex 005"
  0x1a00:06, r-r-r-, uint32, 32 bit, "SubIndex 006"
  0x1a00:07, r-r-r-, uint32, 32 bit, "SubIndex 007"
  0x1a00:08, r-r-r-, uint32, 32 bit, "SubIndex 008"
  0x1a00:09, r-r-r-, uint32, 32 bit, "SubIndex 009"
  0x1a00:0a, r-r-r-, uint32, 32 bit, "SubIndex 010"
  0x1a00:0b, r-r-r-, uint32, 32 bit, "SubIndex 011"
  0x1a00:0c, r-r-r-, uint32, 32 bit, "SubIndex 012"
  0x1a00:0d, r-r-r-, uint32, 32 bit, "SubIndex 013"
  0x1a00:0e, r-r-r-, uint32, 32 bit, "SubIndex 014"
  0x1a00:0f, r-r-r-, uint32, 32 bit, "SubIndex 015"
  0x1a00:10, r-r-r-, uint32, 32 bit, "SubIndex 016"
SDO 0x1a10, "Encoder process data mapping"
  0x1a10:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x1a10:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
  0x1a10:02, r-r-r-, uint32, 32 bit, "SubIndex 002"
  0x1a10:03, r-r-r-, uint32, 32 bit, "SubIndex 003"
  0x1a10:04, r-r-r-, uint32, 32 bit, "SubIndex 004"
  0x1a10:05, r-r-r-, uint32, 32 bit, "SubIndex 005"
  0x1a10:06, r-r-r-, uint32, 32 bit, "SubIndex 006"
  0x1a10:07, r-r-r-, uint32, 32 bit, "SubIndex 007"
  0x1a10:08, r-r-r-, uint32, 32 bit, "SubIndex 008"
  0x1a10:09, r-r-r-, uint32, 32 bit, "SubIndex 009"
  0x1a10:0a, r-r-r-, uint32, 32 bit, "SubIndex 010"
  0x1a10:0b, r-r-r-, uint32, 32 bit, "SubIndex 011"
  0x1a10:0c, r-r-r-, uint32, 32 bit, "SubIndex 012"
  0x1a10:0d, r-r-r-, uint32, 32 bit, "SubIndex 013"
  0x1a10:0e, r-r-r-, uint32, 32 bit, "SubIndex 014"
  0x1a10:0f, r-r-r-, uint32, 32 bit, "SubIndex 015"
  0x1a10:10, r-r-r-, uint32, 32 bit, "SubIndex 016"
  0x1a10:11, r-r-r-, uint32, 32 bit, "SubIndex 017"
  0x1a10:12, r-r-r-, uint32, 32 bit, "SubIndex 018"
  0x1a10:13, r-r-r-, uint32, 32 bit, "SubIndex 019"
  0x1a10:14, r-r-r-, uint32, 32 bit, "SubIndex 020"
  0x1a10:15, r-r-r-, uint32, 32 bit, "SubIndex 021"
  0x1a10:16, r-r-r-, uint32, 32 bit, "SubIndex 022"
  0x1a10:17, r-r-r-, uint32, 32 bit, "SubIndex 023"
  0x1a10:18, r-r-r-, uint32, 32 bit, "SubIndex 024"
  0x1a10:19, r-r-r-, uint32, 32 bit, "SubIndex 025"
SDO 0x1c00, "Sync manager type"
  0x1c00:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x1c00:01, r-r-r-, uint8, 8 bit, "SubIndex 001"
  0x1c00:02, r-r-r-, uint8, 8 bit, "SubIndex 002"
  0x1c00:03, r-r-r-, uint8, 8 bit, "SubIndex 003"
  0x1c00:04, r-r-r-, uint8, 8 bit, "SubIndex 004"
SDO 0x1c12, "SyncManager 2 assignment"
  0x1c12:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x1c12:01, r-r-r-, uint16, 16 bit, "SubIndex 001"
  0x1c12:02, r-r-r-, uint16, 16 bit, "SubIndex 002"
  0x1c12:03, r-r-r-, uint16, 16 bit, "SubIndex 003"
SDO 0x1c13, "SyncManager 3 assignment"
  0x1c13:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x1c13:01, r-r-r-, uint16, 16 bit, "SubIndex 001"
  0x1c13:02, r-r-r-, uint16, 16 bit, "SubIndex 002"
SDO 0x1c32, "SM output parameter"
  0x1c32:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x1c32:01, rwr-r-, uint16, 16 bit, "Synchronization Type"
  0x1c32:02, r-r-r-, uint32, 32 bit, "Cycle Time"
  0x1c32:03, ------, type 0000, 32 bit, "SubIndex 003"
  0x1c32:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported"
  0x1c32:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time"
  0x1c32:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time"
  0x1c32:07, ------, type 0000, 32 bit, "SubIndex 007"
  0x1c32:08, rwrwrw, uint16, 16 bit, "Get Cycle Time"
  0x1c32:09, r-r-r-, uint32, 32 bit, "Delay Time"
  0x1c32:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time"
  0x1c32:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed"
  0x1c32:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small"
  0x1c32:0d, ------, type 0000, 16 bit, "Shift Time Too Short"
  0x1c32:0e, ------, type 0000, 16 bit, "SubIndex 014"
  0x1c32:0f, ------, type 0000, 32 bit, "SubIndex 015"
  0x1c32:10, ------, type 0000, 32 bit, "SubIndex 016"
  0x1c32:11, ------, type 0000, 32 bit, "SubIndex 017"
  0x1c32:12, ------, type 0000, 32 bit, "SubIndex 018"
  0x1c32:13, ------, type 0000, 0 bit, "SubIndex 019"
  0x1c32:14, ------, type 0000, 0 bit, "SubIndex 020"
  0x1c32:15, ------, type 0000, 0 bit, "SubIndex 021"
  0x1c32:16, ------, type 0000, 0 bit, "SubIndex 022"
  0x1c32:17, ------, type 0000, 0 bit, "SubIndex 023"
  0x1c32:18, ------, type 0000, 0 bit, "SubIndex 024"
  0x1c32:19, ------, type 0000, 0 bit, "SubIndex 025"
  0x1c32:1a, ------, type 0000, 0 bit, "SubIndex 026"
  0x1c32:1b, ------, type 0000, 0 bit, "SubIndex 027"
  0x1c32:1c, ------, type 0000, 0 bit, "SubIndex 028"
  0x1c32:1d, ------, type 0000, 0 bit, "SubIndex 029"
  0x1c32:1e, ------, type 0000, 0 bit, "SubIndex 030"
  0x1c32:1f, ------, type 0000, 0 bit, "SubIndex 031"
  0x1c32:20, r-r-r-, bool, 1 bit, "Sync Error"
SDO 0x1c33, "SM input parameter"
  0x1c33:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x1c33:01, rwr-r-, uint16, 16 bit, "Synchronization Type"
  0x1c33:02, r-r-r-, uint32, 32 bit, "Cycle Time"
  0x1c33:03, ------, type 0000, 32 bit, "SubIndex 003"
  0x1c33:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported"
  0x1c33:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time"
  0x1c33:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time"
  0x1c33:07, ------, type 0000, 32 bit, "SubIndex 007"
  0x1c33:08, rwrwrw, uint16, 16 bit, "Get Cycle Time"
  0x1c33:09, r-r-r-, uint32, 32 bit, "Delay Time"
  0x1c33:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time"
  0x1c33:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed"
  0x1c33:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small"
  0x1c33:0d, ------, type 0000, 16 bit, "Shift Time Too Short"
  0x1c33:0e, ------, type 0000, 16 bit, "SubIndex 014"
  0x1c33:0f, ------, type 0000, 32 bit, "SubIndex 015"
  0x1c33:10, ------, type 0000, 32 bit, "SubIndex 016"
  0x1c33:11, ------, type 0000, 32 bit, "SubIndex 017"
  0x1c33:12, ------, type 0000, 32 bit, "SubIndex 018"
  0x1c33:13, ------, type 0000, 0 bit, "SubIndex 019"
  0x1c33:14, ------, type 0000, 0 bit, "SubIndex 020"
  0x1c33:15, ------, type 0000, 0 bit, "SubIndex 021"
  0x1c33:16, ------, type 0000, 0 bit, "SubIndex 022"
  0x1c33:17, ------, type 0000, 0 bit, "SubIndex 023"
  0x1c33:18, ------, type 0000, 0 bit, "SubIndex 024"
  0x1c33:19, ------, type 0000, 0 bit, "SubIndex 025"
  0x1c33:1a, ------, type 0000, 0 bit, "SubIndex 026"
  0x1c33:1b, ------, type 0000, 0 bit, "SubIndex 027"
  0x1c33:1c, ------, type 0000, 0 bit, "SubIndex 028"
  0x1c33:1d, ------, type 0000, 0 bit, "SubIndex 029"
  0x1c33:1e, ------, type 0000, 0 bit, "SubIndex 030"
  0x1c33:1f, ------, type 0000, 0 bit, "SubIndex 031"
  0x1c33:20, r-r-r-, bool, 1 bit, "Sync Error"
SDO 0x6000, "IN"
  0x6000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x6000:01, r-r-r-, bool, 1 bit, "IN0"
  0x6000:02, r-r-r-, bool, 1 bit, "IN1"
  0x6000:03, r-r-r-, bool, 1 bit, "IN2"
  0x6000:04, r-r-r-, bool, 1 bit, "IN3"
  0x6000:05, r-r-r-, bool, 1 bit, "IN4"
  0x6000:06, r-r-r-, bool, 1 bit, "IN5"
  0x6000:07, r-r-r-, bool, 1 bit, "IN6"
  0x6000:08, r-r-r-, bool, 1 bit, "IN7"
  0x6000:09, r-r-r-, bool, 1 bit, "IN8"
  0x6000:0a, r-r-r-, bool, 1 bit, "IN9"
  0x6000:0b, r-r-r-, bool, 1 bit, "IN10"
  0x6000:0c, r-r-r-, bool, 1 bit, "IN11"
  0x6000:0d, r-r-r-, bool, 1 bit, "IN12"
  0x6000:0e, r-r-r-, bool, 1 bit, "IN13"
  0x6000:0f, ------, type 0000, 0 bit, "SubIndex 015"
  0x6000:10, r-r-r-, bool, 1 bit, "IN14"
  0x6000:11, r-r-r-, bool, 1 bit, "IN15"
SDO 0x6100, "Encoder"
  0x6100:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x6100:01, r-r-r-, int32, 32 bit, "e0_counts "
  0x6100:02, r-r-r-, float, 32 bit, "e0_position "
  0x6100:03, r-r-r-, float, 32 bit, "e0_position_interpolated "
  0x6100:04, r-r-r-, int32, 32 bit, "e0_rawcounts "
  0x6100:05, r-r-r-, float, 32 bit, "e0_velocity"
  0x6100:06, r-r-r-, int32, 32 bit, "e1_counts "
  0x6100:07, r-r-r-, float, 32 bit, "e1_position "
  0x6100:08, r-r-r-, float, 32 bit, "e1_position_interpolated "
  0x6100:09, r-r-r-, int32, 32 bit, "e1_rawcounts "
  0x6100:0a, r-r-r-, float, 32 bit, "e1_velocity"
  0x6100:0b, r-r-r-, int32, 32 bit, "e2_counts "
  0x6100:0c, r-r-r-, float, 32 bit, "e2_position "
  0x6100:0d, r-r-r-, float, 32 bit, "e2_position_interpolated "
  0x6100:0e, r-r-r-, int32, 32 bit, "e2_rawcounts "
  0x6100:0f, r-r-r-, float, 32 bit, "e2_velocity"
  0x6100:10, r-r-r-, int32, 32 bit, "e3_counts "
  0x6100:11, r-r-r-, float, 32 bit, "e3_position "
  0x6100:12, r-r-r-, float, 32 bit, "e3_position_interpolated "
  0x6100:13, r-r-r-, int32, 32 bit, "e3_rawcounts "
  0x6100:14, r-r-r-, float, 32 bit, "e3_velocity"
  0x6100:15, r-r-r-, int32, 32 bit, "e4_counts "
  0x6100:16, r-r-r-, float, 32 bit, "e4_position "
  0x6100:17, r-r-r-, float, 32 bit, "e4_position_interpolated "
  0x6100:18, r-r-r-, int32, 32 bit, "e4_rawcounts "
  0x6100:19, r-r-r-, float, 32 bit, "e4_velocity"
SDO 0x7000, "LED"
  0x7000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x7000:01, rwrwrw, bool, 1 bit, "LED1"
  0x7000:02, rwrwrw, type 0000, 15 bit, "SubIndex 002"
SDO 0x7100, "SETTING"
  0x7100:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x7100:01, rwrwrw, bool, 1 bit, "e0_count_mode"
  0x7100:02, rwrwrw, bool, 1 bit, "e0_index_enable"
  0x7100:03, rwrwrw, bool, 1 bit, "e0_reset "
  0x7100:04, rwrwrw, bool, 1 bit, "e0_x4_mode"
  0x7100:05, rwrwrw, bool, 1 bit, "e1_count_mode"
  0x7100:06, rwrwrw, bool, 1 bit, "e1_index_enable"
  0x7100:07, rwrwrw, bool, 1 bit, "e1_reset "
  0x7100:08, rwrwrw, bool, 1 bit, "e1_x4_mode"
  0x7100:09, rwrwrw, bool, 1 bit, "e2_count_mode"
  0x7100:0a, rwrwrw, bool, 1 bit, "e2_index_enable"
  0x7100:0b, rwrwrw, bool, 1 bit, "e2_reset "
  0x7100:0c, rwrwrw, bool, 1 bit, "e2_x4_mode"
  0x7100:0d, rwrwrw, bool, 1 bit, "e3_count_mode"
  0x7100:0e, rwrwrw, bool, 1 bit, "e3_index_enable"
  0x7100:0f, rwrwrw, bool, 1 bit, "e3_reset "
  0x7100:10, rwrwrw, bool, 1 bit, "e3_x4_mode"
  0x7100:11, rwrwrw, bool, 1 bit, "e4_count_mode"
  0x7100:12, rwrwrw, bool, 1 bit, "e4_index_enable"
  0x7100:13, rwrwrw, bool, 1 bit, "e4_reset "
  0x7100:14, rwrwrw, bool, 1 bit, "e4_x4_mode"
  0x7100:15, rwrwrw, type 0000, 12 bit, "SubIndex 021"
SDO 0x7200, "SCALE"
  0x7200:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x7200:01, rwrwrw, float, 32 bit, "e0_position_scale"
  0x7200:02, rwrwrw, float, 32 bit, "e1_position_scale"
  0x7200:03, rwrwrw, float, 32 bit, "e2_position_scale"
  0x7200:04, rwrwrw, float, 32 bit, "e3_position_scale"
  0x7200:05, rwrwrw, float, 32 bit, "e4_position_scale"
