$ EZ-EDS Version 3.31.1.20220811 Generated Electronic Data Sheet [File] DescText = "Universal Robot"; CreateDate = 08-20-2015; CreateTime = 08:37:03; ModDate = 11-24-2023; ModTime = 12:56:05; Revision = 1.1; 1_IOC_Details_License = 0x933BAEAB; [Device] VendCode = 1399; VendName = "Universal Robots A/S"; ProdType = 43; ProdTypeStr = "Generic Device"; ProdCode = 1; MajRev = 1; MinRev = 2; ProdName = "Universal Robot"; Catalog = "UR"; Icon = "UR_64x64.ico"; IconContents = "AAABAAEAQEAAAAEACAAoFgAAFgAAACgAAABAAAAAgAAAAAEACAAAAAAAAAAA" "AAAAAAAAAAAAAAAAAAAAAAD13bkA9d66APXeuwD13rwA9d+8APXfvQD2374A" "9uC+APbgvwD24MAA9uHAAPbhwQD24cIA9uLCAPbiwwD24sQA9uPEAPfjxQD3" "48YA9+THAPfkyAD35cgA9+XJAPfmywD4584A+OjPAPjo0AD46dEA+OnSAPnp" "0gD56tMA+erUAPnr1gD57NcA+u3aAPru2wD67twA+u7dAPrv3QD6794A+vDf" "APrw4AD78OAA+/DhAPvx4gD78uMA+/PlAPzz5wD89OgA/PTpAPz16gD89esA" "/PbsAPz27QD99+4A/ffvAP348AD9+fIA/fnzAP359AD9+vQA/vr1AP769gD+" "+/YA/vz4AP78+QD+/fsA//79AP///gD///8AAAAAAAAAAAAAAAAAAAAAAAAA" 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"CwsLCwsLCwsLCxNFRUVFRUVFRUULCwsLCwsLCwsLCwsLCwI3RUVFRUVFRUVF" "RUVFRUVFRUVFRUVFLyAKCwsLCwsLCwsLCwsLCwsTRUVFRUVFRUVFCwsLCwsL" "CwsLCwsLCwsLCjxFRUVFRUVFRUVFRUVFRUVFRUVFMAsLCwsLCwsLCwsLCwsL" "CwsLE0VFRUVFRUVFRQsLCwsLCwsLCwsLCwsLCwsFEDE0RUVFRUVFRUVFRUVF" "RUUxBwcLCwsLCwsLCwsLCwsLCwsLCxNFRUVFRUVFRUULCwsLCwsLCwsLCwsL" "CwsLCwsLCxIRN0VFRUVFRUUsEhISCgsLCwsLCwsLCwsLCwsLCwsLCwsTRUVF" "RUVFRUVFCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwYEBAQEBAQECAsLCwsLCwsL" "CwsLCwsLCwsLCwsLCwsLE0VFRUVFRUVFRQsLCwsLCwsLCwsLCwsLCwsLCwsL" "CwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCxNFRUVFRUVFRUUL" "CwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsL" "CwgLCwsLCwsTRUVFRUVFRUVFCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsL" "CwsLCwsLCwsLCwsLCwsLCwsLCwk0CAsLCwsLE0VFRUVFRUVFRQsLCwsLCwsL" "CwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsIOTIICwsL" "CxNFRUVFRUVFRUULCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsL" "CwsLCwsLCwsLCwsLFkRFJAcLCwsTRUVFRUVFRUVFCwsLCwsLCwsLCwsLCwsL" "CwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsIFkVFRUU6GAsLE0VFRUVF" "RUVFRQsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsLCwsL" "CwsHP0RFRQAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA"; [Device Classification] Class1 = EtherNetIP; [Params] Param1 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Controller Major Revision", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param2 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Controller Minor Revision", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param3 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Robot Mode", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param4 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Real Time Machine Seconds", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param5 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC3, $ Data Type 2, $ Data Size in bytes "Real Time Machine Milliseconds", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param6 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Real Time Machine Minutes", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param7 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Real Time Machine Hours", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param8 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC3, $ Data Type 2, $ Data Size in bytes "Real Time Machine Days", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param9 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Robot Current", $ name "mA", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param10 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xD3, $ Data Type 4, $ Data Size in bytes "RobotBits", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Enum10 = 0,"PW", 1,"PR", 2,"TB", 3,"PB"; Param11 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Speed Slider Fraction",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param12 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Safety Mode", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param13 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xD3, $ Data Type 4, $ Data Size in bytes "SafetyBits", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Enum13 = 0,"NO", 1,"RD", 2,"PS", 3,"RC", 4,"SS", 5,"SES", 6,"RES", 7,"ES", 8,"VL", 9,"FT", 10,"ST"; Param14 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Standard Digital Inputs", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param15 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Configurable Digital Inputs", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param16 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Standard Digital Outputs", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param17 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Configurable Digital Outputs", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param18 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Analog IO Types", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param19 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Standard Analog Input 0", $ name "mA or V", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param20 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Standard Analog Input 1", $ name "mA or V", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param21 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Standard Analog Output 0", $ name "mA or V", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param22 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Standard Analog Output 1", $ name "mA or V", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param23 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "IO Current", $ name "mA", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param24 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xD3, $ Data Type 4, $ Data Size in bytes "Euromap67 Input Bits", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param25 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xD3, $ Data Type 4, $ Data Size in bytes "Euromap67 Output Bits",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param26 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Euromap67 24V Voltage",$ name "V", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param27 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Euromap67 24V Current",$ name "mA", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param28 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Tool Mode", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param29 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xD3, $ Data Type 4, $ Data Size in bytes "ToolBits", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Enum29 = 0,"TDI", 8,"TDO", 16,"TAIT"; Param30 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Tool Analog Input 0", $ name "mA or V", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param31 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Tool Analog Input 1", $ name "mA or V", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param32 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Tool Output Voltage", $ name "V", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param33 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Tool Current", $ name "mA", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param34 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 0 Position", $ name "rad", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param35 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 1 Position", $ name "rad", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param36 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 2 Position", $ name "rad", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param37 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 3 Position", $ name "rad", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param38 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 4 Position", $ name "rad", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param39 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 5 Position", $ name "rad", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param40 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 0 Velocity", $ name "rad/sec", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param41 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 1 Velocity", $ name "rad/sec", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param42 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 2 Velocity", $ name "rad/sec", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param43 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 3 Velocity", $ name "rad/sec", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param44 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 4 Velocity", $ name "rad/sec", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param45 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 5 Velocity", $ name "rad/sec", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param46 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 0 Current", $ name "mA", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param47 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 1 Current", $ name "mA", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param48 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 2 Current", $ name "mA", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param49 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 3 Current", $ name "mA", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param50 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 4 Current", $ name "mA", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param51 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 5 Current", $ name "mA", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param52 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 0 Temperature", $ name "deg C", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param53 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 1 Temperature", $ name "deg C", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param54 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 2 Temperature", $ name "deg C", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param55 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 3 Temperature", $ name "deg C", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param56 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 4 Temperature", $ name "deg C", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param57 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Joint 5 Temperature", $ name "deg C", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param58 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Joint 0 Mode", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param59 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Joint 1 Mode", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param60 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Joint 2 Mode", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param61 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Joint 3 Mode", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param62 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Joint 4 Mode", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param63 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Joint 5 Mode", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param64 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Position X", $ name "m", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param65 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Position Y", $ name "m", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param66 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Position Z", $ name "m", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param67 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Position RX", $ name "m", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param68 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Position RY", $ name "m", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param69 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Position RZ", $ name "m", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param70 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Velocity X", $ name "m/s", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param71 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Velocity Y", $ name "m/s", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param72 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Velocity Z", $ name "m/s", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param73 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Velocity RX", $ name "m/s", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param74 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Velocity RY", $ name "m/s", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param75 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Velocity RZ", $ name "m/s", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param76 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Force X", $ name "N", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param77 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Force Y", $ name "N", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param78 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Force Z", $ name "N", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param79 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Force Scalar", $ name "N", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param80 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Torque X", $ name "N.m", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param81 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Torque Y", $ name "N.m", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param82 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "TCP Torque Z", $ name "N.m", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param83 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xD3, $ Data Type 4, $ Data Size in bytes "Bit Output Registers 0-31", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param84 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xD3, $ Data Type 4, $ Data Size in bytes "Bit Output Registers 32-63", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param85 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 0", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param86 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 1", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param87 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 2", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param88 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 3", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param89 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 4", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param90 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 5", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param91 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 6", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param92 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 7", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param93 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 8", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param94 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 9", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param95 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 10", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param96 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 11", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param97 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 12", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param98 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 13", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param99 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 14", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param100 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 15", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param101 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 16", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param102 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 17", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param103 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 18", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param104 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 19", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param105 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 20", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param106 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 21", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param107 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 22", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param108 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Output Register 23", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param109 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 0", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param110 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 1", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param111 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 2", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param112 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 3", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param113 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 4", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param114 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 5", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param115 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 6", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param116 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 7", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param117 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 8", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param118 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 9", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param119 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 10", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param120 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 11", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param121 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 12", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param122 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 13", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param123 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 14", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param124 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 15", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param125 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 16", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param126 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 17", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param127 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 18", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param128 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 19", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param129 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 20", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param130 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 21", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param131 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 22", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param132 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0230, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Output Register 23", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param501 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xD3, $ Data Type 4, $ Data Size in bytes "RobotBits", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Enum501 = 0,"SSM"; Param502 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Speed Slider Fraction",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param503 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Standard Digital Output Mask", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param504 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Configurable Digital Output Mask", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param505 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Standard Digital Outputs", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param506 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC2, $ Data Type 1, $ Data Size in bytes "Configurable Digital Outputs", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param507 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xD3, $ Data Type 4, $ Data Size in bytes "Outputs", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Enum507 = 0,"AOM", 8,"AOT"; Param508 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Standard Analog Output 0", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param509 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Standard Analog Output 1", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param510 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xD3, $ Data Type 4, $ Data Size in bytes "Bit Input Registers 0-31", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param511 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xD3, $ Data Type 4, $ Data Size in bytes "Bit Input Registers 32-63", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param512 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 0",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param513 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 1",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param514 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 2",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param515 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 3",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param516 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 4",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param517 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 5",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param518 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 6",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param519 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 7",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param520 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 8",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param521 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 9",$ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param522 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 10", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param523 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 11", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param524 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 12", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param525 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 13", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param526 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 14", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param527 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 15", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param528 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 16", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param529 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 17", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param530 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 18", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param531 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 19", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param532 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 20", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param533 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 21", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param534 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 22", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param535 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xC4, $ Data Type 4, $ Data Size in bytes "DINT Input Register 23", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param536 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 0", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param537 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 1", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param538 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 2", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param539 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 3", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param540 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 4", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param541 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 5", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param542 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 6", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param543 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 7", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param544 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 8", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param545 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 9", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param546 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 10", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param547 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 11", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param548 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 12", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param549 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 13", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param550 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 14", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param551 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 15", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param552 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 16", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param553 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 17", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param554 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 18", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param555 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 19", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param556 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 20", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param557 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 21", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param558 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 22", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param559 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0200, $ Descriptor 0xCA, $ Data Type 4, $ Data Size in bytes "Float Input Register 23", $ name "", $ units "", $ help string ,,0, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links ; $ decimal places Param998 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0000, $ Descriptor 0xC8, $ Data Type 4, $ Data Size in bytes "RPI CNC Range", $ name "", $ units "New Help String", $ help string 10000,500000,100000, $ min, max, default data values ,,,, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links 1; $ decimal places Param999 = 0, $ reserved, shall equal 0 ,, $ Link Path Size, Link Path 0x0004, $ Descriptor 0xC8, $ Data Type 4, $ Data Size in bytes "RPI Range", $ name "", $ units "This parameter limits the range of the RPI (Requested Packet Interval) value", $ help string 2000,1000000,10000, $ min, max, default data values 1,1000,1,0, $ mult, div, base, offset scaling ,,,, $ mult, div, base, offset links 1; $ decimal places [Assembly] Revision = 2; Assem1 = "Input Assembly", "20 04 24 64 30 03", , 0x0000, ,, $ ROBOT 8,Param1, 8,Param2, 16,, $ pad 8,Param3, 8,Param4, 16,Param5, 8,Param6, 8,Param7, 16,Param8, 32,Param9, 32,Param10, 32,Param11, $ Safety 8,Param12, 24,, $ pad 32,Param13, $ IO 8,Param14, 8,Param15, 8,Param16, 8,Param17, 8,Param18, 24,, $ pad 32,Param19, 32,Param20, 32,Param21, 32,Param22, 32,Param23, 32,Param24, 32,Param25, 32,Param26, 32,Param27, $ Tool 8,Param28, 24,, $ pad 32,Param29, 32,Param30, 32,Param31, 32,Param32, 32,Param33, $ Joint $ Position 32,Param34, 32,Param35, 32,Param36, 32,Param37, 32,Param38, 32,Param39, $ Joint $ Velocity 32,Param40, 32,Param41, 32,Param42, 32,Param43, 32,Param44, 32,Param45, $ Joint $ Current 32,Param46, 32,Param47, 32,Param48, 32,Param49, 32,Param50, 32,Param51, $ Joint $ Temperature 32,Param52, 32,Param53, 32,Param54, 32,Param55, 32,Param56, 32,Param57, $ Joint $ Mode 8,Param58, 8,Param59, 8,Param60, 8,Param61, 8,Param62, 8,Param63, 16,, $ pad $ TCP Position XYZ 32,Param64, 32,Param65, 32,Param66, $ TCP Position R XYZ 32,Param67, 32,Param68, 32,Param69, $ TCP Velocity XYZ 32,Param70, 32,Param71, 32,Param72, $ TCP Velocity R XYZ 32,Param73, 32,Param74, 32,Param75, $ TCP Force XYZ 32,Param76, 32,Param77, 32,Param78, 32,Param79, $ scalar $ TCP Torque XYZ 32,Param80, 32,Param81, 32,Param82, $ Bit Output Register 0-64 32,Param83, 32,Param84, $ DINT Output Register 32,Param85, 32,Param86, 32,Param87, 32,Param88, 32,Param89, 32,Param90, 32,Param91, 32,Param92, 32,Param93, 32,Param94, 32,Param95, 32,Param96, 32,Param97, 32,Param98, 32,Param99, 32,Param100, 32,Param101, 32,Param102, 32,Param103, 32,Param104, 32,Param105, 32,Param106, 32,Param107, 32,Param108, $ DINT Output Register 32,Param109, 32,Param110, 32,Param111, 32,Param112, 32,Param113, 32,Param114, 32,Param115, 32,Param116, 32,Param117, 32,Param118, 32,Param119, 32,Param120, 32,Param121, 32,Param122, 32,Param123, 32,Param124, 32,Param125, 32,Param126, 32,Param127, 32,Param128, 32,Param129, 32,Param130, 32,Param131, 32,Param132; Assem2 = "Output Assembly", "20 04 24 70 30 03", , 0x0000, ,, $ ROBOT 8,Param501, 24,, $ pad 32,Param502, $ Outputs 8,Param503, 8,Param504, 8,Param505, 8,Param506, 32,Param507, 32,Param508, 32,Param509, $ Bit Registers 32,Param510, 32,Param511, $ DINT Registers 32,Param512, 32,Param513, 32,Param514, 32,Param515, 32,Param516, 32,Param517, 32,Param518, 32,Param519, 32,Param520, 32,Param521, 32,Param522, 32,Param523, 32,Param524, 32,Param525, 32,Param526, 32,Param527, 32,Param528, 32,Param529, 32,Param530, 32,Param531, 32,Param532, 32,Param533, 32,Param534, 32,Param535, $ Float Registers 32,Param536, 32,Param537, 32,Param538, 32,Param539, 32,Param540, 32,Param541, 32,Param542, 32,Param543, 32,Param544, 32,Param545, 32,Param546, 32,Param547, 32,Param548, 32,Param549, 32,Param550, 32,Param551, 32,Param552, 32,Param553, 32,Param554, 32,Param555, 32,Param556, 32,Param557, 32,Param558, 32,Param559; Assem3 = "Robot to CNC", "20 04 24 65 30 03", , 0x0000, ,, 1680,; Assem4 = "CNC to Robot", "20 04 24 6F 30 03", , 0x0000, ,, 1680,; [Connection Manager] Object_Name = "Connection Manager Object"; Object_Class_Code = 0x06; Connection1 = 0x04010002, $ TRIGGER AND TRANSPORT MASK $ BIT=VAL DESCRIPTION $ 0 = 0 (class 0:null) $ 1 = 1 (class 1:dup. detect) $ 2 = 0 (class 2:acknowledged) $ 3 = 0 (class 3:verified) $ 4 = 0 (class 4:non-block) $ 5 = 0 (class 5:non-block, frag) $ 6 = 0 (class 6:multicast, frag) $ 7-15 = 0 (class :reserved) $ 16 = 1 (trigger: cyclic) $ 17 = 0 (trigger: cos) $ 18 = 0 (trigger: appl) $ 19-23 = 0 (trigger: reserved (must be zero)) $ 24 = 0 (transport type: listen-only) $ 25 = 0 (transport type: input-only) $ 26 = 1 (transport type: exclusive-owner) $ 27 = 0 (transport type: redundant-owner) $ 28-30 = 0 (reserved (must be zero)) $ 31 = 1 (client = 0 / server = 1) 0x44440405, $ CONNECTION PARAMETERS BIT ASSIGNMENTS $ BIT=VAL DESCRIPTION $ 0 = 1 (O=>T fixed) $ 1 = 0 (O=>T variable) $ 2 = 1 (T=>O fixed) $ 3 = 0 (T=>O variable) $ 4-7 = 0 (reserved (must be zero)) $ 8-10 = 4 (O=>T header (4 byte run/idle)) $ 11 = 0 (reserved (must be zero)) $ 12-14 = 0 (T=>O header (pure data)) $ 15 = 0 (reserved (must be zero)) $ 16 = 0 (O=>T connection type: NULL) $ 17 = 0 (O=>T connection type: MULTI) $ 18 = 1 (O=>T connection type: P2P) $ 19 = 0 (O=>T connection type: RSVD) $ 20 = 0 (T=>O connection type: NULL) $ 21 = 1 (T=>O connection type: MULTI) $ 22 = 0 (T=>O connection type: P2P) $ 23 = 0 (T=>O connection type: RSVD) $ 24 = 0 (O=>T priority: LOW) $ 25 = 0 (O=>T priority: HIGH) $ 26 = 1 (O=>T priority: SCHEDULED) $ 27 = 0 (O=>T priority: RSVD) $ 28 = 0 (T=>O priority: LOW) $ 29 = 0 (T=>O priority: HIGH) $ 30 = 1 (T=>O priority: SCHEDULED) $ 31 = 0 (T=>O priority: RSVD) Param999,,Assem2, $ O=>T RPI, size in bytes, format Param999,,Assem1, $ T=>O RPI, size in bytes, format ,, $ config part 1 (dynamic assemblies) ,, $ config part 2 (module configuration) "Exclusive Owner", $ connection name "", $ Help string "20 04 24 01 2C 70 2C 64"; $ exclusive owner path Connection2 = 0x02010002, $ TRIGGER AND TRANSPORT MASK $ BIT=VAL DESCRIPTION $ 0 = 0 (class 0:null) $ 1 = 1 (class 1:dup. detect) $ 2 = 0 (class 2:acknowledged) $ 3 = 0 (class 3:verified) $ 4 = 0 (class 4:non-block) $ 5 = 0 (class 5:non-block, frag) $ 6 = 0 (class 6:multicast, frag) $ 7-15 = 0 (class :reserved) $ 16 = 1 (trigger: cyclic) $ 17 = 0 (trigger: cos) $ 18 = 0 (trigger: appl) $ 19-23 = 0 (trigger: reserved (must be zero)) $ 24 = 0 (transport type: listen-only) $ 25 = 0 (transport type: input-only) $ 26 = 1 (transport type: exclusive-owner) $ 27 = 0 (transport type: redundant-owner) $ 28-30 = 0 (reserved (must be zero)) $ 31 = 1 (client = 0 / server = 1) 0x44440305, $ CONNECTION PARAMETERS BIT ASSIGNMENTS $ BIT=VAL DESCRIPTION $ 0 = 1 (O=>T fixed) $ 1 = 0 (O=>T variable) $ 2 = 1 (T=>O fixed) $ 3 = 0 (T=>O variable) $ 4-7 = 0 (reserved (must be zero)) $ 8-10 = 4 (O=>T header (4 byte run/idle)) $ 11 = 0 (reserved (must be zero)) $ 12-14 = 0 (T=>O header (pure data)) $ 15 = 0 (reserved (must be zero)) $ 16 = 0 (O=>T connection type: NULL) $ 17 = 0 (O=>T connection type: MULTI) $ 18 = 1 (O=>T connection type: P2P) $ 19 = 0 (O=>T connection type: RSVD) $ 20 = 0 (T=>O connection type: NULL) $ 21 = 1 (T=>O connection type: MULTI) $ 22 = 0 (T=>O connection type: P2P) $ 23 = 0 (T=>O connection type: RSVD) $ 24 = 0 (O=>T priority: LOW) $ 25 = 0 (O=>T priority: HIGH) $ 26 = 1 (O=>T priority: SCHEDULED) $ 27 = 0 (O=>T priority: RSVD) $ 28 = 0 (T=>O priority: LOW) $ 29 = 0 (T=>O priority: HIGH) $ 30 = 1 (T=>O priority: SCHEDULED) $ 31 = 0 (T=>O priority: RSVD) Param999,0,, $ O=>T RPI, size in bytes, format Param999,,Assem1, $ T=>O RPI, size in bytes, format ,, $ config part 1 (dynamic assemblies) ,, $ config part 2 (module configuration) "Input Only", $ connection name "", $ Help string "20 04 24 01 2C FE 2C 64"; $ exclusive owner path Connection3 = 0x01010002, $ TRIGGER AND TRANSPORT MASK $ BIT=VAL DESCRIPTION $ 0 = 0 (class 0:null) $ 1 = 1 (class 1:dup. detect) $ 2 = 0 (class 2:acknowledged) $ 3 = 0 (class 3:verified) $ 4 = 0 (class 4:non-block) $ 5 = 0 (class 5:non-block, frag) $ 6 = 0 (class 6:multicast, frag) $ 7-15 = 0 (class :reserved) $ 16 = 1 (trigger: cyclic) $ 17 = 0 (trigger: cos) $ 18 = 0 (trigger: appl) $ 19-23 = 0 (trigger: reserved (must be zero)) $ 24 = 0 (transport type: listen-only) $ 25 = 0 (transport type: input-only) $ 26 = 1 (transport type: exclusive-owner) $ 27 = 0 (transport type: redundant-owner) $ 28-30 = 0 (reserved (must be zero)) $ 31 = 1 (client = 0 / server = 1) 0x44440305, $ CONNECTION PARAMETERS BIT ASSIGNMENTS $ BIT=VAL DESCRIPTION $ 0 = 1 (O=>T fixed) $ 1 = 0 (O=>T variable) $ 2 = 1 (T=>O fixed) $ 3 = 0 (T=>O variable) $ 4-7 = 0 (reserved (must be zero)) $ 8-10 = 4 (O=>T header (4 byte run/idle)) $ 11 = 0 (reserved (must be zero)) $ 12-14 = 0 (T=>O header (pure data)) $ 15 = 0 (reserved (must be zero)) $ 16 = 0 (O=>T connection type: NULL) $ 17 = 0 (O=>T connection type: MULTI) $ 18 = 1 (O=>T connection type: P2P) $ 19 = 0 (O=>T connection type: RSVD) $ 20 = 0 (T=>O connection type: NULL) $ 21 = 1 (T=>O connection type: MULTI) $ 22 = 0 (T=>O connection type: P2P) $ 23 = 0 (T=>O connection type: RSVD) $ 24 = 0 (O=>T priority: LOW) $ 25 = 0 (O=>T priority: HIGH) $ 26 = 1 (O=>T priority: SCHEDULED) $ 27 = 0 (O=>T priority: RSVD) $ 28 = 0 (T=>O priority: LOW) $ 29 = 0 (T=>O priority: HIGH) $ 30 = 1 (T=>O priority: SCHEDULED) $ 31 = 0 (T=>O priority: RSVD) Param999,0,, $ O=>T RPI, size in bytes, format Param999,,Assem1, $ T=>O RPI, size in bytes, format ,, $ config part 1 (dynamic assemblies) ,, $ config part 2 (module configuration) "Listen Only", $ connection name "", $ Help string "20 04 24 01 2C FF 2C 64"; $ exclusive owner path Connection4 = 0x04010002, $ 0-15 = supported transport classes $ 16 = trigger: cyclic $ 17 = trigger: change of state $ 18 = trigger: application $ 19-23 = trigger: reserved $ 24 = application type: listen-only $ 25 = application type: input-only $ 26 = application type: exclusive-owner $ 27 = application type: redundant-owner $ 28-30 = reserved $ 31 = Direction: Client = 0 / Server = 1 0x44440405, $ 0 = O->T fixed size supported $ 1 = O->T variable size supported $ 2 = T->O fixed size supported $ 3 = T->O variable size supported $ 4-5 = O->T number of bytes per slot (obsolete) $ 6-7 = T->O number of bytes per slot (obsolete) $ 8-10 = O->T Real time transfer format $ 11 = reserved $ 12-14 = T->O Real time transfer format $ 15 = reserved $ 16 = O->T connection type: NULL $ 17 = O->T connection type: MULTICAST $ 18 = O->T connection type: POINT2POINT $ 19 = O->T connection type: reserved $ 20 = T->O connection type: NULL $ 21 = T->O connection type: MULTICAST $ 22 = T->O connection type: POINT2POINT $ 23 = T->O connection type: reserved $ 24 = O->T priority: LOW $ 25 = O->T priority: HIGH $ 26 = O->T priority: SCHEDULED $ 27 = O->T priority: reserved $ 28 = T->O priority: LOW $ 29 = T->O priority: HIGH $ 30 = T->O priority: SCHEDULED $ 31 = T->O priority: reserved Param998,,Assem4, $ O->T RPI, size, format Param998,,Assem3, $ T->O RPI, size, format ,, $ proxy config size, format ,, $ target config size, format "CNC", $ Connection Name "", $ help string "20 04 24 01 2C 6F 2C 65"; $ Path [Port] Object_Name = "Port Object"; Object_Class_Code = 0xF4; Port1 = TCP, "EtherNet/IP Port", "20 F5 24 01", 1, 0x00, ; [Capacity] MaxIOConnections = 2; MaxMsgConnections = 2; MaxConsumersPerMcast = 2; TSpec1 = Rx, 210, 500; TSpec2 = Tx, 210, 500; TSpec3 = Rx, 224, 500; TSpec4 = Tx, 480, 500;