SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
  RxPDO 0x1b01 "1st Input Object to be mapped"
    PDO entry 0x603f:00, 16 bit, "Error Code"
    PDO entry 0x6041:00, 16 bit, "Status Word"
    PDO entry 0x6064:00, 32 bit, "Position Actual Value"
    PDO entry 0x6077:00, 16 bit, "Torque Actual Value"
    PDO entry 0x60f4:00, 32 bit, "Following error actual value"
    PDO entry 0x60b9:00, 16 bit, "Touch probe Status"
    PDO entry 0x60ba:00, 32 bit, "Touch Probe pos 1 pos value"
    PDO entry 0x60bc:00, 32 bit, "Touch Probe pos 2 pos value"
    PDO entry 0x60fd:00, 32 bit, "Digital inputs"
  RxPDO 0x1b02 "1st Input Object to be mapped"
    PDO entry 0x603f:00, 16 bit, "Error Code"
    PDO entry 0x6041:00, 16 bit, "Status Word"
    PDO entry 0x6064:00, 32 bit, "Position Actual Value"
    PDO entry 0x6077:00, 16 bit, "Torque Actual Value"
    PDO entry 0x60f4:00, 32 bit, "Following error actual value"
    PDO entry 0x60b9:00, 16 bit, "Touch probe Status"
    PDO entry 0x60ba:00, 32 bit, "Touch Probe pos 1 pos value"
    PDO entry 0x60bc:00, 32 bit, "Touch Probe pos 2 pos value"
    PDO entry 0x60fd:00, 32 bit, "Digital inputs"
  RxPDO 0x1b03 "1st Input Object to be mapped"
    PDO entry 0x603f:00, 16 bit, "Error Code"
    PDO entry 0x6041:00, 16 bit, "Status Word"
    PDO entry 0x6064:00, 32 bit, "Position Actual Value"
    PDO entry 0x6077:00, 16 bit, "Torque Actual Value"
    PDO entry 0x60b9:00, 16 bit, "Touch probe Status"
    PDO entry 0x60ba:00, 32 bit, "Touch Probe pos 1 pos value"
    PDO entry 0x60bc:00, 32 bit, "Touch Probe pos 2 pos value"
    PDO entry 0x60fd:00, 32 bit, "Digital inputs"
    PDO entry 0x6061:00,  8 bit, "Modes of Operation Display"
  RxPDO 0x1b04 "1st Input Object to be mapped"
    PDO entry 0x603f:00, 16 bit, "Error Code"
    PDO entry 0x6041:00, 16 bit, "Status Word"
    PDO entry 0x6064:00, 32 bit, "Position Actual Value"
    PDO entry 0x6077:00, 16 bit, "Torque Actual Value"
    PDO entry 0x60b9:00, 16 bit, "Touch probe Status"
    PDO entry 0x60ba:00, 32 bit, "Touch Probe pos 1 pos value"
    PDO entry 0x60bc:00, 32 bit, "Touch Probe pos 2 pos value"
    PDO entry 0x60fd:00, 32 bit, "Digital inputs"
    PDO entry 0x606c:00, 32 bit, "Velocity Actual Value"
    PDO entry 0x6061:00,  8 bit, "Modes of Operation Display"
  RxPDO 0x1701 "1st receive PDO Mapping"
    PDO entry 0x6040:00, 16 bit, "Control Word"
    PDO entry 0x607a:00, 32 bit, "Target Position"
    PDO entry 0x60b8:00, 16 bit, "Touch probe function"
    PDO entry 0x60fe:01, 32 bit, "SubIndex 001"
  RxPDO 0x1702 "1st receive PDO Mapping"
    PDO entry 0x6040:00, 16 bit, "Control Word"
    PDO entry 0x607a:00, 32 bit, "Target Position"
    PDO entry 0x60b8:00, 16 bit, "Touch probe function"
    PDO entry 0x6071:00, 16 bit, "Target torque"
    PDO entry 0x607f:00, 32 bit, "Max profile velocity"
    PDO entry 0x6060:00,  8 bit, "Modes of Operation"
  RxPDO 0x1703 "1st receive PDO Mapping"
    PDO entry 0x6040:00, 16 bit, "Control Word"
    PDO entry 0x607a:00, 32 bit, "Target Position"
    PDO entry 0x60ff:00, 32 bit, "Target Velocity"
    PDO entry 0x60b8:00, 16 bit, "Touch probe function"
    PDO entry 0x60e0:00, 16 bit, "Positive torque limit value"
    PDO entry 0x60e1:00, 16 bit, "Negative torque limit value"
    PDO entry 0x6060:00,  8 bit, "Modes of Operation"
  RxPDO 0x1704 "1st receive PDO Mapping"
    PDO entry 0x6040:00, 16 bit, "Control Word"
    PDO entry 0x607a:00, 32 bit, "Target Position"
    PDO entry 0x60ff:00, 32 bit, "Target Velocity"
    PDO entry 0x60b8:00, 16 bit, "Touch probe function"
    PDO entry 0x60e0:00, 16 bit, "Positive torque limit value"
    PDO entry 0x60e1:00, 16 bit, "Negative torque limit value"
    PDO entry 0x60b2:00, 16 bit, "Torque offset"
    PDO entry 0x6060:00,  8 bit, "Modes of Operation"
  RxPDO 0x1705 "1st receive PDO Mapping"
    PDO entry 0x6040:00, 16 bit, "Control Word"
    PDO entry 0x607a:00, 32 bit, "Target Position"
    PDO entry 0x60ff:00, 32 bit, "Target Velocity"
    PDO entry 0x60b8:00, 16 bit, "Touch probe function"
    PDO entry 0x60e0:00, 16 bit, "Positive torque limit value"
    PDO entry 0x60e1:00, 16 bit, "Negative torque limit value"
    PDO entry 0x6071:00, 16 bit, "Target torque"
    PDO entry 0x607f:00, 32 bit, "Max profile velocity"
    PDO entry 0x6060:00,  8 bit, "Modes of Operation"
SM1: PhysAddr 0x1100, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1200, DefaultSize    0, ControlRegister 0x64, Enable 1
  RxPDO 0x1601 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
SM3: PhysAddr 0x1300, DefaultSize    0, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 "csp/csv TxPDO"
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""