[TPDO]
;mapping object
;format:object index,sub index,object size£¬object type£¬object name
Obj1=0x2008,0,4,uint32,debugging objects
Obj2=0x6000,0,1,uint8,motor state
Obj3=0x6001,0,1,uint8,controller status
Obj4=0x600c,0,4,uint32,motor position
Obj5=0x6012,0,2,uint16,GPIO port value
Obj6=0x602b,0,2,uint16,analog input
Obj7=0x602c,1,1,uint8,step position notification
obj8=0x6030,0,4,uint32,real speed

[RPDO]
;mapping object
;format:object index,sub index,object size£¬object type£¬object name
Obj1=0x6001,0,1,uint8,controller status
Obj2=0x6003,0,4,int32,max speed
Obj3=0x6004,0,4,uint32,relative position stepp
Obj4=0x6005,0,1,uint8,work mode
Obj5=0x6008,0,1,uint8,acceleration coefficient
Obj6=0x6009,0,1,uint8,deceleration coefficient
Obj7=0x600a,0,2,uint16,microstep
Obj8=0x600b,0,2,uint16,peak current
Obj9=0x600c,0,4,int32,motor position
Obj10=0x600f,1,1,uint8,external stop enable
Obj11=0x600f,2,1,uint8,external stop triggering mode
Obj12=0x6010,1,1,uint8,PVT control
Obj13=0x6010,17,4,int32,PVT position
Obj14=0x6010,18,4,int32,PVT speed
Obj15=0x6010,19,4,int32,PVT time
Obj16=0x601c,0,4,int32,absolute position step
Obj17=0x6020,0,1,uint8,stop stepp
Obj18=0x602c,1,1,uint8,step notify
Obj19=0x602c,2,4,int32,step notify position1
Obj20=0x602c,3,4,int32,step notify position2
obj21=0x601f,0,4,uint32,color settings for slides
obj22=0x602e,3,4,int32,PP/PV mode run speed
obj23=0x602e,4,4,int32,PP/PV mode target position
obj24=0x602e,1,2,uint16,PP/PV mode control word

[offlinecfg]
;max command count
MaxCmdCount=500

;;subcommand
;format: command letter,command name,option section name
[subcommand]
cmd1 =s,Rotation of a given step,OptionS
cmd2 =d,Set rotation direction,OptionD
cmd3 =m,Set micro step,OptionM
cmd4 =f,Set external emergency stop enable,OptionF
cmd5 =g,Set offline enable,OptionG
cmd6 =l,Clear external stop2,OptionL
cmd7 =b,Clear external stop1,OptionB
cmd8 =v,Set rotation speed,OptionV
cmd9 =c,Internal counter plus 1,OptionC
cmd10 =t,Internal counter to zero,OptionT
cmd11 =j,Unconditional jump,OptionJ
cmd12 =n,Unequal jump,OptionN
cmd13 =e,Equal jump,OptionE
cmd14 =w,Wait condition,OptionW
cmd15 =o,Port output,OptionO
cmd16 =p,compare,OptionP
cmd17 =u,Set acceleration or deceleration,OptionU
cmd18 =i,Set external stop trigger mode,OptionI
cmd19 =q,Set GPI1 reset stop function,OptionQ
cmd20 =r,Set GPI2 pause function,OptionR
cmd21 =a,Enter or exit speed mode,OptionA
cmd22 =h,Set GPIOmask,OptionH
cmd23 =k,Step step synchronize notification,OptionK
cmd24 =x,absolute position step,OptionX
cmd25 =y,abort step,OptionY
cmd26 =z,clear stall flag,OptionZ
cmd27 =A,analog speed regulation,OptionUA
cmd28 =C,brake setting
cmd29 =P,Analog positioning,OptionUP
cmd30 =M,Multi-segment positioning settings,OptionUM
cmd31 =Z,Motor position clearing,OptionUZ
,OptionUC

[OptionS]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,Step count low 16 bit,0,0,65535,Set the number of rotation low 16 and rotation
option2 =1,Step count high 16 bit,0,0,65535,Set step count high 16 bit

[OptionD]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,None,0,0,1,Set rotation direction

[OptionM]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,None,0,0,128,Set micro step (only 2^n)

[OptionF]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,None,0,0,3,Set external emergency stop enable

[OptionG]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,None,0,0,1,Set offline enable

[OptionL]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,None,0,0,0,Clear external stop2

[OptionB]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,None,0,0,0,Clear external stop1

[OptionV]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,set the low 16 bits of the velocity,0,0,65535,set low 16 bits of the rotation velocity
option2 =1,velocity increase,10,10,60000,velocity increase
option3 =2,velocity reduce,10,10,60000,velocity reduce
option4 =3,set the high 16 bits of the velocity,0,0,65535,set high 16 bits of the rotation velocity

[OptionU]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,acceleration,8,1,9,Set acceleration
option2 =1,deceleration,8,1,9,Set deceleration

[OptionC]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,Counter 1 plus 1,0,0,0,Internal counter 1 plus 1
option2 =1,Counter 2 plus 1,0,0,0,Internal counter 2 plus 1


[OptionT]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,Counter 1 to zero,0,0,0,Internal counter 1 to zero
option2 =1,Counter 2 to zero,0,0,0,Internal counter 2 to zero


[OptionJ]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,None,0,0,MaxCmdCount,Unconditional jump to the specified location


[OptionN]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,None,0,0,MaxCmdCount,Unequal jump to the specified location


[OptionE]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,None,0,0,MaxCmdCount,Equal jump to the specified location


[OptionW]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =1,Wait for the step to complete,0,0,0,Wait for the step to complete.
option2 =2,Waiting port 1,0,0,1,Waiting port 1 is equal to the set value
option3 =3,Waiting port 2,0,0,1,Waiting port 2 is equal to the set value
option4 =4,Waiting port 3,0,0,1,Waiting port 3 is equal to the set value
option5 =5,Wait for external stop 1,0,0,0,Wait for external to stop 1 effective
option6 =6,Wait for external stop 2,0,0,0,Wait for external to stop 2 effective
option7 =7,Wait N ms,0,0,65535,System Wait N ms
option8 =8,Waiting port 4,0,0,1,Waiting port 4 is equal to the set value
option9 =9,Waiting port 5,0,0,1,Waiting port 5 is equal to the set value
option10 =10,Wait GPIO1-11,0,0,65535,Wait for GPIO1-11 and GPIOMASK, and after the equals the set value
option11 =11,Waiting port 6,0,0,1,Waiting port 6 is equal to the set value
option12 =12,Waiting port 7,0,0,1,Waiting port 7 is equal to the set value
option13 =13,Waiting port 8,0,0,1,Waiting port 8 is equal to the set value

[OptionO]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =1,Output port 1,0,0,1,Output port 1
option2 =2,Output port 2,0,0,1,Output port 2
option3 =3,Output port 3,0,0,1,Output port 3
option4 =4,Output port 4,0,0,1,Output port 4
option5 =5,Output port 5,0,0,1,Output port 5
option6 =6,Output port 6,0,0,1,Output port 6
option7 =7,Output port 7,0,0,1,Output port 7
option8 =8,Output port 8,0,0,1,Output port 8

[OptionP]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =1,Compare the internal counter 1,0,0,65535,Compare whether the internal counter 1 is equal to the set value
option2 =2,Compare port 1,0,0,1,Compare port 1 is equal to the set value
option3 =3,Compare port 2,0,0,1,Compare port 2 is equal to the set value
option4 =4,Compare port 3,0,0,1,Compare port 3 is equal to the set value
option5 =5,Compare external stop 1,0,0,0,Compare the external stop 1 is effective
option6 =6,Compare external stop 2,0,0,0,Compare the external stop 2 is effective
option7 =7,Compare port 4,0,0,1,Compare port 4 is equal to the set value
option8 =8,Compare port 5,0,0,1,Compare port 5 is equal to the set value
option9 =9,Compare GPIO1-11,0,0,65535,Comparison of GPIO1-11 and GPIOMASK and is equal to the set value
option10 =10,Compare port 6,0,0,1,Compare port 6 is equal to the set value
option11 =11,Compare port 7,0,0,1,Compare port 7 is equal to the set value
option12 =12,Compare ENC1,0,0,1,Compare ENC1 is equal to the set value
option13 =13,Compare ENC2,0,0,1,Compare ENC2 is equal to the set value
option14 =14,Compare the internal counter 2,0,0,65535,Compare whether the internal counter 2 is equal to the set value
option15 =15,Compare port 8,0,0,1,Compare port 8 is equal to the set value
[OptionI]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,None,0,0,3,Set external stop trigger mode

[OptionQ]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =1,Enable GPI1 reset stop function,0,0,MaxCmdCount,Enable GPI1 low level to stop and set the jump address
option2 =2,Disable GPI1 reset stop function,0,0,0,Disable GPI1 low reset stop function

[OptionR]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =1,Enable GPI2 pause function,0,0,0,Enable GPI2 low level pause function
option2 =2,Disable GPI2 pause function,0,0,0,Disable GPI2 low level pause function


[OptionA]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =1,Enter speed mode,0,0,0,Enter speed mode
option2 =2,Enter position mode,0,0,0,Enter position mode
option3 =3,Enter encoder follow mode,0,0,0,Enter encoder follow mode
option4 =4,Exit encoder follow mode,0,0,0,Exit encoder follow mode
option5 =5,Enter PP mode,0,0,0,Enter PP mode
option6 =6,Enter PVT mode,0,0,0,Enter PVT mode
option7 =7,Enter PV mode,0,0,0,Enter PV mode

[OptionH]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,None,0,0,65535,set GPIO mask

[OptionK]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =1,rotate N step high 16bit,0,0,65535,set after rotate N step notify
option2 =2,rotate N step low 16bit,0,0,65535,set after rotate N step notify
option3 =3,pullup GPIOx,0,0,65535,pullup notify IO
option4=4,pulldown GPIOx,0,0,65535,pulldown notify IO

[OptionX]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,absolute position low 16bit,0,0,65535,set the absolute position low 16bit and rotation
option2 =1,absolute position high 16bit,0,0,65535,set the absolute position high 16bit

[OptionY]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,abort step,0,0,0,abort step

[OptionZ]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,clear stall flag,0,0,0,clear stall flag

[OptionUA]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,Analog speed enable,1,0,1,Analog speed regulating switch
option2 =1,Analog speed start ADC,0,0,4095,Set analog speed start ADC
option3 =2,maximum speed high 16 bits,0,0,65535,Set maximum speed high 16 bits
option4 =3,maximum speed low 16 bits,0,0,65535,Set maximum speed low 16 bits

[OptionUC]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,Brake voltage regulation,0,0,100,Adjusting duty ratio of brake voltage

[Option UP]
;Format: option value, option name, default value of data, data range min (decimal), data range Max (decimal), description
Option1 = 0, analog positioning enable,1,0,1,analog positioning switch
Option2 = 1, analog positioning start ADC,0,0,4095,setting analog position start ADC, corresponding to analog position 1
Option3 = 2, analog positioning adjustment time,1000,0,60000,analog positioning adjustment time
Option4 = 3, analog positioning trigger value,0,0,100,analog trigger value
Option5 = 4, analog position 1 high 16 bits,0,0,65535,set analog location 1 high 16 bits
Option6 = 5, analog position 1 is 16 bits lower,0,0,65535,and analog location 1 is 16 bits lower.
Option7 = 6, analog position 2 high 16 bits,0,0,65535,set analog location 2 high 16 bits
Option8 = 7, analog location 2 is 16 bits lower,0,0,65535,and analog location 2 is 16 bits lower.
[OptionUM]
Format: option value, option name, default value of data, data range min (decimal), data range Max (decimal), description
Option1 = 0, control word,0,0,65535, multi-segment positioning control word
Option2 = 1, acceleration 16 bits high,0,0,65535,multi-segment positioning acceleration 16 bits high
Option3 = 2, low acceleration 16 bits,0,0,65535,multi-segment positioning acceleration 16 bits
Option4 = 3, deceleration 16,0,0,65535,multi-stage positioning deceleration 16
Option5 = 4, deceleration 16 bits low,0,0,65535,multi-stage positioning 16 bits low deceleration
Option6 = 5, 16 bits high starting speed,0,0,65535,16 bits high starting speed for multi-segment positioning
Option7 = 6, start speed is 16 bits low,0,0,65535,multi-segment positioning start speed is 16 bits low
Option8 = 7, stop speed 16 bits higher,0,0,65535,multi-segment positioning stop speed 16 bits higher
Option9 = 8, stop speed 16 bits low,0,0,65535,multi-segment positioning stop speed 16 bits low
Option10 = 9, 16 bits high,0,0,65535,16 bits high for multi-segment positioning
Option11 = 10, low speed 16 bits,0,0,65535,low speed 16 bits for multi-segment positioning
Option12 = 11, positioning position 16 bits high,0,0,65535,multi-segment positioning position 16 bits high
Option13 = 12, 16 bits low,0,0,65535,16 bits low for multi-segment positioning


[OptionUZ]
;format:option value£¬option name£¬default,min(10),max(10),description
option1 =0,Motor position clearing,0,0,0,Motor position clearing

