ESL_cia402Obd.c

Interface for creating CiA 402 Object Dictionary - "AXES_NUMBER" axes.

Author

KUNBUS GmbH

Date

2020-06-19

Copyright

Copyright (c) 2021, KUNBUS GmbH

All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 
#include "ESL_cia402Obd.h"
#include "ESL_cia402Demo.h"
#include "ecSlvCiA402.h"
 
#include <ecSlvApi.h>
#include <ecApiError.h>
#include <ecApiDef.h>
 
 
uint32_t EC_SLV_APP_cia402ObjectDictionary(void* pContext_p)
{
    EC_SLV_APP_Sapplication_t*  pApplicationInstance    = (EC_SLV_APP_Sapplication_t*)pContext_p;
    EC_API_SLV_SHandle_t*       pEcApiSlv               = NULL;
    uint32_t                    error                   = EC_API_eERR_INVALID;
    uint8_t                     axis;
 
    EC_API_SLV_SCoE_Object_t*   pObj607B                = NULL;
    EC_API_SLV_SCoE_Object_t*   pObj607D                = NULL;
    EC_API_SLV_SCoE_Object_t*   pObj608F                = NULL;
    EC_API_SLV_SCoE_Object_t*   pObj6090                = NULL;
    EC_API_SLV_SCoE_Object_t*   pObj6091                = NULL;
    EC_API_SLV_SCoE_Object_t*   pObj6092                = NULL;
    EC_API_SLV_SCoE_Object_t*   pObj6096                = NULL;
    EC_API_SLV_SCoE_Object_t*   pObj6099                = NULL;
 
    if (!pApplicationInstance)
    {
        goto Exit;
    }
 
    pEcApiSlv = pApplicationInstance->ptEcSlvApi;
 
    for(axis = 0; axis < AXES_NUMBER; ++axis)
    {
        //Object 0x6007: Abort connection
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_ABORT_CONNECTION_OPTION_CODE_INDEX(axis), "Abort connection option code", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6040: Controlword
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].controlWordIndex.objectIndex, "Controlword", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6041: Statusword
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].statusWordIndex.objectIndex, "Statusword", DEFTYPE_UNSIGNED16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x605A: Quickstop option code
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].quickStopIndex.objectIndex, "Quickstop option code", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x605B: Shutdown option code
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].shutdownIndex.objectIndex, "Shutdown option code", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x605C: Disable operation option code
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].disableOperationIndex.objectIndex, "Disable operation option code", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x605D: Halt option code
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_HALT_OPTION_CODE_INDEX(axis), "Halt option code", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x605E: Fault reaction option code
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].faultReactionIndex.objectIndex, "Fault reaction option code", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6060: Mode of operation
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].modesOfOperationIndex.objectIndex, "Modes of operation", DEFTYPE_INTEGER8, 8, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6061: Modes of operation display
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].modesOfOperationDisplayIndex.objectIndex, "Modes of operation display", DEFTYPE_INTEGER8, 8, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6062: Position demand value
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITION_DEMAND_VALUE_INDEX(axis), "Position demand value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6063: Position actual internal value
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITION_ACTUAL_INTERNAL_VALUE_INDEX(axis), "Position actual internal value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6064: Position actual value
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].positionActualValueIndex.objectIndex, "Position actual value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6065: Following error window
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_FOLLOWING_ERROR_WINDOW_INDEX(axis), "Following error window", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6066: Following error timeout
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_FOLLOWING_ERROR_TIMEOUT_INDEX(axis), "Following error timeout", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6067: Position window
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITION_WINDOW_INDEX(axis), "Position window", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6068: Position window time
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITION_WINDOW_TIME_INDEX(axis), "Position window time", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6069: Velocity sensor actual value
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_SENSOR_ACTUAL_VALUE_INDEX(axis), "Velocity sensor actual value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x606B: Velocity demand value
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_DEMAND_VALUE_INDEX(axis), "Velocity demand value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x606C: Velocity actual value
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].velocityActualValueIndex.objectIndex, "Velocity actual value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x606D: Velocity window
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_WINDOW_INDEX(axis), "Velocity window", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x606E: Velocity window time
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_WINDOW_TIME_INDEX(axis), "Velocity window time", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x606F: Velocity threshold
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_THRESHOLD_INDEX(axis), "Velocity threshold", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6070: Velocity threshold time
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_THRESHOLD_TIME_INDEX(axis), "Velocity threshold time", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6071: Target torque
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].targetTorqueIndex.objectIndex, "Target torque", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6072: Max torque
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_MAX_TORQUE_INDEX(axis), "Max torque", DEFTYPE_INTEGER16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6074: Torque demand
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TORQUE_DEMAND_INDEX(axis), "Torque demand", DEFTYPE_INTEGER16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6077: Torque actual value
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].torqueActualValueIndex.objectIndex, "Torque actual value", DEFTYPE_INTEGER16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6078: Current actual value
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_CURRENT_ACTUAL_VALUE_INDEX(axis), "Current actual value", DEFTYPE_INTEGER16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x607A: Target position
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].targetPositionIndex.objectIndex, "Target position", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x607B: Position range limit
        error = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_POSITION_RANGE_LIMIT_INDEX(axis), "Position range limit", NULL, NULL, NULL, NULL, &pObj607B);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
        if(pObj607B)
        {
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj607B, 1, "Min position range limit", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj607B, 2, "Max position range limit", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
        }
 
        //Object 0x607C: Home offset
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_HOME_OFFSET_INDEX(axis), "Home offset", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x607D: Software position limit
        error = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].swPositionLimitIndex.objectIndex, "Software position limit", NULL, NULL, NULL, NULL, &pObj607D);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
        if(pObj607D)
        {
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj607D, 1, "Min position limit", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj607D, 2, "Max position limit", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
        }
 
        //Object 0x607E: Polarity
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POLARITY_INDEX(axis), "Polarity", DEFTYPE_INTEGER8, 8, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6080: Max motor speed
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_MAX_MOTOR_SPEED_INDEX(axis), "Max motor speed", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6081: Profile velocity
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_PROFILE_VELOCITY_INDEX(axis), "Profile velocity", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6083: Profile acceleration
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_PROFILE_ACCELERATION_INDEX(axis), "Profile acceleration", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6084: Profile deceleration
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_PROFILE_DECELERATION_INDEX(axis), "Profile deceleration", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6085: Quickstop deceleration
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_QUISTOP_DECELERATION_INDEX(axis), "Quickstop deceleration", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6086: Motion profile type
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_MOTION_PROFILE_TYPE_INDEX(axis), "Motion profile type", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x608F: Position encoder resolution
        error = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_POSITION_ENCODER_RESOLUTION_INDEX(axis), "Position encoder resolution", NULL, NULL, NULL, NULL, &pObj608F);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
        if(pObj608F)
        {
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj608F, 1, "Encoder increments", DEFTYPE_UNSIGNED32, 32, ACCESS_READ);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj608F, 2, "Motor revolutions", DEFTYPE_UNSIGNED32, 32, ACCESS_READ);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
        }
 
        //Object 0x6090: Velocity encoder resolution
        error = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_VELOCITY_ENCONDER_RESOLUTION_INDEX(axis), "Position encoder resolution", NULL, NULL, NULL, NULL, &pObj6090);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
        if(pObj6090)
        {
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6090, 1, "Encoder increments", DEFTYPE_UNSIGNED32, 32, ACCESS_READ);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6090, 2, "Motor revolutions", DEFTYPE_UNSIGNED32, 32, ACCESS_READ);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
        }
 
        //Object 0x6091: Gear ratio
        error = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_GEAR_RATIO_INDEX(axis), "Gear ratio", NULL, NULL, NULL, NULL, &pObj6091);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
        if(pObj6091)
        {
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6091, 1, "Motor shaft revolutions", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6091, 2, "Driving shaft revolutions", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
        }
 
        //Object 0x6092: Feed constant
        error = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_FEED_CONSTANT_INDEX(axis), "Feed constant", NULL, NULL, NULL, NULL, &pObj6092);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
        if(pObj6092)
        {
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6092, 1, "Feed", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6092, 2, "Shaft revolutions", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
        }
 
        //Object 0x6096: Velocity factor
        error = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_VELOCITY_FACTOR_INDEX(axis), "Velocity factor", NULL, NULL, NULL, NULL, &pObj6096);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
        if(pObj6096)
        {
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6096, 1, "Numerator", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6096, 2, "Divisor", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
        }
 
        //Object 0x6098: Homing method
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_HOMING_METHOD_INDEX(axis), "Homing method", DEFTYPE_INTEGER8, 8, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6099: Homing speeds
        error = EC_API_SLV_CoE_odAddRecord(pEcApiSlv, OBD_HOMING_SPEEDS_INDEX(axis), "Homing speeds", NULL, NULL, NULL, NULL, &pObj6099);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
        if(pObj6099)
        {
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6099, 1, "Switch seek velocity", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
            error = EC_API_SLV_CoE_configRecordSubIndex(pEcApiSlv, pObj6099, 2, "Homing speed", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING);
            if (error != EC_API_eERR_NONE)
            {
                OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
                goto Exit;
            }
        }
 
        //Object 0x609A: Homing acceleration
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_HOMING_ACCELERATION_INDEX(axis), "Homing acceleration", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60B0: Position offset
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITION_OFFSET_INDEX(axis), "Position offset", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60B1: Velocity offset
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_VELOCITY_OFFSET_INDEX(axis), "Velocity offset", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60B2: Torque offset
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TORQUE_OFFSET_INDEX(axis), "Torque offset", DEFTYPE_INTEGER16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60B8: Touch probe function
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_FUNCTION_INDEX(axis), "Touch probe function", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60B9: Touch probe status
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_STATUS_INDEX(axis), "Touch probe status", DEFTYPE_UNSIGNED16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60BA: Touch probe 1 positive edge
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_1_POS_EDGE_INDEX(axis), "Touch probe 1 postive edge", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60BB: Touch probe 1 negative edge
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_1_NEG_EDGE_INDEX(axis), "Touch probe 1 negative edge", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60BC: Touch probe 2 positive edge
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_2_POS_EDGE_INDEX(axis), "Touch probe 2 postive edge", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60BD: Touch probe 2 negative edge
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_2_NEG_EDGE_INDEX(axis), "Touch probe 2 negative edge", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60C2: Interpolation time period
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_INTERPOLATION_TIME_PERIOD_INDEX(axis), "Interpolation time period", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60C5: Max acceleration
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_MAX_ACCELERATION_INDEX(axis), "Max acceleration", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60C6: Max deceleration
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_MAX_DECELERATION_INDEX(axis), "Max deceleration", DEFTYPE_UNSIGNED32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60D5: Touch probe 1 positive edge counter
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_1_POS_EDGE_CNT_INDEX(axis), "Touch probe 1 positive edge counter", DEFTYPE_UNSIGNED16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60D6: Touch probe 1 negative edge counter
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_1_NEG_EDGE_CNT_INDEX(axis), "Touch probe 2 negative edge counter", DEFTYPE_UNSIGNED16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60D7: Touch probe 2 positive edge counter
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_2_POS_EDGE_CNT_INDEX(axis), "Touch probe 1 positive edge counter", DEFTYPE_UNSIGNED16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60D8: Touch probe 2 negative edge counter
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_TOUCH_PROBE_2_NEG_EDGE_CNT_INDEX(axis), "Touch probe 2 negative edge counter", DEFTYPE_UNSIGNED16, 16, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60E0: Positive torque limit value
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_POSITIVE_TORQUE_LIMIT_VALUE_INDEX(axis), "Positive torque limit value", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60E1: Negative torque limit value
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_NEGATIVE_TORQUE_LIMIT_VALUE_INDEX(axis), "Negative torque limit value", DEFTYPE_UNSIGNED16, 16, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60F4: Following error actual value
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, OBD_FOLLOWING_ERROR_ACTUAL_VALUE_INDEX(axis), "Following error actual value", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x60FF: Target velocity
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].targetVelocityIndex.objectIndex, "Target velocity", DEFTYPE_INTEGER32, 32, ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
 
        //Object 0x6502: Support drive modes
        error = EC_API_SLV_CoE_odAddVariable(pEcApiSlv, pApplicationInstance->CiA402_axisData[axis].supportedDriveModesIndex.objectIndex, "Support drive modes", DEFTYPE_INTEGER32, 32, ACCESS_READ | OBJACCESS_TXPDOMAPPING, NULL, NULL, NULL, NULL);
        if (error != EC_API_eERR_NONE)
        {
            OSAL_printf("%s:%d (%s) Error code: 0x%08x\r\n", __FUNCTION__, __LINE__, __FUNCTION__, error);
            goto Exit;
        }
    }
    error = EC_API_eERR_NONE;
Exit:
    return error;
}
 
void EC_SLV_APP_cia402_initAxisObjects(void* pContext_p)
{
    EC_SLV_APP_Sapplication_t*  pApp_p      = (EC_SLV_APP_Sapplication_t*)pContext_p;
    uint8_t axisIter    = 0;
 
    if (!pApp_p)
    {
        goto Exit;
    }
 
    for (axisIter = 0; axisIter < AXES_NUMBER; ++axisIter)
    {
        pApp_p->CiA402_axisData[axisIter].controlWordIndex.objectIndex              = OBD_CONTROLWORD_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].statusWordIndex.objectIndex               = OBD_STATUSWORD_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].quickStopIndex.objectIndex                = OBD_QUICKSTOP_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].shutdownIndex.objectIndex                 = OBD_SHUTDOWN_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].disableOperationIndex.objectIndex         = OBD_DISABLE_OPERATION_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].faultReactionIndex.objectIndex            = OBD_FAULT_REACTION_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].modesOfOperationIndex.objectIndex         = OBD_MODES_OF_OPERATION_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].modesOfOperationDisplayIndex.objectIndex  = OBD_MODES_OF_OPERATION_DISPLAY_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].positionActualValueIndex.objectIndex      = OBD_POSITION_ACTUAL_VALUE_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].velocityActualValueIndex.objectIndex      = OBD_VELOCITY_ACTUAL_VALUE_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].targetTorqueIndex.objectIndex             = OBD_TARGET_TORQUE_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].torqueActualValueIndex.objectIndex        = OBD_TORQUE_ACTUAL_VALUE_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].targetPositionIndex.objectIndex           = OBD_TARGET_POSITION_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].swPositionLimitIndex.objectIndex          = OBD_SW_POSITION_LIMIT_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].targetVelocityIndex.objectIndex           = OBD_TARGET_VELOCITY_INDEX(axisIter);
        pApp_p->CiA402_axisData[axisIter].supportedDriveModesIndex.objectIndex      = OBD_SUPPORTED_DRIVE_MODES_INDEX(axisIter);
    }
Exit:
    return;
}
 
#define EC_SLV_APP_CoE_MAPSDO(error, axisObjectEntry) \
        (error) = EC_API_SLV_CoE_getObject(pApp_p->ptEcSlvApi, (axisObjectEntry).objectIndex, &((axisObjectEntry).pSdo)); \
        if (EC_API_eERR_NONE != (error)){ \
            OSAL_printf("Cannot get object at index <0x%x>\r\n", (axisObjectEntry).objectIndex); goto Exit; }
 
uint32_t EC_SLV_APP_CiA_fetchAxisObjects(void* pContext_p)
{
    EC_SLV_APP_Sapplication_t*  pApp_p      = (EC_SLV_APP_Sapplication_t*)pContext_p;
    uint8_t                     axisIter    = 0;
    uint32_t                    err         = EC_API_eERR_INVALID;
 
    if (!pApp_p)
    {
        goto Exit;
    }
 
    for ( axisIter = 0; axisIter < AXES_NUMBER; ++axisIter)
    {
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].controlWordIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].statusWordIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].quickStopIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].shutdownIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].disableOperationIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].faultReactionIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].modesOfOperationIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].modesOfOperationDisplayIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].positionActualValueIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].velocityActualValueIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].targetTorqueIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].torqueActualValueIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].targetPositionIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].swPositionLimitIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].targetVelocityIndex);
        EC_SLV_APP_CoE_MAPSDO(err, pApp_p->CiA402_axisData[axisIter].supportedDriveModesIndex);
 
        pApp_p->CiA402_axisData[axisIter].positionLimitMin.objectIndex      = pApp_p->CiA402_axisData[axisIter].swPositionLimitIndex.objectIndex;
        pApp_p->CiA402_axisData[axisIter].positionLimitMin.objectSubIndex   = 1;
        pApp_p->CiA402_axisData[axisIter].positionLimitMin.pSdo             = pApp_p->CiA402_axisData[axisIter].swPositionLimitIndex.pSdo;
 
        pApp_p->CiA402_axisData[axisIter].positionLimitMax.objectIndex      = pApp_p->CiA402_axisData[axisIter].swPositionLimitIndex.objectIndex;
        pApp_p->CiA402_axisData[axisIter].positionLimitMax.objectSubIndex   = 2;
        pApp_p->CiA402_axisData[axisIter].positionLimitMax.pSdo             = pApp_p->CiA402_axisData[axisIter].swPositionLimitIndex.pSdo;
 
        err = EC_API_SLV_CoE_getObjectEntryByObject(pApp_p->ptEcSlvApi,
                                                    pApp_p->CiA402_axisData[axisIter].positionLimitMin.pSdo,
                                                    pApp_p->CiA402_axisData[axisIter].positionLimitMin.objectSubIndex,
                                                    &pApp_p->CiA402_axisData[axisIter].positionLimitMin.pObjetEntry);
        if (EC_API_eERR_NONE != (err))
        {
            OSAL_printf("Cannot get objectEntry at index <0x%x> subindex <0x%x> \r\n",
                        pApp_p->CiA402_axisData[axisIter].positionLimitMin.objectIndex,
                        pApp_p->CiA402_axisData[axisIter].positionLimitMin.objectSubIndex );
            goto Exit;
        }
 
        err = EC_API_SLV_CoE_getObjectEntryByObject(pApp_p->ptEcSlvApi,
                                                    pApp_p->CiA402_axisData[axisIter].positionLimitMax.pSdo,
                                                    pApp_p->CiA402_axisData[axisIter].positionLimitMax.objectSubIndex,
                                                    &pApp_p->CiA402_axisData[axisIter].positionLimitMax.pObjetEntry);
        if (EC_API_eERR_NONE != (err))
        {
            OSAL_printf("Cannot get objectEntry at index <0x%x> subindex <0x%x> \r\n",
                        pApp_p->CiA402_axisData[axisIter].positionLimitMax.objectIndex,
                        pApp_p->CiA402_axisData[axisIter].positionLimitMax.objectSubIndex );
            goto Exit;
        }
 
        EC_SLV_APP_getCiA402ObjectEntryValue(pApp_p,
                                             pApp_p->CiA402_axisData[axisIter].positionLimitMin.pObjetEntry,
                                             sizeof(pApp_p->CiA402_axisData[axisIter].posLimitMin),
                                             (uint16_t *) &pApp_p->CiA402_axisData[axisIter].posLimitMin);
        EC_SLV_APP_getCiA402ObjectEntryValue(pApp_p,
                                             pApp_p->CiA402_axisData[axisIter].positionLimitMax.pObjetEntry,
                                             sizeof(pApp_p->CiA402_axisData[axisIter].posLimitMax),
                                             (uint16_t *) &pApp_p->CiA402_axisData[axisIter].posLimitMax);
    }
 
    err = EC_API_SLV_eERR_NO_ERROR;
Exit:
    return err;
}
 
#define EC_SLV_APP_CoE_GETPDOOFFSETS(axisObjectEntry) \
        if ((axisObjectEntry).pdoObject) { (axisObjectEntry).pdoOffset = EC_API_SLV_PDO_getOffset((axisObjectEntry).pdoObject) + (axisObjectEntry).pdoObjectOffset; }
 
uint32_t EC_SLV_APP_CiA_fetchPDOffsets(void* pContext_p)
{
    EC_SLV_APP_Sapplication_t*  pApp_p      = (EC_SLV_APP_Sapplication_t*)pContext_p;
    uint8_t                     axisIter    = 0;
    uint32_t                    err         = EC_API_eERR_INVALID;
 
    if (!pApp_p)
    {
        goto Exit;
    }
 
    for ( axisIter = 0; axisIter < AXES_NUMBER; ++axisIter)
    {
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].controlWordIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].statusWordIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].quickStopIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].shutdownIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].disableOperationIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].faultReactionIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].modesOfOperationIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].modesOfOperationDisplayIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].positionActualValueIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].velocityActualValueIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].targetTorqueIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].torqueActualValueIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].targetPositionIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].swPositionLimitIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].targetVelocityIndex);
        EC_SLV_APP_CoE_GETPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].supportedDriveModesIndex);
    }
 
    err = EC_API_SLV_eERR_NO_ERROR;
Exit:
    return err;
}
 
#define EC_SLV_APP_CoE_CLEARPDOOFFSETS(axisObjectEntry) \
        (axisObjectEntry).pdoObjectOffset = 0; (axisObjectEntry).pdoOffset = 0;
 
uint32_t EC_SLV_APP_CiA_dropPDOffsets(void* pContext_p)
{
    EC_SLV_APP_Sapplication_t*  pApp_p      = (EC_SLV_APP_Sapplication_t*)pContext_p;
    uint8_t                     axisIter    = 0;
    uint32_t                    err         = EC_API_eERR_INVALID;
 
    if (!pApp_p)
    {
        goto Exit;
    }
 
    for ( axisIter = 0; axisIter < AXES_NUMBER; ++axisIter)
    {
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].controlWordIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].statusWordIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].quickStopIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].shutdownIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].disableOperationIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].faultReactionIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].modesOfOperationIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].modesOfOperationDisplayIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].positionActualValueIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].velocityActualValueIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].targetTorqueIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].torqueActualValueIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].targetPositionIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].swPositionLimitIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].targetVelocityIndex);
        EC_SLV_APP_CoE_CLEARPDOOFFSETS(pApp_p->CiA402_axisData[axisIter].supportedDriveModesIndex);
    }
 
    err = EC_API_SLV_eERR_NO_ERROR;
Exit:
    return err;
}