From e8ef618fcccad0d7fc9319e3a5ccd36f4667d6d0 Mon Sep 17 00:00:00 2001
From: Hakan Bastedt <hakan.bastedt@gmail.com>
Date: Sun, 3 Mar 2024 17:02:04 +0100
Subject: [PATCH] Test in lathe coming.

---
 EEPROM_generator/index.html                   |   3 +-
 EEPROM_generator/src/constants.js             |   4 +-
 .../lib/soes/MetalMusings_EaserCAT_2000.xml   | 739 +++++++-----------
 Firmware/lib/soes/ecat_options.h              |   2 +-
 Firmware/lib/soes/ecat_slv.c                  |   8 +-
 Firmware/lib/soes/ecat_slv.h                  |   2 +-
 Firmware/lib/soes/eeprom.bin                  | Bin 2048 -> 2048 bytes
 Firmware/lib/soes/eeprom.hex                  |   2 +-
 Firmware/lib/soes/esi.json                    | 147 ++--
 Firmware/lib/soes/objectlist.c                | 159 ++--
 Firmware/lib/soes/utypes.h                    |  39 +-
 Firmware/src/StepGen2.cpp                     |   4 +-
 Firmware/src/main.cpp                         |  34 +-
 13 files changed, 472 insertions(+), 671 deletions(-)

diff --git a/EEPROM_generator/index.html b/EEPROM_generator/index.html
index 4fa7f27..4609771 100644
--- a/EEPROM_generator/index.html
+++ b/EEPROM_generator/index.html
@@ -55,7 +55,8 @@
                      <option value="INTEGER64">INTEGER64</option>
                      <option value="UNSIGNED8">UNSIGNED8</option>
                      <option value="UNSIGNED16">UNSIGNED16</option>
-                     <option value="UNSIGNED32">UNSIGNED64</option>
+                     <option value="UNSIGNED32">UNSIGNED32</option>
+                     <option value="UNSIGNED64">UNSIGNED64</option>
                      <option value="REAL32">REAL32</option>
                      <option value="REAL64">REAL64</option>
                      <option value="VISIBLE_STRING">VISIBLE STRING</option>
diff --git a/EEPROM_generator/src/constants.js b/EEPROM_generator/src/constants.js
index a7f3793..f4a7a0d 100644
--- a/EEPROM_generator/src/constants.js
+++ b/EEPROM_generator/src/constants.js
@@ -28,11 +28,11 @@ const DTYPE = {
 	INTEGER8 : 'INTEGER8',
 	INTEGER16 : 'INTEGER16',
 	INTEGER32 : 'INTEGER32',
-	INTEGER32 : 'INTEGER64',
+	INTEGER64 : 'INTEGER64',
 	UNSIGNED8 : 'UNSIGNED8',
 	UNSIGNED16 : 'UNSIGNED16',
 	UNSIGNED32 : 'UNSIGNED32',
-	UNSIGNED32 : 'UNSIGNED64',
+	UNSIGNED64 : 'UNSIGNED64',
 	REAL32 : 'REAL32',
 	REAL64 : 'REAL64',
 	VISIBLE_STRING : 'VISIBLE_STRING',
diff --git a/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml b/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
index 917deff..9174c51 100755
--- a/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
+++ b/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
@@ -23,7 +23,7 @@
             <DataTypes>
               <DataType>
                 <Name>DT1018</Name>
-                <BitSize>272</BitSize>
+                <BitSize>144</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -37,8 +37,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>Vendor ID</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -47,9 +47,9 @@
                 <SubItem>
                   <SubIdx>2</SubIdx>
                   <Name>Product Code</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
-                  <BitOffs>80</BitOffs>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>48</BitOffs>
                   <Flags>
                     <Access>ro</Access>
                   </Flags>
@@ -57,9 +57,9 @@
                 <SubItem>
                   <SubIdx>3</SubIdx>
                   <Name>Revision Number</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
-                  <BitOffs>144</BitOffs>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>80</BitOffs>
                   <Flags>
                     <Access>ro</Access>
                   </Flags>
@@ -67,9 +67,9 @@
                 <SubItem>
                   <SubIdx>4</SubIdx>
                   <Name>Serial Number</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
-                  <BitOffs>208</BitOffs>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>112</BitOffs>
                   <Flags>
                     <Access>ro</Access>
                   </Flags>
@@ -77,31 +77,7 @@
               </DataType>
               <DataType>
                 <Name>DT1600</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>Max SubIndex</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>EncPosScale</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT1601</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -115,8 +91,32 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>IndexLatchEnable</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1601</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>CommandedPosition1</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -125,7 +125,7 @@
               </DataType>
               <DataType>
                 <Name>DT1602</Name>
-                <BitSize>144</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -138,28 +138,18 @@
                 </SubItem>
                 <SubItem>
                   <SubIdx>1</SubIdx>
-                  <Name>CommandedPosition</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Name>CommandedPosition2</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
                   </Flags>
                 </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>StepsPerMM</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                  </Flags>
-                </SubItem>
               </DataType>
               <DataType>
                 <Name>DT1603</Name>
-                <BitSize>144</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -172,20 +162,34 @@
                 </SubItem>
                 <SubItem>
                   <SubIdx>1</SubIdx>
-                  <Name>CommandedPosition</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Name>StepsPerMM1</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
                   </Flags>
                 </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1604</Name>
+                <BitSize>48</BitSize>
                 <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>StepsPerMM</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
-                  <BitOffs>80</BitOffs>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>StepsPerMM2</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
                   </Flags>
@@ -193,7 +197,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A00</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -207,8 +211,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>EncPos</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -217,7 +221,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A01</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -231,8 +235,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>EncFrequency</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -241,7 +245,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A02</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -255,8 +259,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>DiffT</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -265,7 +269,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A03</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -279,8 +283,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>IndexByte</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -289,7 +293,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A04</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -303,8 +307,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>IndexStatus</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -313,7 +317,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A05</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -326,9 +330,9 @@
                 </SubItem>
                 <SubItem>
                   <SubIdx>1</SubIdx>
-                  <Name>ActualPosition</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Name>ActualPosition1</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -337,7 +341,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A06</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -350,9 +354,9 @@
                 </SubItem>
                 <SubItem>
                   <SubIdx>1</SubIdx>
-                  <Name>ActualPosition</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Name>ActualPosition2</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -361,7 +365,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A07</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -375,8 +379,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>D1</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -385,7 +389,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A08</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -399,8 +403,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>D2</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -409,7 +413,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A09</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -423,8 +427,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>D3</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -433,7 +437,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A0A</Name>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -447,8 +451,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>D4</Name>
-                  <Type>ULINT</Type>
-                  <BitSize>64</BitSize>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -490,15 +494,15 @@
               <DataType>
                 <Name>DT1C12ARR</Name>
                 <BaseType>UINT</BaseType>
-                <BitSize>64</BitSize>
+                <BitSize>80</BitSize>
                 <ArrayInfo>
                   <LBound>1</LBound>
-                  <Elements>4</Elements>
+                  <Elements>5</Elements>
                 </ArrayInfo>
               </DataType>
               <DataType>
                 <Name>DT1C12</Name>
-                <BitSize>80</BitSize>
+                <BitSize>96</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -512,7 +516,7 @@
                 <SubItem>
                   <Name>Elements</Name>
                   <Type>DT1C12ARR</Type>
-                  <BitSize>64</BitSize>
+                  <BitSize>80</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -552,130 +556,8 @@
                 </SubItem>
               </DataType>
               <DataType>
-                <Name>DT6005</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>Max SubIndex</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>ActualPosition</Name>
-                  <Type>LREAL</Type>
-                  <BitSize>64</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access WriteRestrictions="PreOP">ro</Access>
-                  <PdoMapping>T</PdoMapping>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT6006</Name>
-                <BitSize>80</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>Max SubIndex</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>ActualPosition</Name>
-                  <Type>LREAL</Type>
-                  <BitSize>64</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access WriteRestrictions="PreOP">ro</Access>
-                  <PdoMapping>T</PdoMapping>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT7002</Name>
-                <BitSize>96</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>Max SubIndex</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>CommandedPosition</Name>
-                  <Type>LREAL</Type>
-                  <BitSize>64</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access WriteRestrictions="PreOP">ro</Access>
-                  <PdoMapping>R</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>StepsPerMM</Name>
-                  <Type>INT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access WriteRestrictions="PreOP">ro</Access>
-                  <PdoMapping>R</PdoMapping>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>DT7003</Name>
-                <BitSize>96</BitSize>
-                <SubItem>
-                  <SubIdx>0</SubIdx>
-                  <Name>Max SubIndex</Name>
-                  <Type>USINT</Type>
-                  <BitSize>8</BitSize>
-                  <BitOffs>0</BitOffs>
-                  <Flags>
-                    <Access>ro</Access>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>1</SubIdx>
-                  <Name>CommandedPosition</Name>
-                  <Type>LREAL</Type>
-                  <BitSize>64</BitSize>
-                  <BitOffs>16</BitOffs>
-                  <Flags>
-                    <Access WriteRestrictions="PreOP">ro</Access>
-                  <PdoMapping>R</PdoMapping>
-                  </Flags>
-                </SubItem>
-                <SubItem>
-                  <SubIdx>2</SubIdx>
-                  <Name>StepsPerMM</Name>
-                  <Type>INT</Type>
-                  <BitSize>16</BitSize>
-                  <BitOffs>80</BitOffs>
-                  <Flags>
-                    <Access WriteRestrictions="PreOP">ro</Access>
-                  <PdoMapping>R</PdoMapping>
-                  </Flags>
-                </SubItem>
-              </DataType>
-              <DataType>
-                <Name>ULINT</Name>
-                <BitSize>64</BitSize>
+                <Name>UDINT</Name>
+                <BitSize>32</BitSize>
               </DataType>
               <DataType>
                 <Name>STRING(26)</Name>
@@ -694,15 +576,7 @@
                 <BitSize>16</BitSize>
               </DataType>
               <DataType>
-                <Name>LREAL</Name>
-                <BitSize>64</BitSize>
-              </DataType>
-              <DataType>
-                <Name>UDINT</Name>
-                <BitSize>32</BitSize>
-              </DataType>
-              <DataType>
-                <Name>DINT</Name>
+                <Name>REAL</Name>
                 <BitSize>32</BitSize>
               </DataType>
               <DataType>
@@ -714,8 +588,8 @@
               <Object>
                 <Index>#x1000</Index>
                 <Name>Device Type</Name>
-                <Type>ULINT</Type>
-                <BitSize>64</BitSize>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
                 <Info>
                   <DefaultValue>5001</DefaultValue>
                 </Info>
@@ -765,7 +639,7 @@
                 <Index>#x1018</Index>
                 <Name>Identity Object</Name>
                 <Type>DT1018</Type>
-                <BitSize>272</BitSize>
+                <BitSize>144</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -804,9 +678,9 @@
               </Object>
               <Object>
                 <Index>#x1600</Index>
-                <Name>EncPosScale</Name>
+                <Name>IndexLatchEnable</Name>
                 <Type>DT1600</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -815,7 +689,7 @@
                     </Info>
                   </SubItem>
                   <SubItem>
-                    <Name>EncPosScale</Name>
+                    <Name>IndexLatchEnable</Name>
                     <Info>
                       <DefaultValue>#x70000020</DefaultValue>
                     </Info>
@@ -827,9 +701,9 @@
               </Object>
               <Object>
                 <Index>#x1601</Index>
-                <Name>IndexLatchEnable</Name>
+                <Name>CommandedPosition1</Name>
                 <Type>DT1601</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -838,7 +712,7 @@
                     </Info>
                   </SubItem>
                   <SubItem>
-                    <Name>IndexLatchEnable</Name>
+                    <Name>CommandedPosition1</Name>
                     <Info>
                       <DefaultValue>#x70010020</DefaultValue>
                     </Info>
@@ -850,26 +724,20 @@
               </Object>
               <Object>
                 <Index>#x1602</Index>
-                <Name>StepGenIn1</Name>
+                <Name>CommandedPosition2</Name>
                 <Type>DT1602</Type>
-                <BitSize>144</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
                     <Info>
-                      <DefaultValue>2</DefaultValue>
+                      <DefaultValue>1</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
-                    <Name>CommandedPosition</Name>
+                    <Name>CommandedPosition2</Name>
                     <Info>
-                      <DefaultValue>#x70020140</DefaultValue>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>StepsPerMM</Name>
-                    <Info>
-                      <DefaultValue>#x70020210</DefaultValue>
+                      <DefaultValue>#x70020020</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -879,26 +747,43 @@
               </Object>
               <Object>
                 <Index>#x1603</Index>
-                <Name>StepGenIn2</Name>
+                <Name>StepsPerMM1</Name>
                 <Type>DT1603</Type>
-                <BitSize>144</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
                     <Info>
-                      <DefaultValue>2</DefaultValue>
+                      <DefaultValue>1</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
-                    <Name>CommandedPosition</Name>
+                    <Name>StepsPerMM1</Name>
                     <Info>
-                      <DefaultValue>#x70030140</DefaultValue>
+                      <DefaultValue>#x70030010</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1604</Index>
+                <Name>StepsPerMM2</Name>
+                <Type>DT1604</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
-                    <Name>StepsPerMM</Name>
+                    <Name>StepsPerMM2</Name>
                     <Info>
-                      <DefaultValue>#x70030210</DefaultValue>
+                      <DefaultValue>#x70040010</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -910,7 +795,7 @@
                 <Index>#x1A00</Index>
                 <Name>EncPos</Name>
                 <Type>DT1A00</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -921,7 +806,7 @@
                   <SubItem>
                     <Name>EncPos</Name>
                     <Info>
-                      <DefaultValue>#x60000040</DefaultValue>
+                      <DefaultValue>#x60000020</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -933,7 +818,7 @@
                 <Index>#x1A01</Index>
                 <Name>EncFrequency</Name>
                 <Type>DT1A01</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -944,7 +829,7 @@
                   <SubItem>
                     <Name>EncFrequency</Name>
                     <Info>
-                      <DefaultValue>#x60010040</DefaultValue>
+                      <DefaultValue>#x60010020</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -956,7 +841,7 @@
                 <Index>#x1A02</Index>
                 <Name>DiffT</Name>
                 <Type>DT1A02</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -967,7 +852,7 @@
                   <SubItem>
                     <Name>DiffT</Name>
                     <Info>
-                      <DefaultValue>#x60020020</DefaultValue>
+                      <DefaultValue>#x60020010</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -979,7 +864,7 @@
                 <Index>#x1A03</Index>
                 <Name>IndexByte</Name>
                 <Type>DT1A03</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -1002,7 +887,7 @@
                 <Index>#x1A04</Index>
                 <Name>IndexStatus</Name>
                 <Type>DT1A04</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -1023,9 +908,9 @@
               </Object>
               <Object>
                 <Index>#x1A05</Index>
-                <Name>StepGenOut1</Name>
+                <Name>ActualPosition1</Name>
                 <Type>DT1A05</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -1034,9 +919,9 @@
                     </Info>
                   </SubItem>
                   <SubItem>
-                    <Name>ActualPosition</Name>
+                    <Name>ActualPosition1</Name>
                     <Info>
-                      <DefaultValue>#x60050140</DefaultValue>
+                      <DefaultValue>#x60050020</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -1046,9 +931,9 @@
               </Object>
               <Object>
                 <Index>#x1A06</Index>
-                <Name>StepGenOut2</Name>
+                <Name>ActualPosition2</Name>
                 <Type>DT1A06</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -1057,9 +942,9 @@
                     </Info>
                   </SubItem>
                   <SubItem>
-                    <Name>ActualPosition</Name>
+                    <Name>ActualPosition2</Name>
                     <Info>
-                      <DefaultValue>#x60060140</DefaultValue>
+                      <DefaultValue>#x60060020</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -1071,7 +956,7 @@
                 <Index>#x1A07</Index>
                 <Name>D1</Name>
                 <Type>DT1A07</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -1082,7 +967,7 @@
                   <SubItem>
                     <Name>D1</Name>
                     <Info>
-                      <DefaultValue>#x60070020</DefaultValue>
+                      <DefaultValue>#x60070010</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -1094,7 +979,7 @@
                 <Index>#x1A08</Index>
                 <Name>D2</Name>
                 <Type>DT1A08</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -1105,7 +990,7 @@
                   <SubItem>
                     <Name>D2</Name>
                     <Info>
-                      <DefaultValue>#x60080020</DefaultValue>
+                      <DefaultValue>#x60080010</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -1117,7 +1002,7 @@
                 <Index>#x1A09</Index>
                 <Name>D3</Name>
                 <Type>DT1A09</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -1128,7 +1013,7 @@
                   <SubItem>
                     <Name>D3</Name>
                     <Info>
-                      <DefaultValue>#x60090020</DefaultValue>
+                      <DefaultValue>#x60090010</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -1140,7 +1025,7 @@
                 <Index>#x1A0A</Index>
                 <Name>D4</Name>
                 <Type>DT1A0A</Type>
-                <BitSize>80</BitSize>
+                <BitSize>48</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -1151,7 +1036,7 @@
                   <SubItem>
                     <Name>D4</Name>
                     <Info>
-                      <DefaultValue>#x600A0020</DefaultValue>
+                      <DefaultValue>#x600A0010</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -1204,12 +1089,12 @@
                 <Index>#x1C12</Index>
                 <Name>Sync Manager 2 PDO Assignment</Name>
                 <Type>DT1C12</Type>
-                <BitSize>80</BitSize>
+                <BitSize>96</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
                     <Info>
-                      <DefaultValue>4</DefaultValue>
+                      <DefaultValue>5</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
@@ -1236,6 +1121,12 @@
                       <DefaultValue>#x1603</DefaultValue>
                     </Info>
                   </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1604</DefaultValue>
+                    </Info>
+                  </SubItem>
                 </Info>
                 <Flags>
                   <Access>ro</Access>
@@ -1327,8 +1218,8 @@
               <Object>
                 <Index>#x6000</Index>
                 <Name>EncPos</Name>
-                <Type>LREAL</Type>
-                <BitSize>64</BitSize>
+                <Type>REAL</Type>
+                <BitSize>32</BitSize>
                 <Info>
                   <DefaultValue>0</DefaultValue>
                 </Info>
@@ -1340,8 +1231,8 @@
               <Object>
                 <Index>#x6001</Index>
                 <Name>EncFrequency</Name>
-                <Type>LREAL</Type>
-                <BitSize>64</BitSize>
+                <Type>REAL</Type>
+                <BitSize>32</BitSize>
                 <Info>
                   <DefaultValue>0</DefaultValue>
                 </Info>
@@ -1353,8 +1244,8 @@
               <Object>
                 <Index>#x6002</Index>
                 <Name>DiffT</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
                 <Info>
                   <DefaultValue>0</DefaultValue>
                 </Info>
@@ -1391,55 +1282,35 @@
               </Object>
               <Object>
                 <Index>#x6005</Index>
-                <Name>StepGenOut1</Name>
-                <Type>DT6005</Type>
-                <BitSize>80</BitSize>
+                <Name>ActualPosition1</Name>
+                <Type>REAL</Type>
+                <BitSize>32</BitSize>
                 <Info>
-                  <SubItem>
-                    <Name>Max SubIndex</Name>
-                    <Info>
-                      <DefaultValue>1</DefaultValue>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>ActualPosition</Name>
-                    <Info>
-                      <DefaultValue>0</DefaultValue>
-                    </Info>
-                  </SubItem>
+                  <DefaultValue>0</DefaultValue>
                 </Info>
                 <Flags>
                   <Access>ro</Access>
+                  <PdoMapping>T</PdoMapping>
                 </Flags>
               </Object>
               <Object>
                 <Index>#x6006</Index>
-                <Name>StepGenOut2</Name>
-                <Type>DT6006</Type>
-                <BitSize>80</BitSize>
+                <Name>ActualPosition2</Name>
+                <Type>REAL</Type>
+                <BitSize>32</BitSize>
                 <Info>
-                  <SubItem>
-                    <Name>Max SubIndex</Name>
-                    <Info>
-                      <DefaultValue>1</DefaultValue>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>ActualPosition</Name>
-                    <Info>
-                      <DefaultValue>0</DefaultValue>
-                    </Info>
-                  </SubItem>
+                  <DefaultValue>0</DefaultValue>
                 </Info>
                 <Flags>
                   <Access>ro</Access>
+                  <PdoMapping>T</PdoMapping>
                 </Flags>
               </Object>
               <Object>
                 <Index>#x6007</Index>
                 <Name>D1</Name>
-                <Type>DINT</Type>
-                <BitSize>32</BitSize>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
                 <Info>
                   <DefaultValue>0</DefaultValue>
                 </Info>
@@ -1451,8 +1322,8 @@
               <Object>
                 <Index>#x6008</Index>
                 <Name>D2</Name>
-                <Type>DINT</Type>
-                <BitSize>32</BitSize>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
                 <Info>
                   <DefaultValue>0</DefaultValue>
                 </Info>
@@ -1464,8 +1335,8 @@
               <Object>
                 <Index>#x6009</Index>
                 <Name>D3</Name>
-                <Type>DINT</Type>
-                <BitSize>32</BitSize>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
                 <Info>
                   <DefaultValue>0</DefaultValue>
                 </Info>
@@ -1477,8 +1348,8 @@
               <Object>
                 <Index>#x600A</Index>
                 <Name>D4</Name>
-                <Type>DINT</Type>
-                <BitSize>32</BitSize>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
                 <Info>
                   <DefaultValue>0</DefaultValue>
                 </Info>
@@ -1489,19 +1360,6 @@
               </Object>
               <Object>
                 <Index>#x7000</Index>
-                <Name>EncPosScale</Name>
-                <Type>DINT</Type>
-                <BitSize>32</BitSize>
-                <Info>
-                  <DefaultValue>0</DefaultValue>
-                </Info>
-                <Flags>
-                  <Access>ro</Access>
-                  <PdoMapping>R</PdoMapping>
-                </Flags>
-              </Object>
-              <Object>
-                <Index>#x7001</Index>
                 <Name>IndexLatchEnable</Name>
                 <Type>UDINT</Type>
                 <BitSize>32</BitSize>
@@ -1514,61 +1372,55 @@
                 </Flags>
               </Object>
               <Object>
-                <Index>#x7002</Index>
-                <Name>StepGenIn1</Name>
-                <Type>DT7002</Type>
-                <BitSize>96</BitSize>
+                <Index>#x7001</Index>
+                <Name>CommandedPosition1</Name>
+                <Type>REAL</Type>
+                <BitSize>32</BitSize>
                 <Info>
-                  <SubItem>
-                    <Name>Max SubIndex</Name>
-                    <Info>
-                      <DefaultValue>2</DefaultValue>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>CommandedPosition</Name>
-                    <Info>
-                      <DefaultValue>0</DefaultValue>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>StepsPerMM</Name>
-                    <Info>
-                      <DefaultValue>0</DefaultValue>
-                    </Info>
-                  </SubItem>
+                  <DefaultValue>0</DefaultValue>
                 </Info>
                 <Flags>
                   <Access>ro</Access>
+                  <PdoMapping>R</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x7002</Index>
+                <Name>CommandedPosition2</Name>
+                <Type>REAL</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultValue>0</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <PdoMapping>R</PdoMapping>
                 </Flags>
               </Object>
               <Object>
                 <Index>#x7003</Index>
-                <Name>StepGenIn2</Name>
-                <Type>DT7003</Type>
-                <BitSize>96</BitSize>
+                <Name>StepsPerMM1</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
                 <Info>
-                  <SubItem>
-                    <Name>Max SubIndex</Name>
-                    <Info>
-                      <DefaultValue>2</DefaultValue>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>CommandedPosition</Name>
-                    <Info>
-                      <DefaultValue>0</DefaultValue>
-                    </Info>
-                  </SubItem>
-                  <SubItem>
-                    <Name>StepsPerMM</Name>
-                    <Info>
-                      <DefaultValue>0</DefaultValue>
-                    </Info>
-                  </SubItem>
+                  <DefaultValue>0</DefaultValue>
                 </Info>
                 <Flags>
                   <Access>ro</Access>
+                  <PdoMapping>R</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x7004</Index>
+                <Name>StepsPerMM2</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultValue>0</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <PdoMapping>R</PdoMapping>
                 </Flags>
               </Object>
             </Objects>
@@ -1583,20 +1435,9 @@
         <Sm StartAddress="#x1A00" ControlByte="#x20" Enable="1">Inputs</Sm>
         <RxPdo Fixed="true" Mandatory="true" Sm="2">
           <Index>#x1600</Index>
-          <Name>EncPosScale</Name>
-          <Entry>
-            <Index>#x7000</Index>
-            <SubIndex>#x0</SubIndex>
-            <BitLen>32</BitLen>
-            <Name>EncPosScale</Name>
-            <DataType>DINT</DataType>
-          </Entry>
-        </RxPdo>
-        <RxPdo Fixed="true" Mandatory="true" Sm="2">
-          <Index>#x1601</Index>
           <Name>IndexLatchEnable</Name>
           <Entry>
-            <Index>#x7001</Index>
+            <Index>#x7000</Index>
             <SubIndex>#x0</SubIndex>
             <BitLen>32</BitLen>
             <Name>IndexLatchEnable</Name>
@@ -1604,38 +1445,46 @@
           </Entry>
         </RxPdo>
         <RxPdo Fixed="true" Mandatory="true" Sm="2">
-          <Index>#x1602</Index>
-          <Name>StepGenIn1</Name>
+          <Index>#x1601</Index>
+          <Name>CommandedPosition1</Name>
           <Entry>
-            <Index>#x7002</Index>
-            <SubIndex>#x1</SubIndex>
-            <BitLen>64</BitLen>
-            <Name>CommandedPosition</Name>
-            <DataType>LREAL</DataType>
+            <Index>#x7001</Index>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>CommandedPosition1</Name>
+            <DataType>REAL</DataType>
           </Entry>
+        </RxPdo>
+        <RxPdo Fixed="true" Mandatory="true" Sm="2">
+          <Index>#x1602</Index>
+          <Name>CommandedPosition2</Name>
           <Entry>
             <Index>#x7002</Index>
-            <SubIndex>#x2</SubIndex>
-            <BitLen>16</BitLen>
-            <Name>StepsPerMM</Name>
-            <DataType>INT</DataType>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>CommandedPosition2</Name>
+            <DataType>REAL</DataType>
           </Entry>
         </RxPdo>
         <RxPdo Fixed="true" Mandatory="true" Sm="2">
           <Index>#x1603</Index>
-          <Name>StepGenIn2</Name>
+          <Name>StepsPerMM1</Name>
           <Entry>
             <Index>#x7003</Index>
-            <SubIndex>#x1</SubIndex>
-            <BitLen>64</BitLen>
-            <Name>CommandedPosition</Name>
-            <DataType>LREAL</DataType>
-          </Entry>
-          <Entry>
-            <Index>#x7003</Index>
-            <SubIndex>#x2</SubIndex>
+            <SubIndex>#x0</SubIndex>
             <BitLen>16</BitLen>
-            <Name>StepsPerMM</Name>
+            <Name>StepsPerMM1</Name>
+            <DataType>INT</DataType>
+          </Entry>
+        </RxPdo>
+        <RxPdo Fixed="true" Mandatory="true" Sm="2">
+          <Index>#x1604</Index>
+          <Name>StepsPerMM2</Name>
+          <Entry>
+            <Index>#x7004</Index>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>StepsPerMM2</Name>
             <DataType>INT</DataType>
           </Entry>
         </RxPdo>
@@ -1645,9 +1494,9 @@
           <Entry>
             <Index>#x6000</Index>
             <SubIndex>#x0</SubIndex>
-            <BitLen>64</BitLen>
+            <BitLen>32</BitLen>
             <Name>EncPos</Name>
-            <DataType>LREAL</DataType>
+            <DataType>REAL</DataType>
           </Entry>
         </TxPdo>
         <TxPdo Fixed="true" Mandatory="true" Sm="3">
@@ -1656,9 +1505,9 @@
           <Entry>
             <Index>#x6001</Index>
             <SubIndex>#x0</SubIndex>
-            <BitLen>64</BitLen>
+            <BitLen>32</BitLen>
             <Name>EncFrequency</Name>
-            <DataType>LREAL</DataType>
+            <DataType>REAL</DataType>
           </Entry>
         </TxPdo>
         <TxPdo Fixed="true" Mandatory="true" Sm="3">
@@ -1667,9 +1516,9 @@
           <Entry>
             <Index>#x6002</Index>
             <SubIndex>#x0</SubIndex>
-            <BitLen>32</BitLen>
+            <BitLen>16</BitLen>
             <Name>DiffT</Name>
-            <DataType>UDINT</DataType>
+            <DataType>UINT</DataType>
           </Entry>
         </TxPdo>
         <TxPdo Fixed="true" Mandatory="true" Sm="3">
@@ -1696,24 +1545,24 @@
         </TxPdo>
         <TxPdo Fixed="true" Mandatory="true" Sm="3">
           <Index>#x1A05</Index>
-          <Name>StepGenOut1</Name>
+          <Name>ActualPosition1</Name>
           <Entry>
             <Index>#x6005</Index>
-            <SubIndex>#x1</SubIndex>
-            <BitLen>64</BitLen>
-            <Name>ActualPosition</Name>
-            <DataType>LREAL</DataType>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>ActualPosition1</Name>
+            <DataType>REAL</DataType>
           </Entry>
         </TxPdo>
         <TxPdo Fixed="true" Mandatory="true" Sm="3">
           <Index>#x1A06</Index>
-          <Name>StepGenOut2</Name>
+          <Name>ActualPosition2</Name>
           <Entry>
             <Index>#x6006</Index>
-            <SubIndex>#x1</SubIndex>
-            <BitLen>64</BitLen>
-            <Name>ActualPosition</Name>
-            <DataType>LREAL</DataType>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>ActualPosition2</Name>
+            <DataType>REAL</DataType>
           </Entry>
         </TxPdo>
         <TxPdo Fixed="true" Mandatory="true" Sm="3">
@@ -1722,9 +1571,9 @@
           <Entry>
             <Index>#x6007</Index>
             <SubIndex>#x0</SubIndex>
-            <BitLen>32</BitLen>
+            <BitLen>16</BitLen>
             <Name>D1</Name>
-            <DataType>DINT</DataType>
+            <DataType>INT</DataType>
           </Entry>
         </TxPdo>
         <TxPdo Fixed="true" Mandatory="true" Sm="3">
@@ -1733,9 +1582,9 @@
           <Entry>
             <Index>#x6008</Index>
             <SubIndex>#x0</SubIndex>
-            <BitLen>32</BitLen>
+            <BitLen>16</BitLen>
             <Name>D2</Name>
-            <DataType>DINT</DataType>
+            <DataType>INT</DataType>
           </Entry>
         </TxPdo>
         <TxPdo Fixed="true" Mandatory="true" Sm="3">
@@ -1744,9 +1593,9 @@
           <Entry>
             <Index>#x6009</Index>
             <SubIndex>#x0</SubIndex>
-            <BitLen>32</BitLen>
+            <BitLen>16</BitLen>
             <Name>D3</Name>
-            <DataType>DINT</DataType>
+            <DataType>INT</DataType>
           </Entry>
         </TxPdo>
         <TxPdo Fixed="true" Mandatory="true" Sm="3">
@@ -1755,9 +1604,9 @@
           <Entry>
             <Index>#x600A</Index>
             <SubIndex>#x0</SubIndex>
-            <BitLen>32</BitLen>
+            <BitLen>16</BitLen>
             <Name>D4</Name>
-            <DataType>DINT</DataType>
+            <DataType>INT</DataType>
           </Entry>
         </TxPdo>
         <Mailbox DataLinkLayer="true">
@@ -1777,7 +1626,7 @@
         </Dc>
         <Eeprom>
           <ByteSize>2048</ByteSize>
-          <ConfigData>8006034C640000</ConfigData>
+          <ConfigData>80060344640000</ConfigData>
         </Eeprom>
       </Device>
     </Devices>
diff --git a/Firmware/lib/soes/ecat_options.h b/Firmware/lib/soes/ecat_options.h
index bdea3f1..c3c73f0 100755
--- a/Firmware/lib/soes/ecat_options.h
+++ b/Firmware/lib/soes/ecat_options.h
@@ -33,7 +33,7 @@
 #define SM3_smc          0x20
 #define SM3_act          1
 
-#define MAX_MAPPINGS_SM2 6
+#define MAX_MAPPINGS_SM2 5
 #define MAX_MAPPINGS_SM3 11
 
 #define MAX_RXPDO_SIZE   512
diff --git a/Firmware/lib/soes/ecat_slv.c b/Firmware/lib/soes/ecat_slv.c
index e9c57d8..147a11a 100755
--- a/Firmware/lib/soes/ecat_slv.c
+++ b/Firmware/lib/soes/ecat_slv.c
@@ -191,7 +191,7 @@ void APP_setwatchdog (int watchdogcnt)
  * write ethercat inputs. Implement watch-dog counter to count-out if we have
  * made state change affecting the App.state.
  */
-void DIG_process (uint16_t ALEvent, uint8_t flags)
+void DIG_process (uint8_t flags)
 {
    /* Handle watchdog */
    if((flags & DIG_PROCESS_WD_FLAG) > 0)
@@ -217,14 +217,14 @@ void DIG_process (uint16_t ALEvent, uint8_t flags)
    if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
    {
       if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
-         (ALEvent & ESCREG_ALEVENT_SM2))
+         (ESCvar.ALevent & ESCREG_ALEVENT_SM2))
       {
          RXPDO_update();
          CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
          /* Set outputs */
          cb_set_outputs();
       }
-      else if (ALEvent & ESCREG_ALEVENT_SM2)
+      else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
       {
          RXPDO_update();
       }
@@ -339,7 +339,7 @@ void ecat_slv_poll (void)
 void ecat_slv (void)
 {
    ecat_slv_poll();
-   DIG_process(ESCvar.ALevent, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
+   DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
          DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
 }
 
diff --git a/Firmware/lib/soes/ecat_slv.h b/Firmware/lib/soes/ecat_slv.h
index b5d0d9d..c6053c0 100755
--- a/Firmware/lib/soes/ecat_slv.h
+++ b/Firmware/lib/soes/ecat_slv.h
@@ -36,7 +36,7 @@ void APP_setwatchdog (int watchdogcnt);
  *
  * @param[in]   flags     = User input what to execute
  */
-void DIG_process (uint16_t ALEvent, uint8_t flags);
+void DIG_process (uint8_t flags);
 
 /**
  * Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
diff --git a/Firmware/lib/soes/eeprom.bin b/Firmware/lib/soes/eeprom.bin
index 1156cd1d321d49b4f18e47e73206c498ef08b50f..47287efda82e87b9f57d5f04bfdce0ce920dd01c 100755
GIT binary patch
delta 24
YcmZn=Xb|9UU}JVkVSoXVjr<?k0W^ICEdT%j

delta 24
ZcmZn=Xb|9UU}N@4VSs@*8~H!70{}TS1q}cI

diff --git a/Firmware/lib/soes/eeprom.hex b/Firmware/lib/soes/eeprom.hex
index fd705c7..4291203 100755
--- a/Firmware/lib/soes/eeprom.hex
+++ b/Firmware/lib/soes/eeprom.hex
@@ -1,4 +1,4 @@
-:200000008006034C64000000000000000000EC00AA0A0000CCBCBB000200000001000000C1
+:2000000080060344640000000000000000001400AA0A0000CCBCBB000200000001000000A1
 :20002000000000000000000000000000000000000010000200120002040000000000000096
 :200040000000000000000000000000000000000000000000000000000000000000000000A0
 :20006000000000000000000000000000000000000000000000000000000000000F00010070
diff --git a/Firmware/lib/soes/esi.json b/Firmware/lib/soes/esi.json
index c330457..67ec7c5 100755
--- a/Firmware/lib/soes/esi.json
+++ b/Firmware/lib/soes/esi.json
@@ -57,7 +57,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "REAL64",
+        "dtype": "REAL32",
         "value": "0",
         "data": "&Obj.EncPos"
       },
@@ -68,7 +68,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "REAL64",
+        "dtype": "REAL32",
         "value": "0",
         "data": "&Obj.EncFrequency"
       },
@@ -79,7 +79,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "UNSIGNED32",
+        "dtype": "UNSIGNED16",
         "value": "0",
         "data": "&Obj.DiffT"
       },
@@ -106,44 +106,26 @@
         "data": "&Obj.IndexStatus"
       },
       "6005": {
-        "otype": "RECORD",
-        "name": "StepGenOut1",
+        "otype": "VAR",
+        "name": "ActualPosition1",
         "access": "RO",
-        "items": [
-          {
-            "name": "Max SubIndex"
-          },
-          {
-            "name": "ActualPosition",
-            "dtype": "REAL64",
-            "data": "&Obj.StepGenOut1.ActualPosition",
-            "value": "0",
-            "access": "RO"
-          }
-        ],
         "pdo_mappings": [
           "txpdo"
-        ]
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.ActualPosition1"
       },
       "6006": {
-        "otype": "RECORD",
-        "name": "StepGenOut2",
+        "otype": "VAR",
+        "name": "ActualPosition2",
         "access": "RO",
-        "items": [
-          {
-            "name": "Max SubIndex"
-          },
-          {
-            "name": "ActualPosition",
-            "dtype": "REAL64",
-            "data": "&Obj.StepGenOut2.ActualPosition",
-            "value": "0",
-            "access": "RO"
-          }
-        ],
         "pdo_mappings": [
           "txpdo"
-        ]
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.ActualPosition2"
       },
       "6007": {
         "otype": "VAR",
@@ -152,7 +134,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "INTEGER32",
+        "dtype": "INTEGER16",
         "value": "0",
         "data": "&Obj.D1"
       },
@@ -163,7 +145,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "INTEGER32",
+        "dtype": "INTEGER16",
         "value": "0",
         "data": "&Obj.D2"
       },
@@ -174,7 +156,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "INTEGER32",
+        "dtype": "INTEGER16",
         "value": "0",
         "data": "&Obj.D3"
       },
@@ -185,24 +167,13 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "INTEGER32",
+        "dtype": "INTEGER16",
         "value": "0",
         "data": "&Obj.D4"
       }
     },
     "rxpdo": {
       "7000": {
-        "otype": "VAR",
-        "name": "EncPosScale",
-        "access": "RO",
-        "pdo_mappings": [
-          "rxpdo"
-        ],
-        "dtype": "INTEGER32",
-        "value": "0",
-        "data": "&Obj.EncPosScale"
-      },
-      "7001": {
         "otype": "VAR",
         "name": "IndexLatchEnable",
         "access": "RO",
@@ -213,59 +184,49 @@
         "value": "0",
         "data": "&Obj.IndexLatchEnable"
       },
-      "7002": {
-        "otype": "RECORD",
-        "name": "StepGenIn1",
+      "7001": {
+        "otype": "VAR",
+        "name": "CommandedPosition1",
         "access": "RO",
-        "items": [
-          {
-            "name": "Max SubIndex"
-          },
-          {
-            "name": "CommandedPosition",
-            "dtype": "REAL64",
-            "data": "&Obj.StepGenIn1.CommandedPosition",
-            "value": "0",
-            "access": "RO"
-          },
-          {
-            "name": "StepsPerMM",
-            "dtype": "INTEGER16",
-            "value": "0",
-            "access": "RO",
-            "data": "&Obj.StepGenIn1.StepsPerMM"
-          }
-        ],
         "pdo_mappings": [
           "rxpdo"
-        ]
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.CommandedPosition1"
+      },
+      "7002": {
+        "otype": "VAR",
+        "name": "CommandedPosition2",
+        "access": "RO",
+        "pdo_mappings": [
+          "rxpdo"
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.CommandedPosition2"
       },
       "7003": {
-        "otype": "RECORD",
-        "name": "StepGenIn2",
+        "otype": "VAR",
+        "name": "StepsPerMM1",
         "access": "RO",
-        "items": [
-          {
-            "name": "Max SubIndex"
-          },
-          {
-            "name": "CommandedPosition",
-            "dtype": "REAL64",
-            "data": "&Obj.StepGenIn2.CommandedPosition",
-            "value": "0",
-            "access": "RO"
-          },
-          {
-            "name": "StepsPerMM",
-            "dtype": "INTEGER16",
-            "value": "0",
-            "access": "RO",
-            "data": "&Obj.StepGenIn2.StepsPerMM"
-          }
-        ],
         "pdo_mappings": [
           "rxpdo"
-        ]
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.StepsPerMM1"
+      },
+      "7004": {
+        "otype": "VAR",
+        "name": "StepsPerMM2",
+        "access": "RO",
+        "pdo_mappings": [
+          "rxpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.StepsPerMM2"
       },
       "60664": {
         "otype": "VAR",
diff --git a/Firmware/lib/soes/objectlist.c b/Firmware/lib/soes/objectlist.c
index 6603d45..05b5f05 100755
--- a/Firmware/lib/soes/objectlist.c
+++ b/Firmware/lib/soes/objectlist.c
@@ -13,20 +13,21 @@ static const char acName1018_01[] = "Vendor ID";
 static const char acName1018_02[] = "Product Code";
 static const char acName1018_03[] = "Revision Number";
 static const char acName1018_04[] = "Serial Number";
-static const char acName1600[] = "EncPosScale";
+static const char acName1600[] = "IndexLatchEnable";
 static const char acName1600_00[] = "Max SubIndex";
-static const char acName1600_01[] = "EncPosScale";
-static const char acName1601[] = "IndexLatchEnable";
+static const char acName1600_01[] = "IndexLatchEnable";
+static const char acName1601[] = "CommandedPosition1";
 static const char acName1601_00[] = "Max SubIndex";
-static const char acName1601_01[] = "IndexLatchEnable";
-static const char acName1602[] = "StepGenIn1";
+static const char acName1601_01[] = "CommandedPosition1";
+static const char acName1602[] = "CommandedPosition2";
 static const char acName1602_00[] = "Max SubIndex";
-static const char acName1602_01[] = "CommandedPosition";
-static const char acName1602_02[] = "StepsPerMM";
-static const char acName1603[] = "StepGenIn2";
+static const char acName1602_01[] = "CommandedPosition2";
+static const char acName1603[] = "StepsPerMM1";
 static const char acName1603_00[] = "Max SubIndex";
-static const char acName1603_01[] = "CommandedPosition";
-static const char acName1603_02[] = "StepsPerMM";
+static const char acName1603_01[] = "StepsPerMM1";
+static const char acName1604[] = "StepsPerMM2";
+static const char acName1604_00[] = "Max SubIndex";
+static const char acName1604_01[] = "StepsPerMM2";
 static const char acName1A00[] = "EncPos";
 static const char acName1A00_00[] = "Max SubIndex";
 static const char acName1A00_01[] = "EncPos";
@@ -42,12 +43,12 @@ static const char acName1A03_01[] = "IndexByte";
 static const char acName1A04[] = "IndexStatus";
 static const char acName1A04_00[] = "Max SubIndex";
 static const char acName1A04_01[] = "IndexStatus";
-static const char acName1A05[] = "StepGenOut1";
+static const char acName1A05[] = "ActualPosition1";
 static const char acName1A05_00[] = "Max SubIndex";
-static const char acName1A05_01[] = "ActualPosition";
-static const char acName1A06[] = "StepGenOut2";
+static const char acName1A05_01[] = "ActualPosition1";
+static const char acName1A06[] = "ActualPosition2";
 static const char acName1A06_00[] = "Max SubIndex";
-static const char acName1A06_01[] = "ActualPosition";
+static const char acName1A06_01[] = "ActualPosition2";
 static const char acName1A07[] = "D1";
 static const char acName1A07_00[] = "Max SubIndex";
 static const char acName1A07_01[] = "D1";
@@ -72,6 +73,7 @@ static const char acName1C12_01[] = "PDO Mapping";
 static const char acName1C12_02[] = "PDO Mapping";
 static const char acName1C12_03[] = "PDO Mapping";
 static const char acName1C12_04[] = "PDO Mapping";
+static const char acName1C12_05[] = "PDO Mapping";
 static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
 static const char acName1C13_00[] = "Max SubIndex";
 static const char acName1C13_01[] = "PDO Mapping";
@@ -90,30 +92,21 @@ static const char acName6001[] = "EncFrequency";
 static const char acName6002[] = "DiffT";
 static const char acName6003[] = "IndexByte";
 static const char acName6004[] = "IndexStatus";
-static const char acName6005[] = "StepGenOut1";
-static const char acName6005_00[] = "Max SubIndex";
-static const char acName6005_01[] = "ActualPosition";
-static const char acName6006[] = "StepGenOut2";
-static const char acName6006_00[] = "Max SubIndex";
-static const char acName6006_01[] = "ActualPosition";
+static const char acName6005[] = "ActualPosition1";
+static const char acName6006[] = "ActualPosition2";
 static const char acName6007[] = "D1";
 static const char acName6008[] = "D2";
 static const char acName6009[] = "D3";
 static const char acName600A[] = "D4";
-static const char acName7000[] = "EncPosScale";
-static const char acName7001[] = "IndexLatchEnable";
-static const char acName7002[] = "StepGenIn1";
-static const char acName7002_00[] = "Max SubIndex";
-static const char acName7002_01[] = "CommandedPosition";
-static const char acName7002_02[] = "StepsPerMM";
-static const char acName7003[] = "StepGenIn2";
-static const char acName7003_00[] = "Max SubIndex";
-static const char acName7003_01[] = "CommandedPosition";
-static const char acName7003_02[] = "StepsPerMM";
+static const char acName7000[] = "IndexLatchEnable";
+static const char acName7001[] = "CommandedPosition1";
+static const char acName7002[] = "CommandedPosition2";
+static const char acName7003[] = "StepsPerMM1";
+static const char acName7004[] = "StepsPerMM2";
 
 const _objd SDO1000[] =
 {
-  {0x0, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1000, 5001, NULL},
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
 };
 const _objd SDO1008[] =
 {
@@ -130,87 +123,90 @@ const _objd SDO100A[] =
 const _objd SDO1018[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_01, 2730, NULL},
-  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_02, 12303564, NULL},
-  {0x03, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_03, 2, NULL},
-  {0x04, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_04, 1, &Obj.serial},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 2730, NULL},
+  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 12303564, NULL},
+  {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
+  {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
 };
 const _objd SDO1600[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1600_01, 0x70000020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL},
 };
 const _objd SDO1601[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1601_01, 0x70010020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, NULL},
 };
 const _objd SDO1602[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 2, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020140, NULL},
-  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_02, 0x70020210, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70020020, NULL},
 };
 const _objd SDO1603[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 2, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_01, 0x70030140, NULL},
-  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_02, 0x70030210, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1603_01, 0x70030010, NULL},
+};
+const _objd SDO1604[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_01, 0x70040010, NULL},
 };
 const _objd SDO1A00[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A00_01, 0x60000040, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
 };
 const _objd SDO1A01[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A01_01, 0x60010040, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
 };
 const _objd SDO1A02[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020010, NULL},
 };
 const _objd SDO1A03[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
 };
 const _objd SDO1A04[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
 };
 const _objd SDO1A05[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A05_01, 0x60050140, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A05_01, 0x60050020, NULL},
 };
 const _objd SDO1A06[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A06_01, 0x60060140, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A06_01, 0x60060020, NULL},
 };
 const _objd SDO1A07[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A07_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A07_01, 0x60070020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A07_01, 0x60070010, NULL},
 };
 const _objd SDO1A08[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A08_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A08_01, 0x60080020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A08_01, 0x60080010, NULL},
 };
 const _objd SDO1A09[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A09_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A09_01, 0x60090020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A09_01, 0x60090010, NULL},
 };
 const _objd SDO1A0A[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A0A_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A0A_01, 0x600A0020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A0A_01, 0x600A0010, NULL},
 };
 const _objd SDO1C00[] =
 {
@@ -222,11 +218,12 @@ const _objd SDO1C00[] =
 };
 const _objd SDO1C12[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 4, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 5, NULL},
   {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
   {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
   {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
   {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL},
+  {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_05, 0x1604, NULL},
 };
 const _objd SDO1C13[] =
 {
@@ -245,15 +242,15 @@ const _objd SDO1C13[] =
 };
 const _objd SDO6000[] =
 {
-  {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.EncPos},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.EncPos},
 };
 const _objd SDO6001[] =
 {
-  {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6001, 0, &Obj.EncFrequency},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.EncFrequency},
 };
 const _objd SDO6002[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
+  {0x0, DTYPE_UNSIGNED16, 16, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
 };
 const _objd SDO6003[] =
 {
@@ -265,49 +262,47 @@ const _objd SDO6004[] =
 };
 const _objd SDO6005[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
-  {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6005_01, 0, &Obj.StepGenOut1.ActualPosition},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6005, 0x00000000, &Obj.ActualPosition1},
 };
 const _objd SDO6006[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6006_00, 1, NULL},
-  {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6006_01, 0, &Obj.StepGenOut2.ActualPosition},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6006, 0x00000000, &Obj.ActualPosition2},
 };
 const _objd SDO6007[] =
 {
-  {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6007, 0, &Obj.D1},
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6007, 0, &Obj.D1},
 };
 const _objd SDO6008[] =
 {
-  {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6008, 0, &Obj.D2},
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6008, 0, &Obj.D2},
 };
 const _objd SDO6009[] =
 {
-  {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName6009, 0, &Obj.D3},
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6009, 0, &Obj.D3},
 };
 const _objd SDO600A[] =
 {
-  {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_TXPDO, acName600A, 0, &Obj.D4},
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName600A, 0, &Obj.D4},
 };
 const _objd SDO7000[] =
 {
-  {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale},
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.IndexLatchEnable},
 };
 const _objd SDO7001[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.IndexLatchEnable},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0x00000000, &Obj.CommandedPosition1},
 };
 const _objd SDO7002[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 2, NULL},
-  {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition},
-  {0x02, DTYPE_INTEGER16, 16, ATYPE_RO, acName7002_02, 0, &Obj.StepGenIn1.StepsPerMM},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7002, 0x00000000, &Obj.CommandedPosition2},
 };
 const _objd SDO7003[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7003_00, 2, NULL},
-  {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7003_01, 0, &Obj.StepGenIn2.CommandedPosition},
-  {0x02, DTYPE_INTEGER16, 16, ATYPE_RO, acName7003_02, 0, &Obj.StepGenIn2.StepsPerMM},
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_RXPDO, acName7003, 0, &Obj.StepsPerMM1},
+};
+const _objd SDO7004[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_RXPDO, acName7004, 0, &Obj.StepsPerMM2},
 };
 
 const _objectlist SDOobjects[] =
@@ -319,8 +314,9 @@ const _objectlist SDOobjects[] =
   {0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
   {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
   {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
-  {0x1602, OTYPE_RECORD, 2, 0, acName1602, SDO1602},
-  {0x1603, OTYPE_RECORD, 2, 0, acName1603, SDO1603},
+  {0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
+  {0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
+  {0x1604, OTYPE_RECORD, 1, 0, acName1604, SDO1604},
   {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
   {0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
   {0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
@@ -333,22 +329,23 @@ const _objectlist SDOobjects[] =
   {0x1A09, OTYPE_RECORD, 1, 0, acName1A09, SDO1A09},
   {0x1A0A, OTYPE_RECORD, 1, 0, acName1A0A, SDO1A0A},
   {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
-  {0x1C12, OTYPE_ARRAY, 4, 0, acName1C12, SDO1C12},
+  {0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
   {0x1C13, OTYPE_ARRAY, 11, 0, acName1C13, SDO1C13},
   {0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
   {0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
   {0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
   {0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
   {0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
-  {0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
-  {0x6006, OTYPE_RECORD, 1, 0, acName6006, SDO6006},
+  {0x6005, OTYPE_VAR, 0, 0, acName6005, SDO6005},
+  {0x6006, OTYPE_VAR, 0, 0, acName6006, SDO6006},
   {0x6007, OTYPE_VAR, 0, 0, acName6007, SDO6007},
   {0x6008, OTYPE_VAR, 0, 0, acName6008, SDO6008},
   {0x6009, OTYPE_VAR, 0, 0, acName6009, SDO6009},
   {0x600A, OTYPE_VAR, 0, 0, acName600A, SDO600A},
   {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
   {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
-  {0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002},
-  {0x7003, OTYPE_RECORD, 2, 0, acName7003, SDO7003},
+  {0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
+  {0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003},
+  {0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
   {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
 };
diff --git a/Firmware/lib/soes/utypes.h b/Firmware/lib/soes/utypes.h
index 97fcd62..2da84f5 100755
--- a/Firmware/lib/soes/utypes.h
+++ b/Firmware/lib/soes/utypes.h
@@ -13,38 +13,25 @@ typedef struct
 
    /* Inputs */
 
-   double EncPos;
-   double EncFrequency;
-   uint32_t DiffT;
+   float EncPos;
+   float EncFrequency;
+   uint16_t DiffT;
    uint32_t IndexByte;
    uint32_t IndexStatus;
-   struct
-   {
-      double ActualPosition;
-   } StepGenOut1;
-   struct
-   {
-      double ActualPosition;
-   } StepGenOut2;
-   int32_t D1;
-   int32_t D2;
-   int32_t D3;
-   int32_t D4;
+   float ActualPosition1;
+   float ActualPosition2;
+   int16_t D1;
+   int16_t D2;
+   int16_t D3;
+   int16_t D4;
 
    /* Outputs */
 
-   int32_t EncPosScale;
    uint32_t IndexLatchEnable;
-   struct
-   {
-      double CommandedPosition;
-      int16_t StepsPerMM;
-   } StepGenIn1;
-   struct
-   {
-      double CommandedPosition;
-      int16_t StepsPerMM;
-   } StepGenIn2;
+   float CommandedPosition1;
+   float CommandedPosition2;
+   int16_t StepsPerMM1;
+   int16_t StepsPerMM2;
 
 } _Objects;
 
diff --git a/Firmware/src/StepGen2.cpp b/Firmware/src/StepGen2.cpp
index e16dd75..30d4fa2 100755
--- a/Firmware/src/StepGen2.cpp
+++ b/Firmware/src/StepGen2.cpp
@@ -39,7 +39,7 @@ uint32_t StepGen2::handleStepper(uint64_t irqTime)
 
     nSteps = commandedStepPosition - initialStepPosition;
 
-    if (abs(nSteps) < 1000) // Some small number
+    if (abs(nSteps) < 2) // Some small number
     {
         frequency = (abs(nSteps) + 1) / lcncCycleTime;
         Tpulses = abs(nSteps) / frequency;
@@ -73,7 +73,7 @@ void StepGen2::startTimerCB()
     digitalWrite(dirPin, nSteps > 0 ? HIGH : LOW);
     // There will be a short break here for t2 usecs, in the future.
     timerPulseSteps = abs(nSteps);
-    pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
+    pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM1, stepPin);
     pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT);
     pulseTimer->setCaptureCompare(pulseTimerChan, 5, MICROSEC_COMPARE_FORMAT); // 5 usecs
     pulseTimer->resume();
diff --git a/Firmware/src/main.cpp b/Firmware/src/main.cpp
index 13c6829..06b167b 100755
--- a/Firmware/src/main.cpp
+++ b/Firmware/src/main.cpp
@@ -25,27 +25,31 @@ StepGen2 Step(TIM1, 4, PA_11, PA12, pulseTimerCallback, TIM10, startTimerCallbac
 void pulseTimerCallback(void) { Step.pulseTimerCB(); }
 void startTimerCallback(void) { Step.startTimerCB(); }
 CircularBuffer<uint32_t, 200> Tim;
-volatile uint64_t irqTime = 0, thenTime = 0;
+volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0;
 volatile uint32_t ccnnt = 0;
 extend32to64 longTime;
 
 void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
 {
    Encoder1.setLatch(Obj.IndexLatchEnable);
-   Encoder1.setScale(Obj.EncPosScale);
+   Encoder1.setScale(500);
+
+   // Step2.reqPos(Obj.CommandedPosition2);
+   // Step2.setScale(Obj.StepsPerMM2);
+   // Step2.enable(1);
+   Obj.ActualPosition1 = Obj.CommandedPosition1; // Step1.actPos();
+   Obj.ActualPosition2 = Obj.CommandedPosition2; // Step2.actPos();
 }
 volatile uint32_t cmt;
 void handleStepper(void)
 {
-   digitalWrite(Step.dirPin, cmt++ % 2);
+   //digitalWrite(Step.dirPin, cmt++ % 2);
    Step.enabled = true;
-   Step.commandedPosition = Obj.StepGenIn1.CommandedPosition;
-   Obj.StepGenOut1.ActualPosition = Step.commandedPosition;
-   Step.stepsPerMM = Obj.StepGenIn1.StepsPerMM;
-   Step.stepsPerMM = 400;
+   Step.commandedPosition = Obj.CommandedPosition1;
+   Step.stepsPerMM = Obj.StepsPerMM1;
    Step.handleStepper(irqTime);
 
-   Obj.StepGenOut2.ActualPosition = Obj.StepGenIn2.CommandedPosition;
+   Obj.ActualPosition1 = Obj.CommandedPosition1;
 }
 
 void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -55,7 +59,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
    Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
    Obj.IndexByte = Encoder1.getIndexState();
 
-   uint32_t dTim = longTime.extendTime(micros()) - irqTime; // thenTime; // Debug. Getting jitter over the last 200 milliseconds
+   uint32_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
    Tim.push(dTim);
    uint32_t max_Tim = 0, min_Tim = UINT32_MAX;
    for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
@@ -72,7 +76,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
    Obj.D1 = Step.Tjitter;
    Obj.D2 = Step.Tstartf * 1e6;
    Obj.D3 = Step.dbg;
-   Obj.D4 = Obj.D1+Obj.D2-Obj.D3;
+   Obj.D4 = Obj.D1 + Obj.D2 - Obj.D3;
 }
 
 void ESC_interrupt_enable(uint32_t mask);
@@ -114,9 +118,12 @@ void loop(void)
    uint32_t dTime;
    if (serveIRQ)
    {
-      CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
-      DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
-                                  DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
+      nowTime = micros();
+      /* Read local time from ESC*/
+      ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time));
+      ESCvar.Time = etohl(ESCvar.Time);
+      DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
+                  DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
       serveIRQ = 0;
       ESCvar.PrevTime = ESCvar.Time;
    }
@@ -131,7 +138,6 @@ void sync0Handler(void)
    ALEventIRQ = ESC_ALeventread();
    serveIRQ = 1;
    irqTime = longTime.extendTime(micros());
-   digitalWrite(Step.dirPin, cnt++ % 2);
 }
 
 // Enable SM2 interrupts