master-dcfgen.yml

# options:
#   dcf_path: ""
#   heartbeat_multiplier: 3.0

master:
  node_id: 2
  # baudrate: 1000 # kbit/s
  # vendor_id: 0x12345678
  # product_code: 0x12345678
  # revision_number: 0x12345678
  # serial_number: 0x12345678
  # heartbeat_multiplier: 3.0
  # heartbeat_consumer: true
  # heartbeat_producer: 0 # ms
  # emcy_inhibit_time: 0 # 100 us
  sync_period: 10000 # us
  # sync_window: 0 # us
  # sync_overflow: 0
  # error_behavior: {1: 0x00}
  # nmt_inhibit_time: 0 # 100 us
  # start: true
  # start_nodes: true
  # start_all_nodes: false
  # reset_all_nodes: false
  # stop_all_nodes: false
  # boot_time: 0 # ms

slave_2:
  dcf: "epos_com_motorzao_limitado_5000.eds"
  # dcf_path: ""
  node_id: 1
  # revision_number: 0x12345678
  # serial_number: 0x12345678
  # heartbeat_multiplier: 3.0
  # heartbeat_consumer: false
  # heartbeat_producer: 0 # ms
  # error_behavior: {}
  # rpdo:
  #   1:
  #     enabled: true
  #     cob_id: auto
  #     transmission: 0x01
  #     inhibit_time: 0 # 100 us
  #     event_timer: 0 # ms
  #     mapping:
  #       - {index: 0x4000, sub_index: 0x00}
  # tpdo:
  #   1:
  #     enabled: true
  #     cob_id: auto
  #     transmission: 0x01
  #     inhibit_time: 0 # 100 us
  #     event_timer: 0 # ms
  #     sync_start: 0
  #     mapping:
  #       - {index: 0x4001, sub_index: 0x00}
  # boot: true
  # mandatory: false
  # reset_communication: true
  # software_file: "slave_v1.2.3.bin"
  # software_version: 0x00010203
  # restore_configuration: 0x00
  # sdo:
  #   - {index: 0x5000, sub_index: 0x00, value: 42}