Boolean variable mapped in PDO
authorgreg
Wed, 16 May 2007 14:17:04 +0200
changeset 201 2966cd34162a
parent 200 930be51ddc24
child 202 9cfd9211616c
Boolean variable mapped in PDO
doc/manual/en/manual.odt
examples/TestMasterMicroMod/TestMaster.c
examples/TestMasterMicroMod/TestMaster.h
examples/TestMasterMicroMod/TestMaster.od
examples/TestMasterMicroMod/TestMasterMicroMod.c
examples/TestMasterSlave/Master.c
examples/TestMasterSlave/Slave.c
examples/TestMasterSlave/TestMaster.c
examples/TestMasterSlave/TestMaster.h
examples/TestMasterSlave/TestMaster.od
examples/TestMasterSlave/TestSlave.c
examples/TestMasterSlave/TestSlave.h
examples/TestMasterSlave/TestSlave.od
include/pdo.h
src/pdo.c
src/sync.c
Binary file doc/manual/en/manual.odt has changed
--- a/examples/TestMasterMicroMod/TestMaster.c	Mon May 14 22:46:20 2007 +0200
+++ b/examples/TestMasterMicroMod/TestMaster.c	Wed May 16 14:17:04 2007 +0200
@@ -7,19 +7,14 @@
 /* Declaration of the mapped variables                                    */
 /**************************************************************************/
 UNS8 DO = 0x0;		/* Mapped at index 0x2000, subindex 0x00 */
-UNS8 AO1 = 0x0;		/* Mapped at index 0x2001, subindex 0x00 */
-UNS8 AO2 = 0x0;		/* Mapped at index 0x2002, subindex 0x00 */
-UNS8 AO3 = 0x0;		/* Mapped at index 0x2003, subindex 0x00 */
-UNS8 DI = 0x0;		/* Mapped at index 0x2004, subindex 0x00 */
-UNS8 AI1 = 0x0;		/* Mapped at index 0x2005, subindex 0x00 */
-UNS8 AI2 = 0x0;		/* Mapped at index 0x2006, subindex 0x00 */
-UNS8 AI3 = 0x0;		/* Mapped at index 0x2007, subindex 0x00 */
-UNS8 AI4 = 0x0;		/* Mapped at index 0x2008, subindex 0x00 */
-UNS8 AI5 = 0x0;		/* Mapped at index 0x2009, subindex 0x00 */
-UNS8 AI6 = 0x0;		/* Mapped at index 0x200A, subindex 0x00 */
-UNS8 AI7 = 0x0;		/* Mapped at index 0x200B, subindex 0x00 */
-UNS8 AI8 = 0x0;		/* Mapped at index 0x200C, subindex 0x00 */
-UNS8 AO4 = 0x0;		/* Mapped at index 0x200D, subindex 0x00 */
+UNS8 DI1 = 0x0;		/* Mapped at index 0x200F, subindex 0x00 */
+UNS8 DI2 = 0x0;		/* Mapped at index 0x2010, subindex 0x00 */
+UNS8 DI3 = 0x0;		/* Mapped at index 0x2011, subindex 0x00 */
+UNS8 DI4 = 0x0;		/* Mapped at index 0x2012, subindex 0x00 */
+UNS8 DI5 = 0x0;		/* Mapped at index 0x2013, subindex 0x00 */
+UNS8 DI6 = 0x0;		/* Mapped at index 0x2014, subindex 0x00 */
+UNS8 DI7 = 0x0;		/* Mapped at index 0x2015, subindex 0x00 */
+UNS8 DI8 = 0x0;		/* Mapped at index 0x2016, subindex 0x00 */
 
 /**************************************************************************/
 /* Declaration of the value range types                                   */
@@ -123,13 +118,13 @@
                     UNS8 TestMaster_highestSubIndex_obj1280 = 3; /* number of subindex - 1*/
                     UNS32 TestMaster_obj1280_COB_ID_Client_to_Server_Transmit_SDO = 0x640;	/* 1600 */
                     UNS32 TestMaster_obj1280_COB_ID_Server_to_Client_Receive_SDO = 0x5C0;	/* 1472 */
-                    UNS32 TestMaster_obj1280_Node_ID_of_the_SDO_Server = 0x40;	/* 64 */
+                    INTEGER32 TestMaster_obj1280_Node_ID_of_the_SDO_Server = 0x40;	/* 64 */
                     subindex TestMaster_Index1280[] = 
                      {
                        { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1280 },
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1280_COB_ID_Client_to_Server_Transmit_SDO },
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1280_COB_ID_Server_to_Client_Receive_SDO },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1280_Node_ID_of_the_SDO_Server }
+                       { RW, int32, sizeof (INTEGER32), (void*)&TestMaster_obj1280_Node_ID_of_the_SDO_Server }
                      };
 
 /* index 0x1400 :   Receive PDO 1 Parameter. */
@@ -137,7 +132,7 @@
                     UNS32 TestMaster_obj1400_COB_ID_used_by_PDO = 0x220;	/* 544 */
                     UNS8 TestMaster_obj1400_Transmission_Type = 0x1;	/* 1 */
                     UNS16 TestMaster_obj1400_Inhibit_Time = 0x0;	/* 0 */
-                    UNS16 TestMaster_obj1400_Compatibility_Entry = 0x0;	/* 0 */
+                    UNS8 TestMaster_obj1400_Compatibility_Entry = 0x0;	/* 0 */
                     UNS16 TestMaster_obj1400_Event_Timer = 0x0;	/* 0 */
                     subindex TestMaster_Index1400[] = 
                      {
@@ -145,90 +140,34 @@
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1400_COB_ID_used_by_PDO },
                        { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1400_Transmission_Type },
                        { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1400_Inhibit_Time },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1400_Compatibility_Entry },
+                       { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1400_Compatibility_Entry },
                        { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1400_Event_Timer }
                      };
 
-/* index 0x1401 :   Receive PDO 2 Parameter. */
-                    UNS8 TestMaster_highestSubIndex_obj1401 = 5; /* number of subindex - 1*/
-                    UNS32 TestMaster_obj1401_COB_ID_used_by_PDO = 0x320;	/* 800 */
-                    UNS8 TestMaster_obj1401_Transmission_Type = 0x1;	/* 1 */
-                    UNS16 TestMaster_obj1401_Inhibit_Time = 0x0;	/* 0 */
-                    UNS16 TestMaster_obj1401_Compatibility_Entry = 0x0;	/* 0 */
-                    UNS16 TestMaster_obj1401_Event_Timer = 0x0;	/* 0 */
-                    subindex TestMaster_Index1401[] = 
-                     {
-                       { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1401 },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1401_COB_ID_used_by_PDO },
-                       { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1401_Transmission_Type },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Inhibit_Time },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Compatibility_Entry },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Event_Timer }
-                     };
-
-/* index 0x1402 :   Receive PDO 3 Parameter. */
-                    UNS8 TestMaster_highestSubIndex_obj1402 = 5; /* number of subindex - 1*/
-                    UNS32 TestMaster_obj1402_COB_ID_used_by_PDO = 0x420;	/* 1056 */
-                    UNS8 TestMaster_obj1402_Transmission_Type = 0x1;	/* 1 */
-                    UNS16 TestMaster_obj1402_Inhibit_Time = 0x0;	/* 0 */
-                    UNS16 TestMaster_obj1402_Compatibility_Entry = 0x0;	/* 0 */
-                    UNS16 TestMaster_obj1402_Event_Timer = 0x0;	/* 0 */
-                    subindex TestMaster_Index1402[] = 
-                     {
-                       { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1402 },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1402_COB_ID_used_by_PDO },
-                       { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1402_Transmission_Type },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1402_Inhibit_Time },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1402_Compatibility_Entry },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1402_Event_Timer }
-                     };
-
 /* index 0x1600 :   Receive PDO 1 Mapping. */
-                    UNS8 TestMaster_highestSubIndex_obj1600 = 1; /* number of subindex - 1*/
+                    UNS8 TestMaster_highestSubIndex_obj1600 = 8; /* number of subindex - 1*/
                     UNS32 TestMaster_obj1600[] = 
                     {
-                      0x20040008	/* 537133064 */
+                      0x200F0001,	/* 537853953 */
+                      0x20100001,	/* 537919489 */
+                      0x20110001,	/* 537985025 */
+                      0x20120001,	/* 538050561 */
+                      0x20130001,	/* 538116097 */
+                      0x20140001,	/* 538181633 */
+                      0x20150001,	/* 538247169 */
+                      0x20160001	/* 538312705 */
                     };
                     subindex TestMaster_Index1600[] = 
                      {
                        { RW, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1600 },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[0] }
-                     };
-
-/* index 0x1601 :   Receive PDO 2 Mapping. */
-                    UNS8 TestMaster_highestSubIndex_obj1601 = 4; /* number of subindex - 1*/
-                    UNS32 TestMaster_obj1601[] = 
-                    {
-                      0x20050008,	/* 537198600 */
-                      0x20060008,	/* 537264136 */
-                      0x20070008,	/* 537329672 */
-                      0x20080008	/* 537395208 */
-                    };
-                    subindex TestMaster_Index1601[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1601 },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[0] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[1] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[2] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[3] }
-                     };
-
-/* index 0x1602 :   Receive PDO 3 Mapping. */
-                    UNS8 TestMaster_highestSubIndex_obj1602 = 4; /* number of subindex - 1*/
-                    UNS32 TestMaster_obj1602[] = 
-                    {
-                      0x20090008,	/* 537460744 */
-                      0x200A0008,	/* 537526280 */
-                      0x200B0008,	/* 537591816 */
-                      0x200C0008	/* 537657352 */
-                    };
-                    subindex TestMaster_Index1602[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1602 },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1602[0] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1602[1] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1602[2] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1602[3] }
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[0] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[1] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[2] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[3] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[4] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[5] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[6] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[7] }
                      };
 
 /* index 0x1800 :   Transmit PDO 1 Parameter. */
@@ -236,7 +175,7 @@
                     UNS32 TestMaster_obj1800_COB_ID_used_by_PDO = 0x240;	/* 576 */
                     UNS8 TestMaster_obj1800_Transmission_Type = 0x1;	/* 1 */
                     UNS16 TestMaster_obj1800_Inhibit_Time = 0x0;	/* 0 */
-                    UNS16 TestMaster_obj1800_Compatibility_Entry = 0x0;	/* 0 */
+                    UNS8 TestMaster_obj1800_Compatibility_Entry = 0x0;	/* 0 */
                     UNS16 TestMaster_obj1800_Event_Timer = 0x0;	/* 0 */
                     subindex TestMaster_Index1800[] = 
                      {
@@ -244,27 +183,10 @@
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1800_COB_ID_used_by_PDO },
                        { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1800_Transmission_Type },
                        { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1800_Inhibit_Time },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1800_Compatibility_Entry },
+                       { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1800_Compatibility_Entry },
                        { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1800_Event_Timer }
                      };
 
-/* index 0x1801 :   Transmit PDO 2 Parameter. */
-                    UNS8 TestMaster_highestSubIndex_obj1801 = 5; /* number of subindex - 1*/
-                    UNS32 TestMaster_obj1801_COB_ID_used_by_PDO = 0x0;	/* 0 */
-                    UNS8 TestMaster_obj1801_Transmission_Type = 0x0;	/* 0 */
-                    UNS16 TestMaster_obj1801_Inhibit_Time = 0x0;	/* 0 */
-                    UNS16 TestMaster_obj1801_Compatibility_Entry = 0x0;	/* 0 */
-                    UNS16 TestMaster_obj1801_Event_Timer = 0x0;	/* 0 */
-                    subindex TestMaster_Index1801[] = 
-                     {
-                       { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1801 },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1801_COB_ID_used_by_PDO },
-                       { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1801_Transmission_Type },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1801_Inhibit_Time },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1801_Compatibility_Entry },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1801_Event_Timer }
-                     };
-
 /* index 0x1A00 :   Transmit PDO 1 Mapping. */
                     UNS8 TestMaster_highestSubIndex_obj1A00 = 1; /* number of subindex - 1*/
                     UNS32 TestMaster_obj1A00[] = 
@@ -277,106 +199,58 @@
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1A00[0] }
                      };
 
-/* index 0x1A01 :   Transmit PDO 2 Mapping. */
-                    UNS8 TestMaster_highestSubIndex_obj1A01 = 4; /* number of subindex - 1*/
-                    UNS32 TestMaster_obj1A01[] = 
-                    {
-                      0x20010008,	/* 536936456 */
-                      0x20020008,	/* 537001992 */
-                      0x20030008,	/* 537067528 */
-                      0x200D0008	/* 537722888 */
-                    };
-                    subindex TestMaster_Index1A01[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1A01 },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1A01[0] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1A01[1] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1A01[2] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1A01[3] }
-                     };
-
 /* index 0x2000 :   Mapped variable DO */
                     subindex TestMaster_Index2000[] = 
                      {
                        { RW, uint8, sizeof (UNS8), (void*)&DO }
                      };
 
-/* index 0x2001 :   Mapped variable AO1 */
-                    subindex TestMaster_Index2001[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&AO1 }
-                     };
-
-/* index 0x2002 :   Mapped variable AO2 */
-                    subindex TestMaster_Index2002[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&AO2 }
-                     };
-
-/* index 0x2003 :   Mapped variable AO3 */
-                    subindex TestMaster_Index2003[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&AO3 }
-                     };
-
-/* index 0x2004 :   Mapped variable DI */
-                    subindex TestMaster_Index2004[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&DI }
-                     };
-
-/* index 0x2005 :   Mapped variable AI1 */
-                    subindex TestMaster_Index2005[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&AI1 }
-                     };
-
-/* index 0x2006 :   Mapped variable AI2 */
-                    subindex TestMaster_Index2006[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&AI2 }
-                     };
-
-/* index 0x2007 :   Mapped variable AI3 */
-                    subindex TestMaster_Index2007[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&AI3 }
-                     };
-
-/* index 0x2008 :   Mapped variable AI4 */
-                    subindex TestMaster_Index2008[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&AI4 }
-                     };
-
-/* index 0x2009 :   Mapped variable AI5 */
-                    subindex TestMaster_Index2009[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&AI5 }
-                     };
-
-/* index 0x200A :   Mapped variable AI6 */
-                    subindex TestMaster_Index200A[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&AI6 }
-                     };
-
-/* index 0x200B :   Mapped variable AI7 */
-                    subindex TestMaster_Index200B[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&AI7 }
-                     };
-
-/* index 0x200C :   Mapped variable AI8 */
-                    subindex TestMaster_Index200C[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&AI8 }
-                     };
-
-/* index 0x200D :   Mapped variable AO4 */
-                    subindex TestMaster_Index200D[] = 
-                     {
-                       { RW, uint8, sizeof (UNS8), (void*)&AO4 }
+/* index 0x200F :   Mapped variable DI1 */
+                    subindex TestMaster_Index200F[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&DI1 }
+                     };
+
+/* index 0x2010 :   Mapped variable DI2 */
+                    subindex TestMaster_Index2010[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&DI2 }
+                     };
+
+/* index 0x2011 :   Mapped variable DI3 */
+                    subindex TestMaster_Index2011[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&DI3 }
+                     };
+
+/* index 0x2012 :   Mapped variable DI4 */
+                    subindex TestMaster_Index2012[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&DI4 }
+                     };
+
+/* index 0x2013 :   Mapped variable DI5 */
+                    subindex TestMaster_Index2013[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&DI5 }
+                     };
+
+/* index 0x2014 :   Mapped variable DI6 */
+                    subindex TestMaster_Index2014[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&DI6 }
+                     };
+
+/* index 0x2015 :   Mapped variable DI7 */
+                    subindex TestMaster_Index2015[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&DI7 }
+                     };
+
+/* index 0x2016 :   Mapped variable DI8 */
+                    subindex TestMaster_Index2016[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&DI8 }
                      };
 
 const indextable TestMaster_objdict[] = 
@@ -389,29 +263,18 @@
   { (subindex*)TestMaster_Index1018,sizeof(TestMaster_Index1018)/sizeof(TestMaster_Index1018[0]), 0x1018},
   { (subindex*)TestMaster_Index1280,sizeof(TestMaster_Index1280)/sizeof(TestMaster_Index1280[0]), 0x1280},
   { (subindex*)TestMaster_Index1400,sizeof(TestMaster_Index1400)/sizeof(TestMaster_Index1400[0]), 0x1400},
-  { (subindex*)TestMaster_Index1401,sizeof(TestMaster_Index1401)/sizeof(TestMaster_Index1401[0]), 0x1401},
-  { (subindex*)TestMaster_Index1402,sizeof(TestMaster_Index1402)/sizeof(TestMaster_Index1402[0]), 0x1402},
   { (subindex*)TestMaster_Index1600,sizeof(TestMaster_Index1600)/sizeof(TestMaster_Index1600[0]), 0x1600},
-  { (subindex*)TestMaster_Index1601,sizeof(TestMaster_Index1601)/sizeof(TestMaster_Index1601[0]), 0x1601},
-  { (subindex*)TestMaster_Index1602,sizeof(TestMaster_Index1602)/sizeof(TestMaster_Index1602[0]), 0x1602},
   { (subindex*)TestMaster_Index1800,sizeof(TestMaster_Index1800)/sizeof(TestMaster_Index1800[0]), 0x1800},
-  { (subindex*)TestMaster_Index1801,sizeof(TestMaster_Index1801)/sizeof(TestMaster_Index1801[0]), 0x1801},
   { (subindex*)TestMaster_Index1A00,sizeof(TestMaster_Index1A00)/sizeof(TestMaster_Index1A00[0]), 0x1A00},
-  { (subindex*)TestMaster_Index1A01,sizeof(TestMaster_Index1A01)/sizeof(TestMaster_Index1A01[0]), 0x1A01},
   { (subindex*)TestMaster_Index2000,sizeof(TestMaster_Index2000)/sizeof(TestMaster_Index2000[0]), 0x2000},
-  { (subindex*)TestMaster_Index2001,sizeof(TestMaster_Index2001)/sizeof(TestMaster_Index2001[0]), 0x2001},
-  { (subindex*)TestMaster_Index2002,sizeof(TestMaster_Index2002)/sizeof(TestMaster_Index2002[0]), 0x2002},
-  { (subindex*)TestMaster_Index2003,sizeof(TestMaster_Index2003)/sizeof(TestMaster_Index2003[0]), 0x2003},
-  { (subindex*)TestMaster_Index2004,sizeof(TestMaster_Index2004)/sizeof(TestMaster_Index2004[0]), 0x2004},
-  { (subindex*)TestMaster_Index2005,sizeof(TestMaster_Index2005)/sizeof(TestMaster_Index2005[0]), 0x2005},
-  { (subindex*)TestMaster_Index2006,sizeof(TestMaster_Index2006)/sizeof(TestMaster_Index2006[0]), 0x2006},
-  { (subindex*)TestMaster_Index2007,sizeof(TestMaster_Index2007)/sizeof(TestMaster_Index2007[0]), 0x2007},
-  { (subindex*)TestMaster_Index2008,sizeof(TestMaster_Index2008)/sizeof(TestMaster_Index2008[0]), 0x2008},
-  { (subindex*)TestMaster_Index2009,sizeof(TestMaster_Index2009)/sizeof(TestMaster_Index2009[0]), 0x2009},
-  { (subindex*)TestMaster_Index200A,sizeof(TestMaster_Index200A)/sizeof(TestMaster_Index200A[0]), 0x200A},
-  { (subindex*)TestMaster_Index200B,sizeof(TestMaster_Index200B)/sizeof(TestMaster_Index200B[0]), 0x200B},
-  { (subindex*)TestMaster_Index200C,sizeof(TestMaster_Index200C)/sizeof(TestMaster_Index200C[0]), 0x200C},
-  { (subindex*)TestMaster_Index200D,sizeof(TestMaster_Index200D)/sizeof(TestMaster_Index200D[0]), 0x200D},
+  { (subindex*)TestMaster_Index200F,sizeof(TestMaster_Index200F)/sizeof(TestMaster_Index200F[0]), 0x200F},
+  { (subindex*)TestMaster_Index2010,sizeof(TestMaster_Index2010)/sizeof(TestMaster_Index2010[0]), 0x2010},
+  { (subindex*)TestMaster_Index2011,sizeof(TestMaster_Index2011)/sizeof(TestMaster_Index2011[0]), 0x2011},
+  { (subindex*)TestMaster_Index2012,sizeof(TestMaster_Index2012)/sizeof(TestMaster_Index2012[0]), 0x2012},
+  { (subindex*)TestMaster_Index2013,sizeof(TestMaster_Index2013)/sizeof(TestMaster_Index2013[0]), 0x2013},
+  { (subindex*)TestMaster_Index2014,sizeof(TestMaster_Index2014)/sizeof(TestMaster_Index2014[0]), 0x2014},
+  { (subindex*)TestMaster_Index2015,sizeof(TestMaster_Index2015)/sizeof(TestMaster_Index2015[0]), 0x2015},
+  { (subindex*)TestMaster_Index2016,sizeof(TestMaster_Index2016)/sizeof(TestMaster_Index2016[0]), 0x2016},
 };
 
 const indextable * TestMaster_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
@@ -427,29 +290,18 @@
 		case 0x1018: i = 5;break;
 		case 0x1280: i = 6;break;
 		case 0x1400: i = 7;break;
-		case 0x1401: i = 8;break;
-		case 0x1402: i = 9;break;
-		case 0x1600: i = 10;break;
-		case 0x1601: i = 11;break;
-		case 0x1602: i = 12;break;
-		case 0x1800: i = 13;break;
-		case 0x1801: i = 14;break;
-		case 0x1A00: i = 15;break;
-		case 0x1A01: i = 16;break;
-		case 0x2000: i = 17;break;
-		case 0x2001: i = 18;break;
-		case 0x2002: i = 19;break;
-		case 0x2003: i = 20;break;
-		case 0x2004: i = 21;break;
-		case 0x2005: i = 22;break;
-		case 0x2006: i = 23;break;
-		case 0x2007: i = 24;break;
-		case 0x2008: i = 25;break;
-		case 0x2009: i = 26;break;
-		case 0x200A: i = 27;break;
-		case 0x200B: i = 28;break;
-		case 0x200C: i = 29;break;
-		case 0x200D: i = 30;break;
+		case 0x1600: i = 8;break;
+		case 0x1800: i = 9;break;
+		case 0x1A00: i = 10;break;
+		case 0x2000: i = 11;break;
+		case 0x200F: i = 12;break;
+		case 0x2010: i = 13;break;
+		case 0x2011: i = 14;break;
+		case 0x2012: i = 15;break;
+		case 0x2013: i = 16;break;
+		case 0x2014: i = 17;break;
+		case 0x2015: i = 18;break;
+		case 0x2016: i = 19;break;
 		default:
 			*errorCode = OD_NO_SUCH_OBJECT;
 			return NULL;
@@ -462,24 +314,24 @@
  * Even if no pdoTransmit are defined, at least one entry is computed
  * for compilations issues.
  */
-UNS8 TestMaster_count_sync[2] = {0,};
+UNS8 TestMaster_count_sync[1] = {0,};
 
 quick_index TestMaster_firstIndex = {
   0, /* SDO_SVR */
   6, /* SDO_CLT */
   7, /* PDO_RCV */
-  10, /* PDO_RCV_MAP */
-  13, /* PDO_TRS */
-  15 /* PDO_TRS_MAP */
+  8, /* PDO_RCV_MAP */
+  9, /* PDO_TRS */
+  10 /* PDO_TRS_MAP */
 };
 
 quick_index TestMaster_lastIndex = {
   0, /* SDO_SVR */
   6, /* SDO_CLT */
-  9, /* PDO_RCV */
-  12, /* PDO_RCV_MAP */
-  14, /* PDO_TRS */
-  16 /* PDO_TRS_MAP */
+  7, /* PDO_RCV */
+  8, /* PDO_RCV_MAP */
+  9, /* PDO_TRS */
+  10 /* PDO_TRS_MAP */
 };
 
 UNS16 TestMaster_ObjdictSize = sizeof(TestMaster_objdict)/sizeof(TestMaster_objdict[0]); 
--- a/examples/TestMasterMicroMod/TestMaster.h	Mon May 14 22:46:20 2007 +0200
+++ b/examples/TestMasterMicroMod/TestMaster.h	Wed May 16 14:17:04 2007 +0200
@@ -11,16 +11,11 @@
 extern CO_Data TestMaster_Data;
 
 extern UNS8 DO;		/* Mapped at index 0x2000, subindex 0x00*/
-extern UNS8 AO1;		/* Mapped at index 0x2001, subindex 0x00*/
-extern UNS8 AO2;		/* Mapped at index 0x2002, subindex 0x00*/
-extern UNS8 AO3;		/* Mapped at index 0x2003, subindex 0x00*/
-extern UNS8 DI;		/* Mapped at index 0x2004, subindex 0x00*/
-extern UNS8 AI1;		/* Mapped at index 0x2005, subindex 0x00*/
-extern UNS8 AI2;		/* Mapped at index 0x2006, subindex 0x00*/
-extern UNS8 AI3;		/* Mapped at index 0x2007, subindex 0x00*/
-extern UNS8 AI4;		/* Mapped at index 0x2008, subindex 0x00*/
-extern UNS8 AI5;		/* Mapped at index 0x2009, subindex 0x00*/
-extern UNS8 AI6;		/* Mapped at index 0x200A, subindex 0x00*/
-extern UNS8 AI7;		/* Mapped at index 0x200B, subindex 0x00*/
-extern UNS8 AI8;		/* Mapped at index 0x200C, subindex 0x00*/
-extern UNS8 AO4;		/* Mapped at index 0x200D, subindex 0x00*/
+extern UNS8 DI1;		/* Mapped at index 0x200F, subindex 0x00*/
+extern UNS8 DI2;		/* Mapped at index 0x2010, subindex 0x00*/
+extern UNS8 DI3;		/* Mapped at index 0x2011, subindex 0x00*/
+extern UNS8 DI4;		/* Mapped at index 0x2012, subindex 0x00*/
+extern UNS8 DI5;		/* Mapped at index 0x2013, subindex 0x00*/
+extern UNS8 DI6;		/* Mapped at index 0x2014, subindex 0x00*/
+extern UNS8 DI7;		/* Mapped at index 0x2015, subindex 0x00*/
+extern UNS8 DI8;		/* Mapped at index 0x2016, subindex 0x00*/
--- a/examples/TestMasterMicroMod/TestMaster.od	Mon May 14 22:46:20 2007 +0200
+++ b/examples/TestMasterMicroMod/TestMaster.od	Wed May 16 14:17:04 2007 +0200
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <!DOCTYPE PyObject SYSTEM "PyObjects.dtd">
-<PyObject module="node" class="Node" id="13563304">
-<attr name="Profile" type="dict" id="16353264" >
+<PyObject module="node" class="Node" id="141029004">
+<attr name="Profile" type="dict" id="141043204" >
 </attr>
 <attr name="Name" type="string">TestMaster</attr>
-<attr name="Dictionary" type="dict" id="12555760" >
+<attr name="Dictionary" type="dict" id="140114092" >
   <entry>
     <key type="numeric" value="4096" />
     <val type="numeric" value="401" />
@@ -14,24 +14,6 @@
     <val type="numeric" value="0" />
   </entry>
   <entry>
-    <key type="numeric" value="5122" />
-    <val type="list" id="13564528" >
-      <item type="numeric" value="1056" />
-      <item type="numeric" value="1" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8195" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
-    <key type="numeric" value="8196" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
     <key type="numeric" value="4101" />
     <val type="numeric" value="1073741952" />
   </entry>
@@ -40,53 +22,46 @@
     <val type="numeric" value="50000" />
   </entry>
   <entry>
-    <key type="numeric" value="5121" />
-    <val type="list" id="13564888" >
-      <item type="numeric" value="800" />
-      <item type="numeric" value="1" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8200" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
-    <key type="numeric" value="8201" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
-    <key type="numeric" value="8202" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
-    <key type="numeric" value="8203" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
-    <key type="numeric" value="8204" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
-    <key type="numeric" value="5634" />
-    <val type="list" id="13566248" >
-      <item type="numeric" value="537460744" />
-      <item type="numeric" value="537526280" />
-      <item type="numeric" value="537591816" />
-      <item type="numeric" value="537657352" />
-    </val>
-  </entry>
-  <entry>
     <key type="numeric" value="4118" />
-    <val type="list" id="13563880" >
+    <val type="list" id="140021164" >
       <item type="numeric" value="4195804" />
     </val>
   </entry>
   <entry>
+    <key type="numeric" value="8207" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="8208" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="8209" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="8210" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="8211" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="8212" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="8213" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="8214" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
     <key type="numeric" value="4120" />
-    <val type="list" id="13564672" >
+    <val type="list" id="140020972" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -95,27 +70,15 @@
   </entry>
   <entry>
     <key type="numeric" value="4736" />
-    <val type="list" id="13563376" >
+    <val type="list" id="140030444" >
       <item type="numeric" value="1600" />
       <item type="numeric" value="1472" />
       <item type="numeric" value="64" />
     </val>
   </entry>
   <entry>
-    <key type="numeric" value="8197" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
-    <key type="numeric" value="8193" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
-    <key type="numeric" value="8198" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
     <key type="numeric" value="5120" />
-    <val type="list" id="13564312" >
+    <val type="list" id="140020748" >
       <item type="numeric" value="544" />
       <item type="numeric" value="1" />
       <item type="numeric" value="0" />
@@ -128,22 +91,21 @@
     <val type="numeric" value="0" />
   </entry>
   <entry>
-    <key type="numeric" value="8199" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
     <key type="numeric" value="5632" />
-    <val type="list" id="13564744" >
-      <item type="numeric" value="537133064" />
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8194" />
-    <val type="numeric" value="0" />
+    <val type="list" id="140030028" >
+      <item type="numeric" value="537853953" />
+      <item type="numeric" value="537919489" />
+      <item type="numeric" value="537985025" />
+      <item type="numeric" value="538050561" />
+      <item type="numeric" value="538116097" />
+      <item type="numeric" value="538181633" />
+      <item type="numeric" value="538247169" />
+      <item type="numeric" value="538312705" />
+    </val>
   </entry>
   <entry>
     <key type="numeric" value="6144" />
-    <val type="list" id="13565536" >
+    <val type="list" id="140021068" >
       <item type="numeric" value="576" />
       <item type="numeric" value="1" />
       <item type="numeric" value="0" />
@@ -152,60 +114,28 @@
     </val>
   </entry>
   <entry>
-    <key type="numeric" value="8205" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
-    <key type="numeric" value="5633" />
-    <val type="list" id="13565320" >
-      <item type="numeric" value="537198600" />
-      <item type="numeric" value="537264136" />
-      <item type="numeric" value="537329672" />
-      <item type="numeric" value="537395208" />
-    </val>
-  </entry>
-  <entry>
     <key type="numeric" value="6656" />
-    <val type="list" id="13565392" >
+    <val type="list" id="140020524" >
       <item type="numeric" value="536870920" />
     </val>
   </entry>
-  <entry>
-    <key type="numeric" value="6145" />
-    <val type="list" id="13566320" >
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="6657" />
-    <val type="list" id="13565680" >
-      <item type="numeric" value="536936456" />
-      <item type="numeric" value="537001992" />
-      <item type="numeric" value="537067528" />
-      <item type="numeric" value="537722888" />
-    </val>
-  </entry>
-</attr>
-<attr name="SpecificMenu" type="list" id="13560504" >
-</attr>
-<attr name="ParamsDictionary" type="dict" id="10607920" >
-</attr>
-<attr name="UserMapping" type="dict" id="12611152" >
+</attr>
+<attr name="SpecificMenu" type="list" id="140020940" >
+</attr>
+<attr name="ParamsDictionary" type="dict" id="141061492" >
+</attr>
+<attr name="UserMapping" type="dict" id="140113412" >
   <entry>
     <key type="numeric" value="8192" />
-    <val type="dict" id="13920224" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="13567256" >
-          <item type="dict" id="13481616" >
+    <val type="dict" id="141042932" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140030060" >
+          <item type="dict" id="141042524" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -236,527 +166,327 @@
     </val>
   </entry>
   <entry>
-    <key type="numeric" value="8193" />
-    <val type="dict" id="13949856" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="13566176" >
-          <item type="dict" id="13903232" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">AO1</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">AO1</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8194" />
-    <val type="dict" id="13903520" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="13567472" >
-          <item type="dict" id="16992224" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">AO2</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">AO2</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8195" />
-    <val type="dict" id="16358544" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="13565464" >
-          <item type="dict" id="16993584" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">AO3</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">AO3</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8196" />
-    <val type="dict" id="16994160" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="13565176" >
-          <item type="dict" id="16993872" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">DI</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">DI</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8197" />
-    <val type="dict" id="17134288" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="13568048" >
-          <item type="dict" id="16994448" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">AI1</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">AI1</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8198" />
-    <val type="dict" id="17136448" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="13565896" >
-          <item type="dict" id="17134736" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">AI2</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">AI2</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8199" />
-    <val type="dict" id="17137216" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="13571784" >
-          <item type="dict" id="17136928" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">AI3</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">AI3</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8200" />
-    <val type="dict" id="17137840" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="13571928" >
-          <item type="dict" id="17137552" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">AI4</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">AI4</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8201" />
-    <val type="dict" id="17138272" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="13560864" >
-          <item type="dict" id="17139280" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">AI5</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">AI5</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8202" />
-    <val type="dict" id="17138848" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="13568552" >
-          <item type="dict" id="17138560" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">AI6</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">AI6</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8203" />
-    <val type="dict" id="17139920" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="16192000" >
-          <item type="dict" id="17141472" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">AI7</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">AI7</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8204" />
-    <val type="dict" id="17140432" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="16191640" >
-          <item type="dict" id="17142064" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">AI8</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">AI8</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8205" />
-    <val type="dict" id="17141008" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="16192432" >
-          <item type="dict" id="17140720" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string">AO4</val>
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string">AO4</val>
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-</attr>
-<attr name="DS302" type="dict" id="17144304" >
+    <key type="numeric" value="8207" />
+    <val type="dict" id="141042660" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021484" >
+          <item type="dict" id="141043884" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">DI1</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">DI1</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8208" />
+    <val type="dict" id="141044428" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021004" >
+          <item type="dict" id="141044292" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">DI2</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">DI2</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8209" />
+    <val type="dict" id="141044700" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021228" >
+          <item type="dict" id="141044564" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">DI3</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">DI3</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8210" />
+    <val type="dict" id="141044972" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021452" >
+          <item type="dict" id="141044836" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">DI4</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">DI4</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8211" />
+    <val type="dict" id="141045244" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021420" >
+          <item type="dict" id="141045108" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">DI5</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">DI5</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8212" />
+    <val type="dict" id="141045516" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140030732" >
+          <item type="dict" id="141045380" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">DI6</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">DI6</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8213" />
+    <val type="dict" id="141050036" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140030828" >
+          <item type="dict" id="141049900" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">DI7</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">DI7</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8214" />
+    <val type="dict" id="141060404" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="141057516" >
+          <item type="dict" id="141062188" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">DI8</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">DI8</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+</attr>
+<attr name="DS302" type="dict" id="141050308" >
 </attr>
 <attr name="ProfileName" type="string" value="DS-301" />
 <attr name="Type" type="string">master</attr>
--- a/examples/TestMasterMicroMod/TestMasterMicroMod.c	Mon May 14 22:46:20 2007 +0200
+++ b/examples/TestMasterMicroMod/TestMasterMicroMod.c	Wed May 16 14:17:04 2007 +0200
@@ -323,7 +323,8 @@
 void TestMaster_post_sync()
 {
 	DO++;
-	eprintf("MicroMod Digital Out: %2.2x In: %2.2d\n",DO,DI);
+	eprintf("MicroMod Digital Out: %2.2x\n",DO);
+	eprintf("MicroMod Digital In (by bit): DI1: %2.2x DI2: %2.2x DI3: %2.2x DI4: %2.2x DI5: %2.2x DI6: %2.2x DI7: %2.2x DI8: %2.2x\n",DI1,DI2,DI3,DI4,DI5,DI6,DI7,DI8);
 }
 
 void TestMaster_post_TPDO()
@@ -359,6 +360,7 @@
   printf("*  - send periodic SYNC                                      *\n");
   printf("*  - send periodic RPDO 1 to Micromod (digital output)       *\n");
   printf("*  - listen Micromod's TPDO 1 (digital input)                *\n");
+  printf("*  - Mapping RPDO 1 bit per bit (digital input)              *\n");
   printf("*                                                            *\n");
   printf("*   Usage:                                                   *\n");
   printf("*   ./TestMasterMicroMod  [OPTIONS]                          *\n");
--- a/examples/TestMasterSlave/Master.c	Mon May 14 22:46:20 2007 +0200
+++ b/examples/TestMasterSlave/Master.c	Wed May 16 14:17:04 2007 +0200
@@ -164,7 +164,7 @@
 void TestMaster_post_sync()
 {
 	eprintf("TestMaster_post_sync\n");
-	eprintf("Master: %d %d %d %d\n",MasterMap1, MasterMap2, MasterMap3, MasterMap4);
+	eprintf("Master: %d %d %d %d %d %d %d %d %d %x %x\n",MasterMap1,MasterMap2 ,MasterMap3, MasterMap4,MasterMap5,MasterMap6,MasterMap7,MasterMap8,MasterMap9,MasterMap10,MasterMap11);
 }
 
 char query_result = 0;
@@ -193,7 +193,7 @@
 		UNS8 size;			
 		switch(getReadResultNetworkDict (
 			&TestMaster_Data, 
-			*TestSlave_Data.bDeviceNodeId,
+			0x02,
 			&query_result,
 			&size,
 			&abortCode))
@@ -207,7 +207,7 @@
 				waiting_answer = 0;
 				closeSDOtransfer(
 					&TestMaster_Data,
-					*TestSlave_Data.	bDeviceNodeId,
+					0x02,
 					SDO_CLIENT);
 			break;
 			case SDO_DOWNLOAD_IN_PROGRESS:
@@ -217,7 +217,7 @@
 	}else if(MasterMap1 % 10 == 0){
 		readNetworkDict (
 			&TestMaster_Data,
-			*TestSlave_Data.bDeviceNodeId,
+			0x02,
 			0x2002,
 			0x00,
 			0);
--- a/examples/TestMasterSlave/Slave.c	Mon May 14 22:46:20 2007 +0200
+++ b/examples/TestMasterSlave/Slave.c	Wed May 16 14:17:04 2007 +0200
@@ -53,11 +53,19 @@
 void TestSlave_post_sync()
 {
       eprintf("TestSlave_post_sync\n");
-      SlaveMap1+=1;
-      SlaveMap2+=2;
-      SlaveMap3+=3;
-      SlaveMap4+=4;
-      eprintf("Slave: %d %d %d %d\n",SlaveMap1, SlaveMap2, SlaveMap3, SlaveMap4);
+      
+      SlaveMap1=1;
+      SlaveMap2=1;
+      SlaveMap3=0;
+      SlaveMap4=0;
+      SlaveMap5=1;
+      SlaveMap6=0;
+      SlaveMap7=1;
+      SlaveMap8=0;
+      SlaveMap9=16;
+      SlaveMap10 = 0xff00ff00;
+      SlaveMap11 = 0xabcd;
+      eprintf("Slave: %d %d %d %d %d %d %d %d %d %x %x\n",SlaveMap1, SlaveMap2, SlaveMap3, SlaveMap4, SlaveMap5, SlaveMap6, SlaveMap7, SlaveMap8, SlaveMap9, SlaveMap10,SlaveMap11);
 }
 
 void TestSlave_post_TPDO()
--- a/examples/TestMasterSlave/TestMaster.c	Mon May 14 22:46:20 2007 +0200
+++ b/examples/TestMasterSlave/TestMaster.c	Wed May 16 14:17:04 2007 +0200
@@ -10,6 +10,13 @@
 UNS8 MasterMap2 = 0x0;		/* Mapped at index 0x2001, subindex 0x00 */
 UNS8 MasterMap3 = 0x0;		/* Mapped at index 0x2002, subindex 0x00 */
 UNS8 MasterMap4 = 0x0;		/* Mapped at index 0x2003, subindex 0x00 */
+UNS8 MasterMap5 = 0x0;		/* Mapped at index 0x2004, subindex 0x00 */
+UNS8 MasterMap6 = 0x0;		/* Mapped at index 0x2005, subindex 0x00 */
+UNS8 MasterMap7 = 0x0;		/* Mapped at index 0x2006, subindex 0x00 */
+UNS8 MasterMap8 = 0x0;		/* Mapped at index 0x2007, subindex 0x00 */
+UNS8 MasterMap9 = 0x0;		/* Mapped at index 0x2008, subindex 0x00 */
+UNS32 MasterMap10 = 0x0;		/* Mapped at index 0x2009, subindex 0x00 */
+UNS16 MasterMap11 = 0x0;		/* Mapped at index 0x200A, subindex 0x00 */
 
 /**************************************************************************/
 /* Declaration of the value range types                                   */
@@ -113,7 +120,7 @@
                     UNS8 TestMaster_highestSubIndex_obj1016 = 1; /* number of subindex - 1*/
                     UNS32 TestMaster_obj1016[] = 
                     {
-                      0x5DC	/* 1500 */
+                      0x205DC	/* 132572 */
                     };
                     subindex TestMaster_Index1016[] = 
                      {
@@ -143,13 +150,13 @@
                     UNS8 TestMaster_highestSubIndex_obj1280 = 3; /* number of subindex - 1*/
                     UNS32 TestMaster_obj1280_COB_ID_Client_to_Server_Transmit_SDO = 0x602;	/* 1538 */
                     UNS32 TestMaster_obj1280_COB_ID_Server_to_Client_Receive_SDO = 0x582;	/* 1410 */
-                    UNS32 TestMaster_obj1280_Node_ID_of_the_SDO_Server = 0x2;	/* 2 */
+                    INTEGER32 TestMaster_obj1280_Node_ID_of_the_SDO_Server = 0x2;	/* 2 */
                     subindex TestMaster_Index1280[] = 
                      {
                        { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1280 },
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1280_COB_ID_Client_to_Server_Transmit_SDO },
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1280_COB_ID_Server_to_Client_Receive_SDO },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1280_Node_ID_of_the_SDO_Server }
+                       { RW, int32, sizeof (INTEGER32), (void*)&TestMaster_obj1280_Node_ID_of_the_SDO_Server }
                      };
 
 /* index 0x1400 :   Receive PDO 1 Parameter. */
@@ -157,7 +164,7 @@
                     UNS32 TestMaster_obj1400_COB_ID_used_by_PDO = 0x182;	/* 386 */
                     UNS8 TestMaster_obj1400_Transmission_Type = 0x1;	/* 1 */
                     UNS16 TestMaster_obj1400_Inhibit_Time = 0x0;	/* 0 */
-                    UNS16 TestMaster_obj1400_Compatibility_Entry = 0x0;	/* 0 */
+                    UNS8 TestMaster_obj1400_Compatibility_Entry = 0x0;	/* 0 */
                     UNS16 TestMaster_obj1400_Event_Timer = 0x0;	/* 0 */
                     subindex TestMaster_Index1400[] = 
                      {
@@ -165,16 +172,16 @@
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1400_COB_ID_used_by_PDO },
                        { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1400_Transmission_Type },
                        { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1400_Inhibit_Time },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1400_Compatibility_Entry },
+                       { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1400_Compatibility_Entry },
                        { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1400_Event_Timer }
                      };
 
 /* index 0x1401 :   Receive PDO 2 Parameter. */
                     UNS8 TestMaster_highestSubIndex_obj1401 = 5; /* number of subindex - 1*/
-                    UNS32 TestMaster_obj1401_COB_ID_used_by_PDO = 0x282;	/* 642 */
-                    UNS8 TestMaster_obj1401_Transmission_Type = 0x1;	/* 1 */
+                    UNS32 TestMaster_obj1401_COB_ID_used_by_PDO = 0x0;	/* 0 */
+                    UNS8 TestMaster_obj1401_Transmission_Type = 0x0;	/* 0 */
                     UNS16 TestMaster_obj1401_Inhibit_Time = 0x0;	/* 0 */
-                    UNS16 TestMaster_obj1401_Compatibility_Entry = 0x0;	/* 0 */
+                    UNS8 TestMaster_obj1401_Compatibility_Entry = 0x0;	/* 0 */
                     UNS16 TestMaster_obj1401_Event_Timer = 0x0;	/* 0 */
                     subindex TestMaster_Index1401[] = 
                      {
@@ -182,36 +189,50 @@
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1401_COB_ID_used_by_PDO },
                        { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1401_Transmission_Type },
                        { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Inhibit_Time },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Compatibility_Entry },
+                       { RW, uint8, sizeof (UNS8), (void*)&TestMaster_obj1401_Compatibility_Entry },
                        { RW, uint16, sizeof (UNS16), (void*)&TestMaster_obj1401_Event_Timer }
                      };
 
 /* index 0x1600 :   Receive PDO 1 Mapping. */
-                    UNS8 TestMaster_highestSubIndex_obj1600 = 2; /* number of subindex - 1*/
+                    UNS8 TestMaster_highestSubIndex_obj1600 = 10; /* number of subindex - 1*/
                     UNS32 TestMaster_obj1600[] = 
                     {
-                      0x20000008,	/* 536870920 */
-                      0x20010008	/* 536936456 */
+                      0x20000001,	/* 536870913 */
+                      0x20010001,	/* 536936449 */
+                      0x20020001,	/* 537001985 */
+                      0x20030001,	/* 537067521 */
+                      0x20040001,	/* 537133057 */
+                      0x20050001,	/* 537198593 */
+                      0x20060001,	/* 537264129 */
+                      0x20070001,	/* 537329665 */
+                      0x20080008,	/* 537395208 */
+                      0x20090020	/* 537460768 */
                     };
                     subindex TestMaster_Index1600[] = 
                      {
                        { RW, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1600 },
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[0] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[1] }
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[1] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[2] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[3] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[4] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[5] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[6] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[7] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[8] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1600[9] }
                      };
 
 /* index 0x1601 :   Receive PDO 2 Mapping. */
-                    UNS8 TestMaster_highestSubIndex_obj1601 = 2; /* number of subindex - 1*/
+                    UNS8 TestMaster_highestSubIndex_obj1601 = 1; /* number of subindex - 1*/
                     UNS32 TestMaster_obj1601[] = 
                     {
-                      0x20020008,	/* 537001992 */
-                      0x20030008	/* 537067528 */
+                      0x200A0010	/* 537526288 */
                     };
                     subindex TestMaster_Index1601[] = 
                      {
                        { RW, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1601 },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[0] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[1] }
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[0] }
                      };
 
 /* index 0x1F22 :   Concise DCF. */
@@ -231,25 +252,67 @@
 /* index 0x2000 :   Mapped variable MasterMap1 */
                     subindex TestMaster_Index2000[] = 
                      {
-                       { RW, uint8, sizeof (UNS8), (void*)&MasterMap1 }
+                       { RW, boolean, sizeof (UNS8), (void*)&MasterMap1 }
                      };
 
 /* index 0x2001 :   Mapped variable MasterMap2 */
                     subindex TestMaster_Index2001[] = 
                      {
-                       { RW, uint8, sizeof (UNS8), (void*)&MasterMap2 }
+                       { RW, boolean, sizeof (UNS8), (void*)&MasterMap2 }
                      };
 
 /* index 0x2002 :   Mapped variable MasterMap3 */
                     subindex TestMaster_Index2002[] = 
                      {
-                       { RW, uint8, sizeof (UNS8), (void*)&MasterMap3 }
+                       { RW, boolean, sizeof (UNS8), (void*)&MasterMap3 }
                      };
 
 /* index 0x2003 :   Mapped variable MasterMap4 */
                     subindex TestMaster_Index2003[] = 
                      {
-                       { RW, uint8, sizeof (UNS8), (void*)&MasterMap4 }
+                       { RW, boolean, sizeof (UNS8), (void*)&MasterMap4 }
+                     };
+
+/* index 0x2004 :   Mapped variable MasterMap5 */
+                    subindex TestMaster_Index2004[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&MasterMap5 }
+                     };
+
+/* index 0x2005 :   Mapped variable MasterMap6 */
+                    subindex TestMaster_Index2005[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&MasterMap6 }
+                     };
+
+/* index 0x2006 :   Mapped variable MasterMap7 */
+                    subindex TestMaster_Index2006[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&MasterMap7 }
+                     };
+
+/* index 0x2007 :   Mapped variable MasterMap8 */
+                    subindex TestMaster_Index2007[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&MasterMap8 }
+                     };
+
+/* index 0x2008 :   Mapped variable MasterMap9 */
+                    subindex TestMaster_Index2008[] = 
+                     {
+                       { RW, uint8, sizeof (UNS8), (void*)&MasterMap9 }
+                     };
+
+/* index 0x2009 :   Mapped variable MasterMap10 */
+                    subindex TestMaster_Index2009[] = 
+                     {
+                       { RW, uint32, sizeof (UNS32), (void*)&MasterMap10 }
+                     };
+
+/* index 0x200A :   Mapped variable MasterMap11 */
+                    subindex TestMaster_Index200A[] = 
+                     {
+                       { RW, uint16, sizeof (UNS16), (void*)&MasterMap11 }
                      };
 
 const indextable TestMaster_objdict[] = 
@@ -272,6 +335,13 @@
   { (subindex*)TestMaster_Index2001,sizeof(TestMaster_Index2001)/sizeof(TestMaster_Index2001[0]), 0x2001},
   { (subindex*)TestMaster_Index2002,sizeof(TestMaster_Index2002)/sizeof(TestMaster_Index2002[0]), 0x2002},
   { (subindex*)TestMaster_Index2003,sizeof(TestMaster_Index2003)/sizeof(TestMaster_Index2003[0]), 0x2003},
+  { (subindex*)TestMaster_Index2004,sizeof(TestMaster_Index2004)/sizeof(TestMaster_Index2004[0]), 0x2004},
+  { (subindex*)TestMaster_Index2005,sizeof(TestMaster_Index2005)/sizeof(TestMaster_Index2005[0]), 0x2005},
+  { (subindex*)TestMaster_Index2006,sizeof(TestMaster_Index2006)/sizeof(TestMaster_Index2006[0]), 0x2006},
+  { (subindex*)TestMaster_Index2007,sizeof(TestMaster_Index2007)/sizeof(TestMaster_Index2007[0]), 0x2007},
+  { (subindex*)TestMaster_Index2008,sizeof(TestMaster_Index2008)/sizeof(TestMaster_Index2008[0]), 0x2008},
+  { (subindex*)TestMaster_Index2009,sizeof(TestMaster_Index2009)/sizeof(TestMaster_Index2009[0]), 0x2009},
+  { (subindex*)TestMaster_Index200A,sizeof(TestMaster_Index200A)/sizeof(TestMaster_Index200A[0]), 0x200A},
 };
 
 const indextable * TestMaster_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
@@ -297,6 +367,13 @@
 		case 0x2001: i = 15;break;
 		case 0x2002: i = 16;break;
 		case 0x2003: i = 17;break;
+		case 0x2004: i = 18;break;
+		case 0x2005: i = 19;break;
+		case 0x2006: i = 20;break;
+		case 0x2007: i = 21;break;
+		case 0x2008: i = 22;break;
+		case 0x2009: i = 23;break;
+		case 0x200A: i = 24;break;
 		default:
 			*errorCode = OD_NO_SUCH_OBJECT;
 			return NULL;
--- a/examples/TestMasterSlave/TestMaster.h	Mon May 14 22:46:20 2007 +0200
+++ b/examples/TestMasterSlave/TestMaster.h	Wed May 16 14:17:04 2007 +0200
@@ -14,3 +14,10 @@
 extern UNS8 MasterMap2;		/* Mapped at index 0x2001, subindex 0x00*/
 extern UNS8 MasterMap3;		/* Mapped at index 0x2002, subindex 0x00*/
 extern UNS8 MasterMap4;		/* Mapped at index 0x2003, subindex 0x00*/
+extern UNS8 MasterMap5;		/* Mapped at index 0x2004, subindex 0x00*/
+extern UNS8 MasterMap6;		/* Mapped at index 0x2005, subindex 0x00*/
+extern UNS8 MasterMap7;		/* Mapped at index 0x2006, subindex 0x00*/
+extern UNS8 MasterMap8;		/* Mapped at index 0x2007, subindex 0x00*/
+extern UNS8 MasterMap9;		/* Mapped at index 0x2008, subindex 0x00*/
+extern UNS32 MasterMap10;		/* Mapped at index 0x2009, subindex 0x00*/
+extern UNS16 MasterMap11;		/* Mapped at index 0x200A, subindex 0x00*/
--- a/examples/TestMasterSlave/TestMaster.od	Mon May 14 22:46:20 2007 +0200
+++ b/examples/TestMasterSlave/TestMaster.od	Wed May 16 14:17:04 2007 +0200
@@ -1,25 +1,641 @@
 <?xml version="1.0"?>
 <!DOCTYPE PyObject SYSTEM "PyObjects.dtd">
-<PyObject module="node" class="Node" id="151825740">
-<attr name="Profile" type="dict" id="151882444" >
+<PyObject module="node" class="Node" id="151357548">
+<attr name="Profile" type="dict" id="151362524" >
   <entry>
     <key type="numeric" value="24576" />
-    <val type="dict" id="151873980" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="151823660" >
-          <item type="dict" id="151873300" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="ro" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="False" value="" />
+    <val type="dict" id="151362932" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140020876" >
+          <item type="dict" id="151363340" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 8 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="151368132" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Read Inputs 0x%X to 0x%X[(sub*8-7,sub*8)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Read Inputs 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24832" />
+    <val type="dict" id="140113412" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021068" >
+          <item type="dict" id="151363204" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 16 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="151363068" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="6" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Read Inputs 0x%X to 0x%X[(sub*16-15,sub*16)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Read Inputs 16 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24578" />
+    <val type="dict" id="140114092" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140030028" >
+          <item type="dict" id="151368540" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 8 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="151368812" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Polarity Input 0x%X to 0x%X[(sub*8-7,sub*8)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Polarity Input 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24579" />
+    <val type="dict" id="151367860" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021228" >
+          <item type="dict" id="151368948" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 8 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="151369220" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Filter Constant Input 0x%X to 0x%X[(sub*8-7,sub*8)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Filter Constant Input 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25604" />
+    <val type="dict" id="151367996" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140029996" >
+          <item type="dict" id="151369356" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Input" />
+            </entry>
+          </item>
+          <item type="dict" id="151369628" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="17" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Analogue Input %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Read Manufacturer specific Analogue Input" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24581" />
+    <val type="dict" id="151368676" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140020524" >
+          <item type="dict" id="151369764" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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@@ -27,75 +643,181 @@
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+              <val type="string" value="Filter Constant Input 0x%X to 0x%X[(sub*16-15,sub*16)]" />
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+              <val type="string" value="ro" />
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+              <val type="False" value="" />
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+              <val type="string" value="Number of Analogue Outputs" />
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+              <key type="string" value="access" />
+              <val type="string" value="rw" />
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             <entry>
               <key type="string" value="pdo" />
@@ -293,6 +891,130 @@
             </entry>
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               <key type="string" value="name" />
+              <val type="string" value="Analogue Output %d[(sub)]" />
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+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
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+        <key type="string" value="values" />
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+              <val type="numeric" value="5" />
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+              <key type="string" value="name" />
+              <val type="string" value="Number of Output 8 Bit" />
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+              <val type="string" value="rw" />
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+              <val type="True" value="" />
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+              <val type="numeric" value="5" />
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+              <key type="string" value="name" />
+              <val type="string" value="Write Outputs 0x%X to 0x%X[(sub*8-7,sub*8)]" />
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+              <val type="numeric" value="254" />
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+              <val type="string" value="ro" />
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+              <val type="numeric" value="5" />
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+              <val type="string" value="Number of Analogue Input Float" />
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               <val type="string" value="Analogue Input %d[(sub)]" />
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@@ -304,269 +1026,43 @@
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@@ -1468,105 +1530,105 @@
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@@ -1592,116 +1654,54 @@
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@@ -1716,43 +1716,43 @@
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@@ -1778,43 +1778,43 @@
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@@ -1840,43 +1840,43 @@
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@@ -1902,43 +1902,43 @@
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             </entry>
           </item>
-          <item type="dict" id="151867844" >
+          <item type="dict" id="151385468" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1964,43 +1964,43 @@
       </entry>
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         <key type="string" value="name" />
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-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+        <val type="string" value="Analogue Input Interrupt Positive Delta Float" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25646" />
+    <val type="dict" id="151384516" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151358444" >
+          <item type="dict" id="151385604" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
             </entry>
             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Analogue Inputs" />
             </entry>
           </item>
-          <item type="dict" id="151868660" >
+          <item type="dict" id="151385876" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2026,43 +2026,43 @@
       </entry>
       <entry>
         <key type="string" value="name" />
-        <val type="string" value="Analogue Input Interrupt Positive Delta Float" />
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-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+        <val type="string" value="Analogue Input Offset Float" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25647" />
+    <val type="dict" id="151384924" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151358412" >
+          <item type="dict" id="151386012" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
             </entry>
             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Analogue Inputs" />
             </entry>
           </item>
-          <item type="dict" id="151869068" >
+          <item type="dict" id="151386284" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2088,68 +2088,6 @@
       </entry>
       <entry>
         <key type="string" value="name" />
-        <val type="string" value="Analogue Input Offset Float" />
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-        <key type="string" value="struct" />
-        <val type="numeric" value="7" />
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-              <val type="string" value="ro" />
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-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
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-              <key type="string" value="name" />
-              <val type="string" value="Number of Analogue Inputs" />
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-              <val type="string" value="rw" />
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-              <key type="string" value="pdo" />
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-              <val type="numeric" value="8" />
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-              <val type="string" value="Analogue Input %d[(sub)]" />
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-              <val type="numeric" value="254" />
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-        <key type="string" value="name" />
         <val type="string" value="Analogue Input Scaling Float" />
       </entry>
       <entry>
@@ -2160,7 +2098,7 @@
   </entry>
   <entry>
     <key type="numeric" value="24624" />
-    <val type="dict" id="151869612" >
+    <val type="dict" id="151385332" >
       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -2175,26 +2113,26 @@
       </entry>
       <entry>
         <key type="string" value="values" />
-        <val type="list" id="151900556" >
-          <item type="dict" id="151870564" >
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-              <val type="string" value="ro" />
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-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+        <val type="list" id="151358476" >
+          <item type="dict" id="151386420" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
             </entry>
             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Input 1 bit" />
             </entry>
           </item>
-          <item type="dict" id="151869884" >
+          <item type="dict" id="151386692" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2230,33 +2168,33 @@
   </entry>
   <entry>
     <key type="numeric" value="25352" />
-    <val type="dict" id="151870020" >
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-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+    <val type="dict" id="151375220" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151357804" >
+          <item type="dict" id="151386828" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
             </entry>
             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Output 16 Bit" />
             </entry>
           </item>
-          <item type="dict" id="151870292" >
+          <item type="dict" id="151387100" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2292,44 +2230,44 @@
   </entry>
   <entry>
     <key type="numeric" value="25650" />
-    <val type="dict" id="151870428" >
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-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+    <val type="dict" id="151385740" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151358508" >
+          <item type="dict" id="151387236" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
             </entry>
             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Analogue Inputs" />
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           </item>
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-              <val type="string" value="rw" />
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-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="7" />
+          <item type="dict" id="151387508" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="4" />
             </entry>
             <entry>
               <key type="string" value="name" />
@@ -2353,70 +2291,70 @@
     </val>
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-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="25168" />
-    <val type="dict" id="151932684" >
+    <key type="numeric" value="25350" />
+    <val type="dict" id="151397892" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151359084" >
+          <item type="dict" id="151398980" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Output 16 Bit" />
+            </entry>
+          </item>
+          <item type="dict" id="151399252" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="6" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Error Mode Outputs 0x%X to 0x%X[(sub*16-15,sub*16)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Error Mode Outputs 16 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
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+    <val type="dict" id="151409092" >
       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -2431,26 +2369,26 @@
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-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+        <val type="list" id="151388460" >
+          <item type="dict" id="151410180" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
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             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Output 1 Bit" />
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           </item>
-          <item type="dict" id="151929012" >
+          <item type="dict" id="151410452" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2465,7 +2403,7 @@
             </entry>
             <entry>
               <key type="string" value="name" />
-              <val type="string" value="Error Mode Outputs 0x%X[((idx-1)*128+sub)]" />
+              <val type="string" value="Filter Constant Outputs 0x%X[((idx-1)*128+sub)]" />
             </entry>
             <entry>
               <key type="string" value="nbmax" />
@@ -2480,39 +2418,39 @@
       </entry>
       <entry>
         <key type="string" value="name" />
-        <val type="string" value="Error Mode Outputs Lines %d to %d[(idx*128-127,idx*128)]" />
+        <val type="string" value="Filter Constant Outputs Lines %d to %d[(idx*128-127,idx*128)]" />
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-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+    <val type="dict" id="151386964" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151358572" >
+          <item type="dict" id="151392300" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
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             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Output 8 Bit" />
             </entry>
           </item>
-          <item type="dict" id="153054444" >
+          <item type="dict" id="151392572" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2548,7 +2486,7 @@
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   <entry>
     <key type="numeric" value="24632" />
-    <val type="dict" id="153054036" >
+    <val type="dict" id="151387372" >
       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -2563,26 +2501,26 @@
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-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+        <val type="list" id="151358604" >
+          <item type="dict" id="151392708" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
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               <key type="string" value="name" />
               <val type="string" value="Number of Input 1 bit" />
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+          <item type="dict" id="151392980" >
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               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2617,34 +2555,96 @@
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+    <key type="numeric" value="25639" />
+    <val type="dict" id="151408124" >
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+        <key type="string" value="values" />
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+              <key type="string" value="pdo" />
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+              <val type="numeric" value="5" />
+            </entry>
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+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Inputs" />
+            </entry>
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+          <item type="dict" id="151409636" >
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+              <key type="string" value="access" />
+              <val type="string" value="rw" />
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+              <val type="numeric" value="7" />
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+              <val type="string" value="Analogue Input %d[(sub)]" />
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+              <val type="numeric" value="254" />
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+        <val type="string" value="Analogue Input Interrupt Negative Delta Unsigned" />
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+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
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+        <key type="string" value="values" />
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+              <val type="string" value="ro" />
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+              <val type="numeric" value="5" />
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             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Input 32 bit" />
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           </item>
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+          <item type="dict" id="151410860" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2659,18 +2659,18 @@
             </entry>
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               <key type="string" value="name" />
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-        <key type="string" value="name" />
-        <val type="string" value="Interrupt Mask Input Low to High 32 Bit" />
+              <val type="string" value="Interrupt High to Low Input 0x%X to 0x%X[(sub*32-31,sub*32)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
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+        <key type="string" value="name" />
+        <val type="string" value="Interrupt Mask Input High to Low 32 Bit" />
       </entry>
       <entry>
         <key type="string" value="struct" />
@@ -2680,7 +2680,7 @@
   </entry>
   <entry>
     <key type="numeric" value="25152" />
-    <val type="dict" id="153052404" >
+    <val type="dict" id="151387780" >
       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -2695,26 +2695,26 @@
       </entry>
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         <key type="string" value="values" />
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-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
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+              <val type="string" value="ro" />
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             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Output 1 Bit" />
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           </item>
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+          <item type="dict" id="151393796" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2750,33 +2750,33 @@
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+        <val type="False" value="" />
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               <key type="string" value="name" />
               <val type="string" value="Number of Input 32 bit" />
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               <val type="string" value="rw" />
@@ -2812,33 +2812,33 @@
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-              <val type="numeric" value="2" />
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+        <val type="False" value="" />
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+              <val type="string" value="ro" />
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+              <key type="string" value="pdo" />
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               <key type="string" value="name" />
               <val type="string" value="Number of Analogue Outputs" />
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+          <item type="dict" id="151394612" >
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               <val type="string" value="rw" />
@@ -2874,33 +2874,33 @@
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-              <val type="numeric" value="2" />
+    <val type="dict" id="151393660" >
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+        <val type="False" value="" />
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             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Analogue Outputs" />
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               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2936,33 +2936,219 @@
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-              <val type="numeric" value="2" />
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               <key type="string" value="name" />
               <val type="string" value="Number of Analogue Outputs" />
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             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2977,6 +3163,254 @@
             </entry>
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               <key type="string" value="name" />
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               <val type="string" value="Analogue Output %d[(sub)]" />
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@@ -2988,178 +3422,156 @@
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@@ -3174,17 +3586,17 @@
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       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -3199,15 +3611,95 @@
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+              <val type="string" value="Number of Output 1 Bit" />
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@@ -3215,458 +3707,28 @@
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@@ -3730,101 +3792,39 @@
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               <val type="string" value="Write Outputs 0x%X to 0x%X[(sub*32-31,sub*32)]" />
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@@ -3983,8 +3983,8 @@
     </val>
   </entry>
   <entry>
-    <key type="numeric" value="25184" />
-    <val type="dict" id="153064420" >
+    <key type="numeric" value="24672" />
+    <val type="dict" id="151395700" >
       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -3999,26 +3999,26 @@
       </entry>
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-              <val type="string" value="Number of Output 1 Bit" />
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-          </item>
-          <item type="dict" id="153064692" >
+        <val type="list" id="151358924" >
+          <item type="dict" id="151396940" >
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+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 1 bit" />
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+          <item type="dict" id="151397212" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -4033,7 +4033,7 @@
             </entry>
             <entry>
               <key type="string" value="name" />
-              <val type="string" value="Error Value Outputs 0x%X[((idx-1)*128+sub)]" />
+              <val type="string" value="Interrupt Mask Any Change Input bit 0x%X[((idx-1)*128+sub)]" />
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             <entry>
               <key type="string" value="nbmax" />
@@ -4048,13 +4048,13 @@
       </entry>
       <entry>
         <key type="string" value="name" />
-        <val type="string" value="Error Value Outputs Lines %d to %d[(idx*128-127,idx*128)]" />
+        <val type="string" value="Interrupt Mask Input Low to High Bit 0x%X to 0x%X[(idx*128-127,idx*128)]" />
       </entry>
     </val>
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   <entry>
     <key type="numeric" value="24656" />
-    <val type="dict" id="153066460" >
+    <val type="dict" id="151399524" >
       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -4069,26 +4069,26 @@
       </entry>
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-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+        <val type="list" id="151388332" >
+          <item type="dict" id="151407172" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
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             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Input 1 bit" />
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           </item>
-          <item type="dict" id="153066732" >
+          <item type="dict" id="151407444" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -4124,36 +4124,98 @@
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-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+    <val type="dict" id="151399116" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
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+          <item type="dict" id="151407580" >
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+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
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             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Analogue Input 32 Bit" />
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           </item>
-          <item type="dict" id="153067140" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="ro" />
+          <item type="dict" id="151407852" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
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+              <key type="string" value="type" />
+              <val type="numeric" value="4" />
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+              <key type="string" value="name" />
+              <val type="string" value="Analogue Input %d[(sub)]" />
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+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
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+        <key type="string" value="name" />
+        <val type="string" value="Read Analogue Input 32 Bit" />
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+        <val type="numeric" value="7" />
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+        <key type="string" value="values" />
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+              <val type="string" value="ro" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Output 32 Bit" />
+            </entry>
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+          <item type="dict" id="151405404" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
             </entry>
             <entry>
               <key type="string" value="pdo" />
@@ -4165,6 +4227,68 @@
             </entry>
             <entry>
               <key type="string" value="name" />
+              <val type="string" value="Error Mode Outputs 0x%X to 0x%X[(sub*32-31,sub*32)]" />
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+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
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+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Error Mode Outputs 32 Bit" />
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+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
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+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151388236" >
+          <item type="dict" id="151408396" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
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+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Inputs" />
+            </entry>
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+          <item type="dict" id="151408820" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
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+              <key type="string" value="type" />
+              <val type="numeric" value="4" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
               <val type="string" value="Analogue Input %d[(sub)]" />
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@@ -4176,7 +4300,131 @@
       </entry>
       <entry>
         <key type="string" value="name" />
-        <val type="string" value="Read Analogue Input 32 Bit" />
+        <val type="string" value="Analogue Input Offset Integer" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
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+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
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+              <val type="string" value="ro" />
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+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
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+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Output 8 Bit" />
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+            <entry>
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+              <val type="string" value="rw" />
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+              <key type="string" value="pdo" />
+              <val type="True" value="" />
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+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
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+              <key type="string" value="name" />
+              <val type="string" value="Error Value Outputs 0x%X to 0x%X[(sub*8-7,sub*8)]" />
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+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
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+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Error Value Outputs 8 Bit" />
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+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
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+        <key type="string" value="values" />
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+              <val type="string" value="ro" />
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+              <val type="False" value="" />
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+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
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+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 32 bit" />
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+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
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+              <key type="string" value="pdo" />
+              <val type="True" value="" />
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+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Interrupt Low to High Input  0x%X to 0x%X[(sub*32-31,sub*32)]" />
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+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
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+        <key type="string" value="name" />
+        <val type="string" value="Interrupt Mask Input Low to High 32 Bit" />
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       <entry>
         <key type="string" value="struct" />
@@ -4186,33 +4434,33 @@
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-              <val type="False" value="" />
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-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+    <val type="dict" id="151406084" >
+      <entry>
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+        <val type="False" value="" />
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+        <key type="string" value="values" />
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+              <val type="string" value="ro" />
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+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+              <val type="numeric" value="5" />
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             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Input 32 bit" />
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           </item>
-          <item type="dict" id="151899780" >
+          <item type="dict" id="151408260" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -4247,34 +4495,96 @@
     </val>
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-              <val type="string" value="Number of Analogue Inputs" />
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-          <item type="dict" id="151931732" >
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+              <val type="numeric" value="5" />
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+              <key type="string" value="name" />
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+              <val type="string" value="Error Value Outputs 0x%X to 0x%X[(sub*16-15,sub*16)]" />
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+              <val type="numeric" value="254" />
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             <entry>
               <key type="string" value="access" />
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@@ -4289,214 +4599,90 @@
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         <val type="string" value="Analogue Output Scaling Integer" />
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@@ -4876,44 +4876,44 @@
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-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+    <val type="dict" id="151411540" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151388652" >
+          <item type="dict" id="151412780" >
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+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
             </entry>
             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Analogue Inputs" />
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-              <val type="True" value="" />
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-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="7" />
+          <item type="dict" id="151413052" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="4" />
             </entry>
             <entry>
               <key type="string" value="name" />
@@ -4938,7 +4938,7 @@
   </entry>
   <entry>
     <key type="numeric" value="24688" />
-    <val type="dict" id="151878348" >
+    <val type="dict" id="151411948" >
       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -4953,26 +4953,26 @@
       </entry>
       <entry>
         <key type="string" value="values" />
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-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
+        <val type="list" id="151388684" >
+          <item type="dict" id="151413188" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
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             <entry>
               <key type="string" value="name" />
               <val type="string" value="Number of Input 1 bit" />
             </entry>
           </item>
-          <item type="dict" id="151877804" >
+          <item type="dict" id="151413460" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5007,8 +5007,8 @@
     </val>
   </entry>
 </attr>
-<attr name="Name" type="string">TestMaster</attr>
-<attr name="Dictionary" type="dict" id="151876988" >
+<attr name="Description" type="string" value="" />
+<attr name="Dictionary" type="dict" id="151411132" >
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@@ -5026,22 +5026,96 @@
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       <item type="numeric" value="0" />
@@ -5050,84 +5124,45 @@
     </val>
   </entry>
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+    <val type="list" id="151389068" >
+      <item type="numeric" value="537526288" />
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   </entry>
 </attr>
-<attr name="SpecificMenu" type="list" id="153055532" >
-  <item type="tuple" id="151770572" >
+<attr name="SpecificMenu" type="list" id="140020332" >
+  <item type="tuple" id="151357996" >
     <item type="string" value="Read Input Bit" />
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+    <item type="list" id="151389036" >
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       <item type="numeric" value="24632" />
@@ -5136,9 +5171,9 @@
       <item type="numeric" value="24688" />
     </item>
   </item>
-  <item type="tuple" id="151771148" >
+  <item type="tuple" id="151357868" >
     <item type="string" value="Write Output Bit" />
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+    <item type="list" id="151388908" >
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       <item type="numeric" value="25152" />
       <item type="numeric" value="25168" />
@@ -5147,31 +5182,31 @@
     </item>
   </item>
 </attr>
-<attr name="ParamsDictionary" type="dict" id="151877124" >
+<attr name="ParamsDictionary" type="dict" id="152303924" >
 </attr>
-<attr name="UserMapping" type="dict" id="151877260" >
+<attr name="UserMapping" type="dict" id="151413732" >
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-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
+    <val type="dict" id="151413324" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151358348" >
+          <item type="dict" id="151414412" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
             </entry>
             <entry>
               <key type="string" value="name" />
@@ -5192,26 +5227,26 @@
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-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
+    <val type="dict" id="151412356" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151357740" >
+          <item type="dict" id="151413868" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
             </entry>
             <entry>
               <key type="string" value="name" />
@@ -5232,26 +5267,26 @@
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-              <val type="True" value="" />
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-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
+    <val type="dict" id="151414140" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151389196" >
+          <item type="dict" id="151409908" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
             </entry>
             <entry>
               <key type="string" value="name" />
@@ -5272,26 +5307,26 @@
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-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
+    <val type="dict" id="151414684" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+        <key type="string" value="values" />
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+              <key type="string" value="access" />
+              <val type="string" value="rw" />
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+              <key type="string" value="pdo" />
+              <val type="True" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
             </entry>
             <entry>
               <key type="string" value="name" />
@@ -5310,22 +5345,382 @@
       </entry>
     </val>
   </entry>
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+        <key type="string" value="values" />
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+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
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+            <entry>
+              <key type="string" value="name" />
+              <val type="string">MasterMap5</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">MasterMap5</val>
+      </entry>
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+        <key type="string" value="struct" />
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+            <entry>
+              <key type="string" value="name" />
+              <val type="string">MasterMap6</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">MasterMap6</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8198" />
+    <val type="dict" id="151415500" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151389164" >
+          <item type="dict" id="151415364" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">MasterMap7</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">MasterMap7</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8199" />
+    <val type="dict" id="151415772" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151389548" >
+          <item type="dict" id="151415636" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">MasterMap8</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">MasterMap8</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8200" />
+    <val type="dict" id="151416044" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151389388" >
+          <item type="dict" id="151415908" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">MasterMap9</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">MasterMap9</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8201" />
+    <val type="dict" id="151416316" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151389324" >
+          <item type="dict" id="151416180" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">MasterMap10</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">MasterMap10</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8202" />
+    <val type="dict" id="151416588" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151389356" >
+          <item type="dict" id="151416452" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="6" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">MasterMap11</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">MasterMap11</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
 </attr>
-<attr name="DS302" type="dict" id="151879164" >
+<attr name="DS302" type="dict" id="151417012" >
   <entry>
     <key type="numeric" value="7968" />
-    <val type="dict" id="151879300" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="153056684" >
-          <item type="dict" id="151878620" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="ro" />
+    <val type="dict" id="151414004" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151389644" >
+          <item type="dict" id="151417692" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Entries" />
+            </entry>
+          </item>
+          <item type="dict" id="151417556" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="15" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Store DCF for node %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="127" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Store DCF" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="7969" />
+    <val type="dict" id="151417148" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151389612" >
+          <item type="dict" id="151412916" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Entries" />
+            </entry>
+          </item>
+          <item type="dict" id="151417964" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
             </entry>
             <entry>
               <key type="string" value="pdo" />
@@ -5337,134 +5732,54 @@
             </entry>
             <entry>
               <key type="string" value="name" />
+              <val type="string" value="Storage Format for Node %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="127" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Storage Format" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="7970" />
+    <val type="dict" id="151414276" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151389676" >
+          <item type="dict" id="151418100" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
               <val type="string" value="Number of Entries" />
             </entry>
           </item>
-          <item type="dict" id="151875764" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="15" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string" value="Store DCF for node %d[(sub)]" />
-            </entry>
-            <entry>
-              <key type="string" value="nbmax" />
-              <val type="numeric" value="127" />
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string" value="Store DCF" />
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="7" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="7969" />
-    <val type="dict" id="151875900" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="153058412" >
-          <item type="dict" id="151876036" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="ro" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string" value="Number of Entries" />
-            </entry>
-          </item>
-          <item type="dict" id="151877396" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string" value="Storage Format for Node %d[(sub)]" />
-            </entry>
-            <entry>
-              <key type="string" value="nbmax" />
-              <val type="numeric" value="127" />
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string" value="Storage Format" />
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="7" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="7970" />
-    <val type="dict" id="151877532" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="153058668" >
-          <item type="dict" id="151877668" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="ro" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="False" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="2" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string" value="Number of Entries" />
-            </entry>
-          </item>
-          <item type="dict" id="151921636" >
+          <item type="dict" id="151418372" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5502,4 +5817,5 @@
 <attr name="ProfileName" type="string">DS-401</attr>
 <attr name="Type" type="string">master</attr>
 <attr name="ID" type="numeric" value="1" />
+<attr name="Name" type="string">TestMaster</attr>
 </PyObject>
--- a/examples/TestMasterSlave/TestSlave.c	Mon May 14 22:46:20 2007 +0200
+++ b/examples/TestMasterSlave/TestSlave.c	Wed May 16 14:17:04 2007 +0200
@@ -10,6 +10,13 @@
 UNS8 SlaveMap2 = 0x0;		/* Mapped at index 0x2001, subindex 0x00 */
 UNS8 SlaveMap3 = 0x0;		/* Mapped at index 0x2002, subindex 0x00 */
 UNS8 SlaveMap4 = 0x0;		/* Mapped at index 0x2003, subindex 0x00 */
+UNS8 SlaveMap5 = 0x0;		/* Mapped at index 0x2004, subindex 0x00 */
+UNS8 SlaveMap6 = 0x0;		/* Mapped at index 0x2005, subindex 0x00 */
+UNS8 SlaveMap7 = 0x0;		/* Mapped at index 0x2006, subindex 0x00 */
+UNS8 SlaveMap8 = 0x0;		/* Mapped at index 0x2007, subindex 0x00 */
+UNS8 SlaveMap9 = 0x0;		/* Mapped at index 0x2008, subindex 0x00 */
+UNS32 SlaveMap10 = 0x0;		/* Mapped at index 0x2009, subindex 0x00 */
+UNS16 SlaveMap11 = 0x0;		/* Mapped at index 0x200A, subindex 0x00 */
 
 /**************************************************************************/
 /* Declaration of the value range types                                   */
@@ -171,7 +178,7 @@
                     UNS32 TestSlave_obj1800_COB_ID_used_by_PDO = 0x182;	/* 386 */
                     UNS8 TestSlave_obj1800_Transmission_Type = 0x0;	/* 0 */
                     UNS16 TestSlave_obj1800_Inhibit_Time = 0x0;	/* 0 */
-                    UNS16 TestSlave_obj1800_Compatibility_Entry = 0x0;	/* 0 */
+                    UNS8 TestSlave_obj1800_Compatibility_Entry = 0x0;	/* 0 */
                     UNS16 TestSlave_obj1800_Event_Timer = 0x0;	/* 0 */
                     subindex TestSlave_Index1800[] = 
                      {
@@ -179,16 +186,16 @@
                        { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1800_COB_ID_used_by_PDO },
                        { RW|TO_BE_SAVE, uint8, sizeof (UNS8), (void*)&TestSlave_obj1800_Transmission_Type },
                        { RW|TO_BE_SAVE, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Inhibit_Time },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Compatibility_Entry },
+                       { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1800_Compatibility_Entry },
                        { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Event_Timer }
                      };
 
 /* index 0x1801 :   Transmit PDO 2 Parameter. */
                     UNS8 TestSlave_highestSubIndex_obj1801 = 5; /* number of subindex - 1*/
-                    UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x282;	/* 642 */
+                    UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x0;	/* 0 */
                     UNS8 TestSlave_obj1801_Transmission_Type = 0x0;	/* 0 */
                     UNS16 TestSlave_obj1801_Inhibit_Time = 0x0;	/* 0 */
-                    UNS16 TestSlave_obj1801_Compatibility_Entry = 0x0;	/* 0 */
+                    UNS8 TestSlave_obj1801_Compatibility_Entry = 0x0;	/* 0 */
                     UNS16 TestSlave_obj1801_Event_Timer = 0x0;	/* 0 */
                     subindex TestSlave_Index1801[] = 
                      {
@@ -196,60 +203,116 @@
                        { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1801_COB_ID_used_by_PDO },
                        { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1801_Transmission_Type },
                        { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Inhibit_Time },
-                       { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Compatibility_Entry },
+                       { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1801_Compatibility_Entry },
                        { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Event_Timer }
                      };
 
 /* index 0x1A00 :   Transmit PDO 1 Mapping. */
-                    UNS8 TestSlave_highestSubIndex_obj1A00 = 2; /* number of subindex - 1*/
+                    UNS8 TestSlave_highestSubIndex_obj1A00 = 10; /* number of subindex - 1*/
                     UNS32 TestSlave_obj1A00[] = 
                     {
-                      0x20000008,	/* 536870920 */
-                      0x20010008	/* 536936456 */
+                      0x20000001,	/* 536870913 */
+                      0x20010001,	/* 536936449 */
+                      0x20020001,	/* 537001985 */
+                      0x20030001,	/* 537067521 */
+                      0x20040001,	/* 537133057 */
+                      0x20050001,	/* 537198593 */
+                      0x20060001,	/* 537264129 */
+                      0x20070001,	/* 537329665 */
+                      0x20080008,	/* 537395208 */
+                      0x20090020	/* 537460768 */
                     };
                     subindex TestSlave_Index1A00[] = 
                      {
                        { RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A00 },
                        { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[0] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[1] }
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[1] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[2] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[3] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[4] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[5] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[6] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[7] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[8] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[9] }
                      };
 
 /* index 0x1A01 :   Transmit PDO 2 Mapping. */
-                    UNS8 TestSlave_highestSubIndex_obj1A01 = 2; /* number of subindex - 1*/
+                    UNS8 TestSlave_highestSubIndex_obj1A01 = 1; /* number of subindex - 1*/
                     UNS32 TestSlave_obj1A01[] = 
                     {
-                      0x20020008,	/* 537001992 */
-                      0x20030008	/* 537067528 */
+                      0x200A0010	/* 537526288 */
                     };
                     subindex TestSlave_Index1A01[] = 
                      {
                        { RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A01 },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[0] },
-                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[1] }
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[0] }
                      };
 
 /* index 0x2000 :   Mapped variable SlaveMap1 */
                     subindex TestSlave_Index2000[] = 
                      {
-                       { RW, uint8, sizeof (UNS8), (void*)&SlaveMap1 }
+                       { RW, boolean, sizeof (UNS8), (void*)&SlaveMap1 }
                      };
 
 /* index 0x2001 :   Mapped variable SlaveMap2 */
                     subindex TestSlave_Index2001[] = 
                      {
-                       { RW, uint8, sizeof (UNS8), (void*)&SlaveMap2 }
+                       { RW, boolean, sizeof (UNS8), (void*)&SlaveMap2 }
                      };
 
 /* index 0x2002 :   Mapped variable SlaveMap3 */
                     subindex TestSlave_Index2002[] = 
                      {
-                       { RW, uint8, sizeof (UNS8), (void*)&SlaveMap3 }
+                       { RW, boolean, sizeof (UNS8), (void*)&SlaveMap3 }
                      };
 
 /* index 0x2003 :   Mapped variable SlaveMap4 */
                     subindex TestSlave_Index2003[] = 
                      {
-                       { RW, uint8, sizeof (UNS8), (void*)&SlaveMap4 }
+                       { RW, boolean, sizeof (UNS8), (void*)&SlaveMap4 }
+                     };
+
+/* index 0x2004 :   Mapped variable SlaveMap5 */
+                    subindex TestSlave_Index2004[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&SlaveMap5 }
+                     };
+
+/* index 0x2005 :   Mapped variable SlaveMap6 */
+                    subindex TestSlave_Index2005[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&SlaveMap6 }
+                     };
+
+/* index 0x2006 :   Mapped variable SlaveMap7 */
+                    subindex TestSlave_Index2006[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&SlaveMap7 }
+                     };
+
+/* index 0x2007 :   Mapped variable SlaveMap8 */
+                    subindex TestSlave_Index2007[] = 
+                     {
+                       { RW, boolean, sizeof (UNS8), (void*)&SlaveMap8 }
+                     };
+
+/* index 0x2008 :   Mapped variable SlaveMap9 */
+                    subindex TestSlave_Index2008[] = 
+                     {
+                       { RW, uint8, sizeof (UNS8), (void*)&SlaveMap9 }
+                     };
+
+/* index 0x2009 :   Mapped variable SlaveMap10 */
+                    subindex TestSlave_Index2009[] = 
+                     {
+                       { RW, uint32, sizeof (UNS32), (void*)&SlaveMap10 }
+                     };
+
+/* index 0x200A :   Mapped variable SlaveMap11 */
+                    subindex TestSlave_Index200A[] = 
+                     {
+                       { RW, uint16, sizeof (UNS16), (void*)&SlaveMap11 }
                      };
 
 const indextable TestSlave_objdict[] = 
@@ -271,6 +334,13 @@
   { (subindex*)TestSlave_Index2001,sizeof(TestSlave_Index2001)/sizeof(TestSlave_Index2001[0]), 0x2001},
   { (subindex*)TestSlave_Index2002,sizeof(TestSlave_Index2002)/sizeof(TestSlave_Index2002[0]), 0x2002},
   { (subindex*)TestSlave_Index2003,sizeof(TestSlave_Index2003)/sizeof(TestSlave_Index2003[0]), 0x2003},
+  { (subindex*)TestSlave_Index2004,sizeof(TestSlave_Index2004)/sizeof(TestSlave_Index2004[0]), 0x2004},
+  { (subindex*)TestSlave_Index2005,sizeof(TestSlave_Index2005)/sizeof(TestSlave_Index2005[0]), 0x2005},
+  { (subindex*)TestSlave_Index2006,sizeof(TestSlave_Index2006)/sizeof(TestSlave_Index2006[0]), 0x2006},
+  { (subindex*)TestSlave_Index2007,sizeof(TestSlave_Index2007)/sizeof(TestSlave_Index2007[0]), 0x2007},
+  { (subindex*)TestSlave_Index2008,sizeof(TestSlave_Index2008)/sizeof(TestSlave_Index2008[0]), 0x2008},
+  { (subindex*)TestSlave_Index2009,sizeof(TestSlave_Index2009)/sizeof(TestSlave_Index2009[0]), 0x2009},
+  { (subindex*)TestSlave_Index200A,sizeof(TestSlave_Index200A)/sizeof(TestSlave_Index200A[0]), 0x200A},
 };
 
 const indextable * TestSlave_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
@@ -295,6 +365,13 @@
 		case 0x2001: i = 14;break;
 		case 0x2002: i = 15;break;
 		case 0x2003: i = 16;break;
+		case 0x2004: i = 17;break;
+		case 0x2005: i = 18;break;
+		case 0x2006: i = 19;break;
+		case 0x2007: i = 20;break;
+		case 0x2008: i = 21;break;
+		case 0x2009: i = 22;break;
+		case 0x200A: i = 23;break;
 		default:
 			*errorCode = OD_NO_SUCH_OBJECT;
 			return NULL;
--- a/examples/TestMasterSlave/TestSlave.h	Mon May 14 22:46:20 2007 +0200
+++ b/examples/TestMasterSlave/TestSlave.h	Wed May 16 14:17:04 2007 +0200
@@ -16,3 +16,10 @@
 extern UNS8 SlaveMap2;		/* Mapped at index 0x2001, subindex 0x00*/
 extern UNS8 SlaveMap3;		/* Mapped at index 0x2002, subindex 0x00*/
 extern UNS8 SlaveMap4;		/* Mapped at index 0x2003, subindex 0x00*/
+extern UNS8 SlaveMap5;		/* Mapped at index 0x2004, subindex 0x00*/
+extern UNS8 SlaveMap6;		/* Mapped at index 0x2005, subindex 0x00*/
+extern UNS8 SlaveMap7;		/* Mapped at index 0x2006, subindex 0x00*/
+extern UNS8 SlaveMap8;		/* Mapped at index 0x2007, subindex 0x00*/
+extern UNS8 SlaveMap9;		/* Mapped at index 0x2008, subindex 0x00*/
+extern UNS32 SlaveMap10;		/* Mapped at index 0x2009, subindex 0x00*/
+extern UNS16 SlaveMap11;		/* Mapped at index 0x200A, subindex 0x00*/
--- a/examples/TestMasterSlave/TestSlave.od	Mon May 14 22:46:20 2007 +0200
+++ b/examples/TestMasterSlave/TestSlave.od	Wed May 16 14:17:04 2007 +0200
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <!DOCTYPE PyObject SYSTEM "PyObjects.dtd">
-<PyObject module="node" class="Node" id="151439820">
-<attr name="Profile" type="dict" id="151442540" >
+<PyObject module="node" class="Node" id="141443180">
+<attr name="Profile" type="dict" id="141437916" >
 </attr>
 <attr name="Name" type="string" value="TestSlave" />
-<attr name="Dictionary" type="dict" id="151441860" >
+<attr name="Dictionary" type="dict" id="140114092" >
   <entry>
     <key type="numeric" value="4096" />
     <val type="numeric" value="301" />
@@ -22,14 +22,8 @@
     <val type="numeric" value="0" />
   </entry>
   <entry>
-    <key type="numeric" value="6145" />
-    <val type="list" id="151438060" >
-      <item type="numeric" value="642" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-    </val>
+    <key type="numeric" value="8196" />
+    <val type="numeric" value="0" />
   </entry>
   <entry>
     <key type="numeric" value="4101" />
@@ -44,18 +38,20 @@
     <val type="numeric" value="0" />
   </entry>
   <entry>
-    <key type="numeric" value="6144" />
-    <val type="list" id="151437836" >
-      <item type="numeric" value="386" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-    </val>
+    <key type="numeric" value="8200" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="8201" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="8202" />
+    <val type="numeric" value="0" />
   </entry>
   <entry>
     <key type="numeric" value="4112" />
-    <val type="list" id="151438028" >
+    <val type="list" id="140021004" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -64,7 +60,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4113" />
-    <val type="list" id="151439020" >
+    <val type="list" id="140021068" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -73,49 +69,88 @@
   </entry>
   <entry>
     <key type="numeric" value="4608" />
-    <val type="list" id="151437900" >
+    <val type="list" id="140021228" >
       <item type="numeric" value="1537" />
       <item type="numeric" value="1409" />
     </val>
   </entry>
   <entry>
+    <key type="numeric" value="4119" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="4120" />
+    <val type="list" id="140029996" >
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8197" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="4102" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="8199" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="8198" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="6144" />
+    <val type="list" id="140030028" >
+      <item type="numeric" value="386" />
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="6656" />
+    <val type="list" id="140021164" >
+      <item type="numeric" value="536870913" />
+      <item type="numeric" value="536936449" />
+      <item type="numeric" value="537001985" />
+      <item type="numeric" value="537067521" />
+      <item type="numeric" value="537133057" />
+      <item type="numeric" value="537198593" />
+      <item type="numeric" value="537264129" />
+      <item type="numeric" value="537329665" />
+      <item type="numeric" value="537395208" />
+      <item type="numeric" value="537460768" />
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="6145" />
+    <val type="list" id="140020940" >
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+    </val>
+  </entry>
+  <entry>
     <key type="numeric" value="6657" />
-    <val type="list" id="151438540" >
-      <item type="numeric" value="537001992" />
-      <item type="numeric" value="537067528" />
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="6656" />
-    <val type="list" id="151437932" >
-      <item type="numeric" value="536870920" />
-      <item type="numeric" value="536936456" />
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="4119" />
-    <val type="numeric" value="0" />
-  </entry>
-  <entry>
-    <key type="numeric" value="4120" />
-    <val type="list" id="151437868" >
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="4102" />
-    <val type="numeric" value="0" />
+    <val type="list" id="140030444" >
+      <item type="numeric" value="537526288" />
+    </val>
   </entry>
 </attr>
-<attr name="SpecificMenu" type="list" id="151437804" >
+<attr name="SpecificMenu" type="list" id="140020332" >
 </attr>
-<attr name="ParamsDictionary" type="dict" id="151442268" >
+<attr name="ParamsDictionary" type="dict" id="141438732" >
   <entry>
     <key type="numeric" value="8192" />
-    <val type="dict" id="151435844" >
+    <val type="dict" id="140113412" >
       <entry>
         <key type="string" value="callback" />
         <val type="False" value="" />
@@ -124,7 +159,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4112" />
-    <val type="dict" id="151436252" >
+    <val type="dict" id="141447620" >
       <entry>
         <key type="string" value="callback" />
         <val type="True" value="" />
@@ -132,8 +167,8 @@
     </val>
   </entry>
   <entry>
-    <key type="numeric" value="4119" />
-    <val type="dict" id="151435708" >
+    <key type="numeric" value="4113" />
+    <val type="dict" id="141447212" >
       <entry>
         <key type="string" value="callback" />
         <val type="True" value="" />
@@ -142,10 +177,10 @@
   </entry>
   <entry>
     <key type="numeric" value="6144" />
-    <val type="dict" id="151441588" >
+    <val type="dict" id="141447756" >
       <entry>
         <key type="numeric" value="2" />
-        <val type="dict" id="151435572" >
+        <val type="dict" id="141447348" >
           <entry>
             <key type="string" value="save" />
             <val type="True" value="" />
@@ -154,7 +189,7 @@
       </entry>
       <entry>
         <key type="numeric" value="3" />
-        <val type="dict" id="151436932" >
+        <val type="dict" id="141448436" >
           <entry>
             <key type="string" value="save" />
             <val type="True" value="" />
@@ -164,8 +199,8 @@
     </val>
   </entry>
   <entry>
-    <key type="numeric" value="4113" />
-    <val type="dict" id="151441452" >
+    <key type="numeric" value="4119" />
+    <val type="dict" id="141447892" >
       <entry>
         <key type="string" value="callback" />
         <val type="True" value="" />
@@ -173,18 +208,338 @@
     </val>
   </entry>
 </attr>
-<attr name="UserMapping" type="dict" id="151435436" >
+<attr name="UserMapping" type="dict" id="141438324" >
   <entry>
     <key type="numeric" value="8192" />
-    <val type="dict" id="151436524" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="151437772" >
-          <item type="dict" id="151436796" >
+    <val type="dict" id="141448164" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140030540" >
+          <item type="dict" id="141448980" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="SlaveMap1" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="SlaveMap1" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8193" />
+    <val type="dict" id="141448844" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021708" >
+          <item type="dict" id="141449252" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">SlaveMap2</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">SlaveMap2</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8194" />
+    <val type="dict" id="141448708" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140020748" >
+          <item type="dict" id="141438188" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">SlaveMap3</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">SlaveMap3</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8195" />
+    <val type="dict" id="141448300" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021484" >
+          <item type="dict" id="141449116" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">SlaveMap4</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">SlaveMap4</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8196" />
+    <val type="dict" id="141449524" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021420" >
+          <item type="dict" id="141449388" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">SlaveMap5</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">SlaveMap5</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8197" />
+    <val type="dict" id="141449796" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140030828" >
+          <item type="dict" id="141449660" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">SlaveMap6</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">SlaveMap6</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8198" />
+    <val type="dict" id="141450068" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140030060" >
+          <item type="dict" id="141449932" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">SlaveMap7</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">SlaveMap7</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8199" />
+    <val type="dict" id="141450340" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140019436" >
+          <item type="dict" id="141450204" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">SlaveMap8</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">SlaveMap8</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8200" />
+    <val type="dict" id="141450612" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021324" >
+          <item type="dict" id="141450476" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -199,134 +554,94 @@
             </entry>
             <entry>
               <key type="string" value="name" />
-              <val type="string" value="SlaveMap1" />
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string" value="SlaveMap1" />
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8193" />
-    <val type="dict" id="140686172" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="151437740" >
-          <item type="dict" id="151436116" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string" value="SlaveMap2" />
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string" value="SlaveMap2" />
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8194" />
-    <val type="dict" id="151436388" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="151437548" >
-          <item type="dict" id="140685492" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string" value="SlaveMap3" />
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string" value="SlaveMap3" />
-      </entry>
-      <entry>
-        <key type="string" value="struct" />
-        <val type="numeric" value="1" />
-      </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="8195" />
-    <val type="dict" id="151435028" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="151437708" >
-          <item type="dict" id="151434892" >
-            <entry>
-              <key type="string" value="access" />
-              <val type="string" value="rw" />
-            </entry>
-            <entry>
-              <key type="string" value="pdo" />
-              <val type="True" value="" />
-            </entry>
-            <entry>
-              <key type="string" value="type" />
-              <val type="numeric" value="5" />
-            </entry>
-            <entry>
-              <key type="string" value="name" />
-              <val type="string" value="SlaveMap4" />
-            </entry>
-          </item>
-        </val>
-      </entry>
-      <entry>
-        <key type="string" value="name" />
-        <val type="string" value="SlaveMap4" />
+              <val type="string">SlaveMap9</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">SlaveMap9</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8201" />
+    <val type="dict" id="141450884" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021644" >
+          <item type="dict" id="141450748" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">SlaveMap10</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">SlaveMap10</val>
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8202" />
+    <val type="dict" id="141451308" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="140021452" >
+          <item type="dict" id="141451020" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="6" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">SlaveMap11</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">SlaveMap11</val>
       </entry>
       <entry>
         <key type="string" value="struct" />
@@ -335,7 +650,7 @@
     </val>
   </entry>
 </attr>
-<attr name="DS302" type="dict" id="151434756" >
+<attr name="DS302" type="dict" id="141451580" >
 </attr>
 <attr name="ProfileName" type="string" value="DS-301" />
 <attr name="Type" type="string" value="slave" />
--- a/include/pdo.h	Mon May 14 22:46:20 2007 +0200
+++ b/include/pdo.h	Wed May 16 14:17:04 2007 +0200
@@ -94,4 +94,6 @@
  */
 UNS8 sendPDOevent (CO_Data* d, void * variable);
 
+/* copy bit per bit in little endian */
+void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
 #endif
--- a/src/pdo.c	Mon May 14 22:46:20 2007 +0200
+++ b/src/pdo.c	Wed May 16 14:17:04 2007 +0200
@@ -80,7 +80,11 @@
     return res;
 }
 
-/**************************************************************************/
+#if 0
+/*********************************************************************/
+/* TODO : implement bit mapping                          			 */
+/*********************************************************************/
+
 UNS8 buildPDO(CO_Data* d, UNS16 index)
 { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */	
   UNS16 ind;
@@ -126,10 +130,10 @@
 	    MSG_WAR(0x3915, "                     subIndex : ", subInd + 1);
 	    MSG_WAR(0x3916, "                     value    : ", *(UNS32 *)pMappingParameter);
 	    /* Get the mapped variable */
-	     Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
-	     objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
+	    Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
+	  	objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
 				    (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
-				    (void *)&d->process_var.data[offset], &Size, &dataType, 0 ); 
+				    (void *)&d->process_var.data[offset], &Size, &dataType, 0 );  
 
 	     if (objDict != OD_SUCCESSFUL) {
 	        MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1);  
@@ -145,7 +149,7 @@
   }
   return 0;
 }
-
+#endif
 /**************************************************************************/
 UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
 {		
@@ -199,8 +203,10 @@
   UNS32      objDict;
   UNS16      offsetObjdict;
   UNS16      lastIndex;
+  UNS16      Index;
+  UNS8       Sindex;
   status = state1;
-
+ 
   MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff)); 
   offset = 0x00;
   numPdo = 0;
@@ -208,11 +214,11 @@
   if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a request. */
     offsetObjdict = d->firstIndex->PDO_RCV;
     lastIndex = d->lastIndex->PDO_RCV;
-
+    
     /* study of all the PDO stored in the dictionary */   
     if(offsetObjdict)
 	    while (offsetObjdict <= lastIndex) {
-					
+			
 	      switch( status ) {
 						
 	        case state1:	/* data are stored in process_var array */
@@ -227,7 +233,7 @@
 	
 		case state2:
 		  /* get CobId of the dictionary correspondant to the received PDO */
-	          pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject;
+	          pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject; 
 		  /* check the CobId coherance */
 		  /*pwCobId is the cobId read in the dictionary at the state 3 */
 		  if ( *pwCobId == (*m).cob_id.w ){
@@ -251,22 +257,29 @@
 		  pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;	  
 		  numMap = 0;
 		  while (numMap < *pMappingCount) {
+			UNS8 tmp[]= {0,0,0,0,0,0,0,0};
+		  	UNS8 ByteSize;
 		    pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
 		    if (pMappingParameter == NULL) {
 		      MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1); 
 		      return 0xFF;
 		    }
-		    /* Get the addresse of the mapped variable. */
+			/* Get the addresse of the mapped variable. */
 		    /* detail of *pMappingParameter : */
 	            /* The 16 hight bits contains the index, the medium 8 bits contains the subindex, */
 		    /* and the lower 8 bits contains the size of the mapped variable. */
-
-		    Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
-
+		    
+		    Size = (UNS8)(*pMappingParameter);
+			
+			/* copy bit per bit in little endian */
+			CopyBits(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
+		  	
+		  	ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
+		  	
 		    objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
 				            (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
-					    (void *)&d->process_var.data[offset], &Size, 0 );
-
+					    	tmp, &ByteSize, 0 );
+					    	
 		    if(objDict != OD_SUCCESSFUL) {
 		      MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);  
 		      MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);
@@ -336,7 +349,7 @@
 	  while (numMap < *pMappingCount) {
 	    pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
 	    /* Get the mapped variable */
-	    Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
+	    Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3)); 
 	    objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16), 
 				     (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
 				     (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
@@ -362,7 +375,53 @@
 }
 
 
-
+void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
+{
+	//This loop copy as many bits that it can each time, crossing successively bytes
+	// boundaries from LSB to MSB.
+	while(NbBits > 0)
+	{
+		// Bit missalignement between src and dest
+		INTEGER8 Vect = DestBitIndex - SrcBitIndex;
+		
+		// We can now get src and align it to dest
+		UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
+		
+		// Compute the nb of bit we will be able to copy
+		UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
+		UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
+
+		// Create a mask that will serve in:
+		UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
+
+		// - Filtering src
+		UNS8 Filtered = Aligned & ~Mask;
+
+		// - and erase bits where we write, preserve where we don't
+		*DestByteIndex &= Mask;
+
+		// Then write.
+		*DestByteIndex |= Filtered ;
+
+		//Compute next time cursors for src
+		if((SrcBitIndex += BitsToCopy)>7)	// cross boundary ?
+		{
+			SrcBitIndex = 0;							// First bit
+			SrcByteIndex += (SrcBigEndian ? -1 : 1);	// Next byte
+		}
+
+		//Compute next time cursors for dest
+		if((DestBitIndex += BitsToCopy)>7)
+		{
+			DestBitIndex = 0;							// First bit
+			DestByteIndex += (DestBigEndian ? -1 : 1);// Next byte
+		}
+		
+		//And decrement counter.
+		NbBits -= BitsToCopy;
+	}
+
+}
 
 #if 0
 
@@ -414,7 +473,7 @@
 	      offsetObjdictPrm++;
 	      continue;
 	    }
-	    pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject;
+	    pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject; 
 	    numMap = 1; /* mapped variable */
 	    while (numMap <= *pMappingCount) {
 	      pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
--- a/src/sync.c	Mon May 14 22:46:20 2007 +0200
+++ b/src/sync.c	Wed May 16 14:17:04 2007 +0200
@@ -105,13 +105,13 @@
   UNS8 *     pTransmissionType = NULL;  
   UNS32 *    pwCobId = NULL;	
 
-  UNS8      dataType;
+  UNS8 dataType;
   UNS16 index;
   UNS8 subIndex;
   UNS8 offset;
   UNS8 status;
-  UNS8 sizeData;
-  UNS32   objDict;	
+  UNS8 Size;
+  UNS32 objDict;	
   UNS16 offsetObjdict;
   UNS16 offsetObjdictMap;
   UNS16 lastIndex;
@@ -185,18 +185,21 @@
     case state9:	/* get data to transmit */ 
       index = (UNS16)((*pMappingParameter) >> 16);
       subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
-      /* <<3 because in *pMappingParameter the size is in bits */
-      sizeData = (UNS8) ((*pMappingParameter & (UNS32)0x000000FF) >> 3) ;
-
-        objDict = getODentry(d, index, subIndex, (void *)&d->process_var.data[offset], &sizeData, &dataType, 0 ); 
-
+	  UNS8 ByteSize;
+	  UNS8 tmp[]= {0,0,0,0,0,0,0,0};
+	  Size = (UNS8)(*pMappingParameter); /* Size in bits */
+	  ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
+	  objDict = getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 );
+	  /* copy bit per bit in little endian*/
+	  CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0);
+	    
         if( objDict != OD_SUCCESSFUL ){
           MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
           return 0xFF;
         }
 	
-	offset += sizeData ;
-	d->process_var.count = offset;
+	offset += Size ;
+	d->process_var.count = 1 + ((offset - 1) >> 3);
 	prp_j++;
 	status = state10;	 
 	break;