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Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
authoretisserant
Mon, 12 Nov 2007 14:38:34 +0100
changeset 314 68e83c3ffbb5
parent 313 fed411af774a
child 315 1d3bf87b8658
Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
examples/DS401_Master/TestMaster.c file | annotate | diff | comparison | revisions
examples/DS401_Slave_Gui/ObjDict.c file | annotate | diff | comparison | revisions
examples/TestMasterMicroMod/TestMaster.c file | annotate | diff | comparison | revisions
examples/TestMasterSlave/TestMaster.c file | annotate | diff | comparison | revisions
examples/TestMasterSlave/TestMaster.od file | annotate | diff | comparison | revisions
examples/TestMasterSlave/TestSlave.c file | annotate | diff | comparison | revisions
examples/TestMasterSlave/TestSlave.od file | annotate | diff | comparison | revisions
include/can_driver.h file | annotate | diff | comparison | revisions
include/data.h file | annotate | diff | comparison | revisions
objdictgen/commondialogs.py file | annotate | diff | comparison | revisions
objdictgen/gen_cfile.py file | annotate | diff | comparison | revisions
src/emcy.c file | annotate | diff | comparison | revisions
src/states.c file | annotate | diff | comparison | revisions 
--- a/examples/DS401_Master/TestMaster.c	Mon Nov 12 13:24:17 2007 +0100
+++ b/examples/DS401_Master/TestMaster.c	Mon Nov 12 14:38:34 2007 +0100
@@ -117,6 +117,9 @@
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1006 }
                      };
 
+/* index 0x1014 :   Emergency COB ID */
+                    UNS32 TestMaster_obj1014 = 0x0;   /* 0 */
+
 /* index 0x1016 :   Consumer Heartbeat Time. */
                     UNS8 TestMaster_highestSubIndex_obj1016 = 1; /* number of subindex - 1*/
                     UNS32 TestMaster_obj1016[] = 
--- a/examples/DS401_Slave_Gui/ObjDict.c	Mon Nov 12 13:24:17 2007 +0100
+++ b/examples/DS401_Slave_Gui/ObjDict.c	Mon Nov 12 14:38:34 2007 +0100
@@ -216,6 +216,9 @@
                        { RW, uint32, sizeof (UNS32), (void*)&ObjDict_obj1011_Restore_All_Default_Parameters }
                      };
 
+/* index 0x1014 :   Emergency COB ID */
+                    UNS32 ObjDict_obj1014 = 0x0;   /* 0 */
+
 /* index 0x1016 :   Consumer Heartbeat Time. */
                     UNS8 ObjDict_highestSubIndex_obj1016 = 3; /* number of subindex - 1*/
                     UNS32 ObjDict_obj1016[] = 
--- a/examples/TestMasterMicroMod/TestMaster.c	Mon Nov 12 13:24:17 2007 +0100
+++ b/examples/TestMasterMicroMod/TestMaster.c	Mon Nov 12 14:38:34 2007 +0100
@@ -105,6 +105,9 @@
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1006 }
                      };
 
+/* index 0x1014 :   Emergency COB ID */
+                    UNS32 TestMaster_obj1014 = 0x0;   /* 0 */
+
 /* index 0x1016 :   Consumer Heartbeat Time. */
                     UNS8 TestMaster_highestSubIndex_obj1016 = 1; /* number of subindex - 1*/
                     UNS32 TestMaster_obj1016[] = 
--- a/examples/TestMasterSlave/TestMaster.c	Mon Nov 12 13:24:17 2007 +0100
+++ b/examples/TestMasterSlave/TestMaster.c	Mon Nov 12 14:38:34 2007 +0100
@@ -139,6 +139,13 @@
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1011_Restore_Manufacturer_Default_Parameters }
                      };
 
+/* index 0x1014 :   Emergency COB ID. */
+                    UNS32 TestMaster_obj1014 = 0x80;	/* 128 */
+                    subindex TestMaster_Index1014[] = 
+                     {
+                       { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1014 }
+                     };
+
 /* index 0x1016 :   Consumer Heartbeat Time. */
                     UNS8 TestMaster_highestSubIndex_obj1016 = 1; /* number of subindex - 1*/
                     UNS32 TestMaster_obj1016[] = 
@@ -416,6 +423,7 @@
   { (subindex*)TestMaster_Index1006,sizeof(TestMaster_Index1006)/sizeof(TestMaster_Index1006[0]), 0x1006},
   { (subindex*)TestMaster_Index1010,sizeof(TestMaster_Index1010)/sizeof(TestMaster_Index1010[0]), 0x1010},
   { (subindex*)TestMaster_Index1011,sizeof(TestMaster_Index1011)/sizeof(TestMaster_Index1011[0]), 0x1011},
+  { (subindex*)TestMaster_Index1014,sizeof(TestMaster_Index1014)/sizeof(TestMaster_Index1014[0]), 0x1014},
   { (subindex*)TestMaster_Index1016,sizeof(TestMaster_Index1016)/sizeof(TestMaster_Index1016[0]), 0x1016},
   { (subindex*)TestMaster_Index1018,sizeof(TestMaster_Index1018)/sizeof(TestMaster_Index1018[0]), 0x1018},
   { (subindex*)TestMaster_Index1280,sizeof(TestMaster_Index1280)/sizeof(TestMaster_Index1280[0]), 0x1280},
@@ -454,31 +462,32 @@
 		case 0x1006: i = 3;*callbacks = TestMaster_Index1006_callbacks; break;
 		case 0x1010: i = 4;break;
 		case 0x1011: i = 5;break;
-		case 0x1016: i = 6;break;
-		case 0x1018: i = 7;break;
-		case 0x1280: i = 8;break;
-		case 0x1400: i = 9;break;
-		case 0x1401: i = 10;break;
-		case 0x1402: i = 11;break;
-		case 0x1403: i = 12;break;
-		case 0x1600: i = 13;break;
-		case 0x1601: i = 14;break;
-		case 0x1602: i = 15;break;
-		case 0x1603: i = 16;break;
-		case 0x1F22: i = 17;break;
-		case 0x2000: i = 18;break;
-		case 0x2001: i = 19;break;
-		case 0x2002: i = 20;break;
-		case 0x2003: i = 21;break;
-		case 0x2004: i = 22;break;
-		case 0x2005: i = 23;break;
-		case 0x2006: i = 24;break;
-		case 0x2007: i = 25;break;
-		case 0x2008: i = 26;break;
-		case 0x2009: i = 27;break;
-		case 0x200A: i = 28;break;
-		case 0x200B: i = 29;break;
-		case 0x200C: i = 30;break;
+		case 0x1014: i = 6;break;
+		case 0x1016: i = 7;break;
+		case 0x1018: i = 8;break;
+		case 0x1280: i = 9;break;
+		case 0x1400: i = 10;break;
+		case 0x1401: i = 11;break;
+		case 0x1402: i = 12;break;
+		case 0x1403: i = 13;break;
+		case 0x1600: i = 14;break;
+		case 0x1601: i = 15;break;
+		case 0x1602: i = 16;break;
+		case 0x1603: i = 17;break;
+		case 0x1F22: i = 18;break;
+		case 0x2000: i = 19;break;
+		case 0x2001: i = 20;break;
+		case 0x2002: i = 21;break;
+		case 0x2003: i = 22;break;
+		case 0x2004: i = 23;break;
+		case 0x2005: i = 24;break;
+		case 0x2006: i = 25;break;
+		case 0x2007: i = 26;break;
+		case 0x2008: i = 27;break;
+		case 0x2009: i = 28;break;
+		case 0x200A: i = 29;break;
+		case 0x200B: i = 30;break;
+		case 0x200C: i = 31;break;
 		default:
 			*errorCode = OD_NO_SUCH_OBJECT;
 			return NULL;
@@ -496,18 +505,18 @@
 
 quick_index TestMaster_firstIndex = {
   0, /* SDO_SVR */
-  8, /* SDO_CLT */
-  9, /* PDO_RCV */
-  13, /* PDO_RCV_MAP */
+  9, /* SDO_CLT */
+  10, /* PDO_RCV */
+  14, /* PDO_RCV_MAP */
   0, /* PDO_TRS */
   0 /* PDO_TRS_MAP */
 };
 
 quick_index TestMaster_lastIndex = {
   0, /* SDO_SVR */
-  8, /* SDO_CLT */
-  12, /* PDO_RCV */
-  16, /* PDO_RCV_MAP */
+  9, /* SDO_CLT */
+  13, /* PDO_RCV */
+  17, /* PDO_RCV_MAP */
   0, /* PDO_TRS */
   0 /* PDO_TRS_MAP */
 };
--- a/examples/TestMasterSlave/TestMaster.od	Mon Nov 12 13:24:17 2007 +0100
+++ b/examples/TestMasterSlave/TestMaster.od	Mon Nov 12 14:38:34 2007 +0100
@@ -1,18 +1,18 @@
 <?xml version="1.0"?>
 <!DOCTYPE PyObject SYSTEM "PyObjects.dtd">
-<PyObject module="node" class="Node" id="40515488">
-<attr name="Profile" type="dict" id="19894016" >
+<PyObject module="node" class="Node" id="38397928">
+<attr name="Profile" type="dict" id="40412192" >
   <entry>
     <key type="numeric" value="24576" />
-    <val type="dict" id="19798352" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40479704" >
-          <item type="dict" id="19922256" >
+    <val type="dict" id="40412480" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38397496" >
+          <item type="dict" id="40413552" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -30,7 +30,7 @@
               <val type="string" value="Number of Input 8 bit" />
             </entry>
           </item>
-          <item type="dict" id="40963504" >
+          <item type="dict" id="40413984" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -66,15 +66,15 @@
   </entry>
   <entry>
     <key type="numeric" value="24832" />
-    <val type="dict" id="19797296" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40515632" >
-          <item type="dict" id="19973776" >
+    <val type="dict" id="40414272" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38398000" >
+          <item type="dict" id="40412768" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -92,7 +92,7 @@
               <val type="string" value="Number of Input 16 bit" />
             </entry>
           </item>
-          <item type="dict" id="19814032" >
+          <item type="dict" id="40413104" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -128,15 +128,15 @@
   </entry>
   <entry>
     <key type="numeric" value="24578" />
-    <val type="dict" id="19809920" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40515416" >
-          <item type="dict" id="40946800" >
+    <val type="dict" id="40417648" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38398072" >
+          <item type="dict" id="40417936" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -154,7 +154,7 @@
               <val type="string" value="Number of Input 8 bit" />
             </entry>
           </item>
-          <item type="dict" id="19783424" >
+          <item type="dict" id="40418224" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -190,15 +190,15 @@
   </entry>
   <entry>
     <key type="numeric" value="24579" />
-    <val type="dict" id="40419920" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40439888" >
-          <item type="dict" id="40874800" >
+    <val type="dict" id="40418512" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38398144" >
+          <item type="dict" id="40418800" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -216,7 +216,7 @@
               <val type="string" value="Number of Input 8 bit" />
             </entry>
           </item>
-          <item type="dict" id="40952384" >
+          <item type="dict" id="40419088" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -252,15 +252,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25604" />
-    <val type="dict" id="19877440" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40515056" >
-          <item type="dict" id="19867680" >
+    <val type="dict" id="40419376" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38398216" >
+          <item type="dict" id="40419664" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -278,7 +278,7 @@
               <val type="string" value="Number of Analogue Input" />
             </entry>
           </item>
-          <item type="dict" id="19868112" >
+          <item type="dict" id="40419952" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -314,15 +314,15 @@
   </entry>
   <entry>
     <key type="numeric" value="24581" />
-    <val type="dict" id="19745648" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40515272" >
-          <item type="dict" id="19829520" >
+    <val type="dict" id="40420240" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38398360" >
+          <item type="dict" id="40420528" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -354,15 +354,15 @@
   </entry>
   <entry>
     <key type="numeric" value="24582" />
-    <val type="dict" id="19829808" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40515704" >
-          <item type="dict" id="20008208" >
+    <val type="dict" id="40421696" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38398504" >
+          <item type="dict" id="40421984" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -380,7 +380,7 @@
               <val type="string" value="Number of Input 8 bit" />
             </entry>
           </item>
-          <item type="dict" id="20008496" >
+          <item type="dict" id="40422272" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -416,15 +416,15 @@
   </entry>
   <entry>
     <key type="numeric" value="24583" />
-    <val type="dict" id="19886416" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40515560" >
-          <item type="dict" id="19886704" >
+    <val type="dict" id="40422608" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38398648" >
+          <item type="dict" id="40422896" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -442,7 +442,7 @@
               <val type="string" value="Number of Input 8 bit" />
             </entry>
           </item>
-          <item type="dict" id="19938336" >
+          <item type="dict" id="40423184" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -478,15 +478,15 @@
   </entry>
   <entry>
     <key type="numeric" value="24584" />
-    <val type="dict" id="19938672" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40516064" >
-          <item type="dict" id="41071184" >
+    <val type="dict" id="40423520" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38398792" >
+          <item type="dict" id="40423808" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -504,7 +504,7 @@
               <val type="string" value="Number of Input 8 bit" />
             </entry>
           </item>
-          <item type="dict" id="41071472" >
+          <item type="dict" id="40424096" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -540,15 +540,15 @@
   </entry>
   <entry>
     <key type="numeric" value="24834" />
-    <val type="dict" id="40968448" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40516208" >
-          <item type="dict" id="40968736" >
+    <val type="dict" id="40424432" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38398936" >
+          <item type="dict" id="40424720" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -566,7 +566,7 @@
               <val type="string" value="Number of Input 16 bit" />
             </entry>
           </item>
-          <item type="dict" id="40969024" >
+          <item type="dict" id="40425008" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -602,15 +602,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25616" />
-    <val type="dict" id="40969360" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40516352" >
-          <item type="dict" id="40969648" >
+    <val type="dict" id="40425344" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38399080" >
+          <item type="dict" id="40425632" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -628,7 +628,7 @@
               <val type="string" value="Number of Analogue Input 8 Bit" />
             </entry>
           </item>
-          <item type="dict" id="40965360" >
+          <item type="dict" id="40414560" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -664,15 +664,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25617" />
-    <val type="dict" id="40965696" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40516496" >
-          <item type="dict" id="40965984" >
+    <val type="dict" id="40414896" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38399224" >
+          <item type="dict" id="40415184" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -690,7 +690,7 @@
               <val type="string" value="Number of Analogue Input 16 Bit" />
             </entry>
           </item>
-          <item type="dict" id="40966272" >
+          <item type="dict" id="40415472" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -726,15 +726,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25618" />
-    <val type="dict" id="40966608" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40516712" >
-          <item type="dict" id="40966896" >
+    <val type="dict" id="40415808" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38399440" >
+          <item type="dict" id="40416096" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -752,7 +752,7 @@
               <val type="string" value="Number of Analogue Outputs 32 Bit" />
             </entry>
           </item>
-          <item type="dict" id="40967184" >
+          <item type="dict" id="40416384" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -788,15 +788,15 @@
   </entry>
   <entry>
     <key type="numeric" value="24835" />
-    <val type="dict" id="40967520" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40516928" >
-          <item type="dict" id="40967808" >
+    <val type="dict" id="40416720" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38399656" >
+          <item type="dict" id="40417008" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -814,7 +814,7 @@
               <val type="string" value="Number of Input 16 bit" />
             </entry>
           </item>
-          <item type="dict" id="40968096" >
+          <item type="dict" id="40417296" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -850,15 +850,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25620" />
-    <val type="dict" id="40969936" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40517144" >
-          <item type="dict" id="40970224" >
+    <val type="dict" id="40438304" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38399872" >
+          <item type="dict" id="40438592" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -876,7 +876,7 @@
               <val type="string" value="Number of Analogue Outputs" />
             </entry>
           </item>
-          <item type="dict" id="40970560" >
+          <item type="dict" id="40438880" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -912,15 +912,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25088" />
-    <val type="dict" id="40970896" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40517360" >
-          <item type="dict" id="40971184" >
+    <val type="dict" id="40439168" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38391960" >
+          <item type="dict" id="40439456" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -938,7 +938,7 @@
               <val type="string" value="Number of Output 8 Bit" />
             </entry>
           </item>
-          <item type="dict" id="40971472" >
+          <item type="dict" id="40439792" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -974,15 +974,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25603" />
-    <val type="dict" id="40971760" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40517504" >
-          <item type="dict" id="40972048" >
+    <val type="dict" id="40440080" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38392104" >
+          <item type="dict" id="40440368" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1000,7 +1000,7 @@
               <val type="string" value="Number of Analogue Input Float" />
             </entry>
           </item>
-          <item type="dict" id="40972384" >
+          <item type="dict" id="40440704" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1035,16 +1035,78 @@
     </val>
   </entry>
   <entry>
+    <key type="numeric" value="25378" />
+    <val type="dict" id="40431440" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38405976" >
+          <item type="dict" id="40431728" >
+            <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 32 Bit" />
+            </entry>
+          </item>
+          <item type="dict" id="40432016" >
+            <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" value="Polarity Outputs 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>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Change Polarity Outputs 32 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
     <key type="numeric" value="25344" />
-    <val type="dict" id="40973632" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40526048" >
-          <item type="dict" id="40973920" >
+    <val type="dict" id="40441040" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38392248" >
+          <item type="dict" id="40441328" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1062,7 +1124,7 @@
               <val type="string" value="Number of Output 16 Bit" />
             </entry>
           </item>
-          <item type="dict" id="40974208" >
+          <item type="dict" id="40441616" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1098,7 +1160,7 @@
   </entry>
   <entry>
     <key type="numeric" value="24608" />
-    <val type="dict" id="40974496" >
+    <val type="dict" id="40441904" >
       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -1113,8 +1175,8 @@
       </entry>
       <entry>
         <key type="string" value="values" />
-        <val type="list" id="40526192" >
-          <item type="dict" id="40974784" >
+        <val type="list" id="38392392" >
+          <item type="dict" id="40442192" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1132,7 +1194,7 @@
               <val type="string" value="Number of Input 1 bit" />
             </entry>
           </item>
-          <item type="dict" id="40975120" >
+          <item type="dict" id="40442528" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1168,15 +1230,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25633" />
-    <val type="dict" id="40976192" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40526264" >
-          <item type="dict" id="40976480" >
+    <val type="dict" id="40443600" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38392464" >
+          <item type="dict" id="40443888" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1194,7 +1256,7 @@
               <val type="string" value="Number of Analogue Inputs" />
             </entry>
           </item>
-          <item type="dict" id="40976816" >
+          <item type="dict" id="40444224" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1230,15 +1292,15 @@
   </entry>
   <entry>
     <key type="numeric" value="24866" />
-    <val type="dict" id="40977152" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40526408" >
-          <item type="dict" id="40977440" >
+    <val type="dict" id="40444560" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38392608" >
+          <item type="dict" id="40444848" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1256,7 +1318,7 @@
               <val type="string" value="Number of Input 32 bit" />
             </entry>
           </item>
-          <item type="dict" id="40977728" >
+          <item type="dict" id="40445136" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1292,15 +1354,15 @@
   </entry>
   <entry>
     <key type="numeric" value="24867" />
-    <val type="dict" id="40981104" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40526624" >
-          <item type="dict" id="40981392" >
+    <val type="dict" id="40445472" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38392824" >
+          <item type="dict" id="40445760" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1318,7 +1380,7 @@
               <val type="string" value="Number of Input 32 bit" />
             </entry>
           </item>
-          <item type="dict" id="19971520" >
+          <item type="dict" id="40446048" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1354,15 +1416,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25636" />
-    <val type="dict" id="19971856" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40526696" >
-          <item type="dict" id="41084496" >
+    <val type="dict" id="40420912" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38392896" >
+          <item type="dict" id="40421200" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1380,7 +1442,7 @@
               <val type="string" value="Number of Analogue Inputs" />
             </entry>
           </item>
-          <item type="dict" id="41084784" >
+          <item type="dict" id="40449424" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1416,15 +1478,15 @@
   </entry>
   <entry>
     <key type="numeric" value="24838" />
-    <val type="dict" id="41085120" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40526912" >
-          <item type="dict" id="41085408" >
+    <val type="dict" id="40449712" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38393112" >
+          <item type="dict" id="40450000" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1442,7 +1504,7 @@
               <val type="string" value="Number of Input 16 bit" />
             </entry>
           </item>
-          <item type="dict" id="41085696" >
+          <item type="dict" id="40450288" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1478,15 +1540,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25638" />
-    <val type="dict" id="41086112" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
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-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40526984" >
-          <item type="dict" id="41086400" >
+    <val type="dict" id="40450576" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38393184" >
+          <item type="dict" id="40450864" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1504,7 +1566,7 @@
               <val type="string" value="Number of Analogue Inputs" />
             </entry>
           </item>
-          <item type="dict" id="41086688" >
+          <item type="dict" id="40451152" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1540,15 +1602,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25383" />
-    <val type="dict" id="41087024" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40527128" >
-          <item type="dict" id="41087312" >
+    <val type="dict" id="40451440" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38393328" >
+          <item type="dict" id="40451728" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1566,7 +1628,7 @@
               <val type="string" value="Number of Output 32 Bit" />
             </entry>
           </item>
-          <item type="dict" id="41087600" >
+          <item type="dict" id="40452016" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1602,15 +1664,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25640" />
-    <val type="dict" id="41087936" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40527200" >
-          <item type="dict" id="41088224" >
+    <val type="dict" id="40452304" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38393400" >
+          <item type="dict" id="40452592" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1628,7 +1690,7 @@
               <val type="string" value="Number of Analogue Inputs" />
             </entry>
           </item>
-          <item type="dict" id="41088512" >
+          <item type="dict" id="40452928" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1664,15 +1726,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25641" />
-    <val type="dict" id="41088848" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40527416" >
-          <item type="dict" id="41089136" >
+    <val type="dict" id="40453264" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38393616" >
+          <item type="dict" id="40453552" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1690,7 +1752,7 @@
               <val type="string" value="Number of Analogue Inputs" />
             </entry>
           </item>
-          <item type="dict" id="41089424" >
+          <item type="dict" id="40453840" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1726,15 +1788,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25642" />
-    <val type="dict" id="41089760" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40527560" >
-          <item type="dict" id="41090048" >
+    <val type="dict" id="40454176" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38393760" >
+          <item type="dict" id="40454464" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1752,7 +1814,7 @@
               <val type="string" value="Number of Analogue Inputs" />
             </entry>
           </item>
-          <item type="dict" id="41090336" >
+          <item type="dict" id="40454752" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1788,15 +1850,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25643" />
-    <val type="dict" id="41090672" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40527704" >
-          <item type="dict" id="41090960" >
+    <val type="dict" id="40455088" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38393904" >
+          <item type="dict" id="40455376" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1814,7 +1876,7 @@
               <val type="string" value="Number of Analogue Inputs" />
             </entry>
           </item>
-          <item type="dict" id="41091248" >
+          <item type="dict" id="40455664" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1850,15 +1912,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25644" />
-    <val type="dict" id="41091584" >
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-        <key type="string" value="need" />
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-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40527848" >
-          <item type="dict" id="41091872" >
+    <val type="dict" id="40456000" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38394048" >
+          <item type="dict" id="40456288" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1876,7 +1938,7 @@
               <val type="string" value="Number of Analogue Inputs" />
             </entry>
           </item>
-          <item type="dict" id="41092160" >
+          <item type="dict" id="40456576" >
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               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1912,15 +1974,15 @@
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-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40527992" >
-          <item type="dict" id="41092784" >
+    <val type="dict" id="40456912" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38394192" >
+          <item type="dict" id="40457200" >
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               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -1938,7 +2000,7 @@
               <val type="string" value="Number of Analogue Inputs" />
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+          <item type="dict" id="40457488" >
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               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -1974,15 +2036,15 @@
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-      <entry>
-        <key type="string" value="values" />
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-          <item type="dict" id="41093696" >
+    <val type="dict" id="40457824" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
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             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -2000,7 +2062,7 @@
               <val type="string" value="Number of Analogue Inputs" />
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-          <item type="dict" id="41093984" >
+          <item type="dict" id="40458400" >
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               <val type="string" value="rw" />
@@ -2036,15 +2098,15 @@
   </entry>
   <entry>
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-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40528280" >
-          <item type="dict" id="41094608" >
+    <val type="dict" id="40458736" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38394480" >
+          <item type="dict" id="40459024" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -2062,7 +2124,7 @@
               <val type="string" value="Number of Analogue Inputs" />
             </entry>
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-          <item type="dict" id="41094896" >
+          <item type="dict" id="40459312" >
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               <val type="string" value="rw" />
@@ -2098,7 +2160,7 @@
   </entry>
   <entry>
     <key type="numeric" value="24624" />
-    <val type="dict" id="41095232" >
+    <val type="dict" id="40459648" >
       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -2113,8 +2175,8 @@
       </entry>
       <entry>
         <key type="string" value="values" />
-        <val type="list" id="40528496" >
-          <item type="dict" id="41095520" >
+        <val type="list" id="38394696" >
+          <item type="dict" id="40459936" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -2132,7 +2194,7 @@
               <val type="string" value="Number of Input 1 bit" />
             </entry>
           </item>
-          <item type="dict" id="41095808" >
+          <item type="dict" id="40460224" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2168,15 +2230,15 @@
   </entry>
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-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40528640" >
-          <item type="dict" id="41097168" >
+    <val type="dict" id="40461296" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38394840" >
+          <item type="dict" id="40461584" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -2194,7 +2256,7 @@
               <val type="string" value="Number of Output 16 Bit" />
             </entry>
           </item>
-          <item type="dict" id="41097504" >
+          <item type="dict" id="40461920" >
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               <val type="string" value="rw" />
@@ -2230,15 +2292,15 @@
   </entry>
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-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40528712" >
-          <item type="dict" id="41098128" >
+    <val type="dict" id="40462256" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38394912" >
+          <item type="dict" id="40462544" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -2256,7 +2318,7 @@
               <val type="string" value="Number of Analogue Inputs" />
             </entry>
           </item>
-          <item type="dict" id="41098416" >
+          <item type="dict" id="40462832" >
             <entry>
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               <val type="string" value="rw" />
@@ -2291,70 +2353,132 @@
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-    <key type="numeric" value="25200" />
-    <val type="dict" id="41237824" >
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+    <val type="dict" id="40434080" >
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+        <key type="string" value="need" />
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+        <key type="string" value="values" />
+        <val type="list" id="38406192" >
+          <item type="dict" id="40434368" >
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+              <val type="string" value="ro" />
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+              <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 Output 8 Bit" />
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+            <entry>
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+              <val type="numeric" value="5" />
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+              <key type="string" value="name" />
+              <val type="string" value="Change Polarity 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="Change Polarity 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="need" />
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+        <key type="string" value="values" />
+        <val type="list" id="38395416" >
+          <item type="dict" id="40466016" >
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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="type" />
+              <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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+              <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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+            <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="Filter Mask 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>
+          </item>
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+        <key type="string" value="name" />
+        <val type="string" value="Filter Mask Outputs 8 Bit" />
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+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
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+    <val type="dict" id="40466688" >
       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -2369,26 +2493,26 @@
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-              <val type="string" value="Number of Output 1 Bit" />
-            </entry>
-          </item>
-          <item type="dict" id="41238400" >
+        <val type="list" id="38395488" >
+          <item type="dict" id="40466976" >
+            <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 Input 1 bit" />
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+          </item>
+          <item type="dict" id="40467264" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -2403,7 +2527,7 @@
             </entry>
             <entry>
               <key type="string" value="name" />
-              <val type="string" value="Filter Constant Outputs 0x%X[((idx-1)*128+sub)]" />
+              <val type="string" value="Filter Constant Input bit 0x%X[((idx-1)*128+sub)]" />
             </entry>
             <entry>
               <key type="string" value="nbmax" />
@@ -2418,75 +2542,75 @@
       </entry>
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-    <key type="numeric" value="24632" />
-    <val type="dict" id="41100576" >
+        <val type="string" value="Filter Constant Input Bit 0x%X to 0x%X[(idx*128-127,idx*128)]" />
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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 Input 32 bit" />
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+              <val type="string" value="rw" />
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+              <key type="string" value="pdo" />
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+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
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+              <val type="string" value="Interrupt Low to High Input  0x%X to 0x%X[(sub*32-31,sub*32)]" />
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+              <val type="numeric" value="254" />
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       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -2501,8 +2625,8 @@
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       <entry>
         <key type="string" value="values" />
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-          <item type="dict" id="41100864" >
+        <val type="list" id="38408064" >
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               <key type="string" value="access" />
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@@ -2520,7 +2644,7 @@
               <val type="string" value="Number of Input 1 bit" />
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           </item>
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+          <item type="dict" id="40534960" >
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               <val type="string" value="rw" />
@@ -2535,7 +2659,7 @@
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             <entry>
               <key type="string" value="name" />
-              <val type="string" value="Filter Constant Input bit 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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               <key type="string" value="nbmax" />
@@ -2550,137 +2674,13 @@
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+    <val type="dict" id="40470208" >
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@@ -2695,8 +2695,8 @@
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       <entry>
         <key type="string" value="values" />
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@@ -2714,7 +2714,7 @@
               <val type="string" value="Number of Output 1 Bit" />
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@@ -2776,7 +2776,7 @@
               <val type="string" value="Number of Input 32 bit" />
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@@ -2838,7 +2838,7 @@
               <val type="string" value="Number of Analogue Outputs" />
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@@ -2900,7 +2900,7 @@
               <val type="string" value="Number of Analogue Outputs" />
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@@ -2962,7 +2962,7 @@
               <val type="string" value="Number of Analogue Outputs" />
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@@ -2998,15 +2998,15 @@
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@@ -3024,7 +3024,7 @@
               <val type="string" value="Number of Analogue Outputs" />
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@@ -3762,7 +3474,7 @@
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               <val type="string" value="Number of Output 16 Bit" />
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@@ -4033,7 +3723,7 @@
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@@ -4048,13 +3738,261 @@
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         <val type="numeric" value="1" />
@@ -4069,26 +4007,26 @@
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             <entry>
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               <val type="string" value="rw" />
@@ -4103,7 +4041,7 @@
             </entry>
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               <key type="string" value="name" />
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+              <val type="string" value="Error Value Outputs 0x%X[((idx-1)*128+sub)]" />
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@@ -4118,21 +4056,83 @@
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         <key type="string" value="name" />
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+        <val type="string" value="Error Value Outputs Lines %d to %d[(idx*128-127,idx*128)]" />
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@@ -4150,7 +4150,7 @@
               <val type="string" value="Number of Analogue Input 32 Bit" />
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@@ -4185,34 +4185,34 @@
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@@ -4274,7 +4274,7 @@
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-        <key type="string" value="values" />
-        <val type="list" id="40541936" >
-          <item type="dict" id="41235520" >
+    <val type="dict" id="40469296" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38395776" >
+          <item type="dict" id="40469584" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -4336,7 +4336,7 @@
               <val type="string" value="Number of Output 8 Bit" />
             </entry>
           </item>
-          <item type="dict" id="41235808" >
+          <item type="dict" id="40469872" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -4371,34 +4371,34 @@
     </val>
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-              <val type="string" value="Number of Input 32 bit" />
-            </entry>
-          </item>
-          <item type="dict" id="41102848" >
+    <key type="numeric" value="25639" />
+    <val type="dict" id="40468336" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38395632" >
+          <item type="dict" id="40468624" >
+            <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" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Inputs" />
+            </entry>
+          </item>
+          <item type="dict" id="40468960" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -4413,18 +4413,18 @@
             </entry>
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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="Analogue Input %d[(sub)]" />
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+            <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="Analogue Input Interrupt Negative Delta Unsigned" />
       </entry>
       <entry>
         <key type="string" value="struct" />
@@ -4434,15 +4434,15 @@
   </entry>
   <entry>
     <key type="numeric" value="25601" />
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-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40540280" >
-          <item type="dict" id="41077376" >
+    <val type="dict" id="40536944" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38416536" >
+          <item type="dict" id="40537232" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -4460,7 +4460,7 @@
               <val type="string" value="Number of Analogue Input 16 Bit" />
             </entry>
           </item>
-          <item type="dict" id="41077712" >
+          <item type="dict" id="40537568" >
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               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -4495,194 +4495,8 @@
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-    <key type="numeric" value="25168" />
-    <val type="dict" id="41241200" >
+    <key type="numeric" value="25200" />
+    <val type="dict" id="40464080" >
       <entry>
         <key type="string" value="incr" />
         <val type="numeric" value="1" />
@@ -4697,8 +4511,8 @@
       </entry>
       <entry>
         <key type="string" value="values" />
-        <val type="list" id="40542720" >
-          <item type="dict" id="41241488" >
+        <val type="list" id="38395272" >
+          <item type="dict" id="40464368" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -4716,7 +4530,7 @@
               <val type="string" value="Number of Output 1 Bit" />
             </entry>
           </item>
-          <item type="dict" id="41241776" >
+          <item type="dict" id="40464656" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -4731,7 +4545,7 @@
             </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" />
@@ -4746,21 +4560,207 @@
       </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)]" />
+      </entry>
+    </val>
+  </entry>
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+    <key type="numeric" value="24872" />
+    <val type="dict" id="40435616" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38406408" >
+          <item type="dict" id="40435904" >
+            <entry>
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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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+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 32 bit" />
+            </entry>
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+          <item type="dict" id="40436240" >
+            <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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+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Interrupt High to Low Input 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" />
+            </entry>
+          </item>
+        </val>
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+        <key type="string" value="name" />
+        <val type="string" value="Interrupt Mask Input High to Low 32 Bit" />
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+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
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+    </val>
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+    <val type="dict" id="40539728" >
+      <entry>
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+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38416968" >
+          <item type="dict" id="40540016" >
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+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+              <val type="numeric" value="5" />
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+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Outputs Float" />
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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="8" />
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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" />
+            </entry>
+          </item>
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+        <key type="string" value="name" />
+        <val type="string" value="Write Analogue Output Float" />
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+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38417184" >
+          <item type="dict" id="40540928" >
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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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+              <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 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>
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+              <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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+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
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+        <key type="string" value="name" />
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-        <key type="string" value="values" />
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-          <item type="dict" id="41243136" >
+    <val type="dict" id="40541552" >
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+        <key type="string" value="need" />
+        <val type="False" value="" />
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+          <item type="dict" id="40541840" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -4778,7 +4778,7 @@
               <val type="string" value="Number of Input 16 bit" />
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-          <item type="dict" id="41243424" >
+          <item type="dict" id="40542128" >
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               <val type="string" value="rw" />
@@ -4814,15 +4814,15 @@
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-        <key type="string" value="values" />
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-          <item type="dict" id="41244000" >
+    <val type="dict" id="40542464" >
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+        <val type="False" value="" />
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@@ -4840,7 +4840,7 @@
               <val type="string" value="Number of Analogue Outputs" />
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-          <item type="dict" id="41244288" >
+          <item type="dict" id="40543040" >
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@@ -4876,15 +4876,15 @@
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@@ -4902,7 +4902,7 @@
               <val type="string" value="Number of Analogue Inputs" />
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@@ -4938,7 +4938,7 @@
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+    <val type="dict" id="40544288" >
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         <val type="numeric" value="1" />
@@ -4953,8 +4953,8 @@
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-        <val type="list" id="40543440" >
-          <item type="dict" id="41245728" >
+        <val type="list" id="38417976" >
+          <item type="dict" id="40544576" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -4972,7 +4972,7 @@
               <val type="string" value="Number of Input 1 bit" />
             </entry>
           </item>
-          <item type="dict" id="41246016" >
+          <item type="dict" id="40544864" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5008,7 +5008,7 @@
   </entry>
 </attr>
 <attr name="Description" type="string" value="" />
-<attr name="Dictionary" type="dict" id="41247088" >
+<attr name="Dictionary" type="dict" id="40545936" >
   <entry>
     <key type="numeric" value="4096" />
     <val type="numeric" value="301" />
@@ -5063,7 +5063,7 @@
   </entry>
   <entry>
     <key type="numeric" value="5122" />
-    <val type="list" id="40543512" >
+    <val type="list" id="38418048" >
       <item type="numeric" value="1025" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -5073,7 +5073,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4112" />
-    <val type="list" id="40543584" >
+    <val type="list" id="38418120" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -5082,7 +5082,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4113" />
-    <val type="list" id="40543656" >
+    <val type="list" id="38418192" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -5091,7 +5091,7 @@
   </entry>
   <entry>
     <key type="numeric" value="5123" />
-    <val type="list" id="40543728" >
+    <val type="list" id="38418264" >
       <item type="numeric" value="1154" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -5100,14 +5100,18 @@
     </val>
   </entry>
   <entry>
+    <key type="numeric" value="4116" />
+    <val type="string" value="&quot;$NODEID+0x80&quot;" />
+  </entry>
+  <entry>
     <key type="numeric" value="4118" />
-    <val type="list" id="40543800" >
+    <val type="list" id="38418336" >
       <item type="numeric" value="132572" />
     </val>
   </entry>
   <entry>
     <key type="numeric" value="4120" />
-    <val type="list" id="40543872" >
+    <val type="list" id="38418408" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -5116,7 +5120,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4736" />
-    <val type="list" id="40543944" >
+    <val type="list" id="38418480" >
       <item type="numeric" value="1538" />
       <item type="numeric" value="1410" />
       <item type="numeric" value="2" />
@@ -5128,7 +5132,7 @@
   </entry>
   <entry>
     <key type="numeric" value="7970" />
-    <val type="list" id="40544016" >
+    <val type="list" id="38418552" >
       <item type="string" value="" />
       <item type="string" value="\x01\x00\x00\x00\x17\x10\x00\x02\x00\x00\x00\xe8\x03" />
     </val>
@@ -5143,7 +5147,7 @@
   </entry>
   <entry>
     <key type="numeric" value="5120" />
-    <val type="list" id="40544088" >
+    <val type="list" id="38418624" >
       <item type="string" value="{True:&quot;$NODEID+0x%X00&quot;%(base+2),False:0}[base&lt;4]" />
       <item type="numeric" value="1" />
       <item type="numeric" value="0" />
@@ -5153,7 +5157,7 @@
   </entry>
   <entry>
     <key type="numeric" value="5632" />
-    <val type="list" id="40544160" >
+    <val type="list" id="38418696" >
       <item type="numeric" value="536870913" />
       <item type="numeric" value="536936449" />
       <item type="numeric" value="537001985" />
@@ -5172,7 +5176,7 @@
   </entry>
   <entry>
     <key type="numeric" value="5121" />
-    <val type="list" id="40544232" >
+    <val type="list" id="38418768" >
       <item type="string" value="{True:&quot;$NODEID+0x%X00&quot;%(base+2),False:0}[base&lt;4]" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -5182,27 +5186,27 @@
   </entry>
   <entry>
     <key type="numeric" value="5633" />
-    <val type="list" id="40544304" >
+    <val type="list" id="38418840" >
       <item type="numeric" value="537526288" />
     </val>
   </entry>
   <entry>
     <key type="numeric" value="5635" />
-    <val type="list" id="40544376" >
+    <val type="list" id="38418912" >
       <item type="numeric" value="537657360" />
     </val>
   </entry>
   <entry>
     <key type="numeric" value="5634" />
-    <val type="list" id="40544448" >
+    <val type="list" id="38418984" >
       <item type="numeric" value="537591824" />
     </val>
   </entry>
 </attr>
-<attr name="SpecificMenu" type="list" id="40544520" >
-  <item type="tuple" id="37857832" >
+<attr name="SpecificMenu" type="list" id="38419056" >
+  <item type="tuple" id="38347552" >
     <item type="string" value="Read Input Bit" />
-    <item type="list" id="40544592" >
+    <item type="list" id="38419128" >
       <item type="numeric" value="24608" />
       <item type="numeric" value="24624" />
       <item type="numeric" value="24632" />
@@ -5211,9 +5215,9 @@
       <item type="numeric" value="24688" />
     </item>
   </item>
-  <item type="tuple" id="37825136" >
+  <item type="tuple" id="38305448" >
     <item type="string" value="Write Output Bit" />
-    <item type="list" id="40544664" >
+    <item type="list" id="38419200" >
       <item type="numeric" value="25120" />
       <item type="numeric" value="25152" />
       <item type="numeric" value="25168" />
@@ -5222,20 +5226,20 @@
     </item>
   </item>
 </attr>
-<attr name="ParamsDictionary" type="dict" id="41247376" >
+<attr name="ParamsDictionary" type="dict" id="40550544" >
 </attr>
-<attr name="UserMapping" type="dict" id="41247664" >
+<attr name="UserMapping" type="dict" id="40550832" >
   <entry>
     <key type="numeric" value="8192" />
-    <val type="dict" id="41251248" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40544736" >
-          <item type="dict" id="41251536" >
+    <val type="dict" id="40551120" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38419272" >
+          <item type="dict" id="40551408" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5267,15 +5271,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8193" />
-    <val type="dict" id="41251824" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40544808" >
-          <item type="dict" id="41252112" >
+    <val type="dict" id="40551696" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38419344" >
+          <item type="dict" id="40551984" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5307,15 +5311,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8194" />
-    <val type="dict" id="41252400" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40544880" >
-          <item type="dict" id="41252688" >
+    <val type="dict" id="40552336" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38419416" >
+          <item type="dict" id="40552624" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5347,15 +5351,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8195" />
-    <val type="dict" id="41252976" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40544952" >
-          <item type="dict" id="41253264" >
+    <val type="dict" id="40553088" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38419488" >
+          <item type="dict" id="40553376" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5387,15 +5391,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8196" />
-    <val type="dict" id="41253552" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40545024" >
-          <item type="dict" id="41253840" >
+    <val type="dict" id="40553840" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38419560" >
+          <item type="dict" id="40554128" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5427,15 +5431,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8197" />
-    <val type="dict" id="41254128" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40545096" >
-          <item type="dict" id="41254416" >
+    <val type="dict" id="40554592" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38419632" >
+          <item type="dict" id="40554880" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5467,15 +5471,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8198" />
-    <val type="dict" id="41255488" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40545168" >
-          <item type="dict" id="41255776" >
+    <val type="dict" id="40556128" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38419704" >
+          <item type="dict" id="40556416" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5507,15 +5511,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8199" />
-    <val type="dict" id="41256064" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40545240" >
-          <item type="dict" id="41256352" >
+    <val type="dict" id="40556880" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38419776" >
+          <item type="dict" id="40557168" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5547,15 +5551,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8200" />
-    <val type="dict" id="41256640" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40545312" >
-          <item type="dict" id="41256928" >
+    <val type="dict" id="40557632" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38419848" >
+          <item type="dict" id="40557920" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5587,15 +5591,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8201" />
-    <val type="dict" id="41257216" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40545384" >
-          <item type="dict" id="41257504" >
+    <val type="dict" id="40558384" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38419920" >
+          <item type="dict" id="40558672" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5627,15 +5631,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8202" />
-    <val type="dict" id="41257792" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40545456" >
-          <item type="dict" id="41258080" >
+    <val type="dict" id="40559136" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38419992" >
+          <item type="dict" id="40559424" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5667,15 +5671,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8203" />
-    <val type="dict" id="41258368" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40545528" >
-          <item type="dict" id="41258656" >
+    <val type="dict" id="40559888" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38420064" >
+          <item type="dict" id="40560176" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5707,15 +5711,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8204" />
-    <val type="dict" id="41258944" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40545600" >
-          <item type="dict" id="41259232" >
+    <val type="dict" id="40560640" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38420136" >
+          <item type="dict" id="40560928" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5746,18 +5750,18 @@
     </val>
   </entry>
 </attr>
-<attr name="DS302" type="dict" id="41260304" >
+<attr name="DS302" type="dict" id="40562176" >
   <entry>
     <key type="numeric" value="7968" />
-    <val type="dict" id="41260592" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40545672" >
-          <item type="dict" id="41260880" >
+    <val type="dict" id="40562464" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38420208" >
+          <item type="dict" id="40562752" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -5775,7 +5779,7 @@
               <val type="string" value="Number of Entries" />
             </entry>
           </item>
-          <item type="dict" id="41261168" >
+          <item type="dict" id="40563088" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5811,15 +5815,15 @@
   </entry>
   <entry>
     <key type="numeric" value="7969" />
-    <val type="dict" id="41261456" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40545744" >
-          <item type="dict" id="41261744" >
+    <val type="dict" id="40563424" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38420280" >
+          <item type="dict" id="40563712" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -5837,7 +5841,7 @@
               <val type="string" value="Number of Entries" />
             </entry>
           </item>
-          <item type="dict" id="41262032" >
+          <item type="dict" id="40564000" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -5873,15 +5877,15 @@
   </entry>
   <entry>
     <key type="numeric" value="7970" />
-    <val type="dict" id="41262320" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="40545888" >
-          <item type="dict" id="41262608" >
+    <val type="dict" id="40564336" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="38420424" >
+          <item type="dict" id="40564624" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="ro" />
@@ -5899,7 +5903,7 @@
               <val type="string" value="Number of Entries" />
             </entry>
           </item>
-          <item type="dict" id="41262896" >
+          <item type="dict" id="40564912" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
--- a/examples/TestMasterSlave/TestSlave.c	Mon Nov 12 13:24:17 2007 +0100
+++ b/examples/TestMasterSlave/TestSlave.c	Mon Nov 12 14:38:34 2007 +0100
@@ -176,6 +176,13 @@
                        { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_Manufacturer_Default_Parameters }
                      };
 
+/* index 0x1014 :   Emergency COB ID. */
+                    UNS32 TestSlave_obj1014 = 0x80;	/* 128 */
+                    subindex TestSlave_Index1014[] = 
+                     {
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1014 }
+                     };
+
 /* index 0x1016 :   Consumer Heartbeat Time */
                     UNS8 TestSlave_highestSubIndex_obj1016 = 0;
                     UNS32 TestSlave_obj1016[]={0};
@@ -512,6 +519,7 @@
   { (subindex*)TestSlave_Index1006,sizeof(TestSlave_Index1006)/sizeof(TestSlave_Index1006[0]), 0x1006},
   { (subindex*)TestSlave_Index1010,sizeof(TestSlave_Index1010)/sizeof(TestSlave_Index1010[0]), 0x1010},
   { (subindex*)TestSlave_Index1011,sizeof(TestSlave_Index1011)/sizeof(TestSlave_Index1011[0]), 0x1011},
+  { (subindex*)TestSlave_Index1014,sizeof(TestSlave_Index1014)/sizeof(TestSlave_Index1014[0]), 0x1014},
   { (subindex*)TestSlave_Index1017,sizeof(TestSlave_Index1017)/sizeof(TestSlave_Index1017[0]), 0x1017},
   { (subindex*)TestSlave_Index1018,sizeof(TestSlave_Index1018)/sizeof(TestSlave_Index1018[0]), 0x1018},
   { (subindex*)TestSlave_Index1200,sizeof(TestSlave_Index1200)/sizeof(TestSlave_Index1200[0]), 0x1200},
@@ -552,32 +560,33 @@
 		case 0x1006: i = 4;*callbacks = TestSlave_Index1006_callbacks; break;
 		case 0x1010: i = 5;*callbacks = TestSlave_Index1010_callbacks; break;
 		case 0x1011: i = 6;*callbacks = TestSlave_Index1011_callbacks; break;
-		case 0x1017: i = 7;*callbacks = TestSlave_Index1017_callbacks; break;
-		case 0x1018: i = 8;break;
-		case 0x1200: i = 9;break;
-		case 0x1800: i = 10;*callbacks = TestSlave_Index1800_callbacks; break;
-		case 0x1801: i = 11;*callbacks = TestSlave_Index1801_callbacks; break;
-		case 0x1802: i = 12;*callbacks = TestSlave_Index1802_callbacks; break;
-		case 0x1803: i = 13;*callbacks = TestSlave_Index1803_callbacks; break;
-		case 0x1804: i = 14;*callbacks = TestSlave_Index1804_callbacks; break;
-		case 0x1A00: i = 15;break;
-		case 0x1A01: i = 16;break;
-		case 0x1A02: i = 17;break;
-		case 0x1A03: i = 18;break;
-		case 0x1A04: i = 19;break;
-		case 0x2000: i = 20;break;
-		case 0x2001: i = 21;break;
-		case 0x2002: i = 22;break;
-		case 0x2003: i = 23;break;
-		case 0x2004: i = 24;break;
-		case 0x2005: i = 25;break;
-		case 0x2006: i = 26;break;
-		case 0x2007: i = 27;break;
-		case 0x2008: i = 28;break;
-		case 0x2009: i = 29;break;
-		case 0x200A: i = 30;break;
-		case 0x200B: i = 31;break;
-		case 0x200C: i = 32;break;
+		case 0x1014: i = 7;break;
+		case 0x1017: i = 8;*callbacks = TestSlave_Index1017_callbacks; break;
+		case 0x1018: i = 9;break;
+		case 0x1200: i = 10;break;
+		case 0x1800: i = 11;*callbacks = TestSlave_Index1800_callbacks; break;
+		case 0x1801: i = 12;*callbacks = TestSlave_Index1801_callbacks; break;
+		case 0x1802: i = 13;*callbacks = TestSlave_Index1802_callbacks; break;
+		case 0x1803: i = 14;*callbacks = TestSlave_Index1803_callbacks; break;
+		case 0x1804: i = 15;*callbacks = TestSlave_Index1804_callbacks; break;
+		case 0x1A00: i = 16;break;
+		case 0x1A01: i = 17;break;
+		case 0x1A02: i = 18;break;
+		case 0x1A03: i = 19;break;
+		case 0x1A04: i = 20;break;
+		case 0x2000: i = 21;break;
+		case 0x2001: i = 22;break;
+		case 0x2002: i = 23;break;
+		case 0x2003: i = 24;break;
+		case 0x2004: i = 25;break;
+		case 0x2005: i = 26;break;
+		case 0x2006: i = 27;break;
+		case 0x2007: i = 28;break;
+		case 0x2008: i = 29;break;
+		case 0x2009: i = 30;break;
+		case 0x200A: i = 31;break;
+		case 0x200B: i = 32;break;
+		case 0x200C: i = 33;break;
 		default:
 			*errorCode = OD_NO_SUCH_OBJECT;
 			return NULL;
@@ -594,21 +603,21 @@
 s_PDO_status TestSlave_PDO_status[5] = {s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer,s_PDO_staus_Initializer};
 
 quick_index TestSlave_firstIndex = {
-  9, /* SDO_SVR */
+  10, /* SDO_SVR */
   0, /* SDO_CLT */
   0, /* PDO_RCV */
   0, /* PDO_RCV_MAP */
-  10, /* PDO_TRS */
-  15 /* PDO_TRS_MAP */
+  11, /* PDO_TRS */
+  16 /* PDO_TRS_MAP */
 };
 
 quick_index TestSlave_lastIndex = {
-  9, /* SDO_SVR */
+  10, /* SDO_SVR */
   0, /* SDO_CLT */
   0, /* PDO_RCV */
   0, /* PDO_RCV_MAP */
-  14, /* PDO_TRS */
-  19 /* PDO_TRS_MAP */
+  15, /* PDO_TRS */
+  20 /* PDO_TRS_MAP */
 };
 
 UNS16 TestSlave_ObjdictSize = sizeof(TestSlave_objdict)/sizeof(TestSlave_objdict[0]); 
--- a/examples/TestMasterSlave/TestSlave.od	Mon Nov 12 13:24:17 2007 +0100
+++ b/examples/TestMasterSlave/TestSlave.od	Mon Nov 12 14:38:34 2007 +0100
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <!DOCTYPE PyObject SYSTEM "PyObjects.dtd">
-<PyObject module="node" class="Node" id="14595640">
-<attr name="Profile" type="dict" id="19726160" >
+<PyObject module="node" class="Node" id="11102832">
+<attr name="Profile" type="dict" id="18192832" >
 </attr>
 <attr name="Name" type="string">TestSlave</attr>
-<attr name="Dictionary" type="dict" id="19830656" >
+<attr name="Dictionary" type="dict" id="16242864" >
   <entry>
     <key type="numeric" value="4096" />
     <val type="numeric" value="301" />
@@ -59,7 +59,7 @@
   </entry>
   <entry>
     <key type="numeric" value="6146" />
-    <val type="list" id="15236200" >
+    <val type="list" id="11102184" >
       <item type="string" value="{True:&quot;$NODEID+0x%X80&quot;%(base+1),False:0}[base&lt;4]" />
       <item type="numeric" value="255" />
       <item type="numeric" value="5000" />
@@ -69,7 +69,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4112" />
-    <val type="list" id="14584720" >
+    <val type="list" id="11101896" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -78,7 +78,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4113" />
-    <val type="list" id="14595352" >
+    <val type="list" id="11102544" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -87,13 +87,13 @@
   </entry>
   <entry>
     <key type="numeric" value="6658" />
-    <val type="list" id="14595280" >
+    <val type="list" id="11102760" >
       <item type="numeric" value="537591824" />
     </val>
   </entry>
   <entry>
     <key type="numeric" value="6147" />
-    <val type="list" id="14595424" >
+    <val type="list" id="11102040" >
       <item type="string" value="{True:&quot;$NODEID+0x%X80&quot;%(base+1),False:0}[base&lt;4]" />
       <item type="numeric" value="252" />
       <item type="numeric" value="0" />
@@ -102,8 +102,12 @@
     </val>
   </entry>
   <entry>
+    <key type="numeric" value="4116" />
+    <val type="string" value="&quot;$NODEID+0x80&quot;" />
+  </entry>
+  <entry>
     <key type="numeric" value="4608" />
-    <val type="list" id="14595496" >
+    <val type="list" id="11102688" >
       <item type="string" value="&quot;$NODEID+0x600&quot;" />
       <item type="string" value="&quot;$NODEID+0x580&quot;" />
     </val>
@@ -114,7 +118,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4120" />
-    <val type="list" id="14595568" >
+    <val type="list" id="11110808" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -123,7 +127,7 @@
   </entry>
   <entry>
     <key type="numeric" value="6148" />
-    <val type="list" id="14595712" >
+    <val type="list" id="11103192" >
       <item type="numeric" value="1025" />
       <item type="numeric" value="253" />
       <item type="numeric" value="0" />
@@ -145,7 +149,7 @@
   </entry>
   <entry>
     <key type="numeric" value="6659" />
-    <val type="list" id="14595784" >
+    <val type="list" id="11103264" >
       <item type="numeric" value="537657360" />
     </val>
   </entry>
@@ -155,7 +159,7 @@
   </entry>
   <entry>
     <key type="numeric" value="6144" />
-    <val type="list" id="14595856" >
+    <val type="list" id="11103408" >
       <item type="string" value="{True:&quot;$NODEID+0x%X80&quot;%(base+1),False:0}[base&lt;4]" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -165,13 +169,13 @@
   </entry>
   <entry>
     <key type="numeric" value="6660" />
-    <val type="list" id="14595928" >
+    <val type="list" id="11111240" >
       <item type="numeric" value="537657360" />
     </val>
   </entry>
   <entry>
     <key type="numeric" value="6656" />
-    <val type="list" id="14596000" >
+    <val type="list" id="11102112" >
       <item type="numeric" value="536870913" />
       <item type="numeric" value="536936449" />
       <item type="numeric" value="537001985" />
@@ -186,7 +190,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4099" />
-    <val type="list" id="14596072" >
+    <val type="list" id="11110520" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -199,7 +203,7 @@
   </entry>
   <entry>
     <key type="numeric" value="6145" />
-    <val type="list" id="14596144" >
+    <val type="list" id="11111168" >
       <item type="string" value="{True:&quot;$NODEID+0x%X80&quot;%(base+1),False:0}[base&lt;4]" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -209,17 +213,17 @@
   </entry>
   <entry>
     <key type="numeric" value="6657" />
-    <val type="list" id="14596216" >
+    <val type="list" id="12077032" >
       <item type="numeric" value="537526288" />
     </val>
   </entry>
 </attr>
-<attr name="SpecificMenu" type="list" id="14596288" >
+<attr name="SpecificMenu" type="list" id="11101464" >
 </attr>
-<attr name="ParamsDictionary" type="dict" id="19829232" >
+<attr name="ParamsDictionary" type="dict" id="16301408" >
   <entry>
     <key type="numeric" value="8192" />
-    <val type="dict" id="19789856" >
+    <val type="dict" id="15731648" >
       <entry>
         <key type="string" value="callback" />
         <val type="False" value="" />
@@ -228,10 +232,10 @@
   </entry>
   <entry>
     <key type="numeric" value="6144" />
-    <val type="dict" id="19831952" >
+    <val type="dict" id="9567888" >
       <entry>
         <key type="numeric" value="2" />
-        <val type="dict" id="19726736" >
+        <val type="dict" id="16301984" >
           <entry>
             <key type="string" value="save" />
             <val type="True" value="" />
@@ -240,7 +244,7 @@
       </entry>
       <entry>
         <key type="numeric" value="3" />
-        <val type="dict" id="19787440" >
+        <val type="dict" id="19216992" >
           <entry>
             <key type="string" value="save" />
             <val type="True" value="" />
@@ -251,10 +255,10 @@
   </entry>
   <entry>
     <key type="numeric" value="6146" />
-    <val type="dict" id="19788880" >
+    <val type="dict" id="16269424" >
       <entry>
         <key type="numeric" value="2" />
-        <val type="dict" id="19682352" >
+        <val type="dict" id="19215136" >
           <entry>
             <key type="string" value="comment" />
             <val type="string">EVENT</val>
@@ -263,7 +267,7 @@
       </entry>
       <entry>
         <key type="numeric" value="3" />
-        <val type="dict" id="11679552" >
+        <val type="dict" id="19215424" >
           <entry>
             <key type="string" value="comment" />
             <val type="string">5000*100 µC = 500 ms</val>
@@ -272,7 +276,7 @@
       </entry>
       <entry>
         <key type="numeric" value="4" />
-        <val type="dict" id="12353264" >
+        <val type="dict" id="16249568" >
           <entry>
             <key type="string" value="comment" />
             <val type="string" value="" />
@@ -281,7 +285,7 @@
       </entry>
       <entry>
         <key type="numeric" value="5" />
-        <val type="dict" id="19812192" >
+        <val type="dict" id="9568176" >
           <entry>
             <key type="string" value="comment" />
             <val type="string">1000 ms</val>
@@ -292,10 +296,10 @@
   </entry>
   <entry>
     <key type="numeric" value="6147" />
-    <val type="dict" id="19775520" >
+    <val type="dict" id="16302272" >
       <entry>
         <key type="numeric" value="2" />
-        <val type="dict" id="19788512" >
+        <val type="dict" id="19261968" >
           <entry>
             <key type="string" value="comment" />
             <val type="string">RTR_SYNC</val>
@@ -306,10 +310,10 @@
   </entry>
   <entry>
     <key type="numeric" value="6148" />
-    <val type="dict" id="19832608" >
+    <val type="dict" id="19263360" >
       <entry>
         <key type="numeric" value="2" />
-        <val type="dict" id="19816608" >
+        <val type="dict" id="19260976" >
           <entry>
             <key type="string" value="comment" />
             <val type="string">RTR</val>
@@ -320,7 +324,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4112" />
-    <val type="dict" id="19699184" >
+    <val type="dict" id="19261552" >
       <entry>
         <key type="string" value="callback" />
         <val type="True" value="" />
@@ -329,7 +333,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4113" />
-    <val type="dict" id="19800640" >
+    <val type="dict" id="16301120" >
       <entry>
         <key type="string" value="callback" />
         <val type="True" value="" />
@@ -338,7 +342,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4099" />
-    <val type="dict" id="19792416" >
+    <val type="dict" id="16249856" >
       <entry>
         <key type="string" value="callback" />
         <val type="True" value="" />
@@ -347,7 +351,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4119" />
-    <val type="dict" id="19813056" >
+    <val type="dict" id="19263648" >
       <entry>
         <key type="string" value="callback" />
         <val type="True" value="" />
@@ -355,18 +359,18 @@
     </val>
   </entry>
 </attr>
-<attr name="UserMapping" type="dict" id="19799568" >
+<attr name="UserMapping" type="dict" id="16251168" >
   <entry>
     <key type="numeric" value="8192" />
-    <val type="dict" id="19833760" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14596360" >
-          <item type="dict" id="19828608" >
+    <val type="dict" id="19263936" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="12076672" >
+          <item type="dict" id="19257456" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -398,15 +402,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8193" />
-    <val type="dict" id="19828944" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14596432" >
-          <item type="dict" id="19824608" >
+    <val type="dict" id="19264864" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="11111096" >
+          <item type="dict" id="19390480" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -438,15 +442,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8194" />
-    <val type="dict" id="19820608" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14596504" >
-          <item type="dict" id="19820896" >
+    <val type="dict" id="19264576" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="12077896" >
+          <item type="dict" id="19215712" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -478,15 +482,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8195" />
-    <val type="dict" id="19842240" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14596576" >
-          <item type="dict" id="19842528" >
+    <val type="dict" id="19261264" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="12077680" >
+          <item type="dict" id="19265152" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -518,15 +522,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8196" />
-    <val type="dict" id="19667488" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14596648" >
-          <item type="dict" id="19667776" >
+    <val type="dict" id="19391360" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="11110952" >
+          <item type="dict" id="19391072" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -558,15 +562,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8197" />
-    <val type="dict" id="19805728" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14596720" >
-          <item type="dict" id="19806016" >
+    <val type="dict" id="19388320" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="12078256" >
+          <item type="dict" id="19391840" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -598,15 +602,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8198" />
-    <val type="dict" id="19790144" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14596792" >
-          <item type="dict" id="19790432" >
+    <val type="dict" id="19389952" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="12077608" >
+          <item type="dict" id="19389664" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -638,15 +642,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8199" />
-    <val type="dict" id="19790864" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14596864" >
-          <item type="dict" id="19806992" >
+    <val type="dict" id="19394080" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="12078400" >
+          <item type="dict" id="19392368" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -678,15 +682,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8200" />
-    <val type="dict" id="19807424" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14596936" >
-          <item type="dict" id="19807712" >
+    <val type="dict" id="19394848" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="12078184" >
+          <item type="dict" id="19394560" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -718,15 +722,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8201" />
-    <val type="dict" id="19808144" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14597008" >
-          <item type="dict" id="19727248" >
+    <val type="dict" id="19395424" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="12077968" >
+          <item type="dict" id="19396432" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -758,15 +762,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8202" />
-    <val type="dict" id="19727648" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14597080" >
-          <item type="dict" id="19727936" >
+    <val type="dict" id="19396000" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="12077752" >
+          <item type="dict" id="19395712" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -798,15 +802,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8203" />
-    <val type="dict" id="19728400" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14597152" >
-          <item type="dict" id="19728688" >
+    <val type="dict" id="19398736" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="12078472" >
+          <item type="dict" id="19397024" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -838,15 +842,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8204" />
-    <val type="dict" id="19781664" >
-      <entry>
-        <key type="string" value="need" />
-        <val type="False" value="" />
-      </entry>
-      <entry>
-        <key type="string" value="values" />
-        <val type="list" id="14597224" >
-          <item type="dict" id="19781952" >
+    <val type="dict" id="19399504" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="12078544" >
+          <item type="dict" id="19399216" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -877,7 +881,7 @@
     </val>
   </entry>
 </attr>
-<attr name="DS302" type="dict" id="19783136" >
+<attr name="DS302" type="dict" id="19400080" >
 </attr>
 <attr name="ProfileName" type="string" value="DS-301" />
 <attr name="Type" type="string">slave</attr>
--- a/include/can_driver.h	Mon Nov 12 13:24:17 2007 +0100
+++ b/include/can_driver.h	Mon Nov 12 14:38:34 2007 +0100
@@ -61,7 +61,12 @@
     UNS8 fc = m->cob_id.w >> 7;
     switch(fc)
     {
-        _P(SYNC)
+        case SYNC: 
+            if(m->cob_id.w == 0x080)
+                printf("SYNC ");
+            else
+                printf("EMCY ");
+        break;
         _P(TIME_STAMP)
         _P(PDO1tx)
         _P(PDO1rx)
--- a/include/data.h	Mon Nov 12 13:24:17 2007 +0100
+++ b/include/data.h	Mon Nov 12 14:38:34 2007 +0100
@@ -102,6 +102,7 @@
 	UNS8* error_number;
 	UNS32* error_first_element;
 	UNS8* error_register;
+    UNS32* error_cobid;
 	s_errors error_data[EMCY_MAX_ERRORS];
 	post_emcy_t post_emcy;
 	
@@ -199,6 +200,7 @@
 	& NODE_PREFIX ## _highestSubIndex_obj1003,    /* error_number */\
 	& NODE_PREFIX ## _obj1003[0],    /* error_first_element */\
 	& NODE_PREFIX ## _obj1001,       /* error_register */\
+    & NODE_PREFIX ## _obj1014,       /* error_cobid */\
 	/* error_data: structure s_errors */\
 	{\
 	REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\
--- a/objdictgen/commondialogs.py	Mon Nov 12 13:24:17 2007 +0100
+++ b/objdictgen/commondialogs.py	Mon Nov 12 14:38:34 2007 +0100
@@ -953,7 +953,6 @@
               label='Emergency support', name='Emergency',
               parent=self, pos=wx.Point(0, 0), size=wx.Size(0, 24), style=0)
         self.Emergency.SetValue(False)
-        self.Emergency.Enable(False)
 
         self.SaveConfig = wx.CheckBox(id=ID_CREATENODEDIALOGSAVECONFIG,
               label='Save Configuration', name='SaveConfig', parent=self, 
--- a/objdictgen/gen_cfile.py	Mon Nov 12 13:24:17 2007 +0100
+++ b/objdictgen/gen_cfile.py	Mon Nov 12 14:38:34 2007 +0100
@@ -363,6 +363,13 @@
                     UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */
 """%texts
 
+    if 0x1014 not in communicationlist:
+        entry_infos = Node.GetEntryInfos(0x1014)
+        texts["EntryName"] = entry_infos["name"]
+        indexContents[0x1014] = """\n/* index 0x1014 :   %(EntryName)s */
+                    UNS32 %(NodeName)s_obj1014 = 0x0;   /* 0 */
+"""%texts
+
     if 0x1016 in communicationlist:
         texts["nombre"] = Node.GetEntry(0x1016, 0)
     else:
--- a/src/emcy.c	Mon Nov 12 13:24:17 2007 +0100
+++ b/src/emcy.c	Mon Nov 12 14:38:34 2007 +0100
@@ -39,7 +39,7 @@
 
 
 UNS32 OnNumberOfErrorsUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
-UNS8 sendEMCY(CO_Data* d, UNS32 cob_id, UNS16 errCode, UNS8 errRegister);
+UNS8 sendEMCY(CO_Data* d, UNS16 errCode, UNS8 errRegister);
 
 
 /*! This is called when Index 0x1003 is updated.
@@ -94,13 +94,13 @@
  **                                                                                                 
  ** @return                                                                                         
  **/  
-UNS8 sendEMCY(CO_Data* d, UNS32 cob_id, UNS16 errCode, UNS8 errRegister)
+UNS8 sendEMCY(CO_Data* d, UNS16 errCode, UNS8 errRegister)
 {
 	Message m;
   
 	MSG_WAR(0x3051, "sendEMCY", 0);
   
-	m.cob_id.w = cob_id ;
+	m.cob_id.w = *d->error_cobid;
 	m.rtr = NOT_A_REQUEST;
 	m.len = 8;
 	m.data[0] = errCode & 0xFF;        /* LSB */
@@ -170,7 +170,7 @@
 	
 	/* send EMCY message */
 	if (d->CurrentCommunicationState.csEmergency)
-		return sendEMCY(d, *d->bDeviceNodeId + 0x080, errCode, *d->error_register);
+		return sendEMCY(d, errCode, *d->error_register);
 	else return 1;
 }
 
@@ -208,7 +208,7 @@
 			d->error_state = Error_free;
 			/* send a EMCY message with code "Error Reset or No Error" */
 			if (d->CurrentCommunicationState.csEmergency)
-				sendEMCY(d, *d->bDeviceNodeId + 0x080, 0x0000, 0x00);
+				sendEMCY(d, 0x0000, 0x00);
 		}
 		*d->error_register = errRegister_tmp;
 	}
--- a/src/states.c	Mon Nov 12 13:24:17 2007 +0100
+++ b/src/states.c	Mon Nov 12 14:38:34 2007 +0100
@@ -288,6 +288,11 @@
       offset ++;
     }
   }
+
+  /* Update EMCY COB-ID if already set to default*/
+  if(*d->error_cobid == *d->bDeviceNodeId + 0x80)
+    *d->error_cobid = nodeId + 0x80;
+
   /* bDeviceNodeId is defined in the object dictionary. */
   *d->bDeviceNodeId = nodeId;
 }
canfestival