syntax = "proto3";

package cmvr.msgs;

// CiA402 object dictionary indexes shared by CANopen and EtherCAT CoE drives.
enum Cia402ObjectIndex {
  CIA402_OBJECT_INDEX_ZERO = 0;

  CIA402_ERROR_CODE_603F = 0x603F;

  CIA402_CONTROL_WORD_6040 = 0x6040;
  CIA402_STATUS_WORD_6041 = 0x6041;

  CIA402_QUICK_STOP_OPTION_605A = 0x605A;
  CIA402_SHUTDOWN_OPTION_605B = 0x605B;
  CIA402_DISABLE_OPERATION_OPTION_605C = 0x605C;
  CIA402_HALT_OPTION_605D = 0x605D;
  CIA402_FAULT_REACTION_OPTION_605E = 0x605E;

  CIA402_OPERATION_MODE_6060 = 0x6060;
  CIA402_MODE_DISPLAY_6061 = 0x6061;

  CIA402_POSITION_DEMAND_VALUE_6062 = 0x6062;
  CIA402_ACTUAL_POSITION_6064 = 0x6064;
  CIA402_MAX_FOLLOWING_ERROR_6065 = 0x6065;
  CIA402_POSITION_WINDOW_6067 = 0x6067;
  CIA402_POSITION_WINDOW_TIME_6068 = 0x6068;

  CIA402_VELOCITY_DEMAND_VALUE_606B = 0x606B;
  CIA402_ACTUAL_VELOCITY_606C = 0x606C;
  CIA402_VELOCITY_WINDOW_606D = 0x606D;
  CIA402_VELOCITY_WINDOW_TIME_606E = 0x606E;
  CIA402_VELOCITY_THRESHOLD_606F = 0x606F;
  CIA402_VELOCITY_THRESHOLD_TIME_6070 = 0x6070;

  CIA402_TARGET_TORQUE_6071 = 0x6071;
  CIA402_MAX_TORQUE_6072 = 0x6072;
  CIA402_TORQUE_DEMAND_VALUE_6074 = 0x6074;
  CIA402_MOTOR_RATED_TORQUE_6076 = 0x6076;
  CIA402_ACTUAL_TORQUE_6077 = 0x6077;
  CIA402_ACTUAL_CURRENT_6078 = 0x6078;
  CIA402_DC_LINK_VOLTAGE_6079 = 0x6079;

  CIA402_TARGET_POSITION_607A = 0x607A;
  CIA402_HOME_OFFSET_607C = 0x607C;
  CIA402_SOFTWARE_POSITION_LIMIT_607D = 0x607D;
  CIA402_MAX_PROFILE_VELOCITY_607F = 0x607F;

  CIA402_PROFILE_VELOCITY_6081 = 0x6081;
  CIA402_PROFILE_ACCELERATION_6083 = 0x6083;
  CIA402_PROFILE_DECELERATION_6084 = 0x6084;
  CIA402_QUICK_STOP_DECELERATION_6085 = 0x6085;
  CIA402_TORQUE_SLOPE_6087 = 0x6087;

  CIA402_GEAR_RATIO_6091 = 0x6091;
  CIA402_VELOCITY_OFFSET_60B1 = 0x60B1;
  CIA402_TORQUE_OFFSET_60B2 = 0x60B2;
  CIA402_INTERPOLATION_DATA_RECORD_60C1 = 0x60C1;
  CIA402_INTERPOLATION_TIME_PERIOD_60C2 = 0x60C2;
  CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4 = 0x60F4;
  CIA402_TARGET_VELOCITY_60FF = 0x60FF;

  CIA402_SUPPORTED_DRIVE_MODES_6502 = 0x6502;
}