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00002
00003 PDOs={
00004 "RPDO1": [1, ('6040', "control_word", 2), ('6060', "op_mode", 1)],
00005 "RPDO3": [1, ('607A', "target_position", 4), ('60FF', "target_profiled_velocity", 4)],
00006 "RPDO4": [1, ('60C1sub1', "target_interpolated_position", 4)],
00007
00008 "TPDO1": [1, ('6041', "status_word", 2), ('6061', "op_mode_display", 1), ('2041', "timestamp", 4)],
00009 "TPDO3": [1, ('6064', "actual_position", 4), ('606C', "actual_velocity", 4)],
00010 }
00011
00012 if __name__ == "__main__":
00013 import pdo, sys
00014
00015 fname = sys.argv[1]
00016 pdo.patch_all(fname, fname, PDOs)