# options: # dcf_path: "" # heartbeat_multiplier: 3.0 master: node_id: 1 # baudrate: 1000 # kbit/s # vendor_id: 0x12345678 # product_code: 0x12345678 # revision_number: 0x12345678 # serial_number: 0x12345678 # heartbeat_multiplier: 3.0 # heartbeat_consumer: true # heartbeat_producer: 0 # ms # emcy_inhibit_time: 0 # 100 us sync_period: 1000000 # us # sync_window: 0 # us # sync_overflow: 0 # error_behavior: {1: 0x00} # nmt_inhibit_time: 0 # 100 us # start: true # start_nodes: true # start_all_nodes: false # reset_all_nodes: false # stop_all_nodes: false # boot_time: 0 # ms slave_2: dcf: "cpp-slave.eds" # dcf_path: "" node_id: 2 # revision_number: 0x12345678 # serial_number: 0x12345678 # heartbeat_multiplier: 3.0 # heartbeat_consumer: false # heartbeat_producer: 0 # ms # error_behavior: {} # rpdo: # 1: # enabled: true # cob_id: auto # transmission: 0x01 # inhibit_time: 0 # 100 us # event_timer: 0 # ms # mapping: # - {index: 0x4000, sub_index: 0x00} # tpdo: # 1: # enabled: true # cob_id: auto # transmission: 0x01 # inhibit_time: 0 # 100 us # event_timer: 0 # ms # sync_start: 0 # mapping: # - {index: 0x4001, sub_index: 0x00} # boot: true # mandatory: false # reset_communication: true # software_file: "slave_v1.2.3.bin" # software_version: 0x00010203 # restore_configuration: 0x00 # sdo: # - {index: 0x5000, sub_index: 0x00, value: 42}