SM0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1100, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1200, DefaultSize   24, ControlRegister 0x24, Enable 1
  RxPDO 0x1600 "IO Outputs"
    PDO entry 0x6040:00, 16 bit, "Control word"
    PDO entry 0x60b8:00, 16 bit, "TP Function"
    PDO entry 0x607a:00, 32 bit, "Target position"
    PDO entry 0x60ff:00, 32 bit, "Target velocity"
    PDO entry 0x58e1:07, 16 bit, "SubIndex 007"
    PDO entry 0x58e1:08, 16 bit, "SubIndex 008"
    PDO entry 0x58e1:09, 16 bit, "SubIndex 009"
    PDO entry 0x58e1:0a, 16 bit, "SubIndex 010"
    PDO entry 0x58e1:0b, 16 bit, "SubIndex 011"
    PDO entry 0x58e1:0c, 16 bit, "SubIndex 012"
SM3: PhysAddr 0x1900, DefaultSize   26, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 "IO Inputs"
    PDO entry 0x0000:00, 14 bit, ""
    PDO entry 0x1800:09,  1 bit, "TxPDO Toggle"
    PDO entry 0x1800:07,  1 bit, "TxPDO State"
    PDO entry 0x6041:00, 16 bit, "Status word"
    PDO entry 0x60b9:00, 16 bit, "TP Status"
    PDO entry 0x6064:00, 32 bit, "Position actual value"
    PDO entry 0x60ba:00, 32 bit, "TP Pos1 pos value"
    PDO entry 0x60bb:00, 32 bit, "TP Pos1 neg value"
    PDO entry 0x58e0:09, 16 bit, "SubIndex 009"
    PDO entry 0x58e0:0a, 16 bit, "SubIndex 010"
    PDO entry 0x58e0:0b, 16 bit, "SubIndex 011"
    PDO entry 0x58e0:0c, 16 bit, "SubIndex 012"