diff --git a/EnduranceTestBench/coappl/enduranceTestBench.cddp b/EnduranceTestBench/coappl/enduranceTestBench.cddp
index 46c32d8..9ea093b 100644
Binary files a/EnduranceTestBench/coappl/enduranceTestBench.cddp and b/EnduranceTestBench/coappl/enduranceTestBench.cddp differ
diff --git a/EnduranceTestBench/coappl/enduranceTestBench.csv b/EnduranceTestBench/coappl/enduranceTestBench.csv
index a56c189..6348cce 100644
--- a/EnduranceTestBench/coappl/enduranceTestBench.csv
+++ b/EnduranceTestBench/coappl/enduranceTestBench.csv
@@ -6,9 +6,28 @@ Index,Sub,EDSname,Datatype,Access,Value,varname,LowLimit,UpLimit,hasDefault,hasL
 0x1008,0x00,Manufacturer device name,VISIBLE_STRING,const,emotas Slave 1,NONE,0,0,yes,no,no,no,1,ManagedConst,14,,no
 0x1014,0x00,COB ID EMCY,UNSIGNED32,ro,$NODEID+0x80,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
 0x1015,0x00,Inhibit Time Emergency,UNSIGNED16,rw,0,NONE,0,65535,yes,no,no,no,1,ManagedVariable,0,,no
-0x1016,0x00,Consumer Heartbeat Time Number of entries,UNSIGNED8,ro,1,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
-0x1016,0x01,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,0,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
-0x1017,0x00,Producer Heartbeat Time,UNSIGNED16,rw,1500,NONE,0,65535,no,no,no,no,0,ManagedVariable,0,,no
+0x1016,0x00,Consumer Heartbeat Time Number of entries,UNSIGNED8,ro,20,NONE,0,255,yes,no,no,no,1,ManagedConst,0,ARRAY,no
+0x1016,0x01,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x02,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x03,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x04,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x05,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x06,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x07,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x08,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x09,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x0a,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x0b,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x0c,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x0d,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x0e,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x0f,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x10,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x11,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x12,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x13,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1016,0x14,Consumer Heartbeat Time Consumer Heartbeat Time,UNSIGNED32,rw,500,NONE,0,4294967295,yes,no,no,no,1,ManagedVariable,0,,no
+0x1017,0x00,Producer Heartbeat Time,UNSIGNED16,rw,100,NONE,0,65535,no,no,no,no,0,ManagedVariable,0,,no
 0x1018,0x00,Identity Object Number of entries,UNSIGNED8,ro,4,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
 0x1018,0x01,Identity Object Vendor Id,UNSIGNED32,ro,793,NONE,0,4294967295,yes,no,no,no,1,ManagedConst,0,,no
 0x1018,0x02,Identity Object Product Code,UNSIGNED32,ro,1234,NONE,0,4294967295,yes,no,no,no,1,ManagedConst,0,,no
@@ -153,6 +172,27 @@ Index,Sub,EDSname,Datatype,Access,Value,varname,LowLimit,UpLimit,hasDefault,hasL
 0x1804,0x04,TPDO communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
 0x1804,0x05,TPDO communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
 0x1804,0x06,TPDO communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1805,0x00,TPDO communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,both
+0x1805,0x01,TPDO communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x180+2,NONE,128,4294967295,yes,no,no,no,2,ManagedVariable,0,,tpdo
+0x1805,0x02,TPDO communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,no
+0x1805,0x03,TPDO communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1805,0x04,TPDO communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1805,0x05,TPDO communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1805,0x06,TPDO communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1806,0x00,TPDO communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,both
+0x1806,0x01,TPDO communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x180+3,NONE,128,4294967295,yes,no,no,no,2,ManagedVariable,0,,tpdo
+0x1806,0x02,TPDO communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,no
+0x1806,0x03,TPDO communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1806,0x04,TPDO communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1806,0x05,TPDO communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1806,0x06,TPDO communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1807,0x00,TPDO communication parameter Highest sub-index supported,UNSIGNED8,const,6,NONE,2,6,yes,no,no,no,1,ManagedConst,0,RECORD,both
+0x1807,0x01,TPDO communication parameter COB-ID used by TPDO,UNSIGNED32,rw,$NODEID+0x180+4,NONE,128,4294967295,yes,no,no,no,2,ManagedVariable,0,,tpdo
+0x1807,0x02,TPDO communication parameter Transmission type,UNSIGNED8,rw,254,NONE,0,255,yes,no,no,no,0,ManagedVariable,0,,no
+0x1807,0x03,TPDO communication parameter Inhibit time,UNSIGNED16,rw,,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1807,0x04,TPDO communication parameter Inhibit time,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1807,0x05,TPDO communication parameter Event timer,UNSIGNED16,rw,500,NONE,0,0xffff,yes,no,no,no,0,ManagedVariable,0,,no
+0x1807,0x06,TPDO communication parameter SYNC start value,UNSIGNED8,rw,,NONE,0,0xff,yes,no,no,no,0,ManagedVariable,0,,no
 0x1a00,0x00,Conductivity Data OUT1 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
 0x1a00,0x01,Conductivity Data OUT1 Mapping Entry 1,UNSIGNED32,const,1610744096,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
 0x1a00,0x02,Conductivity Data OUT1 Mapping Entry 2,UNSIGNED32,const,1610744352,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
@@ -166,8 +206,16 @@ Index,Sub,EDSname,Datatype,Access,Value,varname,LowLimit,UpLimit,hasDefault,hasL
 0x1a03,0x01, Pressue and Flowmeter Data OUT1 Mapping Entry 1,UNSIGNED32,const,1610875168,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
 0x1a03,0x02, Pressue and Flowmeter Data OUT1 Mapping Entry 2,UNSIGNED32,const,1610940704,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
 0x1a04,0x00, Pressue and Flowmeter Data OUT2 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
-0x1a04,0x01, Pressue and Flowmeter Data OUT2 Mapping Entry 1,UNSIGNED32,const,1610679072,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
-0x1a04,0x02, Pressue and Flowmeter Data OUT2 Mapping Entry 2,UNSIGNED32,const,1610679328,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,tpdo
+0x1a04,0x01, Pressue and Flowmeter Data OUT2 Mapping Entry 1,UNSIGNED32,const,1610875424,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a04,0x02, Pressue and Flowmeter Data OUT2 Mapping Entry 2,UNSIGNED32,const,1610940960,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a05,0x00, Pressue and Flowmeter Data OUT3 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1a05,0x01, Pressue and Flowmeter Data OUT3 Mapping Entry 1,UNSIGNED32,const,1610875680,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a05,0x02, Pressue and Flowmeter Data OUT3 Mapping Entry 2,UNSIGNED32,const,1610941216,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a06,0x00, Pressue and Flowmeter Data OUT4 Number of entries,UNSIGNED8,const,2,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1a06,0x01, Pressue and Flowmeter Data OUT4 Mapping Entry 1,UNSIGNED32,const,1610875936,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a06,0x02, Pressue and Flowmeter Data OUT4 Mapping Entry 2,UNSIGNED32,const,1610941472,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
+0x1a07,0x00,Pump Data OUT Number of entries,UNSIGNED8,const,1,NONE,0,255,yes,no,no,no,1,ManagedConst,0,RECORD,no
+0x1a07,0x01,Pump Data OUT Mapping Entry 1,UNSIGNED32,const,1611005984,NONE,0,0,yes,no,no,no,1,ManagedConst,0,,no
  
 0x2001,0x00,Manufacturer Object,INTEGER32,rw,4,NONE,0,0,no,no,no,no,0,ManagedVariable,0,,both
 0x3000,0x00,Managed Array NUmber of Entries,UNSIGNED8,ro,2,NONE,0,0,yes,no,no,no,1,ManagedConst,0,ARRAY,no
@@ -213,3 +261,4 @@ Index,Sub,EDSname,Datatype,Access,Value,varname,LowLimit,UpLimit,hasDefault,hasL
 0x6005,0x02,Pressure Sensor Data OUT PS2 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
 0x6005,0x03,Pressure Sensor Data OUT PS3 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
 0x6005,0x04,Pressure Sensor Data OUT PS4 OUT,REAL32,rw,,NONE,,,yes,no,no,no,1,ManagedVariable,0,,both
+0x6006,0x00,Pump Data OUT,UNSIGNED32,rw,,NONE,0,0xffffffff,yes,no,no,no,1,ManagedVariable,0,,tpdo
diff --git a/EnduranceTestBench/coappl/enduranceTestBench.eds b/EnduranceTestBench/coappl/enduranceTestBench.eds
index dc4235a..1a246df 100644
--- a/EnduranceTestBench/coappl/enduranceTestBench.eds
+++ b/EnduranceTestBench/coappl/enduranceTestBench.eds
@@ -5,10 +5,10 @@ FileVersion=1.0
 FileRevision=1.0
 EDSVersion=4.0
 Description=EDS
-CreationTime=14:59PM
-CreationDate=02-25-25
-ModificationTime=14:59PM
-ModificationDate=02-25-25
+CreationTime=13:57PM
+CreationDate=04-25-25
+ModificationTime=13:57PM
+ModificationDate=04-25-25
 CreatedBy=Aniket Saha
 ModifiedBy=Aniket Saha
 
@@ -32,7 +32,7 @@ BaudRate_500=0
 BaudRate_800=0
 BaudRate_1000=0
 NrOfRxPDO=3
-NrOfTxPDO=5
+NrOfTxPDO=8
 SimpleBootupSlave=1
 SimpleBootupMaster=0
 LSS_Supported=0
@@ -61,7 +61,7 @@ SupportedObjects=2
 2=0x3000
 
 [OptionalObjects]
-SupportedObjects=51
+SupportedObjects=58
 1=0x1003
 2=0x1008
 3=0x1014
@@ -102,17 +102,24 @@ SupportedObjects=51
 38=0x1802
 39=0x1803
 40=0x1804
-41=0x1a00
-42=0x1a01
-43=0x1a02
-44=0x1a03
-45=0x1a04
-46=0x6000
-47=0x6001
-48=0x6002
-49=0x6003
-50=0x6004
-51=0x6005
+41=0x1805
+42=0x1806
+43=0x1807
+44=0x1a00
+45=0x1a01
+46=0x1a02
+47=0x1a03
+48=0x1a04
+49=0x1a05
+50=0x1a06
+51=0x1a07
+52=0x6000
+53=0x6001
+54=0x6002
+55=0x6003
+56=0x6004
+57=0x6005
+58=0x6006
 
 [1000]
 ParameterName=Device Type
@@ -1672,6 +1679,174 @@ DataType=5
 AccessType=rw
 PDOMapping=0
 
+[1805]
+ParameterName=TPDO communication parameter
+ObjectType=9
+SubNumber=7
+
+[1805sub0]
+ParameterName=Highest sub-index supported
+ObjectType=7
+DataType=5
+AccessType=const
+PDOMapping=1
+DefaultValue=6
+
+[1805sub1]
+ParameterName=COB-ID used by TPDO
+ObjectType=7
+DataType=7
+AccessType=rw
+PDOMapping=1
+DefaultValue=$NODEID+0x180+2
+
+[1805sub2]
+ParameterName=Transmission type
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[1805sub3]
+ParameterName=Inhibit time
+ObjectType=7
+DataType=6
+AccessType=rw
+PDOMapping=0
+
+[1805sub4]
+ParameterName=Inhibit time
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[1805sub5]
+ParameterName=Event timer
+ObjectType=7
+DataType=6
+AccessType=rw
+PDOMapping=0
+
+[1805sub6]
+ParameterName=SYNC start value
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[1806]
+ParameterName=TPDO communication parameter
+ObjectType=9
+SubNumber=7
+
+[1806sub0]
+ParameterName=Highest sub-index supported
+ObjectType=7
+DataType=5
+AccessType=const
+PDOMapping=1
+DefaultValue=6
+
+[1806sub1]
+ParameterName=COB-ID used by TPDO
+ObjectType=7
+DataType=7
+AccessType=rw
+PDOMapping=1
+DefaultValue=$NODEID+0x180+3
+
+[1806sub2]
+ParameterName=Transmission type
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[1806sub3]
+ParameterName=Inhibit time
+ObjectType=7
+DataType=6
+AccessType=rw
+PDOMapping=0
+
+[1806sub4]
+ParameterName=Inhibit time
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[1806sub5]
+ParameterName=Event timer
+ObjectType=7
+DataType=6
+AccessType=rw
+PDOMapping=0
+
+[1806sub6]
+ParameterName=SYNC start value
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[1807]
+ParameterName=TPDO communication parameter
+ObjectType=9
+SubNumber=7
+
+[1807sub0]
+ParameterName=Highest sub-index supported
+ObjectType=7
+DataType=5
+AccessType=const
+PDOMapping=1
+DefaultValue=6
+
+[1807sub1]
+ParameterName=COB-ID used by TPDO
+ObjectType=7
+DataType=7
+AccessType=rw
+PDOMapping=1
+DefaultValue=$NODEID+0x180+4
+
+[1807sub2]
+ParameterName=Transmission type
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[1807sub3]
+ParameterName=Inhibit time
+ObjectType=7
+DataType=6
+AccessType=rw
+PDOMapping=0
+
+[1807sub4]
+ParameterName=Inhibit time
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
+[1807sub5]
+ParameterName=Event timer
+ObjectType=7
+DataType=6
+AccessType=rw
+PDOMapping=0
+
+[1807sub6]
+ParameterName=SYNC start value
+ObjectType=7
+DataType=5
+AccessType=rw
+PDOMapping=0
+
 [1a00]
 ParameterName=Conductivity Data OUT1
 ObjectType=9
@@ -1806,16 +1981,95 @@ ParameterName=Mapping Entry 1
 ObjectType=7
 DataType=7
 AccessType=const
-PDOMapping=1
-DefaultValue=0x60010320
+PDOMapping=0
+DefaultValue=0x60040220
 
 [1a04sub2]
 ParameterName=Mapping Entry 2
 ObjectType=7
 DataType=7
 AccessType=const
-PDOMapping=1
-DefaultValue=0x60010420
+PDOMapping=0
+DefaultValue=0x60050220
+
+[1a05]
+ParameterName= Pressue and Flowmeter Data OUT3
+ObjectType=9
+SubNumber=3
+
+[1a05sub0]
+ParameterName=Number of entries
+ObjectType=7
+DataType=5
+AccessType=const
+PDOMapping=0
+DefaultValue=2
+
+[1a05sub1]
+ParameterName=Mapping Entry 1
+ObjectType=7
+DataType=7
+AccessType=const
+PDOMapping=0
+DefaultValue=0x60040320
+
+[1a05sub2]
+ParameterName=Mapping Entry 2
+ObjectType=7
+DataType=7
+AccessType=const
+PDOMapping=0
+DefaultValue=0x60050320
+
+[1a06]
+ParameterName= Pressue and Flowmeter Data OUT4
+ObjectType=9
+SubNumber=3
+
+[1a06sub0]
+ParameterName=Number of entries
+ObjectType=7
+DataType=5
+AccessType=const
+PDOMapping=0
+DefaultValue=2
+
+[1a06sub1]
+ParameterName=Mapping Entry 1
+ObjectType=7
+DataType=7
+AccessType=const
+PDOMapping=0
+DefaultValue=0x60040420
+
+[1a06sub2]
+ParameterName=Mapping Entry 2
+ObjectType=7
+DataType=7
+AccessType=const
+PDOMapping=0
+DefaultValue=0x60050420
+
+[1a07]
+ParameterName=Pump Data OUT
+ObjectType=9
+SubNumber=2
+
+[1a07sub0]
+ParameterName=Number of entries
+ObjectType=7
+DataType=5
+AccessType=const
+PDOMapping=0
+DefaultValue=1
+
+[1a07sub1]
+ParameterName=Mapping Entry 1
+ObjectType=7
+DataType=7
+AccessType=const
+PDOMapping=0
+DefaultValue=0x60060020
 
 [2001]
 ParameterName=Manufacturer Object
@@ -2160,3 +2414,10 @@ DataType=8
 AccessType=rw
 PDOMapping=1
 
+[6006]
+ParameterName=Pump Data OUT
+ObjectType=7
+DataType=7
+AccessType=rw
+PDOMapping=1
+
diff --git a/EnduranceTestBench/coappl/enduranceTestBench.html b/EnduranceTestBench/coappl/enduranceTestBench.html
index cbb358c..1be528c 100644
--- a/EnduranceTestBench/coappl/enduranceTestBench.html
+++ b/EnduranceTestBench/coappl/enduranceTestBench.html
@@ -1,7 +1,7 @@
 <!-- HTML file for enduranceTestBench - generated by CANopen DeviceDesigner 3.14.2 -->
 <html>
  <head>
-  <title>Object Dictionary Documenation of enduranceTestBench - Tue Feb 11 13:50:11 2025</title>
+  <title>Object Dictionary Documenation of enduranceTestBench - Fri Apr 25 13:57:30 2025</title>
 <style>
 html *
 {
@@ -93,7 +93,7 @@ margin: 0 auto; width:600px;
     <td colspan="2" id="gen">Generation information enduranceTestBench</td>
    </tr>
    <tr class="alt">
-   <td>Generation time: Tue Feb 11 13:50:11 2025</td>
+   <td>Generation time: Fri Apr 25 13:57:30 2025</td>
    </tr>
    <tr>
    <td>Vendor name:nehemis</td>
@@ -185,11 +185,17 @@ margin: 0 auto; width:600px;
 <a href="#6146">0x1802 TPDO communication parameter</a><br>
 <a href="#6147">0x1803 TPDO communication parameter</a><br>
 <a href="#6148">0x1804 TPDO communication parameter</a><br>
+<a href="#6149">0x1805 TPDO communication parameter</a><br>
+<a href="#6150">0x1806 TPDO communication parameter</a><br>
+<a href="#6151">0x1807 TPDO communication parameter</a><br>
 <a href="#6656">0x1a00 Conductivity Data OUT1</a><br>
 <a href="#6657">0x1a01 Conductivity Data OUT2</a><br>
 <a href="#6658">0x1a02 Conductivity Data OUT3</a><br>
 <a href="#6659">0x1a03  Pressue and Flowmeter Data OUT1</a><br>
 <a href="#6660">0x1a04  Pressue and Flowmeter Data OUT2</a><br>
+<a href="#6661">0x1a05  Pressue and Flowmeter Data OUT3</a><br>
+<a href="#6662">0x1a06  Pressue and Flowmeter Data OUT4</a><br>
+<a href="#6663">0x1a07 Pump Data OUT</a><br>
 <br>
 <a href="#8193">0x2001 Manufacturer Object</a><br>
 <a href="#12288">0x3000 Managed Array</a><br>
@@ -200,6 +206,7 @@ margin: 0 auto; width:600px;
 <a href="#24579">0x6003 Motor Valve Data OUT</a><br>
 <a href="#24580">0x6004 Flowmeter Data OUT</a><br>
 <a href="#24581">0x6005 Pressure Sensor Data OUT</a><br>
+<a href="#24582">0x6006 Pump Data OUT</a><br>
   </div>
   <div class="center">
  <p>
@@ -489,7 +496,7 @@ margin: 0 auto; width:600px;
    </tr>
    <tr class="alt">
     <td>Defaultvalue </td>
-    <td>1</td>
+    <td>20</td>
    </tr>
    <tr>
     <td>PDO Mapping</td>
@@ -516,7 +523,520 @@ margin: 0 auto; width:600px;
    </tr>
    <tr class="alt">
     <td>Defaultvalue </td>
-    <td>0x0000</td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x02</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x03</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x04</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x05</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x06</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x07</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x08</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x09</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x0a</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x0b</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x0c</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x0d</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x0e</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x0f</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x10</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x11</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x12</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x13</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x14</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Consumer Heartbeat Time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
    </tr>
    <tr>
     <td>PDO Mapping</td>
@@ -4904,6 +5424,609 @@ margin: 0 auto; width:600px;
   </table>
  </p>
   <hr />
+ <p>
+  <table border="1">
+   <tr>
+    <th colspan="2" id="6149"> Object: 0x1805 TPDO communication parameter</th>
+   </tr>
+   <tr>
+    <td>Object Code</td>
+    <td>Record</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x00</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Highest sub-index supported</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>const</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>6</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>optional</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x01</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>COB-ID used by TPDO</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>$NODEID+0x180+2</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>optional, TPDO only</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x02</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Transmission type</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>254</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x03</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Inhibit time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED16</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td></td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x04</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Inhibit time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td></td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x05</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Event timer</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED16</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x06</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>SYNC start value</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td></td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ </p>
+  <hr />
+ <p>
+  <table border="1">
+   <tr>
+    <th colspan="2" id="6150"> Object: 0x1806 TPDO communication parameter</th>
+   </tr>
+   <tr>
+    <td>Object Code</td>
+    <td>Record</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x00</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Highest sub-index supported</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>const</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>6</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>optional</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x01</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>COB-ID used by TPDO</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>$NODEID+0x180+3</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>optional, TPDO only</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x02</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Transmission type</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>254</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x03</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Inhibit time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED16</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td></td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x04</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Inhibit time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td></td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x05</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Event timer</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED16</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x06</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>SYNC start value</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td></td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ </p>
+  <hr />
+ <p>
+  <table border="1">
+   <tr>
+    <th colspan="2" id="6151"> Object: 0x1807 TPDO communication parameter</th>
+   </tr>
+   <tr>
+    <td>Object Code</td>
+    <td>Record</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x00</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Highest sub-index supported</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>const</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>6</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>optional</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x01</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>COB-ID used by TPDO</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>$NODEID+0x180+4</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>optional, TPDO only</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x02</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Transmission type</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>254</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x03</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Inhibit time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED16</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td></td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x04</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Inhibit time</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td></td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x05</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Event timer</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED16</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>500</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x06</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>SYNC start value</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td></td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ </p>
+  <hr />
  <p>
   <table border="1">
    <tr>
@@ -5333,11 +6456,11 @@ margin: 0 auto; width:600px;
    </tr>
    <tr class="alt">
     <td>Defaultvalue </td>
-    <td>0x60010320</td>
+    <td>0x60040220</td>
    </tr>
    <tr>
     <td>PDO Mapping</td>
-    <td>optional, TPDO only</td>
+    <td>no</td>
    </tr>
   </table>
  <br/>
@@ -5360,11 +6483,263 @@ margin: 0 auto; width:600px;
    </tr>
    <tr class="alt">
     <td>Defaultvalue </td>
-    <td>0x60010420</td>
+    <td>0x60050220</td>
    </tr>
    <tr>
     <td>PDO Mapping</td>
-    <td>optional, TPDO only</td>
+    <td>no</td>
+   </tr>
+  </table>
+ </p>
+  <hr />
+ <p>
+  <table border="1">
+   <tr>
+    <th colspan="2" id="6661"> Object: 0x1a05  Pressue and Flowmeter Data OUT3</th>
+   </tr>
+   <tr>
+    <td>Object Code</td>
+    <td>Record</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x00</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Number of entries</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>const</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>2</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x01</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Mapping Entry 1</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>const</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>0x60040320</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x02</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Mapping Entry 2</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>const</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>0x60050320</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ </p>
+  <hr />
+ <p>
+  <table border="1">
+   <tr>
+    <th colspan="2" id="6662"> Object: 0x1a06  Pressue and Flowmeter Data OUT4</th>
+   </tr>
+   <tr>
+    <td>Object Code</td>
+    <td>Record</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x00</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Number of entries</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>const</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>2</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x01</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Mapping Entry 1</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>const</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>0x60040420</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x02</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Mapping Entry 2</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>const</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>0x60050420</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ </p>
+  <hr />
+ <p>
+  <table border="1">
+   <tr>
+    <th colspan="2" id="6663"> Object: 0x1a07 Pump Data OUT</th>
+   </tr>
+   <tr>
+    <td>Object Code</td>
+    <td>Record</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x00</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Number of entries</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED8</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>const</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>1</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x01</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Mapping Entry 1</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>const</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td>0x60060020</td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>no</td>
    </tr>
   </table>
  </p>
@@ -6612,6 +7987,45 @@ margin: 0 auto; width:600px;
     <td>optional</td>
    </tr>
   </table>
+ </p>
+  <hr />
+ <p>
+  <table border="1">
+   <tr>
+    <th colspan="2" id="24582"> Object: 0x6006 Pump Data OUT</th>
+   </tr>
+   <tr>
+    <td>Object Code</td>
+    <td>Variable</td>
+   </tr>
+  </table>
+ <br/>
+  <table border="1">
+   <tr class="alt">
+    <td style="font-weight:bold">Sub </td>
+    <td style="font-weight:bold">0x00</td>
+   </tr>
+   <tr>
+    <td>Name </td>
+    <td>Pump Data OUT</td>
+   </tr>
+   <tr class="alt">
+    <td>Data Type</td>
+    <td>UNSIGNED32</td>
+   </tr>
+   <tr>
+    <td>Access </td>
+    <td>rw</td>
+   </tr>
+   <tr class="alt">
+    <td>Defaultvalue </td>
+    <td></td>
+   </tr>
+   <tr>
+    <td>PDO Mapping</td>
+    <td>optional, TPDO only</td>
+   </tr>
+  </table>
  </p>
   <hr />
   </div>
diff --git a/EnduranceTestBench/coappl/enduranceTestBench.icsv b/EnduranceTestBench/coappl/enduranceTestBench.icsv
index 331dac5..b275d81 100644
--- a/EnduranceTestBench/coappl/enduranceTestBench.icsv
+++ b/EnduranceTestBench/coappl/enduranceTestBench.icsv
@@ -17,10 +17,29 @@ index,sub,objectcode,datatype,edsname,varname,access,mapable,hasdefault,defaulti
 0x1015,0x00,VARIABLE,UNSIGNED16,Inhibit Time Emergency,,rw,no,1,1,0,,0,ManagedVariable,no,0,65535,no
  
 0x1016,,ARRAY,UNSIGNED32,Consumer Heartbeat Time,,,,,,,,,,,,,,
-0x1016,0x00,,UNSIGNED32,Number of entries,,ro,no,1,1,1,,0,ManagedConst,no,0,255,no
-0x1016,0x01,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,0,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x00,,UNSIGNED32,Number of entries,,ro,no,1,1,20,,0,ManagedConst,no,0,255,no
+0x1016,0x01,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x02,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x03,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x04,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x05,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x06,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x07,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x08,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x09,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x0a,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x0b,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x0c,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x0d,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x0e,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x0f,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x10,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x11,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x12,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x13,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
+0x1016,0x14,,UNSIGNED32,Consumer Heartbeat Time,,rw,no,1,1,500,,0,ManagedVariable,no,0,4294967295,no
  
-0x1017,0x00,VARIABLE,UNSIGNED16,Producer Heartbeat Time,,rw,no,0,0,1500,,0,ManagedVariable,no,0,65535,no
+0x1017,0x00,VARIABLE,UNSIGNED16,Producer Heartbeat Time,,rw,no,0,0,100,,0,ManagedVariable,no,0,65535,no
  
 0x1018,,RECORD,UNSIGNED8,Identity Object,,,,,,,,,,,,,,
 0x1018,0x00,,UNSIGNED8,Number of entries,,ro,no,1,1,4,,0,ManagedConst,no,0,255,no
@@ -235,6 +254,33 @@ index,sub,objectcode,datatype,edsname,varname,access,mapable,hasdefault,defaulti
 0x1804,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
 0x1804,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
  
+0x1805,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
+0x1805,0x00,,UNSIGNED8,Highest sub-index supported,,const,both,1,1,6,,0,ManagedConst,no,2,6,no
+0x1805,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,tpdo,1,2,$NODEID+0x180+2,,0,ManagedVariable,no,128,4294967295,no
+0x1805,0x02,,UNSIGNED8,Transmission type,,rw,no,1,0,254,,0,ManagedVariable,no,0,255,no
+0x1805,0x03,,UNSIGNED16,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xffff,no
+0x1805,0x04,,UNSIGNED8,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
+0x1805,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
+0x1805,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
+ 
+0x1806,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
+0x1806,0x00,,UNSIGNED8,Highest sub-index supported,,const,both,1,1,6,,0,ManagedConst,no,2,6,no
+0x1806,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,tpdo,1,2,$NODEID+0x180+3,,0,ManagedVariable,no,128,4294967295,no
+0x1806,0x02,,UNSIGNED8,Transmission type,,rw,no,1,0,254,,0,ManagedVariable,no,0,255,no
+0x1806,0x03,,UNSIGNED16,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xffff,no
+0x1806,0x04,,UNSIGNED8,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
+0x1806,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
+0x1806,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
+ 
+0x1807,,RECORD,UNSIGNED8,TPDO communication parameter,,,,,,,,,,,,,,
+0x1807,0x00,,UNSIGNED8,Highest sub-index supported,,const,both,1,1,6,,0,ManagedConst,no,2,6,no
+0x1807,0x01,,UNSIGNED32,COB-ID used by TPDO,,rw,tpdo,1,2,$NODEID+0x180+4,,0,ManagedVariable,no,128,4294967295,no
+0x1807,0x02,,UNSIGNED8,Transmission type,,rw,no,1,0,254,,0,ManagedVariable,no,0,255,no
+0x1807,0x03,,UNSIGNED16,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xffff,no
+0x1807,0x04,,UNSIGNED8,Inhibit time,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
+0x1807,0x05,,UNSIGNED16,Event timer,,rw,no,1,0,500,,0,ManagedVariable,no,0,0xffff,no
+0x1807,0x06,,UNSIGNED8,SYNC start value,,rw,no,1,0,,,0,ManagedVariable,no,0,0xff,no
+ 
 0x1a00,,RECORD,UNSIGNED8,Conductivity Data OUT1,,,,,,,,,,,,,,
 0x1a00,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
 0x1a00,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,1610744096,,0,ManagedConst,no,0,0,no
@@ -257,8 +303,22 @@ index,sub,objectcode,datatype,edsname,varname,access,mapable,hasdefault,defaulti
  
 0x1a04,,RECORD,UNSIGNED8, Pressue and Flowmeter Data OUT2,,,,,,,,,,,,,,
 0x1a04,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
-0x1a04,0x01,,UNSIGNED32,Mapping Entry 1,,const,tpdo,1,1,1610679072,,0,ManagedConst,no,0,0,no
-0x1a04,0x02,,UNSIGNED32,Mapping Entry 2,,const,tpdo,1,1,1610679328,,0,ManagedConst,no,0,0,no
+0x1a04,0x01,,UNSIGNED32,Mapping Entry 1,,const,no,1,1,1610875424,,0,ManagedConst,no,0,0,no
+0x1a04,0x02,,UNSIGNED32,Mapping Entry 2,,const,no,1,1,1610940960,,0,ManagedConst,no,0,0,no
+ 
+0x1a05,,RECORD,UNSIGNED8, Pressue and Flowmeter Data OUT3,,,,,,,,,,,,,,
+0x1a05,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
+0x1a05,0x01,,UNSIGNED32,Mapping Entry 1,,const,no,1,1,1610875680,,0,ManagedConst,no,0,0,no
+0x1a05,0x02,,UNSIGNED32,Mapping Entry 2,,const,no,1,1,1610941216,,0,ManagedConst,no,0,0,no
+ 
+0x1a06,,RECORD,UNSIGNED8, Pressue and Flowmeter Data OUT4,,,,,,,,,,,,,,
+0x1a06,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,2,,0,ManagedConst,no,0,255,no
+0x1a06,0x01,,UNSIGNED32,Mapping Entry 1,,const,no,1,1,1610875936,,0,ManagedConst,no,0,0,no
+0x1a06,0x02,,UNSIGNED32,Mapping Entry 2,,const,no,1,1,1610941472,,0,ManagedConst,no,0,0,no
+ 
+0x1a07,,RECORD,UNSIGNED8,Pump Data OUT,,,,,,,,,,,,,,
+0x1a07,0x00,,UNSIGNED8,Number of entries,,const,no,1,1,1,,0,ManagedConst,no,0,255,no
+0x1a07,0x01,,UNSIGNED32,Mapping Entry 1,,const,no,1,1,1611005984,,0,ManagedConst,no,0,0,no
  
  
 0x2001,0x00,VARIABLE,INTEGER32,Manufacturer Object,,rw,both,0,0,4,,0,ManagedVariable,no,0,0,no
@@ -320,3 +380,5 @@ index,sub,objectcode,datatype,edsname,varname,access,mapable,hasdefault,defaulti
 0x6005,0x03,,REAL32,PS3 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
 0x6005,0x04,,REAL32,PS4 OUT,,rw,both,1,1,,,0,ManagedVariable,no,,,no
  
+0x6006,0x00,VARIABLE,UNSIGNED32,Pump Data OUT,,rw,tpdo,1,1,,,0,ManagedVariable,no,0,0xffffffff,no
+ 
diff --git a/EnduranceTestBench/coappl/enduranceTestBench_doc.txt b/EnduranceTestBench/coappl/enduranceTestBench_doc.txt
index a091f96..678f658 100644
--- a/EnduranceTestBench/coappl/enduranceTestBench_doc.txt
+++ b/EnduranceTestBench/coappl/enduranceTestBench_doc.txt
@@ -64,12 +64,107 @@ DataType:    UNSIGNED32
 ObjectCode:  Array
   Sub:          0x00 - Number of entries
   DataType:     UNSIGNED8
-  DefaultValue: 1
+  DefaultValue: 20
   AccessType:   ro
   PDOMapping:   0
   Sub:          0x01 - Consumer Heartbeat Time
   DataType:     UNSIGNED32
-  DefaultValue: 0x0000
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x02 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x03 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x04 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x05 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x06 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x07 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x08 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x09 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x0a - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x0b - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x0c - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x0d - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x0e - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x0f - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x10 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x11 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x12 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x13 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x14 - Consumer Heartbeat Time
+  DataType:     UNSIGNED32
+  DefaultValue: 500
   AccessType:   rw
   PDOMapping:   0
 
@@ -78,7 +173,7 @@ DataType:    UNSIGNED16
 ObjectCode:  Variable
   Sub:          0x00 - Producer Heartbeat Time
   DataType:     UNSIGNED16
-  DefaultValue: 1500
+  DefaultValue: 100
   AccessType:   rw
   PDOMapping:   0
 
@@ -946,6 +1041,114 @@ ObjectCode:  Record
   AccessType:   rw
   PDOMapping:   0
 
+Index:       0x1805 - TPDO communication parameter
+DataType:    UNSIGNED8
+ObjectCode:  Record
+  Sub:          0x00 - Highest sub-index supported
+  DataType:     UNSIGNED8
+  DefaultValue: 6
+  AccessType:   const
+  PDOMapping:   1
+  Sub:          0x01 - COB-ID used by TPDO
+  DataType:     UNSIGNED32
+  DefaultValue: $NODEID+0x180+2
+  AccessType:   rw
+  PDOMapping:   4
+  Sub:          0x02 - Transmission type
+  DataType:     UNSIGNED8
+  DefaultValue: 254
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x03 - Inhibit time
+  DataType:     UNSIGNED16
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x04 - Inhibit time
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x05 - Event timer
+  DataType:     UNSIGNED16
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x06 - SYNC start value
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   0
+
+Index:       0x1806 - TPDO communication parameter
+DataType:    UNSIGNED8
+ObjectCode:  Record
+  Sub:          0x00 - Highest sub-index supported
+  DataType:     UNSIGNED8
+  DefaultValue: 6
+  AccessType:   const
+  PDOMapping:   1
+  Sub:          0x01 - COB-ID used by TPDO
+  DataType:     UNSIGNED32
+  DefaultValue: $NODEID+0x180+3
+  AccessType:   rw
+  PDOMapping:   4
+  Sub:          0x02 - Transmission type
+  DataType:     UNSIGNED8
+  DefaultValue: 254
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x03 - Inhibit time
+  DataType:     UNSIGNED16
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x04 - Inhibit time
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x05 - Event timer
+  DataType:     UNSIGNED16
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x06 - SYNC start value
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   0
+
+Index:       0x1807 - TPDO communication parameter
+DataType:    UNSIGNED8
+ObjectCode:  Record
+  Sub:          0x00 - Highest sub-index supported
+  DataType:     UNSIGNED8
+  DefaultValue: 6
+  AccessType:   const
+  PDOMapping:   1
+  Sub:          0x01 - COB-ID used by TPDO
+  DataType:     UNSIGNED32
+  DefaultValue: $NODEID+0x180+4
+  AccessType:   rw
+  PDOMapping:   4
+  Sub:          0x02 - Transmission type
+  DataType:     UNSIGNED8
+  DefaultValue: 254
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x03 - Inhibit time
+  DataType:     UNSIGNED16
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x04 - Inhibit time
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x05 - Event timer
+  DataType:     UNSIGNED16
+  DefaultValue: 500
+  AccessType:   rw
+  PDOMapping:   0
+  Sub:          0x06 - SYNC start value
+  DataType:     UNSIGNED8
+  AccessType:   rw
+  PDOMapping:   0
+
 Index:       0x1a00 - Conductivity Data OUT1
 DataType:    UNSIGNED8
 ObjectCode:  Record
@@ -1032,14 +1235,66 @@ ObjectCode:  Record
   PDOMapping:   0
   Sub:          0x01 - Mapping Entry 1
   DataType:     UNSIGNED32
-  DefaultValue: 0x60010320
+  DefaultValue: 0x60040220
   AccessType:   const
-  PDOMapping:   4
+  PDOMapping:   0
   Sub:          0x02 - Mapping Entry 2
   DataType:     UNSIGNED32
-  DefaultValue: 0x60010420
+  DefaultValue: 0x60050220
   AccessType:   const
-  PDOMapping:   4
+  PDOMapping:   0
+
+Index:       0x1a05 -  Pressue and Flowmeter Data OUT3
+DataType:    UNSIGNED8
+ObjectCode:  Record
+  Sub:          0x00 - Number of entries
+  DataType:     UNSIGNED8
+  DefaultValue: 2
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x01 - Mapping Entry 1
+  DataType:     UNSIGNED32
+  DefaultValue: 0x60040320
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x02 - Mapping Entry 2
+  DataType:     UNSIGNED32
+  DefaultValue: 0x60050320
+  AccessType:   const
+  PDOMapping:   0
+
+Index:       0x1a06 -  Pressue and Flowmeter Data OUT4
+DataType:    UNSIGNED8
+ObjectCode:  Record
+  Sub:          0x00 - Number of entries
+  DataType:     UNSIGNED8
+  DefaultValue: 2
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x01 - Mapping Entry 1
+  DataType:     UNSIGNED32
+  DefaultValue: 0x60040420
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x02 - Mapping Entry 2
+  DataType:     UNSIGNED32
+  DefaultValue: 0x60050420
+  AccessType:   const
+  PDOMapping:   0
+
+Index:       0x1a07 - Pump Data OUT
+DataType:    UNSIGNED8
+ObjectCode:  Record
+  Sub:          0x00 - Number of entries
+  DataType:     UNSIGNED8
+  DefaultValue: 1
+  AccessType:   const
+  PDOMapping:   0
+  Sub:          0x01 - Mapping Entry 1
+  DataType:     UNSIGNED32
+  DefaultValue: 0x60060020
+  AccessType:   const
+  PDOMapping:   0
 
 Index:       0x2001 - Manufacturer Object
 DataType:    INTEGER32
@@ -1253,3 +1508,11 @@ ObjectCode:  Array
   DataType:     REAL32
   AccessType:   rw
   PDOMapping:   1
+
+Index:       0x6006 - Pump Data OUT
+DataType:    UNSIGNED32
+ObjectCode:  Variable
+  Sub:          0x00 - Pump Data OUT
+  DataType:     UNSIGNED32
+  AccessType:   rw
+  PDOMapping:   4
diff --git a/EnduranceTestBench/coappl/gen_define.h b/EnduranceTestBench/coappl/gen_define.h
index f16d4c3..6db2046 100644
--- a/EnduranceTestBench/coappl/gen_define.h
+++ b/EnduranceTestBench/coappl/gen_define.h
@@ -1,6 +1,6 @@
 /*
  * Stack definitions for enduranceTestBench - generated by CANopen DeviceDesigner 3.14.2
- *  */
+ * 25 04 2025 13:57:30 */
 
 /* protect against multiple inclusion of the file */
 #ifndef GEN_DEFINE_H
@@ -19,10 +19,10 @@
 #define CO_REC_BUFFER_COUNTS	10u
 #define CO_TR_BUFFER_COUNTS	20u
 /* Number of objects per line */
-#define CO_OBJECTS_LINE_0_CNT	56u
-#define CO_OBJECT_COUNTS	56u
-#define CO_COB_COUNTS	75u
-#define CO_TXPDO_COUNTS	5u
+#define CO_OBJECTS_LINE_0_CNT	63u
+#define CO_OBJECT_COUNTS	63u
+#define CO_COB_COUNTS	78u
+#define CO_TXPDO_COUNTS	8u
 #define CO_RXPDO_COUNTS	3u
 #define CO_SSDO_COUNTS	1u
 #define CO_CSDO_COUNTS	20u
@@ -42,7 +42,7 @@
 #define CO_LSS_INQUIRY_SERVICES	1u
 #define CO_SDO_SERVER_CNT	1u
 #define CO_SDO_CLIENT_CNT	20u
-#define CO_PDO_TRANSMIT_CNT	5u
+#define CO_PDO_TRANSMIT_CNT	8u
 #define CO_PDO_RECEIVE_CNT	3u
 #define CO_MAX_MAP_ENTRIES	2u
 #define CO_HB_CONSUMER_CNT 20u
@@ -55,7 +55,7 @@
 #define CO_SDO_QUEUE_LEN	0u
 #define CO_INHIBIT_SUPPORTED	1u
 /* number of used COB objects */
-#define CO_COB_CNT	75u
+#define CO_COB_CNT	78u
 
 
 /* Definition of number of call-back functions for each service*/
diff --git a/EnduranceTestBench/coappl/gen_indication.h b/EnduranceTestBench/coappl/gen_indication.h
index dcb31ac..dd7458e 100644
--- a/EnduranceTestBench/coappl/gen_indication.h
+++ b/EnduranceTestBench/coappl/gen_indication.h
@@ -1,6 +1,6 @@
 /*
  * static indication definitions for enduranceTestBench - generated by CANopen DeviceDesigner 3.14.2
- * Tue Feb 25 14:59:00 2025
+ * Fri Apr 25 13:57:30 2025
  */
 
 /* protect against multiple inclusion of the file */
diff --git a/EnduranceTestBench/coappl/gen_indices.h b/EnduranceTestBench/coappl/gen_indices.h
index 28b7e95..96d8e21 100644
--- a/EnduranceTestBench/coappl/gen_indices.h
+++ b/EnduranceTestBench/coappl/gen_indices.h
@@ -1,6 +1,6 @@
 /*
  *  CO index/J1939 PGN/raw CAN-ID  defines for enduranceTestBench - generated by CANopen DeviceDesigner 3.14.2
- * Tue Feb 25 14:58:59 2025
+ * Fri Apr 25 13:57:30 2025
  */
 
 /* protect against multiple inclusion of the file */
@@ -72,11 +72,17 @@
 #define I_TPDO_COMMUNICATION_PARAMETER2	0x1802u
 #define I_TPDO_COMMUNICATION_PARAMETER3	0x1803u
 #define I_TPDO_COMMUNICATION_PARAMETER4	0x1804u
+#define I_TPDO_COMMUNICATION_PARAMETER5	0x1805u
+#define I_TPDO_COMMUNICATION_PARAMETER6	0x1806u
+#define I_TPDO_COMMUNICATION_PARAMETER7	0x1807u
 #define I_CONDUCTIVITY_DATA_OUT1 	0x1a00u
 #define I_CONDUCTIVITY_DATA_OUT2 	0x1a01u
 #define I_CONDUCTIVITY_DATA_OUT3 	0x1a02u
 #define I_PRESSUE_AND_FLOWMETER_DATA_OUT1	0x1a03u
 #define I_PRESSUE_AND_FLOWMETER_DATA_OUT2	0x1a04u
+#define I_PRESSUE_AND_FLOWMETER_DATA_OUT3	0x1a05u
+#define I_PRESSUE_AND_FLOWMETER_DATA_OUT4	0x1a06u
+#define I_PUMP_DATA_OUT          	0x1a07u
 #define I_MANUFACTURER_OBJECT    	0x2001u
 #define I_MANAGED_ARRAY          	0x3000u
 #define  S_SUB_1                  	0x1u
@@ -120,6 +126,7 @@
 #define  S_PS2_OUT                	0x2u
 #define  S_PS3_OUT                	0x3u
 #define  S_PS4_OUT                	0x4u
+#define I_PUMP_DATA_OUT1         	0x6006u
 #define  S_NUMBER_OF_ENTRIES      	0x0u
 
 #endif /* GEN_INDICES_H */
diff --git a/EnduranceTestBench/coappl/gen_objdict.c b/EnduranceTestBench/coappl/gen_objdict.c
index 8ead68e..c20d314 100644
--- a/EnduranceTestBench/coappl/gen_objdict.c
+++ b/EnduranceTestBench/coappl/gen_objdict.c
@@ -1,6 +1,6 @@
 /*
  * object dictionary for enduranceTestBench - generated by CANopen DeviceDesigner 3.14.2
- * Tue Feb 25 14:59:00 2025
+ * Fri Apr 25 13:57:30 2025
  */
 #include <stdlib.h>
 
@@ -31,8 +31,8 @@
 /* definition of static indication function pointers */
 
 /* number of objects */
-#define CO_OD_ASSIGN_CNT 56u
-#define CO_OBJ_DESC_CNT 231u
+#define CO_OD_ASSIGN_CNT 63u
+#define CO_OBJ_DESC_CNT 261u
 
 /* definition of managed variables */
 static UNSIGNED8 CO_STORAGE_CLASS	od_u8[8]= {
@@ -46,7 +46,7 @@ static UNSIGNED8 CO_STORAGE_CLASS	od_u8[8]= {
 	(UNSIGNED8)0u /* 0x6000:5 */};
 static UNSIGNED16 CO_STORAGE_CLASS	od_u16[1]= {
 	(UNSIGNED16)0u /* 0x1015:0 */};
-static UNSIGNED32 CO_STORAGE_CLASS	od_u32[23]= {
+static UNSIGNED32 CO_STORAGE_CLASS	od_u32[24]= {
 	(UNSIGNED32)0UL /* 0x1003:1 */,
 	(UNSIGNED32)0UL /* 0x1014:0 */,
 	(UNSIGNED32)0UL /* 0x1018:4 */,
@@ -69,7 +69,8 @@ static UNSIGNED32 CO_STORAGE_CLASS	od_u32[23]= {
 	(UNSIGNED32)0UL /* 0x6003:5 */,
 	(UNSIGNED32)0UL /* 0x6003:6 */,
 	(UNSIGNED32)0UL /* 0x6003:7 */,
-	(UNSIGNED32)0UL /* 0x6003:8 */};
+	(UNSIGNED32)0UL /* 0x6003:8 */,
+	(UNSIGNED32)0UL /* 0x6006:0 */};
 static INTEGER16 CO_STORAGE_CLASS	od_i16[2]= {
 	(INTEGER16)0 /* 0x3000:1 */,
 	(INTEGER16)2 /* 0x3000:2 */};
@@ -102,7 +103,7 @@ static CO_CONST UNSIGNED16 CO_CONST_STORAGE_CLASS	od_const_u16[4] = {
 	(UNSIGNED16)100u,
 	(UNSIGNED16)10u,
 	(UNSIGNED16)500u};
-static CO_CONST UNSIGNED32 CO_CONST_STORAGE_CLASS	od_const_u32[28] = {
+static CO_CONST UNSIGNED32 CO_CONST_STORAGE_CLASS	od_const_u32[35] = {
 	(UNSIGNED32)0UL,
 	(UNSIGNED32)128UL,
 	(UNSIGNED32)500UL,
@@ -130,7 +131,14 @@ static CO_CONST UNSIGNED32 CO_CONST_STORAGE_CLASS	od_const_u32[28] = {
 	(UNSIGNED32)1610745120UL,
 	(UNSIGNED32)1610745376UL,
 	(UNSIGNED32)1610875168UL,
-	(UNSIGNED32)1610940704UL};
+	(UNSIGNED32)1610940704UL,
+	(UNSIGNED32)1610875424UL,
+	(UNSIGNED32)1610940960UL,
+	(UNSIGNED32)1610875680UL,
+	(UNSIGNED32)1610941216UL,
+	(UNSIGNED32)1610875936UL,
+	(UNSIGNED32)1610941472UL,
+	(UNSIGNED32)1611005984UL};
 static CO_CONST INTEGER16 CO_CONST_STORAGE_CLASS	od_const_i16[2] = {
 	(INTEGER16)0,
 	(INTEGER16)2};
@@ -320,6 +328,27 @@ CO_CONST CO_OBJECT_DESC_T CO_CONST_STORAGE_CLASS od_description[CO_OBJ_DESC_CNT]
 	{ (UNSIGNED8)4u, CO_DTYPE_U8_TPDO  , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1804:4*/ 
 	{ (UNSIGNED8)5u, CO_DTYPE_U16_TPDO , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)3u},/* 0x1804:5*/ 
 	{ (UNSIGNED8)6u, CO_DTYPE_U8_TPDO  , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1804:6*/ 
+	{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL,  (UNSIGNED16)8u},/* 0x1805:0*/ 
+	{ (UNSIGNED8)1u, CO_DTYPE_U32_TPDO , (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1805:1*/ 
+	{ (UNSIGNED8)2u, CO_DTYPE_U8_TPDO  , (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)6u},/* 0x1805:2*/ 
+	{ (UNSIGNED8)3u, CO_DTYPE_U16_TPDO , (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1805:3*/ 
+	{ (UNSIGNED8)4u, CO_DTYPE_U8_TPDO  , (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1805:4*/ 
+	{ (UNSIGNED8)5u, CO_DTYPE_U16_TPDO , (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)3u},/* 0x1805:5*/ 
+	{ (UNSIGNED8)6u, CO_DTYPE_U8_TPDO  , (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1805:6*/ 
+	{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL,  (UNSIGNED16)8u},/* 0x1806:0*/ 
+	{ (UNSIGNED8)1u, CO_DTYPE_U32_TPDO , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1806:1*/ 
+	{ (UNSIGNED8)2u, CO_DTYPE_U8_TPDO  , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)6u},/* 0x1806:2*/ 
+	{ (UNSIGNED8)3u, CO_DTYPE_U16_TPDO , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1806:3*/ 
+	{ (UNSIGNED8)4u, CO_DTYPE_U8_TPDO  , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1806:4*/ 
+	{ (UNSIGNED8)5u, CO_DTYPE_U16_TPDO , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)3u},/* 0x1806:5*/ 
+	{ (UNSIGNED8)6u, CO_DTYPE_U8_TPDO  , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1806:6*/ 
+	{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL,  (UNSIGNED16)8u},/* 0x1807:0*/ 
+	{ (UNSIGNED8)1u, CO_DTYPE_U32_TPDO , (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1807:1*/ 
+	{ (UNSIGNED8)2u, CO_DTYPE_U8_TPDO  , (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)6u},/* 0x1807:2*/ 
+	{ (UNSIGNED8)3u, CO_DTYPE_U16_TPDO , (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1807:3*/ 
+	{ (UNSIGNED8)4u, CO_DTYPE_U8_TPDO  , (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1807:4*/ 
+	{ (UNSIGNED8)5u, CO_DTYPE_U16_TPDO , (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)3u},/* 0x1807:5*/ 
+	{ (UNSIGNED8)6u, CO_DTYPE_U8_TPDO  , (UNSIGNED16)8u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x1807:6*/ 
 	{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)3u},/* 0x1a00:0*/ 
 	{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)20u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL,  (UNSIGNED16)20u},/* 0x1a00:1*/ 
 	{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)21u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL,  (UNSIGNED16)21u},/* 0x1a00:2*/ 
@@ -333,8 +362,16 @@ CO_CONST CO_OBJECT_DESC_T CO_CONST_STORAGE_CLASS od_description[CO_OBJ_DESC_CNT]
 	{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)26u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL,  (UNSIGNED16)26u},/* 0x1a03:1*/ 
 	{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)27u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL,  (UNSIGNED16)27u},/* 0x1a03:2*/ 
 	{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)3u},/* 0x1a04:0*/ 
-	{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)12u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL,  (UNSIGNED16)12u},/* 0x1a04:1*/ 
-	{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)13u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR | CO_ATTR_DEFVAL,  (UNSIGNED16)13u},/* 0x1a04:2*/ 
+	{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)28u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)28u},/* 0x1a04:1*/ 
+	{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)29u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)29u},/* 0x1a04:2*/ 
+	{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)3u},/* 0x1a05:0*/ 
+	{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)30u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)30u},/* 0x1a05:1*/ 
+	{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)31u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)31u},/* 0x1a05:2*/ 
+	{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)3u},/* 0x1a06:0*/ 
+	{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)32u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)32u},/* 0x1a06:1*/ 
+	{ (UNSIGNED8)2u, CO_DTYPE_U32_CONST, (UNSIGNED16)33u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)33u},/* 0x1a06:2*/ 
+	{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)4u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)4u},/* 0x1a07:0*/ 
+	{ (UNSIGNED8)1u, CO_DTYPE_U32_CONST, (UNSIGNED16)34u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)34u},/* 0x1a07:1*/ 
 	{ (UNSIGNED8)0u, CO_DTYPE_I32_VAR  , (UNSIGNED16)0u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC,  (UNSIGNED16)0u},/* 0x2001:0*/ 
 	{ (UNSIGNED8)0u, CO_DTYPE_U8_CONST , (UNSIGNED16)3u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_DEFVAL,  (UNSIGNED16)3u},/* 0x3000:0*/ 
 	{ (UNSIGNED8)1u, CO_DTYPE_I16_VAR  , (UNSIGNED16)0u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_MAP_TR,  (UNSIGNED16)0u},/* 0x3000:1*/ 
@@ -378,6 +415,7 @@ CO_CONST CO_OBJECT_DESC_T CO_CONST_STORAGE_CLASS od_description[CO_OBJ_DESC_CNT]
 	{ (UNSIGNED8)2u, CO_DTYPE_R32_VAR  , (UNSIGNED16)5u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x6005:2*/ 
 	{ (UNSIGNED8)3u, CO_DTYPE_R32_VAR  , (UNSIGNED16)6u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x6005:3*/ 
 	{ (UNSIGNED8)4u, CO_DTYPE_R32_VAR  , (UNSIGNED16)7u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x6005:4*/ 
+	{ (UNSIGNED8)0u, CO_DTYPE_U32_VAR  , (UNSIGNED16)23u, CO_ATTR_NUM | CO_ATTR_READ | CO_ATTR_WRITE | CO_ATTR_MAP_TR | CO_ATTR_MAP_REC | CO_ATTR_DEFVAL,  (UNSIGNED16)0u},/* 0x6006:0*/ 
 };
 
 /* object dictionary assignment */
@@ -425,19 +463,26 @@ CO_CONST CO_OD_ASSIGN_T CO_CONST_STORAGE_CLASS od_assign[CO_OD_ASSIGN_CNT] = {
 	{ 0x1802u, 7u, 6u, CO_ODTYPE_STRUCT, 152u },
 	{ 0x1803u, 7u, 6u, CO_ODTYPE_STRUCT, 159u },
 	{ 0x1804u, 7u, 6u, CO_ODTYPE_STRUCT, 166u },
-	{ 0x1a00u, 3u, 2u, CO_ODTYPE_STRUCT, 173u },
-	{ 0x1a01u, 3u, 2u, CO_ODTYPE_STRUCT, 176u },
-	{ 0x1a02u, 3u, 2u, CO_ODTYPE_STRUCT, 179u },
-	{ 0x1a03u, 3u, 2u, CO_ODTYPE_STRUCT, 182u },
-	{ 0x1a04u, 3u, 2u, CO_ODTYPE_STRUCT, 185u },
-	{ 0x2001u, 1u, 0u, CO_ODTYPE_VAR, 188u },
-	{ 0x3000u, 3u, 2u, CO_ODTYPE_ARRAY, 189u },
-	{ 0x6000u, 6u, 5u, CO_ODTYPE_ARRAY, 192u },
-	{ 0x6001u, 7u, 6u, CO_ODTYPE_ARRAY, 198u },
-	{ 0x6002u, 7u, 6u, CO_ODTYPE_ARRAY, 205u },
-	{ 0x6003u, 9u, 8u, CO_ODTYPE_ARRAY, 212u },
-	{ 0x6004u, 5u, 4u, CO_ODTYPE_ARRAY, 221u },
-	{ 0x6005u, 5u, 4u, CO_ODTYPE_ARRAY, 226u },
+	{ 0x1805u, 7u, 6u, CO_ODTYPE_STRUCT, 173u },
+	{ 0x1806u, 7u, 6u, CO_ODTYPE_STRUCT, 180u },
+	{ 0x1807u, 7u, 6u, CO_ODTYPE_STRUCT, 187u },
+	{ 0x1a00u, 3u, 2u, CO_ODTYPE_STRUCT, 194u },
+	{ 0x1a01u, 3u, 2u, CO_ODTYPE_STRUCT, 197u },
+	{ 0x1a02u, 3u, 2u, CO_ODTYPE_STRUCT, 200u },
+	{ 0x1a03u, 3u, 2u, CO_ODTYPE_STRUCT, 203u },
+	{ 0x1a04u, 3u, 2u, CO_ODTYPE_STRUCT, 206u },
+	{ 0x1a05u, 3u, 2u, CO_ODTYPE_STRUCT, 209u },
+	{ 0x1a06u, 3u, 2u, CO_ODTYPE_STRUCT, 212u },
+	{ 0x1a07u, 2u, 1u, CO_ODTYPE_STRUCT, 215u },
+	{ 0x2001u, 1u, 0u, CO_ODTYPE_VAR, 217u },
+	{ 0x3000u, 3u, 2u, CO_ODTYPE_ARRAY, 218u },
+	{ 0x6000u, 6u, 5u, CO_ODTYPE_ARRAY, 221u },
+	{ 0x6001u, 7u, 6u, CO_ODTYPE_ARRAY, 227u },
+	{ 0x6002u, 7u, 6u, CO_ODTYPE_ARRAY, 234u },
+	{ 0x6003u, 9u, 8u, CO_ODTYPE_ARRAY, 241u },
+	{ 0x6004u, 5u, 4u, CO_ODTYPE_ARRAY, 250u },
+	{ 0x6005u, 5u, 4u, CO_ODTYPE_ARRAY, 255u },
+	{ 0x6006u, 1u, 0u, CO_ODTYPE_VAR, 260u },
 };
 
 /* static PDO mapping tables */
@@ -477,8 +522,32 @@ static CO_CONST PDO_TR_MAP_TABLE_T CO_CONST_STORAGE_CLASS	mapTableTPDO4 = {
 static CO_CONST PDO_TR_MAP_TABLE_T CO_CONST_STORAGE_CLASS	mapTableTPDO5 = {
 	(UNSIGNED8)2u,
 	{
-		{&od_u32[5], 4u, CO_TRUE, 0x60010320UL },
-		{&od_u32[6], 4u, CO_TRUE, 0x60010420UL },
+		{&od_r32[1], 4u, CO_TRUE, 0x60040220UL },
+		{&od_r32[5], 4u, CO_TRUE, 0x60050220UL },
+	}
+};
+/* Mapping table TPDO 6*/
+static CO_CONST PDO_TR_MAP_TABLE_T CO_CONST_STORAGE_CLASS	mapTableTPDO6 = {
+	(UNSIGNED8)2u,
+	{
+		{&od_r32[2], 4u, CO_TRUE, 0x60040320UL },
+		{&od_r32[6], 4u, CO_TRUE, 0x60050320UL },
+	}
+};
+/* Mapping table TPDO 7*/
+static CO_CONST PDO_TR_MAP_TABLE_T CO_CONST_STORAGE_CLASS	mapTableTPDO7 = {
+	(UNSIGNED8)2u,
+	{
+		{&od_r32[3], 4u, CO_TRUE, 0x60040420UL },
+		{&od_r32[7], 4u, CO_TRUE, 0x60050420UL },
+	}
+};
+/* Mapping table TPDO 8*/
+static CO_CONST PDO_TR_MAP_TABLE_T CO_CONST_STORAGE_CLASS	mapTableTPDO8 = {
+	(UNSIGNED8)1u,
+	{
+		{&od_u32[23], 4u, CO_TRUE, 0x60060020UL },
+		{NULL, (UNSIGNED8)0u, CO_FALSE, 0ul}
 	}
 };
 /* unique rpdo defintion */
@@ -775,6 +844,24 @@ CO_COMMON_INIT_VAL_T    commonInitVars = {
         return(retVal);
     }
     CO_HANDLE_WATCHDOG
+    /* initialize TPDO 6 */
+    retVal = coPdoTransmitInit(6u, od_const_u8[6], od_const_u16[0], od_const_u16[3], od_const_u8[0], &mapTableTPDO6);
+    if (retVal != RET_OK) {
+        return(retVal);
+    }
+    CO_HANDLE_WATCHDOG
+    /* initialize TPDO 7 */
+    retVal = coPdoTransmitInit(7u, od_const_u8[6], od_const_u16[0], od_const_u16[3], od_const_u8[0], &mapTableTPDO7);
+    if (retVal != RET_OK) {
+        return(retVal);
+    }
+    CO_HANDLE_WATCHDOG
+    /* initialize TPDO 8 */
+    retVal = coPdoTransmitInit(8u, od_const_u8[6], od_const_u16[0], od_const_u16[3], od_const_u8[0], &mapTableTPDO8);
+    if (retVal != RET_OK) {
+        return(retVal);
+    }
+    CO_HANDLE_WATCHDOG
     /* initialize RPDO 1 */
     retVal = coPdoReceiveInit(1u, od_const_u8[6], 0u, 0u, &mapTableRPDO0);
     if (retVal != RET_OK) {
@@ -1020,5 +1107,14 @@ RET_T userOverwriteCobIdSettings(void)
 	cobId = nodeId + 0x180+1;
 	ret = coOdSetCobid(0x1804, 1, cobId);
 
+	cobId = nodeId + 0x180+2;
+	ret = coOdSetCobid(0x1805, 1, cobId);
+
+	cobId = nodeId + 0x180+3;
+	ret = coOdSetCobid(0x1806, 1, cobId);
+
+	cobId = nodeId + 0x180+4;
+	ret = coOdSetCobid(0x1807, 1, cobId);
+
 	return ret;
 }
diff --git a/EnduranceTestBench/nehemis/grundfos.c b/EnduranceTestBench/nehemis/grundfos.c
index f9580d3..62cfdc3 100644
--- a/EnduranceTestBench/nehemis/grundfos.c
+++ b/EnduranceTestBench/nehemis/grundfos.c
@@ -32,6 +32,12 @@ static uint32 GrundfosPmpReadVoltage(uint8 channel_u8);
 /******************************************************************************
  * Extern Function Definitions
  ******************************************************************************/
+void GrundfosPmpInit(GrundfosMain_st *grundfos_pst)
+{
+	grundfos_pst->rawQ_f32 = 0.0f;
+}
+
+
 void GrundfosPmpEnable(uint8 state_u8)
 {
 	if(state_u8 == 0u)
@@ -45,11 +51,14 @@ void GrundfosPmpEnable(uint8 state_u8)
 }
 
 
-uint32 GrundfosPmpFeedback(uint8 channel_u8)
+void GrundfosPmpFeedback(GrundfosMain_st *grundfos_pst)
 {
-	uint32 feedbackSpeed_u32 = (GrundfosPmpReadVoltage(channel_u8)) * 360u;
+	if (grundfos_pst == NULL)
+	{
+		/* Error */
+	}
 
-	return feedbackSpeed_u32;
+	grundfos_pst->rawQ_f32 = (GrundfosPmpReadVoltage(grundfos_pst->channel_u32)) * 100 * 360u;
 }
 
 
diff --git a/EnduranceTestBench/nehemis/grundfos.h b/EnduranceTestBench/nehemis/grundfos.h
index 0f24027..557cc37 100644
--- a/EnduranceTestBench/nehemis/grundfos.h
+++ b/EnduranceTestBench/nehemis/grundfos.h
@@ -34,7 +34,8 @@ typedef struct
 /******************************************************************************
  * Extern Function Declarations
  ******************************************************************************/
-uint32 GrundfosPmpFeedback(uint8 channel_u8);
+void GrundfosPmpInit(GrundfosMain_st *grundfos_pst);
+void GrundfosPmpFeedback(GrundfosMain_st *grundfos_pst);
 void GrundfosPmpEnable(uint8_t state_u8);
 bool GrundfosPmpSetSpeed(float setSpeed_f);
 #endif /* GRUNDFOS_H_ */
diff --git a/EnduranceTestBench/nehemis/od_entries.h b/EnduranceTestBench/nehemis/od_entries.h
index 7fffee4..7f35f18 100644
--- a/EnduranceTestBench/nehemis/od_entries.h
+++ b/EnduranceTestBench/nehemis/od_entries.h
@@ -56,6 +56,6 @@
 
 #define OD_ENTRY_PU_GRUNDFOS_PUMP_ENABLE_SUB_INDEX		0x01
 #define OD_ENTRY_PU_GRUNDFOS_PUMP_SET_SPEED_SUB_INDEX	0x02
-#define OD_ENTRY_PU_GRUNDFOS_PUMP_FEEDBACK_SUB_INDEX	0x03
+#define OD_ENTRY_PU_GRUNDFOS_PUMP_FEEDBACK_SUB_INDEX	0x00
 
 #endif /* OD_ENTRIES_H_ */
diff --git a/EnduranceTestBench/nehemis/processBoard.c b/EnduranceTestBench/nehemis/processBoard.c
index dce81a0..7d89b36 100644
--- a/EnduranceTestBench/nehemis/processBoard.c
+++ b/EnduranceTestBench/nehemis/processBoard.c
@@ -119,6 +119,8 @@ void ProcessBoardInit(void)
 	PressureSensorInit(&pressureSensorPS2_gst);
 	PressureSensorInit(&pressureSensorPS3_gst);
 	PressureSensorInit(&pressureSensorPS4_gst);
+
+	GrundfosPmpInit(&grundfosPMP_gst);
 }
 
 
@@ -166,6 +168,8 @@ void ProcessBoardRun(void)
 	ProcessBoardPressureSensorDataOUT(pressureSensorPS3_gst.rawT_f32);
 	ProcessBoardPressureSensorDataOUT(pressureSensorPS4_gst.rawT_f32);
 
+	ProcessBoardPumpSpeedDataOUT(grundfosPMP_gst.rawQ_f32);
+
 	ProcessBoardGrundfosPumpHandler();
 
 	ProcessBoardReadCondDataIN();
@@ -215,12 +219,12 @@ static void ProcessBoardGrundfosPumpHandler(void)
         startTime_u64 = currentTimeMs_u64;
     }
 
-    GrundfosPmpSetSpeed(speed_u8);
+   // GrundfosPmpSetSpeed(speed_u8);
 
     /* Grundfos Pump feedback speed OUT */
-    pmpSpeed_u32 = GrundfosPmpFeedback(PMP_ADC_CHANNEL);
+    GrundfosPmpFeedback(&grundfosPMP_gst);
 
-    if (pmpSpeed_u32 > PU_PMP_RATED_SPEED)
+    if (grundfosPMP_gst.rawQ_f32 > PU_PMP_RATED_SPEED)
     {
         GrundfosPmpEnable(PU_PMP_DISABLE);
     }
@@ -268,25 +272,25 @@ static void ProcessBoardWriteCondDataOUT(void)
 
 static void ProcessBoardFlowmeterDataOUT(float32 rawQ_f32)
 {
-	NmsCanPutObj_f32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, rawQ_f32);
-	NmsCanPutObj_f32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, rawQ_f32);
-	NmsCanPutObj_f32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, rawQ_f32);
-	NmsCanPutObj_f32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, rawQ_f32);
+	NmsCanPutObj_f32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, 1.0f);
+	NmsCanPutObj_f32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER2_DATA_OUT_SUB_INDEX, 1.0f);
+	NmsCanPutObj_f32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER3_DATA_OUT_SUB_INDEX, 1.0f);
+	NmsCanPutObj_f32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER4_DATA_OUT_SUB_INDEX, 1.0f);
 }
 
 
 static void ProcessBoardPressureSensorDataOUT(float32 rawT_f32)
 {
-	NmsCanPutObj_f32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, rawT_f32);
-	NmsCanPutObj_f32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, rawT_f32);
-	NmsCanPutObj_f32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, rawT_f32);
-	NmsCanPutObj_f32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, rawT_f32);
+	NmsCanPutObj_f32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, 2.0f);
+	NmsCanPutObj_f32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE2_DATA_OUT_SUB_INDEX, 2.0f);
+	NmsCanPutObj_f32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE3_DATA_OUT_SUB_INDEX, 2.0f);
+	NmsCanPutObj_f32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE4_DATA_OUT_SUB_INDEX, 2.0f);
 }
 
 
 static void ProcessBoardPumpSpeedDataOUT(uint32 pmpSpeed_u32)
 {
-	NmsCanPutObj_u32(OD_ENTRY_PU_GRUNDFOS_PUMP_CONTROL_INDEX, OD_ENTRY_PU_GRUNDFOS_PUMP_FEEDBACK_SUB_INDEX, pmpSpeed_u32);
+	NmsCanPutObj_u32(OD_ENTRY_PU_GRUNDFOS_PUMP_CONTROL_INDEX, OD_ENTRY_PU_GRUNDFOS_PUMP_FEEDBACK_SUB_INDEX, 3.0f);
 }
 
 
diff --git a/EnduranceTestBench/scheduler/sdl.c b/EnduranceTestBench/scheduler/sdl.c
index 0a6531c..f2ef033 100644
--- a/EnduranceTestBench/scheduler/sdl.c
+++ b/EnduranceTestBench/scheduler/sdl.c
@@ -56,7 +56,7 @@
 #define SDL_SDO_CLIENT_TO_SERVER_COB		0x600
 #define SDL_SDO_SERVER_TO_CLIENT_COB		0x580
 
-#define SDL_MIN_OPERATIONAL_NODES			18u		/* To be 20, one node not in working state currently */
+#define SDL_MIN_OPERATIONAL_NODES			15u		/* To be 20, one node not in working state currently */
 /******************************************************************************
  * Type Declarations
  ******************************************************************************/
diff --git a/gui.py b/gui.py
index 683e7ad..860cafd 100644
--- a/gui.py
+++ b/gui.py
@@ -1,6 +1,9 @@
 import sys
 import time
+import struct
 import canopen
+import can
+from can.listener import Listener
 from PyQt5.QtWidgets import (
     QApplication, QWidget, QTableWidget, QTableWidgetItem, QVBoxLayout,
     QHBoxLayout, QLabel, QGroupBox, QFormLayout, QPushButton, QMessageBox, QHeaderView
@@ -9,13 +12,29 @@ from PyQt5.QtCore import QTimer, Qt
 from PyQt5.QtGui import QColor
 
 motorBoardEdsPath = r'C:\Users\vineetagupta\Documents\NorthStar-Motor-Valve-Board-Firmware\MotorValveBoard\coappl\motorcontrollervalve.eds'
-puBoardEdsPath = r'C:\Users\vineetagupta\Documents\NorthStar-Production-Unit-Board-Firmware\ProcessBoardV1\coappl\processBoard_1.eds'
+puBoardEdsPath = r'C:\Users\vineetagupta\Documents\NorthStar-Endurance-TestBench\EnduranceTestBench\coappl\enduranceTestBench.eds'
+
+
+class SDOSetpointListener(Listener):
+    def __init__(self, parent):
+        self.parent = parent
+
+    def on_message_received(self, msg):
+        if 0x600 <= msg.arbitration_id <= 0x61F and len(msg.data) >= 8:
+            node_id = msg.arbitration_id - 0x600
+            cmd = msg.data[0] & 0xE0
+            index = msg.data[1] | (msg.data[2] << 8)
+            subindex = msg.data[3]
+
+            if index == 0x6000 and subindex == 0x01 and cmd == 0x20:
+                setpoint_val = msg.data[4]
+                self.parent.motorBoardTpdoData[node_id]['setpoint'] = setpoint_val
 
 
 class NodeTableWindow(QWidget):
     def __init__(self, nodes):
         super().__init__()
-        self.setWindowTitle("Valve Node Status")
+        self.setWindowTitle("Endurance Test Bench")
         self.nodes = nodes
         self.motorBoardTpdoData = {}
         self.PuBoardData = {}
@@ -27,82 +46,55 @@ class NodeTableWindow(QWidget):
 
     def init_ui(self):
         layout = QVBoxLayout(self)
-
-        # Control bar with connect button
         button_row = QHBoxLayout()
         self.connect_btn = QPushButton("Connect to CAN", self)
         self.disconnect_btn = QPushButton("Disconnect", self)
         self.disconnect_btn.setEnabled(False)
-
         self.connect_btn.clicked.connect(self.handle_connect)
         self.disconnect_btn.clicked.connect(self.handle_disconnect)
-
         button_row.addWidget(self.connect_btn)
         button_row.addWidget(self.disconnect_btn)
         layout.addLayout(button_row)
-
-        # Main layout split: Table (left) and Details (right)
         main_layout = QHBoxLayout()
-
-        # Valve Table
         self.table_widget = QWidget(self)
         table_layout = QVBoxLayout()
-
-        # Valve Details Label
         table_heading = QLabel("Valve Details")
         table_heading.setAlignment(Qt.AlignLeft)
         table_layout.addWidget(table_heading)
-
-        # Table Setup
         self.table = QTableWidget(0, 4)
         self.table.setHorizontalHeaderLabels(["Node ID", "Setpoint", "Feedback", "Status"])
         self.table.horizontalHeader().setStretchLastSection(True)
         self.table.horizontalHeader().setSectionResizeMode(QHeaderView.Stretch)
         self.table.verticalHeader().setVisible(False)
-
-        # Add table to layout
         table_layout.addWidget(self.table)
-
-        # Apply layout to table_widget
         self.table_widget.setLayout(table_layout)
-
-
-        # Details
         self.details_widget = QWidget(self)
         details_layout = QVBoxLayout(self.details_widget)
-
-        pump_group = QGroupBox("Pump Details", self)
-        pump_layout = QFormLayout(pump_group)
-        self.pump_labels = []
+        pressure_group = QGroupBox("Pressure Sensor Details", self)
+        pressure_layout = QFormLayout(pressure_group)
+        self.pressure_labels = []
         for i in range(1, 5):
-            label = QLabel("Speed: 0 RPM", self)
-            self.pump_labels.append(label)
-            pump_layout.addRow(f"Pump {i}", label)
-        details_layout.addWidget(pump_group)
-
+            label = QLabel("0 bar", self)
+            self.pressure_labels.append(label)
+            pressure_layout.addRow(f"Pressure Sensor {i}", label)
+        details_layout.addWidget(pressure_group)
         flow_group = QGroupBox("Flow Meter Details", self)
         flow_layout = QFormLayout(flow_group)
         self.flow_rate_label = []
         for i in range(1, 5):
-            label = QLabel("Flow: 0 L/h", self)
+            label = QLabel("0 L/h", self)
             self.flow_rate_label.append(label)
             flow_layout.addRow(f"Flowmeter {i}", label)
         details_layout.addWidget(flow_group)
-
-        pressure_group = QGroupBox("Pressure Sensor Details", self)
-        pressure_layout = QFormLayout(pressure_group)
-        self.pressure_value_label = QLabel("Pressure: 0 bar", self)
-        pressure_layout.addRow("Pressure", self.pressure_value_label)
-        details_layout.addWidget(pressure_group)
-
+        pump_group = QGroupBox("Pump Details", self)
+        pump_layout = QFormLayout(pump_group)
+        self.pump_value_label = QLabel("0 RPM", self)
+        pump_layout.addRow("Speed", self.pump_value_label)
+        details_layout.addWidget(pump_group)
         self.details_widget.setLayout(details_layout)
-
-        # Combine layouts
         main_layout.addWidget(self.table_widget)
         main_layout.addWidget(self.details_widget)
         layout.addLayout(main_layout)
-
-        # Set window size
         screen = QApplication.primaryScreen()
         screen_geometry = screen.availableGeometry()
         width = int(screen_geometry.width() * 0.4)
@@ -121,64 +113,55 @@ class NodeTableWindow(QWidget):
         try:
             self.network = canopen.Network()
             self.network.connect(channel='PCAN_USBBUS1', bustype='pcan', bitrate=250000)
-
             self.nodes = {}
             self.motorBoardTpdoData = {}
             self.PuBoardData = {}
-
             self.init_motor_nodes()
             self.init_pu_node()
+            self.listener = SDOSetpointListener(self)
+            self.notifier = can.Notifier(self.network.bus, [self.listener])
 
             self.connected = True
             self.num_nodes = len(self.nodes)
             self.table.setRowCount(self.num_nodes)
-
             for row, node_id in enumerate(sorted(self.nodes.keys())):
                 item = QTableWidgetItem(str(node_id))
                 item.setTextAlignment(Qt.AlignCenter)
                 self.table.setItem(row, 0, item)
-                
             self.connect_btn.setStyleSheet("background-color: lightgreen;")
             self.disconnect_btn.setEnabled(True)
             QMessageBox.information(self, "Connected", "Successfully connected to CAN and initialized nodes.")
-
         except Exception as e:
             QMessageBox.critical(self, "Connection Error", f"Failed to connect:\n{e}")
             self.connected = False
 
-        
     def handle_disconnect(self):
         try:
+            if hasattr(self, 'notifier'):
+                self.notifier.stop()
             if self.network:
                 self.network.disconnect()
-
             self.connected = False
             self.nodes.clear()
             self.motorBoardTpdoData.clear()
             self.PuBoardData.clear()
-
             self.table.clearContents()
             self.table.setRowCount(0)
-
             self.connect_btn.setEnabled(True)
             self.disconnect_btn.setEnabled(False)
-            self.connect_btn.setStyleSheet("")  # Resets to default style
-
+            self.connect_btn.setStyleSheet("")
             QMessageBox.information(self, "Disconnected", "CAN network disconnected.")
         except Exception as e:
             QMessageBox.warning(self, "Disconnect Error", f"Error while disconnecting:\n{e}")
 
-
     def init_motor_nodes(self):
         for node_id in range(5, 27):
             try:
                 node = canopen.RemoteNode(node_id, motorBoardEdsPath)
                 self.network.add_node(node)
                 time.sleep(0.1)
-
                 self.nodes[node_id] = node
                 self.motorBoardTpdoData[node_id] = {'setpoint': '-', 'feedback': '-'}
-
                 if node.nmt.state == 'OPERATIONAL':
                     node.tpdo.read()
                     node.tpdo[1].enabled = True
@@ -187,8 +170,6 @@ class NodeTableWindow(QWidget):
                         def cb(map_obj):
                             for var in map_obj:
                                 if var.index == 0x6002:
-                                    self.motorBoardTpdoData[nid]['setpoint'] = var.raw
-                                elif var.index == 0x6004:
                                     self.motorBoardTpdoData[nid]['feedback'] = var.raw
                         return cb
 
@@ -202,37 +183,41 @@ class NodeTableWindow(QWidget):
             self.network.add_node(node)
             time.sleep(0.1)
             self.nodes[1] = node
-            self.PuBoardData = {'flowmeter': {}, 'pressure': {}}
-
+            self.PuBoardData = {'flowmeter': {}, 'pressure': {}, 'pump': {}}
+            
             if node.nmt.state == 'OPERATIONAL':
                 node.tpdo.read()
-                node.tpdo[1].enabled = True
+                
+                # Enable all relevant TPDOs
+                for tpdo_id in range(4, 9):  # TPDO4 to TPDO8
+                    if tpdo_id in node.tpdo:
+                        node.tpdo[tpdo_id].enabled = True
 
-                def make_callback():
-                    def cb(map_obj):
-                        for var in map_obj:
-                            if var.index == 0x6005:
-                                self.PuBoardData['flowmeter'][f'0x{var.subindex:02X}'] = var.raw
-                            elif var.index == 0x6006:
-                                self.PuBoardData['pressure'][f'0x{var.subindex:02X}'] = var.raw
-                    return cb
-
-                node.tpdo[1].add_callback(make_callback())
+                        def make_callback():
+                            def cb(map_obj):
+                                for var in map_obj:
+                                    if var.index == 0x6004:
+                                        self.PuBoardData['flowmeter'][f'0x{var.subindex:02X}'] = var.raw
+                                    elif var.index == 0x6005:
+                                        self.PuBoardData['pressure'][f'0x{var.subindex:02X}'] = var.raw
+                                    elif var.index == 0x6006:
+                                        self.PuBoardData['pump'][f'0x{var.subindex:02X}'] = var.raw
+                            return cb
+                        
+                        node.tpdo[tpdo_id].add_callback(make_callback())
         except Exception as e:
             print(f"PU node error: {e}")
 
+
     def update_table(self):
         if not self.connected:
             return
-
         for row, node_id in enumerate(sorted(self.nodes.keys())):
             node = self.nodes[node_id]
-
             try:
                 status = node.nmt.state
             except:
                 status = "UNKNOWN"
-
             node_item = self.table.item(row, 0)
             if node_item:
                 node_item.setBackground(
@@ -240,20 +225,31 @@ class NodeTableWindow(QWidget):
                     QColor("yellow") if status == "PRE-OPERATIONAL" else
                     QColor("red")
                 )
-
             set_val = str(self.motorBoardTpdoData.get(node_id, {}).get('setpoint', '-'))
             setpoint_item = QTableWidgetItem(set_val)
             setpoint_item.setTextAlignment(Qt.AlignCenter)
             self.table.setItem(row, 1, setpoint_item)
-
             fb_val = str(self.motorBoardTpdoData.get(node_id, {}).get('feedback', '-'))
             feedback_item = QTableWidgetItem(fb_val)
             feedback_item.setTextAlignment(Qt.AlignCenter)
             self.table.setItem(row, 2, feedback_item)
-
             status_item = QTableWidgetItem(status)
             status_item.setTextAlignment(Qt.AlignCenter)
             self.table.setItem(row, 3, status_item)
+            # Update flowmeter values
+            for i in range(1, 5):
+                value = self.PuBoardData.get("flowmeter", {}).get(f"0x{i:02X}", 0)
+                self.flow_rate_label[i-1].setText(f"{value} L/h")
+
+            # Update pressure sensor values
+            for i in range(1, 5):
+                value = self.PuBoardData.get("pressure", {}).get(f"0x{i:02X}", 0)
+                self.pressure_labels[i-1].setText(f"{value} bar")
+
+            # Update pump speed
+            value = self.PuBoardData.get("pump", {}).get("0x00", 0)
+            self.pump_value_label.setText(f"{value} RPM")
+
 
 
 def main():