<?xml version="1.0" encoding="utf-8"?>

<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">

<Vendor>

<Id>#x1b9</Id>

<Name>Sanyodenki Co., Ltd.</Name>

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</Vendor>

<Descriptions>

<Groups>

<Group SortOrder="520">

<Type>Drive</Type>

<Name LcId="1033">Drives</Name>

<Image16x14>DRIVE</Image16x14>

</Group>

</Groups>

<Devices>

<Device Physics="YY">

<Type TcCfgModeSafeOp="1" ProductCode="#x00000002" RevisionNo="#x00000000" SerialNo="#x20110111">SanyoDenki RS2 EtherCAT</Type>

<HideType ProductRevision="2" />

<Name LcId="1"><![CDATA[R ADVANCED MODEL with EtherCAT Coe Interface (8003.0.0111) ]]></Name>

<Info>

<StateMachine>

<Behavior StartToSafeopNoSync="false" />

</StateMachine>

</Info>

<GroupType>Drive</GroupType>

<Profile>

<ProfileNo>402</ProfileNo>

<Dictionary>

<DataTypes>

<DataType>

<Name>BOOLEAN</Name>

<BitSize>1</BitSize>

</DataType>

<DataType>

<Name>STRING(0)</Name>

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</DataType>

<DataType>

<Name>SINT</Name>

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</DataType>

<DataType>

<Name>USINT</Name>

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</DataType>

<DataType>

<Name>INT</Name>

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</DataType>

<DataType>

<Name>UINT</Name>

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</DataType>

<DataType>

<Name>DINT</Name>

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</DataType>

<DataType>

<Name>UDINT</Name>

<BitSize>32</BitSize>

</DataType>

<DataType>

<Name>DT1010</Name>

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<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

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<BitOffs>0</BitOffs>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Save all parameters</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT1018</Name>

<BitSize>144</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Vendor ID</Name>

<Type>UDINT</Type>

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<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

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<SubIdx>2</SubIdx>

<Name>Product code</Name>

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<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Revision</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

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<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Serial number</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>112</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT1400</Name>

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<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>6</SubIdx>

<Name>RxPDO Excluded PDOs</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>7</SubIdx>

<Name>RxPDO state</Name>

<Type>BOOLEAN</Type>

<BitSize>1</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>8</SubIdx>

<Name>RxPDO contrall</Name>

<Type>BOOLEAN</Type>

<BitSize>1</BitSize>

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<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>9</SubIdx>

<Name>RxPDO toggle</Name>

<Type>BOOLEAN</Type>

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<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT1600</Name>

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<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

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<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

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<SubItem>

<SubIdx>1</SubIdx>

<Name>1st mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

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<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>2nd mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>3rd mapping data</Name>

<Type>UDINT</Type>

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<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>4th mapping data</Name>

<Type>UDINT</Type>

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<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>5</SubIdx>

<Name>5th mapping data</Name>

<Type>UDINT</Type>

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<BitOffs>144</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>6</SubIdx>

<Name>6th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>176</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>7</SubIdx>

<Name>7th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>208</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>8</SubIdx>

<Name>8th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>240</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>9</SubIdx>

<Name>9th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>272</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>10</SubIdx>

<Name>10th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>304</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>11</SubIdx>

<Name>11th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>336</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>12</SubIdx>

<Name>12th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>368</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>13</SubIdx>

<Name>13th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>400</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>14</SubIdx>

<Name>14th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>432</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>15</SubIdx>

<Name>15th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>464</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>16</SubIdx>

<Name>16th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>496</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>17</SubIdx>

<Name>17th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>528</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>18</SubIdx>

<Name>18th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>560</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>19</SubIdx>

<Name>19th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>592</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>20</SubIdx>

<Name>20th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>624</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>21</SubIdx>

<Name>21th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>656</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>22</SubIdx>

<Name>22th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>688</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>23</SubIdx>

<Name>23th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>720</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>24</SubIdx>

<Name>24th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>752</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>25</SubIdx>

<Name>25th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>784</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>26</SubIdx>

<Name>26th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>816</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>27</SubIdx>

<Name>27th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>848</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>28</SubIdx>

<Name>28th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>880</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>29</SubIdx>

<Name>29th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>912</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>30</SubIdx>

<Name>30th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>944</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>31</SubIdx>

<Name>31th mapping data</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>976</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT1800</Name>

<BitSize>50</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>6</SubIdx>

<Name>TxPDO Excluded PDOs</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>7</SubIdx>

<Name>TxPDO state</Name>

<Type>BOOLEAN</Type>

<BitSize>1</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>9</SubIdx>

<Name>TxPDO toggle</Name>

<Type>BOOLEAN</Type>

<BitSize>1</BitSize>

<BitOffs>49</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT1C00</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>SyncManager0 communication type</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>SyncManager1 communication type</Name>

<Type>USINT</Type>

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<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>SyncManager2 communication type</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>SyncManager3 communication type</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>40</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>5</SubIdx>

<Name>SyncManager4 communication type</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>6</SubIdx>

<Name>SyncManager5 communication type</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>56</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>7</SubIdx>

<Name>SyncManager6 communication type</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>8</SubIdx>

<Name>SyncManager7 communication type</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>72</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT1C10</Name>

<BitSize>16</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT1C12</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Assign1</Name>

<Type>UINT</Type>

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<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Assign2</Name>

<Type>UINT</Type>

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<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Assign3</Name>

<Type>UINT</Type>

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<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Assign4</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT1C32</Name>

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<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Sync mode</Name>

<Type>UINT</Type>

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<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Cycle time</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Shift time</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Sync modes supported</Name>

<Type>UINT</Type>

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<BitOffs>80</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>5</SubIdx>

<Name>Minimum cycle time</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>96</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>6</SubIdx>

<Name>Calc and copy time</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>128</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>8</SubIdx>

<Name>Command</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>160</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>9</SubIdx>

<Name>Delay time</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>176</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>11</SubIdx>

<Name>Cycle time too small</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>208</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>12</SubIdx>

<Name>SM event missed</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>224</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>13</SubIdx>

<Name>Shift too short counter</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>240</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>32</SubIdx>

<Name>Sync error</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>256</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2002</Name>

<BitSize>40</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Tuning mode</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Tuning feature</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>24</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Tuning performance</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2005</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Kp1</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Kp2</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Kp3</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Kp4</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2006</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Tpi1</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Tpi2</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Tpi3</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Tpi4</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2008</Name>

<BitSize>48</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Feed forward gain</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Feed forward filter</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT200B</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Kvp1</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Kvp2</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Kvp3</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Kvp4</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT200C</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Tvi1</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Tvi2</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Tvi3</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Tvi4</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT200D</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Jrat1</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Jrat2</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Jrat3</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Jrat4</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT200F</Name>

<BitSize>48</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Acceleration feedback Gain</Name>

<Type>INT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Acceleration feedback filter</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2011</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Tcfil1</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Tcfil2</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Tcfil3</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Tcfil4</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2012</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Supfrq1</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Supfrq2</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Supfrq3</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Supfrq4</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2014</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Tcnfil A</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Tcnfil B</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Tcnfil C</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Tcnfil D</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2015</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Acceleration compensation</Name>

<Type>INT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Deceleration compensation</Name>

<Type>INT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Velocity command, Low-pass filter</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Velocity command threshold</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2016</Name>

<BitSize>120</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Observer characteristic</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Compention gain</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>24</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Output filter</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>40</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Notch filter</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>56</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>5</SubIdx>

<Name>Load inertia rasio</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>72</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>6</SubIdx>

<Name>loop proportional gain</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>88</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>7</SubIdx>

<Name>Load torque filter</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>104</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2017</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Km1</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Km2</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Km3</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Km4</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2019</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Anrfrq1</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Anrfrq2</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Anrfrq3</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Anrfrq4</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT201A</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Resfrq1</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Resfrq2</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Resfrq3</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Resfrq4</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2023</Name>

<BitSize>40</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Analog monitor1</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Analog monitor2</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>24</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Analog monitor output polarity</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT202D</Name>

<BitSize>48</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Filter A, Low friquency phase delay improvement</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Filter B, Depth selection</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>24</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Filter C, Depth selection</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Filter D, Depth selection</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>40</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT20F0</Name>

<BitSize>64</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Limit behavior</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Positioning method</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>24</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Inposition / Position deviation monitor</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Velocity window selection</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>40</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>5</SubIdx>

<Name>Diviation clear selection</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>6</SubIdx>

<Name>Torque attainment select</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>56</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT20F1</Name>

<BitSize>104</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Encoder clear fanction</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Incremental encoder, digital filter</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>24</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>External pulse encoder, digital filter</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>External pulse encoder polarity selection</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>40</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>5</SubIdx>

<Name>CS offset</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>6</SubIdx>

<Name>CS counter offset</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>7</SubIdx>

<Name>Linear encoder porality selection</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>80</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>8</SubIdx>

<Name>Extation command freq. setting value</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>88</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT20F2</Name>

<BitSize>56</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Main power detection</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Velocity control detection</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>24</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Velocity feed back detection</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Frame error filter</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>40</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>5</SubIdx>

<Name>Comunication time out filter</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT20F3</Name>

<BitSize>32</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Model control characteristic</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Position loop encoder selection</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>24</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT20F8</Name>

<BitSize>64</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Positive Over-Travel</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Negative Over-Travel</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>24</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>External error input</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Main powor forced discharge</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>5</SubIdx>

<Name>Emergency stop</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>56</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>6</SubIdx>

<Name>Magnetic pole position presumption</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT20F9</Name>

<BitSize>40</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Output1 function</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Output2 function</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>24</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Output3 function</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT20FD</Name>

<BitSize>40</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Main power input type</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Regenerative resistor selection</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>24</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Setup software, communication baud rate</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT20FF</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Resolution setting</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Encode type</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>External encoder resolution</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2101</Name>

<BitSize>48</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Error 1</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Error 2</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>24</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Error 3</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Error 4</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>40</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2102</Name>

<BitSize>272</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>now monitor</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>1st latest</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>2nd latest</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>80</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>3rd latest</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>112</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>5</SubIdx>

<Name>4th latest</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>144</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>6</SubIdx>

<Name>5th latest</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>176</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>7</SubIdx>

<Name>6th latest</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>208</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>8</SubIdx>

<Name>7th latest</Name>

<Type>UDINT</Type>

<BitSize>32</BitSize>

<BitOffs>240</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2103</Name>

<BitSize>48</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Warning monitor</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>ro</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Warning mask</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT2104</Name>

<BitSize>80</BitSize>

<SubItem>

<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Actual Kp</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>16</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Actual Tpi</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>32</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

<Name>Actual Kvp</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>48</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>4</SubIdx>

<Name>Actual Tvi</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>64</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>5</SubIdx>

<Name>Actual Jrat</Name>

<Type>UINT</Type>

<BitSize>16</BitSize>

<BitOffs>80</BitOffs>

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<Access>rw</Access>

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<PdoMapping>RT</PdoMapping>

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</SubItem>

<SubItem>

<SubIdx>6</SubIdx>

<Name>Actual Tcfil</Name>

<Type>UINT</Type>

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<BitOffs>96</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>7</SubIdx>

<Name>Actual MKm</Name>

<Type>UINT</Type>

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<BitOffs>112</BitOffs>

<Flags>

<Access>rw</Access>

<Category>o</Category>

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</Flags>

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</DataType>

<DataType>

<Name>DT2108</Name>

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<SubIdx>0</SubIdx>

<Name>largest sub-index supported</Name>

<Type>USINT</Type>

<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

<Flags>

<Access>ro</Access>

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</Flags>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Motor operation rate</Name>

<Type>UINT</Type>

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<BitOffs>16</BitOffs>

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<Access>rw</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Predicted motor operating</Name>

<Type>UINT</Type>

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<BitOffs>32</BitOffs>

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<Access>rw</Access>

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<PdoMapping>RT</PdoMapping>

</Flags>

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</DataType>

<DataType>

<Name>DT2110</Name>

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<SubIdx>0</SubIdx>

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<BitSize>8</BitSize>

<BitOffs>0</BitOffs>

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<Access>ro</Access>

<Category>o</Category>

</Flags>

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<SubItem>

<SubIdx>1</SubIdx>

<Name>1st latest</Name>

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<Access>ro</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

</Flags>

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<SubItem>

<SubIdx>2</SubIdx>

<Name>2nd latest</Name>

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<Access>ro</Access>

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<PdoMapping>RT</PdoMapping>

</Flags>

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<SubItem>

<SubIdx>3</SubIdx>

<Name>3rd latest</Name>

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<Access>ro</Access>

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<PdoMapping>RT</PdoMapping>

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<DataType>

<Name>DT2112</Name>

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<SubIdx>0</SubIdx>

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<Access>ro</Access>

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<SubItem>

<SubIdx>1</SubIdx>

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<Access>ro</Access>

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<PdoMapping>RT</PdoMapping>

</Flags>

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<SubItem>

<SubIdx>2</SubIdx>

<Name>2nd latest</Name>

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<Access>ro</Access>

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<PdoMapping>RT</PdoMapping>

</Flags>

</SubItem>

<SubItem>

<SubIdx>3</SubIdx>

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<Access>ro</Access>

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<PdoMapping>RT</PdoMapping>

</Flags>

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</DataType>

<DataType>

<Name>DT607B</Name>

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<SubIdx>0</SubIdx>

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<BitOffs>0</BitOffs>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Minimum position limit</Name>

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<BitOffs>16</BitOffs>

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<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Maximum position limit</Name>

<Type>DINT</Type>

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<Flags>

<Access>rw</Access>

<Category>o</Category>

</Flags>

</SubItem>

</DataType>

<DataType>

<Name>DT607D</Name>

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<SubIdx>0</SubIdx>

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<Access>ro</Access>

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</Flags>

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<SubItem>

<SubIdx>1</SubIdx>

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<Access>rw</Access>

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</Flags>

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<SubItem>

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<Name>Muximum position limit</Name>

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<Access>rw</Access>

<Category>o</Category>

</Flags>

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<Name>DT6099</Name>

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</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

<Name>Speed during search for switch</Name>

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<Access>rw</Access>

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</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Speed during search for zero</Name>

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<Access>rw</Access>

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<Access>ro</Access>

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</Flags>

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<SubItem>

<SubIdx>1</SubIdx>

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<Access>rw</Access>

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</Flags>

</SubItem>

<SubItem>

<SubIdx>2</SubIdx>

<Name>Interpolation time index</Name>

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<Access>rw</Access>

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</Flags>

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</DataType>

<DataType>

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<BitOffs>0</BitOffs>

</SubItem>

<SubItem>

<SubIdx>1</SubIdx>

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<SubItem>

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<Access>ro</Access>

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</Flags>

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<Access>ro</Access>

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<Access>ro</Access>

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<Access>ro</Access>

<Category>o</Category>

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<Access>ro</Access>

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<Name>10th supported homing method</Name>

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<Access>ro</Access>

<Category>o</Category>

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<Access>ro</Access>

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<SubItem>

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<Name>12th supported homing method</Name>

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<Access>ro</Access>

<Category>o</Category>

</Flags>

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<SubItem>

<SubIdx>13</SubIdx>

<Name>13th supported homing method</Name>

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<Flags>

<Access>ro</Access>

<Category>o</Category>

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<SubItem>

<SubIdx>14</SubIdx>

<Name>14th supported homing method</Name>

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<Access>ro</Access>

<Category>o</Category>

</Flags>

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<SubItem>

<SubIdx>15</SubIdx>

<Name>15th supported homing method</Name>

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<Flags>

<Access>ro</Access>

<Category>o</Category>

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<SubItem>

<SubIdx>16</SubIdx>

<Name>16th supported homing method</Name>

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<Access>ro</Access>

<Category>o</Category>

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<Access>ro</Access>

<Category>o</Category>

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<SubItem>

<SubIdx>18</SubIdx>

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<Access>ro</Access>

<Category>o</Category>

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<SubItem>

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<Access>ro</Access>

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<SubItem>

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<Access>ro</Access>

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<Access>ro</Access>

<Category>o</Category>

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<Access>ro</Access>

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</Flags>

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<SubItem>

<SubIdx>1</SubIdx>

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<BitOffs>16</BitOffs>

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<Access>ro</Access>

<Category>o</Category>

<PdoMapping>RT</PdoMapping>

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<Objects>

<Object>

<Index>#x1000</Index>

<Name>Device type</Name>

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<Info>

<DefaultData>92010200</DefaultData>

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<Object>

<Index>#x1001</Index>

<Name>Error register</Name>

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<Object>

<Index>#x1008</Index>

<Name>Manufacturer device name</Name>

<Type>STRING(0)</Type>

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<Info>

<DefaultString>102R</DefaultString>

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<Access>ro</Access>

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</Flags>

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<Object>

<Index>#x1009</Index>

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<Object>

<Index>#x100a</Index>

<Name>Manufacturer software version</Name>

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<Access>ro</Access>

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</Flags>

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<Object>

<Index>#x1010</Index>

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<Info>

<SubItem>

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<Info>

<DefaultData>01</DefaultData>

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</SubItem>

<SubItem>

<Name>Save all parameters</Name>

<Info>

<DefaultData>00000000</DefaultData>

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</Info>

<Flags>

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</Flags>

</Object>

<Object>

<Index>#x1018</Index>

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<Info>

<SubItem>

<Name>largest sub-index supported</Name>

<Info>

<DefaultData>04</DefaultData>

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</SubItem>

<SubItem>

<Name>Vendor ID</Name>

<Info>

<DefaultData>b9010000</DefaultData>

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</SubItem>

<SubItem>

<Name>Product code</Name>

<Info>

<DefaultData>02000000</DefaultData>

</Info>

</SubItem>

<SubItem>

<Name>Revision</Name>

<Info>

<DefaultData>00000000</DefaultData>

</Info>

</SubItem>

<SubItem>

<Name>Serial number</Name>

<Info>

<DefaultData>00000000</DefaultData>

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</Info>

<Flags>

<Access>ro</Access>

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</Flags>

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<SubItem>

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<Info>

<DefaultData>09</DefaultData>

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</SubItem>

<SubItem>

<Name>RxPDO Excluded PDOs</Name>

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<DefaultData>00000000</DefaultData>

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</SubItem>

<SubItem>

<Name>RxPDO state</Name>

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</Info>

</SubItem>

<SubItem>

<Name>RxPDO contrall</Name>

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</Info>

</SubItem>

<SubItem>

<Name>RxPDO toggle</Name>

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<SubItem>

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<SubItem>

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</Info>

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<SubItem>

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<SubItem>

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<Object>

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<SubItem>

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</SubItem>

<SubItem>

<Name>RxPDO Excluded PDOs</Name>

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<DefaultData>00000000</DefaultData>

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</SubItem>

<SubItem>

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</Info>

</SubItem>

<SubItem>

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<SubItem>

<Name>RxPDO toggle</Name>

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</SubItem>

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<SubItem>

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<Info>

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</Info>

</SubItem>

<SubItem>

<Name>RxPDO Excluded PDOs</Name>

<Info>

<DefaultData>00000000</DefaultData>

</Info>

</SubItem>

<SubItem>

<Name>RxPDO state</Name>

<Info>

<DefaultData>00</DefaultData>

</Info>

</SubItem>

<SubItem>

<Name>RxPDO contrall</Name>

<Info>

<DefaultData>00</DefaultData>

</Info>

</SubItem>

<SubItem>

<Name>RxPDO toggle</Name>

<Info>

<DefaultData>00</DefaultData>

</Info>

</SubItem>

</Info>

<Flags>

<Access>rw</Access>

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</Flags>

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<Object>

<Index>#x1500</Index>

<Name>257th RxPDO parameter</Name>

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<Info>

<SubItem>

<Name>largest sub-index supported</Name>

<Info>

<DefaultData>09</DefaultData>

</Info>

</SubItem>

<SubItem>

<Name>RxPDO Excluded PDOs</Name>

<Info>

<DefaultData>00000000</DefaultData>

</Info>

</SubItem>

<SubItem>

<Name>RxPDO state</Name>

<Info>

<DefaultData>00</DefaultData>

</Info>

</SubItem>

<SubItem>

<Name>RxPDO contrall</Name>

<Info>

<DefaultData>00</DefaultData>

</Info>

</SubItem>

<SubItem>

<Name>RxPDO toggle</Name>

<Info>

<DefaultData>00</DefaultData>

</Info>

</SubItem>

</Info>

<Flags>

<Access>rw</Access>

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</Flags>

</Object>

<Object>

<Index>#x1501</Index>

<Name>258th RxPDO parameter</Name>

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<Info>

<SubItem>

<Name>largest sub-index supported</Name>

<Info>

<DefaultData>09</DefaultData>

</Info>

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