beremiz

Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage

2012-10-30, Laurent Bessard
8421bd1f8b06
Parents 8e4992e0f147
Children c0952932d74b
Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
6 files changed, 3292 insertions(+), 30432 deletions(-)
  • +1 -3
    ethercat_tests/wago_higen/beremiz.xml
  • +2 -2
    ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml
  • +2 -2
    ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml
  • +3098 -0
    ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml
  • +0 -30424
    ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_FDA7000_CoE_20111219.xml
  • +189 -1
    ethercat_tests/wago_higen/plc.xml
    • --- a/ethercat_tests/wago_higen/beremiz.xml Thu Oct 25 19:55:02 2012 +0200
    +++ b/ethercat_tests/wago_higen/beremiz.xml Tue Oct 30 00:22:29 2012 +0100
    @@ -1,6 +1,4 @@
    <?xml version="1.0" encoding="UTF-8"?>
    <BeremizRoot>
    - <TargetType>
    - <Xenomai/>
    - </TargetType>
    + <TargetType/>
    </BeremizRoot>
    --- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Thu Oct 25 19:55:02 2012 +0200
    +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Tue Oct 30 00:22:29 2012 +0100
    @@ -46,13 +46,13 @@
    </Slave>
    <Slave>
    <Info>
    - <Name>EDA7001 CoE Drive</Name>
    + <Name>EDA7000 CoE Drive</Name>
    <PhysAddr>3</PhysAddr>
    <AutoIncAddr>0</AutoIncAddr>
    <Physics></Physics>
    <VendorId>1573</VendorId>
    <ProductCode>1768449365</ProductCode>
    - <RevisionNo>1</RevisionNo>
    + <RevisionNo>2</RevisionNo>
    <SerialNo>0</SerialNo>
    </Info>
    </Slave>
    --- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml Thu Oct 25 19:55:02 2012 +0200
    +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml Tue Oct 30 00:22:29 2012 +0100
    @@ -1,2 +1,2 @@
    -<?xml version="1.0" encoding="UTF-8"?>
    -<CIA402SlaveParams DynamicPDOs="false" RatioNumerator="65536" RatioDenominator="360" PositionOffset="0"/>
    +<?xml version="1.0" encoding="UTF-8"?>
    +<CIA402SlaveParams DynamicPDOs="false" RatioNumerator="65536" RatioDenominator="360" PositionOffset="0" HomingMaxTorque="100" HomingVelocity="360"/>
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml Tue Oct 30 00:22:29 2012 +0100
    @@ -0,0 +1,3098 @@
    +<?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>#x00000625</Id>
    + <Name>HIGEN Motor Co., Ltd.</Name>
    + <ImageData16x14>424DB6030000000000003600000028000000100000000E000000010020000000000080030000130B0000130B00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFFFFFFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF</ImageData16x14>
    + </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="#x69686555" RevisionNo="#x00000002">EDA7000 CoE Drive</Type>
    + <Name LcId="1033"><![CDATA[EDA7000 CoE Servo Drive]]></Name>
    + <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
    + <Info>
    + <StateMachine>
    + <Behavior StartToSafeopNoSync="false" />
    + </StateMachine>
    + </Info>
    + <GroupType>Drive</GroupType>
    + <Profile>
    + <ProfileNo>402</ProfileNo>
    + <Dictionary>
    + <DataTypes>
    + <DataType>
    + <Name>BOOL</Name>
    + <BitSize>1</BitSize>
    + </DataType>
    + <DataType>
    + <Name>SINT</Name>
    + <BitSize>8</BitSize>
    + </DataType>
    + <DataType>
    + <Name>USINT</Name>
    + <BitSize>8</BitSize>
    + </DataType>
    + <DataType>
    + <Name>INT</Name>
    + <BitSize>16</BitSize>
    + </DataType>
    + <DataType>
    + <Name>UINT</Name>
    + <BitSize>16</BitSize>
    + </DataType>
    + <DataType>
    + <Name>DINT</Name>
    + <BitSize>32</BitSize>
    + </DataType>
    + <DataType>
    + <Name>UDINT</Name>
    + <BitSize>32</BitSize>
    + </DataType>
    + <DataType>
    + <Name>DT1018</Name>
    + <BitSize>80</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>
    + <BitSize>32</BitSize>
    + <BitOffs>16</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>2</SubIdx>
    + <Name>Product code</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>48</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + </DataType>
    + <DataType>
    + <Name>DT1600</Name>
    + <BitSize>208</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>1 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>16</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>2</SubIdx>
    + <Name>2 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>3 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>80</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>4</SubIdx>
    + <Name>4 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>112</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>5</SubIdx>
    + <Name>5 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>144</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>6</SubIdx>
    + <Name>6 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>176</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + </DataType>
    + <DataType>
    + <Name>DT1A00</Name>
    + <BitSize>176</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>1 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>16</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>2</SubIdx>
    + <Name>2 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>3 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>80</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>4</SubIdx>
    + <Name>4 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>112</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>5</SubIdx>
    + <Name>5 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>144</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + </DataType>
    + <DataType>
    + <Name>DT1A02</Name>
    + <BitSize>304</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>1 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>16</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>2</SubIdx>
    + <Name>2 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>3 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>80</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>4</SubIdx>
    + <Name>4 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>112</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>5</SubIdx>
    + <Name>5 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>144</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>6</SubIdx>
    + <Name>6 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>7 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>8 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>9 mapping data</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>272</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + </DataType>
    + <DataType>
    + <Name>DT1C12</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>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>1</SubIdx>
    + <Name>Assign1</Name>
    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <BitOffs>16</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + </DataType>
    + <DataType>
    + <Name>DT1C32</Name>
    + <BitSize>368</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>Sync mode</Name>
    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <BitOffs>16</BitOffs>
    + <Flags>
    + <Access>ro</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>
    + <BitSize>16</BitSize>
    + <BitOffs>96</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>112</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>144</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>8</SubIdx>
    + <Name>Get cycle time</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>176</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>9</SubIdx>
    + <Name>Delay time</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>208</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>10</SubIdx>
    + <Name>Sync0 time</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>240</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>11</SubIdx>
    + <Name>Cycle exceeded counter</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>272</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>12</SubIdx>
    + <Name>SM event missed counter</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>304</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>336</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>352</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + <PdoMapping>RT</PdoMapping>
    + </Flags>
    + </SubItem>
    + </DataType>
    + <DataType>
    + <Name>DT607D</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>Minimum Software position limit</Name>
    + <Type>DINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>16</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>2</SubIdx>
    + <Name>Maximum Software position limit</Name>
    + <Type>DINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>48</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + </DataType>
    + <DataType>
    + <Name>DT6099</Name>
    + <BitSize>80</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>Speed during search for switch</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>16</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>2</SubIdx>
    + <Name>Speed during search for zero</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>48</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
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    + <DataType>
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    + <SubItem>
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    + <Name>largest sub-index supported</Name>
    + <Type>USINT</Type>
    + <BitSize>8</BitSize>
    + <BitOffs>0</BitOffs>
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    + <Access>ro</Access>
    + <Category>o</Category>
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    + <SubItem>
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    + <Name>Physical output</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <BitOffs>16</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + <PdoMapping>RT</PdoMapping>
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    + </DataType>
    + <DataType>
    + <Name>DT20A2</Name>
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    + <SubItem>
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    + <Name>largest sub-index supported</Name>
    + <Type>USINT</Type>
    + <BitSize>8</BitSize>
    + <BitOffs>0</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
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    + <SubItem>
    + <SubIdx>1</SubIdx>
    + <Name>Invalid Frame Counter</Name>
    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <BitOffs>16</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
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    + </SubItem>
    + <SubItem>
    + <SubIdx>2</SubIdx>
    + <Name>Rx Error Counter</Name>
    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <BitOffs>32</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
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    + </SubItem>
    + <SubItem>
    + <SubIdx>3</SubIdx>
    + <Name>Lost Link Counter</Name>
    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <BitOffs>48</BitOffs>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + <SubItem>
    + <SubIdx>4</SubIdx>
    + <Name>Counter Reset</Name>
    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <BitOffs>64</BitOffs>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </SubItem>
    + </DataType>
    + </DataTypes>
    + <Objects>
    + <Object>
    + <Index>#x2027</Index>
    + <Name>Ripple COMPEN</Name>
    + <Type>USINT</Type>
    + <BitSize>8</BitSize>
    + <Info>
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    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
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    + </Object>
    + <Object>
    + <Index>#x1000</Index>
    + <Name>Device type</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
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    + <Flags>
    + <Access>ro</Access>
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    + <Object>
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    + <Name>Error register</Name>
    + <Type>USINT</Type>
    + <BitSize>8</BitSize>
    + <Info>
    + <DefaultData>00</DefaultData>
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    + <Flags>
    + <Access>ro</Access>
    + <Category>m</Category>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x1018</Index>
    + <Name>Identity object</Name>
    + <Type>DT1018</Type>
    + <BitSize>80</BitSize>
    + <Info>
    + <SubItem>
    + <Name>largest sub-index supported</Name>
    + <Info>
    + <DefaultData>02</DefaultData>
    + <!-- 4 -> 2 -->
    + </Info>
    + </SubItem>
    + <SubItem>
    + <Name>Vendor ID</Name>
    + <Info>
    + <DefaultData>00000625</DefaultData>
    + </Info>
    + </SubItem>
    + <SubItem>
    + <Name>Product code</Name>
    + <Info>
    + <DefaultData>69686555</DefaultData>
    + <!-- EDA7 ascii code -->
    + </Info>
    + </SubItem>
    + </Info>
    + <Flags>
    + <Access>ro</Access>
    + <Category>m</Category>
    + </Flags>
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    + <Type>DT1600</Type>
    + <BitSize>208</BitSize>
    + <Info>
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    + <Name>largest sub-index supported</Name>
    + <Info>
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    + <Name>2nd receive PDO mapping</Name>
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    + <Info>
    + <SubItem>
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    + <Info>
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    + <Info>
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    + <Name>largest sub-index supported</Name>
    + <Info>
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    + <Name>1 mapping data</Name>
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    + <Info>
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    + <Name>largest sub-index supported</Name>
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    + <Name>2nd transmit PDO-Mapping</Name>
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    + <Info>
    + <SubItem>
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    + <Info>
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    + <Flags>
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    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
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    + <Name>3rd transmit PDO-Mapping</Name>
    + <Type>DT1A02</Type>
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    + <Info>
    + <SubItem>
    + <Name>largest sub-index supported</Name>
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    + <SubItem>
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    + <Object>
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    + <Name>RxPDO assign</Name>
    + <Type>DT1C12</Type>
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    + <Info>
    + <SubItem>
    + <Name>largest sub-index supported</Name>
    + <Info>
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    + <SubItem>
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    + </SubItem>
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    + <Flags>
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    + <Object>
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    + <Name>TxPDO assign</Name>
    + <Type>DT1C12</Type>
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    + <Info>
    + <SubItem>
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    + <Flags>
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    + <Object>
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    + <Name>SM output parameter</Name>
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    + <Info>
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    + <Info>
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    + <SubItem>
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    + <SubItem>
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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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    + <Info>
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    + <Info>
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    + </SubItem>
    + <SubItem>
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    + </SubItem>
    + <SubItem>
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    + <SubItem>
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    + <Info>
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    + <Category>o</Category>
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    + </Object>
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    + <Type>USINT</Type>
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    + <Info>
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    + </Info>
    + <Flags>
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    + <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    + <Type>USINT</Type>
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    + <Info>
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    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
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    + <Name>Pulse Out Rate (P01-14)</Name>
    + <Type>UDINT</Type>
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    + <Info>
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    + <Flags>
    + <Access>rw</Access>
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    + </Flags>
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    + <Object>
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    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <Info>
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    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
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    + <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <Info>
    + <DefaultData>0000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x2010</Index>
    + <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>0000000A</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x2011</Index>
    + <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
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    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x605E</Index>
    + <Name>Fault Reaction Option Code</Name>
    + <Type>INT</Type>
    + <BitSize>16</BitSize>
    + <Info>
    + <DefaultData>FFFF</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x6060</Index>
    + <Name>Modes Of Operation</Name>
    + <Type>SINT</Type>
    + <BitSize>8</BitSize>
    + <Info>
    + <DefaultData>08</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>R</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x6061</Index>
    + <Name>Modes Of Operation Display</Name>
    + <Type>SINT</Type>
    + <BitSize>8</BitSize>
    + <Info>
    + <DefaultData>00</DefaultData>
    + </Info>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + <PdoMapping>T</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x6064</Index>
    + <Name>Position Actual Value</Name>
    + <Type>DINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>00000000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>T</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x6065</Index>
    + <Name>Following Error Window</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>404B4C00</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>R</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x6067</Index>
    + <Name>Position Window</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>F4010000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x606C</Index>
    + <Name>Velocity Actual Value</Name>
    + <Type>DINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>00000000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>T</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x606D</Index>
    + <Name> Velocity Window</Name>
    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <Info>
    + <DefaultData>3200</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x6071</Index>
    + <Name>Target Torque</Name>
    + <Type>INT</Type>
    + <BitSize>16</BitSize>
    + <Info>
    + <DefaultData>0000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>R</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x6077</Index>
    + <Name>Torque Actual Value</Name>
    + <Type>INT</Type>
    + <BitSize>16</BitSize>
    + <Info>
    + <DefaultData>0000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + <PdoMapping>T</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x607A</Index>
    + <Name>Target Position</Name>
    + <Type>DINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>00000000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>R</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x607C</Index>
    + <Name>Home Offset</Name>
    + <Type>DINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>00000000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>R</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x607D</Index>
    + <Name>Software Position Limit</Name>
    + <Type>DT607D</Type>
    + <BitSize>80</BitSize>
    + <Info>
    + <SubItem>
    + <Name>largest sub-index supported</Name>
    + <Info>
    + <DefaultData>02</DefaultData>
    + </Info>
    + </SubItem>
    + <SubItem>
    + <Name>Minimum Software position limit</Name>
    + <Info>
    + <DefaultData>00000080</DefaultData>
    + </Info>
    + </SubItem>
    + <SubItem>
    + <Name>Maximum Software position limit</Name>
    + <Info>
    + <DefaultData>ffffff7f</DefaultData>
    + </Info>
    + </SubItem>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x607E</Index>
    + <Name>Polarity</Name>
    + <Type>USINT</Type>
    + <BitSize>8</BitSize>
    + <Info>
    + <DefaultData>00</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x6083</Index>
    + <Name>Profile Acceleration</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>FFFFFFFF</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>R</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x6084</Index>
    + <Name>Profile Deceleration</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>ffffffff</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>R</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x6098</Index>
    + <Name>Homing Method</Name>
    + <Type>SINT</Type>
    + <BitSize>8</BitSize>
    + <Info>
    + <DefaultData>00</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x6099</Index>
    + <Name>Homing Speeds</Name>
    + <Type>DT6099</Type>
    + <BitSize>80</BitSize>
    + <Info>
    + <SubItem>
    + <Name>largest sub-index supported</Name>
    + <Info>
    + <DefaultData>02</DefaultData>
    + </Info>
    + </SubItem>
    + <SubItem>
    + <Name>Speed during search for switch</Name>
    + <Info>
    + <DefaultData>55550300</DefaultData>
    + </Info>
    + </SubItem>
    + <SubItem>
    + <Name>Speed during search for zero</Name>
    + <Info>
    + <DefaultData>88080000</DefaultData>
    + </Info>
    + </SubItem>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>R</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x609A</Index>
    + <Name>Homing Acceleration</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>ffffffff</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x60B8</Index>
    + <Name>Touch Probe Fucntion</Name>
    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <Info>
    + <DefaultData>0000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + <PdoMapping>R</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x60B9</Index>
    + <Name>Touch Probe Status</Name>
    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <Info>
    + <DefaultData>0000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>T</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x60BA</Index>
    + <Name>Touch Probe Pos1 Pos Value</Name>
    + <Type>DINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>00000000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + <PdoMapping>T</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x60BB</Index>
    + <Name>Touch Probe Pos1 Neg Value</Name>
    + <Type>DINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>00000000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + <PdoMapping>T</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x60E0</Index>
    + <Name>Positive Torque Limit</Name>
    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <Info>
    + <DefaultData>E803</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>R</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x60E1</Index>
    + <Name>Negative Torque Limit</Name>
    + <Type>UINT</Type>
    + <BitSize>16</BitSize>
    + <Info>
    + <DefaultData>E803</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>R</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x60F4</Index>
    + <Name>Following Error Actual Value</Name>
    + <Type>DINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>00000000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + <PdoMapping>T</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x60FD</Index>
    + <Name>Digital Inputs</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>00000000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + <PdoMapping>T</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x60FE</Index>
    + <Name>Digital Outputs</Name>
    + <Type>DT60FE</Type>
    + <BitSize>48</BitSize>
    + <Info>
    + <SubItem>
    + <Name>largest sub-index supported</Name>
    + <Info>
    + <DefaultData>01</DefaultData>
    + </Info>
    + </SubItem>
    + <SubItem>
    + <Name>Physical output</Name>
    + <Info>
    + <DefaultData>00000000</DefaultData>
    + </Info>
    + </SubItem>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>RT</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x60FF</Index>
    + <Name>Target Velocity</Name>
    + <Type>DINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>00000000</DefaultData>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + <PdoMapping>R</PdoMapping>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x6502</Index>
    + <Name>Supported Drive Mode</Name>
    + <Type>UDINT</Type>
    + <BitSize>32</BitSize>
    + <Info>
    + <DefaultData>000003A0</DefaultData>
    + </Info>
    + <Flags>
    + <Access>ro</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + <Object>
    + <Index>#x20A2</Index>
    + <Name>Communication Error Counter</Name>
    + <Type>DT20A2</Type>
    + <BitSize>80</BitSize>
    + <Info>
    + <SubItem>
    + <Name>largest sub-index supported</Name>
    + <Info>
    + <DefaultData>04</DefaultData>
    + </Info>
    + </SubItem>
    + <SubItem>
    + <Name>Invalid Frame Counter</Name>
    + <Info>
    + <DefaultData>0000</DefaultData>
    + </Info>
    + </SubItem>
    + <SubItem>
    + <Name>Rx Error Counter</Name>
    + <Info>
    + <DefaultData>0000</DefaultData>
    + </Info>
    + </SubItem>
    + <SubItem>
    + <Name>Lost Link Counter</Name>
    + <Info>
    + <DefaultData>0000</DefaultData>
    + </Info>
    + </SubItem>
    + <SubItem>
    + <Name>Counter Reset</Name>
    + <Info>
    + <DefaultData>0000</DefaultData>
    + </Info>
    + </SubItem>
    + </Info>
    + <Flags>
    + <Access>rw</Access>
    + <Category>o</Category>
    + </Flags>
    + </Object>
    + </Objects>
    + </Dictionary>
    + </Profile>
    + <Fmmu Sm="2">Outputs</Fmmu>
    + <Fmmu Sm="3">Inputs</Fmmu>
    + <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
    + <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
    + <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
    + <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
    + <Su>Drives</Su>
    + <RxPdo Sm="2" Fixed="1">
    + <Index>#x1600</Index>
    + <Name>Receive PDO mapping</Name>
    + <Exclude>#x1601</Exclude>
    + <Exclude>#x1602</Exclude>
    + <Entry>
    + <Index>#x6040</Index>
    + <!-- ControlWord -->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Controlword</Name>
    + <Comment>object 0x6040:0</Comment>
    + <DataType>UINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x607A</Index>
    + <!-- Target Position -->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name>Target Position</Name>
    + <Comment>object 0x607A:0</Comment>
    + <DataType>DINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x60FF</Index>
    + <!-- Target Velocity -->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name>Target Velocity</Name>
    + <Comment>object 0x60FF:0</Comment>
    + <DataType>DINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x6071</Index>
    + <!-- Target Torque -->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Target Torque</Name>
    + <Comment>object 0x6071:0</Comment>
    + <DataType>INT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x6060</Index>
    + <!-- Mode of Operation -->
    + <SubIndex>0</SubIndex>
    + <BitLen>8</BitLen>
    + <Name>Mode of Operation</Name>
    + <Comment>object 0x6060:0</Comment>
    + <DataType>SINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>0</Index>
    + <!--Padding-->
    + <SubIndex>0</SubIndex>
    + <BitLen>8</BitLen>
    + </Entry>
    + </RxPdo>
    + <RxPdo Fixed="1">
    + <Index>#x1601</Index>
    + <Name>Receive PDO mapping</Name>
    + <Exclude>#x1600</Exclude>
    + <Exclude>#x1602</Exclude>
    + <Entry>
    + <Index>#x6040</Index>
    + <!-- ControlWord -->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Controlword</Name>
    + <Comment>object 0x6040:0</Comment>
    + <DataType>UINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x60FF</Index>
    + <!-- Target Velocity -->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name>Target Velocity</Name>
    + <Comment>object 0x60FF:0</Comment>
    + <DataType>DINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x60E0</Index>
    + <!--Positive Torque Limit Value-->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Positive Torque Limit Value</Name>
    + <Comment>object 0x60E0:0</Comment>
    + <DataType>UINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x60E1</Index>
    + <!--Negative Torque Limit Value-->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Negative Torque Limit Value</Name>
    + <Comment>object 0x60E1:0</Comment>
    + <DataType>UINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x6060</Index>
    + <!-- Mode of Operation -->
    + <SubIndex>0</SubIndex>
    + <BitLen>8</BitLen>
    + <Name>Mode of Operation</Name>
    + <Comment>object 0x6060:0</Comment>
    + <DataType>SINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>0</Index>
    + <!--Padding-->
    + <SubIndex>0</SubIndex>
    + <BitLen>8</BitLen>
    + </Entry>
    + </RxPdo>
    + <RxPdo Fixed="1">
    + <Index>#x1602</Index>
    + <Name>Receive PDO mapping</Name>
    + <Exclude>#x1600</Exclude>
    + <Exclude>#x1601</Exclude>
    + <Entry>
    + <Index>#x6040</Index>
    + <!-- ControlWord -->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Controlword</Name>
    + <Comment>object 0x6040:0</Comment>
    + <DataType>UINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x607A</Index>
    + <!-- Target Position -->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name>Target Position</Name>
    + <Comment>object 0x607A:0</Comment>
    + <DataType>DINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x60FF</Index>
    + <!-- Target Velocity -->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name>Target Velocity</Name>
    + <Comment>object 0x60FF:0</Comment>
    + <DataType>DINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x60B8</Index>
    + <!--Touch Probe Function-->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Touch Probe Function</Name>
    + <Comment>object 0x60B8:0</Comment>
    + <DataType>UINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x6060</Index>
    + <!-- Mode of Operation -->
    + <SubIndex>0</SubIndex>
    + <BitLen>8</BitLen>
    + <Name>Mode of Operation</Name>
    + <Comment>object 0x6060:0</Comment>
    + <DataType>SINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>0</Index>
    + <!--Padding-->
    + <SubIndex>0</SubIndex>
    + <BitLen>8</BitLen>
    + </Entry>
    + </RxPdo>
    + <TxPdo Sm="3" Fixed="1">
    + <Index>#x1A00</Index>
    + <Name>Transmit PDO mapping</Name>
    + <Exclude>#x1A01</Exclude>
    + <Exclude>#x1A02</Exclude>
    + <Entry>
    + <Index>#x6041</Index>
    + <!-- Status Word -->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Statusword</Name>
    + <Comment>object 0x6041:0</Comment>
    + <DataType>UINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x6064</Index>
    + <!-- Actual Position -->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name>Position actual value</Name>
    + <Comment>object 0x6064:0</Comment>
    + <DataType>DINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x6077</Index>
    + <!-- Actual Toruque -->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Torque actual value</Name>
    + <Comment>object 0x6077:0</Comment>
    + <DataType>INT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x6061</Index>
    + <!-- Mode of Operation Display -->
    + <SubIndex>0</SubIndex>
    + <BitLen>8</BitLen>
    + <Name>Modes of operation display</Name>
    + <Comment>object 0x6061:0</Comment>
    + <DataType>SINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>0</Index>
    + <!--Padding-->
    + <SubIndex>0</SubIndex>
    + <BitLen>8</BitLen>
    + </Entry>
    + </TxPdo>
    + <TxPdo Fixed="1">
    + <Index>#x1A01</Index>
    + <Name>Transmit PDO mapping</Name>
    + <Exclude>#x1A00</Exclude>
    + <Exclude>#x1A02</Exclude>
    + <Entry>
    + <Index>#x6041</Index>
    + <!-- Status Word -->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Statusword</Name>
    + <Comment>object 0x6041:0</Comment>
    + <DataType>UINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x6064</Index>
    + <!-- Actual Position -->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name>Position actual value</Name>
    + <Comment>object 0x6064:0</Comment>
    + <DataType>DINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x606C</Index>
    + <!-- Actual Velocity-->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name> Actual Velocity</Name>
    + <Comment>object 0x606C:0</Comment>
    + <DataType>DINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x6077</Index>
    + <!-- Actual Toruque -->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Torque actual value</Name>
    + <Comment>object 0x6077:0</Comment>
    + <DataType>INT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x6061</Index>
    + <!-- Mode of Operation Display -->
    + <SubIndex>0</SubIndex>
    + <BitLen>8</BitLen>
    + <Name>Modes of operation display</Name>
    + <Comment>object 0x6061:0</Comment>
    + <DataType>SINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>0</Index>
    + <!--Padding-->
    + <SubIndex>0</SubIndex>
    + <BitLen>8</BitLen>
    + </Entry>
    + </TxPdo>
    + <TxPdo Fixed="1">
    + <Index>#x1A02</Index>
    + <Name>Transmit PDO mapping</Name>
    + <Exclude>#x1A00</Exclude>
    + <Exclude>#x1A01</Exclude>
    + <Entry>
    + <Index>#x6041</Index>
    + <!-- Status Word -->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Statusword</Name>
    + <Comment>object 0x6041:0</Comment>
    + <DataType>UINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x6064</Index>
    + <!-- Actual Position -->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name>Position actual value</Name>
    + <Comment>object 0x6064:0</Comment>
    + <DataType>DINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x606C</Index>
    + <!-- Actual Velocity-->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name> Actual Velocity</Name>
    + <Comment>object 0x606C:0</Comment>
    + <DataType>DINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x60B9</Index>
    + <!--Touch Probe Status-->
    + <SubIndex>0</SubIndex>
    + <BitLen>16</BitLen>
    + <Name>Touch Probe Status</Name>
    + <Comment>object 0x60B9:0</Comment>
    + <DataType>UINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x60BA</Index>
    + <!--Touch Probe Pos1 Pos Value-->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name>Touch Probe Pos1 Pos Value</Name>
    + <Comment>object 0x60BA:0</Comment>
    + <DataType>DINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x60BB</Index>
    + <!--Touch Probe Pos1 Neg Value-->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name>Touch Probe Pos1 Neg Value</Name>
    + <Comment>object 0x60BB:0</Comment>
    + <DataType>DINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x60FD</Index>
    + <!--Digital Inputs-->
    + <SubIndex>0</SubIndex>
    + <BitLen>32</BitLen>
    + <Name>Digital Inputs</Name>
    + <Comment>object 0x60FD:0</Comment>
    + <DataType>UDINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>#x6061</Index>
    + <!-- Mode of Operation Display -->
    + <SubIndex>0</SubIndex>
    + <BitLen>8</BitLen>
    + <Name>Modes of operation display</Name>
    + <Comment>object 0x6061:0</Comment>
    + <DataType>SINT</DataType>
    + </Entry>
    + <Entry>
    + <Index>0</Index>
    + <!--Padding-->
    + <SubIndex>0</SubIndex>
    + <BitLen>8</BitLen>
    + </Entry>
    + </TxPdo>
    + <Mailbox>
    + <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoConfig="true" PdoAssign="true" SdoInfo="false">
    + <InitCmd>
    + <Transition>PS</Transition>
    + <Index>#x2025</Index>
    + <SubIndex>0</SubIndex>
    + <Data>0004</Data>
    + <Comment>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Comment>
    + </InitCmd>
    + </CoE>
    + </Mailbox>
    + <Dc>
    + <OpMode>
    + <Name>DC</Name>
    + <Desc>DC-Synchron by Sync0</Desc>
    + <AssignActivate>#x300</AssignActivate>
    + <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
    + <ShiftTimeSync0>0</ShiftTimeSync0>
    + <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
    + <ShiftTimeSync1>0</ShiftTimeSync1>
    + </OpMode>
    + <OpMode>
    + <Name>Free-run</Name>
    + <Desc>DC unused</Desc>
    + <AssignActivate>#x0000</AssignActivate>
    + </OpMode>
    + </Dc>
    + <Eeprom>
    + <ByteSize>2048</ByteSize>
    + <ConfigData>080C0244320000000000</ConfigData>
    + </Eeprom>
    + <Image16x14>DRIVE</Image16x14>
    + </Device>
    + </Devices>
    + </Descriptions>
    +</EtherCATInfo>
    --- a/ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_FDA7000_CoE_20111219.xml Thu Oct 25 19:55:02 2012 +0200
    +++ /dev/null Thu Jan 01 00:00:00 1970 +0000
    @@ -1,30424 +0,0 @@
    -<?xml version="1.0" ?>
    -<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
    - <Vendor>
    - <Id>#x00000625</Id>
    - <Name>HIGEN Motor Co., Ltd.</Name>
    - <ImageData16x14>424DB6030000000000003600000028000000100000000E000000010020000000000080030000130B0000130B00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFFFFFFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF</ImageData16x14>
    - </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="#x69686555" RevisionNo="#x00000001">EDA7001 CoE Drive</Type>
    - <Name LcId="1033"><![CDATA[EDA7001 CoE Servo Drive (0.1KW)]]></Name>
    - <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
    - <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>
    - <BitSize>0</BitSize>
    - </DataType>
    - <DataType>
    - <Name>SINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>USINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>INT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UINT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UDINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DT1018</Name>
    - <BitSize>80</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>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Product code</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT1600</Name>
    - <BitSize>1008</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>1st mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <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>
    - <BitSize>32</BitSize>
    - <BitOffs>80</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>4</SubIdx>
    - <Name>4th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>112</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>5</SubIdx>
    - <Name>5th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <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>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>
    - <BitSize>16</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Assign2</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>32</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>3</SubIdx>
    - <Name>Assign3</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>304</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>Sync mode</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>16</BitSize>
    - <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>Get cycle time</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>192</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>224</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>10</SubIdx>
    - <Name>Sync0 time</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>240</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>11</SubIdx>
    - <Name>Cycle exceeded counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>256</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>12</SubIdx>
    - <Name>SM event missed counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>272</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>288</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>304</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT607D</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>Minimum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Muximum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT6099</Name>
    - <BitSize>80</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>Speed during search for switch</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Speed during search for zero</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT60FE</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>Physical output</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - </DataTypes>
    - <Objects>
    - <Object>
    - <Index>#x1000</Index>
    - <Name>Device type</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>92010200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1001</Index>
    - <Name>Error register</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x100A</Index>
    - <Name>Manufacturer Software Version</Name>
    - <Type>STRING(0)</Type>
    - <BitSize>0</BitSize>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1018</Index>
    - <Name>Identity object</Name>
    - <Type>DT1018</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Vendor ID</Name>
    - <Info>
    - <DefaultData>00000625</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Product code</Name>
    - <Info>
    - <DefaultData>69686555</DefaultData> <!-- EDA7 ascii code -->
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1600</Index>
    - <Name>1st receive PDO mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004060</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1A00</Index>
    - <Name>1st transmit PDO-Mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004160</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C12</Index>
    - <Name>RxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>0016</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C13</Index>
    - <Name>TxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>001A</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C32</Index>
    - <Name>SM output parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>400D0300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C33</Index>
    - <Name>SM input parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>24F40000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2000</Index>
    - <Name>Drive ID (P01-11)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2001</Index>
    - <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>09</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2002</Index>
    - <Name>Pulse Out Rate (P01-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00020000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2003</Index>
    - <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0100</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2004</Index>
    - <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2010</Index>
    - <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2011</Index>
    - <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2012</Index>
    - <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2013</Index>
    - <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000001F4</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2014</Index>
    - <Name>Brake Time (x0.1ms) (P02-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000032</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2015</Index>
    - <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2016</Index>
    - <Name>Notch Filter 1 Mode (P02-10)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2017</Index>
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    - <Name>Position Actual Value</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
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    - </Object>
    - <Object>
    - <Index>#x6065</Index>
    - <Name>Following Error Window</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>404B4C00</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
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    - </Object>
    - <Object>
    - <Index>#x6067</Index>
    - <Name>Position Window</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>F4010000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
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    - </Object>
    - <Object>
    - <Index>#x606C</Index>
    - <Name>Velocity Actual Value</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
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    - </Object>
    - <Object>
    - <Index>#x606D</Index>
    - <Name> Velocity Window</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>3200</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x6071</Index>
    - <Name>Target Torque</Name>
    - <Type>INT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
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    - </Object>
    - <Object>
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    - <Name>Torque Actual Value</Name>
    - <Type>INT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
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    - <Name>Target Position</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
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    - </Object>
    - <Object>
    - <Index>#x607C</Index>
    - <Name>Home Offset</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
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    - </Object>
    - <Object>
    - <Index>#x607D</Index>
    - <Name>Software Position Limit</Name>
    - <Type>DT607D</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum Software position limit</Name>
    - <Info>
    - <DefaultData>00000080</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Muximum Software position limit</Name>
    - <Info>
    - <DefaultData>ffffff7f</DefaultData>
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    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x607E</Index>
    - <Name>Polarity</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6083</Index>
    - <Name>Profile Acceleration</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>FFFFFFFF</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
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    - </Object>
    - <Object>
    - <Index>#x6084</Index>
    - <Name>Profile Deceleration</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>ffffffff</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
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    - </Object>
    - <Object>
    - <Index>#x6098</Index>
    - <Name>Homing Method</Name>
    - <Type>SINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x6099</Index>
    - <Name>Homing Speeds</Name>
    - <Type>DT6099</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Speed during search for switch</Name>
    - <Info>
    - <DefaultData>55550300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Speed during search for zero</Name>
    - <Info>
    - <DefaultData>88080000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x609A</Index>
    - <Name>Homing Acceleration</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>ffffffff</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60E0</Index>
    - <Name>Positive Torque Limit</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>E803</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60E1</Index>
    - <Name>Negative Torque Limit</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>E803</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60F4</Index>
    - <Name>Following Error Actual Value</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FD</Index>
    - <Name>Digital Inputs</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
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    - </Object>
    - <Object>
    - <Index>#x60FE</Index>
    - <Name>Digital Outputs</Name>
    - <Type>DT60FE</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Physical output</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x60FF</Index>
    - <Name>Target Velocity</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
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    - </Object>
    - <Object>
    - <Index>#x6502</Index>
    - <Name>Supported Drive Mode</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>80030300</DefaultData>
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    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
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    - </Object>
    - </Objects>
    - </Dictionary>
    - </Profile>
    - <Fmmu Sm = "2">Outputs</Fmmu>
    - <Fmmu Sm = "3">Inputs</Fmmu>
    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
    - <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
    - <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
    - <Su>Drives</Su>
    - <RxPdo Fixed="1" Sm="2">
    - <Index>#x1600</Index>
    - <Name>Receive PDO mapping</Name>
    - <Entry>
    - <Index>#x6040</Index> <!-- ControlWord -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Controlword</Name>
    - <Comment>object 0x6040:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x607A</Index> <!-- Target Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Position</Name>
    - <Comment>object 0x607A:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x60FF</Index> <!-- Target Velocity -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Velocity</Name>
    - <Comment>object 0x60FF:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6071</Index> <!-- Target Torque -->
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    - <BitLen>16</BitLen>
    - <Name>Target Torque</Name>
    - <Comment>object 0x6071:0</Comment>
    - <DataType>UINT</DataType>
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    - <Entry>
    - <Index>#x6060</Index> <!-- Mode of Operation -->
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    - <BitLen>8</BitLen>
    - <Name>Mode of Operation</Name>
    - <Comment>object 0x6060:0</Comment>
    - <DataType>USINT</DataType>
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    - </RxPdo>
    - <TxPdo Fixed="1" Sm="3">
    - <Index>#x1A00</Index>
    - <Name>Transmit PDO mapping</Name>
    - <Entry>
    - <Index>#x6041</Index> <!-- Status Word -->
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    - <BitLen>16</BitLen>
    - <Name>Statusword</Name>
    - <Comment>object 0x6041:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6064</Index> <!-- Actual Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Position actual value</Name>
    - <Comment>object 0x6064:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6077</Index> <!-- Actual Toruque -->
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    - <BitLen>16</BitLen>
    - <Name>Torque actual value</Name>
    - <Comment>object 0x6077:0</Comment>
    - <DataType>UINT</DataType>
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    - <Entry>
    - <Index>#x6061</Index> <!-- Mode of Operation Display -->
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    - <BitLen>8</BitLen>
    - <Name>Modes of operation display</Name>
    - <Comment>object 0x6061:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
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    - <Mailbox>
    - <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
    - </CoE>
    - </Mailbox>
    - <Dc>
    - <OpMode>
    - <Name>DC</Name>
    - <Desc>DC-Synchron</Desc>
    - <AssignActivate>#x700</AssignActivate>
    - <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
    - <ShiftTimeSync0>0</ShiftTimeSync0>
    - <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
    - <ShiftTimeSync1>0</ShiftTimeSync1>
    - </OpMode>
    - <OpMode>
    - <Name>Free-run</Name>
    - <Desc>DC unused</Desc>
    - <AssignActivate>#x0000</AssignActivate>
    - </OpMode>
    - </Dc>
    - <Eeprom>
    - <ByteSize>2048</ByteSize>
    - <ConfigData>080C0244320000000000</ConfigData>
    - </Eeprom>
    - <Image16x14>DRIVE</Image16x14>
    - </Device>
    -
    - <Device Physics="YY">
    - <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000002">EDA7002 CoE Drive</Type>
    - <Name LcId="1033"><![CDATA[EDA7002 CoE Servo Drive (0.2KW)]]></Name>
    - <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
    - <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>
    - <BitSize>0</BitSize>
    - </DataType>
    - <DataType>
    - <Name>SINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>USINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>INT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UINT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UDINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DT1018</Name>
    - <BitSize>80</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>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Product code</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT1600</Name>
    - <BitSize>1008</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>1st mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <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>
    - <BitSize>32</BitSize>
    - <BitOffs>80</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>4</SubIdx>
    - <Name>4th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>112</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>5</SubIdx>
    - <Name>5th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <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>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>
    - <BitSize>16</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Assign2</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>32</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>3</SubIdx>
    - <Name>Assign3</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>304</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>Sync mode</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>16</BitSize>
    - <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>Get cycle time</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>192</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>224</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>10</SubIdx>
    - <Name>Sync0 time</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>240</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>11</SubIdx>
    - <Name>Cycle exceeded counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>256</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>12</SubIdx>
    - <Name>SM event missed counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>272</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>288</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>304</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT607D</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>Minimum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Muximum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT6099</Name>
    - <BitSize>80</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>Speed during search for switch</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Speed during search for zero</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT60FE</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>Physical output</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - </DataTypes>
    - <Objects>
    - <Object>
    - <Index>#x1000</Index>
    - <Name>Device type</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>92010200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1001</Index>
    - <Name>Error register</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x100A</Index>
    - <Name>Manufacturer Software Version</Name>
    - <Type>STRING(0)</Type>
    - <BitSize>0</BitSize>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1018</Index>
    - <Name>Identity object</Name>
    - <Type>DT1018</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Vendor ID</Name>
    - <Info>
    - <DefaultData>00000625</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Product code</Name>
    - <Info>
    - <DefaultData>69686555</DefaultData> <!-- EDA7 ascii code -->
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1600</Index>
    - <Name>1st receive PDO mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004060</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1A00</Index>
    - <Name>1st transmit PDO-Mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004160</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C12</Index>
    - <Name>RxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>0016</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C13</Index>
    - <Name>TxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>001A</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C32</Index>
    - <Name>SM output parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>400D0300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C33</Index>
    - <Name>SM input parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
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    - <SubItem>
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    - <Info>
    - <DefaultData>0200</DefaultData>
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    - <SubItem>
    - <Name>Cycle time</Name>
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    - <DefaultData>20A10700</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <SubItem>
    - <Name>Sync modes supported</Name>
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    - <DefaultData>0740</DefaultData>
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    - <SubItem>
    - <Name>Minimum cycle time</Name>
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    - <DefaultData>20A10700</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
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    - <DefaultData>24F40000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
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    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
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    - <Name>Drive ID (P01-11)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2001</Index>
    - <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>09</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2002</Index>
    - <Name>Pulse Out Rate (P01-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00020000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
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    - <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0100</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
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    - <Object>
    - <Index>#x2004</Index>
    - <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2010</Index>
    - <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2011</Index>
    - <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2012</Index>
    - <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2013</Index>
    - <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000001F4</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2014</Index>
    - <Name>Brake Time (x0.1ms) (P02-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000032</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2015</Index>
    - <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2016</Index>
    - <Name>Notch Filter 1 Mode (P02-10)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2017</Index>
    - <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000BB8</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2018</Index>
    - <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2019</Index>
    - <Name>Notch Filter 2 Mode (P02-13)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x201A</Index>
    - <Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001388</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x201B</Index>
    - <Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x201C</Index>
    - <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201D</Index>
    - <Name>Auto Tuning Mode (P02-17)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201E</Index>
    - <Name>System Response (P02-18)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x201F</Index>
    - <Name>Inertia Ratio (x0.1) (P02-19)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000014</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2020</Index>
    - <Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001F40</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2021</Index>
    - <Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2022</Index>
    - <Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2023</Index>
    - <Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2024</Index>
    - <Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2025</Index>
    - <Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>00000003</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x2026</Index>
    - <Name>Parameter Initialization (P02-29)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2030</Index>
    - <Name>Speed Gain Mode (P03-01)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>01</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2031</Index>
    - <Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2032</Index>
    - <Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x2033</Index>
    - <Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2034</Index>
    - <Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2035</Index>
    - <Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2036</Index>
    - <Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Index>#x2037</Index>
    - <Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2038</Index>
    - <Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2039</Index>
    - <Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000064</DefaultData>
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    - <Flags>
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    - <Index>#x203A</Index>
    - <Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Index>#x203B</Index>
    - <Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Name>Feedforward Torque Mode (P03-24)</Name>
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    - <BitSize>8</BitSize>
    - <Info>
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    - <Index>#x2040</Index>
    - <Name>Position Gain Mode (P05-01)</Name>
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    - <BitSize>8</BitSize>
    - <Info>
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    - <Index>#x2041</Index>
    - <Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Index>#x2042</Index>
    - <Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Index>#x2044</Index>
    - <Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Index>#x2045</Index>
    - <Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Index>#x2046</Index>
    - <Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Index>#x2047</Index>
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    - <BitSize>32</BitSize>
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    - <DefaultData>00000001</DefaultData>
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    - <Object>
    - <Index>#x2048</Index>
    - <Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000001</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Index>#x2049</Index>
    - <Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
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    - <Flags>
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    - </DataType>
    - <DataType>
    - <Name>SINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>USINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>INT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UINT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UDINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DT1018</Name>
    - <BitSize>80</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>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Product code</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT1600</Name>
    - <BitSize>1008</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>1st mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <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>
    - <BitSize>32</BitSize>
    - <BitOffs>80</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>4</SubIdx>
    - <Name>4th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>112</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>5</SubIdx>
    - <Name>5th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <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>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>
    - <BitSize>16</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Assign2</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>32</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>3</SubIdx>
    - <Name>Assign3</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>304</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>Sync mode</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>16</BitSize>
    - <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>Get cycle time</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>192</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>224</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>10</SubIdx>
    - <Name>Sync0 time</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>240</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>11</SubIdx>
    - <Name>Cycle exceeded counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>256</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>12</SubIdx>
    - <Name>SM event missed counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>272</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>288</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>304</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT607D</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>Minimum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Muximum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT6099</Name>
    - <BitSize>80</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>Speed during search for switch</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Speed during search for zero</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT60FE</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>Physical output</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - </DataTypes>
    - <Objects>
    - <Object>
    - <Index>#x1000</Index>
    - <Name>Device type</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>92010200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1001</Index>
    - <Name>Error register</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x100A</Index>
    - <Name>Manufacturer Software Version</Name>
    - <Type>STRING(0)</Type>
    - <BitSize>0</BitSize>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1018</Index>
    - <Name>Identity object</Name>
    - <Type>DT1018</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Vendor ID</Name>
    - <Info>
    - <DefaultData>00000625</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Product code</Name>
    - <Info>
    - <DefaultData>69686555</DefaultData> <!-- EDA7 ascii code -->
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    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
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    - <Name>1st receive PDO mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004060</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1A00</Index>
    - <Name>1st transmit PDO-Mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004160</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C12</Index>
    - <Name>RxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>0016</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C13</Index>
    - <Name>TxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>001A</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C32</Index>
    - <Name>SM output parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>400D0300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C33</Index>
    - <Name>SM input parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>24F40000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2000</Index>
    - <Name>Drive ID (P01-11)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2001</Index>
    - <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>09</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2002</Index>
    - <Name>Pulse Out Rate (P01-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00020000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2003</Index>
    - <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0100</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2004</Index>
    - <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2010</Index>
    - <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2011</Index>
    - <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2012</Index>
    - <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2013</Index>
    - <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000001F4</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2014</Index>
    - <Name>Brake Time (x0.1ms) (P02-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000032</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2015</Index>
    - <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2016</Index>
    - <Name>Notch Filter 1 Mode (P02-10)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2017</Index>
    - <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000BB8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2018</Index>
    - <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2019</Index>
    - <Name>Notch Filter 2 Mode (P02-13)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201A</Index>
    - <Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001388</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201B</Index>
    - <Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201C</Index>
    - <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201D</Index>
    - <Name>Auto Tuning Mode (P02-17)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201E</Index>
    - <Name>System Response (P02-18)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201F</Index>
    - <Name>Inertia Ratio (x0.1) (P02-19)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000014</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2020</Index>
    - <Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001F40</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2021</Index>
    - <Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2022</Index>
    - <Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2023</Index>
    - <Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2024</Index>
    - <Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2025</Index>
    - <Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>00000003</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2026</Index>
    - <Name>Parameter Initialization (P02-29)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2030</Index>
    - <Name>Speed Gain Mode (P03-01)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2031</Index>
    - <Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2032</Index>
    - <Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2033</Index>
    - <Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2034</Index>
    - <Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FD</Index>
    - <Name>Digital Inputs</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FE</Index>
    - <Name>Digital Outputs</Name>
    - <Type>DT60FE</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Physical output</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FF</Index>
    - <Name>Target Velocity</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6502</Index>
    - <Name>Supported Drive Mode</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>80030300</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - </Objects>
    - </Dictionary>
    - </Profile>
    - <Fmmu Sm = "2">Outputs</Fmmu>
    - <Fmmu Sm = "3">Inputs</Fmmu>
    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
    - <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
    - <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
    - <Su>Drives</Su>
    - <RxPdo Fixed="1" Sm="2">
    - <Index>#x1600</Index>
    - <Name>Receive PDO mapping</Name>
    - <Entry>
    - <Index>#x6040</Index> <!-- ControlWord -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Controlword</Name>
    - <Comment>object 0x6040:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x607A</Index> <!-- Target Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Position</Name>
    - <Comment>object 0x607A:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x60FF</Index> <!-- Target Velocity -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Velocity</Name>
    - <Comment>object 0x60FF:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6071</Index> <!-- Target Torque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Target Torque</Name>
    - <Comment>object 0x6071:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6060</Index> <!-- Mode of Operation -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Mode of Operation</Name>
    - <Comment>object 0x6060:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </RxPdo>
    - <TxPdo Fixed="1" Sm="3">
    - <Index>#x1A00</Index>
    - <Name>Transmit PDO mapping</Name>
    - <Entry>
    - <Index>#x6041</Index> <!-- Status Word -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Statusword</Name>
    - <Comment>object 0x6041:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6064</Index> <!-- Actual Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Position actual value</Name>
    - <Comment>object 0x6064:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6077</Index> <!-- Actual Toruque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Torque actual value</Name>
    - <Comment>object 0x6077:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6061</Index> <!-- Mode of Operation Display -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Modes of operation display</Name>
    - <Comment>object 0x6061:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </TxPdo>
    - <Mailbox>
    - <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
    - </CoE>
    - </Mailbox>
    - <Dc>
    - <OpMode>
    - <Name>DC</Name>
    - <Desc>DC-Synchron</Desc>
    - <AssignActivate>#x700</AssignActivate>
    - <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
    - <ShiftTimeSync0>0</ShiftTimeSync0>
    - <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
    - <ShiftTimeSync1>0</ShiftTimeSync1>
    - </OpMode>
    - <OpMode>
    - <Name>Free-run</Name>
    - <Desc>DC unused</Desc>
    - <AssignActivate>#x0000</AssignActivate>
    - </OpMode>
    - </Dc>
    - <Eeprom>
    - <ByteSize>2048</ByteSize>
    - <ConfigData>080C0244320000000000</ConfigData>
    - </Eeprom>
    - <Image16x14>DRIVE</Image16x14>
    - </Device>
    -
    - <Device Physics="YY">
    - <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000005">EDA7005 CoE Drive</Type>
    - <Name LcId="1033"><![CDATA[EDA7005 CoE Servo Drive (0.5KW)]]></Name>
    - <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
    - <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>
    - <BitSize>0</BitSize>
    - </DataType>
    - <DataType>
    - <Name>SINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>USINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>INT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UINT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UDINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DT1018</Name>
    - <BitSize>80</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>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Product code</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT1600</Name>
    - <BitSize>1008</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>1st mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <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>
    - <BitSize>32</BitSize>
    - <BitOffs>80</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>4</SubIdx>
    - <Name>4th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>112</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>5</SubIdx>
    - <Name>5th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <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>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>
    - <BitSize>16</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Assign2</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>32</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>3</SubIdx>
    - <Name>Assign3</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>304</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>Sync mode</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>16</BitSize>
    - <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>Get cycle time</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>192</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>224</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>10</SubIdx>
    - <Name>Sync0 time</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>240</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>11</SubIdx>
    - <Name>Cycle exceeded counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>256</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>12</SubIdx>
    - <Name>SM event missed counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>272</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>288</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>304</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT607D</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>Minimum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Muximum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT6099</Name>
    - <BitSize>80</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>Speed during search for switch</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Speed during search for zero</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT60FE</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>Physical output</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - </DataTypes>
    - <Objects>
    - <Object>
    - <Index>#x1000</Index>
    - <Name>Device type</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>92010200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1001</Index>
    - <Name>Error register</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x100A</Index>
    - <Name>Manufacturer Software Version</Name>
    - <Type>STRING(0)</Type>
    - <BitSize>0</BitSize>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1018</Index>
    - <Name>Identity object</Name>
    - <Type>DT1018</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Vendor ID</Name>
    - <Info>
    - <DefaultData>00000625</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Product code</Name>
    - <Info>
    - <DefaultData>69686555</DefaultData> <!-- EDA7 ascii code -->
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1600</Index>
    - <Name>1st receive PDO mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004060</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1A00</Index>
    - <Name>1st transmit PDO-Mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004160</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C12</Index>
    - <Name>RxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>0016</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C13</Index>
    - <Name>TxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>001A</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C32</Index>
    - <Name>SM output parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>400D0300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C33</Index>
    - <Name>SM input parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>24F40000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2000</Index>
    - <Name>Drive ID (P01-11)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2001</Index>
    - <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>09</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2002</Index>
    - <Name>Pulse Out Rate (P01-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00020000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2003</Index>
    - <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0100</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2004</Index>
    - <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2010</Index>
    - <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2011</Index>
    - <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2012</Index>
    - <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2013</Index>
    - <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000001F4</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2014</Index>
    - <Name>Brake Time (x0.1ms) (P02-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000032</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2015</Index>
    - <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2016</Index>
    - <Name>Notch Filter 1 Mode (P02-10)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2017</Index>
    - <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000BB8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2018</Index>
    - <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2019</Index>
    - <Name>Notch Filter 2 Mode (P02-13)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
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    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x606C</Index>
    - <Name>Velocity Actual Value</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x606D</Index>
    - <Name> Velocity Window</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>3200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6071</Index>
    - <Name>Target Torque</Name>
    - <Type>INT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6077</Index>
    - <Name>Torque Actual Value</Name>
    - <Type>INT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x607A</Index>
    - <Name>Target Position</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x607C</Index>
    - <Name>Home Offset</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x607D</Index>
    - <Name>Software Position Limit</Name>
    - <Type>DT607D</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum Software position limit</Name>
    - <Info>
    - <DefaultData>00000080</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Muximum Software position limit</Name>
    - <Info>
    - <DefaultData>ffffff7f</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x607E</Index>
    - <Name>Polarity</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6083</Index>
    - <Name>Profile Acceleration</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>FFFFFFFF</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6084</Index>
    - <Name>Profile Deceleration</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>ffffffff</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6098</Index>
    - <Name>Homing Method</Name>
    - <Type>SINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6099</Index>
    - <Name>Homing Speeds</Name>
    - <Type>DT6099</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Speed during search for switch</Name>
    - <Info>
    - <DefaultData>55550300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Speed during search for zero</Name>
    - <Info>
    - <DefaultData>88080000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x609A</Index>
    - <Name>Homing Acceleration</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>ffffffff</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60E0</Index>
    - <Name>Positive Torque Limit</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>E803</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60E1</Index>
    - <Name>Negative Torque Limit</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>E803</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60F4</Index>
    - <Name>Following Error Actual Value</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FD</Index>
    - <Name>Digital Inputs</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FE</Index>
    - <Name>Digital Outputs</Name>
    - <Type>DT60FE</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Physical output</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FF</Index>
    - <Name>Target Velocity</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6502</Index>
    - <Name>Supported Drive Mode</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>80030300</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - </Objects>
    - </Dictionary>
    - </Profile>
    - <Fmmu Sm = "2">Outputs</Fmmu>
    - <Fmmu Sm = "3">Inputs</Fmmu>
    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
    - <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
    - <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
    - <Su>Drives</Su>
    - <RxPdo Fixed="1" Sm="2">
    - <Index>#x1600</Index>
    - <Name>Receive PDO mapping</Name>
    - <Entry>
    - <Index>#x6040</Index> <!-- ControlWord -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Controlword</Name>
    - <Comment>object 0x6040:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x607A</Index> <!-- Target Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Position</Name>
    - <Comment>object 0x607A:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x60FF</Index> <!-- Target Velocity -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Velocity</Name>
    - <Comment>object 0x60FF:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6071</Index> <!-- Target Torque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Target Torque</Name>
    - <Comment>object 0x6071:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6060</Index> <!-- Mode of Operation -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Mode of Operation</Name>
    - <Comment>object 0x6060:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </RxPdo>
    - <TxPdo Fixed="1" Sm="3">
    - <Index>#x1A00</Index>
    - <Name>Transmit PDO mapping</Name>
    - <Entry>
    - <Index>#x6041</Index> <!-- Status Word -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Statusword</Name>
    - <Comment>object 0x6041:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6064</Index> <!-- Actual Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Position actual value</Name>
    - <Comment>object 0x6064:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6077</Index> <!-- Actual Toruque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Torque actual value</Name>
    - <Comment>object 0x6077:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6061</Index> <!-- Mode of Operation Display -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Modes of operation display</Name>
    - <Comment>object 0x6061:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </TxPdo>
    - <Mailbox>
    - <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
    - </CoE>
    - </Mailbox>
    - <Dc>
    - <OpMode>
    - <Name>DC</Name>
    - <Desc>DC-Synchron</Desc>
    - <AssignActivate>#x700</AssignActivate>
    - <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
    - <ShiftTimeSync0>0</ShiftTimeSync0>
    - <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
    - <ShiftTimeSync1>0</ShiftTimeSync1>
    - </OpMode>
    - <OpMode>
    - <Name>Free-run</Name>
    - <Desc>DC unused</Desc>
    - <AssignActivate>#x0000</AssignActivate>
    - </OpMode>
    - </Dc>
    - <Eeprom>
    - <ByteSize>2048</ByteSize>
    - <ConfigData>080C0244320000000000</ConfigData>
    - </Eeprom>
    - <Image16x14>DRIVE</Image16x14>
    - </Device>
    -<Device Physics="YY">
    - <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000000A">EDA7010 CoE Drive</Type>
    - <Name LcId="1033"><![CDATA[EDA7010 CoE Servo Drive (1.0KW)]]></Name>
    - <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
    - <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>
    - <BitSize>0</BitSize>
    - </DataType>
    - <DataType>
    - <Name>SINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>USINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>INT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UINT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UDINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DT1018</Name>
    - <BitSize>80</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>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Product code</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT1600</Name>
    - <BitSize>1008</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>1st mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <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>
    - <BitSize>32</BitSize>
    - <BitOffs>80</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>4</SubIdx>
    - <Name>4th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>112</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>5</SubIdx>
    - <Name>5th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <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>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>
    - <BitSize>16</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Assign2</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>32</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>3</SubIdx>
    - <Name>Assign3</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>304</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>Sync mode</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>16</BitSize>
    - <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>Get cycle time</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>192</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>224</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>10</SubIdx>
    - <Name>Sync0 time</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>240</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>11</SubIdx>
    - <Name>Cycle exceeded counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>256</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>12</SubIdx>
    - <Name>SM event missed counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>272</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>288</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>304</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT607D</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>Minimum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Muximum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT6099</Name>
    - <BitSize>80</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>Speed during search for switch</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Speed during search for zero</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT60FE</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>Physical output</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - </DataTypes>
    - <Objects>
    - <Object>
    - <Index>#x1000</Index>
    - <Name>Device type</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>92010200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1001</Index>
    - <Name>Error register</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x100A</Index>
    - <Name>Manufacturer Software Version</Name>
    - <Type>STRING(0)</Type>
    - <BitSize>0</BitSize>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1018</Index>
    - <Name>Identity object</Name>
    - <Type>DT1018</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Vendor ID</Name>
    - <Info>
    - <DefaultData>00000625</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Product code</Name>
    - <Info>
    - <DefaultData>69686555</DefaultData> <!-- EDA7 ascii code -->
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1600</Index>
    - <Name>1st receive PDO mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004060</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1A00</Index>
    - <Name>1st transmit PDO-Mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004160</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C12</Index>
    - <Name>RxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>0016</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C13</Index>
    - <Name>TxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>001A</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C32</Index>
    - <Name>SM output parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>400D0300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C33</Index>
    - <Name>SM input parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>24F40000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2000</Index>
    - <Name>Drive ID (P01-11)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2001</Index>
    - <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>09</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2002</Index>
    - <Name>Pulse Out Rate (P01-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00020000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2003</Index>
    - <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0100</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2004</Index>
    - <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2010</Index>
    - <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2011</Index>
    - <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2012</Index>
    - <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2013</Index>
    - <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000001F4</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2014</Index>
    - <Name>Brake Time (x0.1ms) (P02-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000032</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2015</Index>
    - <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2016</Index>
    - <Name>Notch Filter 1 Mode (P02-10)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2017</Index>
    - <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000BB8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2018</Index>
    - <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2019</Index>
    - <Name>Notch Filter 2 Mode (P02-13)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201A</Index>
    - <Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001388</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201B</Index>
    - <Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201C</Index>
    - <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201D</Index>
    - <Name>Auto Tuning Mode (P02-17)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201E</Index>
    - <Name>System Response (P02-18)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201F</Index>
    - <Name>Inertia Ratio (x0.1) (P02-19)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000014</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2020</Index>
    - <Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001F40</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2021</Index>
    - <Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2022</Index>
    - <Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2023</Index>
    - <Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2024</Index>
    - <Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2025</Index>
    - <Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>00000003</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2026</Index>
    - <Name>Parameter Initialization (P02-29)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2030</Index>
    - <Name>Speed Gain Mode (P03-01)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2031</Index>
    - <Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2032</Index>
    - <Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2033</Index>
    - <Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2034</Index>
    - <Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2035</Index>
    - <Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2036</Index>
    - <Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2037</Index>
    - <Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2038</Index>
    - <Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2039</Index>
    - <Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000064</DefaultData>
    - </Info>
    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x203A</Index>
    - <Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x203B</Index>
    - <Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x203C</Index>
    - <Name>Feedforward Torque Mode (P03-24)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2040</Index>
    - <Name>Position Gain Mode (P05-01)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2041</Index>
    - <Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2042</Index>
    - <Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x2043</Index>
    - <Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2044</Index>
    - <Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2045</Index>
    - <Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x2046</Index>
    - <Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2047</Index>
    - <Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000001</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2048</Index>
    - <Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000001</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2049</Index>
    - <Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x204A</Index>
    - <Name>Position Control Bias Pulse Band (ppr) (P05-21)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x204B</Index>
    - <Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
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    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2050</Index>
    - <Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Name>Vendor ID</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Product code</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT1600</Name>
    - <BitSize>1008</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>1st mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <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>
    - <BitSize>32</BitSize>
    - <BitOffs>80</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>4</SubIdx>
    - <Name>4th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>112</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>5</SubIdx>
    - <Name>5th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <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>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>
    - <BitSize>16</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Assign2</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>32</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>3</SubIdx>
    - <Name>Assign3</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>304</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>Sync mode</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>16</BitSize>
    - <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>Get cycle time</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>192</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>224</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>10</SubIdx>
    - <Name>Sync0 time</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>240</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>11</SubIdx>
    - <Name>Cycle exceeded counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>256</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>12</SubIdx>
    - <Name>SM event missed counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>272</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>288</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>304</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT607D</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>Minimum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Muximum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT6099</Name>
    - <BitSize>80</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>Speed during search for switch</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Speed during search for zero</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT60FE</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>Physical output</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - </DataTypes>
    - <Objects>
    - <Object>
    - <Index>#x1000</Index>
    - <Name>Device type</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>92010200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1001</Index>
    - <Name>Error register</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x100A</Index>
    - <Name>Manufacturer Software Version</Name>
    - <Type>STRING(0)</Type>
    - <BitSize>0</BitSize>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1018</Index>
    - <Name>Identity object</Name>
    - <Type>DT1018</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Vendor ID</Name>
    - <Info>
    - <DefaultData>00000625</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Product code</Name>
    - <Info>
    - <DefaultData>69686555</DefaultData> <!-- EDA7 ascii code -->
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1600</Index>
    - <Name>1st receive PDO mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004060</DefaultData>
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    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1A00</Index>
    - <Name>1st transmit PDO-Mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004160</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C12</Index>
    - <Name>RxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>0016</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C13</Index>
    - <Name>TxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>001A</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C32</Index>
    - <Name>SM output parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>400D0300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C33</Index>
    - <Name>SM input parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>24F40000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2000</Index>
    - <Name>Drive ID (P01-11)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2001</Index>
    - <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>09</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2002</Index>
    - <Name>Pulse Out Rate (P01-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00020000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2003</Index>
    - <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0100</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2004</Index>
    - <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2010</Index>
    - <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2011</Index>
    - <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2012</Index>
    - <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2013</Index>
    - <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000001F4</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2014</Index>
    - <Name>Brake Time (x0.1ms) (P02-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000032</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2015</Index>
    - <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2016</Index>
    - <Name>Notch Filter 1 Mode (P02-10)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2017</Index>
    - <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000BB8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2018</Index>
    - <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2019</Index>
    - <Name>Notch Filter 2 Mode (P02-13)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201A</Index>
    - <Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001388</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201B</Index>
    - <Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201C</Index>
    - <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201D</Index>
    - <Name>Auto Tuning Mode (P02-17)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201E</Index>
    - <Name>System Response (P02-18)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201F</Index>
    - <Name>Inertia Ratio (x0.1) (P02-19)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000014</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2020</Index>
    - <Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001F40</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2021</Index>
    - <Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2022</Index>
    - <Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2023</Index>
    - <Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2024</Index>
    - <Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2025</Index>
    - <Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>00000003</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2026</Index>
    - <Name>Parameter Initialization (P02-29)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2030</Index>
    - <Name>Speed Gain Mode (P03-01)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2031</Index>
    - <Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2032</Index>
    - <Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2033</Index>
    - <Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2034</Index>
    - <Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2035</Index>
    - <Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2036</Index>
    - <Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2037</Index>
    - <Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
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    - <Object>
    - <Index>#x60FF</Index>
    - <Name>Target Velocity</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6502</Index>
    - <Name>Supported Drive Mode</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>80030300</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - </Objects>
    - </Dictionary>
    - </Profile>
    - <Fmmu Sm = "2">Outputs</Fmmu>
    - <Fmmu Sm = "3">Inputs</Fmmu>
    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
    - <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
    - <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
    - <Su>Drives</Su>
    - <RxPdo Fixed="1" Sm="2">
    - <Index>#x1600</Index>
    - <Name>Receive PDO mapping</Name>
    - <Entry>
    - <Index>#x6040</Index> <!-- ControlWord -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Controlword</Name>
    - <Comment>object 0x6040:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x607A</Index> <!-- Target Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Position</Name>
    - <Comment>object 0x607A:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x60FF</Index> <!-- Target Velocity -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Velocity</Name>
    - <Comment>object 0x60FF:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6071</Index> <!-- Target Torque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Target Torque</Name>
    - <Comment>object 0x6071:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6060</Index> <!-- Mode of Operation -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Mode of Operation</Name>
    - <Comment>object 0x6060:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </RxPdo>
    - <TxPdo Fixed="1" Sm="3">
    - <Index>#x1A00</Index>
    - <Name>Transmit PDO mapping</Name>
    - <Entry>
    - <Index>#x6041</Index> <!-- Status Word -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Statusword</Name>
    - <Comment>object 0x6041:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6064</Index> <!-- Actual Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Position actual value</Name>
    - <Comment>object 0x6064:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6077</Index> <!-- Actual Toruque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Torque actual value</Name>
    - <Comment>object 0x6077:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6061</Index> <!-- Mode of Operation Display -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Modes of operation display</Name>
    - <Comment>object 0x6061:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </TxPdo>
    - <Mailbox>
    - <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
    - </CoE>
    - </Mailbox>
    - <Dc>
    - <OpMode>
    - <Name>DC</Name>
    - <Desc>DC-Synchron</Desc>
    - <AssignActivate>#x700</AssignActivate>
    - <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
    - <ShiftTimeSync0>0</ShiftTimeSync0>
    - <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
    - <ShiftTimeSync1>0</ShiftTimeSync1>
    - </OpMode>
    - <OpMode>
    - <Name>Free-run</Name>
    - <Desc>DC unused</Desc>
    - <AssignActivate>#x0000</AssignActivate>
    - </OpMode>
    - </Dc>
    - <Eeprom>
    - <ByteSize>2048</ByteSize>
    - <ConfigData>080C0244320000000000</ConfigData>
    - </Eeprom>
    - <Image16x14>DRIVE</Image16x14>
    - </Device>
    -
    - <Device Physics="YY">
    - <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000014">EDA7020 CoE Drive</Type>
    - <Name LcId="1033"><![CDATA[EDA7020 CoE Servo Drive (2.0KW)]]></Name>
    - <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
    - <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>
    - <BitSize>0</BitSize>
    - </DataType>
    - <DataType>
    - <Name>SINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>USINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>INT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UINT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UDINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DT1018</Name>
    - <BitSize>80</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>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Product code</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT1600</Name>
    - <BitSize>1008</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>1st mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <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>
    - <BitSize>32</BitSize>
    - <BitOffs>80</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>4</SubIdx>
    - <Name>4th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>112</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>5</SubIdx>
    - <Name>5th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <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>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>
    - <BitSize>16</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Assign2</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>32</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>3</SubIdx>
    - <Name>Assign3</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>304</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>Sync mode</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>16</BitSize>
    - <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>Get cycle time</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>192</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>224</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>10</SubIdx>
    - <Name>Sync0 time</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>240</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>11</SubIdx>
    - <Name>Cycle exceeded counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>256</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>12</SubIdx>
    - <Name>SM event missed counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>272</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>288</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>304</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT607D</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>Minimum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Muximum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT6099</Name>
    - <BitSize>80</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>Speed during search for switch</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Speed during search for zero</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT60FE</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>Physical output</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - </DataTypes>
    - <Objects>
    - <Object>
    - <Index>#x1000</Index>
    - <Name>Device type</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>92010200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1001</Index>
    - <Name>Error register</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x100A</Index>
    - <Name>Manufacturer Software Version</Name>
    - <Type>STRING(0)</Type>
    - <BitSize>0</BitSize>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1018</Index>
    - <Name>Identity object</Name>
    - <Type>DT1018</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Vendor ID</Name>
    - <Info>
    - <DefaultData>00000625</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Product code</Name>
    - <Info>
    - <DefaultData>69686555</DefaultData> <!-- EDA7 ascii code -->
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1600</Index>
    - <Name>1st receive PDO mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004060</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1A00</Index>
    - <Name>1st transmit PDO-Mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004160</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C12</Index>
    - <Name>RxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>0016</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C13</Index>
    - <Name>TxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>001A</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C32</Index>
    - <Name>SM output parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>400D0300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C33</Index>
    - <Name>SM input parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>24F40000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2000</Index>
    - <Name>Drive ID (P01-11)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2001</Index>
    - <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>09</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2002</Index>
    - <Name>Pulse Out Rate (P01-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00020000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2003</Index>
    - <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0100</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2004</Index>
    - <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2010</Index>
    - <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2011</Index>
    - <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2012</Index>
    - <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2013</Index>
    - <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000001F4</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2014</Index>
    - <Name>Brake Time (x0.1ms) (P02-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000032</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2015</Index>
    - <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2016</Index>
    - <Name>Notch Filter 1 Mode (P02-10)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2017</Index>
    - <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000BB8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2018</Index>
    - <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2019</Index>
    - <Name>Notch Filter 2 Mode (P02-13)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201A</Index>
    - <Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001388</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201B</Index>
    - <Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201C</Index>
    - <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <DefaultData>0000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6077</Index>
    - <Name>Torque Actual Value</Name>
    - <Type>INT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x607A</Index>
    - <Name>Target Position</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x607C</Index>
    - <Name>Home Offset</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x607D</Index>
    - <Name>Software Position Limit</Name>
    - <Type>DT607D</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum Software position limit</Name>
    - <Info>
    - <DefaultData>00000080</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Muximum Software position limit</Name>
    - <Info>
    - <DefaultData>ffffff7f</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x607E</Index>
    - <Name>Polarity</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6083</Index>
    - <Name>Profile Acceleration</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>FFFFFFFF</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6084</Index>
    - <Name>Profile Deceleration</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>ffffffff</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6098</Index>
    - <Name>Homing Method</Name>
    - <Type>SINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6099</Index>
    - <Name>Homing Speeds</Name>
    - <Type>DT6099</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Speed during search for switch</Name>
    - <Info>
    - <DefaultData>55550300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Speed during search for zero</Name>
    - <Info>
    - <DefaultData>88080000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x609A</Index>
    - <Name>Homing Acceleration</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>ffffffff</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60E0</Index>
    - <Name>Positive Torque Limit</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>E803</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60E1</Index>
    - <Name>Negative Torque Limit</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>E803</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60F4</Index>
    - <Name>Following Error Actual Value</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FD</Index>
    - <Name>Digital Inputs</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FE</Index>
    - <Name>Digital Outputs</Name>
    - <Type>DT60FE</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Physical output</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FF</Index>
    - <Name>Target Velocity</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6502</Index>
    - <Name>Supported Drive Mode</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>80030300</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - </Objects>
    - </Dictionary>
    - </Profile>
    - <Fmmu Sm = "2">Outputs</Fmmu>
    - <Fmmu Sm = "3">Inputs</Fmmu>
    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
    - <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
    - <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
    - <Su>Drives</Su>
    - <RxPdo Fixed="1" Sm="2">
    - <Index>#x1600</Index>
    - <Name>Receive PDO mapping</Name>
    - <Entry>
    - <Index>#x6040</Index> <!-- ControlWord -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Controlword</Name>
    - <Comment>object 0x6040:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x607A</Index> <!-- Target Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Position</Name>
    - <Comment>object 0x607A:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x60FF</Index> <!-- Target Velocity -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Velocity</Name>
    - <Comment>object 0x60FF:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6071</Index> <!-- Target Torque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Target Torque</Name>
    - <Comment>object 0x6071:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6060</Index> <!-- Mode of Operation -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Mode of Operation</Name>
    - <Comment>object 0x6060:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </RxPdo>
    - <TxPdo Fixed="1" Sm="3">
    - <Index>#x1A00</Index>
    - <Name>Transmit PDO mapping</Name>
    - <Entry>
    - <Index>#x6041</Index> <!-- Status Word -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Statusword</Name>
    - <Comment>object 0x6041:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6064</Index> <!-- Actual Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Position actual value</Name>
    - <Comment>object 0x6064:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6077</Index> <!-- Actual Toruque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Torque actual value</Name>
    - <Comment>object 0x6077:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6061</Index> <!-- Mode of Operation Display -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Modes of operation display</Name>
    - <Comment>object 0x6061:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </TxPdo>
    - <Mailbox>
    - <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
    - </CoE>
    - </Mailbox>
    - <Dc>
    - <OpMode>
    - <Name>DC</Name>
    - <Desc>DC-Synchron</Desc>
    - <AssignActivate>#x700</AssignActivate>
    - <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
    - <ShiftTimeSync0>0</ShiftTimeSync0>
    - <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
    - <ShiftTimeSync1>0</ShiftTimeSync1>
    - </OpMode>
    - <OpMode>
    - <Name>Free-run</Name>
    - <Desc>DC unused</Desc>
    - <AssignActivate>#x0000</AssignActivate>
    - </OpMode>
    - </Dc>
    - <Eeprom>
    - <ByteSize>2048</ByteSize>
    - <ConfigData>080C0244320000000000</ConfigData>
    - </Eeprom>
    - <Image16x14>DRIVE</Image16x14>
    - </Device>
    -
    - <Device Physics="YY">
    - <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000001E">EDA7030 CoE Drive</Type>
    - <Name LcId="1033"><![CDATA[EDA7030 CoE Servo Drive (3.0KW)]]></Name>
    - <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
    - <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>
    - <BitSize>0</BitSize>
    - </DataType>
    - <DataType>
    - <Name>SINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>USINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>INT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UINT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UDINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DT1018</Name>
    - <BitSize>80</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>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Product code</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT1600</Name>
    - <BitSize>1008</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>1st mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <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>
    - <BitSize>32</BitSize>
    - <BitOffs>80</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>4</SubIdx>
    - <Name>4th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>112</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>5</SubIdx>
    - <Name>5th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <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>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>
    - <BitSize>16</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Assign2</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>32</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>3</SubIdx>
    - <Name>Assign3</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>304</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>Sync mode</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>16</BitSize>
    - <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>Get cycle time</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>192</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>224</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>10</SubIdx>
    - <Name>Sync0 time</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>240</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>11</SubIdx>
    - <Name>Cycle exceeded counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>256</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>12</SubIdx>
    - <Name>SM event missed counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>272</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>288</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>304</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT607D</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>Minimum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Muximum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT6099</Name>
    - <BitSize>80</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>Speed during search for switch</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Speed during search for zero</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT60FE</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>Physical output</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - </DataTypes>
    - <Objects>
    - <Object>
    - <Index>#x1000</Index>
    - <Name>Device type</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>92010200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1001</Index>
    - <Name>Error register</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x100A</Index>
    - <Name>Manufacturer Software Version</Name>
    - <Type>STRING(0)</Type>
    - <BitSize>0</BitSize>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1018</Index>
    - <Name>Identity object</Name>
    - <Type>DT1018</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Vendor ID</Name>
    - <Info>
    - <DefaultData>00000625</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Product code</Name>
    - <Info>
    - <DefaultData>69686555</DefaultData> <!-- EDA7 ascii code -->
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1600</Index>
    - <Name>1st receive PDO mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004060</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1A00</Index>
    - <Name>1st transmit PDO-Mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004160</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C12</Index>
    - <Name>RxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>0016</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C13</Index>
    - <Name>TxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>001A</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C32</Index>
    - <Name>SM output parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>400D0300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C33</Index>
    - <Name>SM input parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>24F40000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
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    - <Name>Drive ID (P01-11)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2001</Index>
    - <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>09</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2002</Index>
    - <Name>Pulse Out Rate (P01-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00020000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2003</Index>
    - <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0100</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2004</Index>
    - <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2010</Index>
    - <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
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    - <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2012</Index>
    - <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2013</Index>
    - <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000001F4</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2014</Index>
    - <Name>Brake Time (x0.1ms) (P02-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000032</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2015</Index>
    - <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2016</Index>
    - <Name>Notch Filter 1 Mode (P02-10)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2017</Index>
    - <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000BB8</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2018</Index>
    - <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2019</Index>
    - <Name>Notch Filter 2 Mode (P02-13)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x201A</Index>
    - <Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001388</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x201B</Index>
    - <Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x201C</Index>
    - <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x201D</Index>
    - <Name>Auto Tuning Mode (P02-17)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x201E</Index>
    - <Name>System Response (P02-18)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x201F</Index>
    - <Name>Inertia Ratio (x0.1) (P02-19)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000014</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x2020</Index>
    - <Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001F40</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x2021</Index>
    - <Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
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    - <Object>
    - <Index>#x2022</Index>
    - <Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2023</Index>
    - <Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2024</Index>
    - <Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
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    - <Flags>
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    - <Index>#x2025</Index>
    - <Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
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    - <Object>
    - <Index>#x2026</Index>
    - <Name>Parameter Initialization (P02-29)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
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    - <Name>Speed Gain Mode (P03-01)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
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    - <Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
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    - <Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Index>#x2033</Index>
    - <Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Index>#x2034</Index>
    - <Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
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    - <BitSize>32</BitSize>
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    - <DefaultData>00000000</DefaultData>
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    - <Index>#x2038</Index>
    - <Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
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    - <BitSize>32</BitSize>
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    - <Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000064</DefaultData>
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    - <Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Name>Feedforward Torque Mode (P03-24)</Name>
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    - <Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
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    - <Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
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    - <BitSize>32</BitSize>
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    - <BitSize>32</BitSize>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
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    - <Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
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    - <BitSize>32</BitSize>
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    - <Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
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    - <BitSize>32</BitSize>
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    - <Index>#x2048</Index>
    - <Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000001</DefaultData>
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    - <Index>#x2049</Index>
    - <Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
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    - <BitSize>32</BitSize>
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    - <DefaultData>00000000</DefaultData>
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    - <Index>#x204B</Index>
    - <Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Index>#x2050</Index>
    - <Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Object>
    - <Index>#x2070</Index>
    - <Name>Monitor 1 Select (P09-01)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
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    - <Flags>
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    - <Object>
    - <Index>#x2071</Index>
    - <Name>Monitor 1 Absolute (P09-02)</Name>
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    - <BitSize>8</BitSize>
    - <Info>
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    - <Flags>
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    - <Object>
    - <Index>#x2072</Index>
    - <Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
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    - <BitOffs>48</BitOffs>
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    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <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>
    - <BitSize>32</BitSize>
    - <BitOffs>80</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>4</SubIdx>
    - <Name>4th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>112</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>5</SubIdx>
    - <Name>5th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <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>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>
    - <BitSize>16</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Assign2</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>32</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>3</SubIdx>
    - <Name>Assign3</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>304</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>Sync mode</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>16</BitSize>
    - <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>Get cycle time</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>192</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>224</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>10</SubIdx>
    - <Name>Sync0 time</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>240</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>11</SubIdx>
    - <Name>Cycle exceeded counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>256</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>12</SubIdx>
    - <Name>SM event missed counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>272</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>288</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>304</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT607D</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>Minimum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Muximum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT6099</Name>
    - <BitSize>80</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>Speed during search for switch</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Speed during search for zero</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT60FE</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>Physical output</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - </DataTypes>
    - <Objects>
    - <Object>
    - <Index>#x1000</Index>
    - <Name>Device type</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>92010200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1001</Index>
    - <Name>Error register</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x100A</Index>
    - <Name>Manufacturer Software Version</Name>
    - <Type>STRING(0)</Type>
    - <BitSize>0</BitSize>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1018</Index>
    - <Name>Identity object</Name>
    - <Type>DT1018</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Vendor ID</Name>
    - <Info>
    - <DefaultData>00000625</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Product code</Name>
    - <Info>
    - <DefaultData>69686555</DefaultData> <!-- EDA7 ascii code -->
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1600</Index>
    - <Name>1st receive PDO mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004060</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1A00</Index>
    - <Name>1st transmit PDO-Mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004160</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
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    - <Object>
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    - <SubItem>
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    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
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    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x1C13</Index>
    - <Name>TxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x1C32</Index>
    - <Name>SM output parameter</Name>
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    - <BitSize>304</BitSize>
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    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
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    - <SubItem>
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    - <SubItem>
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    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
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    - <DefaultData>00000000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
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    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
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    - <DefaultData>20A10700</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>400D0300</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
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    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
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    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - </SubItem>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x1C33</Index>
    - <Name>SM input parameter</Name>
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    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
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    - <Info>
    - <DefaultData>32</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>24F40000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
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    - <Name>Drive ID (P01-11)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2001</Index>
    - <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>09</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2002</Index>
    - <Name>Pulse Out Rate (P01-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00020000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2003</Index>
    - <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0100</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2004</Index>
    - <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2010</Index>
    - <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2011</Index>
    - <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
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    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2012</Index>
    - <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2013</Index>
    - <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000001F4</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2014</Index>
    - <Name>Brake Time (x0.1ms) (P02-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000032</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2015</Index>
    - <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2016</Index>
    - <Name>Notch Filter 1 Mode (P02-10)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2017</Index>
    - <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000BB8</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2018</Index>
    - <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2019</Index>
    - <Name>Notch Filter 2 Mode (P02-13)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x201A</Index>
    - <Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001388</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x201B</Index>
    - <Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x201C</Index>
    - <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201D</Index>
    - <Name>Auto Tuning Mode (P02-17)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201E</Index>
    - <Name>System Response (P02-18)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201F</Index>
    - <Name>Inertia Ratio (x0.1) (P02-19)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000014</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2020</Index>
    - <Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001F40</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2021</Index>
    - <Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2022</Index>
    - <Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2023</Index>
    - <Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
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    - </Object>
    - <Object>
    - <Index>#x2024</Index>
    - <Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2025</Index>
    - <Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
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    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>00000003</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2026</Index>
    - <Name>Parameter Initialization (P02-29)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x2030</Index>
    - <Name>Speed Gain Mode (P03-01)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>01</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2031</Index>
    - <Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
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    - </Object>
    - <Object>
    - <Index>#x2032</Index>
    - <Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - </Object>
    - <Object>
    - <Index>#x2033</Index>
    - <Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - </Object>
    - <Object>
    - <Index>#x2034</Index>
    - <Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - </Object>
    - <Object>
    - <Index>#x2035</Index>
    - <Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2036</Index>
    - <Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - </Object>
    - <Object>
    - <Index>#x2037</Index>
    - <Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - </Object>
    - <Object>
    - <Index>#x2038</Index>
    - <Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
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    - </Object>
    - <Object>
    - <Index>#x2039</Index>
    - <Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000064</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x203A</Index>
    - <Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
    - <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
    - <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
    - <Su>Drives</Su>
    - <RxPdo Fixed="1" Sm="2">
    - <Index>#x1600</Index>
    - <Name>Receive PDO mapping</Name>
    - <Entry>
    - <Index>#x6040</Index> <!-- ControlWord -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Controlword</Name>
    - <Comment>object 0x6040:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x607A</Index> <!-- Target Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Position</Name>
    - <Comment>object 0x607A:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x60FF</Index> <!-- Target Velocity -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Velocity</Name>
    - <Comment>object 0x60FF:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6071</Index> <!-- Target Torque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Target Torque</Name>
    - <Comment>object 0x6071:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6060</Index> <!-- Mode of Operation -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Mode of Operation</Name>
    - <Comment>object 0x6060:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </RxPdo>
    - <TxPdo Fixed="1" Sm="3">
    - <Index>#x1A00</Index>
    - <Name>Transmit PDO mapping</Name>
    - <Entry>
    - <Index>#x6041</Index> <!-- Status Word -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Statusword</Name>
    - <Comment>object 0x6041:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6064</Index> <!-- Actual Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Position actual value</Name>
    - <Comment>object 0x6064:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6077</Index> <!-- Actual Toruque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Torque actual value</Name>
    - <Comment>object 0x6077:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6061</Index> <!-- Mode of Operation Display -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Modes of operation display</Name>
    - <Comment>object 0x6061:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </TxPdo>
    - <Mailbox>
    - <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
    - </CoE>
    - </Mailbox>
    - <Dc>
    - <OpMode>
    - <Name>DC</Name>
    - <Desc>DC-Synchron</Desc>
    - <AssignActivate>#x700</AssignActivate>
    - <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
    - <ShiftTimeSync0>0</ShiftTimeSync0>
    - <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
    - <ShiftTimeSync1>0</ShiftTimeSync1>
    - </OpMode>
    - <OpMode>
    - <Name>Free-run</Name>
    - <Desc>DC unused</Desc>
    - <AssignActivate>#x0000</AssignActivate>
    - </OpMode>
    - </Dc>
    - <Eeprom>
    - <ByteSize>2048</ByteSize>
    - <ConfigData>080C0244320000000000</ConfigData>
    - </Eeprom>
    - <Image16x14>DRIVE</Image16x14>
    - </Device>
    -
    - <Device Physics="YY">
    - <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000004B">EDA7075 CoE Drive</Type>
    - <Name LcId="1033"><![CDATA[EDA7075 CoE Servo Drive (7.5KW)]]></Name>
    - <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
    - <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>
    - <BitSize>0</BitSize>
    - </DataType>
    - <DataType>
    - <Name>SINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>USINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>INT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UINT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UDINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DT1018</Name>
    - <BitSize>80</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>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Product code</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT1600</Name>
    - <BitSize>1008</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>1st mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <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>
    - <BitSize>32</BitSize>
    - <BitOffs>80</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>4</SubIdx>
    - <Name>4th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>112</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>5</SubIdx>
    - <Name>5th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <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>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>
    - <BitSize>16</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Assign2</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>32</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>3</SubIdx>
    - <Name>Assign3</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>304</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>Sync mode</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>16</BitSize>
    - <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>Get cycle time</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>192</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>224</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>10</SubIdx>
    - <Name>Sync0 time</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>240</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>11</SubIdx>
    - <Name>Cycle exceeded counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>256</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>12</SubIdx>
    - <Name>SM event missed counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>272</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>288</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>304</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT607D</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>Minimum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Muximum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT6099</Name>
    - <BitSize>80</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>Speed during search for switch</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Speed during search for zero</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT60FE</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>Physical output</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - </DataTypes>
    - <Objects>
    - <Object>
    - <Index>#x1000</Index>
    - <Name>Device type</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>92010200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1001</Index>
    - <Name>Error register</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x100A</Index>
    - <Name>Manufacturer Software Version</Name>
    - <Type>STRING(0)</Type>
    - <BitSize>0</BitSize>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1018</Index>
    - <Name>Identity object</Name>
    - <Type>DT1018</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Vendor ID</Name>
    - <Info>
    - <DefaultData>00000625</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Product code</Name>
    - <Info>
    - <DefaultData>69686555</DefaultData> <!-- EDA7 ascii code -->
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1600</Index>
    - <Name>1st receive PDO mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004060</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1A00</Index>
    - <Name>1st transmit PDO-Mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004160</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C12</Index>
    - <Name>RxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>0016</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C13</Index>
    - <Name>TxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>001A</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C32</Index>
    - <Name>SM output parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>400D0300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C33</Index>
    - <Name>SM input parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>24F40000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2000</Index>
    - <Name>Drive ID (P01-11)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2001</Index>
    - <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>09</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2002</Index>
    - <Name>Pulse Out Rate (P01-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00020000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2003</Index>
    - <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0100</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2004</Index>
    - <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2010</Index>
    - <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2011</Index>
    - <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2012</Index>
    - <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2013</Index>
    - <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000001F4</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2014</Index>
    - <Name>Brake Time (x0.1ms) (P02-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000032</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2015</Index>
    - <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2016</Index>
    - <Name>Notch Filter 1 Mode (P02-10)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2017</Index>
    - <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000BB8</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2018</Index>
    - <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2019</Index>
    - <Name>Notch Filter 2 Mode (P02-13)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201A</Index>
    - <Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001388</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201B</Index>
    - <Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201C</Index>
    - <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201D</Index>
    - <Name>Auto Tuning Mode (P02-17)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201E</Index>
    - <Name>System Response (P02-18)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
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    - <Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
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    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x607C</Index>
    - <Name>Home Offset</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x607D</Index>
    - <Name>Software Position Limit</Name>
    - <Type>DT607D</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum Software position limit</Name>
    - <Info>
    - <DefaultData>00000080</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Muximum Software position limit</Name>
    - <Info>
    - <DefaultData>ffffff7f</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x607E</Index>
    - <Name>Polarity</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6083</Index>
    - <Name>Profile Acceleration</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>FFFFFFFF</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6084</Index>
    - <Name>Profile Deceleration</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>ffffffff</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6098</Index>
    - <Name>Homing Method</Name>
    - <Type>SINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6099</Index>
    - <Name>Homing Speeds</Name>
    - <Type>DT6099</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Speed during search for switch</Name>
    - <Info>
    - <DefaultData>55550300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Speed during search for zero</Name>
    - <Info>
    - <DefaultData>88080000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x609A</Index>
    - <Name>Homing Acceleration</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>ffffffff</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60E0</Index>
    - <Name>Positive Torque Limit</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>E803</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60E1</Index>
    - <Name>Negative Torque Limit</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>E803</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60F4</Index>
    - <Name>Following Error Actual Value</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FD</Index>
    - <Name>Digital Inputs</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FE</Index>
    - <Name>Digital Outputs</Name>
    - <Type>DT60FE</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Physical output</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x60FF</Index>
    - <Name>Target Velocity</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x6502</Index>
    - <Name>Supported Drive Mode</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>80030300</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - </Objects>
    - </Dictionary>
    - </Profile>
    - <Fmmu Sm = "2">Outputs</Fmmu>
    - <Fmmu Sm = "3">Inputs</Fmmu>
    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
    - <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
    - <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
    - <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
    - <Su>Drives</Su>
    - <RxPdo Fixed="1" Sm="2">
    - <Index>#x1600</Index>
    - <Name>Receive PDO mapping</Name>
    - <Entry>
    - <Index>#x6040</Index> <!-- ControlWord -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Controlword</Name>
    - <Comment>object 0x6040:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x607A</Index> <!-- Target Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Position</Name>
    - <Comment>object 0x607A:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x60FF</Index> <!-- Target Velocity -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Velocity</Name>
    - <Comment>object 0x60FF:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6071</Index> <!-- Target Torque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Target Torque</Name>
    - <Comment>object 0x6071:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6060</Index> <!-- Mode of Operation -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Mode of Operation</Name>
    - <Comment>object 0x6060:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </RxPdo>
    - <TxPdo Fixed="1" Sm="3">
    - <Index>#x1A00</Index>
    - <Name>Transmit PDO mapping</Name>
    - <Entry>
    - <Index>#x6041</Index> <!-- Status Word -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Statusword</Name>
    - <Comment>object 0x6041:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6064</Index> <!-- Actual Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Position actual value</Name>
    - <Comment>object 0x6064:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6077</Index> <!-- Actual Toruque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Torque actual value</Name>
    - <Comment>object 0x6077:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6061</Index> <!-- Mode of Operation Display -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Modes of operation display</Name>
    - <Comment>object 0x6061:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </TxPdo>
    - <Mailbox>
    - <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
    - </CoE>
    - </Mailbox>
    - <Dc>
    - <OpMode>
    - <Name>DC</Name>
    - <Desc>DC-Synchron</Desc>
    - <AssignActivate>#x700</AssignActivate>
    - <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
    - <ShiftTimeSync0>0</ShiftTimeSync0>
    - <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
    - <ShiftTimeSync1>0</ShiftTimeSync1>
    - </OpMode>
    - <OpMode>
    - <Name>Free-run</Name>
    - <Desc>DC unused</Desc>
    - <AssignActivate>#x0000</AssignActivate>
    - </OpMode>
    - </Dc>
    - <Eeprom>
    - <ByteSize>2048</ByteSize>
    - <ConfigData>080C0244320000000000</ConfigData>
    - </Eeprom>
    - <Image16x14>DRIVE</Image16x14>
    - </Device>
    -
    - <Device Physics="YY">
    - <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000006E">EDA7110 CoE Drive</Type>
    - <Name LcId="1033"><![CDATA[EDA7110 CoE Servo Drive (11.0KW)]]></Name>
    - <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
    - <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>
    - <BitSize>0</BitSize>
    - </DataType>
    - <DataType>
    - <Name>SINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>USINT</Name>
    - <BitSize>8</BitSize>
    - </DataType>
    - <DataType>
    - <Name>INT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UINT</Name>
    - <BitSize>16</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>UDINT</Name>
    - <BitSize>32</BitSize>
    - </DataType>
    - <DataType>
    - <Name>DT1018</Name>
    - <BitSize>80</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>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Product code</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT1600</Name>
    - <BitSize>1008</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>1st mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <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>
    - <BitSize>32</BitSize>
    - <BitOffs>80</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>4</SubIdx>
    - <Name>4th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>112</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>5</SubIdx>
    - <Name>5th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <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>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>
    - <BitSize>16</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Assign2</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>32</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>3</SubIdx>
    - <Name>Assign3</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>304</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>Sync mode</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>16</BitSize>
    - <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>Get cycle time</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>192</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>224</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>10</SubIdx>
    - <Name>Sync0 time</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>240</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>11</SubIdx>
    - <Name>Cycle exceeded counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>256</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>12</SubIdx>
    - <Name>SM event missed counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>272</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>288</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>304</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT607D</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>Minimum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Muximum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT6099</Name>
    - <BitSize>80</BitSize>
    - <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>Speed during search for switch</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Speed during search for zero</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT60FE</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>Physical output</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - </DataTypes>
    - <Objects>
    - <Object>
    - <Index>#x1000</Index>
    - <Name>Device type</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>92010200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1001</Index>
    - <Name>Error register</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x100A</Index>
    - <Name>Manufacturer Software Version</Name>
    - <Type>STRING(0)</Type>
    - <BitSize>0</BitSize>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1018</Index>
    - <Name>Identity object</Name>
    - <Type>DT1018</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Vendor ID</Name>
    - <Info>
    - <DefaultData>00000625</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Product code</Name>
    - <Info>
    - <DefaultData>69686555</DefaultData> <!-- EDA7 ascii code -->
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1600</Index>
    - <Name>1st receive PDO mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
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    - <Info>
    - <DefaultData>10004060</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1A00</Index>
    - <Name>1st transmit PDO-Mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004160</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C12</Index>
    - <Name>RxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
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    - <Info>
    - <DefaultData>0016</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </Info>
    - <Flags>
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    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x1C13</Index>
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    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
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    - <Info>
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    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>001A</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
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    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
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    - <Name>SM output parameter</Name>
    - <Type>DT1C32</Type>
    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>32</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
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    - <Info>
    - <DefaultData>0200</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
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    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
    - <DefaultData>0740</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>400D0300</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
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    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
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    - <Name>SM input parameter</Name>
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    - <BitSize>304</BitSize>
    - <Info>
    - <SubItem>
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    - <Info>
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    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
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    - </SubItem>
    - <SubItem>
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    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
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    - <DefaultData>00000000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
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    - </SubItem>
    - <SubItem>
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    - <Info>
    - <DefaultData>20A10700</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
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    - <DefaultData>24F40000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - </Object>
    - <Object>
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    - <Name>Drive ID (P01-11)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
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    - </Object>
    - <Object>
    - <Index>#x2001</Index>
    - <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>09</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2002</Index>
    - <Name>Pulse Out Rate (P01-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00020000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
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    - <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0100</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2004</Index>
    - <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2010</Index>
    - <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2011</Index>
    - <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
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    - </Object>
    - <Object>
    - <Index>#x2012</Index>
    - <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2013</Index>
    - <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000001F4</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2014</Index>
    - <Name>Brake Time (x0.1ms) (P02-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000032</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2015</Index>
    - <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2016</Index>
    - <Name>Notch Filter 1 Mode (P02-10)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2017</Index>
    - <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000BB8</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2018</Index>
    - <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2019</Index>
    - <Name>Notch Filter 2 Mode (P02-13)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x201A</Index>
    - <Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001388</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x201B</Index>
    - <Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x201C</Index>
    - <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x201D</Index>
    - <Name>Auto Tuning Mode (P02-17)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x201E</Index>
    - <Name>System Response (P02-18)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x201F</Index>
    - <Name>Inertia Ratio (x0.1) (P02-19)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000014</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2020</Index>
    - <Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001F40</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2021</Index>
    - <Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2022</Index>
    - <Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
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    - <Flags>
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    - <Index>#x2023</Index>
    - <Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2024</Index>
    - <Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
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    - <Flags>
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    - <Index>#x2025</Index>
    - <Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
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    - <BitSize>16</BitSize>
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    - <DefaultData>00000003</DefaultData>
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    - <Object>
    - <Index>#x2026</Index>
    - <Name>Parameter Initialization (P02-29)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
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    - <Name>Speed Gain Mode (P03-01)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>01</DefaultData>
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    - <Object>
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    - <Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
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    - <Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Index>#x2034</Index>
    - <Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
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    - <Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
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    - <Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
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    - <BitSize>32</BitSize>
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    - <Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
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    - <BitSize>32</BitSize>
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    - <Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
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    - <Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
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    - <BitSize>32</BitSize>
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    - <Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
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    - <BitSize>32</BitSize>
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    - <Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
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    - <Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
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    - <BitSize>32</BitSize>
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    - <BitSize>32</BitSize>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
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    - <Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
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    - <BitSize>32</BitSize>
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    - <Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
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    - <BitSize>32</BitSize>
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    - <Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
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    - <BitSize>32</BitSize>
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    - <DefaultData>00000001</DefaultData>
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    - <BitSize>32</BitSize>
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    - <Index>#x204B</Index>
    - <Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Index>#x2050</Index>
    - <Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
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    - <Index>#x2070</Index>
    - <Name>Monitor 1 Select (P09-01)</Name>
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    - <BitSize>8</BitSize>
    - <Info>
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    - <Flags>
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    - <Object>
    - <Index>#x2071</Index>
    - <Name>Monitor 1 Absolute (P09-02)</Name>
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    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2072</Index>
    - <Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
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    - <Object>
    - <Index>#x2073</Index>
    - <Name>Monitor 1 Offset (mV) (P09-04)</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2074</Index>
    - <Name>Monitor 2 Select (P09-05)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>01</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2075</Index>
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    - <Name>Product code</Name>
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    - <BitOffs>48</BitOffs>
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    - <SubItem>
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    - <Category>o</Category>
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    - <SubItem>
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    - </SubItem>
    - <SubItem>
    - <SubIdx>4</SubIdx>
    - <Name>4th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>112</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>5</SubIdx>
    - <Name>5th mapping data</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <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>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>
    - <BitSize>16</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Assign2</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>32</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>3</SubIdx>
    - <Name>Assign3</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>304</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>Sync mode</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <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>
    - <BitSize>16</BitSize>
    - <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>Get cycle time</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>192</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>224</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>10</SubIdx>
    - <Name>Sync0 time</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>240</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>11</SubIdx>
    - <Name>Cycle exceeded counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>256</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>12</SubIdx>
    - <Name>SM event missed counter</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <BitOffs>272</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>288</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>304</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT607D</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>Minimum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Muximum position limit</Name>
    - <Type>DINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT6099</Name>
    - <BitSize>80</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>Speed during search for switch</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - <SubItem>
    - <SubIdx>2</SubIdx>
    - <Name>Speed during search for zero</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>48</BitOffs>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </SubItem>
    - </DataType>
    - <DataType>
    - <Name>DT60FE</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>Physical output</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <BitOffs>16</BitOffs>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - <PdoMapping>RT</PdoMapping>
    - </Flags>
    - </SubItem>
    - </DataType>
    - </DataTypes>
    - <Objects>
    - <Object>
    - <Index>#x1000</Index>
    - <Name>Device type</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>92010200</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1001</Index>
    - <Name>Error register</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x100A</Index>
    - <Name>Manufacturer Software Version</Name>
    - <Type>STRING(0)</Type>
    - <BitSize>0</BitSize>
    - <Flags>
    - <Access>ro</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1018</Index>
    - <Name>Identity object</Name>
    - <Type>DT1018</Type>
    - <BitSize>80</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Vendor ID</Name>
    - <Info>
    - <DefaultData>00000625</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Product code</Name>
    - <Info>
    - <DefaultData>69686555</DefaultData> <!-- EDA7 ascii code -->
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>ro</Access>
    - <Category>m</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1600</Index>
    - <Name>1st receive PDO mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004060</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1A00</Index>
    - <Name>1st transmit PDO-Mapping</Name>
    - <Type>DT1600</Type>
    - <BitSize>48</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>1st mapping data</Name>
    - <Info>
    - <DefaultData>10004160</DefaultData>
    - </Info>
    - </SubItem>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x1C12</Index>
    - <Name>RxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
    - <DefaultData>01</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>0016</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - </Info>
    - <Flags>
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    - <Object>
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    - <Name>TxPDO assign</Name>
    - <Type>DT1C12</Type>
    - <BitSize>32</BitSize>
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    - <SubItem>
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    - <Info>
    - <DefaultData>01</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign1</Name>
    - <Info>
    - <DefaultData>001A</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign2</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign3</Name>
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    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Assign4</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x1C32</Index>
    - <Name>SM output parameter</Name>
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    - <BitSize>304</BitSize>
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    - <SubItem>
    - <Name>largest sub-index supported</Name>
    - <Info>
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    - <SubItem>
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    - <SubItem>
    - <Name>Cycle time</Name>
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    - <DefaultData>20A10700</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
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    - <DefaultData>00000000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync modes supported</Name>
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    - <SubItem>
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    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
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    - <DefaultData>400D0300</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
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    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
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    - <DefaultData>0000</DefaultData>
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    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
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    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - </SubItem>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
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    - <Name>SM input parameter</Name>
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    - <BitSize>304</BitSize>
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    - <SubItem>
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    - <Info>
    - <DefaultData>32</DefaultData>
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    - <SubItem>
    - <Name>Sync mode</Name>
    - <Info>
    - <DefaultData>0200</DefaultData>
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    - <SubItem>
    - <Name>Cycle time</Name>
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    - <DefaultData>20A10700</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Shift time</Name>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <SubItem>
    - <Name>Sync modes supported</Name>
    - <Info>
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    - </SubItem>
    - <SubItem>
    - <Name>Minimum cycle time</Name>
    - <Info>
    - <DefaultData>20A10700</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Calc and copy time</Name>
    - <Info>
    - <DefaultData>24F40000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Get cycle time</Name>
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    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Delay time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync0 time</Name>
    - <Info>
    - <DefaultData>30750000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Cycle exceeded counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>SM event missed counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Shift too short counter</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - </SubItem>
    - <SubItem>
    - <Name>Sync error</Name>
    - <Info>
    - <DefaultData>0000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2000</Index>
    - <Name>Drive ID (P01-11)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2001</Index>
    - <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>09</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2002</Index>
    - <Name>Pulse Out Rate (P01-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00020000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2003</Index>
    - <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0100</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2004</Index>
    - <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>0000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2010</Index>
    - <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2011</Index>
    - <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2012</Index>
    - <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2013</Index>
    - <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000001F4</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2014</Index>
    - <Name>Brake Time (x0.1ms) (P02-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000032</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2015</Index>
    - <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2016</Index>
    - <Name>Notch Filter 1 Mode (P02-10)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2017</Index>
    - <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000BB8</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2018</Index>
    - <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x2019</Index>
    - <Name>Notch Filter 2 Mode (P02-13)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x201A</Index>
    - <Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001388</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x201B</Index>
    - <Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003B6</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x201C</Index>
    - <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x201D</Index>
    - <Name>Auto Tuning Mode (P02-17)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201E</Index>
    - <Name>System Response (P02-18)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
    - </Flags>
    - </Object>
    - <Object>
    - <Index>#x201F</Index>
    - <Name>Inertia Ratio (x0.1) (P02-19)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000014</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2020</Index>
    - <Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00001F40</DefaultData>
    - </Info>
    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2021</Index>
    - <Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2022</Index>
    - <Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2023</Index>
    - <Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000005DC</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - </Object>
    - <Object>
    - <Index>#x2024</Index>
    - <Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>0000000A</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
    - <Category>o</Category>
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    - <Object>
    - <Index>#x2025</Index>
    - <Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
    - <Type>UINT</Type>
    - <BitSize>16</BitSize>
    - <Info>
    - <DefaultData>00000003</DefaultData>
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    - <Flags>
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    - <Category>o</Category>
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    - <Object>
    - <Index>#x2026</Index>
    - <Name>Parameter Initialization (P02-29)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>00</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2030</Index>
    - <Name>Speed Gain Mode (P03-01)</Name>
    - <Type>USINT</Type>
    - <BitSize>8</BitSize>
    - <Info>
    - <DefaultData>01</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2031</Index>
    - <Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>000003E8</DefaultData>
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    - <Flags>
    - <Access>rw</Access>
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    - </Object>
    - <Object>
    - <Index>#x2032</Index>
    - <Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - </Object>
    - <Object>
    - <Index>#x2033</Index>
    - <Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2034</Index>
    - <Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2035</Index>
    - <Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2036</Index>
    - <Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2037</Index>
    - <Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2038</Index>
    - <Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
    - <Type>UDINT</Type>
    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Object>
    - <Index>#x2039</Index>
    - <Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000064</DefaultData>
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    - <Flags>
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    - <Index>#x203A</Index>
    - <Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Flags>
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    - <Index>#x203B</Index>
    - <Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
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    - <BitSize>32</BitSize>
    - <Info>
    - <DefaultData>00000000</DefaultData>
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    - <Index>#x203C</Index>
    - <Name>Feedforward Torque Mode (P03-24)</Name>
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    - <BitSize>8</BitSize>
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    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x60FF</Index> <!-- Target Velocity -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Target Velocity</Name>
    - <Comment>object 0x60FF:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6071</Index> <!-- Target Torque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Target Torque</Name>
    - <Comment>object 0x6071:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6060</Index> <!-- Mode of Operation -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Mode of Operation</Name>
    - <Comment>object 0x6060:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </RxPdo>
    - <TxPdo Fixed="1" Sm="3">
    - <Index>#x1A00</Index>
    - <Name>Transmit PDO mapping</Name>
    - <Entry>
    - <Index>#x6041</Index> <!-- Status Word -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Statusword</Name>
    - <Comment>object 0x6041:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6064</Index> <!-- Actual Position -->
    - <SubIndex>0</SubIndex>
    - <BitLen>32</BitLen>
    - <Name>Position actual value</Name>
    - <Comment>object 0x6064:0</Comment>
    - <DataType>DINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6077</Index> <!-- Actual Toruque -->
    - <SubIndex>0</SubIndex>
    - <BitLen>16</BitLen>
    - <Name>Torque actual value</Name>
    - <Comment>object 0x6077:0</Comment>
    - <DataType>UINT</DataType>
    - </Entry>
    - <Entry>
    - <Index>#x6061</Index> <!-- Mode of Operation Display -->
    - <SubIndex>0</SubIndex>
    - <BitLen>8</BitLen>
    - <Name>Modes of operation display</Name>
    - <Comment>object 0x6061:0</Comment>
    - <DataType>USINT</DataType>
    - </Entry>
    - </TxPdo>
    - <Mailbox>
    - <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
    - </CoE>
    - </Mailbox>
    - <Dc>
    - <OpMode>
    - <Name>DC</Name>
    - <Desc>DC-Synchron</Desc>
    - <AssignActivate>#x700</AssignActivate>
    - <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
    - <ShiftTimeSync0>0</ShiftTimeSync0>
    - <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
    - <ShiftTimeSync1>0</ShiftTimeSync1>
    - </OpMode>
    - <OpMode>
    - <Name>Free-run</Name>
    - <Desc>DC unused</Desc>
    - <AssignActivate>#x0000</AssignActivate>
    - </OpMode>
    - </Dc>
    - <Eeprom>
    - <ByteSize>2048</ByteSize>
    - <ConfigData>080C0244320000000000</ConfigData>
    - </Eeprom>
    - <Image16x14>DRIVE</Image16x14>
    - </Device>
    - </Devices>
    - </Descriptions>
    -</EtherCATInfo>
    --- a/ethercat_tests/wago_higen/plc.xml Thu Oct 25 19:55:02 2012 +0200
    +++ b/ethercat_tests/wago_higen/plc.xml Tue Oct 30 00:22:29 2012 +0100
    @@ -8,7 +8,7 @@
    productVersion="1.0"
    creationDateTime="2011-10-20T19:01:52"/>
    <contentHeader name="test_ethercat"
    - modificationDateTime="2012-05-20T19:25:58">
    + modificationDateTime="2012-10-30T00:18:20">
    <coordinateInfo>
    <fbd>
    <scaling x="0" y="0"/>
    @@ -100,6 +100,21 @@
    <derived name="MC_MoveAbsolute"/>
    </type>
    </variable>
    + <variable name="EtherLabSDOUpload0">
    + <type>
    + <derived name="EtherLabSDOUpload"/>
    + </type>
    + </variable>
    + <variable name="ActualPosition">
    + <type>
    + <DINT/>
    + </type>
    + </variable>
    + <variable name="Valid">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    </localVars>
    </interface>
    <body>
    @@ -408,6 +423,179 @@
    </connectionPointOut>
    <expression>360.0</expression>
    </inVariable>
    + <block localId="14" width="162" height="216" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload0">
    + <position x="1207" y="208"/>
    + <inputVariables>
    + <variable formalParameter="EXECUTE">
    + <connectionPointIn>
    + <relPosition x="0" y="39"/>
    + <connection refLocalId="10" formalParameter="Done">
    + <position x="1207" y="247"/>
    + <position x="996" y="247"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="POS">
    + <connectionPointIn>
    + <relPosition x="0" y="78"/>
    + <connection refLocalId="15">
    + <position x="1207" y="286"/>
    + <position x="1156" y="286"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="INDEX">
    + <connectionPointIn>
    + <relPosition x="0" y="117"/>
    + <connection refLocalId="16">
    + <position x="1207" y="325"/>
    + <position x="1156" y="325"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="SUBINDEX">
    + <connectionPointIn>
    + <relPosition x="0" y="156"/>
    + <connection refLocalId="17">
    + <position x="1207" y="364"/>
    + <position x="1156" y="364"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="VARTYPE">
    + <connectionPointIn>
    + <relPosition x="0" y="195"/>
    + <connection refLocalId="18">
    + <position x="1207" y="403"/>
    + <position x="1156" y="403"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="ACK">
    + <connectionPointOut>
    + <relPosition x="162" y="39"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="VALID">
    + <connectionPointOut>
    + <relPosition x="162" y="78"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="VALUE">
    + <connectionPointOut>
    + <relPosition x="162" y="117"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <inVariable localId="15" height="27" width="35">
    + <position x="1121" y="273"/>
    + <connectionPointOut>
    + <relPosition x="35" y="13"/>
    + </connectionPointOut>
    + <expression>3</expression>
    + </inVariable>
    + <inVariable localId="16" height="27" width="68">
    + <position x="1088" y="312"/>
    + <connectionPointOut>
    + <relPosition x="68" y="13"/>
    + </connectionPointOut>
    + <expression>16#6064</expression>
    + </inVariable>
    + <inVariable localId="17" height="27" width="32">
    + <position x="1124" y="351"/>
    + <connectionPointOut>
    + <relPosition x="32" y="13"/>
    + </connectionPointOut>
    + <expression>0</expression>
    + </inVariable>
    + <inVariable localId="18" height="27" width="52">
    + <position x="1104" y="390"/>
    + <connectionPointOut>
    + <relPosition x="52" y="13"/>
    + </connectionPointOut>
    + <expression>'int32'</expression>
    + </inVariable>
    + <outVariable localId="19" height="27" width="109">
    + <position x="1576" y="312"/>
    + <connectionPointIn>
    + <relPosition x="0" y="13"/>
    + <connection refLocalId="20" formalParameter="OUT">
    + <position x="1576" y="325"/>
    + <position x="1539" y="325"/>
    + </connection>
    + </connectionPointIn>
    + <expression>ActualPosition</expression>
    + </outVariable>
    + <block localId="20" width="126" height="40" typeName="STRING_TO_DINT">
    + <position x="1413" y="295"/>
    + <inputVariables>
    + <variable formalParameter="IN">
    + <connectionPointIn>
    + <relPosition x="0" y="30"/>
    + <connection refLocalId="14" formalParameter="VALUE">
    + <position x="1413" y="325"/>
    + <position x="1369" y="325"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="126" y="30"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <outVariable localId="21" height="27" width="45">
    + <position x="1576" y="234"/>
    + <connectionPointIn>
    + <relPosition x="0" y="13"/>
    + <connection refLocalId="22" formalParameter="OUT">
    + <position x="1576" y="247"/>
    + <position x="1509" y="247"/>
    + </connection>
    + </connectionPointIn>
    + <expression>Valid</expression>
    + </outVariable>
    + <block localId="22" width="67" height="72" typeName="AND">
    + <position x="1442" y="214"/>
    + <inputVariables>
    + <variable formalParameter="IN1">
    + <connectionPointIn>
    + <relPosition x="0" y="33"/>
    + <connection refLocalId="14" formalParameter="ACK">
    + <position x="1442" y="247"/>
    + <position x="1369" y="247"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN2">
    + <connectionPointIn>
    + <relPosition x="0" y="59"/>
    + <connection refLocalId="14" formalParameter="VALID">
    + <position x="1442" y="273"/>
    + <position x="1399" y="273"/>
    + <position x="1399" y="286"/>
    + <position x="1369" y="286"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="67" y="33"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    </FBD>
    </body>
    </pou>