<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.5">
    <Vendor>
        <Id>#xAAAA</Id>
        <Name>HIWIN MIKROSYSTEM CORP.</Name>
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    </Vendor>
    <Descriptions>
        <Groups>
            <Group>
                <Type>D1NCOE</Type>
                <Name>Servo Drive</Name>
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            </Group>
        </Groups>
        <Devices>
            <Device Physics="YY">
                <Type ProductCode="#x1" RevisionNo="#x3">D1-N CoE Drive</Type>
                <Name>D1-N CoE Drive</Name>
                <Info>
                    <Mailbox>
                        <Timeout>
                            <RequestTimeout>100</RequestTimeout>
                            <ResponseTimeout>1000</ResponseTimeout>
                        </Timeout>
                    </Mailbox>
                </Info>
                <GroupType>D1NCOE</GroupType>
                <Profile>
                    <ProfileNo>402</ProfileNo>
                    <Dictionary>
                        <DataTypes>
                            <DataType>
                                <Name>BOOL</Name>
                                <BitSize>1</BitSize>
                            </DataType>
                            <DataType>
                                <Name>BYTE</Name>
                                <BitSize>8</BitSize>
                            </DataType>
                            <DataType>
                                <Name>WORD</Name>
                                <BitSize>16</BitSize>
                            </DataType>
                            <DataType>
                                <Name>DWORD</Name>
                                <BitSize>32</BitSize>
                            </DataType>
                            <DataType>
                                <Name>USINT</Name>
                                <BitSize>8</BitSize>
                            </DataType>
                            <DataType>
                                <Name>UINT</Name>
                                <BitSize>16</BitSize>
                            </DataType>
                            <DataType>
                                <Name>UDINT</Name>
                                <BitSize>32</BitSize>
                            </DataType>
                            <DataType>
                                <Name>SINT</Name>
                                <BitSize>8</BitSize>
                            </DataType>
                            <DataType>
                                <Name>INT</Name>
                                <BitSize>16</BitSize>
                            </DataType>
                            <DataType>
                                <Name>DINT</Name>
                                <BitSize>32</BitSize>
                            </DataType>
                            <DataType>
                                <Name>REAL</Name>
                                <BitSize>32</BitSize>
                            </DataType>
                            <DataType>
                                <Name>UINT48</Name>
                                <BitSize>48</BitSize>
                            </DataType>
                            <DataType>
                                <Name>ULINT</Name>
                                <BitSize>64</BitSize>
                            </DataType>
                            <DataType>
                                <Name>DT1010</Name>
                                <BitSize>40</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of Entries</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <Name>Elements</Name>
                                    <Type>DT1010ARR</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>0</BitOffs>
                                </SubItem>
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                            <DataType>
                                <Name>DT1010ARR</Name>
                                <BaseType>UDINT</BaseType>
                                <BitSize>32</BitSize>
                                <ArrayInfo>
                                    <LBound>1</LBound>
                                    <Elements>1</Elements>
                                </ArrayInfo>
                            </DataType>
                            <DataType>
                                <Name>DT1018</Name>
                                <BitSize>136</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of entries</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>1</SubIdx>
                                    <Name>Vendor Id</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>8</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>2</SubIdx>
                                    <Name>Product code</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>40</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>3</SubIdx>
                                    <Name>Revision number</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>72</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>4</SubIdx>
                                    <Name>Serial number</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>104</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1600</Name>
                                <BitSize>72</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of objects</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>1</SubIdx>
                                    <Name>Mapping entry 1</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>8</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>2</SubIdx>
                                    <Name>Mapping entry 2</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>40</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1A00</Name>
                                <BitSize>104</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of objects</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>1</SubIdx>
                                    <Name>Mapping entry 1</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>8</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>2</SubIdx>
                                    <Name>Mapping entry 2</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>40</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>3</SubIdx>
                                    <Name>Mapping entry 3</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>72</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1C00</Name>
                                <BitSize>40</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of used sync manager</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <Name>Elements</Name>
                                    <Type>DT1C00ARR</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1C00ARR</Name>
                                <BaseType>USINT</BaseType>
                                <BitSize>32</BitSize>
                                <ArrayInfo>
                                    <LBound>1</LBound>
                                    <Elements>4</Elements>
                                </ArrayInfo>
                            </DataType>
                            <DataType>
                                <Name>DT1C10</Name>
                                <BitSize>16</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of assigned PDOs</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1C11</Name>
                                <BitSize>16</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of assigned PDOs</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1C12</Name>
                                <BitSize>32</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of assigned RxPDOs</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <Name>Elements</Name>
                                    <Type>DT1C12ARR</Type>
                                    <BitSize>16</BitSize>
                                    <BitOffs>0</BitOffs>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1C12ARR</Name>
                                <BaseType>UINT</BaseType>
                                <BitSize>16</BitSize>
                                <ArrayInfo>
                                    <LBound>1</LBound>
                                    <Elements>1</Elements>
                                </ArrayInfo>
                            </DataType>
                            <DataType>
                                <Name>DT1C13</Name>
                                <BitSize>32</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of assigned TxPDOs</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <Name>Elements</Name>
                                    <Type>DT1C13ARR</Type>
                                    <BitSize>16</BitSize>
                                    <BitOffs>0</BitOffs>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1C13ARR</Name>
                                <BaseType>UINT</BaseType>
                                <BitSize>16</BitSize>
                                <ArrayInfo>
                                    <LBound>1</LBound>
                                    <Elements>1</Elements>
                                </ArrayInfo>
                            </DataType>
                            <DataType>
                                <Name>DT1C32</Name>
                                <BitSize>168</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of synchronization parameters</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>1</SubIdx>
                                    <Name>Synchronisation type</Name>
                                    <Type>UINT</Type>
                                    <BitSize>16</BitSize>
                                    <BitOffs>8</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>2</SubIdx>
                                    <Name>Cycle time</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>24</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>4</SubIdx>
                                    <Name>Synchronization types supported</Name>
                                    <Type>UINT</Type>
                                    <BitSize>16</BitSize>
                                    <BitOffs>56</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>5</SubIdx>
                                    <Name>Minimum cycle time</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>72</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>6</SubIdx>
                                    <Name>Calc and copy time</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>104</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>9</SubIdx>
                                    <Name>Delay time</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>136</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1C33</Name>
                                <BitSize>168</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of synchronization parameters</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>1</SubIdx>
                                    <Name>Synchronisation type</Name>
                                    <Type>UINT</Type>
                                    <BitSize>16</BitSize>
                                    <BitOffs>8</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>2</SubIdx>
                                    <Name>Cycle time</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>24</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>4</SubIdx>
                                    <Name>Synchronization types supported</Name>
                                    <Type>UINT</Type>
                                    <BitSize>16</BitSize>
                                    <BitOffs>56</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>5</SubIdx>
                                    <Name>Minimum cycle time</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>72</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>6</SubIdx>
                                    <Name>Calc and copy time</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>104</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>9</SubIdx>
                                    <Name>Delay time</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>136</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT2004</Name>
                                <BitSize>72</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of entries</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <Name>Elements</Name>
                                    <Type>DT2004ARR</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>0</BitOffs>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT2004ARR</Name>
                                <BaseType>DINT</BaseType>
                                <BitSize>64</BitSize>
                                <ArrayInfo>
                                    <LBound>1</LBound>
                                    <Elements>2</Elements>
                                </ArrayInfo>
                            </DataType>
                            <DataType>
                                <Name>DT607D</Name>
                                <BitSize>96</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of entries</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <Name>Elements</Name>
                                    <Type>DT607DARR</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>0</BitOffs>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT607DARR</Name>
                                <BaseType>DINT</BaseType>
                                <BitSize>64</BitSize>
                                <ArrayInfo>
                                    <LBound>1</LBound>
                                    <Elements>2</Elements>
                                </ArrayInfo>
                            </DataType>
                            <DataType>
                                <Name>DT6099</Name>
                                <BitSize>96</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of entries</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <Name>Elements</Name>
                                    <Type>DT6099ARR</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>0</BitOffs>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT6099ARR</Name>
                                <BaseType>UDINT</BaseType>
                                <BitSize>64</BitSize>
                                <ArrayInfo>
                                    <LBound>1</LBound>
                                    <Elements>2</Elements>
                                </ArrayInfo>
                            </DataType>
                            <DataType>
                                <Name>DT60C2</Name>
                                <BitSize>24</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>NumOfEntries</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>1</SubIdx>
                                    <Name>timeUnits</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>8</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>2</SubIdx>
                                    <Name>timeIndex</Name>
                                    <Type>SINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>16</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT60FE</Name>
                                <BitSize>96</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of entries</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>                                        
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <Name>Elements</Name>
                                    <Type>DT60FEARR</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>RT</PdoMapping>
									</Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT60FEARR</Name>
                                <BaseType>UDINT</BaseType>
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                                    <LBound>1</LBound>
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                                <Name>Device type</Name>
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                                <Info>
                                    <DefaultValue>#x20192</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
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                            <Object>
                                <Index>#x1001</Index>
                                <Name>Error register</Name>
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                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x1010</Index>
                                <Name>Store parameters</Name>
                                <Type>DT1010</Type>
                                <BitSize>40</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of Entries</Name>
                                        <Info>
                                            <DefaultValue>#x1</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Save all parameters</Name>
                                        <Info>
                                            <DefaultValue>#x0</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x1018</Index>
                                <Name>Identity object</Name>
                                <Type>DT1018</Type>
                                <BitSize>136</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultValue>#x4</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Vendor Id</Name>
                                        <Info>
                                            <DefaultValue>#xaaaa</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Product code</Name>
                                        <Info>
                                            <DefaultValue>#x1</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Revision number</Name>
                                        <Info>
                                            <DefaultValue>#x3</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Serial number</Name>
                                        <Info>
                                            <DefaultValue>#x0</DefaultValue>
                                        </Info>
                                    </SubItem>
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                            <Object>
                                <Index>#x1600</Index>
                                <Name>1st RxPDO mapping 1</Name>
                                <Type>DT1600</Type>
                                <BitSize>72</BitSize>
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                                    <SubItem>
                                        <Name>Number of objects</Name>
                                        <Info>
                                            <DefaultValue>#x2</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Mapping entry 1</Name>
                                        <Info>
                                            <DefaultValue>#x60400010</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Mapping entry 2</Name>
                                        <Info>
                                            <DefaultValue>#x607a0020</DefaultValue>
                                        </Info>
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                                </Info>
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                            <Object>
                                <Index>#x1a00</Index>
                                <Name>1st TxPDO mapping 1</Name>
                                <Type>DT1A00</Type>
                                <BitSize>104</BitSize>
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                                    <SubItem>
                                        <Name>Number of objects</Name>
                                        <Info>
                                            <DefaultValue>#x3</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Mapping entry 1</Name>
                                        <Info>
                                            <DefaultValue>#x60410010</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Mapping entry 2</Name>
                                        <Info>
                                            <DefaultValue>#x60640020</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Mapping entry 3</Name>
                                        <Info>
                                            <DefaultValue>#x60f40020</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x1c00</Index>
                                <Name>Sync manager communication type</Name>
                                <Type>DT1C00</Type>
                                <BitSize>40</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of used sync manager</Name>
                                        <Info>
                                            <DefaultValue>#x4</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Communication type sync manager 1</Name>
                                        <Info>
                                            <DefaultValue>#x1</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Communication type sync manager 2</Name>
                                        <Info>
                                            <DefaultValue>#x2</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Communication type sync manager 3</Name>
                                        <Info>
                                            <DefaultValue>#x3</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Communication type sync manager 4</Name>
                                        <Info>
                                            <DefaultValue>#x4</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x1c10</Index>
                                <Name>Sync manager 0 PDO assignment</Name>
                                <Type>DT1C10</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of assigned PDOs</Name>
                                        <Info>
                                            <DefaultValue>#x0</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x1c11</Index>
                                <Name>Sync manager 1 PDO assignment</Name>
                                <Type>DT1C11</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of assigned PDOs</Name>
                                        <Info>
                                            <DefaultValue>#x0</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x1c12</Index>
                                <Name>Sync manager 2 PDO assignment</Name>
                                <Type>DT1C12</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of assigned RxPDOs</Name>
                                        <Info>
                                            <DefaultValue>#x1</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>PDO mapping index of assigned RxPDO</Name>
                                        <Info>
                                            <DefaultValue>#x1600</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x1c13</Index>
                                <Name>Sync manager 3 PDO assignment</Name>
                                <Type>DT1C13</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of assigned TxPDOs</Name>
                                        <Info>
                                            <DefaultValue>#x1</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>PDO mapping index of assigned TxPDO</Name>
                                        <Info>
                                            <DefaultValue>#x1a00</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x1c32</Index>
                                <Name>Sync manager 2 synchronization</Name>
                                <Type>DT1C32</Type>
                                <BitSize>168</BitSize>
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                                    <SubItem>
                                        <Name>Number of synchronization parameters</Name>
                                        <Info>
                                            <DefaultValue>#x9</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Synchronisation type</Name>
                                        <Info>
                                            <DefaultValue>#x2</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Cycle time</Name>
                                        <Info>
                                            <DefaultValue>#x3d090</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Synchronization types supported</Name>
                                        <Info>
                                            <DefaultValue>#x5</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Minimum cycle time</Name>
                                        <Info>
                                            <DefaultValue>#x3d090</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Calc and copy time</Name>
                                        <Info>
                                            <DefaultValue>#xf424</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Delay time</Name>
                                        <Info>
                                            <DefaultValue>#x0</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x1c33</Index>
                                <Name>Sync manager 3 synchronization</Name>
                                <Type>DT1C33</Type>
                                <BitSize>168</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of synchronization parameters</Name>
                                        <Info>
                                            <DefaultValue>#x9</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Synchronisation type</Name>
                                        <Info>
                                            <DefaultValue>#x2</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Cycle time</Name>
                                        <Info>
                                            <DefaultValue>#x3d090</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Synchronization types supported</Name>
                                        <Info>
                                            <DefaultValue>#x5</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Minimum cycle time</Name>
                                        <Info>
                                            <DefaultValue>#x3d090</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Calc and copy time</Name>
                                        <Info>
                                            <DefaultValue>#xf424</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Delay time</Name>
                                        <Info>
                                            <DefaultValue>#x0</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x2000</Index>
                                <Name>Motor Type</Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x2</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
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                            <Object>
                                <Index>#x2001</Index>
                                <Name>Inner encoder resolution</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
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                            </Object>
                            <Object>
                                <Index>#x2002</Index>
                                <Name>Outer encoder resolution</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
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                            </Object>
                            <Object>
                                <Index>#x2003</Index>
                                <Name>Screw pitch</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x1</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
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                            </Object>
                            <Object>
                                <Index>#x2004</Index>
                                <Name>Electronic gear</Name>
                                <Type>DT2004</Type>
                                <BitSize>72</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultValue>#x2</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Numerator of gear ratio</Name>
                                        <Info>
                                            <DefaultValue>#x1</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Denominator of gear ratio</Name>
                                        <Info>
                                            <DefaultValue>#x1</DefaultValue>
                                        </Info>
                                    </SubItem>
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                            <Object>
                                <Index>#x2005</Index>
                                <Name>Hybrid deviation error window</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x3e80</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2010</Index>
                                <Name>Input Function</Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                    <PdoMapping>tr</PdoMapping>
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                            </Object>
                            <Object>
                                <Index>#x2020</Index>
                                <Name>Index signal</Name>
                                <Type>USINT</Type>
                                <BitSize>8</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2021</Index>
                                <Name>Latched index position</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2022</Index>
                                <Name>Motor actual current</Name>
                                <Type>REAL</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2040</Index>
                                <Name>2nd encoder option</Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2041</Index>
                                <Name>Enable Software Position Limit</Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2042</Index>
                                <Name>Enable Hardware Limit Protection</Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x1</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2043</Index>
                                <Name>Input logic inversion</Name>
                                <Type>INT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x7ef</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2050</Index>
                                <Name>Common Gain</Name>
                                <Type>REAL</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2051</Index>
                                <Name>Velocity proportional gain</Name>
                                <Type>REAL</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2052</Index>
                                <Name>Proportional gain of the current loop</Name>
                                <Type>REAL</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x1f4</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2053</Index>
                                <Name>Integral gain of the current loop</Name>
                                <Type>REAL</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x64</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2054</Index>
                                <Name>Integral gain of the velocity loop</Name>
                                <Type>REAL</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x13a</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2055</Index>
                                <Name>Proportional gain of the position loop</Name>
                                <Type>REAL</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x13a</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2100</Index>
                                <Name>Drive Error Events 1</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x2101</Index>
                                <Name>Drive Error Events 2</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x603f</Index>
                                <Name>Error Code </Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6040</Index>
                                <Name>Controlword </Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                    <PdoMapping>r</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6041</Index>
                                <Name>Statusword </Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6060</Index>
                                <Name>Modes of operation </Name>
                                <Type>SINT</Type>
                                <BitSize>8</BitSize>
                                <Info>
                                    <DefaultValue>#x8</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                    <PdoMapping>r</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6061</Index>
                                <Name>Modes of operation display </Name>
                                <Type>SINT</Type>
                                <BitSize>8</BitSize>
                                <Info>
                                    <DefaultValue>#x8</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6063</Index>
                                <Name>Position actual internal value </Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6064</Index>
                                <Name>Position actual value </Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6065</Index>
                                <Name>Following error window </Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6066</Index>
                                <Name>Following error time out </Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x606c</Index>
                                <Name>Velocity actual value </Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6071</Index>
                                <Name>Target torque </Name>
                                <Type>INT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                    <PdoMapping>r</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6077</Index>
                                <Name>Torque actual value </Name>
                                <Type>INT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x607a</Index>
                                <Name>Target position </Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                    <PdoMapping>r</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x607c</Index>
                                <Name>Home offset </Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x607d</Index>
                                <Name>Software position limit </Name>
                                <Type>DT607D</Type>
                                <BitSize>96</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultValue>#x2</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Min Software Position Limit</Name>
                                        <Info>
                                            <DefaultValue>#x80000000</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Max Software Position Limit</Name>
                                        <Info>
                                            <DefaultValue>#x80000000</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x607f</Index>
                                <Name>Max profile velocity </Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6081</Index>
                                <Name>Profile velocity</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6083</Index>
                                <Name>Profile acceleration </Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6084</Index>
                                <Name>Profile deceleration </Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6085</Index>
                                <Name>Quick stop deceleration </Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6087</Index>
                                <Name>Torque slope </Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6098</Index>
                                <Name>Homing method </Name>
                                <Type>SINT</Type>
                                <BitSize>8</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6099</Index>
                                <Name>Homing speeds </Name>
                                <Type>DT6099</Type>
                                <BitSize>96</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultValue>#x2</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Speed during search for switch   </Name>
                                        <Info>
                                            <DefaultValue>#x0</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Speed during search for zero</Name>
                                        <Info>
                                            <DefaultValue>#x0</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x609a</Index>
                                <Name>Homing acceleration </Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60b1</Index>
                                <Name>Velocity offset </Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60b2</Index>
                                <Name>Torque offset</Name>
                                <Type>INT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                    <PdoMapping>r</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60b8</Index>
                                <Name>Touch probe function </Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                    <PdoMapping>r</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60b9</Index>
                                <Name>Touch probe status </Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60ba</Index>
                                <Name>Touch probe 1 positive edge </Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60bb</Index>
                                <Name>Touch probe 1 negative edge </Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60c2</Index>
                                <Name>Interpolation time period</Name>
                                <Type>DT60C2</Type>
                                <BitSize>24</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>NumOfEntries</Name>
                                        <Info>
                                            <DefaultValue>#x2</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>timeUnits</Name>
                                        <Info>
                                            <DefaultValue>#x0</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>timeIndex</Name>
                                        <Info>
                                            <DefaultValue>#x0</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x60c5</Index>
                                <Name>Max acceleration</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x2710</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60c6</Index>
                                <Name>Max deceleration</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x2710</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60f4</Index>
                                <Name>Following error actual value </Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60fc</Index>
                                <Name>Position demand internal value </Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60fd</Index>
                                <Name>Digital inputs </Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <PdoMapping>t</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60fe</Index>
                                <Name>Digital outputs </Name>
                                <Type>DT60FE</Type>
                                <BitSize>96</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultValue>#x2</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Physical outputs</Name>
                                        <Info>
                                            <DefaultValue>#x0</DefaultValue>
                                        </Info>
                                    </SubItem>
                                    <SubItem>
                                        <Name>Output mask</Name>
                                        <Info>
                                            <DefaultValue>#x0</DefaultValue>
                                        </Info>
                                    </SubItem>
                                </Info>
                            </Object>
                            <Object>
                                <Index>#x60ff</Index>
                                <Name>Target velocity </Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x0</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                    <PdoMapping>r</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6502</Index>
                                <Name>Supported drive modes </Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Info>
                                    <DefaultValue>#x3ad</DefaultValue>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                </Flags>
                            </Object>
                        </Objects>
                    </Dictionary>
                </Profile>
                <Fmmu>Outputs</Fmmu>
                <Fmmu>Inputs</Fmmu>
                <Fmmu>MBoxState</Fmmu>
                <Sm DefaultSize="20" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
                <Sm DefaultSize="20" StartAddress="#x18f6" ControlByte="#x22" Enable="1">MBoxIn</Sm>
                <Sm DefaultSize="6" StartAddress="#x1000" ControlByte="#x64" Enable="1">Outputs</Sm>
                <Sm DefaultSize="10" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
                <RxPdo Fixed="0" Sm="2">
                    <Index>#x1600</Index>
                    <Name>RxPDO 1</Name>
                    <Entry>
                        <Index>#x6040</Index>
                        <SubIndex>#x0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Controlword </Name>
                        <DataType>UINT</DataType>
                    </Entry>
                    <Entry>
                        <Index>#x607a</Index>
                        <SubIndex>#x0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>Target position </Name>
                        <DataType>DINT</DataType>
                    </Entry>
                </RxPdo>
                <TxPdo Fixed="0" Sm="3">
                    <Index>#x1A00</Index>
                    <Name>TxPDO 1</Name>
                    <Entry>
                        <Index>#x6041</Index>
                        <SubIndex>#x0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Statusword </Name>
                        <DataType>UINT</DataType>
                    </Entry>
                    <Entry>
                        <Index>#x6064</Index>
                        <SubIndex>#x0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>Position actual value </Name>
                        <DataType>DINT</DataType>
                    </Entry>
                    <Entry>
                        <Index>#x60f4</Index>
                        <SubIndex>#x0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>Following error actual value </Name>
                        <DataType>DINT</DataType>
                    </Entry>
                </TxPdo>
                <Mailbox>
                    <CoE SdoInfo="0" PdoAssign="1" PdoConfig="1">
					<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>	
							<Comment>Mode of Operation CSP</Comment>
						</InitCmd>
						</CoE>
                </Mailbox>
                <Dc>
	        		<OpMode>
                        <Name>DC</Name>
                        <Desc>DC-Synchron</Desc>
                        <AssignActivate>#x300</AssignActivate>
                        <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
                        <ShiftTimeSync0>0</ShiftTimeSync0>
                        <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
                        <ShiftTimeSync1>0</ShiftTimeSync1>
                    </OpMode>
                    <OpMode>
                        <Name>Synchron</Name>
                        <Desc>FreeRun/SM-Synchron</Desc>
                        <AssignActivate>#x0</AssignActivate>
                    </OpMode> 
                </Dc>
                <Eeprom>
                    <ByteSize>2048</ByteSize>
                    <ConfigData>05060B66E803</ConfigData>
                </Eeprom>
            </Device>
        </Devices>
    </Descriptions>
</EtherCATInfo>

